| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle which maintains a horizontal state of a mounting part on an inclined face, and can travel omnidirectionally.SOLUTION: A traveling control part 83 of a control device 81 drives a first mounted support part rotating actuator 60 and a second mounted support part rotating actuator 70 while making them cooperate with each other so that a second mounted support part 31 is brought into a horizontal state when a traveling face is an inclined face. By this constitution, even if the inclined face is inclined to a left-and-right direction with respect to a progressing direction and a fore-and-aft direction with respect to the progressing direction, the first mounted support part rotating actuator 60 rotates a first mounted support part 34 according to an inclination angle of the inclined face which is inclined to the left-and-right direction with respect to the progressing direction, the second mounted support part rotating actuator 70 rotates the second mounted support part 31 according to an inclination angle of the inclined face which is inclined to the fore-and-aft direction with respect to the progressing direction, and the second mounted support part 31 can be brought into the horizontal state. Accordingly, the omnidirectional traveling of a vehicle 1 can be stabilized by maintaining the horizontal state of the second mounted support part 31 on the inclined face. |
