| 摘要 |
PROBLEM TO BE SOLVED: To provide a wheel type travelling vehicle in which a stuck state and a rolling-over caused by climbing a steep slope can be effectively prevented. SOLUTION: The wheel type travelling vehicle comprises a first wheel supporting section 3 having driving wheels 1 and an auxiliary wheel 2 arranged at a distance in the forward and backward directions, a second wheel supporting section 4 which is connected to the intermediate position between the driving wheel 1 and the auxiliary wheel 2 so as to swivel in the vertical direction and supports one auxiliary wheel 2 arranged in the rear of the driving wheels 1 or a plurality of auxiliary wheels 2 arranged on a straight line in the lateral direction, and an angle sensor 5 arranged at the connecting portion of the wheel supporting sections. The inclination of a road surface can be judged based on the output from the angle sensor 5. COPYRIGHT: (C)2006,JPO&NCIPI
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