| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-propelled cleaner capable of detecting the draw-in of a carpet or the like. SOLUTION: A microphone 20 is installed at a prescribed position in a dust carrying pipe 6. The output signals of the microphone 20, that are the voltage signals of an amplitude corresponding to a sampled sound volume inside the dust carrying pipe 6, are inputted to a control part 10. The control part 10 compares an amplitude to be the reference of clogging stored beforehand with the amplitude of the electric signals and detects the clogging state of a nozzle 4 and the dust carrying pipe 6. In the meantime, information from an acceleration sensor 21 is inputted to the control part 10, and at the time of detecting the clogging state and detecting that a main body 1 is decelerated, the occurrence of the draw-in of the carpet or the like on a floor surface is judged. Then, at the time of detecting the draw-in, the control part 10 stops the main body 1 through a travel control part 11 and a cleaning control part 12 and issues an alarm through a display part 15 and a voice generation part 16. COPYRIGHT: (C)2005,JPO&NCIPI
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