JPS60128805A - Start controller of motor driven vehicle - Google Patents
Start controller of motor driven vehicleInfo
- Publication number
- JPS60128805A JPS60128805A JP58235676A JP23567683A JPS60128805A JP S60128805 A JPS60128805 A JP S60128805A JP 58235676 A JP58235676 A JP 58235676A JP 23567683 A JP23567683 A JP 23567683A JP S60128805 A JPS60128805 A JP S60128805A
- Authority
- JP
- Japan
- Prior art keywords
- magnetic flux
- electric vehicle
- detecting
- control
- magnetic force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000004907 flux Effects 0.000 claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 20
- 230000006698 induction Effects 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
（イ）産業上の利用分野
本発明は予め定められた誘導路線に沿って誘導走行する
電動車の始動制御装置に関し、特に無線操縦における電
動車の始動を確実にする装置に関する。[Detailed description of the invention] (a) Industrial application field The present invention relates to a starting control device for an electric vehicle that guides the vehicle along a predetermined guidance route, and in particular ensures the starting of an electric vehicle by radio control. Regarding equipment.
仲）従来技術
従来、路面に埋設した誘導線に交流電流を流すことによ
シ生ずる交番磁界を検出することによシ、あるいは路面
に反射効率の異なる線を設け、この線を光学的に検出す
ることによって、電動車を上記誘導線あるいは線（以下
誘導路線という）ｌｃｉって誘導走行するものが、ゴル
フカー）６るいは運搬車等に適用されている。Conventional technology Conventionally, methods have been used to detect alternating magnetic fields generated by passing alternating current through induction wires buried in the road surface, or by providing lines with different reflection efficiencies on the road surface and optically detecting these lines. By doing so, the electric vehicle is guided along the above-mentioned guide line or line (hereinafter referred to as guide line) lci, and is applied to golf cars, transport vehicles, etc.
この種従来装置において、電動車を停止るるいは減速等
をさせるために、誘導路面に磁力発生源を埋設し、この
磁力を検出するようにしていた（特公昭５Ｏ−９９５Ｓ
号公報）。この場合に停止点としての磁力発生源からの
磁力を検出した後、この検出時点から、電動車に設けた
ブレーキ手段が作動開始して電動車を停止するものでメ
ジ１．その磁力発生源上で電動車が停止することはなく
、その後電動車を始動するに際して、その磁力発生源か
らの磁力の影響を受けなφものである。In conventional devices of this kind, in order to stop or decelerate the electric vehicle, a magnetic force generation source was buried in the taxiway surface and this magnetic force was detected (Special Publication No. 5O-995S
Publication No.). In this case, after detecting the magnetic force from the magnetic force generation source as the stopping point, the brake means provided on the electric vehicle starts operating from this detection point to stop the electric vehicle. The electric vehicle does not stop on the magnetic force generation source, and when the electric vehicle is started thereafter, it is not influenced by the magnetic force from the magnetic force generation source.
ところが電動車は無線操縦によシ、あるいは手動操縦に
よシ、任意の地点で停止可能であるため、その停止位置
が停止点としての磁力発生源からの磁力を検出する範囲
内であるときがあり、かかるときにはその磁力の影響に
より電動車を始動できないことがある。However, electric vehicles can be stopped at any point by radio control or manual control, so when the stopping position is within the range where the magnetic force from the magnetic force generating source is detected as the stopping point. In such cases, the electric vehicle may not be able to start due to the influence of the magnetic force.
（ハ）発明の目的
本発明はかかる点＋ｃ［み発明されたものにして、停止
点としての磁力発生源からの磁力を検出する範囲内に電
動車が停止するときであっても、始動可能な装置を提供
することを目的とする。(C) Purpose of the Invention The present invention has been invented based on the above point +c, and can be started even when the electric vehicle is stopped within the range of detecting the magnetic force from the magnetic force generation source as the stopping point. The purpose is to provide a device that is easy to use.
