公开(公告)号：US10653283B2

公开(公告)日：2020-05-19

申请号：US15552464

申请日：2016-03-01

申请人： Sharp Kabushiki Kaisha

发明人： Masanori Tsuboi ,  Masashi Matsumoto ,  Toshihiro Senoo ,  Fumio Yoshimura

IPC分类号： B60L50/51 ,  B60L58/21 ,  A47L9/28 ,  G05D1/02 ,  A47L9/00 ,  B25J11/00

摘要： A self-propelled electronic device comprising: a housing; a drive wheel that enables the housing to travel; a wheel drop sensor that detects loss of contact of the drive wheel with a floor surface; and a travel control unit that controls travel of the housing, wherein, when the wheel drop sensor detects loss of contact of the drive wheel with the floor surface, the travel control unit continues travel of the housing for a predetermined continuous travel time, and if the wheel drop sensor still detects loss of contact of the drive wheel with the floor surface after the continuous travel time has elapsed, the travel control unit stops the rotation of the drive wheel, and then, rotates the drive wheel in a direction opposite to the direction of the rotation for a predetermined reverse travel time, to cause the housing to travel in a reverse direction.