JPS6146786B2 - - Google Patents

Description

[Detailed description of the invention]

The present invention relates to a driving device for a new transportation system vehicle, and more particularly to a backward detection device for ensuring the safety of a vehicle equipped with a steering mechanism section using side guide wheels. In new transportation system vehicles, when the vehicle backs up, for example when starting on an uphill slope,
Some damage may occur to the steering mechanism by the side guide wheels. The present invention provides a device that measures the distance of the vehicle when it is reversing and outputs a reversing detection signal when the vehicle has retreated beyond a certain distance, by using an up-down counter as the measuring device for measuring the reversing distance.
It is an object of the present invention to provide a device having a backward detection function sufficient to more accurately detect the actual load placed on a steering mechanism and to measure the safety of a vehicle. The present invention will be explained below based on the drawings. FIG. 1 is a block diagram showing an embodiment of a backward detection device according to the present invention. In FIG. 1, A is the first speed pulse, B is the second speed pulse, and when the vehicle is moving forward, the phase relationship is as shown in FIG. 2, and when the vehicle is moving backward, the phase relationship is as shown in FIG. 3. 1, 8 and 9 are inverters, 2 and 3 are differentiating circuits whose output is at a high level for a short time when the input waveform rises, 4, 5,
7, 11, 12 are AND gates, 6, 13 are OR gates, 10 is a set input terminal S, a reset input terminal R, an output terminal Q, and an inverted output terminal.
The RS flip-flop 14 is a forward direction changeover switch that changes forward point T _F and reverse point T _B of the switching terminal, and in addition to opening and closing AND gates 11 and 12 as illustrated, it also changes the driving direction changeover circuit (not shown). It acts to determine the direction of travel of the vehicle. 15 is a binary up-down counter circuit having a clock pulse input terminal CK, an up-down control input terminal UD, a borrow output terminal BR, and output terminals Z ₁ , . . . , _Zo . Here, the binary up-down counter circuit 15 sequentially changes Z from _Z2 to Z with _Z1 as the least significant digit.
It is _assumed that the operation is performed according to the truth table shown in Table 1, where T _n is before the clock pulse and T _{n +1} is after the clock pulse. Furthermore, it is assumed that the borrow output terminal BR becomes "1" when the up-down control input terminal UD is "0", down counting is selected, and the output count value Z is "0".

