A robot cleaner (1) includes a main body (10), a light transmitting unit (21), an image sensor (220), a base (23), a rotation drive unit (40), a tilting unit (50), and a tilting drive unit (80). The light transmitting unit (21) emits light. The light emitted from the light transmitting unit (21) and reflected or scattered is formed on the image sensor (220). The base (23) supports the light transmitting unit (21) and the image sensor (220) and is rotatably disposed in the main body (10). The rotation drive unit (40) rotates the base (23). The tilting unit (50) tilts the light transmitting unit (21) and the image sensor (220).