| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous cleaning robot capable of appropriately detecting presence/absence of a cliff on a floor surface to prevent a fall when it encounters a cliff such as a step during its movement.SOLUTION: An autonomous cleaning robot includes: a chassis; a drive system which is mounted on the chassis and moves the autonomous cleaning robot; and a plurality of floor proximity sensors for detecting a cliff on a floor surface, each being held by the chassis. Each of the floor proximity sensors includes a beam emitting device for emitting a beam to the floor surface, a beam receiving device for receiving the reflection of the emitted beam from the floor surface, a holding part consisting of a front part and a rear part for holding the beam emitting device and the beam receiving device inside, and beam transmission lids attached to the holding part for covering the beam emitting device and the beam receiving device, each of the beam transmission lids having a surface angled for the floor surface so that the front edge part is positioned higher than the rear edge part with respect the floor surface. |
