| 摘要 |
PROBLEM TO BE SOLVED: To provide safer and easier working property of an X-ray imaging device for round visits by doctors despite inclinations of roads in actual practice by sensing the force of an operating handle and rotational velocity of wheels. SOLUTION: CPU 11 is a traveling circuit previously having various inclination anglesθand stores the rotational velocity V of wheels within a fixed period of time and the output T of a motor driving circuit 9, and calculating the average value ratio Ro(θ) and storing it. It also calculates the average value ratio R of the traveling velocity V for round visits and the output T for estimating the inclination (θ) of the X-ray imaging device in actural practice by comparing them with the Ro(θ), and multiplies an input signal F inputted from a pressure sensor provided at a lever handle 14 with a coefficient (α), depending on the above inclinationθin actual practice and then outputting the sum to a motor driving circuit 9 as T=αF via a PWM control circuit 10 for controlling the rotational velocity of the driving wheels (left wheel 1 and right wheel 2).
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