JPS59109916A - Self-running car - Google Patents

Abstract

PURPOSE:To allow a self-running car which runs in a closed loop on the basis of preset run data to run automatically to a charging part automatically when its battery voltage drops below a specific value and to charge battery by providing a battery voltage detector to the self-running car. CONSTITUTION:The self-running car is equipped with a couple of left and right wheels 1, a couple of motors 2 for driving them, a pulse generator 10 which generates pulses on the basis of the rotating speed of the wheels 1, the battery 15 with a plug 15, and a controller 11. The setting switch of the control 11 is turned on and the self-running car is run on a run path manually to count pulses from the generator 10, storing data on the run path. The car runs in the closed loop repeatedly on the basis of the stored data normally and the detetor measures the voltage of the battery 5; when the measured voltage drops below a specific value, a CPU sends the self-running car to the external charging part at a starting point to charge the battery and then returns the car body to the closed loop after the charging.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of the Invention The present invention relates to a self-propelled vehicle used in production factories, stores, hospitals, etc. for the purpose of saving labor.

(b) Background of the Invention Conventionally, there have been self-propelled vehicles of this type, especially in factories, such as unmanned cleaning vehicles and unmanned transport vehicles, which run along predetermined travel routes by driving motors with batteries mounted on the tower. is configured to do so. However, as the battery discharges over time, it becomes difficult to drive the vehicle and the vehicle must be recharged each time, making maintenance cumbersome.

(c) Purpose of the Invention In view of the above points, the present invention provides a self-propelled vehicle that can automatically travel to a charging station and charge the vehicle when the battery voltage drops.

(2) Embodiment of the Invention Figure 1 shows the configuration of a self-propelled vehicle. (1011 is a pair of wheels provided on the left and right with respect to the traveling direction, and drive motors (2) (21) such as pulse motors or DC motors, respectively) It is connected to the drive shaft by chains (9) (9).

The rotation amount of the drive motors (2) (2) can be adjusted respectively, and if the drive motors (2) (2) make the same rotation, the self-propelled vehicle will go straight, and the rotation amount of the drive motors (2) (2) It is possible to change the course by changing the angle of rotation, and at this time, the angle of rotation can be adjusted by controlling the amount of rotation of both. Therefore the wheel (
1) (1) has a steering function in addition to a driving function.

In addition, (IOIQI is a pulse generator that generates pulses based on the rotation speed of II (controller 01) of each wheel (Ll) performs running control based on this pulse data.And IOIQI is a wheel that can rotate 3600 times at the four corners of the bottom plate side. An idler vehicle is supported by an attached bearing 04, (5) is a battery equipped with an outlet 05), and Q6) is a cargo platform.

FIG. 2 is a control block diagram showing the present invention.

The controller 0υ includes a CPU, a program memory ROM, a data memory RAM for storing data, a detection device (6), an input/output device a'rI, and a drive control device (4A) (4B).
and are arranged. The drive motors (2) (2) are connected between the drive control devices (4A) (4B) and the rechargeable battery (5), respectively. Also the detection device (6)
is connected to the battery (5), and is configured to output a signal to the CPU when the output voltage of the battery (5) drops to a predetermined value.

The travel route is set by turning on the setting switch OFQ and manually pushing the self-propelled vehicle along the travel route. FIG. 3 is a functional block diagram showing the operation of the CPU.

In the same figure, as the self-propelled vehicle moves by hand when setting the running route, the wheel (11 (when 11 rotates, pulse generator 00) 001 outputs a pulse according to the wheel (11 (110) rotation, A, N by turning on switch a
The D gate (22 (2□□□ introduces a pulse and the counter C1o) (z+) counts this pulse.
), the counter (24) counts the pulses output from the pulse generator 0 (2), and when a predetermined value is reached, that is, when the right wheel (1) moves in a small section, the counter (24) counts the pulses output from the pulse generator 0 (2). A signal is output to the storage section (3).
A) (3B) stores the count value of counter (211 (2υ) at the address specified by address counter (A). Also, the signal from counter 04 is sent to the delay circuit (2F).
After being delayed by 9@, counter U2 is sent as a reset signal.
Input to 1). When a self-propelled vehicle travels in a straight line, the count values of the counter (?υH) are the same, but when a right or left turn is set, the respective count values of the counter (2 (1101!1) are different. By manually pushing the self-propelled vehicle along a closed-loop running path, the amount of rotation of the wheels (1) (1, 1) for each small section is stored in the storage units (3A) (3B).

