JPS6194501A - Controller of motor driven vehicle - Google Patents

Abstract

PURPOSE:To finely control to drive a vehicle by providing control instruction means which outputs a control command corresponding to the length of a magnetic force generation source provided on a road and time setting means for setting the time of the operation. CONSTITUTION:Detecting means 13 outputs the first and second conversion pulses at the starting and ending points of a magnetic force generation source provided on a road. Gate circuit means 18 is closed from the arrival of the first pulse to the second pulse. Counting means 18 counts timing pulses in response to the travel of guide wheel 3 from a magnetic sensor 15 during this period. Control instruction means 8 applies a control command to drive circuits 6, 7 in response to the output of the means 17, and sets the operating time to time setting means 19. Thus, the vehicle can be finely controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial application field
The present invention relates to an IJ cooling device for a JJ vehicle, and relates to a device that detects a magnetic force generation source provided on a running path and controls the operation of an electric vehicle in accordance with the detection signal.

(b) Conventional technology In the past, some systems installed wires with different reflection efficiencies on the road surface by detecting the alternating magnetic field generated by shunting alternating current through induction wires buried in the road surface.

Vehicles that guide an electric vehicle along the line rc by optically detecting this line are applied to golf carts, transport vehicles, and the like.

In order to stop or decelerate the electric vehicle, a conventional device of this kind was constructed by burying a magnetic force generation source in the road surface and detecting this magnetic force.
No. Publication]. In this case, if a permanent magnet is used as the magnetic force generation source, two types of signals can be obtained by utilizing its polarity, and similarly, signals can be obtained by forming a loop in the guide wire.

By changing the direction of the loop, two types of signals can be obtained. Accordingly, in the conventional RC device, two types of signals can be obtained, but it is difficult to obtain more types. It is not possible to perform fine-grained travel control according to the conditions of this t-th travel route.

(c) Problems to be solved by Komei The present invention was invented in view of the above points, and it is possible to solve the problem by varying the length or spacing of the plurality of magnetic force generating sources provided on the running path. u, Detects signals depending on several types of installation positions, and operates the 1u vehicles according to the signals! ! The purpose of the present invention is to provide a device that has a limited operating time and has a regulated operating time.

B) Elaborate means for solving the problems In order to achieve the above object, the device according to the present invention includes a detection means for detecting a magnetic force generation source provided on the running path of the electric vehicle body, and a detection signal of the means for detecting a waveform. A processing means for processing, a sensing means for sensing timing pulses according to the running of the electric vehicle body, a counting means for counting the timing pulses, and arrival of the first switching pulse and @2 switching pulse from the processing means. gate circuit means for inputting timing pulses into the counting means only during the period; control command means for controlling the operation of the electric vehicle body according to the number of timing pulses of the counting means; and a time for setting the operation time of the electric vehicle body. and setting means.

(e) Effect: In the above means, the timing pulses are counted between the arrival of the @1 switching pulse and the second switching pulse from the processing means corresponding to the magnetic force generation source provided on the running path, and the counted value is can be used as a position signal corresponding to the magnetic force generation source, and by changing the count value, that is, the arrival period of the first and second switching pulses, a large number of position signals can be obtained. 1 depending on the ml signal
The operation of the motor vehicle body is controlled and its operation time is regulated by the time setting means to perform fine running control.

(f) Embodiments An embodiment of the present invention will be explained based on the drawings. Figure 1 shows the principle behind electric vehicles. In this (2) aspect, (1)
is the electric vehicle body, and at least one drive wheel (2)
and at least one guide wheel (3;).The drive wheel (2) Id drive motor (4) drives the guide wheel (3).
3) are each driven by an angle control motor (5), and each motor 14) (5) is controlled by a drive circuit (6) or (7), respectively. ! 1 will be given. 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 smoothly controls each motor (5). wealth). Note that the drive circuit +67 includes a speed switching circuit (6a).

(9) A detection means for detecting a predetermined travel route, and based on the output of this means, another interval command means (8);
The control command is given to the drive circuit (71VC, and the guide wheel [3
) along a predetermined travel route.

In this case, the pulse width modulation circuit included in the RCRJX dynamic circuit (sub-circuit) causes the guide wheel (3) to deviate from the road.

You will gradually follow this route. The detection means (9
) may be buried in the running road surface to detect the alternating magnetic field from the guide wire, or may be arranged to optically detect lines with different reflection efficiencies provided on the running road surface.

