JPS61153541A - Vehicle testing instrument - Google Patents

Abstract

PURPOSE:To measure running characteristics, ascending power, descending power, etc. on the entire route at a limited space by providing a floor face simulating means or the like corresponding to wheels of a vehicle to be tested and measuring performance and function by stopping apparently. CONSTITUTION:The floor face simulating means 1-4 corresponding to respective wheels of the vehicle to be tested and the turning electrical equipment which is directly coupled with the means 1-4 and simulates the running resistance are provided and one detecting means detects the running speed and the running distance of the means 1-4. Further, the other detecting means detects an angle of a curve of a turning means to enable the means 1-4 to follow the curve of the vehicle. Then, a performance measuring means controls the running resistance of the vehicle via the turning electrical equipment and on the other hand, measures the running characteristics and the curve running characteristics of the vehicle based on the output of the other detecting means. Thus, the running characteristics, the ascending power and the descending power on the entire route of a system at the limited space can be measured.

Description

DETAILED DESCRIPTION OF THE INVENTION (Technical Field of the Invention) The present invention relates to a vehicle testing device, and particularly to a vehicle testing device for measuring the vehicle performance of an automatic guided vehicle, which has recently been in the spotlight for rationalizing factories and the like.

[Technical background of the invention and its problems]

In recent years, automatic guided vehicles have come to be used in factories and the like to save labor. Among these automated guided vehicles, self-navigating guided vehicles, such as gyro guided vehicles, are capable of keying in travel route data and work instructions at the target station from a pendant or keyboard mounted on the vehicle. By setting this, after a start command is issued, the vehicle will automatically travel on the keyed-in route, perform the specified work at the set station, and then travel on the keyed-in route again. Unmanned operations can be performed.

However, in developing and testing such automatic guided vehicles, a wide test track as shown in the plan view of FIG. 9 is required. In other words, the mileage correction marker 6
This means that it is necessary to conduct a running operation test of the automatic guided vehicle 50 on a running route where temporary work stations 63 and 621 and temporary work stations 63 and 64 are arranged. When the automatic guided vehicle 50 travels along a commanded route on the traveling road shown in FIG. 9, it proceeds by calculating the distance to the destination while counting the travel distance and recognizing its current location. However, automated guided vehicle 5
The error in the total distance increases little by little due to wheel slipping, skidding, pulse counting errors, etc. The mileage correction markers 62a to 621 are provided for the purpose of preventing the accumulation of such errors. In other words, when the automatic guided vehicle 50 detects this marker, the data inside the automatic guided vehicle 50 is replaced with the absolute distance from the start point.

In this way, the automatic guided vehicle 50 travels while correcting the distance many times in order to travel to the destination position, and consideration is given to maintaining stopping accuracy.

However, such a driving test route has the following drawbacks.

(1) It is not realistic for economic reasons to simulate all unmanned transportation systems tailored to each user's needs. In other words, manufacturers have no choice but to test the system in a limited space, and it is difficult to conduct simulated driving tests of all routes tailored to the user.

(2) Measuring instruments must be mounted on the guided vehicle to measure the performance and functionality of the automated guided vehicle. However,
There are currently only a limited number of measuring instruments that operate solely on batteries, and high-precision measuring instruments are often impossible to use. Furthermore, there is also a problem in placing a measuring device on a moving object that vibrates.

(3) It is difficult to measure the vehicle's climbing force, descending force characteristics, etc. using the current test methods.

[Purpose of the invention]

Therefore, an object of the present invention is to solve the above-mentioned problems of the prior art, and to measure the entire route running characteristics of the system in a small space by measuring the performance and functions while the vehicle is apparently stopped. It is possible to measure the climbing force, descending force, etc., and furthermore, it is possible to automatically set the test conditions using a computer and carry out the vehicle test, so it is possible to provide a vehicle testing device that is effective in terms of labor saving. be.

[Summary of the invention]

In order to achieve the above object, the present invention includes a floor simulating means provided corresponding to each wheel of a vehicle testing device, a rotating electrical machine directly connected to the floor simulating means and simulating running resistance,
A first detection means for detecting the traveling speed and traveling distance of the floor surface simulating means; a rotating means for enabling the floor surface simulating means to follow the bending of the conveyance vehicle; and a first detecting means for detecting the bending angle of the rotating means. and a second detection means, the running resistance of the guided vehicle is controlled via a rotating electric machine, and the running characteristics and curved running characteristics of the guided vehicle are measured based on the outputs of the first detection means and the second detection means. The present invention provides a vehicle testing device equipped with a performance measuring means for performing the test.

