| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem that precision is deteriorated in detection owing to dirty on an adhered light reflector and a marker, though the light reflector, the marker, and a magnetic tape, etc., have to be adhered onto each step concerning a conventional self-travelling apparatus. SOLUTION: The self travelling apparatus includes: a control means 6; a travelling means 2a for allowing a main body to travel and move; a first step detecting means 4a for detecting a step by distance to a front lower part or an oblique front lower part; and a second step detecting means 4b for detecting the step by distance to a rear lower part or an oblique rear lower part. The control means 6 decides an action to evade the step in response to detection contents in the first or the second step detecting means, and controls travelling. The self-travelling apparatus with a simple configuration travels by automatically evading the step without allowing a user to adhere the light reflector or the marker, etc. COPYRIGHT: (C)2003,JPO
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