| 摘要 |
PROBLEM TO BE SOLVED: To efficiently and surely guide a self-propelled device to a charging device through a further simple and inexpensive structure in a self-propelled device guide system including the self-propelled device and the charging device to which the self-propelled device is guided. SOLUTION: The charging device 2 includes a light emitting part 22 which alternately emits two or more kinds of light signals M differed in light receiving distance, and a security robot (self-propelled device) includes a light receiving sensor 452 which receives the light signal M emitted from the light emitting part 22, a CPU which executes a discrimination program for discriminating the kind of the received light signal M, a CPU which executes a rotation control program for rotating the security robot so that the advancing direction of the security robot is turned to the incoming direction of the light signal M at a rotating speed according to the discriminated kind of the light signal M, and a CPU which executes a linear traveling control program for linearly traveling the security robot in the incoming direction of the light signal M at a traveling speed according to the discriminated kind of the light signal M. COPYRIGHT: (C)2008,JPO&INPIT
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