| 摘要 |
PROBLEM TO BE SOLVED: To accurately make revolutions of a motor corres pond to running speed. SOLUTION: The speed of a vehicle 3 running between two spots P and W set on a running path 2 is calculated, and the speed of the vehicle 3 running on the running path 2 is controlled based on the speed. The accurate speed of the vehicle can be detected during the real carrying work, and the real speed which is not affected by any movable load condition or wheel deforming condition can be detected, and highly precise speed control can be realized without any accumulation of the error of the running distance. The speed to be detected is calculated related with the vehicle running at as fixed speed between the two spots. The speed to be detected in the fixed speed condition can be detected under a condition which is hardly affected by the wheels of the vehicle, and the further highly precise detection can be realized. Especially, when the fixed speed is that at the time of the real carrying work, the further highly precise detection can be realized.
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