Document Type and Number:
Japanese Patent JP4665864
Kind Code:
B2
Abstract:
To prevent the occurrence of slip in an automated guided vehicle in which four wheels are respectively independently rotation-driven.
A load cell 50 detects reaction generated by driving force generated in front tires 14R and 14L pushing against driving force generated in rear tires 15R and 15L from each other. When the front driving force is large enough to generate reaction, a correction voltage command HFfor reducing the driving force is input to front chopper devices 19R and 19L to reduce the front driving force, and a correction voltage command HFfor increasing the driving force is also input to rear chopper devices 29R and 29L to increase the rear driving force. When the rear driving force is large enough to generate reaction, a correction voltage command HFfor increasing the driving force is input to the front chopper devices 19R and 19L to increase the front driving force, and a correction voltage command HFfor reducing the driving force is also input to the rear chopper devices 29R and 29L to reduce the rear driving force.
COPYRIGHT: (C)2008,JPO&INPIT
Inventors:
Masakatsu Nomura
Application Number:
JP2006216662A
Publication Date:
April 06, 2011
Filing Date:
August 09, 2006
Assignee:
KABUSHIKI KAISHA MEIDENSHA
International Classes:
G05D1/02; B60L9/18; B60W10/08; B60W10/20; B60W30/00; B60W30/02; B61B13/00
Domestic Patent References:
| JP2003146234A | | | | |
| JP2002166739A | | | | |
| JP200043748A | | | | |
| JP699758A | | | | |
| JP5505930A | | | | |
| JP3504706A | | | | |
Attorney, Agent or Firm:
Toshiro Mitsuishi
Tadahiro Mitsuishi
Yasuyuki Tanaka
Hiroshi Matsumoto
