| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous traveling device for detecting any obstacle even when a device main body moves along a wall, and for preventing the detection from being delayed. SOLUTION: This autonomous traveling device is provided with transmission side and reception side ultrasonic sensors 2a, 2b and 3a, 3b and 3c; a transmission means 4; an amplification means 8; a reference voltage setting means 6; a comparison means 7; a time measurement means 9 for measuring an elapsed time after the transmission of the ultrasonic wave; a distance determination means 11 for recognizing a distance to an obstacle from the outputs of the comparison means 7 and the time measurement means 9; and a control means 5 for controlling the transmission means and the reference voltage setting means. The control means 5 invalidates the output of the amplification means 8 in a preliminarily set period after the ultrasonic wave is transmitted by the transmission means 4. Thus, the control means 5 invalidates the output of the amplification means 8 according to the operation mode of the device main body. Thus, it is possible to detect an obstacle beside a wall even when the device main body moves along the wall, and to prevent the detection from being delayed. COPYRIGHT: (C)2008,JPO&INPIT
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