WO2010084217A1

WO2010084217A1 - System for managing and controlling the movement of a slot-guided vehicle

Info

Publication number: WO2010084217A1
Application number: PCT/ES2010/000012
Authority: WO
Inventors: Joan Andres Berenger
Original assignee: Bycmo Rc Models, S.L.
Priority date: 2009-01-23
Filing date: 2010-01-19
Publication date: 2010-07-29
Also published as: ES2324387B1; ES2324387A1

Abstract

The invention relates to a system for managing and controlling the movement of a slot-guided vehicle, provided with a means (5) for supplying electric power and a manual trigger control (1) which generates and sends the management and control signal to the vehicle (2). The vehicle includes: a first electric traction motor (6); a second electric tilting motor (7); and a central guide with brushes for contacting the electrified groove of the track (4). The control (1) includes: a manual traction trigger (16), which generates a speed signal (Sy) for the first motor (6); a manual tilt trigger (16), which generates a tilt signal (Si) for the second motor (7); and a controller (9) that reads both signals and combines them into a single control signal (Sc) which is sent to the slot-guided vehicle via the track (4). The vehicle includes a speed controller (36) for managing the first electric motor and a tilt controller (37) for managing the second electric motor.

Description

D E S C R I P C I Ó N

'Management system and control of the movement of a slot vehicle'

Technical sector of the invention

The present invention relates to a management and control system for the movement of a slot vehicle, provided with power means for electric power, and a manual drive command that generates and sends the management and control signal to the vehicle, being the vehicle of the type that is provided with: a first electric motor, which drives the wheel drive and the vehicle speed; at least a second electric motor for actuating the inclination of the vehicle along a horizontal axis; and a central guide and contact brushes with the electrified groove of the track.

In particular, but not limited to, the slot vehicle of the present invention will be a motorcycle.

Background of the invention

Currently, large-scale sets of vehicles - or models - that are guided in electrified slots that serve as power supply through brushes to vehicle engines, commanded remotely by means of a remote control, are very popular. The vehicles or models for this game, popularly known as "slot ', have a guide with a slot, which extends below the vehicle in a rotating car, which blows the contact brushes.

Until now, only vehicles have been popularized in which the chassis is provided with a very limited lateral inclination, such as cars and trucks, since they are stable and can be maintained on the track even at high speeds. There is only some realization of two-wheeled vehicles for "slot", such as motorcycles, or more wheels, but with the possibility of lateral inclination, such as the so-called "quads", or other articulated vehicles, that exist at the conceptual or development level, but that have not been extended to the commercial level.

Specifically, and as the closest state of the art, patent ES2303494A1 describes a slot motorcycle, equipped with a first electric motor, supported on a chassis, which drives the wheels, and a guide carriage provided with a central guide and of contact brushes with the groove or electrified guide of the track. The motorcycle also comprises a second electric motor, to cause the inclination of the chassis and wheels as a whole, preferably a servomotor integral to the chassis and wheels. The axis of rotation of the second engine is horizontal, essentially longitudinal to the direction of movement of the motorcycle.

Different electrical or mechanical means, described in document ES2303494A1, allow that, from a vertical position of the motorcycle, a rotation of the servomotor causes an inclination of the upper part of the chassis-wheel assembly, towards the inside of a curve drawn by The motorcycle

The second motor can be remotely driven by radio control (RC) means, in a first case, or remotely through the electrified rails of the track, in a second case.

The purpose of the present invention is to provide a system for managing and controlling the movement of the engines of slot motorcycles and other vehicles of the type described, which allows them to be easily and conveniently manageable and to acquire more logical movements. , controllable and realistic possible.

Explanation of the invention

For this purpose, the object of the present invention is a new system for managing and controlling the movement of a slot vehicle, which is essentially characterized in that the command comprises a manual traction actuator, which generates a speed signal for the first engine; a manual tilt actuator, which generates a tilt signal for the second motor; and a controller that reads both signals and mixes them in a single control signal that is sent to the vehicle through the track; The vehicle comprises two controllers: a speed controller, for the management of the first electric motor from the speed signal; and a tilt controller for the management of the second electric motor, from the tilt signal.

