| 摘要 |
PROBLEM TO BE SOLVED: To enhance the efficiency of utilization of rechargeable batteries and the efficiency of cleaning work in moving toward a charger as well. SOLUTION: The voltage Vt of a rechargeable battery is detected (S01). A time Ts for which only the traveling course of a working car can be driven, a time Tu for which the traveling course and the cleaning course can be driven, and a time Tr it takes to move from the present position to a charger are calculated from the detected voltage Vt (S02). If Tr is equal to or greater than Ts, the cleaning course is stopped (S04), and the car goes to a charger (S05). If there is an uncleaned area in the path from the present position to the charger (YES at S06) and a cleaning time Tc is equal to or greater than Tu (NO at S08), the cleaning course is kept driven and the car goes to the charger (S09). When Tr becomes equal to or greater than Ts (NO at S15), the cleaning course is stopped (S16). |
