| 摘要 |
PROBLEM TO BE SOLVED: To provide a trackless conveyance vehicle automatically calculating target steering angles of each wheel and positioning a steering shaft without requiring an operator to individually set steering angles of each wheel one by one and just by designating a turning curvature or the like even when manually moving and rotating a vehicle body. SOLUTION: Buttons each for 'right' and 'left' are provided on a curvature setting part 1 and an objective curvature is set when either of the buttons is pressed. When a 'straight forward' button is pressed, the curvature is set at zero. The objective curvature is passed on to a target steering angle calculating part 3 and target steering angles of each wheel are calculated there based upon a calculation formula. Upon receiving these target steering angles, a steering shaft positioning part 4 positions steering shafts of each wheel by sending out a speed command signal to a steering shaft motor driver 5 while receiving a steering angle signal from a steering shaft encoder 6. |
