| 摘要 |
PROBLEM TO BE SOLVED: To provide an autonomous traveling device capable of obtaining satisfactory receiving sensitivity and improving erroneous detection caused by multiple reflection under conditions that there are walls at two faces with respect to the body. SOLUTION: The autonomous traveling device comprises a plurality of ultrasonic sensors 2 and 3, a transmitting means 4, an amplifying means 8 for amplifying received signals, a standard voltage setting means 6, a comparison means 7 for comparing standard voltage and the amplifying means 8, a clocking means 9 for clocking a progress time after transmitting the ultrasonic waves, a distance determining means 11 for perceiving the distance between the body 1 and obstacle by the output of the comparison means 7 and clocking means 9, and a control means 5 for controlling the transmitting means 4 and standard voltage setting means 6. The standard voltage setting means 6 changes the detection method of the obstacle with the standard voltage setting means 6 and distance-determining means 11, on the basis of an operating mode of the body 1 determined by the control means 5. Thus, transmission intensity and frequency, suitable for the operating mode of the body 1 can be obtained, and suitable receiving sensitivity can always be obtained. Erroneous detection of multiple reflected waves can be also prevented. COPYRIGHT: (C)2007,JPO&INPIT
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