| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem in which, in the case where a type of a floor surface changes, a force of a rotary brush scratching the floor surface and the like may greatly vary, and a travelling direction of a self-propelled vacuum cleaner greatly varies temporarily, so that there is a risk of generating great deviation from a scheduled route.SOLUTION: A self-propelled vacuum cleaner includes: a body having a pair of driving wheels; driving wheel driving means for driving the pair of driving wheels individually; a rotary brush provided at a bottom surface of the body; an azimuth detection sensor for detecting the direction of the body; floor surface detection means for detecting a friction resistance value of the floor surface with which the rotary brush comes into contact; and a control unit for controlling individual rotational frequency of the driving wheels with respect to the driving wheel driving means. The control unit performs control based on the detection value of the azimuth detection sensor, and performs control of the driving wheel driving means on the basis of the friction resistance value of the floor surface detected by the floor surface detection means. Thus, even in a situation where a type of the floor surface changes, the rotational frequency of the driving wheels is controlled individually, and deviation from the scheduled route can be suppressed. |
