FIELD: personal and household items; physics.
SUBSTANCE: present invention relates to the technical field of self-propelled robots, namely to an automatic cleaning device. Automatic cleaning device comprises: an image acquisition device for obtaining information on an obstacle; laser range finder for obtaining information for creating an instant map of the surrounding space in which the automatic cleaning device is located, and a control system for creating an instant map in accordance with the information received in the form of feedback from the laser range finder, and creating a probability map by using the archival experience, which represents the presence or absence of an obstacle. Control system is also configured to: convert the obstacle information obtained by the imaging device into range information; transforming said range information into a point cloud scheme and determining data on coordinates of a reference point on said obstacle; determining the effective range of analysis in the direction of the height in said point cloud scheme and determining, based on data on coordinates of the reference point in the effective range of analysis and the probability map, whether or not there is an obstacle in the effective range of analysis.
EFFECT: higher level of detection of obstacles, regardless of their height and used laser detection device.
8 cl, 14 dwg
