JP2003280737A - Movable device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To attain a miniaturized movable device with improved reliability in obstacle detecting. <P>SOLUTION: The movable device has travelling means 2, 3 for moving a main body 1, an obstacle detecting means 7 using optical sensors 14 for detecting obstacles around the main body, a sensor holding part for holding the optical sensors, and a movement control means 6 for controlling the movement of the main body by controlling the travelling means, and is configured to arrange a tube part in front of the light-emitting part and light-receiving part of the optical sensors of the sensor holding part and to arrange the obstacle detecting means 7 on all surfaces of the main body. <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 moving device that moves automatically.

[0002]

2. Description of the Related Art Conventionally, a so-called automatic guide type moving device has been developed which is automatically operated by adding sensors and movement control means.

For example, as described in JP-A 06-208416 and JP-A 07-334243,
There is a moving device that uses an ultrasonic sensor to avoid obstacles and move.

[0004]

However, in the above-mentioned conventional moving device, an ultrasonic sensor is used to detect an obstacle. However, the ultrasonic sensor transmits an ultrasonic wave into the air and transmits this reflected wave. In order to detect obstacles by receiving them, a hole is required in the outer contour of the sensor part when the ultrasonic sensor is covered with the outer contour, and the sensor is susceptible to this hole. The sensor requires a complicated mounting structure, and the main body tends to increase in size.

Further, even if an optical sensor such as an infrared ray is used to detect an obstacle, a so-called blind spot where the obstacle cannot be detected by a small number of optical sensors occurs or all obstacles around the device are detected. For this reason, when a large number of optical sensors are provided, mutual interference occurs in which reflected light is received by other optical sensors that have nothing to do with each other, and accurate obstacle detection cannot be performed.

The present invention has been made to solve the above-mentioned problems of the prior art by reducing the size of the main body and by using a minimum number of optical sensors to reliably detect and avoid obstacles around the device. The purpose is to provide a device.

[0007]

In order to solve the above-mentioned conventional problems, a moving device of the present invention comprises a traveling means for moving a main body, and an obstacle for detecting an obstacle in front, side, or rear of the main body. The obstacle detecting means has a plurality of optical sensors having a light emitting portion and a light receiving portion, and the optical sensor emits light. The obstacle detecting means for detecting the distance to the obstacle by receiving the light emitted from the section and reflected by the obstacle by the light receiving section, and detecting the obstacle in front, side, or rear is a light emitting section of the optical sensor. Is provided at an angle in the up-down direction or the left-right direction so that the direction of irradiating light is different in all the optical sensors.

This reduces the size of the main body and prevents the light emitted from the light emitting portion of another optical sensor and reflected by the obstacle from entering the light receiving portion. It is possible to realize a moving device that reliably detects an object and runs while avoiding it.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 is characterized in that a traveling means for moving a main body, an obstacle detecting means for detecting an obstacle in front of, on the side of, or behind the main body, and the traveling means. It has a movement control means for controlling the movement of the main body, and the obstacle detection means comprises a plurality of optical sensors having a light emitting portion and a light receiving portion, and the optical sensor is irradiated from the light emitting portion and reflected by an obstacle. The obstacle detecting means for detecting the distance to the obstacle by receiving the light by the light receiving portion and detecting the obstacle at the front, side, or rear is all the directions in which the light emitting portion of the light sensor emits light. By using a moving device that is installed at different angles in the vertical direction or the horizontal direction with different optical sensors, the main body can be made smaller and the optical sensors can be used to reliably detect and avoid obstacles around the device. Can run .

According to a second aspect of the present invention, the obstacle detecting means for detecting an obstacle in front of the main body according to the first aspect is provided with a plurality of optical sensors arranged in at least two rows vertically. This makes it possible to reliably detect an obstacle existing in front of the main body in a wide range.