Those skilled in the art will appreciate that both control signals for the two engines of each of the motorcycles, for example, that at any given time are on the track, are sent by the only driver constituted by the electrified grooves of the track and the brushes of the motorcycle.

According to another characteristic of the invention, the second electric motor (of inclination) is a servomotor and the motorcycle comprises means for measuring the real inclination of the vehicle and means of feedback of the real inclination to the inclination controller, and a comparator, for compare the actual incitement with the command tilt signal, to control the tilt in closed loop.

Preferably, the manual traction and tilt actuators comprise potentiometers, so that the manual actuators are potentiometric actuators.

According to another feature of the system of the invention, the control comprises an analog to digital converter, for the conversion to digital of the signals from the traction and inclination actuators.

In this case, the control may comprise a non-volatile memory implemented with scaling tables for the digital signal generated, and scaling means of said analog signal.

According to a preferred embodiment, the controller sends the vehicle iteratively: during a first predetermined period of time, a power supply signal to the motorcycle through the track, during which the vehicle is electrically powered with constant voltage electric power, coming from the power supply; and for a second predetermined period of time, frames of control commands, which include the control signal for the engines of the vehicle.

The said control command frames preferably comprise a first block of synchronization and control bits, a second block with command data bits of the first motor speed, and a third block with command data bits of the second motor.

According to the invention, a fourth block of bits with CRC data (cyclic redundancy control) are provided to discard invalid frames.

In a preferred embodiment, the first feed time period is 48 ms, and the second send period of control command frames is 2 ms.

According to another important feature of the present invention, the control comprises adjustment means with a computer, which incorporate software for custom system configuration.

The connection means may comprise a USB port or a technological equivalent, as well as a communications management system, such as for example a serial-parallel asynchronous UART type system.

The customized system configuration can be stored in the control's own memory.

It is desired to emphasize the fact that this connection to a computer, in particular a PC, allows the configuration of the system and also the configuration is stored in the command, so that this becomes a truly customized system element for each user. Brief description of the drawings

The detailed description of a preferred embodiment, although not exclusive, of the slot vehicle system object of the invention is made, for which better understanding is accompanied by drawings in which it is illustrated, by way of non-limiting example , embodiments of the present invention. In these drawings:

Fig. 1 is a general block diagram showing the architecture of the management and control system of a slot vehicle according to the invention, applicable to a motorcycle;

Fig. 2 is another block diagram of the management and control system of the movement of a slot motorcycle, similar to that of Fig. 1, although more detailed; Y

Fig. 3 is a block diagram of the "firmware" architecture of the system of the invention.

Detailed description of the drawings

In Fig. 1 it can be seen that the slot motorcycle 2 is provided with a first electric motor 6, for the wheel drive, and a second electric motor 7, in particular a servomotor 7, for the inclination of the whole of the wheels and of the chassis and, with it of the rest of elements that eventually were solidary of the chassis (for example the body, the fairing and pilot, not shown) when a curve is drawn. Specifically, the upper part of the previous assembly inclines towards the interior of the curve. The axis of rotation of the servomotor 7 is horizontal, essentially longitudinal to the direction of movement of the motorcycle 2.

It is important at this point to make the following clarifications: 1) when referring to a servomotor, by servomotor or servo, the motor assembly 7 plus potentiometer 17 'plus control electronics or driver 47 (see Fig. 3, below) to the right). In fact, in the absence of the control electronics, one could not speak of "servomotor", but merely geared motor (more "feedback"). But, by a conventionalism accepted in practice, we will refer to the servomotor, understanding the set explained above; 2) As soon as it follows an example of embodiment is explained in which the slot vehicle is a motorcycle. The scope of the invention extends to all types of vehicles in which the principles of the invention are applicable, among which the motorcycle 2 is but a non-limiting example (in this sense, for example, a "quad" would also remain within the protective scope of the present invention).

