JPS6378205A - Prevention device for idling of automatically guided vehicle - Google Patents
Prevention device for idling of automatically guided vehicleInfo
- Publication number
- JPS6378205A JPS6378205A JP61224029A JP22402986A JPS6378205A JP S6378205 A JPS6378205 A JP S6378205A JP 61224029 A JP61224029 A JP 61224029A JP 22402986 A JP22402986 A JP 22402986A JP S6378205 A JPS6378205 A JP S6378205A
- Authority
- JP
- Japan
- Prior art keywords
- speed command
- current
- adhesion
- idling
- drive wheel
- 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.)
- Pending
Links
- 230000002265 prevention Effects 0.000 title claims description 6
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 238000011084 recovery Methods 0.000 claims description 18
- 239000000853 adhesive Substances 0.000 claims description 13
- 230000001070 adhesive effect Effects 0.000 claims description 13
- 238000010586 diagram Methods 0.000 description 7
- 230000007423 decrease Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 210000000481 breast Anatomy 0.000 description 1
- 210000004709 eyebrow Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Landscapes
- Platform Screen Doors And Railroad Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】 産業上の利用分野 本発明は無人搬送車の空転防止装置に関する。[Detailed description of the invention] Industrial applications The present invention relates to an idling prevention device for an automatic guided vehicle.
特に、空転しやすい走行面での無人搬送車の高速かつ安
定した走行を可能にした無人搬送車の空転防止装置に関
するものである。In particular, the present invention relates to an idling prevention device for an automatic guided vehicle that enables the automatic guided vehicle to run at high speed and stably on a running surface that is prone to idling.
従来技術及び発明が解決しようとする問題点従来、この
種の装置として第２図に示されるような装置が知られて
い、る。即ち、第２図において１は駆動輪、２はギヤボ
ックス、３は駆動モータ、４は速度検出器、５は電流検
出器、６は電流増幅器５７は速度増幅器、８は速度指令
部、９は走行面をそれぞれ示す。Prior Art and Problems to be Solved by the Invention Conventionally, a device as shown in FIG. 2 has been known as this type of device. That is, in FIG. 2, 1 is a drive wheel, 2 is a gear box, 3 is a drive motor, 4 is a speed detector, 5 is a current detector, 6 is a current amplifier 57 is a speed amplifier, 8 is a speed command section, and 9 is a Each running surface is shown.
このような従来装置では、速度指令部８からの駆動モー
タ速度指令値■により駆動輪１を駆動し、速度検出器４
で検出された駆動モータ速度値Ｖと電流検出器５で検出
された駆動モータ電流値くすなわち、負荷電流）ｉを制
御系にフィードバックして駆動輪１の速度を制御してい
る。第２１”ｉｌで■は駆動モータ電流指令値を示す。In such a conventional device, the drive wheel 1 is driven by the drive motor speed command value ■ from the speed command section 8, and the speed detector 4
The drive motor speed value V detected by the drive motor speed value V and the drive motor current value (ie, load current) i detected by the current detector 5 are fed back to the control system to control the speed of the drive wheel 1. In the 21st il, ■ indicates the drive motor current command value.
しかし、無人搬送車の駆動輪が空転しやすい走行面（例
えば、油脂で汚損さている等）において空転が発生する
と搬送車に横振れや脱線が発生し安全運転ができずその
結果、積載高が破損したり、運行効率が低下する等の問
題があり、このような走行面においても空転せずに安定
走行をする無人搬送車が望まれていた。However, if the drive wheels of an automated guided vehicle spin on a running surface that is prone to slipping (for example, if it is contaminated with oil or fat), the guided vehicle may sway or derail, making safe driving impossible. There are problems such as damage and reduced operating efficiency, and there has been a desire for an automatic guided vehicle that can run stably without idling even in such driving conditions.
また、従来このような不都合を解決するために駆動輪の
タイヤ材質や溝形状を変えたり、走行面の清掃や砂まき
等が行なわていた。Conventionally, in order to solve these problems, the tire material and groove shape of the driving wheels have been changed, and the running surface has been cleaned or sanded.
しかし、このような方法には（１）トルク発生源である
駆動モータの制御が行われていないので一度空転が発生
すると回復が困難となり無人搬送車が脱線しオペレータ
の介入が必要となり、（２）空転が発生しない領域での
使用が前提であり、高い走行速度が得られず、しかも（
３）特殊なタイヤや走行面の管理が必要となりコスｌ−
が高くなる等の欠点がイｆる。However, in this method, (1) the drive motor, which is the source of torque generation, is not controlled, so once idling occurs, it is difficult to recover, the automatic guided vehicle derails, and operator intervention is required, and (2) ) It is assumed that it is used in an area where idling does not occur, high running speeds cannot be obtained, and (
3) Requires special tires and running surface management, resulting in cost l-
There are disadvantages such as high cost.