According to a third aspect of the present invention, there is provided an obstacle detecting means for detecting an obstacle at an upper part in front of the main body according to the second aspect.
Since the light emitting portion of the optical sensor is provided so that the direction in which light is emitted is angled vertically with respect to the horizontal plane, the optical sensors arranged in a line can reliably detect an obstacle without interfering with each other. .

According to a fourth aspect of the present invention, there is provided an obstacle detecting means for detecting an obstacle at an upper part in front of the main body according to the second aspect.
The light emitting part of the optical sensor is installed so that the direction of irradiating light is angled upward from the horizontal so that even obstacles protruding upward from a height that is approximately the same as the body height can be detected reliably. can do.

According to a fifth aspect of the present invention, the obstacle detecting means for detecting an obstacle in front of the main body according to the second aspect is such that the light emitting portion of the optical sensor emits light outward from the center of the main body. By setting it at an angle like this,
It is possible to reliably detect an obstacle without the optical sensors arranged in the same row interfering with each other.

According to a sixth aspect of the present invention, there is provided an obstacle detecting means for detecting the front obstacle according to the fifth aspect, in which the light emitting portion of the optical sensor emits light outward from the center of the main body. By arranging at an angle with respect to each other, and making the angle larger as the optical sensor is farther from the center of the main body, it is possible to reliably detect a wide range of obstacles without interference between the optical sensors.

According to a seventh aspect of the present invention, the obstacle detecting means for detecting the front obstacle according to the sixth aspect is arranged such that the optical sensors are symmetrical about the center of the front surface of the main body. By doing so, it is possible to reliably detect an obstacle with a smaller number of optical sensors.

According to an eighth aspect of the present invention, there is provided an obstacle detecting means for detecting an obstacle on the side of the main body according to the first aspect, in which a direction in which a light emitting portion of the optical sensor emits light is a vertical direction with respect to a horizontal plane. By arranging at an angle, the optical sensors arranged in a line can reliably detect an obstacle without interfering with each other, and a complicated structure such as traveling along an obstacle such as traveling along a wall is provided. Accurate automatic driving can be performed.

According to a ninth aspect of the present invention, there is provided an obstacle detecting means for detecting an obstacle on the side of the main body according to the eighth aspect, in which a light emitting portion of at least one optical sensor irradiates light on a horizontal plane. By arranging so as to be angled upwards, it is possible to reliably detect even an obstacle protruding upward from the side of the main body at a height similar to the height of the main body.

According to a tenth aspect of the present invention, there is provided obstacle detection means for detecting an obstacle on the side of the main body according to the ninth aspect, in which the direction in which the light emitting portion of the optical sensor emits light is vertical with respect to the horizontal plane. By arranging the optical sensors at an angle to each other and having one optical sensor with the angle set to 0, the optical sensors arranged on the same side surface can reliably detect an obstacle without interfering with each other. In addition, it is possible to accurately perform complicated automatic traveling such as traveling along an obstacle such as traveling along a wall.

According to an eleventh aspect of the present invention, in the optical sensor disposed on the forefront of the main body on the side of the main body according to the tenth aspect, the direction in which the light emitting portion of the optical sensor emits light is downward with respect to the horizontal plane. By arranging at an angle, it is possible to reliably detect obstacles without interference between optical sensors arranged on the same side, and it is an obstacle with a low height on the floor side of the main body. However, it can be reliably detected.

According to a twelfth aspect of the present invention, the obstacle detecting means for detecting an obstacle on the main body side according to the eleventh aspect is provided with an optical sensor in front of and behind the main body of the drive wheel. It is possible to accurately detect an object and to accurately perform complicated automatic running such as running along an obstacle such as running along a wall without meandering.

According to a thirteenth aspect of the present invention, the obstacle detecting means for detecting the obstacles on the right side and the left side of the main body according to the first aspect are arranged so that the optical sensors are symmetrical to each other with the center of the upper surface of the main body as the central axis. By arranging as above, the obstacle detection ranges on both sides can be the same, and the obstacle detection control can be facilitated.

