VEHICULAR WHEEL TRAVELING DEVICE

摘要

PROBLEM TO BE SOLVED: To secure traveling stability when a wheel traveling device having a fixed axle device and a rocking axle device travels on a recess-projection road surface. SOLUTION: The rocking axle device 10 and the fixed axle device 20 having left and right wheels 15 and 25 are arranged in front and in rear of a traveling body 2 to constitute this vehicular wheel traveling device. The rocking axle device 10 has a rocking axle device 11 rockably installed on the traveling body 2 and having the wheels in left and right parts. This traveling device has front road surface detectors 53a and 53b for detecting a recess-projection state of the road surface in traveling directional front of the traveling body and an operation and driving control device 50 for giving a warning to travel of the traveling body according to the recess-projection state of the traveling directional front road surface detected by these front road surface detectors and controlling regulation to the travel.