問題点を解決するための手段
本発明はこの点を改良するもので、空転しやすい走行面
においても無人搬送車が高速かつ安定した走行を行うこ
とができる無人搬送車の空転防止装置を提供することを
目的とする。Means for Solving the Problems The present invention improves on this point, and provides a slip prevention device for an automatic guided vehicle that allows the automated guided vehicle to run at high speed and stably even on a running surface that is prone to slipping. The purpose is to
本発明は、駆動輪と走行面との粘着係数が駆動輪の速度
が低いほど高くなることに着目したもので、搬送車速度
指令値とその速度指令値における駆動モータ電流値（ト
ルク）から駆動輪の粘着状態を検出し、空転検知時には
低速の粘着回復速度指令値を与えることにより、駆動輪
の粘着を自動的に回復し、粘着回復を確認したら搬送車
本来の速度指令値を与えることより、空転しやすい走行
面においても無人搬送車の高速かつ安定した走行を得ら
れるようにしたものである。The present invention focuses on the fact that the adhesive coefficient between the drive wheels and the running surface increases as the speed of the drive wheels decreases. By detecting the adhesion state of the wheels and giving a low adhesion recovery speed command value when slipping is detected, the adhesion of the driving wheels is automatically restored, and once adhesion recovery is confirmed, the original speed command value of the conveyor vehicle is given. This allows the automatic guided vehicle to run at high speed and stably even on running surfaces that are prone to slipping.
即ち、本発明は駆動モータの負荷電流を常時空転電流と
比較しこの比較値から駆動輪の空転を検出する空転検出
部と、空転検出部で空転が検出さたときには駆動モータ
の低速駆動を指示する粘着回復速度指令値を駆動モータ
にあたえ、この粘着回復速度指令値に対応する粘着電流
値と負荷電流とを比較しこの比較値から駆動輪の空転回
復を検出する粘着検出部とを設け、自動的に駆動輪の空
転を回復するように構成したことを特徴とする。That is, the present invention includes a slip detection section that constantly compares the load current of the drive motor with the slip current and detects whether the drive wheels are slipping based on this comparison value, and an instruction to drive the drive motor at low speed when the slip detection section detects slippage. an adhesion detection unit that applies an adhesion recovery speed command value to the drive motor, compares an adhesion current value corresponding to the adhesion recovery speed command value with a load current, and detects recovery of the slipping of the drive wheel from this comparison value; It is characterized by being configured to automatically recover from idle rotation of the drive wheels.
実施例 本発明の一実施例を図面に基づいて説明する。Example An embodiment of the present invention will be described based on the drawings.
第１図は本発明一実施例の要部構成図を示す、第１図に
おいて、第２図と同一の符号は第２図のものと同一のも
のをそれぞれ示す。FIG. 1 shows a block diagram of essential parts of an embodiment of the present invention. In FIG. 1, the same reference numerals as in FIG. 2 indicate the same parts as in FIG. 2, respectively.
第２図で示した従来装置と比較すると速度増幅器７の前
段に本発明の特徴とする空転時制御部１１を設けたとこ
ろに特徴がある。Compared to the conventional device shown in FIG. 2, the present invention is characterized in that an idling control section 11, which is a feature of the present invention, is provided in the preceding stage of the speed amplifier 7.
即ち、速度指令部１２からの駆動モータ速度指令値■（
以下、単に速度指令値という）、例えば高速度指令値■
１．中速度指令値■７．低速度指令値■３．粘着回復速
度指令値■０、が速度指令還折部１３に接続されている
。また、１４は空転電流メモリで上記速度指令部１２で
指示される上記各速度指令値Ｖ＋、Ｖｔ、Ｖ３にそれぞ
れ対応する空転電流値１．、Ｉ２．Ｉ、を記憶ている。That is, the drive motor speed command value from the speed command section 12 (
Hereinafter, simply referred to as speed command value), for example, high speed command value■
1. Medium speed command value ■7. Low speed command value■3. An adhesive recovery speed command value 0 is connected to the speed command return section 13. Further, reference numeral 14 denotes a idling current memory, which corresponds to idling current values 1 . , I2. I remember.
ここで、空転電流とは駆動輪に空転が発生したときの駆
動モータの電流を実験的に予め求めたもので、本実施例
では実負荷？１１流の約７０％程度の電流値である。Here, the idling current is the current of the drive motor which is experimentally determined in advance when idling occurs in the drive wheels, and in this example, it is calculated in advance from the actual load. The current value is approximately 70% of that of the 11 current.
この空転電流メモリ１４の内容は空転電流メモリ１５を
介して空転検出部１６に接続されている。The contents of this idle current memory 14 are connected to an idle detecting section 16 via an idle current memory 15.
