JPH115401A - Moving mechanism and moving method on rough terrain - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanism and a operation method which enable moving on a rough terrain of soft condition such as sandy ground or rocky ground on which free travelling by conventional balloon tire, a tire with blade lug and caterpillar was difficult. SOLUTION: This moving mechanism for a rough terrain is provided with a moving wheel 1 with a radius R for levelled ground moving, a curved surface board 3 which rotates making a rotating shaft of the moving wheel 1 to be a shaft core, and a rotation radius changing means 4 which changes the rotation radius R' of the curved surface board 3, and can control the tilting of a moving body. That is to say, this mechanism changes the rotation radius of the curved surface board 3 independently, enables to adjust the tilt angle of the moving body in accordance with the slope of the rough terrain and realizes better moving performance on the rough terrain.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[Technical field to which the invention belongs] Desert, farmland, muddy land, snowy land,
The present invention relates to a device that moves on rough terrain such as rocky places and a moving method using the device. The present invention provides a moving method when a rough terrain is a mixture of rocks, sand, and other terrain and climbs or descends on a rough hill having a large slope, that is, a method of operating a moving mechanism.

[0002]

[Background Art] Irregular lands are desert, farmland, muddy land, snowy land,
It is a land in a natural state such as a rocky place. Among these rough terrain, the rocky area is a place where rocks and rocks are loose, and if it is a seaside, it is called a rocky shore.

[0003] For traveling on uneven terrain, known are four-wheel drive vehicles, endless track vehicles (caterpillars, crawlers) and the like. There are Japanese Patent No. 2585903, Japanese Patent Application Laid-Open No. 8-104261, and Japanese Patent Application Laid-Open No. 8-239066 for improvement of a tracked vehicle. In addition, as an application of a low-pressure balloon tire, Japanese Patent No. 2522
No. 915, Japanese Patent No. 2576816, and Japanese Patent Application Laid-Open No. 8-332802 are applied to tires with blade lugs.

[0004] However, these known techniques make it difficult for the aforementioned “rocky area” to travel and travel. Although it is possible to use a moving body such as a tank with a bare caterpillar, it is easily understood that the body of the tank inclines greatly when going over a rock or the like.

[0005] Depending on the goods to be transported, such a large inclination is not preferable. For example, a glass container is used in pharmaceuticals and the like, and there is a possibility that the glass container may be damaged by vibration before and after climbing over a rock.

[0006]

SUMMARY OF THE INVENTION In view of these problems, a mechanism and a control device for moving and traveling on uneven terrain, particularly on a rocky surface without tilting, are provided.

[0007] In a desert area, there are many large slopes having a slope. This is formed by the sand being carried by the action of the wind, and is called the "Barhan Dunes" or "Sand Hill".

[0008] In such a steep dune, there is a case where the sand dune is continuous in a long distance in a horizontal direction like a mountain range. For this reason, the dune mountains cannot be avoided and must be climbed somewhere. Also, of course, you have to go downhill.

In many cases, such a steep ascent or descent reaches the power limit of the moving body. Here, the maximum possible inclination angle for climbing and descending a slope is temporarily referred to as “limit climbing (falling) angle: θ” of the moving body.

[0010] The present invention also provides a method of operating a moving object for moving a steep dune having a climbing angle (downhill) angle θ or more.

[0011]

FIG. 1 shows a first example of a moving mechanism according to the present invention. The basic configuration of the present invention is as follows: a “drive wheel 1” having a radius R for leveling movement, a “curved board 3” that rotates around the rotation axis of the drive wheel as an axis, and a “rotation radius changing unit” that changes the rotation radius R ′ of the curved board. 2, 2 ', 4 ". (Claim 1)

In FIG. 1, this changing means is more specifically
2 extendable spoke extension, 2 'extendable spoke base,
And the change power source 4.

The turning radius changing means 4 is a power source for changing the turning radius of the curved board. In this case, the telescopic spokes are extended from the base 2 'by two strokes by a stroke and fixed and held.

More specifically, a unit 4 incorporates a high-pressure gas or liquid buffer tank and a valve as a power source of the fluid cylinder.
2 'is a fluid cylinder.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As can be seen from FIG. 1, since the curved board 3 is movable in the radial direction by the turning radius changing means 2, 2 ', 4, the turning radius can be changed. The rotation axis of rotation is the same axis as the driving wheel 1. Curved board 3 which is variable here
Is assumed to be “R ′”.

