JP2003280736A - Self-propelled apparatus and its program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-propelled apparatus, in simply configuration without the inconvenience of pasting a reflection plate or a marker for a user, capable of avoiding entering a narrow blind array or a passage, and smoothly travelling safely even if entering a wide blind array. <P>SOLUTION: The apparatus comprising a control means 5, a travelling means 2a, a right distance measuring means 4c, and a left distance measuring means 4b, is configured to decide whether or not to proceed in the proceeding direction without change according to the measuring details of the right distance measuring means 4c and the left distance measuring means 4b, to stop proceeding and change direction if below a threshold, and to decide whether to go back due to the relation with a distance ahead or change direction in place by applying a front distance measuring means 4a, and to change the distance threshold according to the measuring details of a thermo detection means. Therefore, this provides the self-propelled apparatus in simple configuration capable of avoiding entering a narrow blind array or a passage, and smoothly travelling safely even if entering a wide blind array. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled device which runs independently without human assistance.

[0002]

2. Description of the Related Art Conventionally, in this type of self-propelled device, in order to avoid getting stuck in the dead end, a reflector, a marker, a magnetic tape, etc. may be attached in front of the dead end to avoid it. It was equipped with distance measuring means, and when it found a front obstacle, it rotated the circular body to avoid it and run at random, and hit the bumper to avoid it while exiting.

[0003]

However, when a reflector, a marker, a magnetic tape, or the like is attached, it is necessary to attach it to each step portion, and there is a problem that the detection accuracy deteriorates due to contamination. Also, in random running and bumper avoidance by rotating the circular body to avoid obstacles,
There were problems that many areas could not run and that it was not possible to smoothly exit the dead end.

The present invention solves the above-mentioned problems of the prior art. It has a simple structure, does not require the user to attach a reflector or a marker, does not enter a narrow blind alley or a passage, and is rather a little. It is an object of the present invention to provide a self-propelled device that can smoothly run even when entering a wide narrow alley.

[0005]

The present invention comprises a control means,
The traveling means for moving the main body, the right distance measuring means for measuring the distance on the right side, and the left distance measuring means for measuring the distance on the left side, and the control means are the right distance measuring means and the left distance measuring means. Depending on the content of the measurement by the measuring means, it is decided whether or not to move forward in the advancing direction as it is, and if it is less than the threshold value, the forward movement is stopped and the direction is changed. With the configuration that changes the direction with, and changes the threshold value of the distance according to the detection content of the heat detection means, it is a simple configuration and narrow without the need to attach a reflector or a marker to the user. It is possible to provide a self-propelled device that does not enter a blind alley or aisle and can smoothly and safely travel even when entering a slightly wider blind alley.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention described in claim 1 is a control means, a traveling means for moving and moving a main body, a right distance measuring means for measuring a distance on a right side surface, and a distance on a left side surface. The control means comprises a left distance measuring means for controlling the distance between the right distance measuring means and the left distance measuring means. It is a self-propelled device that has a simple structure and can automatically avoid blind alleys and passages without the need to attach such items.

According to the second aspect of the present invention, in particular, the rear distance measuring means is provided, and the control means determines that it cannot move forward in the traveling direction as it is in accordance with the measurement contents of the right distance measuring means and the left distance measuring means. In this case, the head is placed at the entrance of a narrow cul-de-sac or aisle as a configuration for reversing and turning until either the right distance measured by the right distance measuring means or the left distance measured by the left distance measuring means becomes a predetermined value or more. It is a self-propelled device that does not enter even if it plunges in.

According to the third aspect of the present invention, in particular, the direction changing method is configured to be determined according to the traveling pattern at that time, and the operation after avoiding the dead end or the passage is smoothly linked to the normal traveling operation. It is a self-propelled device.

According to a fourth aspect of the present invention, in particular, a traveling direction detecting means for detecting the traveling direction of the main body is provided, and the method for changing the direction when the traveling pattern is traveling on the outer periphery is such that at least a predetermined angle or more is changed. As for the self-propelled device, the head of the vehicle avoids a narrow dead end or aisle, and the motion after avoiding a narrow dead end or aisle is smoothly linked to the normal running motion.

