| 摘要 |
<p>The invention relates to a mobile unit, such as a body of a cleaning apparatus, intended to be moved by running along guides such as walls or obstacles. …<??>It comprises, in combination: a chassis (1), means (2) for supporting the said chassis on the ground, at least one advance and steering element (3), drive means (10) for driving the advance and steering element in a predetermined direction in order to cause the advance of the mobile unit, orientation means (11) for pivoting the advance and steering element in one direction or the other about a substantially vertical axis (5), detection means (69, 104) mounted movably in translation, in a plane which is substantially horizontal relative to the said chassis, and intended to bear on the said guides, and control means (58, 63) for the said orientation means, arranged in order to pivot the advance and steering element in a first direction if there is a reaction which is smaller than a first predetermined threshold and is exerted on the detection means from the front of the movable unit relative to its general direction (F1), and in a second direction if there is a reaction of this type which is greater than the said first threshold. …<IMAGE>… </p> |
