JPH0232704A - Vehicle speed controller - Google Patents
Vehicle speed controllerInfo
- Publication number
- JPH0232704A JPH0232704A JP63181306A JP18130688A JPH0232704A JP H0232704 A JPH0232704 A JP H0232704A JP 63181306 A JP63181306 A JP 63181306A JP 18130688 A JP18130688 A JP 18130688A JP H0232704 A JPH0232704 A JP H0232704A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- circuit
- signal
- vehicle body
- wheels
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の目的〕
（産業上の利用分野）
本発明は車両速度制御装置に係り、特に工場、物流機関
に使用される自動運転型の車両速度制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a vehicle speed control device, and more particularly to an automatic driving type vehicle speed control device used in factories and logistics institutions.
（従来の技術）
車両、特に産業用車両は、工場や物流機関において倉庫
から部品を組立て現場にあるいは組立て現場から製品を
輸送場所等に輸送するために使われるものである。この
ためこの車両は、予め決められた場所を正確に所定速度
で走行する必要がある。このような車両における速度制
御装置としては第２図に示すような装置が使用されてい
る。(Prior Art) Vehicles, particularly industrial vehicles, are used in factories and logistics facilities to transport parts from warehouses to assembly sites, or from assembly sites to products to transportation locations. For this reason, this vehicle needs to travel in a predetermined location accurately at a predetermined speed. As a speed control device for such a vehicle, a device as shown in FIG. 2 is used.
地面等にレール１０を敷設し、このレール１０の上面に
車輪１１ａ、ｌｌｂを有する車両本体１２を走行自在に
配置する。しかしてこの車両本体１２には図示しない電
源により付勢される電動機１３を設け、これを減速歯車
１４を介して前記車輪１１ａを駆動するよう゛にしてい
る。この車輪１１ａは一般に動輪と言われているもので
ある。A rail 10 is laid on the ground or the like, and a vehicle main body 12 having wheels 11a and llb is arranged on the upper surface of the rail 10 so as to be freely runnable. The lever body 12 of the vehicle is provided with an electric motor 13 energized by a power source (not shown), which drives the wheels 11a via a reduction gear 14. This wheel 11a is generally called a driving wheel.
この車両本体１２には適宜な支持具１５を取付け、これ
に前記レール１０の上面を走行する運輸１６を設ける。A suitable support 15 is attached to this vehicle body 12, and a transport 16 that runs on the upper surface of the rail 10 is provided thereon.
このようなものにおいてこの車両本体１２の速度を検出
するするために前記運輸１６に速度検出器１７を設ける
。この速度検出器１７は運輸１６の回転速度をパルス信
号として取出し、この信号を走行速度に変換する速度演
算回路１８に与える。この速度演算回路１８で変換され
た速度信号は速度比較器１９に加えられる。この速度比
較器１９では速度設定器２０の速度設定値を受け、前記
速度信号と比較し、速度信号が速度設定値を越えたとき
過速度信号を制御開路２１に出力し、前記車両本体１２
の速度が速度設定器２０で設定（、た速度になるように
電動機１３を１制御し、車両本体１２を所定の速度で運
転するようにしたものである。In such a vehicle, a speed detector 17 is provided in the transport 16 to detect the speed of the vehicle body 12. This speed detector 17 extracts the rotational speed of the transport 16 as a pulse signal and supplies this signal to a speed calculation circuit 18 which converts it into a running speed. The speed signal converted by this speed calculation circuit 18 is applied to a speed comparator 19. This speed comparator 19 receives the speed set value of the speed setter 20 and compares it with the speed signal, and when the speed signal exceeds the speed set value, outputs an overspeed signal to the control circuit 21, and outputs an overspeed signal to the control circuit 21.
The electric motor 13 is controlled so that the speed becomes the speed set by the speed setting device 20, and the vehicle body 12 is driven at a predetermined speed.
