| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-propelled apparatus for aligning an apparatus body in parallel to an obstacle effectively by a natural movement using a small number of measurement means. SOLUTION: While an apparatus body 1 is being rotationally moved by a control means, a distance between the apparatus body 1 and a surrounding obstacle 7 is measured by a measurement means 4, and the shape of the obstacle 7 and a relative angle between the apparatus body 1 and the obstacle are calculated in order to align the apparatus body 1 in a direction parallel to the obstacle 7. Since a small number of measurement means 4 are required to determine the shape of the obstacle 7 and detect the relative angle with respect to the obstacle 7 when the apparatus body 1 is moving, the apparatus body can be aligned in parallel to the obstacle by a natural movement while reducing useless movements. Therefore, cleaning and traveling can be performed effectively according to a shape of a traveling space of the apparatus body 1. In addition, since the apparatus body can be aligned to the obstacle 7 though a normal and natural movement, the apparatus can be operated without giving a sense of discomfort. COPYRIGHT: (C)2009,JPO&INPIT
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