| 摘要 |
<p>The carrying device comprises a carrying mechanism carrying a fluid vessel containing liquid, a detection device detecting depth information changing with depth of the liquid in the fluid vessel, and a control device controlling the carrying mechanism. The control device comprises: an information acquisition unit acquiring the depth information detected by the detection device; a computing unit calculating a maximum value of an acceleration which can be given to the fluid vessel when carried based on the depth information acquired by the information acquisition unit; and a carry command unit giving the carrying mechanism a command for carrying the fluid vessel at acceleration of the maximum value or smaller. The computing unit calculates a greater value as the maximum value of the acceleration as the depth of the liquid in the fluid vessel increases, and a smaller value as the maximum value of the acceleration as the depth of the liquid in the fluid vessel decreases.</p> |
