| 摘要 |
PROBLEM TO BE SOLVED: To provide a self-propelled working robot capable of detecting precisely various obstacles. SOLUTION: The present invention relates to a self-propelled working robot provided with the first distance sensor 4a for measuring a distance up to the obstacle W in a front side, and the second distance sensor 4b(4c) for measuring a distance up to the obstacle W in a diagonally front side. The working robot is provided with the first determining means for determining approach of the obstacle W by comparing the first measured distance Dc up to the obstacle measured by the first distance sensor 4a with the predetermined first threshold value, the second determining means for determining the approach of the obstacle by comparing the second measured distance Dr(D1) up to the obstacle W measured by the second distance sensor 4b(4c) with the predetermined second threshold value, and a changing means for changing the first or the second threshold value, based on information as to an inclination angle of the obstacle W obtained from the first and the second distance. COPYRIGHT: (C)2006,JPO&NCIPI
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