JP3067520B2 - Self-propelled vehicle speed measurement / analysis device and speed data storage device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed measurement / analysis device and a speed data storage device for an unmanned carrier or a self-propelled carrier such as a monorail (hereinafter referred to as a self-propelled vehicle).

[0002]

2. Description of the Related Art Conventionally, in a self-propelled vehicle, it is necessary to know a traveling speed for adjustment, inspection, analysis of a defect, and the like.
For this reason, it has been practiced to measure the rotational speed of a traveling motor or a wheel of a self-propelled vehicle with a detector such as an encoder or a resolver and record the measurement result. Alternatively, the time for traveling a known distance is measured, and the distance / time = speed is obtained. Such a prior art is disclosed, for example, in JP-A-59-180422.

[0003]

However, when there is no space for installing a measuring instrument on the self-propelled vehicle, the measuring instrument and the recorder are installed on the ground near the traveling path and provided on the self-propelled vehicle. Measurement and recording were performed by connecting a detector and a cable for measurement. For this reason, the self-propelled vehicle must travel while dragging the cable, and the power for measurement and recording must be supplied from the ground side.

Further, a method of measuring the time after traveling a known distance, calculating the measured speed, and calculating the speed, can obtain an average speed, but cannot know the instantaneous speed at each time. It is possible.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and has as its object the purpose of the present invention is to make it possible to use only simple electronic circuit components, and to install a measuring instrument on a self-propelled vehicle without space. Another object of the present invention is to provide a speed measurement / analysis device and a speed data storage device capable of measuring a speed without running around a cable of a measuring device and of knowing a speed at a time of traveling.

[0006]

According to a first aspect of the present invention, there is provided a self-propelled vehicle.
Wireless communication for inputting command signals to control lines
Means, also provided in the self-propelled vehicle, a speed detection means for outputting a signal proportional to the traveling speed of the self-propelled vehicle, a counter for counting the output signal of the speed detection means, a counted integrated value and the radio signal Command signal received by communication means
Storage means for storing an input signal corresponding to the item, as its gist the Turkey and a communication control unit for communicating data read out data of said storage means to the means for analyzing the running speed of the motor vehicle I have.

[0007] The invention of claim 2 is provided in a self-propelled vehicle,
For inputting a command signal for controlling the running of the vehicle
The wireless communication means, also provided on the self-propelled vehicle,
A speed detection unit that outputs a signal proportional to the line speed; a rotation direction determination unit that determines a rotation direction of the signal output by the speed detection unit; and a counter that counts an output signal of the speed detection unit. , The counted integrated value and the radio
Storage means for storing an input signal corresponding to a command signal received by the communication means , and communication control means for reading data from the storage means and communicating the data to means for analyzing the traveling speed of the self-propelled vehicle a velocity data storage device including bets,
The storage device is the gist and Turkey are detachably attached to the self-propelled vehicle.

[0008]

According to the above arrangement, the speed detecting means outputs a signal proportional to the traveling speed of the self-propelled vehicle, and the counter counts the output signal of the speed detecting means. one
On the other hand, the wireless communication means is a command for controlling the traveling of the self-propelled vehicle.
Receive the signal. The storage means stores the counted integrated value and the input signal corresponding to the received command signal, and the communication control means reads the data of the storage means and sends the data to the means for analyzing the traveling speed of the self-propelled vehicle. To communicate.

[0009] The second aspect of the present invention, the rotation direction determination means speed data storage device to determine the rotational direction of the signal of the velocity detection means, the counter counts the output signal of the speed detector. On the other hand, the wireless communication means controls the traveling of the self-propelled vehicle
Command signal is received. The storage means stores an input signal corresponding to each counted integrated value and the received command signal.
And the number . After the traveling of the self-propelled vehicle, the speed data storage device is detached from the self-propelled vehicle, and the communication control means reads the data of the storage means while being connected to the means for analyzing the traveling speed via a communication line, and The data is communicated to means for analyzing the traveling speed of the vehicle.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention applied to a speed measuring and analyzing apparatus used for an automatic guided vehicle is shown in FIGS.
It will be described in detail based on.

As shown in FIG. 2, the automatic guided vehicle 1 is a known type that travels using a battery 2 as a power source and a motor 3 as a driving source, and has a traveling drive transmission system that transmits the output of the motor 3 to wheels. The traveling direction can be changed by a steering mechanism (not shown). An on-board computer 15 mounted on the automatic guided vehicle 1 controls the motor 3 and controls the steering mechanism.

