Patent ID: 7240622
Filing Date: 2007-07-10
Classification: B66F,Y02T

Abstract:
1. A travel control method for a travel vehicle comprising front and rear driving wheels that support the travel vehicle, and driving wheel units mounted to said front and rear driving wheels for driving said driving wheels, said travel vehicle being operated to travel in an unmanned manner while being guided by a travel rail having a linear portion and a curved portion, wherein when the travel vehicle travels in the linear portion of the rail, the driving wheel unit for the rear driving wheel in the travel direction of the travel vehicle is subjected to speed control and the driving wheel unit for the front driving wheel in the travel direction of the travel vehicle is subjected to torque control to prevent slipping of the front driving wheel in the travel direction of the travel vehicle, in an acceleration state and a stationary state, and the driving wheel unit for the front driving wheel in the travel direction of the travel vehicle is subjected to speed control and the driving wheel unit for the rear driving wheel in the travel direction of the travel vehicle is subjected to torque control to prevent slipping of the rear driving wheel in the travel direction of the travel vehicle, in a deceleration state, and when the travel vehicle travels in the curved portion of the rail, the driving wheel unit for the front driving wheel in the travel direction of the travel vehicle is subjected to speed control and the travel driving unit for the rear driving wheel in the travel direction of the travel vehicle is subjected to torque control to a preset torque for preventing the rear driving wheel in the travel direction of the travel vehicle from slipping.