| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-propelled cleaner capable of avoiding a level difference together with a peripheral obstacle without using an additional sensor. SOLUTION: In this self-propelled cleaner, a main body is disposed with an automatically-focusing ranging sensor aslant downward to a floor face around the main body from an upper portion. Output of the automatically-focusing ranging sensor accords with ranging output in the case that previously disposed on a flat place when the obstacle or the level difference is assent, the ranging output of a shorter distance than output of the flat place can be obtained when the obstacle is present, and the ranging output of a longer distance than the output of the flat place can be obtained when a recessed level difference is present. Accordingly, a control circuit obtains the detection output of the automatically-focusing ranging sensor to detect the level difference and the peripheral obstacle, and can control a drive mechanism. COPYRIGHT: (C)2006,JPO&NCIPI
|
