| 摘要 |
PROBLEM TO BE SOLVED: To provide a technique for determining whether or not a cause of the occurrence of abnormality of an output value of a distance measurement sensor is a failure of the distance measurement sensor.SOLUTION: A service robot 1 includes : a robot body 2; and an intermediate distance measuring sensor 4 and a right distance measuring sensor 3 mounted to the robot body 2 so as to detect different regions of a floor surface G. The service robot 1 moves while detecting the floor surface G using the intermediate distance measuring sensor 4 and the right distance measuring sensor 3. The service robot 1 further includes an abnormality cause determination section. The abnormality cause determination section turns the robot body 2 so as to allow the right distance measuring sensor 3 to be able to detect an intermediate region 24 when abnormality of an output value of the right distance measuring sensor 3 occurs even though an output value of the intermediate distance measuring sensor 4 is normal and determines that the right distance measuring sensor 3 has a failure when the output value of the right distance measuring sensor 3 is abnormal subsequent to a turn thereof. |
