Moving apparatus for efficiently moving on floor with obstacle

  • US 6,574,536 B1
  • Filed: 01/27/1997
  • Issued: 06/03/2003
  • Est. Priority Date: 01/29/1996
  • Status: Expired due to Fees
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First Claim
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1. A moving apparatus for moving on a floor, covering an entire accessible surface of said floor, comprising:

  • running control means for controlling the moving apparatus to run along running lanes in a zigzag fashion by repeatedly carrying out control including the steps of;

    detecting presence of an obstacle while running in a Y direction, storing a Y coordinate of said detected obstacle, and upon detection of said obstacle, stopping running in said Y direction, moving by a prescribed pitch in an X direction perpendicular to said Y direction, and thereafter running in a direction opposite to said Y direction; and

    recognizing means for recognizing, when the moving apparatus travels in a current running lane in the Y direction beyond the previously stored Y coordinate of the obstacle, presence of a remaining running region between the current running lane and said obstacle and not yet covered by the moving apparatus.

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