Patent ID: 8267834
Filing Date: 2012-09-18
Classification: B61B,G05D,Y10T

Abstract:
1. A method of controlling a stop of a self-propelled vehicle for conveyance that is equipped with a pair of left and right driving wheels, drive motors coupled to the respective driving wheels, and brake devices for braking rotation of the respective driving wheels, is removably or integrally coupled to a carriage, and runs in a self-propelled manner along a guide device disposed on a predetermined route, the method comprising: detecting an obstacle located at a set distance while the self-propelled vehicle for conveyance is running; and stopping the self-propelled vehicle for conveyance, the stop step including: operating the brake devices and electric brakes realized by the drive motors on a basis of detection of the obstacle in the detection step, detecting a leftward or rightward positional deviation of the self-propelled vehicle for conveyance from the predetermined route, and correcting the positional deviation by temporarily releasing operation of the brake devices and the electric brakes realized by the drive motors and making command rotational speeds for the respective drive motors different from each other when the positional deviation is detected.