In the fourteenth aspect of the present invention, the obstacle detecting means for detecting the rear obstacle according to the first aspect is provided with a plurality of optical sensors arranged in at least two rows, respectively, so that the main body is rearward. It is possible to reliably detect an obstacle in the traveling direction even when the vehicle is traveling to.

According to a fifteenth aspect of the present invention, the obstacle detecting means for detecting an obstacle on the upper rear side of the main body according to the fourteenth aspect is such that the light emitting portion of the optical sensor vertically irradiates light with respect to the horizontal plane. Since the optical sensors arranged on the same side face are not interfered with each other by being provided at an angle in the direction, it is possible to reliably detect the obstacle even when the main body is running backward.

According to a sixteenth aspect of the present invention, the obstacle detecting means for detecting an obstacle on the upper rear side of the main body according to the fifteenth aspect makes the light emitting portion of the optical sensor irradiate light upward from the horizontal direction. By having the optical sensor arranged so that even if the main body is running backward, even if it is an obstacle protruding upward from the same height as the main body existing behind the main body, Can be detected.

According to a seventeenth aspect of the present invention, the obstacle detecting means for detecting an obstacle at the upper rear of the main body according to the sixteenth aspect is such that the light emitting portion of the optical sensor emits light outward from the center of the main body. The optical sensors arranged in the same row interfere with each other even when the main body is running backwards by arranging so that the angle is different from other optical sensors. It is possible to detect obstacles without fail.

According to the eighteenth aspect of the present invention, the obstacle detecting means for detecting an obstacle on the upper rear side of the main body according to the seventeenth aspect is such that the light emitting portion of the optical sensor emits light outward from the center of the main body. The photosensors are provided at an angle so that the photosensors farther from the center of the main body are made larger in angle, so that the photosensors exist rearward of the main body without interference even when the main body is running backward. Obstacles can be reliably detected in a wide range.

According to a nineteenth aspect of the present invention, the obstacle detecting means for detecting the rear obstacle according to the eighteenth aspect is arranged so that the optical sensors are symmetrical with respect to the center of the rear surface of the main body as a central axis. This makes it possible to reliably detect a wide range of obstacles without the optical sensors interfering with each other.

[0028]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings by taking a case where it is applied to a self-propelled cleaner.

FIG. 1 is an internal perspective view of a self-propelled cleaner according to the first embodiment of the present invention, and FIG. 2 is a block diagram showing the system configuration of this embodiment. 1
Is a main body of a self-propelled vacuum cleaner that performs cleaning while moving, and moves in a cleaning area. Reference numerals 2 and 3 denote left and right drive motors, and respective output shafts drive left and right traveling wheels 4 and 5. The left drive motor 2 and the right drive motor 3 are independently rotationally controlled to move the main body 1 and also serve as a traveling drive means. 6 is the left and right drive motors 2 and 3 according to various inputs
Is a movement control means for controlling the movement of the main body 1 and includes a microcomputer and other control circuits. 7
Is an obstacle detecting means, which is arranged on the entire surface of the main body and detects the distance to an obstacle in front of, on the side of, or behind the main body by the optical sensor 14. Reference numeral 8 is a cleaning nozzle for cleaning the floor surface, which is a working means, and sucks dust by the vacuum pressure generated by the fan motor 9. Reference numeral 10 denotes a power source including a battery or the like, which supplies power to the main body 1.

The movement control means 6 comprises a plurality of obstacle detection means 7
The output to the left and right drive motors 2 and 3, the fan motor 9, the nozzle motor 15 and the brush motor 16 is controlled according to the input from the position recognizing means 11. Further, the movement control means 6 is based on the inputs from the plurality of obstacle detection means 7,
The main body 1 is moved along a wall at a constant distance from the wall, and the internal movement is performed by moving inside the cleaning area while avoiding obstacles. That is, the optical sensor 14, which is the obstacle detection means 7, accurately measures the distance from the main body 1 to the wall in the cleaning area and the distance to the obstacle, so that traveling along the wall and traveling around the obstacle are accurately performed. It will be possible.

