| 摘要 |
<p>A stacker crane according to the present invention includes a plurality of servo motors for causing a travel vehicle main body to travel, and a brake provided to each of the servo motors. The present invention further includes a travel control unit, which includes an abnormality detecting unit for detecting abnormality in the plurality of servo motors and a deceleration pattern storage unit storing a plurality of deceleration patterns based on combinations of some of the plurality of servo motors. When abnormality in a servo motor is detected by the abnormality detecting unit, the servo motor with abnormality is eliminated from consideration for a deceleration control, a deceleration pattern comprising a combination of normal servo motors is read from the deceleration pattern storage unit, and then a braking control is performed by using the deceleration pattern. Thus, the present invention enables safe and short-distance stopping even when abnormality develops in some of the motors.</p> |
