| 摘要 |
A traveling vehicle 1 that includes a vehicle body 2, a wheel 8 rotatably supported by the vehicle body 2, and driving means 7 driving the wheel 8 further includes: vehicle body posture detecting means 21 that detects the posture of the vehicle body 2; a balancer 10 for controlling the posture of the vehicle body 2 by moving a weight 14; and vehicle body posture controlling means 22 that controls the balancer 10 based on the vehicle body posture detected by the vehicle body posture detecting means 21. The vehicle body posture controlling means 22 controls, when the balancer 10 is out of order, the posture of the vehicle body 2 by the driving means 7 alone. Thus, traveling and braking of the traveling vehicle 1 are stably controlled even when the balancer 10 that controls balance of the traveling vehicle 1 is out of order.
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