| 摘要 |
<P>PROBLEM TO BE SOLVED: To make travelings of a plurality of carrier trucks constituting a carrying device coordinated, and to control traveling. <P>SOLUTION: In as controller for the carrying device, the plurality of carrier trucks, each having a pair of motors respectively driving a pair of wheels are arranged back and forth, and right and left and carry a heavy object. The controller for the carrying device includes a plurality of child controllers each controlling each carrier truck; and a parent controller integrally controlling the respective child controllers. The main controller stores truck coordinates of each carrier truck and origin coordinates of the carrying device; calculates the steering angle of each carrier truck, in response to a control mode instruction of turning traveling, or the like; calculates a steering angle instruction value and a velocity instruction value in the truck coordinates of each carrier truck; and outputs them to the slave controller. The child controller rotates the pair of wheels of itself in a normal direction and a reverse direction, based on the steering angle instruction value to control the steering angle, and controls respective rotation velocities of the pair of wheels of itself, based on the velocity instruction value. <P>COPYRIGHT: (C)2011,JPO&INPIT |
