JPS61106003A - Controller of motor driven vehicle - Google Patents

Abstract

PURPOSE:To finely control the traveling speed of a motor driven vehicle in response to the state of a road by controlling the speed of the vehicle body in response to the number of magnetic force generation sources provided on the road. CONSTITUTION:Detecting means 13 of a motor driven vehicle body 1 detects a magnetic force generation source 14 and outputs a detection signal. Control command means 8 outputs a command signal in response to the rising edge of the detection signal corresponding to the initial magnetic force generation source. Thus, a counter 16b counts a timing pulse from rotation detecting means 19, and finishes the operation to becomes a unit period when the counted value arrives at the prescribed value. The means 13 detects the number of the sources in the unit period, and the means 8 applies a speed command proportional to the number to a speed converter 6a.

Description

DETAILED DESCRIPTION OF THE INVENTION B) Industrial Application Field The present invention relates to a wave control device for an electric vehicle running on a predetermined running route, and detects a magnetic force generation source provided on the running route. A device that controls the speed of an electric vehicle according to its output (-related).

Conventional technology: By detecting the alternating magnetic field generated by passing a father current through a buried induction wire.

Alternatively, by providing lines with different reflection efficiencies on the road surface (-) and optically detecting these lines, electric vehicles can be easily wired.
I: Applicable to guided vehicles such as golf carts or transport vehicles.

In this type of conventional device C, a magnetic force generating arm is embedded in the running road surface and the magnetic force is detected in order to stop or decelerate the electric vehicle (Japanese Patent Publication No. 50-9956). In this case, if a permanent magnet is used as the magnetic force generation source, two types of signals can be obtained using its polarity.Similarly, a loop can be formed in the guide wire to obtain a signal and the direction of the loop can be changed. Thing 1: It is difficult to obtain two types of signals. For this reason, it is not possible to perform fine-grained travel speed control depending on the road conditions.

(c) Problems that the invention attempts to solve The present invention has been invented in view of this point.

Within a unit period (-) depending on the running of the electric vehicle itself.

It is an object of the present invention to provide a control device that controls the running speed of an electric vehicle body according to the number of magnetic force generation sources provided on a running path.

2) Means for Solving the Problems In order to achieve the above object, the device according to the present invention includes: (1) a device for detecting a plurality of magnetic force generation sources provided on a running path of a moving vehicle body; and a control command means for controlling the running speed of the electric vehicle main body in proportion to or inversely proportional to the number C of detection outputs of the detection means divided by 2 within the unit period. It will be done.

(E) Action Considering the number of magnetic force generation sources during the running of the electric vehicle body (within a unit period corresponding to 2), the number of detection outputs of the detection means is correspondingly different, The control command means issues a traveling speed command that is proportional or inversely proportional to the number of detection outputs (-) of the detection means, so the number of magnetic force generation sources can be made to correspond to the desired speed. Installation of the magnetic force generation source becomes easy.

(F) Embodiment An embodiment of the present invention will be explained based on the drawings. FIG. 1 is a diagram showing the principle structure of an electric vehicle. In this drawing, (l) is an electric vehicle main body, which is equipped with at least one drive wheel (2) and at least one guide wheel (3). The driving wheel (2) is driven by the driving motor (4) to drive the driving wheel (31).
is driven by an angle control motor (5), and each motor (4) (5) is controlled by a drive circuit (6) or (7), respectively. These surface drive circuits are controlled based on commands from the control command means (8), and are each equipped with a pulse width modulation circuit. Note that the drive circuit (6) includes a speed switching circuit (6a).

(9) is a detection means for detecting a predetermined running route, and a control command is given to the drive circuit (7) from the control command means (8).
) along a predetermined nine running route (: to follow (d).

In this case, the pulse width modulation circuit (-) included in the drive circuit (7) causes the guide wheel (3) to deviate from the running path.

You will gradually follow this route. The detection means (9
) may be configured to detect an alternating magnetic field from a guide wire buried in the running road surface, or may be configured to optically detect lines with different reflection efficiencies divided into two parts of the running road surface C.

01 is a manual operation part and includes a control box and a brake lever, and the control box is "
``Full automatic'', ``passing through a stop'', ``brake release'', ``parking'',
Switch the notches such as "low speed" and "high speed" with selector C2 and press the start button (:) to start the operation of each notch. "Full automatic" and "stop point passing"
The notch is used for guided driving along a predetermined route, and the "brake release" notch is used for manual operation (; also, the "low speed" and "high speed" notches are used for manual operation).

