PROBLEM TO BE SOLVED: To provide a self-propelled work robot working in a work place having a large range and even in a work place including many obstacles while suppressing reduction of work efficiency.SOLUTION: A first machine body and second machine body including a pair of drive wheels and work tool attached thereto are configured by being connected to each other. The first machine body includes obstacle detection means detecting an obstacle in a front part in a travel direction and detection means detecting a position or angle of the second machine body with respect to the first machine body. A control part 34 controlling the first machine body and second machine body to travel based on a signal from the obstacle detection means and a signal from the detection means includes reference travel means 40 causing a self-propelled work robot to travel with the second machine body located in an obliquely rear part with respect to the first machine body and obstacle avoiding travel means 39 controlling the self-propelled work robot such that the second machine body is located in a directly rear part of the first machine body.SELECTED DRAWING: Figure 6COPYRIGHT: (C)2018,JPO&INPIT【課題】広い範囲の作業場所から障害物の多い作業場所まで、作業効率の低下を抑制しながらも、作業を行う自走式作業用ロボットを提供する。【解決手段】一対の駆動輪と作業用ツールが取り付けられた第1機体及び第2機体が、連結して構成され、第1機体に、走行方向前方の障害物を検出する障害物検出手段と、第1機体に対する第2機体の位置又は角度を検出する検出手段と、を備え、障害物検出手段からの信号及び検出手段からの信号に基づいて第1機体及び第2機体の走行を制御する制御部34は、障害物がない場合に、第1機体が走行方向前方に位置し、第2機体が第1機体に対して走行方向斜め後方に位置した状態で走行させる基準走行手段40と、障害物がある場合に、第1機体の直後方に第2機体が位置するように制御する障害物回避走行手段39を備える。【選択図】図6