[Embodiments of the invention]

Hereinafter, the invention will be described in detail with reference to the drawings.

FIG. 1 is a plan view of a vehicle testing device according to an embodiment of the present invention. As shown in the figure, this vehicle testing device has four running floor simulating units 1 to 4 fixedly arranged on a wheel base of 5°6 using bolts and nuts to match the running wheels of the test vehicle. The position of each of the units 1 to 4 can be adjusted using elongated holes 7 for adjusting the tread according to the size of the test vehicle. Furthermore, the wheelbases 5 and 6 are provided with elongated holes 12 for wheelbase adjustment on the turntable body 8.
It is attached via. In other words, the positions of the running floor simulation units 1 to 4 can be changed using the long holes 7 on the wheel bases 5 and 6 and the long holes 12 on the turntable 8, and the positions of the driving floor simulation units 1 to 4 can be changed using the long holes 7 on the wheel bases 5 and 6 and the long holes 12 on the turntable 8. It is configured to be adjustable in the base direction and tread direction.

A turntable rotation gear 10 is attached to the turntable 8 concentrically with respect to the turntable center 9. Furthermore, a motor unit 11 equipped with a speed reducer and an encoder is arranged to mesh with the gear 10.

Figure 2 (a) shows the traveling floor surface simulation unit 1 shown in Figure 1.
A vertical cross-sectional view showing the detailed configuration of ~4, Figure 2(b) is the second
It is an arrow view seen from six arrow directions of figure (a). As shown in each figure, each unit has two floor simulating wheels 21.
pcs installed. The floor surface simulation wheel 21 is the shaft 2
2 and the key 23, and the space between 2 and the support frame 24 is
It is rotatably fixed by two bearings 25. The bearing retainer 26 is used to fix the bearing 25 in the thrust direction. The coupling 27 directly connects the rotating electric machine 28 and the shaft 22. Further, two encoders are attached to the shaft end of the rotating electrical machine 28, and output pulses proportional to the number of rotations. Incidentally, it is desirable to use a highly accurate encoder that outputs approximately 600 pulses per rotation of the rotating electric machine 28. Rotation 1ft with this encoder 29 installed
128 is fixed to the support frame 24 by a mounting base 30.

The support frame 24 having the above structure is fixed to the rotary table 31, and the cross roller bearing 33 is attached to the unit support table 32.
has been inserted through. The cross-roller bearing 33 is fixed by means of a bearing cover 34,38. A steering angle detection gear 35 is attached to the rotary table 31, which meshes with an encoder drive gear 36 to transmit rotation to an encoder 37 for steering detection.

As shown in the explanatory diagram of FIG. 3, the automatic guided vehicle 50 is placed with its running wheels 51 and 52 corresponding to the running floor surface simulating units 1 to 4 configured as described above. be done.

FIG. 4 is a block diagram of a control section applied to the vehicle testing apparatus of this embodiment.

In the same figure, the computer main body 70 is composed of a microcomputer, and includes a logic processing unit (CPLI) 71 called a central processor unit, a memory unit (MEM) 72 that stores programs, a digital input unit (DI>73), and a digital input unit (DI>73). Output section (Do) 7
4. Interface section (IF) 75 that enables programmable control of measuring instruments, etc., especially the pulse input section (P) that has pulse input calculation and analog conversion functions.
I) 76, printer interface section (TTY) 77
, CRT interface section (CRTIF) 78, etc. are connected by an address/data bus 79.

Approximately the following items are connected to the computer main body 70 configured as described above.

A push button 81 for starting the test, a keyboard 82 for inputting data for setting running conditions, etc. are connected to the 01 section 73, and an input contact 83 for indicating conditions such as completion of the test work is connected.

The Do section 74 receives a rotation command 84 for the turntable 8.
and stop commands 85, and running condition commands such as start of test work, start, and marker detection for transport vehicles 86.87.88
, a forward/reverse switching command 89 for the rotating electric machine 28 which acts as a simulated running resistance, a motor generator switching command °90, etc. are output.

The IF section 75 is connected to a programmable power supply 91 for controlling the current to the field coil 92 of the rotary type 1128 and a programmable power supply 96 for controlling the armature current to the armature coil 93. Incidentally, a current limiting resistor 95 is connected in series to the armature coil 93 when the rotating electrical machine 28 acts as a motor, and a load resistor 94 is connected in series when the rotating electric machine 28 acts as a generator. Note that the IF section 75 is a so-called well-known Gp-13 (General Purpo
se-Interl'ace Bus), and the voltage value can be set arbitrarily.