The automatic guided vehicle 1 has a speed measurement / analysis device 4
Is installed. The speed measurement / analysis device 4 will be described in detail with reference to FIG. The speed measurement / analysis device 4 includes an encoder 5 as speed detection means and a speed data storage device 17.

An encoder 5 as a speed detecting means is provided on the axle of the automatic guided vehicle 1, and outputs a pulse signal proportional to the rotation speed (running speed) of the wheel W. There are two types of signals output from the encoder 5: A phase and B phase.
Depending on the rotation direction of the wheel W (forward rotation direction and reverse rotation direction), the phases of both phases are advanced or delayed.

The speed data storage device 17 includes an interface 6, a rotation direction determination circuit 7 serving as rotation direction determination means, a counter 8, a timing generation controller 9, and a buffer 1.
0, memory 11 as storage means, address generation circuit 1
2. It is composed of a communication control circuit 13 as communication control means and a backup battery. And FIG.
As shown in the figure, these circuits 6 to 13 and the backup battery 14 are provided on a common board 17a, and this board 17a is detachable from a control circuit storage box 18 provided with the on-vehicle computer 15. And can be taken out of the automatic guided vehicle 1.
When the speed data storage device 17 is mounted on the storage box 18, the interface 6 is connected to the encoder 5 and a signal line 19 for inputting general-purpose input signals, and is connected to a connector 20 disposed in the storage box 18. It is detachably connected. Further, electric power required for each circuit on the board 17a is supplied from a battery 2 (DC) mounted on the automatic guided vehicle 1.
24 V or 48 V DC) as the power supply
Is supplied via

The interface 6 outputs the two-phase signals from the encoder 5 to a rotation direction discriminating circuit 7. The rotation direction discriminating circuit 7 discriminates the rotation direction (forward rotation direction and reverse rotation direction) of the wheel based on the advance or delay of the phase of the two phases. If so, the DOWN signal is input to the counter 8.

The timing generation controller 9 has a built-in clock, and includes a counter 8, a buffer 10, and a memory 1.
1, connected to an address generation circuit 12 and a communication control circuit 13. Various control signals are input to the timing generation controller 9 based on the operation setting switch 16 being turned on. The counter 8 receives the UP signal or the DOWN signal and counts the number of output signals (encoder pulses). The count value (integrated value)
Is fixed in the buffer 10 at predetermined time intervals Δt based on the latch signal input from the timing generation controller 9 and then stored in the memory 11. The memory 11 is a writable and readable memory (RAM), and can hold data stored in the backup battery 14.

The address generation circuit 12 sequentially generates addresses in synchronization with a clock signal input from the timing generation controller 9. Therefore, the count value is stored corresponding to the generated address. The counter 8 inputs a clear signal from the timing generation controller 9 in synchronization with the timing at which the address generation circuit 12 generates an address. Based on the clear signal, the count value counted by the counter 8 so far is cleared.

The communication control circuit 13 can be connected to an analysis device 37 as means for analyzing the traveling speed of an externally provided personal computer or the like. In this embodiment, the communication control circuit 13 is connected to the analysis device 37 by an RS232C signal cable. Can be connected to In response to a command from the analyzer 37, the communication control circuit 13 can read various data stored in the memory 11 and transmit the data to the analyzer 37.

The automatic guided vehicle 1 is equipped with a radio communication device 16 for inputting an external command signal.
The vehicle-mounted computer 15 controls the motor 3 and the steering mechanism based on the command signal input by the wireless communication device 16. That is, the command signal instructs, for example, start, traveling direction (curve), acceleration, deceleration, stop, and the like.

The signal input by the wireless communication device 16 is input by the vehicle-mounted computer 15 and further input to the buffer 10 via the signal line 19 and the interface 6 as a general-purpose input signal. The general-purpose input signal fixed in the buffer 10 is stored at the address immediately after the address where the count value is stored, corresponding to the address generated by the address generation circuit 12, similarly to the count value. This storage is performed at intervals of Δt, that is, the number of encoder pulses (integrated value) for each Δt time is stored in the memory 11.
And the general-purpose input value at the time after the time Δt are stored alternately and sequentially.

