JPS6194503A - Speed controller of motor driven vehicle - Google Patents

Abstract

PURPOSE:To facilitate the installation of a plurality of magnetic force generation sources by providing control means for generating a speed command proportional to the magnitude of the sources provided on a road. CONSTITUTION:Magnetic force generation sources are sequentially disposed on a road. Detecting means 13 on a motor driven vehicle body 1 output rectangular signals 24, 25 at the starting and ending points of the sources. Gate circuit means 18 is closed when the signal 24 is applied, and opened when the signal 25 is applied. Counting means 17 counts timing pulses in response to the travel of guide wheel 3 output from sensing means 16 while the means 18 is closed. Control command means 8 applies a control command in response to the output of the means 17 to a drive circuit 7.

Description

[Detailed Description of the Invention] [H] Industrial Field of Application The present invention is directed to an electric vehicle running on a predetermined fL nine road.
Regarding the speed control device of I cars, 91QFii is on the driving route.
, 7 relates to a device that detects a generation source and controls the speed of an electric vehicle according to the magnitude of the detected output.

(b) Conventional technology Conventionally, alternating current is applied to a guide wire buried in the road surface by detecting the alternating magnetic field generated by a flow coil, or by installing wires with different reflection efficiencies on the road surface and detecting this maintenance optically. Therefore, electric vehicles that guide the vehicle along the above lines may be applied to golf carts, transport vehicles, etc.
Ru.

In this conventional device, a magnetic force slowing source is buried in the running path l and this magnetic force is detected in order to stop the vehicle exciter or change the speed of the paper.
In this case, if a permanent magnet is used as the magnetic force generation source, the VC is determined by its polarity and the 2t4 tilt is +
Pj can be obtained. Similarly, by forming a loop on the curved ε guide line to obtain No. 11, and by determining the direction of the loop 1-2, it is possible to obtain No. 15 t'' of 2a. Although it is possible to obtain a signal of 2mM with the conventional rIIt, it is difficult to obtain a signal of more than that level.For this reason, it is necessary to carry out detailed driving control according to the conditions of the driving route. I can't do it.

(c) Problems that the invention attempts to solve In view of this point, a non-invented item is treated as an invented primary item.

Length or interval k of multiple magnetic force generation sources provided on the running path
J! 4, the individual numbers are detected according to the installation position of multiple [classes], and the traveling speed KiI is proportional to this detection output.
The purpose is to provide a device that performs J@.

B) Means for Solving the Problems In order to achieve the above object, an uninvented device includes a plurality of magnetic force generation sources provided on the running path of the electric vehicle body, a detection means for detecting the magnetic force generation, and a detection means for detecting the magnetic force generation at. and control means for issuing a specific speed command 'proportional to the magnitude of the output of the detection means.

Magnetic force generation 1IAC1' for mf'F Value number and 4.

19. Since the control means sets the traveling speed command i in proportion to the magnitude of the output of the detection means, it is possible to set the distance or spacing t of the plurality of magnetic force generating sources to a value ξ proportional to the desired speed. This simplifies the edl of multiple magnetic force generation sources.

(f) Examples One example and four examples of the present invention will be explained based on one example. f to the first evil
It is a principle block diagram of the t1# car. In this drawing, 1(I
I have 1 single body of sea bream, and at least 1 piece of sea bream 1
! I and at least 1111 #parallel wheels 131 and t are attached to the driving wheel Ill is driven by the attitude motor (by extension, the restraint guiding wheel Ill is driven by the motion motor 161 at least 1111 degrees).几、Each motor 14 height is dog fiber U path 16;
Or, it is controlled by (1).In this both aL!!l path, -j-instruction means (1) in control means (3), based on the finger from 1, the sub- and large The pulse width is also biased to 4@, and this circuit is used for each motor (4 sI! Smoothly 1ii
11-I'm going to do it.

In addition, the Ko IIJIgl road 111 has a speed switching circuit (mu).

1111 uses predetermined rL7 as a detection means for detecting the running route, and controls ar&4-means 1 based on the output of this means.
The control finger is applied to the electric control circuit (7) from N, fermentation 4.
The table wheel III is moved along a predetermined running path
In this case, the 9 pulse width adjustment circuits included in the main body MJ-road (1) are used to reduce the distance between 1 m and 4 along this traveling path when the distance is 1 m1 or less from the traveling path.・The above-mentioned detection means till detects the alternating magnetic field 11-tag from the cod base installed on the running road surface, and the anti-#i effect wire 14 installed on the 19th foot path circle. will be detected optically.5
＃cI can do it.

