| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous traveling robot cleaner capable of finely cleaning an area where there are a lot of debris densely. SOLUTION: The robot cleaner 1 performs a standard cleaning action of cleaning while traveling according to a predetermined traveling rule, and when an area where a contaminated degree exceeds the standard value is found out during the standard cleaning action, further performs a local cleaning action of locally traveling after having traveled the area according to the standard cleaning action. For example, the robot cleaner 1 travels in zigzags along a route Z1 according to the standard cleaning action, and stops the standard cleaning action when reaching a P2 point passing through a crowded area of debris 70 through a P1 point. Then, the robot cleaner starts a local cleaning action, and helically travels from a P3 point to a P4 point along a route Z2 within a local cleaning area G1 inside a circle F1 whose radius is equal to generally a half of a distance from the P1 point to the P2 point and whose center rests on a P3 point which rest on the mid point of the P1 point and the P2 point. Thereafter, restarts the standard cleaning action to travel in zigzags from the P2 point along a route Z3. COPYRIGHT: (C)2005,JPO&NCIPI
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