に）発明の構成
かかる目的を達成するため、本発明による装置は、誘導
路線に沼って誘導走行する電動車本体に、該電動車本体
に設けた種々の検出手段からの信号に基いて電動車本体
の動作指令信号を発する制御指令手段と、誘導路面に設
けた磁力発生源からの停止点指示磁束を検出する磁束検
出手段とを設け、前記制御指令手段は、電動車本体の始
動後の所定のタイマ一時間あるいは電動車本体の移動距
離を計測する計測手段を備え、この手段の出力後に前記
磁束検出手段の出力を有効化せしめたことを特徴とする
ものである。B) Structure of the Invention In order to achieve the above object, the device according to the present invention detects electric power in the main body of an electric vehicle that is guided along a guidance route based on signals from various detection means provided on the main body of the electric vehicle. A control command means for issuing an operation command signal for the vehicle main body, and a magnetic flux detection means for detecting a stopping point indicating magnetic flux from a magnetic force generation source provided on the guideway surface are provided, and the control command means is configured to control the operation of the electric vehicle after starting the electric vehicle main body. The present invention is characterized in that it is provided with a measuring means for measuring a predetermined timer or the moving distance of the electric vehicle body, and the output of the magnetic flux detecting means is enabled after the output of this means.
（ホ）実 施 例 本発明の一実施例を図面に基いて説明する。(e) Implementation example An embodiment of the present invention will be described based on the drawings.
第１図は電動車の原理構成図でるる。この図面において
、（１）は電動車本体にして、少なくとも１個の駆動車
輪（２）と少なくとも１個の誘導車輪（３）とを備えて
いる。駆動車輪（２）は駆動モータ（４）によシ、誘導
車輪（３）は角度制御モータ（５）によシ、夫々駆動さ
れ、各モータ（４）（５）は夫々駆動回路（６）又は（
７）にて制御される。この両駆動回路は夫々制御指令手
段（８）からの指令に基いて制御され、又夫々パルス幅
変調回路を備えてお）、この回路により各モータ（４）
（５］を滑らかに制御するようにしている。Figure 1 shows the basic configuration of an electric vehicle. In this drawing, (1) is an electric vehicle main body, which includes at least one drive wheel (2) and at least one guide wheel (3). The drive wheel (2) is driven by a drive motor (4), the guide wheel (3) is driven by an angle control motor (5), and each motor (4) (5) is driven by a drive circuit (6). Or (
7). Both drive circuits are controlled based on commands from the control command means (8), and are each equipped with a pulse width modulation circuit), which drives each motor (4).
(5) is controlled smoothly.
（９）は予め定められた誘導路線を検出する第１検出手
段にして、この手段の出力に基いて制御指令手段（８）
からの制御指令が駆動回路（７）に与えられ、誘導車輪
＋３Ｊを誘導路線にｆＥ３うようにする。この場合に駆
動回路（７）に含まれるパルス幅変調回路によシ、誘導
路線からずれたときに、徐々にこの誘導路線に沿うよう
にする。前記第１検出手段（９）は、誘導路線に交流電
流が給電される誘導線が設けられている場合には、この
誘導線からの交番磁界を検出するものでラシ、又誘導路
線に反射効率の異なる線が設けられている場合には、こ
の線を光学的に検出するものである。(9) is a first detection means for detecting a predetermined guide route, and based on the output of this means, control command means (8)
A control command is given to the drive circuit (7) to move the guide wheel +3J along the guide line fE3. In this case, the pulse width modulation circuit included in the drive circuit (7) causes the guide line to be gradually brought along when it deviates from the guide line. The first detection means (9) is for detecting an alternating magnetic field from the guide line when the guide line is provided with a guide line to which alternating current is supplied. If different lines are provided, these lines are detected optically.
＋１［１は手動による操作部にして、コントロールボッ
クス及ヒフレーキレバーを含み、コントロールボックス
は「全自動」、「停点通過」、「ブレーキ解」、「駐車
」、「低速」及び「高速」等のノツチをセレクタによシ
切換えると共にスタート釦の抑圧によ〕各ノツチの作動
を開始させるものである。「全自動」及び「停点通過」
ノツチは予め定められた誘導路線を誘導走行させる場合
に使用され、「ブレーキ解」ノツチは手押し操作に際し
て使用される。また「低速」及び「高速」ノツチは、誘
導路線外を手動による操舵操縦下において、電動走作さ
せる場合に使用される。この操作部叩からの指令、ある
いは、たとえば障害物検出等の第２検出手段αυの指令
により、駆動回路（６）（７）及びブレーキ手段（１３
が制御される。+1 [1 is the manual operation part, including the control box and brake lever, and the control box can be set to ``Full automatic'', ``Pass through stop'', ``Release brake'', ``Parking'', ``Low speed'' and ``High speed''. The operation of each notch is started by switching the notches such as the above by using a selector and pressing the start button. "Full automatic" and "stopping point passing"
The notch is used for guiding the vehicle along a predetermined guidance route, and the "brake release" notch is used for manual operation. Furthermore, the "low speed" and "high speed" notches are used when the vehicle is electrically driven outside the guidance line under manual steering control. The drive circuits (6) and (7) and the brake means (13
is controlled.