During the terrain movement, R ′ is the turning radius R of the driving wheel.
If it is below, it does not interfere with the leveling movement by the driving wheel. Therefore, the above-described turning radius changing means sets R ′ to 0.9R <R ′.
A curved board fixing means for fixing in a range of ≤R may be provided. (Claim 2)

It is preferable in terms of design and manufacture that a plurality of curved boards are provided as shown in FIG. 1 and they are arranged symmetrically with respect to the rotation axis. (Claim 3)

The curved board rotation radius changing means may be a buffer mechanism (suspension) by fluid pressure or mechanical force.
, Vibration in irregular terrain movement is reduced. The extendable member for changing the radius, including the case where the shock absorbing mechanism is added, is preferably an expandable spoke such as a hollow cylindrical tube combined by changing the radius little by little. (Claims 4 and 5)

Further, it is effective to push the sand in the direction opposite to the traveling direction and to use the reaction force on the rough sandy rough terrain. Therefore, it is preferable to provide a paddle-shaped push plate for pressing the sand. Therefore, it is preferable to attach a paddle-shaped push plate 6 for pushing the irregular terrain element to the surface on the rotation axis side of the curved board as shown in FIG.
(Claim 6)

On the rotating shaft side as shown in FIG. 4, there is no interference in terrain running. If the paddle-shaped push plate 6 is attached so that it is substantially perpendicular to the moving direction at the lowest point of rotation, it is possible to strongly push the sand-like material, and it is preferable.

Now, a variation of the configuration of the moving mechanism of the present invention, that is, an embodiment will be described. For the sake of convenience, the description will be made by classifying the curved board, which is a basic component, and the "how to attach" the turning radius changing means.

That is, there are a "through type", an "external type", a "detachable type" and a "sprocket type". These have advantages and disadvantages and are used properly. The details of the proper use are the end-of-leaf sections, so they will not be described here, and only the configuration will be listed.

FIG. 1 shows a through type. That is, a hole radially penetrating from the rotation shaft is formed in the driving wheel having a radius R, and a curved board and a rotation radius changing unit are attached using the through hole. (Claim 8)

FIG. 2 shows an external type. The rotating shaft of the driving wheel 1 having a radius R is extended, and the curved board 3 and the turning radius changing means 4 are attached to an extension of the rotating shaft of the driving wheel 1. (Claim 9)

FIG. 3 shows a detachable type. The curved board 3 and the turning radius changing means 4 are integrated, and an attaching / detaching means 5 is provided so that the integrated unit can be attached to and detached from the driving wheel 1 having a radius R. The attachment / detachment means 5 may use mechanical fastening tools such as bolts and nuts. (Claim 10)

FIGS. 5 and 6 show a driving wheel split type. this is,
A driving wheel having a radius R is divided and fixed to a plurality of subunits by a separator (not shown) in the rotation direction. This division creates a gap between the separators. The curved board 3 and the turning radius changing means 4 are provided in this gap. (Claim 11)

"Penetration type (Fig. 1)""External type (Fig. 2)"
The turning radius R ′ of the curved board 3 can be changed by the turning radius changing means 4 in common for both the “detachable type (FIG. 3)” and the “drive wheel split type” (FIGS. 5 and 6).

FIG. 5 shows the operation of changing the radius of gyration to the "split wheel type".
6 and FIG. Although FIG. 4 has already been described, this is a view assuming a penetration type. That is, the groove-shaped hole 7 is formed so that the paddle push plate is accommodated in the driving wheel so that the curved board does not interfere with the terrain running during the terrain running.

Such a groove-like hole is unnecessary in the driving wheel split type. That is, as shown in FIG.
When fixing in the range of R ′ ≦ R, the paddle-shaped push plate is housed in the gap between the subunit portions 8 of the driving wheels having the radius R divided in the rotation direction.

FIG. 5 shows a state in which the driving wheel is divided during the terrain movement, and the curved board 3 is located in the gap between the divided driving wheel subunits 8. In this state, the curved board functions as a part of the driving wheel in contact with the terrain.

