| 摘要 |
PROBLEM TO BE SOLVED: To provide a crawler device capable of detecting contact of a second crawler and release of the contact without using a range-finding sensor, an attitude sensor or image processing and easily and safely elevating even on stairs of various inclinations, and a method for driving the crawler device.SOLUTION: A crawler device 20 including a turn motor 32 turning second crawlers 22 in relation to first crawlers 28 further includes a rotatable contact detection crawler 34 provided on a lateral direction side surface of each second crawler 22 and a pair of right and left encoders 36 detecting rotation of each of the right and left contact detection crawlers 34 and outputting a detection signal. Each contact detection crawler 34 includes a front end 34a aligned with a front end 22a of each second crawler 22 in an advancing direction, a ground plane 34d aligned with a ground plane 22d in contact with a road surface of each second crawler 22 in a height direction, and a rotary shaft 34b parallel with a rotary shaft 22b of each second crawler 22. |
