JPS61106004A - Controller of motor driven vehicle - Google Patents

Abstract

PURPOSE:To finely control the traveling speed of a motor driving vehicle in response to the state of a road by controlling the traveling speed and the operating time in response to the number of magnetic force generation sources provided on the road in a unit period in response to the travel of the vehicle. CONSTITUTION:Detecting means 13 of a motor driven vehicle 1 detects a magnetic force generation source 14 provided on a road and outputs a detection signal. Control command means 8 operates a frequency divider 15a by the rising edge of the detection signal. Thus, a counter 15b counts a timing pulse from rotation detection means 18, and finishes the operation to become a unit period when the counted value arrives at the prescribed value. The means 8 detects the number of the sources 14 in the unit period, and applies a speed command in response to the number to a speed converter 6a, and applies the operating time to period restricting means 19.

Description

[Detailed Description of the Invention] (a) Industrial Application Field The present invention relates to a control device for an electric vehicle running on a predetermined running road, and detects a magnetic force generation source provided on the running road and generates a detection signal thereof. The present invention relates to a device that controls the operation of an electric vehicle according to the following conditions.

P) Conventional technology Conventionally, fC interrogation wires buried in the road surface are used to detect the alternating magnetic field generated by passing an alternating current through them, or by providing wires with different reflection efficiencies on the road surface and detecting these wires optically. An electric vehicle that detects this and travels along the above-mentioned line is applied to golf carts, transport vehicles, and the like.

In conventional devices of this kind, in order to stop or decelerate an electric vehicle, a source of magnetic force is buried in the running road surface and this magnetic force is detected (Special Publication No. 5O-9957
Publication No. S). In this case, if a permanent magnet is used as a magnetic force generation source, two types of signals can be obtained by using the polarity of the permanent magnet. By changing the direction of the signal, two types of signals can be obtained. As described above, the conventional device cannot perform fine-grained travel control according to route conditions.

(C) Problems to be Solved by the Invention The present invention has been invented in view of the above points, and is based on the number of magnetic force generating sources provided on the running path within a unit period corresponding to the running of the electric vehicle itself. Therefore, it is an object of the present invention to provide a device that controls the traveling speed of an electric vehicle and also regulates its operating time.

B) Means for Solving the Problems In order to achieve the above object, the device according to the present invention includes: - detection means for detecting a magnetic force generation source provided on the running path of the electric vehicle body; a sensing means for sensing a unit period; a control command means for issuing a traveling speed command according to the number of detection outputs of the detection means within the unit period;
This is a complete complement to the period regulating means for regulating the operation period of the running speed according to the number of detection outputs.

(e) Effect: By varying the number of magnetic force generating sources within a unit period according to the running of the electric vehicle body, the number of detection outputs of the detection means varies according to this number, and many types of position detection signals are obtained. . The traveling speed is controlled according to this signal. Further, the operating period of the traveling speed is regulated by the period regulating means in accordance with the position detection signal, thereby performing fine traveling control.

(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, (1) is -
'The main body of the moving vehicle faces at least one drive wheel (2) and at least one guide wheel (3). Drive vehicle tlt (2+ is driven by the drive motor (4), the guide wheel (3) is driven by the angle control motor (5),
Each motor (4) (51 is a drive circuit (6) or (7) respectively
Controlled by These two drive circuits each have a control command means (
Each motor (41 (5)
) is controlled smoothly. In addition, the drive circuit (
6) has a speed switching circuit (6a).

(9) is a detection means for detecting a predetermined running route, and based on the output of this means, the control command means (8)
A control command is given to the drive circuit (7), and the guide wheel (3)
along a predetermined travel path.

In this case, the pulse width modulation circuit included in the drive circuit (7) causes the guide wheels (3) to gradually follow the traveling path when they deviate from the traveling path. The detection means (9)
Alternatively, an alternating magnetic field from a visiting wire buried in the running road surface may be detected, or lines with different reflection efficiencies provided on the running road surface may be optically detected.

(10; includes manual operation part 1, control box and brake lever 4; control box is set to ``Full automatic'', ``Pass stop'', ``Release brake'', ``Parking'', ``Low speed'' and ``High speed''). '' and other notches are switched by the selector, and the operation of each notch is started by pressing the start button.The ``Full automatic'' and ``Pass stop'' notches are used when guiding the vehicle along a predetermined travel route. The "brake release" notch is used for manual operation.The "low speed" and "high speed" notches are
It is used to drive electric vehicles outside a predetermined travel route under manual steering control.

The drive circuit (6
1 (7i and brake means noise is controlled.