The operation of the speed measuring and analyzing apparatus 4 configured as described above will be described. Now, when the automatic guided vehicle 1 is traveling and the current speed data during traveling is stored in the memory 11 of the speed data storage device 17, the speed data storage device 17 is attached to the storage box 18 and the input of the interface 6 is performed. The port is connected to the connector 20 in the storage box 18.

In this state, the automatic guided vehicle 1 travels on a predetermined traveling track. The traveling control of the automatic guided vehicle 1 is performed by wirelessly instructing a command signal transmitted from a command device (not shown) provided outside. The wireless communication device 16 receives the command signal, and
Send to The on-board computer 15 controls the motor 3 and the steering mechanism based on the command signal. That is, the automatic guided vehicle 1 travels.

From the start of traveling, the encoder 5 starts to operate the wheel W
And outputs two types of pulse signals of the A phase and the B phase proportional to the rotation speed (traveling speed). This pulse signal outputs signals of both phases to the rotation direction determination circuit 7 via the connector 20 and the interface 6. The rotation direction discriminating circuit 7 discriminates the rotation direction (forward rotation direction and reverse rotation direction) of the wheel based on the advance or delay of the phase of the two phases. If so, the DOWN signal is input to the counter 8.

The counter 8 receives an UP signal or a DOWN signal and counts the number of output signals (encoder pulses). The count value (integrated value) is fixed in the buffer 10 at predetermined time intervals Δt based on a latch signal input from the timing generation controller 9, and then stored in the memory 11 according to the addresses sequentially generated by the address generation circuit 12. It is stored in the area (see FIG. 4).

On the other hand, the command signal input by the wireless communication device 16 is input to the vehicle-mounted computer 15 and further input to the buffer 10 via the signal line 19 and the interface 6 as a general-purpose input signal. The general-purpose input signal fixed in the buffer 10 is stored at the address immediately after the address where the count value counted up to that time is stored in accordance with the address generated by the address generation circuit 12 at that time, similarly to the count value. You. That is, the number of encoder pulses (integrated value) for each Δt time is stored in the memory 11.
And the general-purpose input value at the time after the time Δt are stored alternately and sequentially.

For example, the automatic guided vehicle 1 moves from time t _{0 to} t
₁₂ (However, t _{n + 1} −t _n = Δt, n = 0, 1, 2, 2,
3, ..., 12 if the vehicle travels between), and the count value P ₀ to P _11, were obtained in each t _n times as shown in FIG. It is also assumed that the general-purpose input signal at each time is input as shown in FIG. Then, as the data in the t ₁ time, address of the memory 11 shown in FIG. 4 [00
00] stores a count value P ₀ , and the next address [0001] is a general-purpose input signal High or Low.
0001 is stored as a signal. Note that the general-purpose input signal 0001 stored at the address [0001] is composed of four types of signals a, b, c, and d in which each digit is positioned at the top and bottom as shown in FIG.
Respectively. Therefore, this address [000
1] is the High signal,
Other signals represent Low signals.

Similarly, as the data at the time t ₂ , the count value P ₁ is stored in the address [0002] of the memory 11, and 0011 is stored in the next address [0003] as a high-level or low-level general-purpose input signal. You. Hereinafter, similarly to the time t ₃ ~t ₁₂ data, as shown in FIG. 4 is stored in each address.

When the traveling of the automatic guided vehicle 1 ends at time t ₁₂ , the on-board computer 15 sends an end signal to the memory 11 via each of the above-described circuits, and the memory 11 transmits the data (count value and count value) at time t _12. Address after general-purpose input signal) is stored ([0018] in this embodiment)
To store the end signal data.

After the automatic guided vehicle 1 travels, the interface 6
Is disconnected from the connector 20 in the storage box 18 and the speed data storage device 17 is removed from the storage box 18. Then, the speed data storage device 17 removed from the automatic guided vehicle 1 is stored in the
The connection is made with the signal cable of S232C, and the speed data and the general-purpose signal input data are read by the analyzer 37. Then, the unit conversion is performed according to the specifications by the operation of the operator, and the measured data is output to a display, a plotter, or the like connected to the analyzer 37. These data are also recorded in a storage device such as a hard disk provided in the analyzer 37.