According to a fifth aspect of the present invention, in particular, the front distance measuring means and the traveling direction detecting means for detecting the traveling direction of the main body are provided, and the control means is the front distance measuring means, the right distance measuring means and the left distance measuring means. Depending on the contents of the measurement, the system decides whether to move backward or reverse, and even if it enters a slightly narrow lane, it is a self-propelled device that can be smoothly operated.

According to the sixth aspect of the present invention, in particular, when an obstacle is detected during backward movement and the vehicle cannot move backward anymore,
It is configured to wait for a predetermined time and continue the backward preparation operation, and after the predetermined time elapses, the control means stops traveling due to an abnormality, so that power is not consumed by wasteful search, and an obstacle is removed on the way. It is a self-propelled device that can handle the case.

According to a seventh aspect of the present invention, in particular, the self-propelled device is provided with heat detecting means, and the threshold value is determined according to the content detected by the heat detecting means, so that a narrow narrow lane or passage can be safely avoided. I am trying.

According to the eighth aspect of the present invention, in particular, a threshold value storage means can be provided so that a threshold value for whether to advance in the traveling direction or a threshold value for whether to change the direction can be stored in advance, and it can be changed and stored. As a configuration that can be
It is a self-propelled device that can be set according to individual differences in the device itself.

According to a ninth aspect of the present invention, in particular, the threshold value storage means is a self-propelled device capable of storing a value being measured as a threshold value and setting the actual amount in memory. There is.

According to a tenth aspect of the present invention, in particular, a computer is provided as a program for causing a computer to function as all or a part of the self-propelled device according to any one of the first to tenth aspects. Claim 1
By functioning as all or part of the self-propelled device according to any one of 9 above, it is possible to easily realize all or part of the self-propelled device of the present invention using a general-purpose computer or a server. You can

[0016]

(Embodiment 1) A first embodiment of the present invention will be described below. FIG. 1 is a block diagram showing the configuration of this embodiment. Reference numeral 1 is a main body of a self-propelled device, 2a and 2b are left driving wheels and right driving wheels which constitute traveling means, 3a and 3b are left motors and right motors which are also constituting traveling means, 4a, 4b and 4
c and 4d are distance measuring sensors which are distance measuring means for measuring distances to front, left, right and rear obstacles, 5 is control means, and 6 is control means which constitutes the left distance measurement sensor 4a. And a right / left distance determining unit for determining whether the distance of the right distance measuring sensor 4b is less than a set threshold value, and 7 is an avoidance method determining unit for determining an avoidance method according to the determination of the left / right distance determining unit.

The operation of this embodiment will be described below with reference to the traveling diagram of FIG. First, regarding the room 8, the main body 1
While traveling on the outer circumference of the room, it is assumed that the vehicle reaches a narrow dead end between the wall of the room 8 and the obstacle 9. The left-right distance determination unit 6 always inputs the values of the left distance-measuring sensor and the right distance-measuring sensor and calculates the sum thereof, and the sum of the left sensing distance 10 and the right sensing distance 11 at the entrance of the dead end is a threshold value (the In the example, it is determined to be less than 10 cm. Left detection distance 10
The left-right distance determination unit 6 that determines that the total value of the right detection distance 11 and the right detection distance 11 is less than the threshold value outputs the fact to the avoidance method determination unit 7. The avoidance method determination unit 7 determines to stop moving forward in the current traveling direction, and the control unit 5 causes the left motor 3a to move.
Then, the right motor 3b is stopped, and then the blind alley avoidance traveling is performed. If the total value of the left detection distance 10 and the right detection distance 11 is not less than the threshold value (10 cm in this embodiment), the control means 5 continues to advance in that direction, and the main body 1 enters the dead end.

In this embodiment, each of the left distance measuring sensor 4b and the right distance measuring sensor 4c is provided at one place, but the left side surface and the right side surface of the main body 1 are provided at a plurality of locations, and the minimum value, etc. The representative value may be used, or the representative value may be used for some of the plurality of sensors.

As described above, according to the present embodiment, since the left-right distance is constantly measured by the left-right distance determining unit 6, regardless of whether the main body 1 is on the right side or the left side of the dead end of the dead end, the dead end is always closed. Since the width is evaluated, it is possible to realize a self-propelled device that does not automatically enter a narrow blind alley or passage regardless of the position of the main body in the width of the entrance to the blind alley.

