PROBLEM TO BE SOLVED: To provide a movement direction measurement device and self-propelled type moving body that can highly accurately measure a movement direction.SOLUTION: To a moving body (2) movable in a prescribed direction x, detection devices (9L and 9R) detecting amounts of movement xL and xR to the prescribed direction x relative to a movement surface are disposed at the left and right of the moving body with the detection devices spaced away at a prescribed distance h. When the moving body moves at a distance shorter than the prescribed distance h, an angle of deviation Δθ in a movement direction in pre and post movements of the moving body is obtained from a difference (xL-xR) between the amounts of movement detected by the left and right detection devices and the prescribed distance h. A speed of travelling bodies (5L and 5R) of the moving body (2) is modified so as to make the obtained angle of deviation Δθ small.SELECTED DRAWING: Figure 1
展开▼