FIG. 5 shows the result of the analysis performed by the analyzer 37 as described above, and the data of the speed and the general-purpose input signal can be obtained. A case in which the data obtained as described above is analyzed will be described.

Wheel (detects rotation of axle in this embodiment)
When the rotation of W is detected, the traveling distance L per one pulse of the encoder is obtained by the following equation. L = πD / P (mm) where π is the pi and P is the number of pulses per rotation of the encoder 5.

Therefore, the speed when the A pulse is input to Δt is obtained by the following equation. V = A · π · D / (Δt · P) (mm / s) In this embodiment, the rotation of the wheel (the rotation of the axle is detected in this embodiment) W is detected by the encoder 5. When the rotation of the motor 3 is detected by the encoder 5, the above expression is as follows. In this case, the output of the motor 3 is transmitted to the wheels via a speed reducer (not shown).

L = πD / (PN) (mm) where N is the reduction ratio of the speed reducer. V = A · π · D / (Δt · P · N) (mm / s) FIG. 6 shows the traveling speed V obtained by analyzing the data stored in the memory 11 and the general-purpose input signal data. It is shown. The general-purpose input signal data a, b, c, and d represent a start command signal, an acceleration command signal, a deceleration command signal, and a stop command signal, respectively. In the case where the timing from when the deceleration command signal is turned on to when the speed drops as shown by α in FIG. 6 is different from normal, it can be assumed that some trouble has occurred.

As described above, in this embodiment, the speed data storage device 17 is detached from the automatic guided vehicle 1 and an external analysis device 37 is provided.
Can analyze various data such as speed data stored in the memory 11 of the speed data storage device 17. For this reason,
Unlike the related art, the cable connecting the measuring device and the analyzer 37 is not routed while the automatic guided vehicle is traveling,
Measurement and analysis can be performed safely and easily.

Further, in this embodiment, since the general-purpose input signal data at each time is also stored in the memory 11 together with the speed data, for example, when the general-purpose input signal data is in a curve, an unmanned conveyance such as a deceleration command or an acceleration command is performed. The conditions related to the traveling speed of the vehicle can also be represented on the same time axis, and these data can be effectively used at the time of analysis.

Next, a second embodiment will be described with reference to FIG.
In this embodiment, during the configuration of the first embodiment, have different configuration of the velocity data storage device 17 constituting the speed measurement analyzer 4, Other configuration is the same, the speed data storage device 17 Only the same components as those of the first embodiment will be denoted by the same reference numerals, and description thereof will be omitted.

The speed data storage device 1 in this embodiment
Reference numeral 7 denotes an interface 6, an input device 21, a counter and a central processing unit (CPU) 2 as a rotation direction discriminating means.
2, count timer controller (CTC) 23,
ROM 24, RAM 25 as storage means, RS232
Device interface 2 as communication control means for C
6 and a backup battery 14. The circuits 22 to 26 are connected to each other by a bus 27. These circuits 22 to 26 and the backup battery 14 are connected to the common substrate 1 as in the first embodiment.
7a, the board 17a is removably housed in a storage box 18 for a control circuit provided with an in-vehicle computer 15 as in the first embodiment, and can be taken out of the automatic guided vehicle 1. Has become. Further, the substrate 1
The electric power required for each circuit on 7a is supplied via the connector 20 using a battery 2 (24V DC or 48V DC) mounted on the automatic guided vehicle 1 as a power supply. Note that the C
The TC 23 generates a signal for sampling data via the interface 26 at regular intervals, and the CPU 22 outputs various data via the interface 6 when the signal generated by the CTC 23 is output. It is designed to take in.

Also in this embodiment, the encoder 5 outputs two types of pulse signals of A phase and B phase proportional to the rotation speed (travel speed) of the wheel W from the start of traveling of the automatic guided vehicle 1. These two-phase pulse signals are input to the CPU 22 via the connector 20 and the interface 6, and
2 discriminates the rotation direction (forward rotation direction and reverse rotation direction) of the wheels based on the advance or delay of the two phases in accordance with the control program stored in the ROM 24.

Then, the CPU 22 counts the number of encoder pulses in accordance with the result of discrimination in the normal rotation direction or the reverse rotation direction, and the count value (integrated value) is set at every predetermined time Δt.
The data is stored in the storage area of the RAM 25 according to the addresses sequentially generated by an address generator (not shown) incorporated in the PU 22.

