| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous running device capable of detecting an obstruction even when the device body of the autonomous running device moves along a wall without detection delay. SOLUTION: A controlling means 5 in the autonomous running device is designed to change, after transmitting ultrasonic waves by a transmitting means 4, a reference voltage for a period previously set that is set by a setting means 6 for a reference voltage. With this manner, the controlling means 5 changes, after transmitting ultrasonic waves by the transmitting means 4, the setting of the reference voltage for a period previously set that is set by the setting means 6 for a reference voltage, corresponding to the operation mode (an operation mode along a wall and the other operation mode) of the device body 1. Thus, even when the device body 1 moves along a wall, the obstruction by a wall can be detected without detection delay. COPYRIGHT: (C)2008,JPO&INPIT
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