FIG. 6 is a diagram showing a state in which the radius of rotation R 'of the curved board is made larger than the radius R of the running wheel for running on uneven terrain. In this state, the outer peripheral surface of the curved board 3 comes into contact with irregular terrain elements such as sand and mud, and generates a frictional force from the relative speed due to acceleration and deceleration. This will be explained later.

Furthermore, since the curved board is buried in the sand with the free-flowing sand, the paddle-shaped push plate 6 attached to the surface on the rotating shaft side pushes the sand. This reaction force further increases the moving force.

The functional difference between the curved board and the driving wheel is that the speed of the rough terrain element is not constant because the curved board has intermittent contact with the terrain element. The same applies to the contact surface of the board, and the elements are accelerated or decelerated near the board surface as described above.

During acceleration / deceleration, the relative speed between the board surface and the terrain element is large. Since there is a positive correlation between the magnitude of the relative speed between the contact object and the contact surface and the frictional force, a frictional force greater than that of the driving wheel is generated, and the vehicle can travel on uneven terrain.

[0035]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As an embodiment, a method of operating a moving body for moving a steep dune having a climbing angle (downhill) angle θ or more will be described.

The present invention comprises the following elements as a moving mechanism. That is, a "rotating wheel" having a radius R for leveling movement, a "curved board" that rotates around the rotation axis of the driving wheel as an axis, and a "rotating radius changing means" that changes the turning radius R 'of the curved board. Further, here, a control means of the change in the radius of rotation effective in the operation of the moving body is provided.

In order to further automate the above control, it is necessary to provide an inclination / unevenness detecting means for measuring the inclination or unevenness of the uneven terrain surface, or an attitude angle detecting means for measuring the angle between the partial line of the moving body and the horizontal line. What is necessary is just to deploy to a mobile body. These detecting means are shown in S of FIG.

In FIG. 7, S is provided at the front part and the rear part of the moving body for forward movement and backward movement. S is a sensor that electrically converts and outputs an amount detected with respect to the inclination / unevenness of the uneven ground surface or an amount obtained by detecting the attitude angle of the moving body.

The means for controlling the change in the radius of gyration R 'of the curved board receives the output of the above S, and based on the output, the vibration of the moving body during movement is prevented, or the posture of the moving body is changed. Command R 'to change R' to be optimized
To the change means 4. (Claim 12)

It is preferable that the posture angle of the moving body is an angle formed by a partial line of the moving body and a horizontal line. Here, it is convenient if the partial line of the moving body is a straight line connecting points on the rotating shaft center line of the driving wheel or different moving shaft rotating shaft core lines. For example, an alternate long and short dash line indicated by L in FIG. 7 is a rotational axis of the driving wheel. (Claim 13)

The optimization of the posture of the moving body means, in part, to control the angle between the partial line of the moving body and the horizontal line to be smaller. Then, since the moving body partial line, which is the posture representative line of the moving body, becomes nearly horizontal, the load and other inclinations become smaller. (Claim 14)

FIG. 7 shows an example of the above-mentioned inclination reduction.
The curved board of the front left driving wheel reduces the turning radius by the height of the obstacle, thereby reducing the inclination when the front left driving wheel rides on the obstacle.

As described above, the means for detecting the unevenness state of the uneven surface is a sensor for measuring the height of an obstacle on the uneven ground where the curved board is in contact with the ground, and the radius of gyration R 'of the curved board is
By changing the distance according to the height of the obstacle, it is possible to prevent vibration and inclination due to contact with an obstacle on uneven ground. (Claim 1
5)

FIG. 8 shows an example in which the inclination of the slope of the rough terrain is detected, and R 'is changed according to the inclination. As shown in the figure, it is better that the curved board of the front driving wheel gives a strong driving force when climbing a hill, and that when driving downhill, the driving performance is better. This can be seen from the fact that creatures with long hind legs, such as animal rabbits, climb quickly.

FIG. 9 shows an example of the operation of grading (Road) → sandy ground → sand hill (Sand Hill) uphill → downhill. In the figure, ax is a front wheel having a reduced curved board turning radius for climbing a hill, bx is a front wheel having a curved board turning radius increased for a downhill, and a rear wheel having a reduced turning radius for downhill, and cx is
The front and rear wheels have a large radius of rotation of the curved board when entering uneven terrain from leveling. In this way, the present invention enables non-stop operation on level and irregular terrain.

