| 摘要 |
PURPOSE:To improve a working efficiency by working along the wall surface and simultaneously, preparing the outer shape map of the working area while the track is brought into contact with the wall surface to artition the working area. CONSTITUTION:At a starting point P1, a rear contacting sensor 8 a side surface detects a wall surface W1, and a work track main body 1 goes straight on. When the track arrives at a point P2, the output of the contacting sensor 8 is vanished and stopped once. The track is rotated to the left side on the spot at the point P2 and the output of the front contacting sensor 7 occurs. For such a reason, the track changes the course to the right and travels along a wall surface W2. The work track main body 1 goes around along a wall surface W to partition a working area 27, a working means 4 works at the time of travelling, and the corner part near the wall surface W is cleaned. Since the work track main body 1 returns to the point P1, a single round travelling is completed and based on the output of a recognizing sensor 15, the outer shape map is prepared by a map preparing means 12.
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