| 摘要 |
PROBLEM TO BE SOLVED: To provide a stairway elevator whose posture can be controlled by distinguishing a traveling state and a state of elevating stairways from each other without using a gyro sensor.SOLUTION: A travel control part 72 controls travel of a stairway elevator 1 at a state that a first wheel 22 and a second wheel 23 are grounded on a travel surface Sd, and controls a posture of a loading part 30 by considering that a support part 21 does not rotate with respect to the travel surface Sd. An erection control part 73 performs stairway elevation control at an erected state by the wheel 22 located in front of a travel direction, and controls the posture of the loading part 30 by considering that the wheel 22 located in front of the travel direction is positioned. A changeover part 71 switches control by a travel control part 72 to control by an erection control part 73 when it is detected that the wheel 22 located in front of the travel direction has come into contact with a wall surface Sw1 of stairways in control by the travel control 72. |
