SELF-PROPELLED WORK APPARATUS, SELF-PROPELLED CLEANER AND TRAVEL DATA DISTRIBUTING METHOD FOR SELF-PROPELLED WORK APPARATUS

摘要

PROBLEM TO BE SOLVED: To provide a self-propelled work apparatus such as a self-propelled cleaner efficiently traveling and working throughout a whole of an object floor face even when it is started from an optional position.;SOLUTION: The self-propelled work apparatus is provided with a traveling means 21, a travel control means 13, a travel distance measuring means 24 for measuring a travel distance of a body 1, a travel direction measuring means 25 measuring a travel direction from a rotation angle with respect to a predetermined reference direction of the body 1, a distance measuring means 26 for measuring a distance of the body 1 to a peripheral obstacle, and a data storing means 27 for storing a shape and size of the travel object floor face and reference information for recognizing a floor face shape including a position of the obstacle. The control means 13 is composed to carry out travel control while recognizing a present position of the body 1 in the object floor face by comparing the reference information from the data storing means 27 with information acquired from the measuring means by actually traveling.;COPYRIGHT: (C)2003,JPO