As described above, according to this embodiment, a self-propelled device capable of automatically avoiding a blind alley or a passage with a simple structure without requiring the user to attach a reflector or a marker. It will be realized.

(Second Embodiment) Next, a second embodiment of the present invention will be described. The block diagram showing the configuration of this embodiment is
1 is the same as the first embodiment, and FIG. 3 is a flowchart showing the flow of the operation of the present embodiment.

The operation of this embodiment will be described below with reference to the flowchart of FIG. First, the control means 5
Front distance measuring sensor 4a, left distance measuring sensor 4b, right distance measuring sensor 4
c. The rear distance measurement sensor 4d is used to run the outer circumference while avoiding obstacles (step 1). When the total distance measured by the left distance-measuring sensor 4b and the right distance-measuring sensor 4c is less than a threshold value (10 cm in this embodiment) during traveling on the outer circumference, the left distance-measuring sensor 4b and the right distance-measuring sensor 4c are temporarily stopped. It retreats until one of the distances exceeds a threshold value and comes out of a narrow passage. (Steps 2-6).

Next, the left distance measuring sensor 4b and the right distance measuring sensor 4
Since c is attached slightly behind the head portion of the main body 1, it is retracted an additional 0.5 seconds in order to retract that portion and smooth the avoidance afterward (step 7,
8).

Next, the direction change is started, and the front distance measuring sensor 4
If the obstacle is no longer detected in a, the vehicle returns to the outer peripheral traveling after moving forward (steps 9 to 11). If the vehicle cannot move backward in step 4, it waits until it can move backward within a predetermined time.

In the present embodiment, the processing in steps 7 and 8 is provided, but it does not have to be provided. Also, 0.5
Although it was set to be a second, the time may be arbitrary, separately,
A mileage detection means may be provided and managed.

(Embodiment 3) Next, a third embodiment of the present invention will be described. The block diagram showing the configuration of this embodiment is
It is FIG. 1 similar to Example 1. 3 and 4 are flow charts showing the flow of the operation of this embodiment, and the flow chart of FIG. 4 shows the details of step 9 of the flow chart of FIG.

The operation of this embodiment will be described below with reference to the flow charts of FIGS. Left distance measuring sensor 4
b, the operation of the right distance measuring sensor 4c retracting below the threshold value is the same as in the second embodiment.

First, if the vehicle is traveling on the outer periphery of the room 8, it is rotated little by little, that is, rotation is performed while reducing the speed difference between the left motor 3a and the right motor 3b (step 1).
4, 15). If the vehicle is traveling back and forth inside the room 8, a U-turn is made (steps 16 and 17).

In this embodiment, the U-turn is made to rotate straight for a predetermined angle and then go straight, and then the remaining angle is rotated to return in the opposite direction. However, the U-turn may be made all at once. Further, when the left distance measuring sensor 4b and the right distance measuring sensor 4c detect less than the threshold value during the turn, the rest of the turn may be performed after the backward movement.

In addition, in each of the running patterns, the direction is changed after the backward movement. However, depending on the running pattern, the direction may be changed without the backward movement, and the backward moving method is not limited to the straight backward movement. , The backward method may be changed according to the driving pattern.

As described above, according to this embodiment, a self-propelled device in which the operation after avoiding a narrow dead end or a passage is smoothly linked to the normal traveling operation is realized.

(Fourth Embodiment) Next, a fourth embodiment of the present invention will be described. The block diagram showing the configuration of this embodiment is
It is FIG. In addition to the configuration of FIG.
Equipped with 2. The flowchart showing the flow of the operation of the present embodiment is FIG. 3 similar to the third and fourth embodiments.

The operation of this embodiment will be described below.
In the direction change of step 9, when traveling around the outer circumference, the direction detecting means 12 first changes the direction by 20 ° or more from the start of the direction change. Next, at that time, the front distance sensor 4a
If no obstacle is detected in step S11, the process proceeds to step S11 and the vehicle moves forward. When the front distance sensor 4a detects an obstacle, the direction change is continued until the front distance sensor 4a stops detecting the obstacle (steps 9, 10, 1).
2).

It should be noted that, in the present embodiment, 2 from the start of the direction change.
Although it was set to 0 ° or more, if it is an angle that does not enter the narrow blind alley or passage again when returning to the outer circumference after changing direction,
Any angle may be used.

