| 摘要 |
PURPOSE:To surely detect the obstacles within a traveling area of an autonomous traveling vehicle and to evade these obstacles by providing an ultrasonic wave transmitting/receiving device which can detect obstacles with no contact to the traveling vehicle together with an obstacle detector which detects obstacles with contacts to them. CONSTITUTION:An obstacle detector 23 is set at a prescribed outer fringe part of a vehicle body 2 to specify the coordinates of a detected obstacle. Thus the detector 23 can surely detect such obstacles including a wall titled against the transmitting/receiving directions of ultrasonic waves, etc., a cylindrical matter having a minute diameter or a square matter that diffuses the reflected waves of the ultrasonic waves, etc., a curtain which absorbs and diffuses the ultrasonic waves, etc., that could not be detected by an ultrasonic wave transmitting/receiving device 21. Thus the vehicle can travel autonomously within a room in evading obstacles. The detector 23 contains a contact 23a made of a coil spring of a minute diameter, etc., and a metallic supporter piece 23b.
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