JPH05257525A - Remote control circuit - Google Patents

Abstract

PURPOSE:To increase the precision of remote control with a simple constitution by mounting only an operating means of a vehicle on a remote controller main body and driving a driving means based on the operation of this operating means by a signal from a control signal generating means. CONSTITUTION:When the manual operation is performed by the operation of a remote controller 8, switches SW1 and SW2 are connected to AND circuits 11 and 12 by a switching operation button 16. When switches 9 and 10 of the remote controller 8 are operated to be turned on thereafter, a signal in the high level is inputted to AND circuits 11 and 12. Consequently, pulse signals from frequency dividing circuits 14 and 15 are outputted to driving circuits 4 and 5 while switches 9 and 10 are turned on. Then, driving circuits 4 and 5 control driving of a running motor M1 and a steering motor M2 based on inputted signals and detection signals, which indicate the states of motors M1 and M2 at this time, from encoders 6 and 7. As a result, an unattended vehicle can be run in accordance with the operation of switches 9 and 10 by the remote controller 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control circuit.

[0002]

2. Description of the Related Art Conventionally, an unmanned vehicle is automatically controlled based on program control of a microcomputer. In this type of unmanned vehicle, which is not in program control, for example, when the unmanned vehicle is adjusted and moved to a maintenance place for adjustment and maintenance, the unmanned vehicle is manually operated and controlled using a remote control device. It is like this.

FIG. 4 shows this remote control circuit. A central processing unit (CPU) 51 calculates the control amounts of the traveling motor M1 and the steering motor M2, and outputs a control signal based on the control amounts via the D / A conversion circuits 52 and 53 to the drive control circuit unit 5
Output to 4 respectively. The drive control circuit section 54 includes changeover switches SW1 and SW2, drive circuits 55 and 56, and F / V circuits 57 and 58. The D / A converted control signals are input to the drive circuits 55 and 56 via the changeover switches SW1 and SW2, respectively, and drive control of the traveling motor M1 and the steering motor M2 is performed by this analog control amount. At this time, the drive circuits 55 and 56 are operated by the motors M1 and M2.
From the encoders 59 and 60 provided in the motor M at that time
Signals indicating the states of 1 and M2 are input as feedback control amounts via the F / V circuits 57 and 58.

Further, the remote control device 61 is provided with traveling and steering volumes 62 and 63, and a desired control voltage value is output when manually operated as appropriate.
The traveling and steering volumes 62, 63 are connected to the other switching terminals of the changeover switches SW1, SW2. Therefore, with the operation button B1, the changeover switches SW1,
When SW2 is switched to the traveling and steering volume 62, 63 side, the control voltage values set by the traveling and steering volume 62, 63 are input to the drive circuits 55, 56. As a result, the traveling motor M1 and the steering motor M
2 is driven and controlled based on the operation of the remote controller 61.

However, since this method is a voltage command method, the level of the voltage value is likely to oscillate and it is difficult to perform highly accurate control. Therefore, there is a pulse command method as a method for obtaining highly accurate control. This pulse command type remote control circuit is shown in FIG. In the pulse command system, the pulse generator board 7 outputs a control signal based on the control amounts of the traveling motor M1 and the steering motor M2 output by the CPU 71.
Output to 2. The pulse generation board 72 outputs a predetermined pulse signal to the drive circuits 73 and 74 via the changeover switches SW1 and SW2 based on the control signal. Drive circuit 73,
74 drives and controls the pulse command signal and the motors M1 and M2 from the encoders 59 and 60 at that time.

On the other hand, the remote control device 7 of the pulse command system
5 is provided with pulse generators 76 and 77. When the pulse generators 76 and 77 are manually operated as appropriate, a desired pulse command signal is output. When the changeover switches SW1 and SW2 are switched to the pulse generators 76 and 77 side with the operation button B1, the pulse command signals set by the pulse generators 76 and 77 are input to the drive circuits 73 and 74. As a result, the drive motor M1 and the steering motor M2 are drive-controlled based on the operation of the remote controller 75.

