An intelligent cleaning device, comprising a device main body, a camera and a fill-in light, wherein the camera is mounted in the device main body and faces an outer side of the device main body; the fill-in light is mounted in the device main body by means of a fill-in light holder and faces the outer side of the device main body; and an irradiation direction of the fill-in light is the same as a photographic direction of the camera, so as to irradiate at least part of an identification region of the camera.

In embodiments, an automatic guided vehicle includes a vehicle, a lift unit, a bumper, an extension detector, and a bumper controller. The vehicle is movable in at least a first direction. The lift unit is provided in the vehicle and lifts an object from below the object. The bumper is provided in the vehicle and is extendable and contractible in the first direction. The extension detector detects that the bumper has extended outward from the object in the first direction. The bumper controller controls a state of the bumper according to a conveyance state of the object by the vehicle.

An outdoor treatment system has an autonomous mobile outdoor treatment robot and a sensor and control device. The outdoor treatment robot has a chassis and a contact element. The chassis is designed to execute a travelling movement of the outdoor treatment robot in a direction of travel. The contact element is designed to execute an avoiding movement in an avoiding direction as a result of the travelling movement in the direction of travel and contact between an obstacle and a lower contact point below a height limit and to execute a detection movement in a detection direction as a result of the travelling movement in the direction of travel and contact between an obstacle and an upper contact point at or above the height limit and is mounted so that it can move with respect to the chassis, wherein the avoiding direction and the detection direction are different. The sensor and control device is designed to detect the detection movement or a movement caused by the detection movement, and to control a protective function of the outdoor treatment robot triggered by the detected detection movement or the detected movement. The sensor and control device does not detect or evaluate the avoiding movement or a movement caused by the avoiding movement.

An autonomous cleaning robot includes a controller configured to execute instructions to perform one or more operations. The one or more operations includes operating a drive system to move the cleaning robot in a forward drive direction along a first obstacle surface with a side surface of the cleaning robot facing the first obstacle surface, then operating the drive system to turn the cleaning robot such that the side surface of the cleaning robot faces a second obstacle surface, then operating the drive system to move the cleaning robot in a rearward drive direction along the second obstacle surface, and then operating the drive system to move the cleaning robot in the forward drive direction along the second obstacle surface.

There is provided a moving apparatus which includes a control unit that executes traveling control of the moving apparatus, an upper unit that has an article storage unit, and a lower unit that houses the control unit and a drive unit. The upper unit has an upper sensor that detects an obstacle in surroundings at a position of at least one of an upper surface or a lower surface position, and the lower unit has a lower sensor that detects an obstacle in a proximity area of a traveling surface of the moving apparatus. The control unit inputs sensor detection information, detects an obstacle in surroundings of the moving apparatus, executes traveling control to avoid contact with the obstacle, and performs control to display a traveling route recognition display line that indicates a traveling route of the moving apparatus.

An intelligent cleaning device, comprising a device main body, a camera and a fill-in light, wherein the camera is mounted in the device main body and faces an outer side of the device main body; the fill-in light is mounted in the device main body by means of a fill-in light holder and faces the outer side of the device main body; and an irradiation direction of the fill-in light is the same as a photographic direction of the camera, so as to irradiate at least part of an identification region of the camera.

A outdoor robot includes an execution apparatus and an execution motor for driving the execution apparatus to perform a work task. The control method includes: obtaining a load parameter of the execution motor during running of the outdoor robot; calculating a change rate parameter of a load; and when it is determined that the change rate parameter of the load represents that the load increases and the change rate parameter of the load exceeds a preset threshold range, braking running of the execution apparatus.

A computer-implemented method of controlling a mobile agricultural machine includes obtaining prior field data representing a position of plants in a field, obtaining in situ plant detection data from operation of the mobile agricultural machine in the field, determining a position error in the prior field data based on the in situ plant detection data, and generating a control signal that controls the mobile agricultural machine based on the determined position error.

Robot localization or mapping can be provided without requiring the expense or complexity an “at-a-distance” sensor, such as a camera, a LIDAR sensor, or the like. Adjacency-derived landmark features can be used and non-unique landmark features can be accommodated. Uncertainty in robot pose can be tracked and compared to an adaptive threshold, and non-dock and docks based localization behavior can be controlled based on the uncertainty, the adaptive threshold, one or more other thresholds, and the accessibility of available differently oriented landmark features, such as perpendicularly oriented straight wall segments landmark features. Available features can be sorted according to a quality metric, and path planning and navigation techniques are also included for helping obtain successful wall-following and localization observations.

Described herein are systems, devices, and methods for validating location of a docking station for docking a mobile robot. In an example, a mobile robot system includes a docking station and a mobile cleaning robot. The mobile cleaning robot includes a drive system to move the mobile cleaning robot about an environment including a docking area within a distance of the docking station, and a controller circuit to detect, from an image of the docking area, a presence or absence of one or more obstacles in the docking area. A notification may be generated to inform a user about the detected obstacles. The mobile device may generate a recommendation to the user to clear the docking area or reposition the docking station, or suggest one or more candidate locations for placing the docking station.