Next, a description will be given of an embodiment (operation example) in which the maximum inclination α1 of the rough terrain surface is equal to or more than the inclination limit angle θ of the moving body (α1> θ).

FIG. 10 shows the inclined surface having the maximum inclination α1. Here, "straight climbing", that is, the O → P1 route in the figure exceeds the climbing limit, so climbing is impossible. Therefore, in FIG.
As shown in the P2 route, the vehicle is sloping obliquely so as to form a skew angle θ with respect to the maximum inclination direction of the irregular terrain, and climbing a slope. (Claim 16)

In order to be able to climb a hill, the actual climbing angle "α
2 ”must be less than or equal to the angle θ at which the mobile object can climb the hill. When the reference point of the slope is O and the reference height is H, the following equation is established.

[Distance of OP1] sin α1 = H [distance of OP2] sin α2 = H [distance of OP1]: [distance of OP2] = cos θ: 1

From these three equations, sin α2 / sin α1 =
cos θ In addition, from the condition that sloping uphill is possible, sin α2 ≤ sin θ

If α2 is replaced by θ, the following equation is obtained. This is the condition of the skew angle θ when skew-climbing.
(Claim 17) sin θ / sin α1 ≦ cos θ

The maximum slope α1 of the slope obtained from the inclination angle detecting means and the limit slope angle θ of the moving body known from experiments and the like.
If the vehicle is bent by the steering by the value of the skew angle θ that satisfies the above equation and the vehicle is climbed, the vehicle can climb little by little on a steep slope.

Further, by repeating a switchback type climbing in which such a forward slope and a backward slope are repeated at a predetermined time or a predetermined distance, the vehicle can move without leaving the destination. It is suitable. (Claim 18)

It is more preferable to combine the above-described attitude control even in such a skew or switchback climbing. That is, as shown in FIGS. 11 and 12, the moving body is brought closer to the horizontal posture as much as possible.

More specifically, as shown schematically in FIG. 11, the turning radii of the curved boards placed on the hill side and the valley side of the slope are changed asymmetrically. In the figure, the rotation trajectory of the curved board is indicated by a circle, but the rotation radius (trajectory) 9 of the curved board at the position behind the peak is made smaller than the rotation radius (trajectory) of the curved board at the position behind the valley. A cross-sectional view of this situation is shown in the lower diagram of FIG.

Similarly, the turning radius (trajectory) 11 of the curved board at the position before the peak is made smaller than the turning radius (trajectory) 12 of the curved board at the position before the valley. See the upper diagram in FIG. It can be seen from FIG. 12 that the vehicle body tilt of the moving body is reduced by making the curved board rotation radius asymmetric in this way.

FIG. 13 shows an embodiment of switchback climbing. Since forward and backward movements are performed alternately, 10 'is a locus of 10 rotating forward when moving backward, and 12' is a locus of 12 rotating backward when moving backward.

The forward and backward movements often have different uphill performances. Therefore, a "Z-shaped uphill" in which the vehicle is moved obliquely only when moving forward and when the vehicle is moved backwards may be effective. Although the description has been made on the ascending slope in FIGS. 11 to 13, the same applies to the descending slope.

[0059]

According to the present invention, there is provided an apparatus for moving on rough terrain such as a desert, a farmland, a muddy land, a snowy area, and a rocky place, and a moving method (operating method) using the apparatus. The rough terrain is a mixture of rocks, sand, and other terrain, and it is possible to climb up and down hills with large slopes.

[Brief description of the drawings]

FIG. 1 is an example of a “through-type” position variable board configuration example

FIG. 2 shows an example of an “external type” position-variable board configuration.

FIG. 3 is an explanatory view of an attaching / detaching means of a position-removable board unit in a “detachable type”.

FIG. 4 is a perspective view of a position variable board with a paddle-shaped push plate.

FIG. 5 is an explanatory view (part 1) of a driving wheel split type.

FIG. 6 is an explanatory view of a driving wheel split type (part 2).

FIG. 7 is a diagram illustrating a position control of a position variable board for reducing a left-right inclination of a moving object.

