JPS6248166B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a backward detection method for a moving object, and in particular, the backward limit distance of the moving object is reset using the forward distance, and when the limit distance is retreated, a braking pulse for backward movement is applied. This invention relates to a backward detection method for a moving body that outputs a signal.

Conventionally, moving objects such as vehicles or trains (hereinafter referred to as vehicles) have not been equipped with a backward detection mechanism to prevent dangers associated with backward movement, or even if they have been equipped with one, it has been difficult to detect backward movement. However, the backward detection method outputs a braking pulse signal when the backward movement detection pulse is output a specific number of times, and insufficient consideration has been given to the conditions under which the backward movement of the vehicle occurs.

That is, a vehicle or the like repeats two states: stopped and running. Therefore, it is reasonable to assume that the backward motion that occurs at stop position A may also occur at the next stop position B. Cases in which reverse movement occurs include a transient bump during braking until the vehicle comes to a complete stop, reverse following a drop in speed due to lack of forward torque while driving on a steep slope, and a temporary bump during the increase in forward torque when starting on a slope. intermittent or continuous reversing due to lack of forward torque when starting on a slope. When continuous backward movement occurs at position A due to lack of forward torque during driving on the steep slope described above or when starting on a slope, it is necessary to output a backward movement braking pulse signal when the backward distance reaches a specific value. Alternatively, if the vehicle is in a running state after an attempt has been made to temporarily reverse the vehicle when starting on a slope, it is necessary to remove the detection result of the reverse motion at position A from the reverse motion detection mechanism.

For example, an explanation will be given of an operating route for a self-driving vehicle, etc., which has a plurality of stopping stations (on the way up a slope depending on topographical conditions) between two remote points.

For safety reasons, it is necessary to immediately output a braking pulse signal for the backward movement for the backward movement that occurs continuously when starting from one station at a time. However, there is no need to output a brake pulse signal for reverse operation in the case of a back crash every time the vehicle stops at a station or a temporary reverse when starting on a slope, and on the other hand, if a reverse operation brake signal is output, there is an inconvenience that the vehicle will not be able to start. Conventional backward motion detection mechanisms have the function of outputting a backward detection pulse and counting when detecting backward motion, and outputting a braking pulse signal for backward motion when the count value reaches a specific value, but it is not possible to operate backward in units of one station. The aim was to achieve a detection effect, but no consideration was given to the backward motion that occurs at the next stop, B, after the train departs from stop A. In other words, if there is a temporary backward movement when starting from stop station A, the backward detection pulse is accumulated in the counter and continues until the next stop station B. The backward detection pulse caused by the backward movement when starting the vehicle is added. Furthermore, a similar problem occurs at the next stop C, and the number of reverse detection pulses is accumulated in the counter one after another, and when a certain value is reached during temporary reverse at a certain moment, a brake pulse signal for reverse operation is output, which is an inconvenience. It was hot. In other words, there is a contradiction in that the braking pulse signal for the backward operation is output based on the cumulative number of backward detection pulses generated at each station from the starting station to the terminal station.

The purpose of the present invention is to eliminate and improve the above-mentioned contradiction, and when a backward movement occurs at one point and a danger of the backward distance is detected, a braking pulse signal for the backward movement is output, and at the same time, a braking pulse signal for the backward movement is output. The object of the present invention is to provide a backward detection method that, once the vehicle has reached the running state, can deal with the occurrence of a backward movement at the next point.

In order to achieve this object, the backward detection method of a moving body according to the present invention includes (1) a moving body that can freely perform forward motion and backward motion, and based on the forward motion and backward motion of the moving body; The output pulse signal of the backward detection section that detects the pulse signal corresponding to the backward movement of the pulse generator that outputs the pulse signal corresponding to the backward movement is inputted to a backward counter and counted, and the output pulse signal of the backward movement counter is used as the braking pulse for the backward movement. The system used for the signal includes a forward motion detection section that detects the pulse signal corresponding to the forward motion, and a forward counter that counts the output pulse signal of the forward motion detection section, and the output pulse signal of the pulse generator is sent to the forward motion detection section. In addition, the output pulse signal of the backward detection section is used as a reset signal for the forward counter, and the output pulse signal of the forward counter is used as a reset signal for the backward counter. . (2) The reversing counter is characterized in that the upper limit value of the predetermined number of reversing pulses corresponding to the reversing limit distance of the moving object can be set to a predetermined value that takes into consideration the operating conditions of the moving object. do. (3) The forward movement counter is characterized in that the count value of the number of forward pulses that determines normal running due to the forward movement of the mobile object can be set to a predetermined value that takes into consideration the operating conditions of the mobile object. . (4) A configuration consisting of the pulse generator, the backward detecting section, the forward detecting section, the backward counter, and the forward counter is set as one set, and a plurality of sets are prepared independently from each other, and at least one set or more is output. The present invention is characterized by a fail-safe configuration that outputs a braking pulse signal for the backward movement of the movable body based on the pulse signal.The details of the present invention will be explained below using the drawings.