1: Used in the case of manual (2-way) steering operation outside the predetermined driving route. Commands from this operation section αI, or second detection means such as obstacle detection, etc. The drive circuit +61 (71) and the brake means α2 are controlled by the command αυ.

Reference numeral u3 is a detection means that detects the magnetic force from a plurality of magnetic force generators 6H provided on the running path to detect the presence of a 1Mi force generator. This detection means (131 is a detection coil (
1 Ot a) and an amplifier (131) that amplifies its detection output
) and t- have. The output of this amplifier is the waveform processing means 115.
The signal is subjected to waveform processing at step 1 and compared with a reference value (2), and is input to control command means (81) as a detection output of detection means α3.

The sensing means (2) detects the unit period according to the running of the electric vehicle body (1). When using the running time, the output of the clock signal generator (17) which is input to the control command means (81) or the frequency divider ttS that divides the output.
Counting the output of and making the counted value reach a predetermined value 1;
This is a unit period. When using mileage as a unit period.

When the timing pulses from the rotation detecting means ELL are counted and reach a predetermined value C2, the unit period is determined.

The rotation detecting means (1!J is one or more permanent magnets (
19a) and a magnetic sensor (19k) for sensing the magnetic flux of this permanent magnet.

In Example C, the sensing means (IQVi unit period is determined using the running time of the electric vehicle body (1), and the sensing means (161 is a frequency dividing circuit (16a) and its The frequency dividing circuit (16!L) operates based on the first command of the control command means (8) and divides the output of the 1 frequency divider a8. It is something to do.

Next, it is assumed that magnetic force generating sources (141) to (14?) are sequentially arranged on the running road as shown in Figure 2(a)l. The polarity (8) or (8) in the figure is the polarity of each magnetic force generation source on the road side.

The related operations of the detection means a3 and the sensing means will be explained with reference to FIG.

The electric vehicle body (1) is the magnetic force generation source (141) to (149)
When traveling in the direction of arrow 1 on a road provided with.

The detection means u3 detects each magnetic force generation source, and its detection output waveform (1) is as shown in FIG. In this case, the detection output will correspond to the polarity of each magnetic force generation source (: a positive signal will be generated when it is N pole, and a negative signal will be generated when it is 8 poles. In this figure), the DC level (+V) and (-V) will be signal 1
21+@ is the reference level for removing noise,
Detection outputs above or below this reference level are compared and detected by the waveform processing means (19), and a rectangular signal area corresponding to the N pole of each magnetic force generation source and a rectangular signal Q4 corresponding to the 8 poles are output. These rectangular signals are shown in Figure 2 (C) and ((1
)i': Show.

Now, in response to the rising edge (2) of the first magnetic force generation source (141), the corresponding rectangular signal (2!11), the first command signal (251) is sent from the control command means (8) to the frequency dividing circuit ( 16
1! L) C is given, this frequency divider circuit starts operating and divides the divided output of the 1 frequency divider (18).The frequency divider circuit (16
When the branch output of L) is counted by the counting circuit (16b) and the counted value reaches a predetermined value.

Fig. 2(e) l:: indicates the unit period color), and at the end of this period C; the second command signal (
261) is applied to the frequency divider circuit (16L), thereby terminating the operation of this frequency divider circuit. This unit period color) (U set.

The detection means αJ detects the number of magnetic force generation #(141) to (144) and outputs four rectangular signals (231) to (25M).
(241) is inputted to the control command means (811'). Therefore, from this means (8), a speed command of, for example, 8 Kll/H, which is proportional to the number 1 of the rectangular signal, is sent to the speed switching circuit (62L). and the electric vehicle main body (1) runs at that speed.

Subsequently, the primary first magnetic force generation source (145) is detected by the detection means (
13 is detected, the first command (252) is applied to the frequency divider circuit (16!L) 1m in the same manner as described above, and this frequency divider circuit is activated to obtain the count value obtained by dividing the frequency divided output of the 1 frequency divider C18. When reaches a predetermined value, the second command (262) is sent to the frequency dividing circuit (1
6i)-2 is applied to terminate the operation of this frequency divider circuit. During this operating period (unit period color), the detection means α
3 detects magnetic force generation sources (145) to (147),
Three rectangular signals (242), (243), and (25a) are sent to the control command means (8 eyes and two people, depending on the number of signals b b
A speed command of /H is given from the control command means (8) to the speed switching circuit (6a), and the electric vehicle main body (1) is caused to travel at that speed.

