| 摘要 |
PURPOSE:To improve the safety by arranging plural directive ultrasonic sensors on the front face of a travelling device body and subjecting reception outputs of these sensors to OR processing to discriminate whether an obstacle exists or not. CONSTITUTION:Pairs of ultrasonic sensors 41a-44b are arranged a prescribed length apart from each other on front, rear, right, and left face parts of a travelling device body 31. Each of these sensors 41a-44b is provided with a transmitting element 5 and a receiving element 6. A control circuit is provided with a microcomputer as a main control part and outputs a selection control signal to each transmission/reception selecting circuit at each time of the change of the advance direction of the travelling device body 31 to operate only the corresponding sensor and discriminates the presence or the absence of an obstacle in accordance with the output signal from an OR circuit. As the result, a sufficiently wide direction range is set with respect to the advance direction and the breadthwise direction of the body 31 to detect obstacles surely without omission.
|
