| 摘要 |
PURPOSE:To surely clean the parts set along the walls or the obstacles by securing a constitution where a brush attached to the tip of an arm positioned at the lower side of a main body case receives the control function moving toward the outside of the case and gets close to the walls or the obstacles. CONSTITUTION:A brush cleaning means 8 consists of a brush 8a which is attached to the tip of an arm 8b at the front of a sucking port of a cleaner, the arm 8b, and a pair of motors 8c and 8d. An arm control part 12 gives a position control command to a motor driver 13 based on the distance information given from a short distance measuring part 11 so as to secure a constant distance between the means 8 and a front or side wall or obstacle. The driver 13 gives the commands to the motor 8c to slide the arm 8b toward an allow A and to the motor 84 to turn the arm 8b toward an arrow B respectively in order to control the position of the arm 8b. Furthermore the part 12 outputs the present distances between a cleaning robot and the walls or the obstacles to a robot control part 14 included in a main body case.
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