SU650538A2 - Device for automatic control of vehicle motion - Google Patents
Device for automatic control of vehicle motionInfo
- Publication number
- SU650538A2 SU650538A2 SU772544043A SU2544043A SU650538A2 SU 650538 A2 SU650538 A2 SU 650538A2 SU 772544043 A SU772544043 A SU 772544043A SU 2544043 A SU2544043 A SU 2544043A SU 650538 A2 SU650538 A2 SU 650538A2
- Authority
- SU
- USSR - Soviet Union
- Prior art keywords
- automatic control
- vehicle motion
- detector
- reversible counter
- actuators
- Prior art date
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
элемент датчика. В одну из диагоналей моста включен регул тор 6, св занный с электродвигател ми 7, 8 рулевого управлени 9,sensor element. A regulator 6 is connected to one of the diagonals of the bridge, which is connected with electric motors 7, 8 of the steering control 9,
Питаетс устройство от высокочастотного генератора 10.Powered by the device from the high-frequency generator 10.
К катушкам 3 и 4 последовательно подключены детектор 11 металлических полос, реверсивный счетчик 12, программный блок, состо щий из элемента 13 пам ти и элемента 14 сравнени , и исполнительные механизмы 15« На вход исполнительных механизмов 15 подключен также выход пульта 16 ручного управлени , а выход исполнительных механизмов соединен со вторыми входами элемента 13 пам ти и элемента 14 сравнени .The coils 3 and 4 are connected in series with the detector 11 metal strips, the reversible counter 12, the program block consisting of the memory element 13 and the comparison element 14, and the actuators 15 "The output of the manual control console 16 is also connected to the input of the actuators 15, and the output of the actuators is connected to the second inputs of the memory element 13 and the comparison element 14.
Работает устройство следующим образом.The device works as follows.
При движении маш51ны симметрично относительно оси дороги мостова схема уравновешиваетс и к регул тору 6, а следовательно и к электродвигател м 7} 8, сигнальг управлени не поступаютWhen the machine is moving symmetrically with respect to the axis of the road, the pavement is balanced to controller 6, and therefore to electric motors 7} 8, the control signal is not received
Если машина смещаетс вправо или влево от оси дороги, равновесие г.шстоBofs схемы нарушаетс и в регул тор 6 а следовательно и к одному йз электродвигателей 7, 8, поступает управл ющи сигнал в03действующий на рулевое управление 9 Последнее возвращает машину в первоначальное положение.If the car is shifted to the right or to the left of the road axis, the equilibrium of the city – bofs scheme is disturbed and regulator 6 and, consequently, one of the electric motors 7, 8, receives a control signal that acts on the steering 9, which returns the machine to its original position.
При распологкейИй чувствительнох о датчика над металлической полосой значение индуктивностей будет отличатьс от первоначального и при движении транспортного средства на аход детектора 11 будет поступать напр жение высокочастотн&го генератора модулированное по амплитуде напр жением частоты пересечени чувствительным элементом металлических полос.When sensing sensors on a metal strip, the value of the inductances will differ from the original and when the vehicle is moving, detector 11 will receive a high-frequency oscillator voltage modulated by a sensitive element of the metal strips.
С выхода детектора 11 импульсы напр жени поступают на вход реверсивного счетчика 12 и далее на вход элемента 13 пам ти программного блока , санхронизиру его.From the output of the detector 11, voltage pulses are fed to the input of the reversible counter 12 and then to the input of the memory unit 13 of the program block, sanchronizing it.
Элемент 14 программного блока сравнивает сигналы обратной св зи от исполнительных механизмов 15 с сигналами от элемента 13 пам ти и при их совпадении прекращает подачу управл ющего сигнала,The software block element 14 compares the feedback signals from the actuators 15 with the signals from the memory element 13 and, if they coincide, stops feeding the control signal,
В режиме обучени .команды на исполнительные механизмы 15 подаютс оператором с пульта 16 и их положение вместе с сигналами от реверсивного счетчика записываютс в элемент 13 пам ти.In the learning mode, the commands to the actuators 15 are supplied by the operator from the console 16 and their position, together with the signals from the reversible counter, are recorded in the memory element 13.