As described above, according to the present embodiment, the operation after avoiding a narrow dead end or a narrow path without moving back and forth by smoothing the head into the avoided dead end or an aisle is smoother than the normal running operation. It realizes a self-propelled device linked to.

(Fifth Embodiment) A fifth embodiment of the present invention will be described below. FIG. 6 is a block diagram showing the configuration of this embodiment. In addition to the configuration of FIG. 1, a front distance determination unit 13 that determines whether or not the distance of the front distance measuring sensor 4a is less than a set threshold value is provided. The avoidance method determination unit 7 determines the avoidance method according to the determinations of the front distance determination unit 13 and the left-right distance determination unit 6. FIG. 7 is a travel diagram of the present embodiment. 14 is a front detection distance.

The operation of this embodiment will be described below with reference to the traveling diagram of FIG. First, regarding the room 8, the main body 1
While traveling on the outer periphery of the room, it is assumed that the vehicle has reached a slightly wider dead end between the wall surface of the room 8 and the obstacle 9. A threshold value (5 in this embodiment) is set in the front distance determination unit 13 at the back of the wide dead end.
When it is determined that the distance is less than cm, the avoidance method determination unit 7 first determines to stop moving in the current traveling direction.

Further, in the left / right distance determining section 6, the left detection distance 1
The sum of 0 and the right detection distance 11 is a threshold value (20 in this embodiment).
It is determined to be less than cm). At that time, the avoidance method determination unit 7 determines to perform the backward movement, and the control means 5 stops the left motor 3a and the right motor 3b, and then performs the backward traveling. If the total value of the left detection distance 10 and the right detection distance 11 is greater than or equal to the threshold value (20 cm in this embodiment) and less than the second threshold value (30 cm in this embodiment), the control means 5 changes the direction by rotation. After deciding to perform, the control means 5 stops the left motor 3a and the right motor 3b, then rotates 180 ° until they turn in the opposite direction, and then moves forward. When the total value of the left detection distance 10 and the right detection distance 11 is equal to or larger than the second threshold value (30 cm in this embodiment), the control means 5 determines to perform the outer circumference traveling by the operation during normal traveling, and the control means. The left and right motors 3a and 3b perform a traveling operation when traveling around the outer periphery.

In this embodiment, the front distance measuring sensor 4c is set to 1
However, it is also possible to arrange a plurality of positions on the front surface of the main body 1 and use a representative value such as the minimum value, or to use a representative value for some of the plurality of sensors. It doesn't matter.

Further, the left / right distance determining unit 6 makes a determination on the total value of the left detection distance 10 and the right detection distance 11, but makes a determination on each of the left detection distance 10 and the right detection distance 11 to change the direction. When deciding which direction to start turning, the vehicle may be allowed to drive backwards so as to come to the center of the width before turning by turning.

As described above, according to the present embodiment, a self-propelled device can be realized smoothly depending on the case even when entering a slightly narrow alley.

(Sixth Embodiment) Next, a sixth embodiment of the present invention will be described. The block diagram showing the configuration of this embodiment is
It is FIG. 6 similar to Example 5. A flowchart showing the basic flow of the operation of the present embodiment is FIG. 3 similar to the second embodiment.

First, the left distance measuring sensor 4b and the right distance measuring sensor 4
The operation of retracting when c is less than the threshold value is the same as in the second embodiment. When the total distance measured by the left distance measuring sensor 4b and the right distance measuring sensor 4c is less than a threshold value (10 cm in this embodiment),
After the stop, the vehicle moves backward until either the left distance measuring sensor 4b or the right distance measuring sensor 4c reaches a threshold value or more. However, when the distance cannot be moved back in step 4, it is within a predetermined time (1 minute in this embodiment). Will wait until he can retreat. The standby operation for detecting an obstacle during the backward movement is commonly performed in both the operation of the second embodiment and the operation of the fifth embodiment.

As described above, according to this embodiment, a self-propelled device is realized which does not consume power by wasteful search and can cope with the case where an obstacle is removed on the way.

(Embodiment 7) Next, a seventh embodiment of the present invention will be described. The block diagram showing the configuration of this embodiment is
It is FIG. In addition to the configuration of FIG. 6, a heat detection unit 14 for detecting ambient heat, a threshold heat correction unit 16 for correcting the threshold value of each distance measurement sensor according to the detection content of the heat detection unit 15, and a time measurement unit. It is composed of 17.

