| 摘要 |
This invention provides a self-running cleaning apparatus and self-cleaning method that is capable of efficiently moving over the entire bottom surface of a pool and cleaning the entire bottom surface of the pool in a short period of time. A movement-control unit 50 operates a right motor 51 , left motor 53 and displacement motor 55 based on a movement-operation program that is stored in the operation memory 57 , and moves the self-running cleaning apparatus according to information received from distance sensors 16 to 21 that are located on the front, right side and left side. The operation memory 57 stores the wall-movement operation, detour-movement operation, 90-degree right turn operation, 180-degree right turn operation, 180-degree left turn operation and position-detection operation as the movement-operation program. |
