To provide a technique to make a self-propelled vehicle travel stably even when the weight or shape of a load varies.
The self-propelled vehicle comprises a body, a pair of driving wheels, a movable member connecting the body and the pair of driving wheels in such a way that the body and the pair of driving wheels are relatively displacable, a loading section arranged on the body in such a way that the loading section is relatively displacable with respect to the body, a first actuator for moving the movable member with respect to the body, a second actuator for moving the loading section with respect to the body, a means for giving an operation command to the first actuator, a means for giving an operation command to the second actuator, a weight calculation means for calculating the weight of a load applied on the second actuator on the basis of an operation command given to the second actuator and an actual operation amount of the second actuator, and a means for determining a target position of the loading section on the basis of the weight of the load calculated by the weight calculation means and a target position of the movable member.
SUKIGARA KAZUTOSHI
HAYASHI CHISAO
YAMADA KOSHI
SENBA YOSHIYUKI
DEO TAKASHI
SEGI TAKUYA
TOYOTA MOTOR CORP
| JP2004345030A | 2004-12-09 |