| 摘要 |
A main body of a self-running cleaner conducts a cleaning job while self-propelling at a velocity vector in the direction of the arrow. A person approaches with a movement vector in the direction of the arrow in front of the main body. A determination processing unit of the main body rotates the main body such that the velocity vector of the main body is orthogonal to the movement vector of the person when determination is made of the possibility of collision between the obstacle and the main body from a calculated result (rotation A). Then, the main body is moved straight ahead a predetermined distance in the direction of travel after the rotation. When the person continues to move during the withdrawal operation of the main body, and determination is made that there is no possibility of collision therebetween, the determination processing unit rotates the main body 180° (rotation B), and moves the main body straight ahead the predetermined distance, such that the main body returns to the former position immediately previous to the obviation operation. The main body is rotated such that the velocity vector of the main body corresponds to the direction of travel immediately previous to the sensing of a person (rotation C), and the cleaning job is resumed.
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