| 摘要 |
<p>PURPOSE: To control a cleaning robot so that it is traveled accurately up to an object point along a wall face without being deviated from a normal track. CONSTITUTION: This controller is provided with an obstacle sensing means 3 that senses the presence of an obstacle and the distance up to the obstacle with a navigation sensor when the cleaning robot runs on a wall face, a drive state sensing means that uses a navigation sensor and an ultrasonic wave sensor to sense a distance of the cleaning robot from the wall face and the drive angle when the obstacle sensing means 3 indicates the absence of the obstacle, and a drive control means that adjusts a force of left right side power wheels by the parting distance and the drive angle sensed by the drive state sensing means so that the cleaning robot is driven on a normal track along the wall face.</p> |
