To solve the following problem: dust is left in the vicinity of a wall by a space between a floor cleaner and the wall when a self-propelled vacuum cleaner measures distances to the circumferential walls and performs cleaning by movement based on the measurement.
The self-propelled vacuum cleaner includes: a propelling means for moving a main body 1; a steering means for changing the movement direction of the main body 1; a cleaning means for cleaning; distance measuring means 10, 11 for detecting the distances to the wall or an obstacle; and a movement control means for controlling the propelling means and the steering means to control the movement of the main body 1. The movement control means includes a wall side movement means for moving the main body 1 by a prescribed distance apart from the wall or the obstacle on the basis of the outputs of the distance measuring means 10, 11. A part of the floor cleaner 12 constituting the cleaning means is protruded sidewise on both left and right sides or on one side from the main body 1. A roller 31 which is freely rotatable in a substantially horizontal direction is protruded sidewise from the floor cleaner in the circumferential edge part. Thus, the vacuum cleaner can collect dust in the vicinity of the wall.
YABUUCHI HIDETAKA
YASUNO MIKI
HAJI MASAYO
Tomoyasu Sakaguchi
Hiroki Naito