| 摘要 |
PROBLEM TO BE SOLVED: To carry out the positioning without generating a deflection, by providing a control device which decides the ON and OFF timing of the speed of a driving system by calculating in conditional expressions making the detected deflection angle and the length to the center of gravity of a cargo as the parameters. SOLUTION: When the driving speed is made zero at the point of time the expression I is accomplished by moving a trolley, the energy of a cargo is made zero and the speed is made v, when the cargo comes immediately under the trolley, and by driving the trolley again by making the speed of a driving system V at this time, the cargo on the trolley moves at the speed V in the condition of deflection angle zero. Since the direct detection of the speed v of the cargo in the expression I is difficult, it is calculated in the expression II by using the deflection angleθand the length L to the center of gravity of the cargo. That is, the speed v of the cargo is calculated by the angleθof the hanging wire of the cargo.
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