The operation of this embodiment will be described below with reference to the traveling diagram of FIG. Actions that do not go into a narrow passage, or actions that avoid due to the dead end of a rather wide blind alley,
This is the same as the second and fifth embodiments. When the heat detecting means 15 detects heat above a predetermined temperature during normal traveling or during avoidance operation such as a dead end, the threshold heat correction unit 16 corrects the threshold value used in each embodiment, The correction is performed to a distance value farther than the threshold value before detecting the heat of the predetermined temperature or higher.
At the same time, the clocking means 17 is started, and the correction in the threshold heat correction unit 16 is kept valid until a predetermined time elapses even if the heat above the predetermined temperature is no longer detected.

In this embodiment, the heat detecting means 15 is provided at one location in the front, but a plurality of heat detecting means 15 may be provided. In the case of providing a plurality of temperatures, even if only one temperature is detected, the threshold heat correction unit 16 may enable the correction, and only when the detection is performed on the corresponding surface, the threshold of the surface is corrected. It doesn't matter.

Further, in the present embodiment, the threshold heat correction unit 16 is made effective depending on whether the temperature is equal to or higher than the predetermined temperature, but the correction may be always performed according to heat.

Further, in the present embodiment, after detecting the temperature equal to or higher than the predetermined temperature, the correction in the threshold heat correction unit 16 is enabled for a certain period even if the temperature equal to or higher than the predetermined temperature is not detected.
It is not necessary to provide it, but it is safer to provide it. The time does not matter.

As described above, according to this embodiment, it is possible to realize a self-propelled device which can safely avoid a narrow dead end or a narrow passage.

(Embodiment 8) Next, an eighth embodiment of the present invention will be described. The block diagram showing the configuration of this embodiment is
It is FIG. In addition to the configuration of FIG.
The operation unit 19 is provided.

A value used as a threshold value of each distance measuring sensor for performing an operation that does not enter a narrow passage or an operation that avoids a dead end of a rather wide dead end, and a value corrected by the threshold heat correction unit It can be operated at 19 and its value can be stored.

In this embodiment, the operation portion 19 of the main body 1 is used for storing and checking, but it may be mounted by writing by a separate writing jig. Further, although it is possible to store each sensor, it is possible to store only some of the sensors. Further, the value corrected by the threshold heat correction unit 16 may be an absolute value when heat of a predetermined temperature or higher is detected, or may be a relative value when not detected.

As described above, according to this embodiment, it is possible to realize a self-propelled device capable of setting a threshold value to be detected in response to individual difference of the distance measuring sensor itself, displacement of the mounting position on the main body 1, and the like. is there.

(Ninth Embodiment) Next, a ninth embodiment of the present invention will be described. The block diagram showing the configuration of this embodiment is
It is FIG. 9 similar to Example 8.

In this embodiment, a value used as a threshold value of each distance measuring sensor for performing an operation of not going into a narrow passage as in Embodiment 8 or an operation of avoiding at the dead end of a rather wide dead end, The value to be corrected by the threshold heat correction unit can be operated by the operation unit 19, and the value can be stored. In addition, the measurement switch is prepared by the operation unit 19 to measure the value currently detected by each distance measuring sensor. You can display it. When the memory switch is pressed after the measurement, the value is stored as a threshold value. That is, the threshold value can be memorized in a narrow passage that does not enter or a dead end of a rather wide dead end that should be avoided by retreating or reversing.

As described above, according to this embodiment, a self-propelled device can be realized in which the threshold value to be detected can be set by making the device remember the actual amount.

(Embodiment 10) Next, a tenth embodiment of the present invention will be described with reference to FIG. In the present embodiment, the computer is made to function as all or part of the control means 5, and the computer is made to function as all or part thereof.

As described above, according to this embodiment, all or part of the self-propelled device of the present invention can be easily realized by using a general-purpose computer or a server.

[0060]

As described above, according to the inventions described in claims 1 to 10, a user can easily install a reflector or a marker in a narrow blind alley or a passage without a trouble of attaching a reflector or a marker. It is possible to provide a self-propelled device that does not enter, and can smoothly and safely drive even if it enters a slightly wide narrow alley.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of a self-propelled device that is a first and a second embodiment of the present invention.

