公开(公告)号：US20100268446A1

公开(公告)日：2010-10-21

申请号：US12750889

申请日：2010-03-31

申请人： Toshio FUWA ,  Yushi TAKEUCHI ,  Takashi IZUO

发明人： Toshio FUWA ,  Yushi TAKEUCHI ,  Takashi IZUO

IPC分类号： G05D1/08

CPC分类号： G05D1/0891

摘要： A traveling device 10 includes ground touching detection means to detect a ground touching state in which a ground touching member touches a road surface, and control means to perform inversion control by controlling the driving of a wheel. When a ground touching state of the ground touching member is detected by the ground touching detection means, the control means suspends the inversion control. Further, when the start of braking is detected by the braking detection means and a ground touching state of the ground touching member is detected by the ground touching means, the control means may suspend the inversion control.

摘要翻译： 行驶装置10包括：地面接触检测装置，用于检测地面接触构件接触路面的地面接触状态;以及控制装置，通过控制车轮的驱动来执行反转控制。 当接地触摸检测装置检测到地面触摸部件的接地状态时，控制装置暂停反转控制。 此外，当通过制动检测装置检测到制动开始并且接地触摸装置检测到接地触摸部件的接地状态时，控制装置可以暂停反转控制。