The motorcycle 2 comprises a guide carriage 206 with a central guide 207 and conventional contact brushes 208 with the electrified groove (in English "slot") of the track 4.

The management and control system for the movement of the slot motorcycle 2 comprises electric power supply means 5, a manual operating command 1 that generates and sends the management and control signal to the motorcycle 2. In its more generic description, shown in Fig. 1, it can be seen that the management and control system of the invention is formed by several elements. The control 1 is connected to the track 4 and to the power supply 5. The motorcycle 2 is only connected to the track 4. Unlike the conventional s / of architectures, it can be appreciated that the control 1 can be connected to a PC 3 for your configuration.

Fig. 2 shows in detail the blocks that make up the subsystem of the control 1 and the motorcycle 2. The functionality of each of the blocks of the control subsystem 1 is detailed below.

As elements of action directly by the user, command 1 has:

a first button or manual actuator (for example, trigger), for a potentiometric speed actuator 16, for the command signal of the first electric traction motor 6 (button or actuator not shown); Y - a second button or manual actuator (for example wheel), for a potentiometric rotation actuator 17, for the command signal to the tilt servo motor 7 (button or actuator not shown).

Potentiometric actuators 16 and 17 are connected to a potentiometer port 8.

The control 1 also has an input / output port 13 through which the control 1 itself is fed and sends the control signal to the track 4, a switch of the operating mode 19, a USB port 14 for connection to a PC 3, a communications management system, such as for example a serial-parallel asynchronous system type UART 15, and LEDs or similar signaling devices. Obviously, the previous systems can be replaced by current technological equivalents or that can be developed in the future.

The input current from the supply 5 is conditioned by a diode and capacitor device 12, and monitored by a current limiter 1 1, to detect possible faults (short circuits, overcurrents, etc.). It is then regulated by a linear regulator 10 to properly feed the logic circuits.

The heart of the command is its control unit (MCU) 9. Its functions are:

Reading of the potentiometric actuators of speed 16 and of inclination 17, through the potentiometer port 8;

Reading of the operating mode, selectable through switch 19; Adequate activation of LEDs 18; Y

- Adequate activation of a "semipuente" in output H 20; - Send and receive commands to PC 3.

Next, the functionality of each of the blocks of the motorcycle subsystem 2 is detailed. The motorcycle 2 has an input / output port 23 through which the motorcycle 2 itself is fed and the control signal is received from track 4, generated by command 1. The input power is conditioned by a diode bridge with capacitor 24 and then is regulated in a linear regulator 25 to correctly feed the logic circuits. The control signal is directly injected into the processors that control the different motors 6 and 7, feedback and LEDs.

A first controller 36 (MCU) is responsible for managing the traction motor 6 connected to the port of the traction motor 26 and the front LEDs 31 and rear LEDs 32 connected to the port of the LEDs 30. The functions of this first controller 36 are:

Receiving commands through the input / output port 23;

Modulation of the feed to the traction motor 6 through the chopper (or choppeή 33; Y

Proper activation of LEDs 31, 32.

A second controller 37 (MCU) is responsible for the management of the tilt servo motor 7, connected to the tilt motor port 27. The second controller 37 is connected to a feedback port of the rotation angle of the rotation servo motor 7, which measures The inclination of the motorcycle 2 by means of a potentiometric feedback actuator 17 '. The functions of the second controller 37 are:

Receiving commands through the input / output port 23,

Reading of the potentiometric feedback actuator 17 'of the inclination, connected to the inclination feedback port 28,

- Modulation of the power to the traction motor 6 through the bridge in H 29 and current monitoring. As mentioned, Fig. 3 shows the "firmware" architecture of the system, that is, the relationship between the controllers 9 (of the control 1) and 36 and 37 (of the motorcycle 2) and the rest of the hardware devices. You can also see the modules used by each controller and how they interact with each other.