The similar is the detection means) and the magnetic force generation source αΦ installed on the running path.
It detects the magnetic force from the magnetic field. This detection means (13
) includes a detection coil (13&) and an amplifier (13b) that amplifies its detection output. This amplifier output is subjected to waveform processing in the waveform processing means (13G) and is compared with a reference value, and is output as a detection output of the detection means Tomoe to the control command means 18.
+ is input.

The sensing means is used to sense a unit period according to the running of the electric vehicle body (1). This sensing means can use the traveling time or traveling distance of the moving vehicle body (1) as a unit period. When using travel time, the output of the clock signal generator (16) which is the input of the control command means (81) or the output between the frequency dividers that divide the output is counted, and the counted value is set to a predetermined value. When the running distance is used as the unit period, the unit period is determined when the timing pulse from the rotation detecting means Q81 reaches a predetermined value.

The rotation detecting means stop includes one or more permanent magnets (18a) on the electric vehicle body (1) and the wheels, for example, the guide wheels (3).
) and a magnetic sensor (18b) for sensing the magnetic flux of this permanent magnet.

In the embodiment, the sensing means α5) determines the unit period using the traveling time of the electric vehicle body (1), and the sensing means α51 determines the unit period using the frequency dividing circuit (15 &) and its frequency divided output. The frequency dividing circuit (151) operates based on the first command of the control command means (8) and divides the output of the frequency divider aη.

(19) is a period regulating means, which regulates the operation period of the traveling speed according to the number of detection outputs of the detecting means (13) within the unit period sensed by the sensing means Tomoe. During this operation period, the control command means <
Based on the running speed command from the control command means (81), the operation is started, and the timing pulse from the rotation detection means side or the clock signal from the beginning of the clock signal generation speech is counted, and the counted value is the running speed command from the control command means (8). When the set value corresponding to the speed command is reached, the operation is ended, and the end of the operation of the period regulating means 4 is transmitted to the control command means (81), and the running speed command from this means (81) is ended. The set period of the time regulating means α9: is as follows: Ill a1 command means (8
) is set in advance for each control command, and specifically consists of a subtraction circuit.

Next, it is assumed that magnetic force generating sources (141) to (149) are sequentially arranged on the running road as shown in FIG. 2(a). The polarity (N) 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 α& and the sensing means will be explained based on FIG.

The electric vehicle body (1) is the magnetic force generation source (141) to (149)
When traveling in the direction of the arrow on a road provided with
b). In this case, the detection output corresponds to the polarity of each magnetic force generation source, and a positive signal is generated when the N pole is generated, and a negative signal is generated when the S pole is generated. In this figure (b), the DC level (+V) and (-V) signals (211) are reference levels for removing noise, and the detection output exceeding this reference level is detected by the waveform processing means (13).
1 and outputs the next rectangular signal corresponding to the N pole of each magnetic force generation source and the rectangular signal example corresponding to 84i. These rectangular signals are shown in FIGS. 2(C) and (d).

Now, in response to the rising edge of the rectangular signal (231) corresponding to the first magnetic force generation source (14,), the first command signal (25,) is sent from the control command means (81) to the frequency dividing circuit (15B). is applied, this frequency divider circuit starts to operate and divides the frequency divider αη
Divide the frequency output of . The division output of the frequency dividing circuit (15B) is counted by the counting circuit (15b), and when the counted value reaches a predetermined value, the unit period (h) shown in Fig. 2 (+5) is reached, and at the end of this period A second command signal (26ρ) is applied from the control command means (8) to the frequency dividing circuit (15B), and the operation of this frequency dividing circuit is terminated. During this unit period (h), the detector !9031. detects the number of magnetic force generation sources (14,) to (144) and outputs four rectangular signals (231,
) to (233) (24,) are input to the control command means (8;. Therefore, from this means (8;), a speed command of fCfc, for example, 8fiJ/li, corresponding to the number of rectangular signals is inputted to the control command means (8;). Provided to the switching circuit (6a) and connected to the electric vehicle body (1)
run at that speed.

On the other hand, the period regulating means α9 starts its operation in response to the traveling speed command, and an initial value corresponding to the traveling speed is set in the subtracting circuit of the period regulating means α9. The initial setting value of this subtracting circuit is as follows. When the clock signal from the clock signal generator Q61 arrives at the period regulating means a9, the clock signal from the clock signal generator Q61 is subtracted, and when the value becomes zero, the period regulating means (19!
The completion of the operation is transmitted to the control command means (8), the traveling speed command from the control command means is released, and the electric vehicle main body (1) runs at, for example, an average traveling speed.