The PI section 76 is connected to the floor running simulation encoder 29, the steering angle detection encoder 36, the turntable rotation angle detection encoder 11', and the like. These encoders 29
．． The conveyance distance, speed, bending angle at a corner, etc. of the automatic guided vehicle 50 can be calculated in real time by the feedback signal from 36.11'.

A printer 97 is connected to the TTY interface 77, and a CRT 98 is further connected to the CRT-IF 78. Calculation results such as mileage and speed are output to the printer 97, CRT 98, etc. in the form of characters or graphics, and in addition, records of marker output, results of distance correction, etc. are output.

The operation of the configuration described above will now be explained with reference to the flowchart shown in FIG. Prior to the vehicle test, the transport vehicle 50 is placed on a test device as shown in the explanatory diagram of FIG. Next, through routines 61 and 62, the marker output position, cornering position, station position, etc., and work at the station are input manually from the keyboard.

After the above operations, when the test start button 81 is turned on, the rotation 1128 is set as the generator for simulated driving in routine 63, and then in routine 64, a start command 87 is output to the guided vehicle 50, and the guided vehicle 50 It will start running. That is, the wheels 51 and 52 of the transport vehicle 50 start rotating, and the transport vehicle 50 continues to rotate its wheels while calculating its own travel distance and controlling its speed. At the same time, in routine 65, the transport vehicle 5
0 running check and if there is any abnormality, routine 66 is executed.
Then, a conveyance vehicle abnormality is outputted to the printer 97 and CRT 98, and the conveyance vehicle 50 is stopped.

The rotation of the wheels of the transport vehicle 50 is transmitted to the floor surface simulating wheels 21 of the simulating units 1 to 4, and this rotation speed is transmitted to the rotating electrical machine 28 and the encoder 29. The output of the encoder 29 is subjected to a pulse calculation and a running speed calculation in a routine 67, and is displayed on a printer 97, CRT 98, etc. in real time in a routine 68. Based on these pulse calculation results, a marker detection command 88 is output from the DO 74, and this output causes the transport vehicle 5 to
0 will correct its own calculation result.

According to the judgment made in the routine 69, for example, when it is time to start pitching, the rotation m1128 is changed to the motor/generator switching command 9 in the routine 610 in order to increase running resistance.
By switching to the generator side with 0 and increasing the programmable power supply 191, it is possible to increase the generator as a load.

By such a method, the running resistance applied to the transport vehicle 50 can be arbitrarily simulated. Similarly, when approaching the step-down section, the rotary electric power 1128 is switched to the motor side by the motor/generator switching command 90 in a routine 610, and the optimum value can be selected while controlling the programmable electric power m91.96. In addition, routine 6
Regarding the operation 10, the operation is confirmed in a routine 611, and the printer 97, C
The confirmation result is output to RT98. In this way, the transport vehicle 50 receives various route condition signals from the computer main body 70.

After this, the conveyance vehicle 50 is checked in routine 613 to see if it has stopped, that is, it is checked to see if there is an output pulse from the encoder, and if it is stopped, it is checked in routine 614 to see if it is at the destination station. This means that it goes into . On the other hand, if the transport vehicle 50 does not stop, both the transport vehicle side and the test device side continue the speed calculation and distance calculation in routine 67.

Routine 6 is applied to the transport vehicle 50 that has arrived at the station.
At step 15, a work start command 86 is output from the computer main body 70 of the control section, and the transport vehicle 50 starts the work. In normal cases, work involves transferring cargo. After the work is completed, the transport vehicle 50 is moved in routine 616.
Alternatively, after receiving the work completion signal 83 from the station, the test device control section proceeds to the routine 64 and outputs the transport vehicle start command 87 again.

This command causes the transport vehicle 50 to start traveling again.

On the other hand, if the stopping point is not the destination station as a result of the determination in routine 614, then a determination is made in routine 617 as to whether or not it is the final stopping point. As a result, if it is determined that it is the final stopping point, the printer 97, CRT
A confirmation output is made at 98.

Next, a method of cornering the transport vehicle 50 will be explained.

What is indicated by an arrow M in FIG. 1 is the traveling direction of the transport vehicle 50 and the absolute position of the turntable 8.

When the transport vehicle 50 has arrived at a cornering position perpendicular to the traveling direction, this is detected in routine 69, and a T/T rotation command 84 is output from the computer 70 of the test equipment control section in routine 610. Then, the turntable 8 starts rotating. The plan view of FIG. 5(a) shows the turntable 8 rotated by 45 degrees. At this time, the transport vehicle 50 outputs a steering command corresponding to the rotational change of the turntable 8 to the wheels. That is, the rotational change of the turntable 8 is in the form of a progression of the steering angle of the wheels of the conveyance vehicle, and this output is detected by the encoder 11' on the turntable 8 side as the steering angle of the wheels by the steering angle detection encoder 37. Ru.

