SELF-TRAVELING CLEANING ROBOT, SELF-TRAVELING ROBOT, AND PROGRAM FOR CONTROLLING TRAVELING OF SAME

摘要

PROBLEM TO BE SOLVED: To provide a self-traveling cleaning robot, self-traveling robot, and program for controlling traveling of the same for improving performance of straight traveling.;SOLUTION: A self-traveling robot traveling in a preset traveling pattern comprises a gyrosensor 28 to detect an angle that is a traveling direction from a reference position; a right and left rotary encoders 23, 22 to detect a traveling distance from the reference position; a right and left drive wheels to move a main body; and a right and left drive wheel motors 61, 60 to drive the drive wheels for travelling. When the traveling pattern is a straight traveling pattern for traveling along with a planned course, a CPU 10 computes a displacement quantity from the planned course on the basis of detected quantities from the gyrosensor 28, and the right and left encoders 23, 22 to control the drive of the right and left motors 61, 60 on the basis of the computed displacement quantity.;COPYRIGHT: (C)2007,JPO&INPIT