JP2002360478A - Self-sustaining travel device - Google Patents

Abstract

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.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-contained traveling apparatus that controls traveling by itself while measuring the distance of an obstacle.

[0002]

2. Description of the Related Art Conventionally, a self-contained traveling apparatus has a traveling means for moving a main body, a direction detecting means for detecting a direction of the main body, a distance sensor for measuring a distance to an obstacle around the main body, and the direction detecting means. And control means for controlling the traveling means from the distance sensor, an electric blower for sucking dust on the floor, and a battery serving as a power supply for supplying power to the entire main body, and initially along a wall. After traveling, the vehicle travels inside according to the direction detecting means. In order to know the predetermined position, it is common to attach a detection object such as a reflector, a marker, a magnet that emits magnetism, or an antenna that emits radio waves to the wall of the room and detect it with detection means provided on the main body. there were.

[0003]

However, when a reflective plate, a marker, or the like is attached, there is a problem that it has to be attached to each room or that the detection accuracy is reduced due to contamination over time. In addition, complicated processing is required to accurately detect the position of the main body itself in the traveling direction and the traveling distance.

An object of the present invention is to solve the above-mentioned conventional problems, and an object of the present invention is to provide a self-sustained traveling apparatus capable of accurately detecting the position of the main body itself at low cost.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a traveling means for moving a main body, a direction detecting means for detecting a traveling direction of the main body, and front and side parts of the main body. A distance sensor for measuring a distance between the main body and an obstacle around the main body, a traveling control means for controlling traveling means in accordance with outputs of the direction detecting means and the distance sensor, and a power supply for supplying power to the main body With a battery that is
When the wall of the room is detected by the distance sensor provided in front of the main body, the main body is rotated and travels along the wall, and the current progress is made at the timing when the outputs of the plurality of distance sensors provided on the side substantially match. The output reference of the direction detecting means is determined with the direction as the reference direction, and thereafter, when the direction detecting means detects the reference direction, when the vehicle travels for a predetermined time, it is determined that the vehicle has made one round along the wall in the room. It is possible to provide a self-supporting traveling device that does not require special detection means for making a round around the wall.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS According to the first aspect of the present invention, a traveling means for moving a main body, a direction detecting means for detecting a traveling direction of the main body, and a main body provided in front and side of the main body. And a distance sensor that measures a distance to an obstacle around the main body, and a traveling control unit that controls a traveling unit in accordance with an output of the direction detection unit and the distance sensor.
A battery that is a power supply that supplies power to the main body is provided.When a wall of the room is detected by a distance sensor provided in front of the main body, the main body is rotated to travel along the wall, and a plurality of distances provided on the side. At the timing when the outputs of the sensors substantially match, the output reference of the direction detecting means is determined with the current traveling direction as the reference direction, and thereafter, in a state where the direction detecting means detects the reference direction,
When the vehicle travels for a predetermined time, it is determined that the vehicle has made a round along the wall in the room. Therefore, it is possible to provide a self-supporting traveling device that does not require special detection means for making a round around the wall of the room.

According to the invention of claim 2 of the present invention, after it is determined that the inside of the room has made a round along the wall, the vehicle travels in the room in a predetermined direction according to the output of the direction detecting means, and the distance provided in front of the room. When an obstacle is detected by the sensor, the body is turned over and the second
Traveling in the direction of, and, when an obstacle is detected by a distance sensor provided in front, the main body is inverted, and travels while reciprocating in a predetermined direction and a second direction, and travels throughout the room, An independent traveling device capable of cleaning can be provided.

According to the invention of claim 3 of the present invention, the vehicle travels in a predetermined direction in the room in accordance with the output of the direction detecting means, and when an obstacle is detected by a distance sensor provided in front of the room, the main body is inverted. After the operation of traveling in a predetermined direction and the second direction so as to reverse the main body when the wall is detected by the distance sensor provided in front, and along the wall of the room again, After traveling and judging that the inside of the room has made a round along the wall, it moves toward the inside of the room and stops the load etc.It does not stop near the door and obstructs the opening and closing of the door. There can be provided no self-supporting traveling device.

According to the fourth aspect of the present invention, a distance sensor for measuring a distance between the main body and an obstacle around the main body is also provided above the main body, and the distance sensor is used to move inward into the room. When an obstacle is detected upward by the distance sensor, the vehicle travels to a position where no obstacle is detected upward by the distance sensor to stop a load or the like. It is possible to provide a self-supporting traveling device that does not end up.

