| 摘要 |
<p>PURPOSE: To allow the travelling object to stably travel on a tilt road face in parallel with a guide line by calculating a steering wheel angle of a drive wheel before and after the travelling object based on a tilt angle on a road face and controlling the steering angle. CONSTITUTION: When a travelling crane travels along a guide line of a running road face, at first forward/backward deviation detectors 8a, 8b provided in the travelling crane detect the deviation of the travelling crane itself with respect to the guide line. Furthermore, when the road face has a tilt, a tilt meter 5 detects the tilt angle of the running road face timewise. The tilt angle is fed to an arithmetic controller 11, which calculates a steering angle with respect to forward/backward drive wheels 3a, 3b based on the detected value. The obtained steering angle is fed to forward 7 backward drive wheel angle controllers 9a, 9b as a command, in which the steering angle of the forward/ backward drive wheels 3a, 3b to a proper angle and the travelling crane travels on the tilt road face in parallel with the guide line together with the control by the speed manipulated variable.</p> |
