| 摘要 |
PROBLEM TO BE SOLVED: To provide a movable robot cleaner cleaning a floor surface having arbitrary size and shape, which detects an escape method from an obstacle, and stops its movement in a case where it is determined to be a situation of being incapable of escaping.SOLUTION: A movable robot cleaner includes: movement means for moving a robot 10 on a floor surface; collision sensors 12, 13 detecting an obstacle to which the movable robot cleaner may contact or get close during movement; a cliff sensor 14 detecting a cliff; and a controller controlling the movement means on the basis of output signals from the collision sensors and cliff sensor. When the cliff sensor detects a cliff beyond a predetermined time, the controller stops movement of the robot moved by the movement means. |