FIG. 2 is a travel diagram of the self-propelled device according to the first embodiment.

FIG. 3 is a flowchart showing the operation of the self-propelled device according to the second, third, and sixth embodiments.

FIG. 4 is a flowchart showing the operation of the self-propelled device according to the third embodiment.

FIG. 5 is a block diagram showing a configuration of a self-propelled device which is a fourth embodiment of the same.

FIG. 6 is a block diagram showing a configuration of a self-propelled device which is a fifth embodiment of the same.

FIG. 7 is a travel diagram of the self-propelled device according to the fifth and sixth embodiments.

FIG. 8 is a block diagram showing a configuration of a self-propelled device which is a seventh embodiment of the same.

FIG. 9 is a block diagram showing the configuration of a self-propelled device that is an eighth and ninth embodiment of the invention.

[Explanation of symbols]

1 body 2a Left drive wheel 2b Right drive wheel 3a Left motor 3b Right motor 4a Front distance measuring sensor 4b Left distance sensor 4c Right distance sensor 4d Rear ranging sensor 5 Control means 6 Left-right distance determination unit 7 Avoidance method determination unit 8 rooms 9 obstacles 10 Left detection distance 11 Right detection distance 12 Driving direction detection means 13 Front distance determination unit 14 Front detection distance 15 Heat detection means 16 Threshold heat correction unit 17 Timekeeping means 18 threshold storage means 19 Operation part

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Yumiko Hara             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. (72) Inventor Tetsuya Koda             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. (72) Inventor Yoji Uitani             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. (72) Inventor Atsushi Nakayama             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. (72) Inventor Hidetoshi Imai             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. (72) Inventor Tadashi Matsushiro             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. (72) Inventor Hiroo Oshima             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. F term (reference) 5H301 AA01 AA10 BB14 GG28 GG29                       HH10 HH18                 5J070 AC02 AE07 AE20 AF04 AH14                       BF02

Claims (10)

[Claims] 1. A control means comprising: a control means, a traveling means for moving and moving the main body, a right distance measuring means for measuring a distance on the right side surface, and a left distance measuring means for measuring a distance on the left side surface. The means is a self-propelled device that determines whether or not to move forward in the traveling direction as it is according to the measurement contents of the right distance measuring means and the left distance measuring means. 2. The rear distance measuring means is provided, and when the control means determines that the vehicle cannot move forward in the traveling direction as it is according to the measurement contents of the right distance measuring means and the left distance measuring means, the right distance measuring means 2. The self-propelled device according to claim 1, wherein the self-propelled device retreats and changes direction until either the measured right distance or the left distance measured by the left distance measuring means becomes a predetermined value or more. 3. The self-propelled device according to claim 2, wherein the direction changing method is determined according to the traveling pattern at that time. 4. A traveling direction detecting means for detecting a traveling direction of the main body is provided, and the method of changing the traveling direction when the traveling pattern is an outer periphery traveling is to perform at least a predetermined angle or more.
Self-propelled equipment as described. 5. A front distance measuring means and a traveling direction detecting means for detecting a traveling direction of the main body are provided, and the control means moves backward according to the measurement contents of the front distance measuring means, the right distance measuring means and the left distance measuring means. A method for determining whether to turn or reverse the direction.
The self-propelled device according to any one of 4 to 4. 6. When an obstacle is detected during backward movement and the vehicle cannot move backward anymore, the vehicle waits for a predetermined time to continue the backward movement preparation operation, and after the predetermined time elapses, the control means is stopped and the vehicle stops traveling. The self-propelled device according to any one of claims 1 to 5. 7. The heat detecting means is provided, and the threshold value is determined according to the detection content of the heat detecting means.
Self-propelled equipment described in paragraph. 8. A threshold value storage means is provided, and a threshold value indicating whether to advance in a traveling direction or a threshold value indicating whether to change direction can be stored in advance and can be changed and stored. The self-propelled device according to any one of 1 to 7. 9. The self-propelled device according to claim 8, wherein the threshold value storage means is capable of storing a value being measured as a threshold value. 10. A self-propelled device program for causing a computer to function as all or a part of the self-propelled device according to claim 1.