| 摘要 |
<p>PROBLEM TO BE SOLVED: To clean Tatami mats along the textures thereof without travel for obtaining information relating to the layout of the Tatami mats in advance of the cleaning.SOLUTION: A self-propelled vacuum cleaner comprises: a casing for housing a dust suction mechanism; a power unit for causing the casing to travel; an imaging unit for imaging a travel surface on which the casing travels; an image analysis unit for recognizing an edge of a Tatami mat from an image imaged by the imaging unit; and a control unit for controlling the dust suction mechanism, the power unit, the imaging unit, and the image analysis unit to cause the casing to travel to clean. When the image analysis unit recognizes an edge of the Tatami mat, the control unit causes the casing to travel so as to enter the surface of the Tatami mat from a direction perpendicular to the edge.</p> |