A flowchart of the control command means (8) in the case where the number of magnetic force generating sources (■) in a unit period (color) is detected and the traveling speed is controlled to be proportional to that number (color) is shown in Figure @3. Based on the first directive (251) and second directive (261)
A case in which the number of magnetic force generation sources G4 in a unit period (color) between 1 and 2 is detected will be described as a representative example.

The timer ends as the detection output of the detection means a3 (the presence or absence of the rectangular signal [presence] or (goods) based on the second is determined by whether or not there is a magnet in step 2, and when it is "rNn", the unit period is reached in step 2). It is determined whether or not this is the case, and if the answer is "NO", the process moves to step (2).

Upon arrival of the rectangular signal (251) of Yu-1, it is determined in step ■ that the magnet is present, and the frequency dividing circuit (16
&) is started or not, and since it is rNOJ, the frequency dividing circuit (166) is operated based on the first command (251) +: from the t-control command means (8) at step (■). Step ■ (Proceed by two steps. In this step ■, one is counted as the number of magnets. Since the final unit period (h) has not elapsed in step ■, the answer is "NO" and the process proceeds to step ■.

When the second rectangular signal (241) arrives, step
■, ■C: Proceed and count 2 as the number of magnets. Then proceed from step ■ to step ■heat; When the third and fourth rectangular signals (252) and (253) arrive, it is the same as when the second rectangular signal (241) arrives, and the number of magnets is sequentially counted as 3 and 4.

After that, if the calculated value of the frequency-divided output of the counting circuit (16t) matches the unit period ch++:corresponding count value (=), it is judged as rYKSJ in step 2 command C261) is issued.

In step (2), the operation of the frequency dividing circuit (168) is stopped.

Because of the step, the speed command of 8 Kll/FI proportional to the count value of the number of magnets in step ■ is sent to the speed switching circuit (
6&), and the running speed is 8Fa/! from the drive circuit (6)C2 at step ■! (Switched to 1m.

The operation of the control command means (8) described above is based on the first order command (2).
The same applies to the detection of the number of magnetic force generation ραI in the unit period (h) between 52) and the second command (262).

Furthermore, the above embodiment can be modified as follows.

(In the thirteenth embodiment, a speed command is issued that is proportional to the number of magnetic force generation sources Q41, but a speed command that is inversely proportional to the number of magnetic force generation sources Q41 is issued.)

(11) In the embodiment, the magnetic force generation source (1=regardless of the polarity of S1).

Only the number of C: dependent speed commands are issued, but the combination of the number and polarity (from 2), the command speed is set more precisely.

(G) Effects of the Invention Invention C: The control device of the electric vehicle main body detects a plurality of magnetic force generation sources provided on the traveling path C of the electric vehicle body, and i! in proportion to or inversely to the number of detection outputs of the detection means within the unit period. Since the electric vehicle is equipped with a control command means for controlling the running speed of the main body of the electric vehicle, it is possible to vary the intervals between the plurality of magnetic force generation sources (from 2).
Multiple types of installation positions C: It is possible to obtain various types of signals according to the number of magnetic force generation sources within a unit period, and the running speed is controlled to be proportional or inversely proportional to the number of magnetic force generating sources within a unit period, so it is possible to obtain the desired running speed. Installation of the magnetic force generation source becomes easy.

[Brief explanation of drawings]

The drawings show a device according to the present invention C: Fig. 1 is a diagram of the principle configuration of an electric vehicle, Fig. 2 is a signal waveform diagram corresponding to the position of a magnetic force generation source, and Fig. 3 is a flowchart of an embodiment. (1)...Electric vehicle body, α small pieces (141) to (14?
)...magnetic force generation source, u3...detection means', tts・
... Sensing means, (8) ... Control command means.

Claims (1)

[Claims] (1) A detection means for detecting a plurality of magnetic force generating sources provided on the running path of the electric vehicle body, a sensing means for sensing a unit period according to the running of the electric vehicle body, and a detection means for detecting a unit period according to the running of the electric vehicle body, A control device for an electric vehicle, comprising control command means for controlling the running speed of the electric vehicle body in proportion or inverse proportion to the number of detection outputs.