FIG. 3 is a view showing the shape of the optical sensor 14,
FIG. 4 is a diagram showing the principle of distance measurement of the optical sensor 14. The optical sensor 14 has a light emitting unit 18 and a light receiving unit 19. The infrared light emitted from the light emitting unit 18 is reflected by an obstacle and the light receiving unit 19 receives the reflected light, and based on the principle of triangulation. It measures the distance to an obstacle.

The optical sensor 1 includes the reflector 17A and the reflector 17B.
When the distance from 4 is different, the light spot position of the reflected light on the light receiving unit 19 changes. The spot position is electrically processed to detect the distance to the reflector. Therefore, if the light emitted from the light emitting unit 18 directly enters the light receiving unit 19 due to irregular reflection or the like, the distance to the obstacle is erroneously detected, or it is detected that the obstacle exists even though the obstacle does not exist. It will be.

FIG. 5 shows a sensor holder 2 which is a sensor holding portion.
0 is a view showing the shape of the front surface, FIG. 6 is a view showing the shape viewed from the right, FIG. 7 is a view showing the shape viewed from above, FIG. 8 is a central sectional view showing the internal structure, and FIG. 9 is a sensor. FIG. 6 is a central cross-sectional view showing the optical sensor 14 of the holder 20 and a holding state. The light emitting tip cylinder 21 of the sensor holder 20 is provided in front of the light emitting portion 18 of the optical sensor 14, and the light receiving tip cylinder 2 is provided in front of the light receiving portion 19.
2 is formed to completely shield the light emitting portion 18 and the light receiving portion 19 to prevent erroneous detection due to the light from the light emitting portion directly entering the light receiving portion.

Since the light receiving section 19 of the optical sensor 14 cannot judge whether the received light is the light from its own light emitting section 18 or not, when a plurality of optical sensors are used, the light emitting section of another optical sensor emits light. If the light receiving unit receives the reflected light that is reflected by the obstacle, the distance to the obstacle is erroneously measured or the obstacle is erroneously recognized even if the obstacle is not present. Measures for erroneous measurement and erroneous detection will be described below.

FIG. 10 is a front view of the obstacle detecting means for detecting an obstacle in front, and FIG. 11 shows only the obstacle detecting means arranged in the upper and lower two rows. FIG. 1 is a view seen from above, and FIG. 12 is a view seen from above only the obstacle detecting means arranged in the upper and lower two rows.
FIG. 3 is a diagram showing a shape of the obstacle detection means arranged in the upper and lower two rows, which is arranged on the upper side, which is vertically shifted in shape.

As shown in FIG. 10, the obstacle detecting means for detecting an obstacle in front is a front lower obstacle detecting means 23 and a front upper obstacle detecting means in which four optical sensors 14 are arranged in a line. 24 is arranged vertically. The lower front obstruction detecting means 23 is arranged at an angle so that the light emitting portions of the optical sensors 14 irradiate light with the center line 30 of the main body 1 as a reference.
Further, the angle θ32 formed by the outer optical sensor 31 and the center line 30 of the main body 1 and the angle θ34 formed by the inner optical sensor 33 and the center line 30 of the main body 1 are such that θ32> θ34. Has been done.

Further, they are arranged symmetrically with the center line 30 of the main body 1 as the central axis.

Optical sensor 1 of front upper obstacle detection means 24
4 are also arranged at an angle so that the direction in which each light emitting unit emits light is directed outward with respect to the center line 30 of the main body 1. In addition, the outer optical sensor 35 is connected to the center line 30 of the main body 1.
The respective optical sensors are arranged so that the angle θ36 formed by the angle θ36 and the angle θ38 formed by the inner optical sensor 37 with the center line 30 of the main body 1 are θ36> θ38. Further, these optical sensors 14 are arranged symmetrically with respect to the center line 30 of the main body 1 as a central axis, and are arranged so that the direction of light emission of the light emitting portion is upward from the horizontal direction. Further, the right end optical sensor 26 and the right center side optical sensor 27 have different angles with respect to the horizontal plane.

