AUTONOMOUS TRAVEL ROBOT AND ITS TRAVEL CONTROL METHOD

摘要

PROBLEM TO BE SOLVED: To enable the robot to automatically pass through a narrow part while keeping an interval with a wall part in the case of traveling and reaching the narrow part by detecting the distance between the robot and wall body and controlling the travel of the robot according to the distance. SOLUTION: This robot has a front edge detecting means 1 which detects the robot entering the narrow part 5, distance detecting means 2 and 3 which detects the distance between the robot in its travel and the wall body, and a rear edge detecting means 4 which detects the robot having passed through the narrow part 5. Further, the robot is equipped with a control means which controls the travel of the robot according to the detection results from the respective detecting means. The robot detects the entry into the narrow part 5 by using the front and rear edge detecting means 1 and 4 at the time of entering the narrow part 5 and also determines operation for passing through the narrow part 5 by using the distance detecting means 2 and 3 and travels while passing through the narrow part 5. Then the front and rear edge detecting means 1 and 4 are used to detect the robot having passed through the narrow part 5.