| 摘要 |
PROBLEM TO BE SOLVED: To enable a transport vehicle to travel stably even when the centroid of a loading space including a load is at a deviated position other than the center of the loading space.SOLUTION: A control device of a transport vehicle comprises: a gyroscope 94 for detecting a loading space inclination angle θact which is an inclination angle of a loading space 60 with respect to a vertical line Lv; a centroid observer 108 for estimating a centroid deviation angle θerr between a gravity center Ga of a non-loaded loading space 60 and a gravity center Gb of a loading space 60 including a loaded object 99 with an arc center X of guide rails 56, 58 as a center; and a loading space control part 104 for controlling a drive device 76 of the loading space 60 so that the sum of the loading space inclination angle θact and the centroid deviation angle θerr becomes zero or a value close to zero.SELECTED DRAWING: Figure 4 |