FIG. 1 is a schematic block diagram showing one embodiment of the present invention. In the figure, reference numeral 1 denotes a pulse generator that generates three types of pulse waves A, B, and Z (explained in FIG. 2) by the rotation of a motor connected to the axle of a vehicle, for example. Reference numeral 2 denotes a backward detection unit, which detects the pulse generated by the vehicle, etc., from the pulse generator 1 when the vehicle, etc. moves backward. The pulses generated by the forward movement (FIG. 2 B) are detected. 4 is a backward distance counting section, which includes a backward detecting section 2 and a forward detecting section 3.
When the backward distance reaches a predetermined value, a braking pulse signal for backward movement is output.

FIG. 2 is a schematic block diagram showing a pulse waveform diagram generated by the pulse generator 1 of FIG. 1 and the internal configurations of the backward detection section 2 and the forward motion detection section 3.

In the figure, A indicates three types of pulse waves generated as a result of the vehicle moving backwards; pulse B; pulse B;
A pulse A whose phase is delayed by about 1/4±1/8 wavelength is generated. B shows three types of pulse waves generated as the vehicle moves forward, and the phase difference between pulse A and pulse B is opposite to that in case A, with pulse A leading. The dotted line frames in pulse B in A and B are the falling and rising edges of pulse B. Also, the pulse Z in A and B
occurs once every rotation of the motor. Therefore, if the rotating gear ratio of the axle and motor of a vehicle is 1:G and the wheel diameter is D, only one pulse Z is generated every time the vehicle moves a distance of π·D/G. 5 is a falling detector within the dotted line frame of the pulse B in A, 7 is a rising detector within the dotted line frame of the pulse B in B, and 6 and 8 are AND circuits.
When pulses A and B from the pulse generator 1 (Fig. 1) are input to the falling edge detector 5, only the falling edge of pulse B is detected when pulse A is in the "on state" and the pulse is output, and the logical product is When the circuit 6 overlaps with the "on state" of the pulse Z (see A), the backward detection section 2 outputs a pulse output to point C. On the other hand, pulse generator 1
The pulses A and B from (Figure 1) are detected by the rising detector 7.
When the pulse A is in the "on state", only the rising edge of the pulse B is detected and the pulse is output, and the AND circuit 8 turns the pulse Z into the "on state" (see b). Output the pulse output to point d. Each pulse waveform must have a pulse width that allows the falling detector 5 to detect a falling edge and the rising detector 7 to detect a rising edge, and although not particularly shown in the figure,
Of course, the pulse waveform may be shaped if necessary.

FIG. 3 is a schematic block diagram showing the circuit configuration of the backward distance counting section 4 in FIG. 1. In the figure, 9 is a backward counter, 10 is a forward counter, and 21, 22, 31, and 32 are inputs D and D, respectively.
It is a flip-flop with Q on CLK, RST, and outputs. Reverse counter 9 and forward counter 10
An “on-state” pulse input is always applied to the input points _g1 and _g2 . The output pulse of the retraction detector 2 (FIG. 2) is sent from the input c to the flip-flops 21 and 22.
CLK and also flip-flops 31 and 3
It is input to RST 2 as a reset signal. The output pulse of the forward movement detection section 3 (Fig. 2) is inputted from the input point d to the CLK of flip-flops 31 and 32, and the output e of the flip-flop 32 is inputted as a reset signal to the RST of flip-flops 21 and 22. do.