[Table] Also, 16 is the comparative numerical value input terminal X ₁ ,..., X _o ,
_This is a binary comparator circuit having Y ₁ , _{... ,} Y _o and an output terminal OUT, and it compares _binary number (expressed as digits sequentially as Y ₂ to Y _o ), and when the binary number X is smaller than the binary number Y, the output terminal
OUT is set to "0", and when the binary number X is the same as or larger than the binary number Y, the output terminal OUT is set to "1". Reference numeral 17 denotes a setting switch having switches S ₁ -S _o for setting the input signals of the comparative numerical value input terminals Y ₁ -Y _o of the binary comparison circuit 16 and determining the backward detection distance. Next, the functions of the embodiment of the present invention shown in FIG. 1 will be described in detail with reference to FIGS. 4 and 5. FIG. 4 is a diagram showing waveforms of various parts in the embodiment of FIG. 1 when the vehicle moves forward. That is, the velocity pulse A is applied to the differentiating circuit 2, and the output of the differentiating circuit 2 is applied to the AND gate 4 as shown in FIG. 4C. Further, since the speed pulse B applied to the AND gate 4 is at a low level when the output C of the differentiating circuit 2 is at a high level, the output E of the AND gate 4 is always at a low level. On the other hand, the speed pulse A is applied to an inverter 1, and the output of the inverter 1 is applied to a differentiating circuit 3. The output of the differentiating circuit 3 is as shown in FIG. 4D, and is applied to the AND gate 5. Further, since the speed pulse B applied to the AND gate 5 is at a high level when the output D of the differentiating circuit 3 is at a high level, the output D of the differentiating circuit 3 appears at the output F of the AND gate 5. Therefore, when the output E of the AND gate 4 and the output F of the AND gate 5 are input, the output D of the differentiating circuit 3 appears at the output of the OR gate 6 and is added to the AND gate 7. The output from the borrow output terminal BR of the binary up-down counter circuit 15 is applied to the other input of the AND gate 7 through the inverter 9. Furthermore, the output of the AND gate 7 is passed through an inverter 8 to a binary up-down counter circuit 15.
is applied to the clock pulse input terminal CK. The output E of the AND gate 4 is applied to the set input terminal R of the SR flip-flop 10. Further, the output F of the AND gate 5 is applied to the reset input terminal R of the SR flip-flop 10. However, the output E of the AND gate 4 is always at a low level, and the output F of the AND gate 5 is outputted with a pulse train as shown in FIG. The output from the inverting output terminal of the SR flip-flop 10 becomes high level and is applied to the AND gate 12. Here, if the forward direction changeover switch 14 is selected, a high-level voltage Vcc switching signal is applied to the input terminal of the AND gate 11 through the forward point T _F of the changeover terminal of the forward direction changeover switch 14, and the AND gate 12 is always at a low level, and the output of AND gate 11 is the OR gate 13.
Participate in input. Therefore, the output of the output terminal Q of the RS flip-flop 10 appears at the output of the OR gate 13, and the output of the output terminal Q of the RS flip-flop 10 appears.
5 is applied to the up-down control input terminal UD. Since the output of the output terminal Q of the SR flip-flop 10 is at a low level, the binary up-down counter circuit 15 is selected to count down.
Every time a clock pulse is applied from the inverter 8 to the clock pulse input terminal CK, a countdown is performed according to the truth table shown in Table 1. Here, when the count value Z of the binary up-down counter circuit 15 becomes "0", the borrow output terminal BR
The output becomes "1" and is applied to the AND gate 7 through the inverter 9. Therefore, the output of the AND gate 7 becomes low level, and no clock pulse is applied to the clock pulse input terminal CK thereafter. That is, when the traveling direction selector switch 14 is selected to move forward and the vehicle moves forward, the binary up-down counter circuit 15 counts down, and when the count value Z reaches "0", the counter value Z is thereafter set to "0".
Keep it. Further, if the traveling direction changeover switch 14 is selected to move backward, a switching signal of high level voltage Vcc is applied to the input terminal of the AND gate 12 through the backward movement point T _B of the switching terminal of the forwarding direction changeover switch 14, and the switching signal of high level voltage Vcc is applied to the input terminal of the AND gate 12. 11 is always at a low level, and the output of AND gate 12 is added to the input of OR gate 13. Therefore, the output of the inverted output terminal of the SR flip-flop 10 appears at the output of the OR gate 13, and is applied to the up-down control input terminal UD of the binary up-down counter circuit 15. Since the output of the inverting output terminal of the SR flip-flop 10 is at a high level, the binary up-down circuit 15 is selected to the up-count side, and every time a clock pulse is applied from the inverter 8 to the clock pulse input terminal CK, the truth value table shown in Table 1 is The count increases accordingly. When the count value Z of the binary up-down counter circuit 15 reaches the value set by the setting switch 17, the output terminal OUT of the binary comparison circuit 16 becomes high level and generates a backward detection signal. FIG. 5 is a diagram showing waveforms of various parts in the embodiment of FIG. 1 when the vehicle is moving backward. In this case, the above SR
