| 摘要 |
PROBLEM TO BE SOLVED: To provide a cleaning robot which can take a proper measures if wheels slip on a floor surface. SOLUTION: The robot is equipped with driving wheels which touch the floor surface, an encoder which detects the rotational quantity of the driving wheel, and a gyrosensor which detects the azimuth of the robot. When the absolute value of the difference between the rotation valueθ1 of the robot calculated from the rotational frequency of the driving wheels and the rotation value Eθ2 of the robot measured by the gyrosensor is larger than a predetermined value (YES at #7), an alarm is displayed to the operator (#8 and #9) and the process is temporarily stopped until a start button is pressed (#10 and #11).
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