| 摘要 |
PROBLEM TO BE SOLVED: To efficiently prevent an unbalanced load by a small quantity of information by measuring suspension pressure of an axle support hydraulic device of wheel devices not less than six wheels by a measuring device, and issuing a correction command by the correction direction and a correction quantity of a carriage by an operation control device on the basis of the measured value. SOLUTION: This shows a case when a steel plate coil is transferred on an automatic guided vehicle. When a lifter of the automatic guided vehicle entering a transfer stand 8 raises the steel plate coil on the transfer stand by being actuated so as to be raised, a coil load is wholly applied to the automatic guided vehicle. In this state, suspension pressure of a hydraulic cylinder 4 provided in respective wheel devices 3 is measured by a measuring device 9. The center of gravity of the whole automatic guided vehicle is calculated by an operation control device 10 on the basis of this measured value to find an eccentric quantity of a gravity center position. When the eccentric quantity falls within an allowable range, a carry of the coil is started. When the eccentric quantity is outside the allowable range, the operation control device 10 performs an operation on a correction quantity and the correction direction on which the eccentric quantity falls within the allowable range to output the command to the driving part 11 of the wheel devices 3. |
