SELF-SUSTAINING TRAVEL DEVICE

摘要

PROBLEM TO BE SOLVED: To make a determination that a round has been made along a wall of a room when travel is performed for a prescribed time after detection of a reference direction in a case of the travel along the wall by using a direction detecting means used for the travel. SOLUTION: A self-sustaining travel device turns a main body so as to travel along the wall, when the wall of the room is detected by a distance sensor 2-1 provided ahead of the main body; an output standard of the direction detecting means 5 is established in such a manner that a present traveling direction is taken as the reference direction, when outputs of laterally provided distances sensors (2-2, 2-3 and 2-4) are approximately consistent with one another; and after that, the determination that a round has been made along the wall inside the room is made when the travel is performed for the prescribed time in a state of the detection as the reference direction by the means 5, in order to provide the self-sustaining travel device which dispenses with a special detection means for making a round along the wall of the room.