According to the invention of claim 5 of the present invention, when moving toward the inside of the room to stop a load or the like, the traveling means rotates 360 ° on the spot, and the main body is rotated during the rotation. Providing a self-sustaining traveling device that detects if there is no obstacle around it with a distance sensor provided around it and stops if there is no obstacle, does not stop near the door and does not hinder opening and closing of the door can do.

According to the sixth aspect of the present invention, when traveling along a wall of a room controlled by the output of the distance sensor provided at the side, the output of the distance sensor provided at the front is calculated. When the distance to the wall is smaller than the first predetermined value, the traveling speed of the main body is reduced, and when the distance to the wall calculated by the output of the distance sensor becomes smaller than a second predetermined value smaller than the first predetermined value. It is a traveling control that rotates the main body,
It is possible to provide a self-supporting traveling device that can smoothly rotate without hitting the inside of a corner against a wall.

According to the invention of claim 7 of the present invention, the traveling means comprises left and right driving wheels and a driving motor, each of which can be controlled in a forward or reverse direction. When traveling in the direction of, when the distance to the wall calculated by the output of the distance sensor provided in front is smaller than the first predetermined value, the traveling speed of the main body is reduced, and the wall calculated by the output of the distance sensor is When the distance is smaller than a second predetermined value smaller than the first predetermined value, the right driving wheel of the traveling means is controlled to rotate forward, the left driving wheel is controlled to reverse rotation, and after turning about 90 °,
The right driving wheel is controlled to rotate forward and the left driving wheel is controlled to rotate forward, and about 9 more
After turning 0 °, the vehicle is controlled to run in the direction opposite to the predetermined direction by about 180 °. The turn can be made with a minimum rotation, and the next running can be performed next to the width that has just been run. It is possible to provide a self-contained traveling device that can perform the operation.

According to the eighth aspect of the present invention, the traveling is controlled by the output of the distance sensor provided on the side, and the traveling speed when traveling along the wall of the room and the inside of the room according to the direction detecting means. With the traveling speed when traveling in the predetermined direction,
It controls travel by setting the traveling speed slower when traveling along the wall, reducing the frequency of collision with the wall, reducing the damage to the wall, etc., and slowly moving the entire wall where dust is accumulated It is possible to provide a self-supporting traveling device that thoroughly cleans.

According to the ninth aspect of the present invention, the vehicle travels in a direction approximately 180 ° opposite to the predetermined direction, and the distance between the vehicle and the wall calculated by the output of the distance sensor provided in front of the vehicle is the first predetermined distance. When the distance is smaller than the predetermined value, the traveling speed of the main body is reduced, and when the distance to the wall calculated by the output of the distance sensor is smaller than a second predetermined value smaller than the first predetermined value, the right driving wheel of the traveling unit is reversed. When the left driving wheel is controlled to rotate forward and rotates about 90 °, if an obstacle is detected by the distance sensor provided on the right side, it is determined to be a wall of the room, and the vehicle runs inside the room according to the direction detecting means. It is possible to provide a self-sustained traveling device that completes the operation, travels all over the room, and completes the operation.

According to a tenth aspect of the present invention, there is provided a battery capacity detecting means for detecting a capacity of a battery serving as a power supply of the main body, and when the capacity of the battery is reduced, an electric motor for sucking dust on the floor surface is provided. By stopping the blower, traveling along the wall, traveling to a predetermined position, and stopping, it is possible to provide a self-supporting traveling device that does not stop the main body at an unexpected location and does not interfere with the main body.

According to the eleventh aspect of the present invention, when the vehicle starts running and detects an obstacle with a distance sensor provided in front of the vehicle, the main body is rotated by 360 °, and the front wall is moved by the distance sensor. By detecting, the output of the distance sensor provided around the main body is judged and self-diagnosed for abnormalities.
It can also be understood that the distance sensor is out of order, and it is possible to provide a self-sustained traveling device in which the traveling is not started if the distance sensor is abnormal and safety is improved.

[0017]

(Embodiment 1) Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.