[0007]

However, although the pulse command system enables highly accurate control, the remote control device 75 must be equipped with pulse generators 76 and 77, which increases the cost and increases the size. To do.
Further, in the case of the pulse command system, wiring such as a power supply line, a ground line, a direction setting line for setting the rotation directions of the motors M1 and M2 is required, and the number of wirings increases. Moreover, since the pulse command system is easily affected by noise, it is necessary to take sufficient measures against the noise. As a result, the remote control device 75 is forced to be more expensive and larger.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a remote control circuit which has a simple structure and is capable of highly accurate remote control.

[0009]

In order to solve the above problems, the present invention provides a vehicle in which the driving means is drive-controlled via the drive control means by a program control signal of a microcomputer to program-control the traveling of the vehicle. Operating means provided in the remote control device main body, and control signal generating means provided in the drive control means for generating a control signal different from a program control signal from a microcomputer for driving the drive means of the vehicle. , An automatic mode in which the drive means is program-controlled by a program control signal from the microcomputer, or a remote control mode in which the drive means is remote-controlled by a control signal from the control signal generation means based on the operation means of the remote control device body The operation setting means for setting the operation and the automatic mode set by the operation setting means. At this time, the drive means is program-controlled through the drive control means based on the program control signal of the microcomputer, and when the operation setting means sets the remote control mode, the control signal is generated based on the operation means of the main body of the remote control device. The gist of the present invention is to include switching means for controlling the driving means by remote control by a control signal from the circuit.

[0010]

When the operation setting means sets the remote control mode, the switching means brings the drive means into a controllable state by the control signal from the control signal generating means which outputs a control signal different from the microcomputer. Then, a control signal from the control signal generating means is output to the drive means via the drive control means based on the operation of the operation means of the remote control device body, and the drive means is remote-controlled.

Further, when the operation of the operating means in the remote control device is stopped, the control signal from the control signal generating circuit is not output to the drive means via the drive control means based on this, and the drive means is stopped. Stop the vehicle.

Therefore, since only the operation means for operating the vehicle is mounted on the remote control device body, the wiring between the vehicle and the remote control device body is simplified, and the remote control device body is prevented from becoming large. Further, since the drive means is driven based on the drive signal from the control signal generation means, it becomes possible to perform remote control with high precision by the operation means of the remote control device body.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is embodied in a remote control circuit for an unmanned vehicle will be described below with reference to FIG.

A CPU 1 as a microcomputer is connected to a pulse generation board 2, and this CPU 1 controls the traveling of an unmanned vehicle automatically. Therefore, the CPU 1 controls the amounts of control of a traveling motor M1 and a steering motor M2 as driving means which will be described later. A control signal based on this is output to the pulse generation board 2. The pulse generation board 2 is connected to the drive circuits 4 and 5 via the changeover switches SW1 and SW2 as the changeover means of the drive control circuit section 3 as the drive control means,
The pulse generation board 2 switches a predetermined pulse signal based on the control signal from the CPU 1 to the changeover switches SW1 and SW2.
Is output to the drive circuits 4 and 5 via.

The drive circuits 4 and 5 are connected to a traveling motor M1 and a steering motor M2, respectively. Encoders 6 and 7 are connected to the traveling motor M1 and the steering motor M2, and detection signals of the encoders 6 and 7 are fed back to the drive circuits 4 and 5, respectively. The drive circuits 4 and 5 control the drive of the traveling motor M1 and the steering motor M2 based on the pulse signal of the pulse generation board 2 and the detection signals from the encoders 6 and 7 indicating the states of the respective motors M1 and M2 at that time. I am supposed to do it.

A remote control device 8 is connected to the drive control circuit section 3, and the remote control device 8 is provided with automatic reset type switches 9 and 10 as operating means. The switch 9 is an A in the drive control circuit unit 3.
The switch 10 is connected to one end of the ND circuit 11, and the switch 10 is connected to one end of an AND circuit 12 as a control unit in the drive control circuit unit 3. Then, the respective switches 9, 1
When 0 is operated to be turned on, each AND circuit 11, 1
An H level (high potential) signal is input to one end of each of the two.

The drive control circuit section 3 is provided with a pulse generating circuit 13 as control signal generating means, and the pulse generating circuit 13 is connected to frequency dividing circuits 14 and 15, respectively. Therefore, the reference signal output from the pulse generating circuit 13 is divided by the frequency dividing circuits 14 and 15 into each of the motors M1 and M.
It is adapted to be converted into a pulse signal in accordance with a cycle for controlling each of the two. Then, the frequency dividing circuit 14,
Reference numeral 15 is connected to the other ends of the AND circuits 11 and 12, respectively.