Since the output Q of the flip-flop 10 is at a high level and the inverted output is at a low level, if the traveling direction changeover switch 14 is selected to the reverse side, a low level is given to the up-down control input terminal UD, and the binary up-down counter circuit 15 is selected to the down count side, and the advancing direction changeover switch 1
4 is selected on the forward side, a high level is applied to the up-down control input terminal UD, and the binary up-down counter circuit 15 is selected on the up-count side. That is, when the traveling direction changeover switch 14 is selected to go backward and the vehicle moves backward, the binary up-down counter circuit 15 counts down and when the count value Z reaches "0", the count value Z is kept at "0" thereafter. Conversely, when the traveling direction selector switch 14 is selected to go forward and the vehicle moves backward, the binary up-down counter circuit 15 counts up, and when the count value Z reaches the value set by the setting switch 17, a backward detection signal is generated. do. How the reversing detection device having the above-mentioned functions responds to the movement of the vehicle shown in FIGS. 6 to 9 will be described below. FIG. 6 shows a case where a running vehicle temporarily stops at point S and then simply moves backward from point S, and the binary up/down counter circuit 15 continues to count up at point S.
Retreat is detected at point E, which is a set number of pulses behind the point. Figure 7 shows a case where the binary up-down counter circuit 15 counts up between S- _S1 , counts down between _S1 - _S2 , and counts down between _S2 -E. The count is increased during the interval, and retreat is detected at point E, which is a set number of pulses behind point S. FIG. 8 shows a case in which the binary up-down counter circuit 15 holds "0" between S and A, and moves backward after reaching point A.
During F, the count is increased, and retreat is detected at point F, which is a set number of pulses behind point A. Figure 9 shows a case where the user retreats from point S, moves forward once, reaches point A in front of point S, and then retreats, and the binary up/down counter circuit counts up between S-S ₁ and counts up between S1 and _S1 . ₂
It counts down between S ₂ and A, and counts up between A and F. Retraction is detected at point F, which is a set number of pulses after point A. As explained above, according to the present invention, when the vehicle is reversing, it is possible to sufficiently respond to complex movements of the vehicle and generate an appropriate reversing detection signal, regardless of the direction of travel, so that the vehicle can be It is possible to provide a reversing detection device that can measure the safety of vehicles.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram showing an embodiment of a backward detection device according to the present invention, and FIGS. 2 and 3 are diagrams showing when the vehicle moves forward,
Diagram showing the speed pulse phase relationship for each when going backwards,
4 and 5 are waveform diagrams of various parts when the vehicle is moving forward and backward, respectively, and FIGS. 6 to 9 are explanatory diagrams showing the relationship between vehicle movement and backward detection. A, B... Speed pulse, 1, 8, 9... Inverter, 2, 3... Differential circuit, 4, 5, 7, 11,
12...AND gate, 6,13...OR gate, 10...RS flip-flop, 14...Advancing direction changeover switch, 15...binary up-down counter circuit, 16...binary comparison circuit, 17...
Setting switch.

Claims (1)

[Claims] 1. In a driving device that is equipped with a steering mechanism section using side guide wheels and that determines the traveling direction of a vehicle based on a two-phase speed pulse, measures the distance traveled by the vehicle from the two-phase speed pulse, and outputs a backward detection signal. , a first AND gate that ANDs the differential signal of the first velocity pulse and the second velocity pulse, and a second AND gate that ANDs the differential signal of the inverted signal of the first velocity pulse and the second velocity pulse. a first OR gate that receives the outputs of the first and second AND gates, and a third OR gate that receives the output of the first OR gate and an inverted signal of the borrow output of the up-down counter. an AND gate, a flip-flop in which the output of the first AND gate is used as an input signal to the set input terminal and the output of the second AND gate is used as the input signal to the reset input terminal; the output of the flip-flop is an inverted output; fourth and fifth AND gates receiving the forward and backward output signals of the direction changeover switch;
a second OR gate whose input is the output of the fifth AND gate; and an output of the second OR gate which is input to the up-down control input terminal;
the up-down counter which receives the inverted output of the AND gate as input to the clock pulse input terminal;
A reversing detection device comprising: a binary comparison circuit which receives the output of the up-down counter as an input, and the output of the binary comparison circuit is used as a reversing detection signal.