SELF-PROPELLED CLEANER

PROBLEM TO BE SOLVED: To avoid a malfunction of a floor surface detection sensor.SOLUTION: Provided is a self-propelled cleaner, comprising: a body; electrically-driven drive wheels supporting the body and traveling on a floor surface; an electrically-driven cleaning device mounted on the body and sucking dust on the floor surface; a floor surface detection sensor projecting light from the body to the floor surface to distinguish and detect the floor surface and a step by returned projected light; a wheel-straying detection sensor for detecting a wheel-straying of the drive wheel from the floor surface; and a controller for controlling the drive wheels and the cleaning device based on the output of the floor surface detection sensor and the wheel-straying detection sensor. The controller executes the following steps: a first step of, when the floor detection sensor detects a step continuously for a predetermined period of time or more during move of the body, autorotating the body in situ; and a second step of detecting, by the wheel-straying detection sensor during the autorotation of the body, whether or not the drive wheel is straying, and if the drive wheel is not straying, controlling the escape of the body.SELECTED DRAWING: Figure 13 【課題】床面検知センサの誤作動を回避する。【解決手段】筐体と、筐体を支持して床面を走行する電動式の駆動輪と、筐体に搭載されて床面の塵埃を吸引する電動式の掃除機器と、筐体から床面に光を投射してその反射光によって床面と段差とを識別して検知する床面検知センサと、前記駆動輪の床面からの脱輪を検知する脱輪検知センサと、前記床面検知センサと脱輪検知センサの出力に基づいて、前記駆動輪と掃除機器を制御する制御部とを備え、前記制御部は、筐体の移動中に床面検知センサが所定時間以上連続で段差を検知した時、筐体をその場で自転させる第１工程と、前記筐体の自転中に前記脱輪検知センサによって脱輪の有無を検知し、脱輪がない場合には筐体の脱出制御を行う第２工程を実行することを特徴とする自走式掃除機。【選択図】図１３