| 摘要 |
A traveling vehicle (1) having a vehicle body (2), wheels (8) rotatably supported by the vehicle body (2), drive means (7) for driving the wheels (8), vehicle body attitude detection means (21) for detecting the attitude of the vehicle body (2), a balancer (10) for controlling the attitude of the vehicle body (2) by moving a weight (14), and vehicle body attitude control means for controlling the balancer (10) based on the attitude of the vehicle body detected by the vehicle body attitude detection means. When the balancer (10) has a failure, the vehicle body attitude control means causes only the drive means (7) to control the attitude of the vehicle body (2), and even if the balancer (10) for controlling the balance of the traveling vehicle (1) fails, the vehicle body attitude control means stably controls travel and braking of the traveling vehicle (1). |
