| 摘要 |
In a self-propelled cleaner 10 , after distance data from an ultrasonic ranging-sensor 31 is obtained, a judgment is made as to whether the distance data is below an approaching limit value. If the distance data is below the approaching limit value, travel of a body is stopped. If the distance data is not the approaching limit value, distance data from light ranging-sensors 32 R, 32 L are obtained. If distance data is below the approaching limit value, and the travel of the body is stopped, so that even if a target is a target which can not be subjected to precise ranging by the ultrasonic ranging-sensor only, it can be subjected to the precise ranging by using the light ranging-sensors. Thus it is possible to increase the number of targets capable of being subjected to the precise ranging and prevent the body from colliding against the obstacle.
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