Patent ID: 8600544
Filing Date: 2013-12-03
Classification: G05B

Abstract:
1. A carrying device comprising carrying mechanism carrying a fluid vessel containing a liquid, a detection device detecting depth information changing in accordance with a depth of the liquid in the fluid vessel, and a control device controlling the carrying mechanism, wherein the control device comprises: an information acquisition unit acquiring the depth information detected by the detection device; a computing unit calculating a maximum value of an acceleration which can be given to the fluid vessel during carrying the fluid vessel based on the depth information acquired by the information acquisition unit; and a carry command unit giving the carrying mechanism a command for carrying the fluid vessel at an acceleration of not greater than the maximum value of the acceleration, and the computing unit calculates a greater value as the maximum value of the acceleration as the depth of the liquid in the fluid vessel increases, and calculates a smaller value as the maximum value of the acceleration as the depth of the liquid in the fluid vessel decreases.