1 is a main body, 3 is a right drive motor of a traveling means for moving the main body 1, 4 is a left drive motor, 5 is a direction detecting means for detecting the direction of the main body 1, and 2 is a direction detecting means of the main body 1. It is a distance sensor that measures the distance to surrounding obstacles.
Reference numeral 6 denotes a traveling control unit which is provided with a right driving motor 3 and a left driving motor 4 of the traveling unit based on the direction detecting unit 5 and the distance sensor 2.
Is performed. Reference numeral 7 denotes an electric blower for sucking dust on the floor, and reference numeral 8 denotes a battery serving as a power supply for supplying power to the entire main body.

The running operation will now be described with reference to FIG.

The running starts at point A. At a point B, when an obstacle is detected by the distance sensor 2-1 provided in the front, the main body 1 is rotated so as to rotate, and the obstacles are detected by the distance sensors 2-2 and 2-3 provided on the side. While traveling along, the time when the outputs of the distance sensors 2-2 and 2-3 are almost the same is determined to be the time when the parallelism is obtained. If the parallelism with the wall surface is obtained at the point C, the direction at this time is determined as the reference direction of the direction detecting means 5. The direction to be determined as shown in FIG. 3 is referred to as a reference direction “0”, and a direction “1”, a direction “2”, and a direction “3” every 90 ° clockwise. Thereafter, while traveling along the wall, after the direction detecting means 5 detects the reference direction "0", it is determined that the vehicle has made one round of the wall of the room when traveling for a predetermined time T from the point G to the point H. . If there is an obstacle indicated by oblique lines, the reference direction may be “0” even at the point G ′, but since there is no traveling for a predetermined time T, one round is not detected. There is an effect that no special detection means for making a round around the wall of the room is required.

Further, it has a battery capacity detecting means 9 for detecting the capacity of the battery 8 serving as a power source of the main body 1, and when the capacity of the battery 8 decreases, the electric blower 7 for sucking dust on the floor is stopped. The vehicle travels along a wall, travels to a predetermined position, and stops. It is possible to provide a self-supporting traveling device that does not stop the main body in an unexpected place and does not interfere with the main body.

(Embodiment 2) Next, a second embodiment of the present invention will be described with reference to FIGS. The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. At first, after traveling along the wall and judging that it has made a round around the wall of the room, the operation of traveling in the room while reciprocating in the predetermined direction and the opposite direction by the direction detecting means 5 is performed. Dust in the corner of the room is removed by traveling along the wall, and travels inside the room according to the direction detecting means 5. By sucking the dust, it is possible to travel all over the room and clean the room.

(Embodiment 3) Next, a third embodiment of the present invention will be described with reference to FIGS. The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. At first, the vehicle travels along the wall, then travels through the interior according to the direction detecting means 5, travels again along the wall, and after judging that it has made one round of the wall of the room at the point H, turns to the inside of the room. After moving, the electric blower 7 and the driving motors 3 and 4 are stopped at a point I, and the traveling is completed.

As shown in FIG. 7, when the main body 1 has finished traveling near the wall, if there is a door that opens inward, the main body 1 may interfere with the opening and closing of the door, and the door may not be opened. By moving toward the inside of the room and ending the traveling, the above-described problem is solved.

In FIG. 6, the vehicle first travels along the wall, and then travels inside according to the direction detecting means 5,
After traveling along the wall again and judging that it has circled the wall of the room at the point H, it moves toward the inside of the room, and at the point I, the distance sensor 2-5 provided above the main body 1 is moved upward. When no obstacle is detected, the electric blower 7 and the drive motors 3 and 4 are stopped to end the traveling.

For example, when the main body 1 travels under a bed or a desk under a desk and the traveling is completed, the main body 1 is hidden by the bed or the desk, and the user has to search for the main body 1 at the next use. Become. When the traveling ends, the vehicle travels in a place where there is no obstacle at the top, and the traveling is terminated.

6 and 7, the vehicle first travels along the wall, then travels inside according to the direction detecting means 5, travels again along the wall, and makes a round of the wall of the room at the point H. After moving to the inside of the room, the electric blower 7 and the drive motors 3 and 4 are stopped where the distance sensor 2-5 provided above the main body 1 at point I does not detect an obstacle above. At this time, the vehicle is rotated 360 ° to detect whether there is any obstacle around the vehicle. If there is no obstacle, the vehicle stops.

When the main body 1 has finished traveling near the wall, if there is a door that opens inward, the main body 1 may hinder the opening and closing of the door, and the door may not be opened. 360 ° when moving toward the inside of the room and ending the run
By rotating and detecting whether there is an obstacle around and stopping if there is no obstacle, the above-mentioned problem is solved.