Optical sensor 1 of front upper obstacle detection means 24
4 is arranged at an angle to the upper side with respect to the horizontal plane. Specifically, the angle θ46 formed by the outer optical sensor 35 with the horizontal plane and the angle θ4 formed by the inner optical sensor 37 with the horizontal plane.
No. 5 is arranged by changing the angle such that θ46> θ45.

The lateral detection range of the optical sensor is very narrow as shown by the hatched portion in FIG. 14, but if the optical sensors are arranged in a line, obstacles in the traveling direction can be detected reliably. Further, when a plurality of optical sensors are oriented in the same direction, erroneous detection occurs due to mutual interference of reflected light from other optical sensors, but the front lower obstacle detecting means 23 and the front upper obstacle detecting means 24 are , The light emitting parts of the optical sensors are angled outward from the center of the main body, and the angles are all different, so mutual interference in which the reflected light of another optical sensor enters the light receiving part The obstacle can be accurately detected without causing false detection due to.

The same applies to the vertical detection range,
The detection range is expanded by arranging them in two rows. Further, since the light emitting portion of the optical sensor 14 of the front upper obstacle detecting means 24 makes the direction of irradiating light upward with respect to the horizontal plane, and the angles are all different, the front lower obstacle detection is performed. The obstacle can be accurately detected without causing erroneous detection due to mutual interference between the means 23 and the front upper obstacle detection means 24.

In addition, since the front upper obstacle detecting means 24 has an optical sensor which is arranged upward from the horizontal, when an obstacle protruding upward from the same height as the main body exists ahead. However, since the sensor on the upper side is above the horizontal, it can be detected reliably.

The light emitting portions of the outer optical sensors 31 and 35 are arranged at an angle so that the light emitting portions of the inner optical sensors 33 and 38 are outwardly directed from the light emitting portions. Therefore, the obstacle existing outside the main body 1 ahead of the traveling direction can be detected and reliably avoided.

As described above, the optical sensor detects the distance to the obstacle by using the principle of triangulation, so the detection range is asymmetric with respect to the center of the optical sensor. Therefore, as compared with the case where they are attached in the same direction as shown in FIG. 15, the symmetrical arrangement as shown in FIG. 16 provides a wider detection range, and the obstacle detection means on the left and right of the center line of the main body 1 can be The detection range is targeted, and the movement control of the main body 1 is facilitated.

As shown in FIG. 1, the obstacle detecting means for detecting the side obstacle portion uses two optical sensors 40 and 41 to widen the detection range, and at the same time, the optical sensor 40 arranged at the front of the main body. Since the light emitting portion of the is angled so that the light is emitted downward with respect to the horizontal, and the optical sensor 41 arranged rearward of the drive wheel 4 in the traveling direction is arranged horizontally. Obstacles can be detected accurately without causing false detection due to mutual interference. Optical sensor 40 arranged on the front of the main body
Is downward, it is possible to reliably detect a low-level obstacle on the floor on the side of the main body 1, and the running wheels 4 may run over such an obstacle and hinder the main body 1. Absent.

Two optical sensors 40 arranged on this side surface,
By using 41 and running so that the distances to the obstacles measured by the respective optical sensors are the same, it is possible to realize complicated running such as running along obstacles such as running along a wall. is there. Further, in this embodiment, the drive wheels 4
Since the optical sensors are arranged in front of and behind the vehicle, even if the driving wheels 4 and 5 are slightly steered, the change in the distance to the obstacle measured by these two optical sensors becomes large, so that the accuracy of traveling along the wall is improved. It is possible to run along a smooth wall with less meandering. Furthermore, since one of the two optical sensors is arranged horizontally, the main body movement control means can always have an accurate distance to an obstacle on the side by data, and the traveling control can be performed. It can be performed more stably.

