FIELD: physics.
SUBSTANCE: invention relates to self-propelled robots. Method of detecting obstacles, which is used in a self-propelled robot, comprises: converting obstacle information into range information; transforming said range information into a point cloud diagram and determining data on coordinates of the reference point of said obstacle; determining an effective range of analysis in the direction of the height in said point cloud scheme; and determining, based on data on coordinates of reference point, whether there is an obstacle in said effective range of analysis; in case of presence of an obstacle in said effective range of analysis, determining whether the size of the obstacle is less than a predetermined threshold value; and, if the size of the obstacle is less than a predetermined threshold value, controlling the self-propelled robot to reduce the rotation speed of the side brush, when the self-propelled robot is within a predetermined range of distances from the obstacle.
EFFECT: high accuracy of detecting obstacles by a self-propelled robot.
14 cl, 14 dwg
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