Therefore, when four consecutive forward pulses are inputted to the forward counter 10 from point d, an output pulse appears at point e and resets the backward counter 9, and each time one backward pulse is inputted to point c, the forward counter 10 is reset. Reset. When four consecutive backward pulses are inputted to the backward counter 9 from point c, an output pulse appears at point f.

Due to backlash and backward movements of vehicles, etc.
The counting states of the backward counter 9 and the forward counter 10 will become clear in FIG. 4 below.

FIG. 4 is a diagram of pulse generation accompanying the backward movement of a vehicle or the like. In the figure, a is backlash, b
is the output of the braking pulse signal for backward movement when starting on a slope,
c shows the start up to the start including a temporary retreat when starting on a hill.

In the figure, the ○ mark indicates the output for one forward pulse due to forward movement, the × mark indicates the output for one backward pulse due to backward movement, and the numbers in parentheses are the forward count value on the left,
The right side is the backward count value, and t is the time. in a
100 is a scheduled stop position, and the brake is used to stop the vehicle. However, the vehicle etc. does not stop immediately due to inertia, but stops with 2 forward pulses up to 101, 2 backward pulses up to 102, 1 forward pulse up to 103, and 1 backward pulse up to 104. Therefore, advance counter 1
0 (Fig. 3) and backward counter 9 (Fig. 3) are (0, 0) → (1, 0) → (2, 0) →
(0, 1) → (0, 2) → (1, 2) → (0,
3), and the forward counter 10 (third
(Fig. 3) is 0, and the backward counter 9 (Fig. 3) is 3. When one more round trip of forward and backward movement is performed, a braking pulse signal for the backward movement is output. b is a case where a braking pulse signal for a backward operation is output when starting on a slope. The vehicle repeats backward and forward movement from the initial stop position 200, and at position 205, the backward counter 9 (FIG. 3) reaches 4, so a braking pulse signal for backward movement is output. Case c is a case where the vehicle starts normally after starting on a hill and temporarily retreating. By repeating backwards and forwards from the initial position 300, we obtained a forward torque that enabled us to start from position 305. position 305
The backward counter value is 3, and the start margin is 1 pulse remaining. When the vehicle enters the forward state from position 305 and moves forward from position 306 to position 307, the backward counter 9 (FIG. 3) is reset by the output from the forward counter 10 (FIG. 3).

At this time, if the wheel diameter of the vehicle, etc. is D cm, and the gear ratio between the axle and the motor of pulse generator 1 (Fig. 1) is 1:G, one pulse is generated by a movement of π・D/G cm. In the case of b, it stops at position 205, which is 2·π·D/G centimeters backward from the initial position 200, and in the case of c, it stops at position 307, which is 4·π·D/G centimeters forward from the initial position 300. It is in running condition. However, the output of the first pulse from the one-stop position will reach the detection mark (not shown) before the rotation detection arc (not shown) passes the position of the motor rotation detection sensor (not shown). Since there is play depending on whether it is immediately before or immediately after, there is a maximum movement width of π・D/G centimeters.

As is clear from Fig. 4c, the effect of this embodiment is that the count value of backward detection pulses accumulated by temporary backward movement from stopping at one point to starting is reset when the count value reaches the running state. Therefore, when moving backwards from a stop to the next point,
The problem is that they can be dealt with under exactly the same conditions.

In this embodiment, the forward counter 10 (FIG. 3)
The flip-flops 31, 32, 21, 22 (Fig. 3) of the reverse counter 9 (Fig. 3) are explained as having two each, and the system outputs a pulse when 4 pulses are counted continuously. , the backward counter 9 (Fig. 3) and the forward counter 1, taking into consideration the shape, size, weight, and driving conditions of the vehicle to which it is applied.
0 (FIG. 3) may be constructed independently from a plurality of flip-flops.Furthermore, the vehicle to which the present invention is applied does not have to be a wheel-driven vehicle, but may be a moving body that moves in position. If so, it is obvious that the present invention is applicable, and is not limited to this one embodiment.

FIG. 5 is a block configuration diagram showing still another embodiment of the present invention, and the difference from FIG. 1 is that the pulse generator 1 (FIG. 1) and the retraction detector 2 (FIG. 1)
, forward movement detection section 3 (Fig. 1), and backward distance counting section 4
This is a fail-safe configuration in which one system configuration consisting of (Fig. 1) is duplicated. In the figure, 5
00 and 600 are one system of the backward detection method for a moving object of the present invention having the same configuration and the same function.