Since the optical sensor 42 arranged rearward of the drive wheel 4 with respect to the traveling direction is provided above the horizontal, an obstacle protruding upward from a height approximately equal to the height of the main body may be provided. Even if it exists on the lateral side of the traveling direction, it can be reliably detected and avoided by the fact that the optical sensor 42 arranged on the rear side with respect to the traveling direction faces upward from the horizontal.

The obstacle detecting means on both the left and right sides are provided with the same number of optical sensors so as to be symmetrical with respect to the center of the main body. Therefore, not only the obstacle detecting ranges on the left and right sides are the same, but also the obstacles are detected. Since the appearance itself is the same, it is possible to use the microcomputer memory effectively and configure a more detailed control algorithm by making the control algorithm for obstacle detection on the side exactly the same. Of.

The structure of the obstacle detecting means arranged in the rear is as follows.
Since it is similar to the obstacle detecting means arranged in the front, not only the obstacle behind can be detected in a wide range, but also false detection due to mutual interference can be prevented and accurate obstacle detection can be performed. As a result, even if the main body 1 has to move backward for a long time due to a complicated blind alley, the obstacle is detected exactly as in the case of moving forward, and the obstacle is avoided. It is something that can be run while.

[0050]

As described above, according to the present invention, it is possible to reduce the size of the main body by using the optical sensor and to arrange a plurality of optical sensors at the optimum positions, so that a wide range can be achieved with the minimum number of optical sensors. It can detect obstacles.

[Brief description of drawings]

FIG. 1 is an internal perspective view of a moving device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing the system configuration.

FIG. 3 is a diagram showing a principle of distance measurement of the optical sensor.

FIG. 4 is a diagram showing a principle of distance measurement of the optical sensor.

FIG. 5 is a view showing a front shape of a sensor holder which is the sensor holding portion.

FIG. 6 is an upper perspective view of a sensor holder that is the same sensor holding unit.

FIG. 7 is a right side view of the sensor holder that is the sensor holding unit.

FIG. 8 is a central cross-sectional view showing an internal structure of a sensor holder that is the same sensor holding portion.

FIG. 9 is a central cross-sectional view showing the optical sensor holding state of the sensor holder.

FIG. 10 is a front view of an obstacle detecting means for detecting an obstacle in front of the same.

FIG. 11 is a view of the obstacle detection means arranged in two rows above and below, which is arranged only on the lower side, as viewed from above.

FIG. 12 is a top view of only the obstacle detection means arranged on the upper side of the obstacle detection means arranged in two rows above and below.

FIG. 13 is a view showing a shape of the obstacle detection means arranged in the upper and lower two rows, which is arranged on the upper side, and is vertically shifted in shape.

FIG. 14 is a diagram showing a lateral detection range of the optical sensor.

FIG. 15 is a diagram showing a detection range when the same optical sensor is attached in the same direction.

FIG. 16 is a diagram showing a detection range when the optical sensors are arranged symmetrically.

[Explanation of symbols]

1 body 2 Left drive motor 3 Right drive motor 6 Movement control means 7 Obstacle detection means 14 Optical sensor 18 Light emitting part 19 Light receiving part 20 sensor holder 21 Luminous tip cylinder 22 Light receiving tip cylinder 24 Front upper obstacle detection means

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Hidetaka Yabuuchi             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. (72) Inventor Hiroshi Mori             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. (72) Inventor Naoyuki Ohara             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. (72) Inventor Hiroyuki Kayama             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. (72) Inventor Toru Kodate             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. F-term (reference) 5H301 AA02 AA10 BB11 DD01 GG08                       GG29 HH10 LL01 LL06 LL11

Claims (19)

