To appropriately secure an obstacle-detection range and reduce the cost.
This is a self-propelled cleaner 100 which autonomously travels to clean a traveling surface. In addition, the cleaner is provided with a lower side bumper 11 which is provided on the front side of a body frame part 1 and has a contact part which contacts the inner surface of the front end surface part of a rotative cover part 22; a contact-type left obstacle detection sensor; and a contact-type right obstacle detection sensor, each of these sensors, detecting an obstacle by the contact of its left or right contact part due to the backward moving of the lower side bumper, based on the contact of at least either the rotative cover part or the lower side bumper with the obstacle. A CPU controls the drive of a traveling part 3 so as to change the traveling direction, based on the detection of the obstacle by the obstacle detection sensors.
Yoshio Arafune
Takashi Akazawa
Ryuji Inaba