The output f ₁ of the system 500 and the output f ₂ of the system 600 are logically outputted by the OR circuit 700, and this logical sum output pulse signal F ₂ is used as a braking pulse signal for the backward movement. This has the effect of configuring a safer and fail-safe retreat detection method for a moving object that can deal with knockdowns.

FIG. 6 is a block configuration diagram showing yet another embodiment, which differs from FIGS. 1 and 5 in the fail-safe configuration in which the system configuration is triplexed.
In the figure, 501 to 503 are a set of systems of the moving object backward detection method of the present invention having the same configuration and the _same function, and the majority logic output _pulse ( The majority logic circuit 701 outputs the output pulses from any two systems among the three systems, and uses this output pulse signal _F2 as a braking pulse signal for backward movement, thereby preventing backward movement due to malfunction of one system. This has the effect of configuring a safer and fail-safe moving body backward detection method that prevents a braking pulse signal from being output when a detection pulse is generated.

According to the present invention, since the method and circuit configuration are simple, it is possible to deal with the environment in which the vehicle is operated, the structure of the vehicle, the weight, and the load, and determine the maximum backward distance and the distance determined by the driving state at the time of starting. The present invention has the effect of being able to meet the optimum conditions of the present invention, and can also be applied to detecting the backward movement of moving bodies having other drive methods as well as vehicles using wheel drive methods.

[Brief explanation of the drawing]

FIG. 1 is a functional configuration diagram of the present invention, FIG. 2 is a pulse waveform diagram and an internal configuration diagram of the backward/forward detection section, FIG. 3 is a circuit diagram of the backward distance counting section, and FIG. 4 is a pulse generation situation diagram. FIG. 5 is a fail-safe block diagram of a duplex system, and FIG. 6 is a fail-safe block diagram of a triple system. In the figure, 1 is a pulse generator, 2 is a backward detection section, 3 is a forward detection section, 4 is a backward distance counter, A and B are generated pulse waveforms, 5 is a pulse fall detector,
7 is a pulse rising detector, 6 and 8 are AND circuits,
21, 22, 31, 32 are flip-flops,
a is a bump crash generation state, b is a braking pulse signal generation state, c is a slope start state, 500, 60
0,501 to 503 are one system of the backward detection method, 700 is an OR circuit, and 701 is a majority OR circuit.

Claims (1)

[Scope of Claims] 1. There is a moving body that can freely perform forward motion and backward motion, and a pulse generator that outputs a pulse signal based on the forward motion and backward motion of the moving body corresponds to the backward motion. In a system in which an output pulse signal of a backward detection unit that detects a pulse signal is input to a backward counter and counted, and the output pulse signal of the backward counter is used as a braking pulse signal for the backward movement, a pulse signal corresponding to the forward movement is detected. and a forward counter that counts an output pulse signal of the forward motion detection section, and inputs an output pulse signal of the pulse generator to the forward motion detection section;
A moving body characterized in that the output pulse signal of the backward detection section is used as a reset signal of the forward counter, and the output pulse signal of the forward counter is used as a reset signal of the backward counter. Backward detection method. 2. A patent characterized in that the reversing counter has a configuration in which the upper limit value of a predetermined number of reversing pulses corresponding to the maximum reversing distance of the moving object can be set to a predetermined value that takes into consideration the operating conditions of the moving object. Claim 1
Detecting method for moving backwards of a moving object as described in . 3. A patent claim characterized in that the forward movement counter has a configuration in which a count value of the number of forward pulses that determines normal running due to the forward movement of the mobile object can be set to a predetermined value that takes into consideration the operating conditions of the mobile object. The method for detecting backward movement of a moving object according to the scope of item 1. 4 A configuration consisting of the pulse generator, the backward detection section, the forward detection section, the backward counter, and the forward counter is set as one set, and a plurality of sets are prepared independently from each other, and at least one set or more of output pulse signals is generated. 2. A method for detecting backward movement of a moving object according to claim 1, wherein the system has a fail-safe configuration that outputs a braking pulse signal for the backward movement of the moving object based on the following.