[Claims] 1. A traveling means for moving a main body, an obstacle detecting means for detecting an obstacle in front of, to the side of, or behind the main body, and a movement control for controlling movement of the main body by controlling the traveling means. Means, the obstacle detecting means comprises a plurality of optical sensors having a light emitting portion and a light receiving portion, and the optical sensor receives the light emitted from the light emitting portion and reflected by the obstacle at the light receiving portion to reach the obstacle. The obstacle detection means for detecting the distance to detect an obstacle in front, side, or rear is the vertical direction or the horizontal direction such that the light emitting part of the optical sensor emits light in different directions. A moving device that is installed at an angle. 2. An obstacle detecting means for detecting an obstacle in front of the main body is provided with a plurality of optical sensors, each of which has at least two vertical sensors.
The moving device according to claim 1, wherein the moving devices are arranged side by side in a row. 3. The obstacle detecting means for detecting an obstacle in the upper part in front of the main body is provided with a light emitting portion of the optical sensor illuminating light at a vertical angle with respect to a horizontal plane.
The described moving device. 4. The moving device according to claim 2, wherein the obstacle detecting means for detecting an obstacle in an upper part in front of the main body is provided with an angle at which the light emitting portion of the optical sensor emits light upward from horizontal. . 5. The obstacle detecting means for detecting an obstacle in front of the main body is provided at an angle so that a light emitting portion of the optical sensor emits light outward from the center of the main body. Moving device. 6. The obstacle detecting means for detecting an obstacle in front of the main body is provided with an angle so that a light emitting portion of the optical sensor emits light outward from the center of the main body, and the angle is set to be the same. The moving device according to claim 5, wherein the larger the distance from the center of the main body of the optical sensor, the larger. 7. The moving device according to claim 6, wherein the obstacle detecting means for detecting an obstacle in front of the main body is arranged such that the optical sensors are symmetrical about the center of the front surface of the main body. 8. The obstacle detecting means for detecting an obstacle on the side of the main body is provided with a light emitting portion of the optical sensor illuminating light at a vertical angle with respect to a horizontal plane. Mobile device. 9. The obstacle detecting means for detecting an obstacle on the side of the main body is provided such that a light emitting portion of at least one optical sensor emits light at an angle upward with respect to a horizontal plane. The described moving device. 10. Obstacle detecting means for detecting an obstacle on the side of the main body is arranged such that the light emitting portion of the optical sensor emits light at a vertical angle with respect to a horizontal plane, and the angle is set. 10. The moving device according to claim 9, wherein the moving device has one optical sensor having 0 as 0. 11. The optical sensor arranged on the forefront of the main body on the side of the main body is provided with a light emitting portion of the optical sensor illuminating light at a downward angle with respect to a horizontal plane.
The described moving device. 12. The moving device according to claim 11, wherein the obstacle detecting means for detecting an obstacle on the side of the main body is provided with an optical sensor in front of and behind the traveling direction of the main body of the drive wheel. 13. The movement according to claim 12, wherein the obstacle detection means for detecting obstacles on the right side and the left side of the main body are arranged such that the optical sensors are symmetrical with respect to the center of the upper surface of the main body as a central axis. apparatus. 14. The moving apparatus according to claim 1, wherein the obstacle detecting means for detecting an obstacle behind the main body is provided with a plurality of optical sensors arranged in at least two rows vertically. 15. The obstacle detecting means for detecting an obstacle at the upper rear part of the main body is provided with a light emitting portion of the optical sensor illuminating light at a vertical angle with respect to a horizontal plane. Mobile device. 16. The obstacle detecting means for detecting an obstacle in the upper rear part of the main body has an optical sensor arranged such that a light emitting portion of the optical sensor emits light upward from a horizontal direction. Item 15. The moving device according to item 15. 17. The obstacle detecting means for detecting an obstacle on the upper rear side of the main body is provided at an angle so that the light emitting portion of the optical sensor emits light outward from the center of the main body. The described moving device. 18. Obstacle detecting means for detecting an obstacle at the upper rear of the main body is provided with an angle such that the light emitting portion of the optical sensor emits light outward from the center of the main body and the angle is provided. 18. The moving device according to claim 17, wherein the larger the optical sensor, the farther away from the center of the main body. 19. The moving device according to claim 18, wherein the obstacle detecting means for detecting an obstacle behind the main body is arranged such that the optical sensors are symmetrical about the center of the rear surface of the main body.