(Embodiment 4) Next, a fourth embodiment of the present invention will be described with reference to FIG. The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. The right drive motor 3 and the left drive motor 4 are controlled by the output of the distance sensor 2-2 provided on the right side, and when traveling along the wall, the wall detected by the output of the distance sensor 2-1 provided on the front is used. When the distance is smaller than the first predetermined value L1, the right drive motor 3 and the left drive motor 4 reduce the traveling speed.
And the distance from the wall detected by the output of the distance sensor 2-1 is equal to the first predetermined value L1.
When the second predetermined value L2 is smaller than the second predetermined value L2, the right drive motor 3 is controlled to rotate forward and the left drive motor 4 is controlled to rotate reverse so as to rotate to the left. In such a case, when the vehicle rotates inside the corner, the traveling speed is reduced to avoid hitting the front wall in advance, and then the output of the distance sensor 2-1 provided in front of the main body 1 is compared. If the predetermined value L2 is set to a value that does not hit the front wall even when the main body 1 rotates, the inside of the corner can be smoothly rotated without hitting the wall.

(Embodiment 5) Next, a fifth embodiment of the present invention will be described with reference to FIG. The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. The right drive motor 3 and the left drive motor 4 are controlled by the output of the distance sensor 2-2 provided on the right side, and when traveling along the wall, the output of the distance sensor 2-1 provided in front is the first predetermined value. When the value is closer to the value L1, the rotational speeds of the right drive motor 3 and the left drive motor 4 are decreased so as to reduce the traveling speed, and the output of the distance sensor 2-1 is set to a value closer to the second predetermined value L2. At this time, the right drive motor 3 is rotated forward by about 90 ° and the left drive motor 4 is rotated reversely, so that the speeds of the right drive motor 3 and the left drive motor 4 are controlled to be the same. In other words, about 90 ° rotation is performed on the spot around the midpoint between the right drive motor 3 and the left drive motor 4. When the rotation of about 90 ° is completed, the right drive motor 3 is rotated forward and the left drive motor 4 is also rotated forward, and the rotation of the left drive motor 4 is reduced to further rotate about 90 °.
When rotated by about 180 ° in this way, the miracle that has traveled on the outward path is located almost beside the miracle, and the direction is reversed. Thereafter, the vehicle travels in the opposite direction according to the output of the direction detecting means 5.

Here, when the second stage rotates about 90 ° (when the right drive motor 3 rotates forward and the left drive motor 4 rotates forward and the speed of the left drive motor 4 is low), it is slightly larger than 90 °. If the vehicle turns and travels in the opposite direction according to the output of the direction detecting means 5, the portion that does not pass between the forward and return paths can be reduced as much as possible.

The traveling speed is controlled by the output of the distance sensor 2 provided on the side, the traveling speed when traveling along the wall, and the traveling when traveling inside the room in a predetermined direction according to the direction detecting means 5. As for the speed, the traveling speed when traveling along the wall is set lower. When traveling along a wall, it is closer to an obstacle, so that the frequency of collision with the wall is reduced, and damage to the wall or the like is reduced. Also, there is an effect of slowly and thoroughly cleaning the entire area near the wall where dust is accumulated.

(Embodiment 6) Next, a sixth embodiment of the present invention will be described with reference to FIG. The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. The right drive motor 3 and the left drive motor 4 are controlled by the output of the distance sensor 2-2 provided on the right side, and when traveling along the wall, the output of the distance sensor 2-1 provided in front is the first output.
When the value is smaller than the predetermined value L1, the rotation speeds of the right drive motor 3 and the left drive motor 4 are reduced so as to reduce the traveling speed, and the output of the distance sensor 2-1 is closer to the second predetermined value L2. In the case of the value, the right drive motor 3 is rotated forward by about 90 ° to the left, and the left drive motor 4 is rotated in reverse so that the speeds of the right drive motor 3 and the left drive motor 4 are controlled to be the same. In other words, about 90 ° rotation is performed on the spot about the middle point between the right drive motor 3 and the left drive motor 4. When an obstacle is detected by the distance sensor 2-4 provided on the left side at the point J, the obstacle
The vehicle travels in the reverse direction according to the output of the direction detecting means 5 in the opposite direction. When the output of the distance sensor 2-1 provided in the forward direction is closer to the first predetermined value L1, the traveling speed is reduced, and the output of the distance sensor 2-1 becomes the second value.
When the value is closer to the predetermined value L2, the right drive motor 3 is rotated in the reverse direction so that the right drive motor 3 rotates rightward by about 90 °, and the left drive motor 4 is rotated forward to control the speeds of the right drive motor 3 and the left drive motor 4 to be the same. .
In other words, about 90 ° rotation is performed on the spot about the middle point between the right drive motor 3 and the left drive motor 4. When an obstacle is detected by the distance sensor 2-3 provided on the right side at the point K, it is determined that the obstacle is the wall of the room, and the vehicle travels all over the room by the operation of traveling inside the room according to the direction detecting means. It is possible to provide a self-contained traveling device that determines that the operation has been completed and ends the operation.