Further, the changeover switches SW1 and SW2 of the drive control circuit section 3 are operated by a changeover operation button 16 as an operation setting means so that the pulse generation board 2 or the AND circuit 11,
12 is switched and connected. Therefore, when the changeover switches SW1 and SW2 are connected to the pulse generation board 2 by the changeover operation button 16, a pulse signal based on a control signal from the CPU 1 is output to the drive circuits 4 and 5. Then, the drive circuits 4 and 5 perform drive control of the traveling motor M1 and the steering motor M2 based on this pulse signal and the detection signals from the encoders 6 and 7 indicating the states of the respective motors M1 and M2 at that time. It has become.

Further, the changeover operation buttons 16 connect the changeover switches SW1 and SW2 to the AND circuits 11 and 12. In this state, the switches 9 and 10 of the remote controller 8
Is turned on, the H level signal becomes AND circuits 11, 12
When the switches 9 and 10 are turned on, the pulse signals output from the frequency dividing circuits 14 and 15 are output to the drive circuits 4 and 5, respectively. And
The drive circuits 4 and 5 carry out drive control of the traveling motor M1 and the steering motor M2 based on this pulse signal and the detection signals from the encoders 6 and 7 indicating the respective states of the motors M1 and M2 at that time. ing.

Next, the operation of the remote control circuit configured as described above will be described. First, the switching operation button 16
Thus, the changeover switches SW1 and SW2 are connected to the pulse generation board 2. Then, the CPU 1 calculates a control amount to drive and control the motors M1 and M2 based on various detection signals from each sensor (not shown), and outputs a control signal based on the control amount to the pulse generation board 2.
The pulse generation board 2 outputs a pulse signal based on the control signal to the drive circuits 4 and 5 via the switches SW1 and SW2.

The drive circuits 4 and 5 are pulse generation boards 2
The drive control of the traveling motor M1 and the steering motor M2 is performed based on the pulse signal from the encoder 6 and the detection signals from the encoders 6 and 7 indicating the states of the motors M1 and M2 at that time. Therefore, the unmanned vehicle is automatically driven based on the program control.

When a manual operation is performed by operating the remote control device 8 for adjusting an unmanned vehicle, performing maintenance and inspection, etc., the switches SW1 and SW are operated by the switching operation button 16.
2 is connected to AND circuits 11 and 12. After that, when the switches 9 and 10 of the remote controller 8 are operated to be turned on, the H level signal is input to the AND circuits 11 and 12. Therefore, while the switches 9 and 10 are turned on and the H level signal is input to the AND circuits 11 and 12,
The pulse signals from the frequency dividing circuits 14 and 15 are the driving circuits 4 and 5.
Is output to.

Therefore, the drive circuits 4 and 5 are the AND circuit 1
Pulse signals input from 1, 12 and encoders 6, 7
From the traveling motor M1 and the steering motor M2 based on the detection signals indicating the states of the respective motors M1 and M2 at that time.
Drive control. As a result, the unmanned vehicle can be driven by the remote control device 8 by driving and controlling the motors M1 and M2 based on the output signal of H level by the ON operation based on the operation of the switches 9 and 10.

As a result, the unmanned vehicle can be remotely controlled with high accuracy by the remote control circuit of the pulse command system. Further, since the drive control circuit unit 3 is provided with the pulse generation circuit 13 on the unmanned vehicle side, the remote control device 8 is equipped only with the switches 9 and 10, so that the remote control device 8 can be made compact. Further, the wiring connecting the remote control device 8 and the drive control circuit unit 3 includes switches 9 and 10.
And the AND circuits 11 and 12 can be connected to two ends. As a result, the wiring between the remote control device 8 and the drive control circuit unit 3 can be simplified.

The remote control device 8 has switches 9, 1
The circuit configuration can be simplified because the H-level signal is output to the AND circuits 11 and 12 when 0 is turned on.

Also, unlike the prior art, AND circuits 11, 1
2. Since the pulse generating circuit 13 and the frequency dividing circuit 14 are provided on the unmanned vehicle side, the wiring distance can be shortened. As a result, the influence of noise can be reduced, and malfunction of the unmanned vehicle due to noise can be prevented. Furthermore, since the pulse generation circuit 13 and the drive circuit 5 are provided on the unmanned vehicle side,
Since the wiring distance is fixed, sufficient noise countermeasures can be taken.

