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Pub. No.:    WO/2017/171045    International Application No.:    PCT/JP2017/013722
Publication Date: Fri Oct 06 01:59:59 CEST 2017 International Filing Date: Sat Apr 01 01:59:59 CEST 2017
IPC: G05D 1/02
A47L 9/28
B08B 1/04
B08B 3/02
Applicants: MIRAIKIKAI, INC.
Inventors: MORITA Kazuo
森田 和郎
三宅 徹
[Problem] To provide an autonomously traveling robot in which it is possible to prevent damage caused by the autonomously traveling robot being dropped, etc, and in which it is possible to reliably operate over the entirety of a flat surface. [Solution] A robot 1 for autonomously traveling on a structure SP having a designated flat surface SF, and performing operations on a flat surface of the structure SP, wherein the robot 1 is provided with a robot body 2 provided with a movement means for autonomous travel; a control unit 30 for controlling the movement of the robot body 2; and a cleaning unit 10 for performing operations such as cleaning of the designated flat surface SF. The control unit 30 is provided with an edge detection unit 31 for detecting the edge of the designated flat surface SF. The edge detection unit 31 is provided with an outward detection part 32 positioned farther outward than the cleaning unit 10 in the travel direction of the robot body 2; and an inward detection unit 33 positioned farther toward the robot body than the outward detection part 32 in the running direction of the robot body 2.