| 摘要 |
PROBLEM TO BE SOLVED: To surely stop a self-moving carriage on a slope without hastening the consumption of a battery by generating uneven breaking force on a left and a right driving wheels when the moving carriage becomes unable to move by itself. SOLUTION: When a driving current for motors 5, 51 for driving wheels which are installed on the left and the right sides of a car 1 is cut off, the braking force of either one of a first and a second dynamic brakes which are installed in the motors 5, 51 for driving wheels is made larger than the other one and thereby uneven braking force is generated. By this method, the emergency stoppage of the car 1 is secured during running on a slope and the consumption of a battery is lowered. |
