| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a travel vehicle which achieves stable attitude control without operating a rolling actuator or a pitching actuator to a movable limit to cause twisting of a travel machine frame or without causing an extreme attitude in the travel machine frame. <P>SOLUTION: The travel vehicle includes a travel machine frame 1 supported on right and left travel portions 2, a rolling actuator 38 for changing the inclination attitude of the travel machine frame 1 in the right-left direction, a pitching actuator 177 for changing the inclination attitude of the travel machine frame 1 in the front-back direction, and a controller 371 for controlling the driving of each actuator 38, 177. The controller 371 stores a pair of attitude data pieces ML, MR related to the attitudes of each travel portion 2 side in the travel machine frame 1. The controller 371 determines propriety of the attitude change of the travel machine frame 1 in each actuator 38, 177 on the basis of both the attitude data ML, MR. <P>COPYRIGHT: (C)2013,JPO&INPIT |
