To provide a travelling carriage, which is improved in operability.SOLUTION: A device 1 comprises a travelling part 7, a steering part 70, a speed control part 111, a second encoder 82, a memorizing part 115 and a maximum speed limiting part 113. The steering part 70 changes a steering angle θ of a driving wheel 75 of the travelling part 7. The speed control part 111 controls travelling speed of the travelling part 7. The second encoder 82 detects the steering angle θ. The memorizing part 115 memorizes information about the maximum travelling speed. The maximum speed limiting part 113 determines the maximum travelling speed as a target on the basis of the steering angle θ and the latest information about the maximum travelling speed, and makes thresholds for the steering angle θ, at which the maximum travelling speed is changed, different between when the steering angle θ increases and when the angle decreases. The maximum speed limiting part 113, when the travelling part 7 stops travelling and then resumes travelling, determines the maximum travelling speed after the resumption of the travelling, on the basis of the information about the maximum travelling speed memorized in the memorizing part 115.SELECTED DRAWING: Figure 8

    【課題】走行台車の操作性を向上させる。【解決手段】装置1は、走行部7と、操舵部70と、速度制御部111と、第2エンコーダ82と、記憶部115と、最大速度制限部113と、を備える。操舵部70は走行部7の駆動輪75の舵角θを変更する。速度制御部111は走行部7の走行速度を制御する。第2エンコーダ82は舵角θを検出する。記憶部115は、最大走行速度に関する情報を記憶する。最大速度制限部113は、舵角θと直前の最大走行速度に関する情報とに基づいて、目標とする最大走行速度を決定する。また、舵角θの増加時と減少時で最大走行速度を変更する舵角θの閾値を異ならせる。最大速度制限部113は、走行部7が停止後に走行を再開するとき、記憶部115に記憶された最大走行速度に関する情報に基づいて、走行再開後の最大走行速度を決定する。【選択図】図8


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    Title :

    TRAVELLING CARRIAGE


    Additional title:

    走行台車


    Contributors:
    OKI TAKASHI (author)

    Publication date :

    2019-11-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge / B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen



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