| 摘要 |
Theme To provide a small-sized crawler device that can stably ride over bumps or steps or stairs. Means to Solve The crawler device includes a device body (1) having main crawlers (20) on its left and right and auxiliary crawlers (30) provided as auxiliary members at one end portion of the device body. Before the crawler device ascends a step or stairs with the auxiliary crawler (30) positioned backward, the controller (65) brings the auxiliary crawler (30) into a preparatory state in which the auxiliary crawler (30) is freely rotatable with respect to the main crawler (20) or the auxiliary crawler (30) is maintained in a position above a line extending longitudinally from the main crawler by a predetermined angle. After the main crawler (20) starts ascending the step or stairs and when a tilt angle of the device body (1) detected by a tilt sensor (60) reaches or exceeds a threshold angle, the controller (65) controls the auxiliary crawler (30) to be rotated downward to reduce the tilt angle of the device body (1), thereby preventing the crawler device from toppling backward. |
