| 摘要 |
PURPOSE:To make a control circuit simple and cheap and to attain a given cleaning rate by controlling right and left traveling motor, individually in accor dance with signals transmitted from a right obstacle sensor in the right front part and a left obstacle sensor in the left obstacle sensor through a computing element. CONSTITUTION:During straightforward running of a self-traveling vacuum clean er 2 in which a blower motor 5 and first and second traveling motors 13, 14 are rotated for cleaning operation under self-traveling, when a right obstacle sensor 16 in the right front part makes contact with a wall surface and to forth so as to detect an obstacle, a computing element 28 reverses both traveling motors 13, 14 so as to move back the vacuum cleaner 2 for a predetermined time, and thereafter, the reverse rotation of the motors are released. Thereafter, the direction of the self-traveling vacuum cleaner 2 is turned to the left (counter clockwise direction), and then, the straightforward self-traveling and cleaning mode is retrieved. During cleaning under self-traveling, if a left obstacle sensor 17 makes contact with an obstacle so as to sense the same, the computing element 28 controls similarly so as to turn the traveling direction of the self- traveling vacuum cleaner 2 to the right (clockwise direction). |
