| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To stably control a vehicle even at the time of turn-traveling with a simple means. <P>SOLUTION: A right wheel driving motor 17, and a left wheel driving motor 18 having rotor angle detection parts are connected to a computing device 21 via driving circuits 19 and 20, respectively. Power from a battery 16 is supplied to the computing device 21, and the driving circuits 19, 20, and an emergency stop switch 25 is provided to a power supply path to the driving circuits 19, 20. Furthermore, a posture detection sensor unit 22, a handle angle detection sensor 23, and a turn-operation lever 24 for detecting posture conditions (angle speed detection shaft pitch, yaw, and roll by a gyroscope, and acceleration detection shafts X, Y, Z by acceleration sensors) of a delivering device are connected to the computing device 21. From these signals, the computing device 21 computes signals for maintaining a predetermined traveling condition, outputs them to the driving circuits 19, 20, and drives the wheels via the right wheel driving motor 17 and the left wheel driving motor 18. <P>COPYRIGHT: (C)2007,JPO&INPIT</p> |