０３は磁束検出手段にして、誘導路面に設けた磁力発生
源Ｉからの停止点指示磁束を検出するものである。この
磁束検出手段は検出コイル（１３ａ）及びその検出出力
を増幅する増幅器（１３ｂ）とを有する。この増幅器出
力は波形処理手段１９にて波形処理されると共に基準値
と比較されて、その出力が制御指令手段（８）に入力さ
れる。波形処理手段ａ９にて基準値と比較するのは、磁
気ノイズを除去するためである。03 is a magnetic flux detection means that detects the stop point indicating magnetic flux from the magnetic force generation source I provided on the guideway surface. This magnetic flux detection means has a detection coil (13a) and an amplifier (13b) for amplifying its detection output. This amplifier output is subjected to waveform processing in the waveform processing means 19 and is compared with a reference value, and the output is inputted to the control command means (8). The reason why the waveform processing means a9 compares with the reference value is to remove magnetic noise.
［６１は感知手段にして、電動車本体（１）が始動後、
その移動距離を計測すべく、走行に応じたタイミングパ
ルスを感知するものでおる。この感知手段は電動車本体
（１）の車輪、たとえば誘導車輪（３）に１個あるいは
複数個の永久磁石（１６ａ）を取付けると共にこの永久
磁石の磁束を感知する磁気セ／す（１Ｓｂ）を設けてな
る。従りて電動車本体（１）の始動後の走行に応じて永
久磁石（１６ＪＬ）の磁束をタイミングパルスとして感
知することができる。このパルスは制御指令手段【８）
に設けた計測手段（ｌηにて計測される。この手段は操
作部■のスタート釦を・押圧した後計数を開始する。タ
イミング 。[61 is a sensing means, after the electric vehicle main body (1) starts,
In order to measure the distance traveled, it senses timing pulses that correspond to the travel. This sensing means attaches one or more permanent magnets (16a) to the wheels of the electric vehicle body (1), for example, the induction wheels (3), and also includes a magnetic sensor (1Sb) that senses the magnetic flux of the permanent magnets. It will be set up. Therefore, the magnetic flux of the permanent magnet (16JL) can be sensed as a timing pulse in accordance with the running of the electric vehicle main body (1) after starting. This pulse is the control command means [8]
Measurement is carried out by the measuring means (lη) provided at
パルスは誘導車輪（３）の回転により生ずるため、計測
手段＋１７１の所定数の計数は、電動車本体（１）の移
動距離を計測することになる。この場合に前記所定数は
磁束検出手段（′１３が磁力発生源Ｉからの磁束を検出
しない距離に対応した数値に設定される。この数値に等
しいタイミングパルスが計測手段（ｌηにて計測される
まで、磁束検出手段０３１の出力は制御指令手段（８）
に入力されても、この手段内のゲート回路手段ａ＆が閉
じているため、受入れが阻止される。これに対し、計測
手段鰭が所定数のタイミングパルスを計数した後は、ゲ
ート回路手段０８が開くので、磁束検出手段口３の出力
が制御指令手段（８）に受け入れられる。Since the pulse is generated by the rotation of the guide wheel (3), the predetermined number of counts by the measuring means +171 measures the moving distance of the electric vehicle body (1). In this case, the predetermined number is set to a value corresponding to a distance at which the magnetic flux detection means ('13) does not detect magnetic flux from the magnetic force generation source I.A timing pulse equal to this value is measured by the measuring means (lη). Until then, the output of the magnetic flux detection means 031 is the control command means (8)
Even if the signal is inputted to , acceptance is blocked because the gate circuit means a& in this means is closed. On the other hand, after the measuring means fin counts a predetermined number of timing pulses, the gate circuit means 08 opens, so that the output of the magnetic flux detecting means port 3 is received by the control command means (8).