（発明が解決しようとする課題）
このような方法で車両本体１２の速度を検出すればほぼ
正確に検出でき、かつ車両本体１２を希望の速度に制御
できる。しかし何らかの原因で動輪１１ａがレール１０
との間で空転成は滑走を生じた場合には、動輪１１ａに
加えられる回転速度と運輸１６から検出される回転速度
に誤差を生じる。例えば動輪１１ａの空転の場合には運
輸１６では動輪１１ａに加えた回転速度より低い速度を
検出するため、制御回路２１では電動機１３を高速にす
るように制御する。この状態で空転は助長され解除され
ることはない。また動輪１１ａが滑走を起こした場合に
は、運輸１６では動輪１１ａに加えた回転速度より速い
速度を検出するため、制御回路２１では電動機１３を低
速にするよう更に制動力を加える。そのため滑走状態が
解除されることはなく、何れにしても円滑な走行が不能
となる欠点がある。(Problems to be Solved by the Invention) If the speed of the vehicle body 12 is detected by such a method, it can be detected almost accurately and the vehicle body 12 can be controlled to a desired speed. However, for some reason, the driving wheel 11a is connected to the rail 10.
If slippage occurs between the wheels 11a and 16, an error will occur between the rotational speed applied to the driving wheels 11a and the rotational speed detected from the transport 16. For example, when the driving wheels 11a are idling, the transportation 16 detects a rotational speed lower than the rotational speed applied to the driving wheels 11a, so the control circuit 21 controls the electric motor 13 to increase the speed. In this state, idling is encouraged and will not be released. Furthermore, if the driving wheel 11a slips, the control circuit 21 further applies a braking force to the electric motor 13 to slow it down, since the transportation 16 detects a rotational speed higher than the rotational speed applied to the driving wheel 11a. Therefore, the sliding state is never released, and in any case, there is a drawback that smooth running is impossible.
本発明は、上記欠点を除去するために車輪に空転成は滑
走を生じても車両本体を速度設定装置の設定速度より高
速運転しないようにすることを目的とするものである。SUMMARY OF THE INVENTION In order to eliminate the above-mentioned drawbacks, the present invention aims to prevent the vehicle from operating at a higher speed than the speed set by the speed setting device even if the wheels slip.
Ｃ発明の構成〕
（課題を解決するための手段）
本発明は、上記目的を達成するために動輪および運輸を
備えた車両本体と、この車両本体の速度を設定する速度
設定装置と、前記車両本体の動輪の回転速度を検出し走
行速度に変換する動輪速度演算回路と、前記運輸の回転
速度を検出し走行速度に変換する運輸速度演算回路と、
この運輸速度演算回路の出力信号および動輪速度演算回
路の出力信号の夫々の信号を受け速度比較を行い出力信
号として高い方の速度を出力する高値優先回路と、この
高値優先回路の出力信号と前記速度設定装置の設定出力
信号とを受け両者を比較し、偏差を出力する比較回路と
、この比較回路の出力により前記動輪を駆動制御する制
御回路とから構成するものである。C Configuration of the Invention] (Means for Solving the Problems) In order to achieve the above object, the present invention provides a vehicle body including driving wheels and transportation, a speed setting device for setting the speed of the vehicle body, and a speed setting device for setting the speed of the vehicle body. a driving wheel speed calculation circuit that detects the rotational speed of the driving wheels of the main body and converts it into a running speed; a transportation speed calculation circuit that detects the rotational speed of the transportation and converts it into a running speed;
A high value priority circuit receives the output signal of the transportation speed calculation circuit and the output signal of the driving wheel speed calculation circuit, compares the speeds, and outputs the higher speed as an output signal; It is comprised of a comparison circuit that receives a setting output signal from a speed setting device, compares the two, and outputs a deviation, and a control circuit that drives and controls the driving wheels based on the output of this comparison circuit.
