| 摘要 |
PROBLEM TO BE SOLVED: To provide a vacuum cleaner capable of detecting in a wide range, an obstacle that has come in contact with a bumper, with simple configuration.SOLUTION: Link mechanisms 16, 16 connect a bumper 15 to a case body 14 so as to be relatively movable in a horizontal direction. A coil spring 55 energizes the bumper 15 in a direction to be separated from the case body 14 at a position between the link mechanisms 16, 16. Obstacle sensors 74, 74 are respectively arranged in the case body 14 at positions opposing to the bumper 15. The obstacle sensors 74, 74 detect an obstacle by detecting a movement in at least one of the opposite direction of an energization direction of the coil spring 55 by the contact of the bumper 15 with the obstacle and a direction crossing with the opposite direction. Control means causes a body case to autonomously travel by controlling the drive of driving wheels on the basis of the detection of the obstacle by the obstacle sensors 74. |
