PURPOSE: To calculate the radius of the turning and speed by which a running body runs efficiently and in the shortest time on the course set by a polygonal line.
CONSTITUTION: An optinum radius of the turning R1 defining the length of a straight line course as a reference is determined by a course radius of the turning calculation means 2 from a memory 1, a speed radius of the turning R2 defining turning instruction speed as a reference is determined by a speed radius of the turning calculation means 4 from a memory 3, the smaller radius of turning of them is selected, whether this selected radius of the turning is within the range of the turning speed limit of a memory 5 or not is decided. Then, by radius of the turning calculation means 6, if the radius is within this range, it is determined as an optinum radius of the turning R3 as it is, and if it is outside of the range, it is changed to a close value within the range and the optinum radius of the turning is determined. Turning speed Vs is determined based on the optinum radius of the turning determined by a turning speed calculation means 7.
MURASE TATSUYA
HIROSE SHINYA
HIROIKE MASAHIRO
ATONO TADASHI
HORI AKIHIRO
NITTETSU MINING CO LTD