（作 用）
車両本体に電動機により駆動される動輪と適宜な支持具
に取付けな運輸を設ける。この動輪と運輸とには夫々速
度検出器を設け、この夫々の速度検出器の検出信号を速
度演算回路に加え、この速度演算回路でこの信号を夫々
走行速度信号に変換する。この速度演算回路の夫々の速
度信号は高値優先回路に送られ、この回路で前記夫々の
速度演算回路から送られた速度信号を比較し、動輪また
は運輸のいずれかの速度で速い方の速度を現在の速度と
して検出する。この現在速度信号と車両本体の速度を予
め定めた速度設定装置からの速度設定信号とが比較回路
に送られて両者が比較され、その偏差の信号を制御回路
に送り、制御装置を介して前記電動機を制御し、車両本
体を速度設定回路で決めた速度に制御する。(Function) The vehicle body is equipped with driving wheels driven by an electric motor and an appropriate support. A speed detector is provided for each of the driving wheels and the transport, and the detection signals from the respective speed detectors are applied to a speed calculation circuit, which converts the signals into respective traveling speed signals. Each speed signal from this speed calculation circuit is sent to a high value priority circuit, which compares the speed signals sent from each of the speed calculation circuits and selects the faster speed of either the driving wheels or the transportation. Detect as current speed. This current speed signal and a speed setting signal from a speed setting device that predetermines the speed of the vehicle body are sent to a comparator circuit, where they are compared, and a signal of the difference is sent to a control circuit, and the signal is sent to the control circuit via the control device. It controls the electric motor and controls the vehicle body to the speed determined by the speed setting circuit.
（実施例）
以下図面について本発明の車両速度制御装置の一実施例
を説明する。全体を３０で示す車両本体は、車輪３２ａ
、３２ｂと、適宜な支持具３１ｃに取付けた運輸３２ｃ
とを備え、レール３３の上を走行するようにされている
。この車両本体３０には制御回路により制御される電動
機３４を設け、この回転出力を減速歯車３らを介して前
記車輪（動輪）３２ａに伝達し、車両本体３０をレール
３３に沿って所定の速度で走行させる。なお、車両本体
３０には、動輪３２ａの制動装置として電動機３４によ
る発電ブレーキと車輪３２ｂの制動装置として図示しな
い機械ブレーキが備えられている。(Embodiment) An embodiment of the vehicle speed control device of the present invention will be described below with reference to the drawings. The vehicle body, which is generally designated by 30, has wheels 32a
, 32b and a transport 32c attached to a suitable support 31c.
It is configured to run on rails 33. This vehicle main body 30 is provided with an electric motor 34 controlled by a control circuit, and this rotational output is transmitted to the wheels (driving wheels) 32a via reduction gears 3 and the like, and the vehicle main body 30 is moved along the rail 33 at a predetermined speed. Run it with The vehicle main body 30 is equipped with a generated brake by an electric motor 34 as a braking device for the driving wheels 32a, and a mechanical brake (not shown) as a braking device for the wheels 32b.
この動輪３２ａと運輸３２Ｃとには直接または間接に速
度検出器３６ａと３６ｂを取付は動輪３２ａと運輸３２
ｃとの夫々の速度を検出するようにする。この速度検出
器３６ａと３６ｂの夫々の検出信号は速度演算回路３７
と３８に導かれて、速度信号に演算して変換し、これら
の信号を高値優先回路３つに与える。この高値優先回路
３９では速度演算回路３７あるいは速度演算回路３８か
ら受ける速度信号で動輪３２ａあるいは運輸３２Ｃのう
ち速度が速い方の信号を取出し、これを車両本体３０の
現在速度とする。比較回路４０にはこの現在速度信号と
・共に速度設定装置４１からの速度設定信号が入力され
、現在速度信号と速度設定信号とが比較され、その偏差
の信号を制御回路４２に送る。この制御回路４２ではこ
の信号を受け電動機３４をその速度差に基いて制御し、
減速ｆｆ１ＹＬ３５を介して動輪３２ａを駆動し、車両
本体３０を速度設定装置４１で設定した速度に制御する
。Speed detectors 36a and 36b are attached directly or indirectly to the driving wheel 32a and the transport 32C.
The respective speeds of c and c are detected. The detection signals of these speed detectors 36a and 36b are sent to a speed calculation circuit 37.
and 38, are calculated and converted into speed signals, and these signals are given to three high value priority circuits. The high value priority circuit 39 extracts the faster signal of the driving wheels 32a or the transport 32C from the speed signal received from the speed calculation circuit 37 or the speed calculation circuit 38, and uses this signal as the current speed of the vehicle body 30. The speed setting signal from the speed setting device 41 is inputted to the comparison circuit 40 along with this current speed signal, the current speed signal and the speed setting signal are compared, and a signal of the deviation is sent to the control circuit 42. The control circuit 42 receives this signal and controls the motor 34 based on the speed difference.