11 (L is a manual operation part, which includes a control box and a brake lever, and the control box is "Full automatic", "Pass stop", "Release brake", "Parking", "Low speed", "High speed", etc.) The notches are switched by the selector and the operation of each notch is started by pressing the start button. ``Full automatic'' and ``passing the stop point.''
The notch is used to guide the vehicle along a predetermined route, and the "brake release" notch is used for manual operation. It is also used for electric driving under manual steering operation outside of a predetermined travel route with "low speed" and "high speed" notches.

The drive circuits (6) and (7) and the brake means 13 are controlled by commands from the operating unit 1G or by commands 9 of the second detection means (111) such as obstacle detection.

03 is a detection means, which is a magnetic force generation source α4 provided on the running path.
It detects the magnetic force from the magnetic field. This detection means tt3
h It has a detection coil (13a) and an amplifier (13b) that amplifies its detection output.The output of this amplifier is subjected to waveform processing in the waveform processing means ttS and compared with a reference value, and is used as the detection output of the detection means 0. It is input to the control command means (8).

The egg l- is used as the first sensing means to sense timing pulses corresponding to the running of the electric vehicle body (1). This sensing means has one or more permanent magnets (16a) attached to the wheels of the electric vehicle body (1), for example, the induction wheels (3).
A magnetic sensor that senses the magnetic flux of this permanent magnet is installed.
(ISb) number has been established. Therefore, ``a moving water main body 11
The magnetic flux of the permanent magnet (16&) can be sensed as a timing pulse in response to one run. This timing pulse is proportional to the traveling speed, and is counted by the counting means αη. Between this counting means and the sensing means, there is a gate circuit means IN&, which means During the arrival of switching pulse 1 and switching pulse @2.

7) Input the timing pulse to the counting means.

The counting output of the counting means 1η is input to the control commanding means r81, and a control command according to the counting output is sent from the control commanding means to the drive circuit +63 (7J and the brake means tt
a, etc., and controls the operation of the electric vehicle body (1).

+tS is a time setting means, which sets the operating time based on the operation command of the electric vehicle main body (1) from the control command means (8) based on the count output of the counting means q. ] starts one operation by a control command based on the count output of the counting means 1η, counts the timing pulses from the first sensing means qe, and the count f corresponds to the operation command from the control command means (8). When the corresponding set value is reached, the operation is terminated, and the control command means (8) terminates the operation.
, the operation command from the control command means (8) is terminated, and the electric vehicle main body +1 according to the count output from the counting means 1η
This ends the operation of step 1. In this way, the set time of the time setting means f19 is as follows.

It is set in advance for each count output from the counting means OD,
Specifically, it consists of a subtraction circuit.

The first sensing means tte may sense a timing pulse depending on the traveling speed.

A timing pulse corresponding to the travel time may be sensed. A specific example thereof is shown in FIG. 1 by a dashed line. That is, the second sensing means t21t- consists of a time pulse generating circuit, and the time pulses generated from this circuit become timing pulses as they are, and this timing pulses are passed through the gate circuit means +211 to the counting means t221.
Ic, is counted. This gate circuit means (2υ and counting means + 23ri) has the same function as the gate circuit means t18 and counting means σn described above, so a description thereof will be omitted. (23 counts the timing pulses from the sensing means 2, It is a time setting means for setting the operation time according to the operation command of the control command means [8], and has the same function as the time setting means 1t!J described above.

These time setting means ILlc23) #i are all digital timers, but an analog timer using a C-R time constant or a mechanical timer may also be used.

Next, a magnetic force generation source (
141), (142) and (143) are arranged in sequence
The related operation of za will be explained based on FIG. 2. When the electric vehicle main body (1) runs on a running road provided with magnetic force generation sources (141) to (143), the detection means α3ij detects each magnetic force generation source. , the detected output waveform Po is as shown in FIG. In this case, the detection output will be in accordance with the 4/\ property of each magnetic force generation source, and a positive signal will be generated when the N pole is generated, and a negative signal will be generated when the rC is the S pole. Signals (Px) (P2)Fi of DC level (+V) and (-■) in this figure (b)
This is a refined reference level for removing noise, and the detected output that exceeds this reference level is processed by the waveform processing means a.
5, a rectangular signal (2) corresponding to the north pole and a rectangular signal (2) corresponding to the south pole of each magnetic force generation source are output. These rectangular signals t-Vr are shown in FIGS. 2(e) and (d).