FIG. 8: Position control of a position variable board during flat, uphill, and downhill

[Fig. 9] Driving conditions from leveling to uneven terrain and uneven hills

FIG. 10 is an explanatory view of ascending a slope having a slope inclination angle α1 at a slope angle θ.

FIG. 11 is an explanatory diagram of an ascending slope.

FIG. 12: Difference in position of position-variable board when climbing a slope

FIG. 13 is an explanatory diagram of climbing up a hill due to repetitive switchback of skew

[Explanation of symbols]

ax Front wheel with reduced curved board turning radius for ascending hill bx Front wheel with larger curved board turning radius for downhill and rear wheel with smaller turning radius cx Turning radius of curved board when entering rough terrain from leveling Front wheel and rear wheel α1 Maximum inclination angle of slope α2 Climbing angle when sloping down slope β β, α1 and inclination angle determined by moving body posture H Climbing height L Rotating axis of driving wheel (curved board) l Front and rear wheels Line connecting the rotation axes of O O Uphill reference point P1 Arrival point on straight uphill P2 Arrival point on sloping uphill S Running surface sensor 1 Running wheel 2 Telescopic spoke extension 2 'Telescopic spoke base 3 Curved board 4 Curved board rotation Means for changing radius R '5 Means for attaching / detaching curved board unit to driving wheel 6 Paddle-shaped push plate 7 Groove-shaped hole for accommodating paddle plate push plate 8 Radius R divided in rotation direction Part of the driving wheel 9 Rotation trajectory of the curved board at the position behind the mountain 10 Rotation trajectory of the curved board at the position behind the valley 10 '10 trajectories that rotate forward when retreating 11 Rotation trajectory of the curved board at the position before the mountain 12 Rotation trajectory of curved board of position 12 '12 trajectories that rotate backward when retreating

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[Procedure amendment]

[Submission date] June 27, 1997

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claim 16

[Correction method] Change

[Correction contents]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] Claim 17

[Correction method] Change

[Correction contents]

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0009

[Correction method] Change

[Correction contents]

There are many cases where such a steep ascent or descent reaches the power limit of the moving body. Here Noboru slope, "limit Noboru hill (downhill) angle: theta" mobile maximum inclination possible downhill and tentatively.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0010

[Correction method] Change

[Correction contents]

[0010] merits also provides a method of operating a mobile body for moving the limit Noboru slope (downhill) angle Θ over steep dunes.

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0035

[Correction method] Change

[Correction contents]

[0035]

As the examples, illustrating a method of operating a mobile body for movement limit Noboru Saka (the downhill) angle Θ over steep dunes.

[Procedure amendment 6]

[Document name to be amended] Statement

[Correction target item name] 0046

[Correction method] Change

[Correction contents]

Next, a description will be given of an embodiment (operation example) in which the maximum inclination α1 of the uneven terrain surface is equal to or more than the inclination limit angle Θ of the moving body (α1> Θ ).

[Procedure amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0048

[Correction method] Change

[Correction contents]

In order to be able to climb a hill, the actual climbing angle "α
2 ”must be less than or equal to the climbing angle 移動 of the mobile object. When the reference point of the slope is O and the reference height is H, the following equation is established.

[Procedure amendment 8]

[Document name to be amended] Statement

[Correction target item name] 0050

[Correction method] Change

[Correction contents]

From these three equations, sin α2 / sin
α1 = cos θ In addition, from the condition that sloping uphill is possible, sin α2 ≦ sin Θ

[Procedure amendment 9]

[Document name to be amended] Statement

[Correction target item name] 0051

[Correction method] Change

[Correction contents]

If α2 is replaced by Θ , the following equation is obtained. This is the condition of the skew angle θ when skew-climbing.
(Claim 17) sinΘ / sin α1 ≦ cos θ

[Procedure amendment 10]

[Document name to be amended] Statement

[Correction target item name] 0052

[Correction method] Change

[Correction contents]

The maximum slope α1 of the slope obtained from the inclination angle detecting means and the limit climbing angle Θ of the moving body known from experiments and the like.
If the vehicle is bent by the steering by the value of the skew angle θ that satisfies the above equation and the vehicle is climbed, the vehicle can climb little by little on a steep slope.