(Embodiment 7) Next, a seventh embodiment of the present invention will be described with reference to FIG. The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted. Start traveling, distance sensor 2-1 provided in front
When an obstacle is detected, the main body 1 is rotated to rotate 360 °, and the output of the distance sensor 2 provided around the main body 1 is determined using the front wall, and self-diagnosis is performed for any abnormality. It is also known that the distance sensor 2 is out of order, and if there is an abnormality in the distance sensor 2, it is possible to provide a self-sustained traveling device with improved safety by not starting running.

[0035]

According to the present invention, it is possible to provide a self-contained traveling apparatus which can accurately detect the position of the main body itself at low cost.

[Brief description of the drawings]

FIG. 1 is a perspective view of a self-contained traveling device according to a first embodiment of the present invention.

FIG. 2 is a plan view of the room when traveling along the wall.

FIG. 3 shows the same direction

FIG. 4 is a control block diagram of the same.

FIG. 5 is a plan view of a room when traveling inside showing a second embodiment of the present invention.

FIG. 6 is a plan view of a room at the time of traveling after detection of one round, showing a third embodiment of the present invention.

FIG. 7 is a plan view of a room when stopped at the same angle.

FIG. 8 is a plan view of a room showing a fourth embodiment of the present invention.

FIG. 9 is a plan view of a room showing a fifth embodiment of the present invention.

FIG. 10 is a plan view of a room showing a sixth embodiment of the present invention.

FIG. 11 is a plan view of a room showing a seventh embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Device main body 2 Distance sensor 3 Right drive motor 4 Left drive motor 5 Direction detection means 6 Travel control means 7 Electric blower 8 Battery

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hiroshi Mori 1006 Kazuma Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. 72) Inventor Toru Kodate 1006 Kadoma Kadoma, Osaka Prefecture Matsushita Electric Industrial Co., Ltd. 1006 Kadoma, Kazuma, Kadoma, Matsushita Electric Industrial Co., Ltd. (72) Inventor Miki Hono 1006 Kadoma, Kazuma, Kadoma, Osaka Matsushita Electric Industrial Co., Ltd. (72) Inventor Hidetoshi Imai In-house (72) Inventor Hiroo Oshima 1006 Kazuma Kadoma, Osaka Prefecture Inside Matsushita Electric Industrial Co., Ltd. Jun Nakayama 1006 Kazuma Kadoma, Kadoma-shi, Osaka Matsushita Electric Industrial Co., Ltd. F-term (reference) 3B006 KA01 3B057 DA00 DE03

Claims (11)

