| 摘要 |
PROBLEM TO BE SOLVED: To effectively detect an obstacle by using a rake-up means. SOLUTION: A rotary brush 40 for raking up dust on a floor surface to the cleaner body 2 side is mounted lower on the left side of the body 2 of the self-propelled cleaner 1. The rotary brush 40 is oscillatable between a first posture with a brush holder member 41 overhanging from the body 2 and a second posture with the brush holder member 41 stored under the body 2, and has a displacement detection means for detecting the displacement of the rotary brush 40. Even if obstacle detection sensors 352-358 are mounted for detecting an obstacle on the front side in the direction of progress of the body 2, a vertically slender object, or the like, may not be detected. However, if an object such as the above collides with the rotary brush 40, the rotary brush 40 is displaced, and the displacement can be detected by the displacement detection means. COPYRIGHT: (C)2006,JPO&NCIPI
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