The controller 9 of the control 1 is in charge of continuously monitoring the value of the potentiometric actuators of traction 16 and of inclination 17, as well as the current consumed and the supply voltage. This process is carried out by means of the analog / digital converter 91 of the controller 9. A sensor 95 indicates to the analog / digital converter 91 the module and direction of the current or voltage.

The result of the analog / digital conversion of the potentiometric actuators 16 and 17 is scaled by a table stored in the nonvolatile memory 92 (NVM block) of the controller 9 and adequate excitation is generated using the output pins 93 ( block i / o). The shape of the output signal will depend on the working mode (digital or analog) selected by means of the input pins (I / O block). The contents of the table stored in the non-volatile memory 92 can be modified by means of serial commands received through a communication port 94.

The motorcycle 2 subsystem incorporates two controllers. The first controller 36 is responsible for controlling the lighting and the traction motor 6 of the motorcycle 2. First it decodes the signal received through the communications port 362 with a time-out control from a timer 361. Depending on the received values, the controller 36 will activate or deactivate the front and rear LEDs 32 through the digital outputs, through an I / O block 363.

Finally, and also depending on the value received through the communication port 362, the controller 32 will generate the appropriate modulation to excite the traction motor 6 in the PWM module 364. This modulation signal will access the traction motor 6 through of a suitable driver.

The second controller 37 is only responsible for managing the tilt motor 7 of the motorcycle 2. Like the controller 36, it first decodes The signal received through the communications port 372, with a "thymouf 'control in block 371. Subsequently, it monitors the value of the feedback potentiometric actuator 17', which indicates the rotational position of the servomotor 7, by means of an analog / digital converter 373 comparator and compares both values.According to the result of this comparison, the appropriate modulation is calculated to drive the servo motor 7, in the PWM 374 pulse width modulation module. Ie indicates to the analog / digital converter 373 the module and the direction of the current.

Parallel to this process, the second controller 37 also monitors

The current consumed by the servomotor 7 with an analog / digital converter.

In the drawings, transceivers 100 with functions of both reception and transmission of the signals have been shown.

The command 1 is responsible for feeding the motorcycle 2 and sending to it the orders of what each motor 6, 7 and the diodes 31, 32 have to do. In a preferred mode, each cycle is 50 ms, during which the command 1 sends a command frame to motorcycle 2 for 2 ms, and electrically supplies constant voltage to motorcycle 2 for 48 ms.

In a preferred, but not limiting, example, the control command frame consists of four blocks of 10 bits each: a first block of 10 bits of synchronism that also indicates the state of the front diodes 31, a second block of 10 bits indicating a speed command for the first traction motor 6, a third 10-bit block indicating a position command to the steering servo motor 6, - a fourth 10-bit block of CRC used to discard invalid frames. In a preferred embodiment, each of these blocks consists of a bit of

"start", a "stop" bit, and 8 data bits, and is sent at a speed of 19,200 bps.

A "1" is represented with a high voltage value (the voltage delivered by the power supply 5), and a "0" is represented with a voltage close to OV (unipolar modulation).

The 40 bits of the 4 blocks of the control command frame are sent in 2 ms (40 bits / 19200 bps = 2 ms) approximately. Thus, for a 50 ms cycle there would be 48 ms of the rest of the frame to feed the motorcycle 2. Therefore, every 50 ms, the slot motorcycle 2 uses 48 ms in which the voltage is constant, to store energy and wait for a 40-bit frame of information to arrive. When it arrives, if the CRC is correct, the controllers 36 and 37, decoding in the modules 364 and 374 of modulation by pulse width, send the commands for each motor 6 and 7 and the LEDs 31 and 32, managing their realization until The arrival of a new control command frame. It is to indicate that this technology of sending data frames and feeding through a pair of conductive wires is not in itself new. In fact, scale trains use a similar DCC system, although in bipolar modulation. It is also known a unipolar system to send information to various slot cars through a single driver pair of the track, as for example in the case of slot cars with digital tracks.

But, those skilled in the art will understand the contribution made by the system of the present invention, consisting of feeding and controlling a multiplicity of motorcycles with two engines each, using a single pair of drivers of the slot track, is completely new and inventiveness.

