A cleaning head for carpets, walls or upholstery, including a rigid, exterior, open-bottomed main body which defines the surface subjected to the cleaning process. A re-tracking part receives correction of the position of the region of interest in a second time phase, and obtains the position of the corrected region of interest in and after the second time phase based on the image data acquired in and after the second time phase. The cavity is milled into one or more of the layers to receive the electronic circuitry. This has the advantage, inter alia, that a nearly symmetrical behavior is achieved for the uplink and downlink. The fan further has blades surrounding the rotary axle. A toner for developing electrostatic image is used which comprises colored resin particles containing a binder resin, a colorant, and a parting agent, wherein the parting agent is an aliphatic hydrocarbon polymer obtained by polymerizing an aliphatic hydrocarbon monomer.