The command signal input by the wireless communication device 16 is input to the on-board computer 15 as in the first embodiment, and further input to the CPU 22 through the signal line 19 and the interface 6 as a general-purpose input signal. . CPU
Reference numeral 22 stores the general-purpose input signal at the address immediately after the address in the RAM 25 in which the count value counted up to that time is stored in accordance with the address generated by the address generation unit from time to time in the same manner as the count value. That is,
In the RAM 25, the number of encoder pulses (integrated value) every Δt time and the general-purpose input value at the time after the time t are alternately stored.

Therefore, in the second embodiment, the speed data storage device 17 is stored in the storage box 1 as in the first embodiment.
It is possible to analyze various data such as speed data stored in the RAM 25 by the external analysis device 37 detached from the device 8.

Next, a third embodiment will be described with reference to FIG.
In this embodiment, only the points different from the configuration of the first embodiment will be described. In this embodiment, in addition to the configuration of the first embodiment, the automatic guided vehicle 1 further includes a motor current detector 28 for detecting a current of the motor 3 , a detection circuit 29 for detecting a voltage of the battery 2, and a A charging / discharging state detection circuit 30 for detecting completion of charging and detecting a discharging state is mounted. These circuits 28-30 are composed of amplifiers 31-3
3 is connected to the multiplexer 34. The multiplexer 34 is connected to the amplifier 31 inputted at that time.
33, a motor current signal, a battery voltage signal, and a charge / discharge state signal (hereinafter, referred to as an in-vehicle electric device state signal) are input to the A / D converter 35. Note that these circuits are formed separately from the substrate 17a of the speed data storage device 17. In this embodiment, the speed data storage device 17 is also provided by the same circuits 6 to 13 and the backup battery 14 as in the first embodiment. It is configured.

The A / D converter 35 performs A / D conversion of the input signal, and converts the signal into a buffer 1 through a connector 36.
Enter 0. When the speed data storage device 17 is removed from the storage box 18, the connector 36
It is separated from the input port of the buffer 10. Buffer 1
The general-purpose input signal and the in-vehicle electric device status signal fixed to 0 are used for the address generation circuit 1 at each time similarly to the count value.
In accordance with the address where 2 occurred, the count value counted up to that time is stored at the address immediately after the stored address. That is, the memory 11 stores the number of encoder pulses (integrated value) every Δt time, the general-purpose input value at the time after the Δt time, and the in-vehicle electric device state signal alternately.

Therefore, in this embodiment, the state of the motor current, the battery voltage, and the like during the running of the automatic guided vehicle 1 is determined because the in-vehicle electric device status signal is also stored in the memory 11 of the speed data storage device 17 after the running of the automatic guided vehicle 1 is completed. The data can be represented on the same time axis as the running speed. In addition, general-purpose input signal data such as a curve, a deceleration command, an acceleration command, and other conditions related to the traveling speed of the automatic guided vehicle can be represented on the same time axis as the on-vehicle electric device status signal. Can be effectively used at the time of analysis.

It should be noted that the present invention is not limited to the above-described embodiment, and a part of the configuration may be appropriately changed without departing from the spirit of the invention. (1) Although the encoder is used as the speed detecting means in the above embodiment, another speed detecting means such as a resolver may be used. Since the resolver outputs the rotation speed of the wheel or the motor as an analog signal, a circuit for detecting only a specific rotation angle is connected to the resolver, and the number of detection signals of the specific rotation angle is counted by the counter of the first embodiment. 8th or 2nd
The counting is performed by the CPU 22 of the embodiment.

(2) In the above embodiment, the present invention is embodied in an unmanned carrier, but may be embodied in another self-propelled vehicle such as a monorail. (3) In each of the above embodiments, the speed data storage device 17 is detachable from the automatic guided vehicle 1. However, the speed data storage device 17 does not have to be detachably attached. And a communication line is connected to a communication control circuit 13 which is a communication control means provided in the speed measurement / analysis device 4 while being mounted on the self-propelled vehicle at that location so that data is taken into the analysis device. You may.

The technical ideas other than the claims set forth in the claims grasped from the above embodiments will be described below. (B) speed detecting means provided on the self-propelled vehicle and outputting a signal proportional to the running speed of the self-propelled vehicle; a counter for counting the output signal of the speed detecting means; Output means for outputting other data, storage means for storing the counted integrated value data, and data output from the output means, and reading of each data stored in the storage means to drive the vehicle. A speed measurement and analysis device for a self-propelled vehicle, comprising: a communication control unit that communicates data to a speed analysis unit.