In the present embodiment, the reference signal output from the pulse generating circuit 13 in the drive control circuit section 3 is converted into pulse signals having a cycle suitable for the motors M1 and M2 by the frequency dividing circuits 14 and 15. Although output to the drive circuits 4 and 5, the pulse generation circuit 13 can be provided corresponding to each drive circuit 4 and 5 as shown in FIG. This is effective when the period of the pulse signal for driving and controlling the motors M1 and M2 is extremely different.

In the present embodiment, the remote control circuit is constructed by a hardware circuit configuration, but it may be constructed as follows. As shown in FIG. 3, the drive control circuit unit 3
The controller 20 is provided in the
The detection signal from each sensor is input to 0. Also, switches 9 and 10 of the remote controller 8 are connected to the controller 20, respectively. Further, a changeover switch 21 for setting the manual mode or the automatic mode is connected to the controller 20. When the changeover switch 21 is turned on (closed), the manual mode is set, and when turned off (opened), the automatic mode is set. Further, the controller 20 controls on / off of the switches SW1 and SW2 which connect the frequency dividing circuit 14 to the driving circuits 4 and 5. That is, the changeover switch 21 is in the off operation state,
When the controller 20 determines that the automatic mode is set, the controller 20 controls the switches SW1 and SW2 to be turned on / off based on the detection signals of the sensors from the outside, and the drive circuits 4 and 5 to be divided by the frequency dividing circuit 14. The pulse signal from is output.

Further, when the changeover switch 21 is in the ON operation state and is set to the manual mode, the controller 20
Is determined, the switches 9 and 10 from the remote controller 8
The controller 20 controls the switches SW1 and SW2 to be turned on / off based on the H level signal of the above, and outputs the pulse signal from the frequency dividing circuit 14 to the drive circuits 4 and 5.

Therefore, the controller 20 controls ON / OFF of the switches SW1 and SW2 based on each sensor from the outside based on the ON / OFF state of the changeover switch 21, or based on the switches 9 and 10 from the remote controller 8. It is determined whether or not the switches SW1 and SW2 are on / off controlled.

As a result, since the pulse generating circuit 13 can be shared, the pulse generating board 2 can be eliminated and the remote control circuit can be simplified. Although the present embodiment is embodied as an unmanned vehicle, it can be applied to other vehicles.

[0032]

As described above in detail, according to the present invention, there is an excellent effect that the remote controller can be controlled with high precision with a simple structure.

[Brief description of drawings]

FIG. 1 is an electrical block diagram of a remote control circuit according to the present invention.

FIG. 2 is an electrical block diagram showing another example of a remote control circuit.

FIG. 3 is an electrical block diagram showing another example of a remote control circuit.

FIG. 4 is an electric block diagram showing a conventional remote control circuit of a voltage command system.

FIG. 5 is an electric block diagram showing a conventional remote control circuit of a pulse command system.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... CPU as a microcomputer, 3 ... Drive control circuit section as drive control means, 8 ... Remote control device,
9 and 10 ... Switches as operating means, M1, M2 ... Traveling motors and steering motors as driving means, 13 ...
A pulse generating circuit as control signal generating means, 16 ... Switching operation buttons as operation setting means, SW1, SW2 ... Changeover switches as switching means

Claims (1)

[Claims] 1. A drive control means drives and controls the drive means by a program control signal of a microcomputer,
In a vehicle in which the traveling of the vehicle is program-controlled, a control other than an operating means provided in the remote control device body and a program control signal from a microcomputer provided in the drive control means for driving the vehicle drive means is provided. A control signal generating means for generating a signal, and an automatic mode for program-controlling the driving means by a program control signal from the microcomputer, or a control signal from the control signal generating means based on the operating means of the remote controller main body. Operation setting means for operating and setting the remote control mode for controlling the drive means by remote control; and when the operation setting means sets the automatic mode,
When the drive means is program-controlled through the drive control means based on the program control signal of the microcomputer and the operation setting means sets the remote control mode,
A remote control circuit having switching means for controlling the drive means by remote control with a control signal from a control signal generation circuit based on the operating means of the remote control device body.