Patent ID: 8447506
Filing Date: 2013-05-21
Classification: G05D

Abstract:
1. A traveling device comprising: a vehicle main body; a plurality of coaxially arranged drive wheels attached to the body; an operation lever extending upwardly from the body; and an assisting wheel spaced from the body and extending in direction perpendicular to the axis of the plurality of coaxially arranged drive wheels; a braking detection unit to detect start of braking of the vehicle; and a control device having a ground detection unit, the control device programmed to: wherein when start of braking is detected by the braking detection unit and the ground touching state of the assisting wheel is detected by the ground touching detection unit, the control device suspends the inversion control, and wherein when the ground touching state of the assisting wheel is detected by the ground touching detection unit, the control device suspends the inversion control.