| 摘要 |
A travel device for a self-propelled device, capable of detecting two kinds of collision conditions having different degrees of collision. The travel device (40) has two travel wheels (12) rotatably supported at a frame (21), a motor for rotating the two wheels (12), and two tape switches (24, 25) for detecting a collision of the frame (21)(body section) with an obstacle. When a first collision condition having a smaller degree of collision is detected by the tape switch (25), the travel device (40) acts to avoid the obstacle, and when a second collision condition having a greater degree of collision than the first collision condition is detected by the tape switch (24), the travel device (40) stops traveling.
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