110 is an assisted operation fIP unit, which includes a control box and a gray brake panel, and the control box is ``fully automatic'' - ``passing a stop'', ``release the brake'', ``parking'', ``low speed'', ``high speed'', etc. The operation of each notch is started by switching the notches using the all selector and pressing the start button. The "Full automatic" and "Pass stop" notches are used when guiding the vehicle along a predetermined route, and the "Brake release" notch is used for manual operation. The "t7tr low speed" and "high speed" notches are used when the vehicle is driven by electric power while being manually steered outside a predetermined travel route. In response to a command from the operating unit 11 (l) or a command from the second detection means (for example, obstacle detection), the drive circuit il+ (7)
and brake means az are controlled.

II3 is a magnetic force generation source I provided on the running path as a construction means.
It detects the magnetic force from the magnetic field. This detection means u3 has a detection coil (+5al & In comparison, the optometric power of the detection means IJ3 is inputted to the control command means (81).

All is a sensing means that senses a 7t timing pulse in accordance with the running of the electric vehicle main body IH. This sensing means is the GXN car body 1110 wheels, 9 for example fermentation wheels +
One xuc is equipped with a plurality of permanent magnets (16a) and a magnetic sensor (16a) that senses the magnetic flux of the permanent magnets.
6b) K is provided. Therefore, the traveling V of the electric vehicle body 111
ci5 can be sensed as a shimming pulse by a permanent magnet (16aC magnet). This timing pulse is counted by a meter & means aη in the control means (4).

In the darkness between this counting means and sensing means is a dirt circuit means Q.
There is a barrel, which means inputs a timing pulse tltl into the means αη during the arrival of the first switching pulse from the detection means aj and the switching pulse of lX2.

The count output of this counting means aη is input to the control command means (8), and a 1llllJ even command corresponding to the count output is generally sent from this control command means to the drive circuit +611'71
and output to the brake means i12, etc., and the electric vehicle body 11
Perform the operation 1 for 11J.

Next, as shown in Figure 2 (-), a magnetic force generation source (
+4t), (14 and (148) are arranged in sequence. In this case, the detection means Ql and the counting means a
No. 7 related operations will be explained based on FIG. 2.

The electric vehicle body 111 is a magnetic force generation source (141) (14m)p
When the vehicle travels in the direction of the arrow in the direction of the arrow, the detection means aJ outputs each magnetic force generation source t9*, and its detection output waveform 12Il becomes as shown in FIG. In this case, the output is horizontal depending on the polarity of each magnetic force generation source, and when the knee ms is positive gi, and when it is 18a, it is assumed that jgL (1M) is generated. Signal port (2) is the ninth reference level for removing noise,
This reference level is all over the world, and the detection output exceeds the seven waveform processing means compared to the four! Detects and generates a rectangular signal (to) corresponding to each magnetic force generation source ON8 and a rectangular signal (to) corresponding to g19- and 8
Output. These O rectangular signals 'f: Fig. 2 (0) and (
Φ 10,000 shown in dJ, by the rotation of the sensing means O @ this guide wheel (31,
A timing pulse 12[9 is sensed at the same eVfeJ.

The figure shows a timing pulse train during constant speed running.

Now, each of the magnetic force generation sources (141) - (140) has a length t, that is, a length in the running direction, of J%, and the first magnetic force generation source (+41) has a first rectangular shape corresponding to the DI pole. The gate circuit means opens from the signal (241〆), and the subsequent timing pulse enters the counting means Oη, and when the signal (51ν; arrives), the gate circuit means I becomes idle. .co inner rectangular signal (24
The counting means αη counts the timing pulses when the 25th wave arrives.In this case, the magnetic force generation source (14
Corresponding to the length of D, the rectangle I j number (241) within t (25 sentence rising time intervals (j), four timing no (Rusu tjH-singing. Same as the 20th magnetic brother) For a length of 1 m, eight timing pulses W are counted in the darkness of the rectangular signal (rRfa C4M at the rising edge of 24 points (252)).Sixth magnetic force generation source (For the length of one play β, the rising time interval of the rectangular signal (24th ξ (251)) is the number of timing pulses tmttt of 12 m between. The rectangular signal f!1 (to) becomes the first switching pulse t, and the rectangular signal (to) becomes the second switching pulse.

As a result, the timing pulses corresponding to the length of one magnetic force generation source (141) to (141) are counted and detected by the detection means I.
70-chart of the control command means (8) when controlling the travel speed tube in proportion to the digital output of I3 [d output] is shown as the fifth factor.Based on this drawing, the first magnetic force generation source ( #FW corresponding to the length of 141)
The case of K is explained using cc wheat.

When the first rectangular signal (241) arrives as the output of the detection means Q3, it is determined whether the first rectangular signal (241) rises or not.
It is determined in step (2), and if rYl18J, then in step (2), the gate circuit means a@wrM inputs a timing pulse (2itll'l−kin) from the sensing means O to the sensing means a'IJ, and this means starts counting. In step ■,
If “NO”, proceed to step ■ and output the second rectangular signal (2
51) is the rising edge of the first rectangular signal (2
For 41), step (2) is "NO", and the above-mentioned counting condition is sudden.