次に作動を第２図に示すフローチャートに基いて説明す
る。操作部１１Ｇのスタート釦の抑圧により、電動車本
体（１）が走行始動すると、ステップ■で計測手段任η
の計数がスタートシ、感知手段１６１からのタイミング
パルスの有無をステップ■で判断し、１’−ＮＯＪであ
ればステップ■のスタート動作即ち電動車本体（１）を
ソフトスタートさせ、計測手段１１ηを計数待期状態に
保つ。ステップ■で「ＹＥｓＪならば、計測手段０７）
がタイミングパルスをステップ■で計数し、その計数値
が所定値に達したか否かをステップ■で判断する。その
結果「ＮＯ」であれば、計数を続行し、（−ＹＥＳＪな
らば、そのとき磁束検出手段０３からの出力があるか否
かを、ステップ■で判断する。ここで「ＮＯ」ならば電
動車本体（１）は、ソフトスタートから所定の速度に向
って加速されて定速走行となる。［ＹＥｓＪならば、ス
テップ■でブレーキ手段１２を動作させ、電動車本体（
１）を停止させる。Next, the operation will be explained based on the flowchart shown in FIG. When the electric vehicle main body (1) starts running by pressing the start button of the operation unit 11G, the measuring means is switched on in step ■.
If the count is START SHI, the presence or absence of a timing pulse from the sensing means 161 is judged in step ■, and if it is 1'-NOJ, the start operation of step ■, that is, a soft start of the electric vehicle body (1), and the measuring means 11η are performed. Keep in counting standby state. In step ■, “If YESJ, measurement means 07)
counts timing pulses in step (2), and determines in step (2) whether the counted value has reached a predetermined value. If the result is "NO", counting is continued, and if (-YESJ), it is determined in step (2) whether or not there is an output from the magnetic flux detection means 03. If "NO" here, the electric The vehicle body (1) is accelerated from a soft start to a predetermined speed and runs at a constant speed. [If YESJ, the brake means 12 is operated in step ■, and the electric vehicle body (
1) Stop.
以上の実施例は、始動後の電動車本体（１）の移動距離
を計測するものであるが、この距離計測に代って始動後
の一定時間を計数するようにしてもよく、次にこの時間
計測の実施例を説明する。この場合には第１図における
感知手段１１ｅは不要であり、代りに一定間隔でクロッ
クパルスを発生する発振器１１を要し、この発振器から
のり・ツタパルスが １所定値になるのを計測手段ａｎ
Ｋ、て計測し、との出力によりゲート回路手段ｔｔＳを
開くものでメジ、他は距離計測の場合と同じである。In the above embodiment, the moving distance of the electric vehicle body (1) after starting is measured, but instead of measuring this distance, a certain period of time after starting may be counted. An example of time measurement will be described. In this case, the sensing means 11e in FIG. 1 is not necessary, and instead an oscillator 11 that generates clock pulses at regular intervals is required, and the measuring means an detects when the glue/vine pulse from this oscillator reaches a predetermined value.
The output of K and K is used to open the gate circuit means ttS, and the rest is the same as in the case of distance measurement.
時間計測の場合の動作を第３図に示すフローチャートに
基いて説明すると、操作部叫のスタート釦の抑圧によシ
、電動車本体（１）が走行始動すると、ステップ■で計
測手段（Ｉηが計数を開始し得る状態、即ちタイマース
タートの状態となる。始動後の時間が経過し、所定時間
に対応した発振器１１９からのクロックパルスを計数す
る前は、ステップ■で［ＮＯＪと判断され、ステップ０
のスタート処理、即ちソフトスタート状態のまま、計数
を続行する。The operation for time measurement will be explained based on the flowchart shown in Fig. 3. When the electric vehicle body (1) starts running by suppressing the start button of the operation unit, the measuring means (Iη) is The state is such that counting can be started, that is, the timer is started.After the time has elapsed after the start and before the clock pulses from the oscillator 119 corresponding to the predetermined time are counted, it is judged as NOJ in step 0
Counting continues in the start process, that is, in the soft start state.
所定時間に対応したクロックパルス数を計数すると、ス
テップ■で「ＹＥｓＪとなり、この時点で磁束検出手段
０から出力がなければ、ステップ■で「ＮＯ」と判断さ
れて、電動車本体（１）を定速走行に向って加速する。When the number of clock pulses corresponding to the predetermined time is counted, the result is ``YESJ'' in step 2, and if there is no output from the magnetic flux detection means 0 at this point, ``NO'' is determined in step 2, and the electric vehicle body (1) is Accelerate towards constant speed driving.
「ＹＥｓＪで６ればブレーキ手段ｎ３を動作させて電動
車本体（１）を停止させる。“If YESJ is 6, the brake means n3 is operated to stop the electric vehicle body (1).
