| 摘要 |
PROBLEM TO BE SOLVED: To enable a self-running type vacuum cleaner to surely return to a charging base when the residual quantity of a battery has decreased to a certain degree. SOLUTION: In this self-running type vacuum cleaner, when the residual quantity of the battery is judged to be an amount for which a predetermined margin amount is added to a battery amount required for returning to the position of the charger or higher, as shown by (A), a current is fed to a left driving wheel motor and a right driving wheel motor for 80% of the period of time (ON state), and the feeding of the current is stopped for 20% of the period of time (OFF state). In the meantime, when the residual quantity of the battery is judged to be lower than the amount for which the predetermined margin amount is added to the battery amount required for returning to the position of the charger, as shown in (B), the current is fed for 40% of the period of time (ON state) to the left driving wheel motor and the right driving wheel motor, and the feeding of the current is stopped for 60% of the period of time (OFF state). COPYRIGHT: (C)2006,JPO&NCIPI
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