To provide a wheel type traveling device having a constitution suitable for climbing steps.
A front movable leg and a rear movable leg are turnably mounted on a body part of the wheel type traveling device. A leg wheel is mounted on a fore end part of each movable leg, and the front movable leg and the rear movable leg travels on the body part. Further, a front intermediate wheel and a rear intermediate wheel mounted on the body part travel on the body part. A drive control unit includes a wheel driving unit for performing the drive control of the leg wheels and the intermediate wheels, a leg driving unit for performing the drive control of the movable legs, and a step detection unit for obtaining the data to detect the ascending step in the advancing direction. The drive control unit changes its posture into the posture of supporting the body part by the front and rear leg wheels by synchronously and gradually performing the descending operation of the front and rear movable legs by the leg driving unit when the step detected by the movable legs based on the data of the step detection unit, and accelerates the travel of the rear leg wheel by the wheel driving unit according to the descending operation of the rear movable leg or the front movable leg.
FUJIOKA SOICHIRO
MATSUKAWA YOSHIHIKO
NAKAMURA TORU
HACHITANI SHUJI
Hiroki Naito
Daisuke Nagano