| 摘要 |
<p>Provided is a handcart in which the posture of a main body can be controlled to make it possible to walk without losing a feeling of stability even when approaching sloped ground surfaces. The handcart is provided with a pair of wheels, one or a plurality of drive units that cause the pair of wheels to rotate, a main body that rotatably supports the pair of wheels, a gripping unit disposed on one end of the main body on the opposite side from the side on which the pair of wheels is supported, and a support unit that is connected on one end to the main body so as to be rotatable in the pitch direction and rotatably supports one or a pair of auxiliary wheels on the other end. The angle of intersection formed by the main body and the support unit is detected and the incline angle of the main body relative to the direction orthogonal to the ground surface is estimated on the basis of the detected angle of intersection. The slope angle of the ground surface is calculated, the pitch incline angle relative to the vertical direction is estimated on the basis of the estimated incline angle and the calculated slope angle, and the posture of the main body in the pitch direction is controlled.</p> |