[Claims] 1. A traveling means for moving and traveling a main body, a direction detecting means for detecting a traveling direction of the main body, and a distance provided between the main body and an obstacle around the main body provided at a front side and a side of the main body. A distance sensor, a traveling control unit that controls the traveling unit in accordance with the outputs of the direction detection unit and the distance sensor, and a battery that is a power supply that supplies power to the main unit; and a distance sensor provided in front of the main unit. When the wall of the room is detected, the main body is rotated and travels along the wall, and at the timing when the outputs of the plurality of distance sensors provided on the sides almost match, the current traveling direction is set as the reference direction, and An autonomous traveling device that determines an output reference and determines that the vehicle has traveled along a wall in a room when traveling for a predetermined time while the direction detecting unit detects the reference direction. 2. When it is determined that the vehicle has made a round along the wall in the room, the vehicle travels in the room in a predetermined direction according to the output of the direction detecting means, and when an obstacle is detected by a distance sensor provided in front of the room, the main body is inverted. To travel in the second direction, and when an obstacle is detected by a distance sensor provided in front of the vehicle, the main body is turned over,
The self-supporting traveling device according to claim 1, which travels while reciprocating in a predetermined direction and a second direction. 3. The vehicle travels in a predetermined direction in the room in accordance with the output of the direction detecting means. When an obstacle is detected by a distance sensor provided in front of the room, the main body is inverted, the vehicle travels in a second direction, and the vehicle travels forward. After detecting the wall with the provided distance sensor, after the operation of traveling while reciprocating in a predetermined direction and the second direction so that the main body is reversed, the vehicle travels again along the wall of the room, along the wall in the room along the wall. The self-supporting traveling device according to claim 1 or 2, wherein after it is determined that the vehicle has made one round, the vehicle travels inward of the room to stop a load or the like. 4. A distance sensor for measuring a distance between the main body and an obstacle around the main body is also provided above the main body, and when moving inward of the room, the obstacle is moved upward by the distance sensor. 4. The self-supporting traveling device according to claim 3, wherein when detected, the vehicle travels to a position where an obstacle is not detected upward by the distance sensor to stop a load or the like. 5. When moving toward the inside of a room to stop a load or the like, the traveling means rotates 360 ° on the spot, and a distance sensor provided around the main body during rotation causes an obstacle to the surroundings. 4. The method according to claim 3, wherein the apparatus detects whether there is any obstacle and stops if there is no obstacle.
Self-supporting traveling device as described. 6. When traveling along a wall of a room controlled by the output of a distance sensor provided on the side and traveling along a wall of a room, the distance to the wall calculated by the output of the distance sensor provided in front is greater than a first predetermined value. When the distance is small, the traveling speed of the main body is reduced, and when the distance to the wall calculated by the output of the distance sensor is smaller than a second predetermined value smaller than the first predetermined value, the traveling control is performed so as to rotate the main body. Item 2. The self-supporting traveling device according to Item 1. 7. The traveling means comprises left and right drive wheels and a drive motor, each of which can be controlled in a forward or reverse direction, and is provided in front of the vehicle when traveling in a predetermined direction inside the room according to the direction detection means. When the distance to the wall calculated by the output of the distance sensor is smaller than a first predetermined value, the traveling speed of the main body is reduced, and the distance to the wall calculated by the output of the distance sensor is smaller than the first predetermined value. When it becomes smaller than the small second predetermined value, the right driving wheel of the traveling means is controlled to rotate forward, the left driving wheel is controlled to rotate reversely, and after turning about 90 °, the right driving wheel is controlled to rotate normally and the left driving wheel is controlled to rotate forward. 3. The self-sustained traveling device according to claim 2, wherein the traveling control is performed such that the vehicle travels in a direction approximately 180 ° opposite to the predetermined direction after being further rotated by approximately 90 °. 8. The travel control is performed based on the output of a distance sensor provided on the side, and the travel speed when traveling along the wall of the room and the travel speed when traveling inside the room in a predetermined direction according to the direction detecting means. The self-supporting traveling device according to any one of claims 1 to 7, wherein the traveling speed is set to be lower when traveling along the wall, and the traveling speed is controlled. 9. The vehicle travels in a direction approximately 180 ° opposite to the predetermined direction, and when the distance to a wall calculated by an output of a distance sensor provided in front is smaller than a first predetermined value, the traveling speed of the main body is reduced. When the vehicle is decelerated and the distance to the wall calculated by the output of the distance sensor is smaller than a second predetermined value smaller than the first predetermined value, the right driving wheel of the traveling means is controlled to reverse, and the left driving wheel is controlled to rotate forward. 8. The self-supporting apparatus according to claim 7, wherein when the vehicle rotates about 90 °, if an obstacle is detected by a distance sensor provided on the right side, the obstacle is determined to be a wall of the room, and the operation of traveling inside the room according to the direction detecting means is completed. Traveling device. 10. A battery capacity detecting means for detecting a capacity of a battery serving as a power supply of the main body, and when the capacity of the battery decreases,
The self-propelled traveling device according to any one of claims 1 to 9, wherein the electric blower for sucking dust on the floor surface is stopped, the electric blower travels along a wall of the room, travels to a predetermined position, and stops. . 11. When running is started and an obstacle is detected by a distance sensor provided in front of the vehicle, the main body moves so as to rotate 360 °, and a front wall is detected by the distance sensor to be provided around the main body. The self-propelled traveling device according to any one of claims 1 to 10, wherein the self-sustained traveling device according to any one of claims 1 to 10, wherein the self-diagnosis is performed by judging an output of the distance sensor.