Subsequently, when the detection means detects the next first magnetic force generation source (145), the first command (252) is given to the frequency divider circuit (161) to activate the frequency divider circuit and turn the frequency for 1 minute. When the count value obtained by dividing the frequency division output of the frequency generator aη reaches a predetermined value, a second command (262) is given to the frequency division circuit (151L) to terminate the operation of this frequency division circuit. During the unit period Φ), the detection means (131) detects the magnetic force generation sources (145) to (147), and the six rectangular signals (242) (243) (234) are transmitted to the control command means (8). )1 is input, and depending on the number, for example 61
A speed command of x/Ii 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. As described above, this running time is the regulation time of the period regulating means (1!al) set in advance for the running speed.

FIG. 6 shows a flowchart of the control command means (8) which detects the number of magnetic force generating sources during a unit period (h) and controls the traveling speed to a speed corresponding to the detected number, as well as regulating the control time. Shown below. Based on this drawing, the first directive (251
) and the second command (261), the case where the number of magnetic force generation source a gradients in a unit period (h) is detected will be described as a representative example.

The presence or absence of a rectangular signal based on the detection output of the detection means aJ is determined by whether or not there is a magnet in step (2), and if "NO", it is determined in step (2) whether or not the timer as a unit period (h) has ended. If the answer is "NO", the process moves to step (2). Since the subtraction circuit is zero in this step (2), the process proceeds to step (2).

When the first rectangular signal (231) arrives and it is determined in step (2) that the magnet is present, the frequency dividing circuit (15) is determined in step (2).
Determine whether or not a) has started. Since it is NOJ, Step Atr.

In this step (2), one is counted as the number of magnets. Since the last unit period (h) has not elapsed in step (2), the answer is "NO" and the process proceeds to step (2). There is no change in the output of the subtraction circuit even in step (2), and the process proceeds to step (2) via step (2).

When the second rectangular signal (241) arrives, step
Proceed to steps ① and ② and count 2 as the number of magnets.

Thereafter, the process proceeds from step ■ to step ■ via steps ■ and ■. Sixth and fourth rectangular signals (232) (233
) is the same as when the second rectangular signal (241) arrives, and the number of magnets is sequentially counted to 6 and 4.

After that, when the count 9 of the frequency-divided output in the counting circuit (15b) Ic matches the total @ value corresponding to the unit period (h),
``YES'' is determined in step ■, and the control command means (8
) is issued, and the operation of the frequency dividing circuit (1511) is stopped in step (2). In step ■, 8bx/corresponding to the count value of the number of magnets in step ■
A speed command of H is given to the speed switching circuit (6a). Further, the initial value for the speed command is set from the control command means (8) to the subtraction circuit of the period regulation means α9. Therefore, in step (2), the determination is "NO", and in step (2), the driving speed is switched by the state circuit (6) based on the speed command.

When the traveling time at this new speed has elapsed and the subtraction value of the subtraction circuit is determined to be zero in step ①, step 0
The process proceeds to , and the new switching speed command described above is canceled.

The operation of the control command means (8) described above is based on the following first command (2).
The same applies to the detection of the number of magnetic force generation sources (1Φ) in the unit period (h) between the second command (262) and the second command (262).

In the embodiment, regardless of the polarity of the magnetic force generating circle, the speed command is issued depending only on the number of the magnetic force generating circles.
Depending on the combination of the number and polarity, the command speed h\degree may be set more finely.

(G) Effects of the Invention The t1j control device for an electric vehicle according to the present invention I4 includes a detection means for detecting a plurality of magnetic force generating sources provided on the running path of the electric vehicle body, and a unit period according to the running of the electric vehicle body. a sensing means for sensing; a control command means for issuing a running speed command according to the number of detection outputs of the detection means within the unit period; and a period regulation for regulating the operation period of the running speed according to the number of detection outputs. By changing the spacing of the plurality of magnetic force generation sources, it is possible to obtain many types of signals corresponding to multiple types of installation positions. Since the running speed is controlled according to the number of magnetic force generating sources, the desired running JP degree can be controlled more precisely. Furthermore, since we have provided a time regulating means for regulating the running speed of the electric vehicle itself, there is no need to provide a special magnetic force generation source on the running road to end the running speed period. Only the device that determines the traveling speed is required, and it is possible to perform more detailed traveling control than conventional devices.

[Brief explanation of the drawing]

The drawings show a device according to the present invention, in which FIG. 1 is a diagram showing 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. 6 is a flowchart of the control command means. (1)...Electric vehicle body, (141(141)-
< 149)...Magnetic force generation source, α3...
・Detection means, Tomoe...Sensing means, (8)...
...Control command means, 09!・・・・・・Term control 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: a control command unit that issues a running speed command according to the number of detected outputs; and a period restriction unit that regulates the operation period of the running speed according to the number of detected outputs.