| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a self-propelled cleaner capable of cleaning while running along the wall by securely detecting an obstacle and stably avoiding the obstacle. Ž<P>SOLUTION: The self-propelled cleaner includes: propelling means 2 and 3 for moving a cleaner body; cleaning means 4, 5 and 6 for cleaning: a bumper 11 for detecting the contact with the obstacle; and a high-frequency processing part 13 including an oscillation circuit 30 having a resonance coil 8 attached within the cleaner body 1 and a frequency detecting circuit 31 for detecting the change of the oscillation frequency. The propelling means are controlled based on detection signals of the frequency detecting circuit 31 and the bumper 11, and the cleaning means are controlled to suck dust and clean. When the obstacle is avoided based on the detection signals of the bumper 11 and the frequency detecting circuit 31, the cleaner body 1 is controlled to make sharp turns and detour around the obstacle detected in the front. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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