[Procedure amendment 11]

[Document name to be amended] Statement

[Correction target item name] Brief description of drawings

[Correction method] Change

[Correction contents]

[Brief description of the drawings]

[8] flat, Noboru Saka, position control of the variable position board downhill

Claims (18)

[Claims] 1. A driving wheel having a radius R for leveling movement, a curved board rotating around a rotating shaft of the driving wheel as an axis, and a turning radius changing means for changing a turning radius R ′ of the curved board. Moving mechanism for rough terrain. 2. The turning radius changing means, further comprising a curved board fixing means for fixing a turning radius R ′ of the curved board in a range of 0.9R <R ′ ≦ R.
Moving mechanism on rough terrain. 3. The rough terrain moving mechanism according to claim 1, comprising a plurality of curved boards, which are arranged axisymmetrically with respect to the rotation axis. 4. The uneven terrain moving mechanism according to claim 1, wherein the turning radius changing means of the curved board is constituted by a telescopic spoke provided with a buffer mechanism. 5. The uneven terrain moving mechanism according to claim 4, wherein the telescopic spokes provided with the shock absorbing mechanism are constituted by fluid cylinders. 6. A paddle-shaped push plate for pushing an irregular terrain element on a surface on a rotation axis side of a curved board.
Moving mechanism on rough terrain. 7. The uneven terrain moving mechanism according to claim 6, wherein a plate surface of the paddle-shaped push plate is attached so as to be substantially perpendicular to the moving direction at the lowest point of rotation. 8. The rough terrain movement according to claim 1, wherein a hole radially penetrating from the rotating shaft is formed in the driving wheel having a radius R, and the curved board and the turning radius changing means are attached using the through hole. mechanism. 9. The rough terrain moving mechanism according to claim 1, wherein the rotating shaft of the driving wheel having a radius R is extended, and the curved board and the turning radius changing means are attached to an extension of the driving wheel rotating shaft. 10. The uneven terrain moving mechanism according to claim 1, wherein the curved board and the turning radius changing means are integrated, and the integrated unit includes detachable means which can be attached to and detached from a driving wheel having a radius R. 11. A driving wheel having a radius R is divided and fixed to a plurality of subunits by a separator in a rotational direction,
2. The mechanism for moving uneven terrain according to claim 1, wherein the curved board and the turning radius changing means are attached to a gap between the subunits. 12. A driving wheel having a radius R for leveling movement, a curved board rotating around a rotation axis of the driving wheel as an axis, a turning radius changing means for changing a turning radius R 'of the curved board, and a change controlling means. , Using inclination / unevenness detecting means for measuring the inclination or unevenness of the surface of the rough terrain or using an attitude angle detecting means for measuring an angle between a partial line of the moving body and a horizontal line,
Rotation of a curved board to prevent vibration of the moving object during movement or to optimize the posture of the moving object based on the detected amount of inclination / unevenness on the surface of uneven terrain or the detected angle of the posture of the moving object A method for moving irregular terrain, characterized by changing a radius R '. 13. The method according to claim 12, wherein the partial line of the moving body is a rotation axis of the driving wheel or a straight line connecting points on different rotation axis of the driving wheel. 14. A method for optimizing a posture of a moving body is to change a turning radius R ′ of a curved board so that an angle between a partial line of the moving body and a horizontal line is made smaller and the moving body is made more horizontal. Item 12. The method for moving irregular terrain according to Item 12. 15. The means for detecting the unevenness state of an uneven terrain surface,
A sensor for measuring the height of an obstacle on an irregular ground on which the curved board contacts the ground, and by changing the turning radius R 'of the curved board according to the obstacle height, by contact with the obstacle on the irregular ground. 13. The method for moving uneven terrain according to claim 12, wherein vibration and inclination are prevented. 16. When the maximum slope α1 of the rough terrain surface is equal to or greater than the slope limit angle Θ of the moving object (α1> θ).
13. The method for moving uneven terrain according to claim 12, wherein the terrain is inclined obliquely so as to form a skew angle θ with respect to the maximum inclination direction of the uneven terrain. 17. The skew angle θ is defined as sin θ / sin α1 ≦
17. The method according to claim 16, wherein the value satisfies cos θ. 18. The sloping hill with the skew angle θ is a switchback type sloping in which forward sloping and backward sloping are repeated at predetermined time intervals or at fixed distances.
How to move on rough terrain.