On the other hand, the sensing means +te or (2) senses the timing pulse (2) shown in FIG. 3(e). The drawing shows a timing pulse train when traveling at a constant speed. Now, each of the magnetic force generating sources (141) to (143) t'i has a different size, that is, a length in the traveling direction]
, the gate circuit means α8 or F′i is activated by the first rectangular signal (241) corresponding to the N pole of the first magnetic force generation source (141).
c! When υ is opened, the subsequent timing pulse enters the counting means (LTI or ) 22, and the second rectangular signal (251) corresponding to the S pole arrives, the gate circuit means [18
Also, Qυ is closed. Therefore, both rectangular signals (241) (
The counting means (171 or (23) counts the number of timing pulses during the arrival of (I!1).

In this case, four timing pulses 1261 are counted during the rising time interval (11) of the nine rectangular signals (241) (251) corresponding to the length of the magnetic force generation source (141). Similarly, for the length of the second magnetic force generation source (142), the rising time interval of rectangular signals (242) and (252) is 1'2'.
% 8 timing pulses ■ Fang counting between ). Third
For the magnetic force generation source (143) 17) length, 12 timing pulses C(g) are counted between the rising time interval (l!3) of the rectangular signals (243) and (253). In this way, the rectangular signal +241 becomes the first switching pulse, and the rectangular signal +241 becomes the second switching pulse.

In addition, one magnetic force generation source (141) to (14
3) The flowchart of the timing pulses corresponding to the length L and the time setting means (1!J or (control command means when operating 231) 8) is shown in FIG.

This drawing 11i (based on the 1st magnetic force generation source (141)
The case where timing pulses corresponding to the length of are counted will be explained as a representative example.

When the @1 rectangular signal (241) arrives as the output of the detection means (13), it is determined in step 2 whether or not the first rectangular signal (241) is rising, and if YESJ, the gate circuit means tll is detected in step 2. ) Open acn again.

The sensing means surrounds the timing pulses from ri (2~) to the counting means or ri123, and this means starts counting.Proceed from step ■ to step ■ and constitute the one hour setting means q9 or (c). It is determined whether or not the count value of the subtraction circuit is zero.This count value is normally zero, so if you select YESJ in steps f and l, proceed to step ) and return to normal operation.In this case, since no special operation command has been issued from the control command means (8),
In normal operation, concrete rcF'i is in a constant speed running state, and then the process returns to step (2). If "NO" in step ■, proceed to step ■, and determine whether the second rectangular signal (251) rises; however, if NOJ, pass through step ■ [phase] and return to step ■. do.

Next, when the second rectangular signal (251) arrives, at the rising edge of the second rectangular signal (251), step (2) ends with l''NOj.

At step (2), "YESJ" is obtained, so the process moves to step (2) and the gate circuit means fie or FiQD1 is closed. Therefore, counting of timing pulses by the counting means - or is completed. Nine data corresponding to this count value are In this step, it is set as the initial value of the subtraction circuit that constitutes the time setting means 0!J or i[31.Subsequently.

In step ■, count means l or tjc! Cleared 35e,
Step ■Vc advance. The subtraction circuit of the time setting means a9 or [present] is set to the initial value in step (2).

Since the counted value is not zero, the result is "NO" in step (2), and in step (2), a new operation command corresponding to the counting means 1η or the other's counted value is sent from the control command means (8) to the drive circuit +607), etc. Output. Now, if this operation command is, for example, a deceleration command for a predetermined speed, the electric claw body (1) decelerates at that speed and at the same time the time setting means (1!
Or, the subtraction circuit [Yes] subtracts each time the timing pulse stagnation arrives, and when the subtraction count value reaches '4', the process proceeds from step ■ to step ■, the deceleration command as a new operation is canceled, and the electric For the vehicle itself, the mode shifts to normal constant speed driving.

In the above embodiment, one magnetic force generation source (141) (142)
(143), and operates by detecting the polarity of both poles of the magnetic force generating source (141), and there are two magnetic force generating sources.

For example, the interval between (141) and (142) may be set to 5 to detect the same polarity of both magnetic force generation sources.A flowchart in this case is shown in FIG. Detecting the distance between the magnetic force generating sources (141) and (142) will be explained. In this example, the N pole of each magnetic force generating source (141) and (142) will be detected. As the output of the detection means a3 , gr11th rectangular signal (
241), it is determined in step (2) whether or not this is the rising edge of the signal. If the determination result is “NO”,
The process proceeds to step 2, and as in the case of FIG. The special operation command from the control command means (8) is canceled to return to normal operation, but in this case vc
f'i, since no special operation command has been issued from the control command means 18), the vehicle is in constant speed running state M as normal operation, and returns to step (2).

