To provide a self-contained travel device wherein obstacle detection and grasping of an abnormal state can be accurately carried out even from a distant position by image information.
The self-contained travel device is provided with a traveling means 20 for moving a body 1, a travel control means 21 for controlling the traveling means 20, a travel distance measuring means 22 for measuring a travel distance of the body 1, a travel direction detecting means 23 for detecting a travel direction of the body 1, an image information acquiring means 15 for acquiring a state of at least any one of the front, periphery or floor face as the image information, an image recognition means 25 for processing information from the image information acquiring means 15 and recognizing an object or an obstacle, a control means 13 for outputting control data to the travel control means 21 in response to recognition data by the image recognition means 25, and an image information outputting means 29 for outputting information from the image information acquiring means 15 to an external image displaying means 28.
IMAI HIDETOSHI
OSHIMA HIROO
