Patent ID: 7660650

Claim:
A self-propelled working robot comprising: a traveling assembly having a wheel rotating on a floor surface; a working assembly for doing work on the floor surface, wherein the working assembly is attached to the traveling assembly so that the working assembly is movable in a left-right direction with respect to the traveling assembly; a moving mechanism for moving the working assembly with respect to the traveling assembly so as to change a positional relationship between the traveling assembly and the working assembly; a first contact sensor provided in the working assembly for detecting a contact of the obstacle with a front surface of the working assembly; a second contact sensor provided in the working assembly for detecting a contact of the obstacle with a side surface of the working assembly; and means for controlling a travel of the traveling assembly, for controlling the moving mechanism to move the working assembly left and right at a first retraction speed based on a detection signal from the first contact sensor, and for controlling the moving mechanism to move the working assembly left and right at a second retraction speed, being lower than the first retraction speed, based on a detection signal from the second contact sensor.