If the determination result of step ■ is "YESJ".

In step ■, the gate circuit means +211 is closed and the counting operation of the counting means σn or ri'22 is completed, but when the first rectangular signal (241) 'fJ arrives, there is no counted value, and step ■π time setting means (
I9 or 1-ta decrease>, the initial value data set of the circuit is a reference value and has no ranking. In step (2), the count value of the counting means (171 or l'l) is cleared, and in step (2), the gate circuit means 11 & or at- is opened, and the timing pulse from the sensing means (16 or (': 4) is 2
The counting means fL71 or 1221 starts counting e. Similarly to the above, step ■■ follows and returns 1 to step ■.

')K 2-4fT rectangular signal (242) arrives,
If [YESJ is determined in step ■, the gate circuit means 1 Tamata f′iQv is closed in step ■, and the timing pulse [
phase] is prevented from entering the counting means (11 or 1221). Hole data corresponding to the count value of this counting means is set as the initial value of the subtraction circuit of the time setting means 09 or 123 in step (3). In step ■, number means q7) also F′i11! ! The count value of a is cleared and step ■
Go through step ■. 27th Ji rectangular signal (2
At the time 1c when 42) arrives, the subtraction circuit is set to the initial value data, and since the subtraction count value is not zero, the process proceeds to step (2), and the operation command corresponding to the count value of the counting means 071 or Zeng is controlled. The command means [81 can output].

This new operation command causes the electric vehicle main body (1) to perform running control. The time setting means or hump subtraction circuit subtracts each time the timing pulse Cυ arrives,
When the subtraction count value becomes ambience, the process proceeds from step (2) to step (2), and in step (2), the operation command output from the control command means 18) is canceled.

After that, the electric vehicle shifts to normal constant speed driving.

The timing pulses according to the distance 1'12)K from the adjacent magnetic force generation sources (141) (142) are counted by the counting means 0η or ri+2:'l to obtain the desired operation signal, and the The operating time can be regulated by the time setting means.

(G) Effects of the Invention The control device for an electric vehicle according to the present invention includes a detection means for detecting a magnetic force generation source provided on the running path of the electric vehicle body, a processing means for waveform processing a detection signal of this means, and a control device for an electric vehicle. A sensing means for sensing timing pulses according to the running of the main body, a counting means for counting the timing pulses, and inputting the timing pulses to the counting means only during the arrival of the grj1 switching pulse and the second switching pulse from the processing means. The motor control device further comprises gate circuit means for controlling the electric vehicle, control command means for controlling the operation of the electric vehicle body according to the number of timing pulses of the counting means, and time setting means for setting the operation time of the electric vehicle body. Therefore, by changing the generation interval of the first switching pulse and the second switching pulse, the count value of the timing pulse can be changed, and a large number of operation signals can be set based on this count value. Dynamic f/F
, can be made to correspond to. In addition, since a time setting means is provided to set the operating time of the electric vehicle itself, there is no need to provide a special magnetic force generation source on the running path to end the operating time or period of operation, and the magnetic force provided on the running path is not necessary. The generation source only needs to be the one that determines when to start the operation, and compared to conventional devices, it is possible to perform more fine-grained driving control.

[Brief explanation of the drawing]

The drawings show a device according to the present invention, FIG. 1 is a diagram of the basic configuration of an electric vehicle, FIG. 2 is a diagram of ratio signal waveforms corresponding to the position of a magnetic force generation source, and FIGS. 3 and 4 are flowcharts of different embodiments. It is. (1)--Electric vehicle body, (t41 (14t) (142
)(143)...Magnetic force generation source, α3...Detection means,
i51...processing means. net21...sensing means, fin...counting means, +l
&+21]...Gate circuit means, (8)...Control command means, f19(J31...Time setting means.

Claims (1)

[Claims] (1) A detection means for detecting a magnetic force generation source provided on the running path of the electric vehicle body, a processing means for waveform processing the detection signal of this means, and a sensing means for sensing timing pulses according to the running of the electric vehicle body. , a counting means for counting the timing pulses, and a first switching pulse and a second switching pulse from the processing means.
gate circuit means for inputting a timing pulse to the counting means only during the arrival of the switching pulse; control command means for controlling the operation of the electric vehicle main body according to the number of timing pulses of the counting means; and the operation time of the electric vehicle main body. A control device for an electric vehicle, comprising a time setting means for setting.