В режиме воспроизведени командные сигналы, синхронизируемые сигналами реверсивного счетчика 12, из элемента 13 пам ти через элемент 14 сравнени поступают на исполнительные механизмы 15 до тех пор, пока их положение не будет соответствовать положению , записанному в элементе 13 пам ти в режиме обучени . In the playback mode, the command signals synchronized by the signals of the reversible counter 12 from the memory element 13 through the comparison element 14 are fed to the actuators 15 until their position corresponds to the position recorded in the memory element 13 in the training mode.
Использование детектора, реверсивного счетчика и программного блока дает возможность определени место- нахождени машины на маршруте и обозначени в цифровой форме характерных точек маршрута движени машины (разъезды, повороты твхнологическне onepauHVi и т.д.) дл включени программ локальной автоматики, вследствие чего по вл етс возможность обучени машины, т.е. запоминани программы и последу-ющего ее воспроизведени требуемоеThe use of a detector, a reversible counter, and a software block allows you to determine the location of the vehicle on the route and to digitally indicate the characteristic points of the route of the vehicle (passing, turning, technological onepauHVi, etc.) to enable local automation programs, resulting in the possibility of learning the machine, i.e. storing the program and its subsequent reproduction required
количество раз. 5number of times five
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SU772544043A SU650538A2 (en) | 1977-11-14 | 1977-11-14 | Device for automatic control of vehicle motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SU772544043A SU650538A2 (en) | 1977-11-14 | 1977-11-14 | Device for automatic control of vehicle motion |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SU344809 Addition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| SU650538A2 true SU650538A2 (en) | 1979-03-05 |
Family
ID=20733245
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SU772544043A SU650538A2 (en) | 1977-11-14 | 1977-11-14 | Device for automatic control of vehicle motion |
Country Status (1)
| Country | Link |
|---|---|
| SU (1) | SU650538A2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5127486A (en) * | 1990-11-23 | 1992-07-07 | Eaton-Kenway, Inc. | System for sensing arrival of an automatic guided vehicle at a wire |
| US5187664A (en) * | 1990-11-27 | 1993-02-16 | Eaton-Kenway, Inc. | Proportional position-sensing system for an automatic guided vehicle |
| US5617320A (en) * | 1993-10-26 | 1997-04-01 | Hk Systems, Inc. | Method and apparatus for an AGV inertial table having an angular rate sensor and a voltage controlled oscillator |
| WO2001005213A1 (en) * | 1999-07-20 | 2001-01-25 | Agriculture Guided Implement Systems Pty Ltd | A locating system and method |
| AU770439B2 (en) * | 1999-07-20 | 2004-02-19 | Agriculture Guided Implement Systems Pty Ltd | A locating system and method |
-
1977
- 1977-11-14 SU SU772544043A patent/SU650538A2/en active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5127486A (en) * | 1990-11-23 | 1992-07-07 | Eaton-Kenway, Inc. | System for sensing arrival of an automatic guided vehicle at a wire |
| US5187664A (en) * | 1990-11-27 | 1993-02-16 | Eaton-Kenway, Inc. | Proportional position-sensing system for an automatic guided vehicle |
| US5617320A (en) * | 1993-10-26 | 1997-04-01 | Hk Systems, Inc. | Method and apparatus for an AGV inertial table having an angular rate sensor and a voltage controlled oscillator |
| WO2001005213A1 (en) * | 1999-07-20 | 2001-01-25 | Agriculture Guided Implement Systems Pty Ltd | A locating system and method |
| EP1204309A1 (en) * | 1999-07-20 | 2002-05-15 | Agriculture Guided Implement Systems Pty. Ltd. | A locating system and method |
| US6679338B1 (en) | 1999-07-20 | 2004-01-20 | Agriculture Guide Implement Systems Pty Ltd. | Locating system and method |
| AU770439B2 (en) * | 1999-07-20 | 2004-02-19 | Agriculture Guided Implement Systems Pty Ltd | A locating system and method |
| EP1204309A4 (en) * | 1999-07-20 | 2005-12-14 | Agriculture Guided Implement S | A locating system and method |
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