| 摘要 |
PURPOSE:To provide the cleaning robot which is enabled to remove dust left along a wall surface and an obstacle and determines its stable travel path at all times irrelevantly to the materials, shapes, etc., of the wall surface and obstacle. CONSTITUTION:This cleaning robot is equipped with a driving wheel 2 equipped with a steering function which determines the travel path of a main robot body 1 wherein a vacuum cleaner is stored, a cleaning unit 4 which is provided slidably out of the main robot body 1, a contact roller 7 which is provided at the slide-directional tip part of the cleaning unit 4, and a contact pressure detection part which detects a force component applied to the contact roller 7. Further, the robot is equipped with a travel control part which controls the steering quantity of the driving wheel 2 and the sliding quantity of the cleaning unit 4 according to the force component detected by the contact pressure detection part by bringing the contact roller 7 into contact with the wall surface or obstacle. |
