Patent ID: 8825331

Claim:
A travelling vehicle, comprising: a vehicle main body; a plurality of servomotors configured to move the vehicle main body, each of the servomotors including a mechanical brake; and a controller configured and programmed to control the servomotors; wherein the controller includes: a malfunction detection unit configured and programmed to detect malfunction of the servomotors; and a deceleration pattern storage unit configured and programmed to store a plurality of deceleration patterns including a combination of a portion of the servomotors among the plurality of the servomotors; wherein when the malfunction detection unit detects malfunction of at least one of the servomotors, the controller is configured and programmed to exclude an abnormal servomotor with the malfunction as targets to be controlled, read out one of the plurality of deceleration patterns including normal servomotors from the deceleration pattern storage unit, and then perform a brake control using either the one of the plurality of deceleration patterns or the mechanical brakes, the controller is configured and programmed to compare a deceleration value based on the one of the plurality of deceleration patterns with a deceleration value based on the mechanical brakes, the controller is configured and programmed to select either deceleration control using the mechanical brakes or deceleration control using the one of the plurality of deceleration patterns, according to which of the mechanical brakes and the one of the plurality of deceleration patterns generates a higher deceleration, and the controller is configured and programmed to perform the brake control using only the selected one of the deceleration control using the mechanical brakes and the deceleration control using the one of the plurality of deceleration patterns.