Next, when the second rectangle g1 (251) arrives, at step ■, it is MOJ, and at step ■ it becomes rYIA8J, so it moves to step ■I/c and goes) 11M circuit hand kli circle The counting of timing pulses by this ninth counting means αη is completed.This counting becomes the digital output of the detecting means 113 corresponding to k of the magnetic force generation d(141), and the ratio within this output is Set the speed data to the 4 sea bream Ig circuit 1-) O speed switching circuit (6 pins) in Suf-7pu α, !1Jm1] CAJ's 2
1m degree me. Ccom, - The sea bream car body 1muJ travels at the following speed in response to the speed command.

Proceed from step ■ to step ■, counting means αη0#1
- Clear the government and return to the initial state.

Even when the configuration means t+a detects the magnetic force generation source (14ffi) of M2, the main body 111 of the main sea bream is erected at a speed of 2 in proportion to the strength of the magnetic force generation source.

The above embodiment has one magnetic force generation source N4i)(14λ)(
1m), the size of the magnetic force generating source Io is to be EInrP by extracting the admiration of both the magnetic force generating source Io and the magnetic force generating source, for example, ( 145)

It may be possible to detect the same polarity of both magnetic force generating sources, and in this case, 74-chard is shown as the fourth negative, and as a representative, ttIJ of magnetic force generating sources (+41) and (14g) Detecting the distance will be explained. In this example, it is assumed that the N pole of each magnetic force generation source (141) N42) is detected.

The first rectangular signal (241
When 1 arrives, it is determined in all steps (■) whether the signal is Flf or not, and if it is rNOJ, the initial state returns to iC, but if it is "YIca", it is determined at step (■)f! l!
Circuit means ll5l'? : Closed to prevent the timing pulse (to) from entering the counting means aη, but the count 1 of the counting means Oη is larger than the count value corresponding to a predetermined high speed, which is a constant speed running command, and the speed of step ■ Switching circuit (6a)
Setting speed data to is worthless, 4a car body 11
+ is running at a constant speed -.

Proceed from step ■ to step ■, total 1ll one means αη
11 [is cleared, and the gate circuit means μ barrel is opened seven times in step ①. For this reason, the counting means αη is determined by the timing R - kf q o 2 1 ζr (a) If the second rectangle gi (24 tow) arrives at the middle temperature, and if rY18J at step 2, then the gate circuit means is closed at step 2. Then, the timing pulse (to) or the meter cooking means αη will stop.
1) (14 m) corresponding to the gap distance can (112), and becomes the digital output of the GT output means (2). This output data is speed switching I! ! The bribe was given to the prisoner and the deputy was given the speed command. During this sinking, as in the case of Fig. 5, the vehicle body (river) travels at the specific speed according to the speed command. Dirt-road means Q# with step ■
t' open (, the counting means aη is the timing pulse '#
f-late tII! For example, when running at a constant speed, the next magnetic force generation source may be installed at a position corresponding to the stile or fixed sill degree, or, as described in @tI, immediately at high speed. As soon as the number exceeds the corresponding # value, you may reinstall the next magnetic force generating hole. When the first and second rectangles 16 of 11 are commonly used, the ratio detection output corresponds to the distance 1111 and the corresponding traveling speed VC.

Effects of the Invention A speed control device for a sea bream car according to an uninvented invention comprises: a plurality of magnetic force generation sources provided on the running path of the electric vehicle body; a detection means for detecting the magnetic force generation sources; and a detection means for detecting the magnetic force generation sources. Since it is equipped with a control means that issues a speed command in proportion to the magnitude of the output of Accordingly, various kinds of signals 'f' can be detected, and the traveling speed is controlled at nine speeds in proportion to the magnitude of the signals, so FFr
It becomes easy to set the length or spacing of the magnetic force generating sources precisely to meet the desired running speed.

[Brief explanation of the drawing]

The drawings show an uninvented bag 1IIft, Figure 1 shows the basic structure of an electric vehicle, and Figure 2 shows the position of the magnetic force generation source.
No. 6 waveform diagram, Figures 6 and 4 are 7C of the 14th example.
This is an I-chart. (1) - Electric vehicle body, +141... (145) (44
2) (14 Pass...Magnetic force generation source/α3-detection means, (4)
- Control means.

Claims (1)

[Claims] (1) Equipped with a plurality of magnetic force generation sources provided on the running path of the electric vehicle body, a detection means for detecting the magnetic force generation sources, and a control means for issuing a speed command proportional to the magnitude of the output of the detection means. A speed control device for electric vehicles.