| 摘要 |
When receiving an area value of a cleaning area and its shape that is a rectangle or a circle, a self-propelling cleaner 1 decides on a cleaning area having the input shape (rectangle or circle) and size and decides to employ, as a movement route to be taken in cleaning the cleaning area, a spiral movement route having the center of the cleaning area as a start point. Therefore, whether the cleaning area is rectangular or circular, the cleaning area can be cleaned without leaving no non-cleaned regions and almost no regions outside the cleaning area are cleaned. That is, the cleaning area can be cleaned efficiently. |
