The present invention reciprocates by the first and second movable bodies of the first unit, the second unit transmits driving force to the movement of the first and second movable bodies and the rotation of the first brush of the third unit, and the third unit is the rotating second unit. The second brush, which interlocks and reciprocates with the first and second moving bodies together with the first brush, removes foreign substances from the target surface, and the fourth unit determines the type of foreign substances stacked on the target surface from the structure that controls the operation of the second unit. The present invention relates to a foreign material stacking prevention device having an output control function according to foreign material detection, which minimizes unnecessary power consumption and promotes efficient energy management by adjusting the output amount of a drive transmission system according to the amount.
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