（へ）発明の効果
本発明による電動車の始動制御は、誘導路線に沿って誘
導走行する電動車本体に、該電動車本体に設けた種々の
検出手段からの信号に基いて電動車本体の動作指令信号
を発する制御指令手段と、誘導路面に設けた磁力発生源
からの停止点指示磁束を検出する磁束検出手段とを設け
、前記制御指令手段は、電動車本体の始動後の所定のタ
イマ一時間あるいは電動車本体の移動距離を計測する計
測手段を備え、この手段の出力後に前記磁束検出手段の
出力を有効化せしめたことを特徴とするものであるから
、停止点としての磁力発生源からの磁力を検出する範囲
内で、電動車本体が停止するときにも、この電動車本体
を始動させることができる０(f) Effects of the Invention In the start control of an electric vehicle according to the present invention, the electric vehicle itself is guided to run along a guide line, and the electric vehicle body is controlled based on signals from various detection means provided on the electric vehicle body. A control command means for issuing an operation command signal and a magnetic flux detection means for detecting a stop point indicating magnetic flux from a magnetic force generation source provided on the taxiway surface are provided. The present invention is characterized in that it is equipped with a measuring means for measuring one hour or the moving distance of the electric vehicle body, and the output of the magnetic flux detecting means is enabled after the output of this means, so that the magnetic force generation source serves as a stopping point. Within the range of detecting the magnetic force from 0, the electric vehicle can be started even when the electric vehicle is stopped.
図面は本発明による装置を示し、第１図は電動車の原理
構成図、第２図及び第３図は異なる実施例の動作を説明
するフローチャートでめる。
（１）・・・電動車本体、（９）（Ｌｌ）−・・検出手
段、（８）・・・制御指令手段、Ｉ・・・磁力発生源、
（１３・・・磁束検出手段、（ｌη・・・計測手段。
第２図
第８図The drawings show an apparatus according to the present invention, with FIG. 1 showing the basic configuration of an electric vehicle, and FIGS. 2 and 3 showing flowcharts explaining the operation of different embodiments. (1)...Electric vehicle body, (9)(Ll)...detection means, (8)...control command means, I...magnetic force generation source,
(13...Magnetic flux detection means, (lη...Measurement means.
Claims (1)
電動車本体に設は冬種々の検出手段からの信号に基いて
電動車本体の動作指令信号を発する制御指令手段と、誘
導路面に設けた磁力発生源からの停止点指示磁束を検出
する磁束検出手段とを設け、前記制御指令手段は、電動
車本体の始動後の所定のタイマ一時間るるいは電動車本
体の移動距離を計測する計測手段を備木、この手段の出
力後に前記磁束検出手段の出力を有効化せしめたことを
特徴とする電動車の始動制御装置。(1) A control command means is installed on the electric vehicle that guides the vehicle along the guide route, and is installed in the electric vehicle to issue operation command signals for the electric vehicle based on signals from various detection means; magnetic flux detection means for detecting a stop point indicating magnetic flux from a magnetic force generation source provided at 1. A starting control device for an electric vehicle, characterized in that the measuring means for measuring is equipped with a magnetic flux detector, and the output of the magnetic flux detecting means is enabled after the output of the measuring means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58235676A JPS60128805A (en) | 1983-12-13 | 1983-12-13 | Start controller of motor driven vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58235676A JPS60128805A (en) | 1983-12-13 | 1983-12-13 | Start controller of motor driven vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60128805A true JPS60128805A (en) | 1985-07-09 |
| JPH0445844B2 JPH0445844B2 (en) | 1992-07-28 |
Family
ID=16989549
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58235676A Granted JPS60128805A (en) | 1983-12-13 | 1983-12-13 | Start controller of motor driven vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60128805A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5321388A (en) * | 1976-08-12 | 1978-02-27 | Hitachi Ltd | Controlling system for unmanned car |
| JPS5338006A (en) * | 1976-09-21 | 1978-04-07 | Sumitomo Electric Ind Ltd | System for receiving signals from moving bodies |
| JPS5717601A (en) * | 1980-07-03 | 1982-01-29 | Yoshida Kogyo Kk | Slide fastener stringer |
-
1983
- 1983-12-13 JP JP58235676A patent/JPS60128805A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5321388A (en) * | 1976-08-12 | 1978-02-27 | Hitachi Ltd | Controlling system for unmanned car |
| JPS5338006A (en) * | 1976-09-21 | 1978-04-07 | Sumitomo Electric Ind Ltd | System for receiving signals from moving bodies |
| JPS5717601A (en) * | 1980-07-03 | 1982-01-29 | Yoshida Kogyo Kk | Slide fastener stringer |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0445844B2 (en) | 1992-07-28 |
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