| 摘要 |
PROBLEM TO BE SOLVED: To provide a traveling device capable of performing stable traveling not depending on the condition of a road surface. SOLUTION: The traveling device is provided with a vehicle base 100; wheel units 200 rotatably provided on four corners of the vehicle base 100; a detection means 300 for detecting float-up or slip (abnormality) of the wheel unit 200; a drive part 410 for varying direction of the wheel unit 200; and a control part 500 for independently controlling drive parts 220L, 220R of the wheel unit 200 based on a traveling instruction value. When the control part 500 determines that abnormality is generated on the wheel unit 200 through a detection means 300, it determines whether or not the direction of the wheel unit 200 detected through a rotation encoder 411 of the drive part 410 and the direction instruction included in the traveling instruction value are coincident with each other. When it determines that they are not coincident, a stepping motor 412 of the drive part 410 is driven until the direction of the wheel unit 200 and the direction instruction become coincident. COPYRIGHT: (C)2007,JPO&INPIT |