According to this configuration, data derived from the traveling speed as well as the traveling speed can be obtained, and analysis on the same time axis is possible.

[0049]

According to the first aspect of the present invention, it is possible to configure the apparatus with only simple electronic circuit components, and it is possible to reduce the size and weight. Especially for self-propelled vehicles, there are restrictions on the payload and space,
It can be installed regardless of the type of self-propelled vehicle. Further, the speed can be measured without routing the cable of the measuring device, and the speed at the time of traveling can be known which can be safely and easily measured. Also, the storage means stores the data of the traveling speed.
In addition, the input signal corresponding to the command signal is also stored.
Is the same as the running speed and this input signal.
Analysis on the time axis is also possible.

According to the second aspect of the invention, in addition to the effect of the first aspect, since the speed data storage device can be attached to and detached from the self-propelled vehicle, it can be easily connected to an external analysis device via a communication line. Can be.

[Brief description of the drawings]

FIG. 1 is an electric block circuit diagram of a first embodiment embodying the present invention.

FIG. 2 is a schematic view of the automatic guided vehicle.

FIG. 3 is an explanatory diagram illustrating a relationship on a time axis between a speed, a counter value, and a general-purpose input signal.

FIG. 4 is an explanatory diagram illustrating a state in which each data is stored in a storage area of each address of a memory.

FIG. 5 is an explanatory diagram illustrating a relationship on a time axis between a speed after analysis and a general-purpose input signal.

FIG. 6 is an explanatory diagram showing the relationship on the time axis between the speed after analysis and the general-purpose input signal.

FIG. 7 is an electric block circuit diagram of a second embodiment.

FIG. 8 is an electric block circuit diagram of a third embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Automatic guided vehicle, 2 ... Battery, 3 ... Motor, 4 ... Speed measurement / analysis device, 5 ... Encoder as speed detection means,
Reference numeral 6: Interface, 7: Rotation direction determination circuit as rotation direction determination means, 8: Counter, 9: Timing generation controller, 10: Buffer, 11: Memory as storage means, 12: Address generation circuit, 13: Communication control Communication control circuit as means, 14 Backup battery, 17 Speed data storage device, 21 Input device, 22
... CPU as counter and rotation direction determining means, 24
... ROM, 25 ... RAM as storage means, 26 ... device interface as communication control means, 27 ... bus, 28 ... motor current detector, 29 ... detection circuit.

──────────────────────────────────────────────────の Continued on the front page (58) Fields surveyed (Int. Cl. ⁷ , DB name) G01P 3/42 G05D 13/62 G01D 9/00 G01P 1/12-1/16 G01C 23/00 G07C 5 / 00

Claims (2)

(57) [Claims] 1. A self-propelled vehicle, which is provided on a self-propelled vehicle and controls traveling of the self-propelled vehicle.
Wireless communication means for inputting a command signal for performing the operation, speed detection means also provided in the self-propelled vehicle, for outputting a signal proportional to the traveling speed of the self-propelled vehicle, and counting the output signal of the speed detection means A counter that counts, and the integrated value counted and received by the wireless communication unit.
Storage means for storing an input signal corresponding to a command signal to be transmitted , and communication control means for reading data from the storage means and communicating data to means for analyzing the traveling speed of the self-propelled vehicle. Measurement and analysis equipment. 2. A self-propelled vehicle, wherein the self-propelled vehicle is controlled to travel.
Wireless communication means for inputting a command signal for performing, and also provided in the self-propelled vehicle, proportional to the traveling speed of the self-propelled vehicle
A speed detecting means for outputting a signal, a rotation direction determining means for determining a rotational direction of the signal where the velocity detection means output, a counter for counting an output signal of said speed detecting means, and counted each integrated value the Received by wireless communication means
Speed data storage device comprising: storage means for storing an input signal corresponding to a command signal to be transmitted ; and communication control means for reading data from the storage means and communicating the data to means for analyzing the traveling speed of the self-propelled vehicle. A speed data storage device for a self-propelled vehicle, wherein the storage device is detachable from the self-propelled vehicle.