The driving wheels 32a are driven via the deceleration ff1YL35, and the vehicle body 30 is controlled to the speed set by the speed setting device 41.
このような車両速度制御装置において動輪３２ａとレー
ル３３との間に空転が生じた場合、速度検出器３６ａと
速度検出器３６ｂで検出する検出信号は速度演算回路３
７および３８を介して夫々速度信号に変換され高値優先
回路３９に送られるが、この高直優先回路３９では両速
度検出器３６ａと速度検出器３６ｂのうち速度の高い方
の信号即ち動輪３２ａの回転速度を選択し出力する。In such a vehicle speed control device, when slipping occurs between the driving wheels 32a and the rails 33, the detection signals detected by the speed detectors 36a and 36b are transmitted to the speed calculation circuit 3.
7 and 38 and sent to the high value priority circuit 39. In this high/direction priority circuit 39, the signal of the higher speed of the speed detector 36a and the speed detector 36b, that is, the signal of the driving wheel 32a, is converted into a speed signal and sent to the high value priority circuit 39. Select and output the rotation speed.
この速度信号は比較回路４０に加えられ、速度設定装置
４１の速度設定信号と比較され、その速度信号と速度設
定信号との偏差の信号を制御回路４２に送り、電動機３
４を制御する。このとき速度信号は速度設定信号より大
となるから両者の偏差は正となり電動機への人力は抑制
され車両本体３０は低速の走行となり空転状態から解除
され以後安全に車両本体３０を運転することができる。This speed signal is applied to a comparison circuit 40, where it is compared with the speed setting signal of the speed setting device 41, and a signal indicating the deviation between the speed signal and the speed setting signal is sent to the control circuit 42,
Control 4. At this time, the speed signal becomes larger than the speed setting signal, so the deviation between the two becomes positive, and the human power applied to the electric motor is suppressed, causing the vehicle body 30 to run at a low speed, and the idle state is released, making it possible to safely drive the vehicle body 30 from now on. can.
また動輪３２ａとレール３３との間に滑走を生じた場合
には、その速度を速度検出器３６ａと速度検出器３６１
って検出し、それらの検出信号は速度ｅＬ算回路３７お
よび３８を介して速度信号に変換され高値優先回路３９
に送られ、回転速度の高い方の信号即ち運輸３２ｃの速
度を選択出力する。In addition, when sliding occurs between the driving wheels 32a and the rail 33, the speed is detected by the speed detector 36a and the speed detector 361.
These detection signals are converted into speed signals via speed eL calculation circuits 37 and 38 and sent to a high value priority circuit 39.
The signal having the higher rotational speed, that is, the speed of the transport 32c, is selectively output.
この速度信号は比較回路４０に送られ、速度設定装置ｆ
４１から人力された速度設定信号と比較され、得られた
偏差信号を制御回路４２に送り、電動機３４を制御する
。（７かしてこの場合、速度信号は速度設定信号より大
となるから両者の偏差は正となるが、検出速度は運輸３
２ｃ側の速度検出器３６ａより得たものであるので、電
動機３４による動輪３２ａへの発電ブレーキを緩め、車
輪３２ｂへの機械ブ１）−キを作動させる。斯くして滑
走は解除され車両本体３０を速度設定装置で決められた
速度に制御することができる。This speed signal is sent to the comparison circuit 40, and the speed setting device f
The deviation signal is compared with the manually inputted speed setting signal from 41, and the obtained deviation signal is sent to the control circuit 42 to control the electric motor 34. (7) In this case, the speed signal is larger than the speed setting signal, so the deviation between the two is positive, but the detected speed is
Since the speed is obtained from the speed detector 36a on the 2c side, the electric generation brake applied to the driving wheels 32a by the electric motor 34 is loosened, and the mechanical brake 1) to the wheels 32b is activated. In this way, skidding is canceled and the vehicle body 30 can be controlled to the speed determined by the speed setting device.