Described sufficiently the nature of the present invention, as well as the way of putting it into practice, it is stated that everything that does not alter, change or modify its fundamental principle, may be subject to variations in detail.

Claims

1.- System for managing and controlling the movement of a slot vehicle, equipped with power means (5) of electric power, and a manual operation command (1) that generates and sends the vehicle (2) Ia management and control signal, the vehicle (2) being the type of those equipped with: a first electric motor (6), which drives the wheel drive and the vehicle speed (2); at least a second electric motor (7) for driving the inclination of the vehicle along a horizontal axis; and a central guide and contact brushes with the electrified groove of the track (4), characterized in that the control (1) comprises a manual traction actuator (16), which generates a speed signal (Sy) for the first motor ( 6); a manual tilt actuator (16), which generates a tilt signal (Si) for the second motor (7); and a controller (9) that reads both signals and mixes them into a single control signal (Sc) that is sent to the slot vehicle through the track (4); the vehicle (2) comprises two controllers: a speed controller (36), for the management of the first electric motor (6) from the speed signal (Sv); and a tilt controller (37) for the management of the second electric motor (7), from the tilt signal (Si).

2. Management system and control of the movement of a slot vehicle, according to claim 1, characterized in that the second electric motor (7) is a servomotor (7) and the vehicle comprises means (17 ') to measure the actual inclination (Ia) of the vehicle (2) and feedback means (28) of the actual inclination to the inclination controller (37), and a comparator (373), to compare the actual inclination with the command inclination signal (Si), to carry out the control of the inclination in closed loop.

3. Management system and control of the movement of a slot vehicle, according to claim 1, characterized in that said manual traction (16) and tilt actuators (17) comprise potentiometers, with what the actuators manuals are potentiometric actuators.

4. Management system and control of the movement of a slot vehicle, according to claim 1, characterized in that the command (1) comprises an analog to digital converter (91), for the conversion to digital of the signals from traction (16) and tilt actuators (17).

5. Management system and control of the movement of a slot vehicle, according to claim 4, characterized in that the command (1) comprises a non-volatile memory (92) implemented with scaling tables for the generated digital signal, and means of scaling of said analog signal.

6. Management system and control of the movement of a slot vehicle, according to claim 1, characterized in that the controller (9) of the command (1) sends to the vehicle (2), iteratively: during a first period of time predetermined, a power supply signal (Se) to the vehicle (2) through the track (4), during which the vehicle is electrically powered with constant voltage electric power, coming from the power supply (5); and for a second predetermined period of time, frames of control commands, which include the control signal (Sc) for the engines of the vehicle (2).

7. Management system and control of the movement of a slot vehicle, according to claim 6, characterized in that said control command frames comprise a first block of synchronization and control bits, a second block with bits of command data of The speed of the first engine, and a third block with command data bits of the second engine.

8. Management system and control of the movement of a slot vehicle, according to claim 7, characterized in that it also comprises a fourth block of bits with CRC data (cyclic redundancy control) to discard invalid frames.

9.- System of management and control of the movement of a slot vehicle, according to Ia claim 6, characterized in that the first period of feeding time is 48 ms, and the second period of sending control command frames is 2 ms.

10.- System for managing and controlling the movement of a slot vehicle, according to claim 1, characterized in that it comprises means for connecting the control (1) with a computer (3), which incorporate software for custom system configuration.

1 1. Management system and control of the movement of a slot vehicle, according to claim 1, characterized in that said connection means comprise a USB port (14).

12. Management system and control of the movement of a slot vehicle, according to claim 1, characterized in that said connection means comprise a communications management system, such as for example a series-parallel asynchronous system type UART (15).

13. Management system and control of the movement of a slot vehicle, according to claim 1, characterized in that said custom configuration is stored in the memory (92) of the command.

14.- System for managing and controlling the movement of a slot vehicle, according to claim 1, characterized in that the vehicle (2) is a motorcycle.