| 摘要 |
PURPOSE:To provide a control method for a robot which is surely moved over specified running routes so as to enable quick cleaning in a floor surface cleaning robot for a rolling stock. CONSTITUTION:The robot main body is equipped with paired right and left drive wheel motors 2 and 21, a plurality of distance detectors 3, 5 and 6 measuring the distance up to each bench or each wall surface within a rolling stone, a map housing section 71 housing a map on which the profile of a floor surface within the rolling stock is shown as a two dimensional map, and with a running route housing section 72 which shows specified running routes for the floor surface to be cleaned as coordinates over the map. Now, a robot is run to the end section of the rolling stock first, after it has recognized the coordinates of a place where the robot is positioned over the map at the end section of the rolling stock based on the output of the distance detectors, the floor surface is cleaned out in such a way that the robot is run over the specified running routes based on the output of the distance detectors 3, 5 and 6 while its orbit is being corrected.
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