Therefore, the followability of the steering angle of each wheel to the output signal of the encoder 11' becomes a standard for performance evaluation. Incidentally, it is the gyro that detects this change in the rotation of the turntable 80, and its output is calculated by the computer on the transport vehicle 50 side and converted into a steering angle command for each wheel.

The plan view of FIG. 5(b) shows a state in which the turntable 8 has completed its rotation, the wheels have also become 90', and the turntable 8 is moving straight in the direction of the arrow M.

In the above description, a so-called cornering case in which the guided vehicle 50 travels around a curve has been described, but it is also possible to measure the steering of only the wheels of the guided vehicle 50.

FIG. 7 is an explanatory diagram illustrating a case where the rotational speed and cornering angle of the wheels of the transport vehicle 50 are typed out on the printer 97 of the control unit shown in FIG. 4. As shown in the figure, it is possible to check the speed and cornering angle over time.

In addition, the test results can be measured not only by type-out as shown in Figure 7, but also by using general recording and measuring instruments such as photo recorders and pen recorders. Current, battery voltage, sequence recording, etc. can be measured. In other words, transport vehicle 5
Since 0 is always stopped, precise measurements using high precision measuring instruments and complex measurements using large measuring instruments can be easily carried out.

FIG. 8 is a plan view of the vehicle testing apparatus when the transport vehicle 50 is a tricycle. In this case, it is possible to accommodate three wheels by only partially changing the shape of the elongated hole in the wheel base 13 to which the traveling floor surface simulating unit 1 is attached.

〔Effect of the invention〕

As described above, according to the present invention, when measuring the vehicle performance of a self-contained navigation type guided vehicle, (1) it is possible to provide the guided vehicle with various route variations in a space-saving manner;

(2) It is possible to measure vehicle performance and visual acuity by apparently stopping the vehicle.

(3) It is possible to set gradient conditions such as uphill and downhill.

(4) Test conditions can be set using the keyboard, which has a significant labor and manpower saving effect compared to driving in a real space.

It is possible to obtain a vehicle testing device having numerous features such as the following.

[Brief explanation of the drawing]

FIG. 1 is a plan view of a vehicle testing device according to an embodiment of the present invention, and FIGS. 2(a) and 2(b) are vertical cross-sections showing the detailed configuration of the running floor simulation unit of FIG. 1. FIG. 3 is an explanatory diagram showing a state in which an automatic guided vehicle is placed on a test device; FIG. 4 is a block diagram of a control unit applied to the vehicle test device of the embodiment shown in FIG. 1; Figures 5 (a) and (b) are explanatory diagrams of the movement state of the wheel steering position during cornering of the guided vehicle, Figure 6 is a flowchart to explain the operation of Figure 4, and Figure 7 is measured data. FIG. 8 is a plan view of a vehicle testing device according to a modified example of the present invention, and FIG. 9 is a plan view of a running path on which a conventional vehicle testing method is carried out. 1.2.3.4... Traveling floor simulation unit, 8...
Turntable, 21...Floor surface simulation vehicle, 28...
Rotating electric machine, 50... transport vehicle, 70... computer main body. Applicant's agent Kiyoshi Inomata Figure 1 Ryo Figure 2 (a) Figure 2 (b) Figure 3 Figure 7 Figure 9

Claims (1)

[Scope of Claims] 1. A floor surface simulating means provided corresponding to each wheel of the tested conveyance vehicle, a rotating electric machine directly connected to the floor surface simulating means and simulating running resistance, and a floor surface simulating means. A first detection means for detecting traveling speed and distance, a rotation means that allows the floor surface simulating means to follow the bending of the conveyance vehicle, and a second detection means for detecting the bending angle of the rotation means. and performance measuring means for controlling running resistance of the guided vehicle via a rotating electric machine and measuring running characteristics and curved running characteristics of the guided vehicle based on the outputs of the first detection means and the second detection means. A vehicle testing device comprising: 2. The rotating means is constructed by attaching a traveling floor surface simulating means to a turntable, and by driving the turntable, a curved traveling condition is given to the conveyance vehicle. Vehicle testing equipment. 3. The performance measuring means outputs a marker output for distance correction and a rotation command for a cornering turntable according to the simulated running of the guided vehicle, and is configured such that the running conditions of the guided vehicle can be set programmatically. A vehicle testing device according to claim 1.