JPS63167611A - Microcomputer-controlled motor-driven vehicle - Google Patents

Abstract

PURPOSE:To eliminate the state of unknown position by providing a preliminary battery for operating a microcomputer at a time until a motor-driven vehicle is completely stopped at the time of power interruption. CONSTITUTION:A large capacity capacitor 8a is connected as a simple secondary battery 8 to the DC power source 7 of a microcomputer 6, and a power interruption time backup battery 9, such as a lithium battery, etc., is connected separately to a memory 6a. Thus, when a power source voltage drops at the time of power interruption, the microcomputer 6 can maintain a predetermined function by a discharge current from the battery 8 until an electric vehicle 1 is completely stopped. Accordingly, the position where the vehicle 1 is completely stopped can be stored in the memory 6a. Since the memory 6a for storing a present position is backed up by the battery 9, stored information is not erased.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention is an electric traveling device that stops during a power outage, and which detects the current position by counting the emitted pulses from a pulse encoder interlocked with the wheels. The present invention relates to an electric traveling device equipped with a traveling control microcomputer having a function of storing the current position in a memory.

(Prior art and its problems) In this type of microcomputer-controlled electric traveling device,
When the electric traveling device stops, the microcomputer uses the number of pulses sent from the pulse encoder to
The current position, which is continuously calculated by the CPU, is stored in the memory. Therefore, the next time a destination is set, the micro combiator compares the stored current position (stop position) with the destination to determine the traveling direction, traveling distance, etc. The microcomputer can automatically control the running of the electric traveling device according to the specified conditions, but if a power outage occurs while the electric traveling device is in the middle of traveling, the power supply to the electric traveling device will be cut off and the The electric traveling system travels with inertia for a period of time depending on the load at that time and then stops, and the microcomputer's CPU stops functioning at the same time as a power outage, so a temporary memory backup battery was provided. However, the stop position of the electric traveling device is not stored.

In other words, conventionally, when a power outage occurred, all the electric traveling devices that were running at the time became unknown, and after the power was restored, the electric traveling devices whose positions were unknown had to be returned to their origin and new positions had to be preset. . This kind of situation is
The same problem occurred even during a so-called instantaneous power outage, which had an extremely short power outage time.

(Means for Solving the Problems) The present invention proposes a microcomputer-controlled electric traveling device that can solve the conventional problems as described above. A spare battery for keeping the micro combinator functioning until the traveling electric traveling device comes to a complete stop is provided separately from the memory backup battery for the microcomputer.

(Operation of the Invention) According to the configuration of the present invention, when the power is cut off due to a power outage and the drive of the electric traveling device is stopped, the time required for the electric traveling device to completely stop after running inertia for a certain period of time is Power is supplied to the microcomputer from the spare battery, and desired functions such as the function of calculating the current position from the pulses transmitted by the pulse encoder are maintained.

Therefore, when the electric traveling device comes to a complete stop, the current position at that time can be stored in the memory. After this,
Even if the voltage of the spare battery drops, the current position (stop position) information stored in the memory is retained by power supplied from the memory backup battery.

As the spare battery, it is preferable to use a secondary battery that can be charged during normal energization. As long as it can supply power to the microcomputer for only a few seconds, a large capacity capacitor, for example, can be used as a simple secondary battery.

(Example) An example of the present invention will be described below based on the attached illustrative drawings.

In FIG. 1, reference numeral 1 denotes a transport train as an electric traveling device that travels along a fixed travel route, and pulse encoders 4 are interlocked with wheels 3 driven by a motor 2. 5 is an inverter that controls the speed of the motor 2, and 6 is a control microcomputer. It is driven by AC power supply voltage supplied from

The microcomputer 6 calculates the current position of the train 1 from the number of pulses transmitted by the pulse encoder 4 driven by the running of the train 1, and stores the current position (stop position) when the train is stopped in a memory. When a destination is given from the ground side by an appropriate signal transmission means, the destination is compared with the current position stored in the memory as described above, and based on the comparison results, the running direction, running distance, etc. are calculated. The inverter 5 is controlled to automatically stop the vehicle after traveling a predetermined distance by counting the pulses sent by the pulse encoder 4. The current position of the train 1 is calculated from the zone storm obtained by reading the address code board installed on the running route with a detector on the train side and the number of pulses transmitted by the pulse encoder 4 as described above. A method may also be used in which the location is determined based on a combination with the detailed location within the zone.

In the microcomputer-controlled transport train 1 as described above, as shown in FIG.
A backup battery 9, such as a lithium battery, is separately connected to the memory 6a.

According to the above configuration, the simple secondary battery 8 is charged while the microcomputer 6 is energized, and when the power supply voltage drops due to a power outage, the discharge current from the simple secondary battery 8 charges the microcomputer 6. The compiler 6 will only function for a certain period of time. The time for backing up the microcomputer 6 with this simple secondary battery 8 is appropriately longer than the expected time until the train 1 running due to inertia comes to a complete stop after power supply to the motor 2 is stopped due to a power outage. good.

If the simple secondary battery 8 satisfies these conditions, the microcomputer 6 will maintain its intended function even in the event of a power outage until the train 1 comes to a complete stop. The current position can be calculated and stored in the memory 6a. After this, even if the voltage of the simple secondary battery 8 drops and it stops functioning as a power source, the memory 6a that stores the current position (stop position) is backed up by the battery 9, so the stored information will not be erased. , when the power is restored and the microcomputer 6 resumes its function, the current position stored in the memory 6a (
Using stop position 1), it is possible to move on to the next travel control.

(Effects of the Invention) As described above, according to the electric traveling device controlled by a microcomputer of the present invention, even when the device is running and stops due to a power outage, the current position (stop position) is calculated by the microcomputer as usual. This allows the device to be stored in the memory and not be in an unknown position like in the past.Therefore, when the power is restored, there is no need to return the device to its origin and pre-center the position as in the past, and the device can be moved from its stopped position. It is possible to immediately control the vehicle to travel to the next destination position.

Moreover, there is no need to use a large-capacity backup power source that can continuously drive the microcomputer even during a power outage, making it economical.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram illustrating the configuration of an electric traveling device, and FIG. 2 is a diagram illustrating a backup power source for a microcomputer. 1... Transportation train (electric traveling device), 2... Traveling motor +,? ! 5... Drive wheel, 4... Pulse encoder, 5... Inverter, 6... Control micro combinator-56a... Memory, 7... DC power supply circuit, 8... Simple 2 Secondary battery, 8a... large capacity capacitor, 9... memory back amplifier battery. Figure 1

Claims (1)

[Claims] This is an electric traveling device that stops during a power outage, and has the function of counting the pulses sent by a pulse encoder linked to the wheels to detect the current position, as well as storing the current position when stopped in memory. In an electric traveling device equipped with a computer, a spare battery is used to back up the memory of the microcomputer in order to keep the microcomputer functioning at least until the electric traveling device running inertia comes to a complete stop in the event of a power outage. A microcomputer-controlled electric traveling device that is attached separately from the battery.