| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-propelled cleaner capable of restarting cleaning traveling without being in contact with an obstacle even immediately after a sudden collision during the cleaning traveling. SOLUTION: When an object collides with a main body 1 during the cleaning traveling, an acceleration sensor 11 obtains acceleration information corresponding to the movement of the main body 1 by the collision differently from the time of normal cleaning traveling. The information is inputted to a control part 10 and the control part 10 detects that the main body 1 has collided with the object on the basis of the information. At the time of detecting the collision, the control part 10 controls a driving motor 8 and rotates the main body 1 once on the spot. At the time, a non-contact type sensor 12 detects surrounding conditions and supplies the detection information to the control part 10. When a new obstacle is present according to the detection information, the control part 10 reflects the obstacle on mapping data stored in a memory 13 and corrects a traveling route so as to evade the obstacle. COPYRIGHT: (C)2005,JPO&NCIPI
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