| 摘要 |
PROBLEM TO BE SOLVED: To achieve a self-propelled type cleaner for suitably traveling in a room where there is any obstacle for cleaning. SOLUTION: When autonomously traveling on a floor surface F in a living room R for cleaning, this self-propelled type cleaner 100 recognizes a wall surface including an obstacle ahead of the moving direction of the self-propelled type cleaner 100 detected by an ultrasonic sensor 25 as a reference wall W, and turns to the right toward the reference wall W, and moves in one direction following the reference wall W as a new moving direction. Then, the self-propelled cleaner 100 turns to avoid the reference wall W associated with the detected obstacle, and performs zigzag traveling following the reference wall, and repeats traveling in a region following the reference wall W all over for cleaning the floor surface F. COPYRIGHT: (C)2008,JPO&INPIT
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