| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a transportation carriage equipped with an auxiliary mechanism which can reduce a load.SOLUTION: Two main wheels 130R, 130L are coaxially provided on a lower part of a body part 110. Further, a transportation carriage 100 includes an arm part 120 having a handle part 124, which a user grips by a hand, at a tip thereof. The body part 110 and the arm part 120 are integrally inclined around axes of the wheels 130R, 130L as rotational axes. When the user pulls or pushes the handle part 124, the transportation carriage 100 travels in the state of being inclined to the user side. A handle angle sensor 141 detects a folding angle of the handle part 124. A target inclination angle setting part 163 determines an inclination angle which is targeted by the body part 110 on the basis of an operation of the handle part 124 performed by the user. A control part 160 performs inverted pendulum control such that the inclination angle set by the target inclination angle setting part 163 is so made as to be a target inclination angle.</p> |
