| 摘要 |
<P>PROBLEM TO BE SOLVED: To enable autonomous travel automatically changing a route when an obstacle is detected in a travel route. <P>SOLUTION: In this patrol robot 1, by indication of a travel management means 1d, a route generating means 1c generates patrol route information up to the next target designation point from a present point, and an autonomous travel control means 1e autonomously travels on a patrol route based on the patrol router information. When stopping by detecting a nonpassible router in the middle of travel, the travel management means 1d sets a stopped position as the present point, and makes a route regenerating means 1c regenerate the patrol route by removing the nonpassible route from a travel possible route. Indication is given to the autonomous travel control means 1e, to travel on a changed patrol route. When reaching the target designation point, the designation point is patrolled by autonomously travelling while making the patrol route with this point as the present point. <P>COPYRIGHT: (C)2009,JPO&INPIT |
