To provide a travel device and its control method by which ingress to a level difference portion and avoidance of obstacles are satisfactorily attained.
Independent wheels 301, 302 are provided on a base 300, and a sensor module 303 incorporating a gyroscope sensor, a three-dimensional acceleration sensor and a pressure sensor is mounted, then according to an output of the sensor module 303, a motor 304 is controlled and the wheels 301, 302 are driven. Moreover, an operating lever 305 and a traction arm 306 to tow a vehicle body are provided on the base 300. Two small cameras 307, 308 are mounted on the base 300 to measure a state of a road, then a position of the vehicle body is changed according to its state to avoid collision with the obstacles. An auxiliary wheel 309 and its actuator 310 are further provided on the base 300, which are driven at speed reduction or at stoppage. Furthermore, a display device 311 such as an LED and a buzzer is provided on the base 300.
COPYRIGHT: (C)2007,JPO&INPIT
Yamano Ikuo
Masaki Fukuchi
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