| 摘要 |
Degradation of a running wheel is detected without using a special sensor or the like. Degradation of a running wheel of a running vehicle that travels using the running wheel that is rotated by a running motor is detected. A difference between a velocity of the running wheel obtained based on a number of rotations of the running wheel and a ground speed of the running vehicle, is obtained as a slip velocity, and degradation of the running wheel is detected based on a fact that torque of the running motor and the slip velocity have passed through a predetermined abnormal range in a space comprising a torque component and a slip velocity component. |
