| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-traveling cleaner which detects positions and shapes of a surrounding wall and an obstacle by a cheap method, and reduces a non-cleaned region. SOLUTION: The self-traveling cleaner 1 is equipped with a sucking port 3 which can be displaced in the lateral direction and a body 2 to which this sucking port is connected. Belt-like contact sensors 12a, 12b are disposed on the side faces of the sucking port and the body. The contact sensor is the one in which many contact points are dispersed and arranged. COPYRIGHT: (C)2004,JPO
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