| 摘要 |
PROBLEM TO BE SOLVED: To calibrate a plurality of distance sensors in a short time without changing the direction of an autonomous traveling body. SOLUTION: The autonomous traveling body system is composed of: an approximately elliptic autonomous traveling body 1 provoded with a battery and a power receiving terminal 10a for charging the battery; a power feeding terminal 37a for charging which is in contact with the power receiving terminal of the autonomous traveling body; and a battery charger 31 for charging the battery by feeding power from the power feeding terminal. The battery charger is provided with: a side-wall body 36, in which a front portion is approximately semicircular; and recessed portions 35a and 36b, which positions driving wheels 3a and 3b so as to be away from the wall surface of the side-wall body just for a predetermined distance required for calibration. The autonomous traveling body 1 is provided with: a plurality of ultrasonic wave transmitting sections 5a-9a; a plurality of ultrasonic wave receiving sections 5b-9b; a first time counting means 53 for counting the time from the reflection, on the sidewall body, of ultrasonic pulses from the transmitting sections to the reception thereof in the ultrasonic wave receiving sections; and a first calibration means for calibrating the deviation between a distance x0 calculated based on time count information of said time counting means and a distance (x) being set. COPYRIGHT: (C)2007,JPO&INPIT
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