To solve problems with a conventional self-propelled cleaner, including deviation from a required movement route due to an error in position recognition, lengthening of cleaning time due to repetition of movement and passage areas to clean an entire area, and the changeover of a travel pattern by dust detection sensors ending up lowering the speed and adding operations such as travel a plurality of times in the periphery.
The self-propelled cleaner has a cleaning means to clean dust on a floor, a dust sensing means 17 to sense the quantity of dust, and a movement control means 9 to control the movement of the body. The movement control means 9 makes the body less susceptible to the influence of a movement error and concentratedly cleans areas heavily covered by dust by moving roughly in the area, by having a wide area movement control to move the body so that some parts may remain uncleaned, and a pattern movement control to move the body in a prescribed pattern when dust of a prescribed quantity or larger is sensed, resulting in efficiently collecting dust in the entire area in a short time.
OKUBO HIDEO
YAMAGUCHI SEIJI
YABUUCHI HIDETAKA
HAJI MASAYO
YASUNO MIKI
| JPH03242710A | 1991-10-29 | |||
| JPH08228980A | 1996-09-10 | |||
| JPH06327599A | 1994-11-29 | |||
| JPH10214114A | 1998-08-11 | |||
| JP2000037333A | 2000-02-08 | |||
| JP2000060782A | 2000-02-29 |