| 摘要 |
In the cleaning using the self-propelled cleaning device, firstly the cleaning device moves alongside the wall surface and then a reference direction is set. Next, the cleaning device advances alongside the wall surface by a prescribed distance, makes a right-angle turn, and travels in the reference direction. When the cleaning device reaches the surface of the opposing wall, it moves in a spiraling manner. At that time, the orientation angle of the cleaning device estimated using a gyro sensor is checked and corrected. If an obstacle is encountered while traveling, the cleaning device travels on a path that avoids the obstacle or travels in a spiral manner in a region in front of the obstacle. |
