| 摘要 |
A cleaning robot having a robot body to be self-propelled on a floor along a side wall, and a cleaning mechanism mounted on the robot body comprises a steering device provided on the robot body for changing the direction of advance of the robot body, and a slide device mounted on the robot body and reciprocatingly movable toward and away from the side wall. A contact force sensor positionable in contact with the side wall is provided at an outer end of the slide device. Based on the detection signal of the sensor, the slide device is controlled so as to maintain the force of contact at a target value, and the steering device is controlled so that a component of the contact force in the direction of advance of the robot body becomes zero.
|
