| 摘要 |
PROBLEM TO BE SOLVED: To detect contact of a driving wheel with an obstacle without using any expensive sensor for each of the driving wheels in a two-wheel drive movement device for preventing damage of the obstacle or the movement device itself at low cost. SOLUTION: This movement device starts moving (S1) when the driving wheels are driven through control by a control part. The movement device moves along a movement path when output torque of driving motors is controlled by the control part (S2). If the obstacle touches the driving wheel during movement of the movement device 1, the output torque of the driving motor necessary for continuing movement is increased. The control part detects contact of the driving wheel, which is driven by the driving motor, with the obstacle on a road surface (S4) when output torque of one of the left and right driving motors exceeds a predetermined value (YES in S3). The control part controls drive for the two driving motors for avoiding the obstacle and makes them perform obstacle avoiding operation (S5). COPYRIGHT: (C)2007,JPO&INPIT
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