| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-travelling cleaner of which travelling is appropriately selected between a regular travelling mode and a random travelling mode depending on the situations of a room to be cleaned. SOLUTION: The self-travelling cleaner that cleans a surface of a floor of the space to be cleaned while self-travelling comprises a regular travelling mode generating means 8 that generates a regular travelling mode for enabling travelling along a predetermined travelling course, a random travelling mode generating means 9 that generates a random travelling mode for enabling changing travelling directions randomly, a switching device 10 that provides respective outputs selectively from the regular travelling mode generating means and the random travelling mode generating means to a travelling mechanism, and a one round along a wall determination means 6 that determines success or failure of travelling one round along a wall, that is, travelling one round along a wall surface in the space to be cleaned. The cleaner is first made to make a trial of the travelling one round along a wall, of which success or failure is determined by the one round along a wall determination means 6. According to the result, the cleaner is made to selectively implement regular travelling and random travelling. COPYRIGHT: (C)2006,JPO&NCIPI
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