| 摘要 |
PURPOSE:To effectively execute cleaning without cleaning a spot, where the cleaning has executed once by storing the already cleaned spot in an automatic leaner. CONSTITUTION:When the automatic cleaner is made to start from a starting point A and goes straight to reach a wall, it is stopped and made to go straight in an opposite direction after shifting it to the side where it has not run by a certain pitch width. In the above-mentioned process, when it can not be shifted by a certain pitch width, that is, it reaches a P point, it is judged that it reaches a dead end and jumps to a process 103. During the movement A B, the automatic cleaner stores an area where it has cleaned (run) and also stores the information of the obstacle and the wall of a room. It cleans based on previously stored two maps such as a cleaning map and an obstacle map. It also retrieves whether or not there is an area where the obstacle does not exist. If the non-cleaned area exists, it shifts to a process 104 and if the non-cleaned area does not exist, it completes the cleaning.
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