| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-traveling electronic device that reliably detects whether the device can get over a step or should avoid the step with a simplified configuration.SOLUTION: A self-traveling electronic vehicle comprises drive wheels 22L and 22R displaced in a vertical direction in conformance with the raise and fall of a floor surface for traveling the device, drive wheel sensors 21R and 21L for sequentially detecting the displacement, a floor surface detection sensor 18 arranged in front of the drive wheels of the device for sequentially detecting the height from the floor surface in front, and a travel control part 11a for controlling travel of the device by comparing the detected height with a predetermined threshold and determining whether the device should avoid a step. The travel control part estimates whether a tilt is present in a front/rear direction of the device according to the displacement in the vertical direction of the drive wheels and changes the threshold according to the presence of the tilt.SELECTED DRAWING: Figure 1 |