In addition, the charging part (7) is arranged at the start position of the closed loop, and by turning on the charging path setting switch 09 and pushing it manually, the self-propelled vehicle is moved so that the outlet (15) is mated with the charging part (7). Then, the charging control device (8) stores the count value of the counter (210>11) at this time in the storage section (
C) to memorize it. Also, when setting the charging path, the counter Q4
The counting operation is prohibited by the charging control device (8).

Operation starts with setting switch 08 turned OFF, but
The determination section (29A) (29B) is connected to the storage section (3AX3), respectively.
Based on the data stored in the first address of B), the amount of rotation of wheel (1) (110) in the first section is calculated.

Then, the drive control device (4A) (4B) controls the drive motor (2) according to the calculation results of the determination unit (29A) (29B).
The self-propelled vehicle runs by driving the wheel (11 (11) (110 rotations).The right wheel (1) serves as a reference.
When counter 04) counts a predetermined value with the rotation of
The memory section (3A) (3B) is determined by the address counter (c).
) is designated with an address regarding the next small section, and the determination unit (29A,) (29B) calculates the rotation amount of the wheel (II(1)) in the section based on the data at this address, and the drive control device ( 4A) and (4B) drive the drive motors (2) and (2) according to the calculation results.

In this way, the wheel (I
By rotating I (11), the self-propelled vehicle repeatedly travels in a closed loop. When the detection device (6) detects a drop in the battery output voltage during operation, the charging control device (8) activates the address counter. (c) saves the first address to the storage section (3
A) When specified in (3B), that is, when the self-propelled vehicle returns to the starting position, a signal is output to the storage section (A) to cause the charging path data to be introduced into the determination section (29A) (29B). Therefore, based on this data, the determination parts (29A) (29B) rotate the wheels (11) to move the self-propelled vehicle to the charging part (7) and connect the outlet 0. At this time, the counter Q4) Counting operation is prohibited by the charging control device (8).

When the detection device (6) detects that the output voltage of the battery (5) has reached the specified value, the charging control device (8) detects that the output voltage of the battery (5) has reached the specified value.
) outputs an inverted signal to the determination section (29A) (29B).

When the determination unit (29A) (29B) receives this inversion signal, the determination unit (29A) (29B) determines whether the wheel (IIT)
is rotated in the opposite direction to return the self-propelled vehicle to the starting position. After the self-propelled vehicle returns to the starting position, the charging control device (8) stops outputting the prohibition signal to the counter 24), and the determination units (29A) (29B)
) Based on the data in (3B), the wheels (1) (11) are rotated and traveling is resumed.

(e) Effects According to the present invention, normally the vehicle repeatedly travels in a closed loop based on preset travel route data, and when the output voltage of the battery that is the power source decreases, the vehicle travels to the charging part and is charged, then the vehicle enters the closed loop again. An easy-to-maintain self-propelled vehicle is provided for returning and resuming service.

[Brief explanation of drawings]

FIG. 1 is a side view of a self-propelled vehicle according to the present invention, FIG. 2 is a control block diagram, and FIG. 3 is a functional block diagram of a CPU. (1)(11...Wheel, (2)(2)...Drive motor, (3AX3B)...Storage unit, (4A,
) (4B)...Drive control device, (5)...Battery, (6)...Detection device, (7)...Charging unit.

Claims (1)

[Claims] 1. A set of left and right wheels, a drive motor that rotates the wheels, a storage unit in which data regarding a closed loop running path is preset, a drive control device that drives the drive motor based on the data, and a drive control device that drives the drive motor based on the data. A rechargeable battery that is a power source for a drive motor, a detection device that detects an output voltage of the battery, a charging section that is disposed outside, and an outlet that engages with the charging section when the output voltage of the battery decreases. and a charging control device that controls the drive motor so that the vehicle body moves and returns to the closed loop upon completion of charging.