このように本発明によれば車両本体に動輪と運輸を設け
、これら車輪に夫々速度検出器を取付け、この速度検出
器の高い速度を現在速度とし、この速度で車両本体を制
御するようにしたから動輪に空転や滑走が生じても電動
機を空転や滑走に応じて適宜に制御することができるの
で車両本体を安全に運転することができる。As described above, according to the present invention, the vehicle body is provided with driving wheels and transportation, a speed detector is attached to each of these wheels, and the high speed of this speed detector is set as the current speed, and the vehicle body is controlled using this speed. Even if the driving wheels slip or skid, the electric motor can be appropriately controlled in accordance with the slipping or skidding, so the vehicle body can be driven safely.
第１図は本発明単画速度制御装置の主要部を示すブロッ
ク線図、第２図は従来の車両速度制御装置の主要部を示
すブロック線図である。
３０・・・車両本体、３２ａ・・・動輪、３２ｂ・・・
車輪、３２ｃ・・・運輸、３３・・・レール、３４・・
・電動機、３６ａおよび３６ｂ・・・速度検出器、３７
・・・速度演算回路、３８・・・速度演算回路、３９・
・・高値優先回路、４０・・・比較回路、４１・・・速
度設定装置、４２・・・制御回路。
出願人代理人 佐 藤 −雄FIG. 1 is a block diagram showing the main parts of a single speed control device of the present invention, and FIG. 2 is a block diagram showing the main parts of a conventional vehicle speed control device. 30...Vehicle body, 32a...Driving wheel, 32b...
Wheel, 32c...Transportation, 33...Rail, 34...
・Electric motor, 36a and 36b...Speed detector, 37
...Speed calculation circuit, 38...Speed calculation circuit, 39.
...High value priority circuit, 40...Comparison circuit, 41...Speed setting device, 42...Control circuit. Applicant's agent Mr. Sato
Claims (1)
の速度を設定する速度設定装置と、前記車両本体の動輪
の回転速度を検出し走行速度に変換する動輪速度演算回
路と、前記遊輪の回転速度を検出し走行速度に変換する
遊輪速度演算回路と、この遊輪速度演算回路の出力信号
および動輪速度演算回路の出力信号の夫々の信号を受け
速度比較を行い出力信号として高い方の速度を出力する
高値優先回路と、この高値優先回路の出力信号と前記速
度設定装置の設定出力信号とを受け、両者を比較し、偏
差を出力する比較回路と、この比較回路の出力により前
記動輪を駆動制御する制御回路とからなる車両速度制御
装置。1. A vehicle body including driving wheels and idle wheels, a speed setting device that sets the speed of the vehicle body, a driving wheel speed calculation circuit that detects the rotational speed of the driving wheels of the vehicle body and converts it into a running speed, and An idle wheel speed calculation circuit detects the rotational speed and converts it into a traveling speed, and receives the output signal of this idle wheel speed calculation circuit and the output signal of the driving wheel speed calculation circuit, compares the speeds, and selects the higher speed as the output signal. a high value priority circuit that outputs a high value priority circuit; a comparison circuit that receives an output signal of the high value priority circuit and a setting output signal of the speed setting device, compares the two, and outputs a deviation; and a comparison circuit that drives the driving wheels by the output of the comparison circuit. A vehicle speed control device comprising a control circuit for controlling the vehicle speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63181306A JP2897023B2 (en) | 1988-07-20 | 1988-07-20 | Vehicle speed control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63181306A JP2897023B2 (en) | 1988-07-20 | 1988-07-20 | Vehicle speed control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0232704A true JPH0232704A (en) | 1990-02-02 |
| JP2897023B2 JP2897023B2 (en) | 1999-05-31 |
Family
ID=16098369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63181306A Expired - Fee Related JP2897023B2 (en) | 1988-07-20 | 1988-07-20 | Vehicle speed control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2897023B2 (en) |
-
1988
- 1988-07-20 JP JP63181306A patent/JP2897023B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JP2897023B2 (en) | 1999-05-31 |
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