| 摘要 |
PROBLEM TO BE SOLVED: To detect obstacles in all directions by using a simplified structure in a mobile robot driven by a travelling gear provided on a platform 3. SOLUTION: In this mobile cleaning robot 1, a pressure cylinder 2 is supported on the platform 3 through an X-axis table mechanism 5 and a Y-axis table mechanism 4. Springs 54, 44 elastically repulsive to displacement in the X- and Y-directions and potentiometers 50, 40 for detecting displacement in the X- and Y-directions are linked to the mechanisms 5 and 4. The travelling direction of the robot 1 is controlled according to signals detected by the potentiometers 50, 40.
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