| 摘要 |
PROBLEM TO BE SOLVED: To enable a self-propelled apparatus to automatically travel in an intended direction during automatic traveling in the home or the like. SOLUTION: The self-propelled apparatus is provided with a traveling means 2 for traveling forward or backward, a traveling control means 3 for controlling the traveling means 2 to travel in a predetermined direction which is determined by a wall as a reference, a gyro 4 for detecting angular velocities of direction rotation, a gyro reference value storage means 5 for storing the reference value of the gyro 4, and an angle computing means 6 for computing the angle from the angular velocities in conformity with the individual characteristics of the gyro 4. Consequently, the self-propelled apparatus can automatically travel in the intended direction during automatic traveling. COPYRIGHT: (C)2003,JPO
|
