To provide a travelling control device of an unmanned carrier vehicle that can obtain a position of a gravity center of a cargo, without needing an additional sensor.SOLUTION: A travelling control device 20 of an unmanned carrier vehicle 1 is provided with: a pair of travelling motors 8A and 8B that rotationally drives a pair of left and right driving wheels 6A and 6B independently from each other; two motor torque sensors 21A and 21B that detect torque of the travelling motors 8A and 8B respectively; a gravity center position calculating part 25 that calculates a position G of a gravity center of a cargo 2 placed on a loading platform 4, using the torque of the travelling motors 8A and 8B detected by the motor torque sensors 21A and 21B; and a travelling control part 26 that performs travelling control of the unmanned carrier vehicle 1 in accordance with the position G of the gravity center of the cargo 2 calculated by the gravity center position calculating part 25.SELECTED DRAWING: Figure 3

    【課題】追加センサを不要としつつ、荷の重心位置を得ることができる無人搬送車の走行制御装置を提供する。【解決手段】無人搬送車1の走行制御装置20は、左右1対の駆動輪6A,6Bをそれぞれ独立に回転駆動させる1対の走行モータ8A,8Bと、走行モータ8A,8Bのトルクをそれぞれ検出する2つのモータトルクセンサ21A,21Bと、モータトルクセンサ21A,21Bにより検出された走行モータ8A,8Bのトルクを用いて、荷台4に載置された荷2の重心位置Gを算出する重心位置算出部25と、重心位置算出部25により算出された荷2の重心位置Gに応じて、無人搬送車1の走行制御を行う走行制御部26とを備える。【選択図】図3


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    Title :

    TRAVELLING CONTROL DEVICE OF UNMANNED CARRIER VEHICLE


    Additional title:

    無人搬送車の走行制御装置


    Contributors:
    ESAKA EMIKA (author)

    Publication date :

    2022-11-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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