PROBLEM TO BE SOLVED: To reduce an impact received by a movable type X-ray imaging device, when ascending/descending a step.SOLUTION: A movable type X-ray imaging device has an X-ray generating part for generating an X-ray, a carriage including wheels 4, drive parts 31 of the wheels, an operation handle 7 for receiving operation for moving the carriage, and a drive control part 6 for performing feedback control of the drive part 31 so that travel speed of the carriage agrees with target speed corresponding to a control input received by the operation handle 7. When it is determined that the wheels 4 reach a step, the drive control part 6 lowers the target speed.SELECTED DRAWING: Figure 3COPYRIGHT: (C)2016,JPO&INPIT【課題】段差を乗り/降りする時に移動型X線撮影装置が受ける衝撃を低減することにある。【解決手段】X線を発生させるX線発生部と、車輪4を備えた台車と、車輪の駆動部31と、台車を移動させる操作を受け付ける操作ハンドル7と、台車の移動速度が操作ハンドル7の受け付けた操作量に対応する目標速度となるように駆動部31をフィードバック制御する駆動制御部6を有する。駆動制御部6は、車輪4が段差に到達したと判断した場合、目標速度を低下させる。【選択図】図3
