| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-propelled type vacuum cleaner which can clean the top flat surface of a step even to the edge of the step at the getting-up port of a front door, or the getting down port of a staircase or the like. SOLUTION: This self-propelled type vacuum cleaner includes a cylindrical-shape main body, a pair of driving wheels, a cleaning means which is installed on the rear side in the advancing direction more than the driving wheels, and a controlling means which controls the driving wheels. The self-propelled type vacuum cleaner has first detecting means 100a and 100b which detect the step on a floor surface under the main body advancing state in front of the driving wheels 80 and 90, and second detecting means 100e and 100f which detect the step under the main body retracting state behind the driving wheels. When the step is detected by the detecting means under the advancing state, after making the vacuum cleaner retract by a specified distance, the vacuum cleaner is turned at approximately 180°, and is retracted until the step is detected by the second detecting means. Then, the vacuum cleaner is moved in the orthogonal direction to the advancing direction, i.e., into an S shape while being made to advance by a specified distance, and the edge of the step is cleaned by repeating the retracting motion and the S-shaped advancing motion. COPYRIGHT: (C)2009,JPO&INPIT
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