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Self-propelled cleaner

  • US 20060074528A1
  • Filed: 09/19/2005
  • Published: 04/06/2006
  • Est. Priority Date: 09/29/2004
  • Status: Abandoned Application
First Claim
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1. A self-propelled cleaner comprising a body that includes a cleaner mechanism, a drive mechanism responsible for steering and driving, an angular velocity sensor, an angle detector that detects an azimuth, in which the body is oriented, by integrating a sensor output value detected by the angular velocity sensor, and a plurality of ultrasonic sensors that measures the distance to a wall located in the direction of movement in which the body is moved, wherein:

  • every time the wall enters a range of distance measurement within which the ultrasonic sensors measure distances, every time a certain time elapses, or every time a user enters an instruction, control of a driving force which the drive mechanism exerts according to the azimuth detected by the angle detector is invalidated based on the distances to the wall measured by at least two ultrasonic sensors;

    the drive mechanism is controlled based on the distances to the wall measured by at least two ultrasonic sensors so that the self-propelled cleaner will travel toward the wall and the direction of movement of the body will be perpendicular to the wall;

    when the direction of movement of the body becomes perpendicular to the wall, the body is halted, and the total value of a sensor output value integrated by the angle detector is reset; and

    control of the driving force which the drive mechanism exerts according to the azimuth detected by the angle detector is then validated.

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