また、１７は粘着電流メモリで速度指令部１２で指示さ
れる上記粘着回復速度指令値■イに対応する粘着電流値
■、を記憶している。Further, 17 is an adhesion current memory which stores an adhesion current value (2) corresponding to the above-mentioned adhesion recovery speed command value (2) (a) instructed by the speed command unit 12.
ここで、粘着電流とは駆動輪に空転が発生し低速運行に
より駆動輪の粘着が回復し駆動モータの負荷電流が増加
する途中の点の電流値を実験的に予め求めたものである
。Here, the adhesion current is a current value experimentally determined in advance at a point in the middle when the drive wheels idle, the adhesion of the drive wheels is recovered by low-speed operation, and the load current of the drive motor increases.
この粘着電流メモリ１７の内容は粘着検出部１８に接続
されている。また、電流検出器５のく即ち、駆動モータ
の負荷Ｔ、流）は上記空転検出部１６および粘着検出部
１８にそれぞれ接続されている。上記空転検出部１６の
出力はアンド回路２０に接続されている。また、上記粘
着検出部１８の出力はアンド回路２１に接続されている
。The contents of this adhesive current memory 17 are connected to an adhesive detection section 18. Further, the current detector 5 (that is, the drive motor load T, current) is connected to the idling detection section 16 and the adhesion detection section 18, respectively. The output of the slip detection section 16 is connected to an AND circuit 20. Further, the output of the adhesion detection section 18 is connected to an AND circuit 21.
上記アンド回路２０の出力は速度指令制御部２２のセッ
ト端子に接続され、上記アンド回路２１の出力は速度指
令制御部２２のリセット端子に接続されている。この速
度指令制御部２２のリセット 。The output of the AND circuit 20 is connected to a set terminal of the speed command control section 22, and the output of the AND circuit 21 is connected to a reset terminal of the speed command control section 22. This speed command control section 22 is reset.
端子は上記アンド回路２０の他の入力端子に接続され、
速度指令制御部２２のセット端子は上記アンド回路２１
の他の入力端子に接続されている。The terminal is connected to another input terminal of the AND circuit 20,
The set terminal of the speed command control section 22 is the AND circuit 21
connected to other input terminals.
また、上記速度指令制御部２２のセット端子の内容は上
記速度指令選択部１３への制御信号として上記速度指令
選択部１３に接続されている。Further, the contents of the set terminal of the speed command control section 22 are connected to the speed command selection section 13 as a control signal to the speed command selection section 13.
第３図は本発明の特徴である空転時制御部１１内の空転
検出部１６および粘着検出部１８で駆動輪１の空転を検
出しまた駆動輪１の空転回復を検出する動作の説明図で
ある。FIG. 3 is an explanatory diagram of the operation of detecting idling of the drive wheel 1 and detecting recovery of the idling of the drive wheel 1 by the idling detection unit 16 and adhesion detection unit 18 in the idling control unit 11, which is a feature of the present invention. be.
第４図は本発明の一実施例の動作波形図で、（ａ）は速
度指令部１２、（ｂ）は速度検出器４、（ｃ）は電流検
出器５の出力波形をそれぞれ示す。FIG. 4 is an operational waveform diagram of an embodiment of the present invention, in which (a) shows the output waveforms of the speed command section 12, (b) shows the output waveforms of the speed detector 4, and (c) shows the output waveforms of the current detector 5, respectively.
第５図は上記波形に基づく本発明−実施の動作タイムチ
ャートを示す。FIG. 5 shows an operation time chart of the present invention-implementation based on the above waveforms.
作 用 このように構成した本発明の特徴ある動作を説明する。For production The characteristic operation of the present invention configured as described above will be explained.
まず、第３図により空転検出部１６と粘着検出部１８に
よる駆動輪１の空転あるいは空転回復検出動作を説明す
る。速度指令部１２から速度指令値■が速度指令選択部
１３を介して駆動モータ３に与えられ、駆動輪１はこの
速度指令値Ｖに対応した指令回転数Ｎａ、負荷トルクＴ
ａ、駆動モータ電流値ｉａ（以下、単に負荷電流という
）で走行している（第３図、動作点ａ、ｂ）、搬送車の
駆動輪１に空転が発生すると、走行面つと駆動ｆＡ１と
の間の摩擦係数（粘着係数）が低下するので駆動モータ
３の負荷トルクがＴａ−ΔＴに低下する。First, the operation of detecting the slip or slip recovery of the drive wheel 1 by the slip detecting section 16 and the adhesion detecting section 18 will be explained with reference to FIG. A speed command value ■ is given from the speed command section 12 to the drive motor 3 via the speed command selection section 13, and the drive wheel 1 receives the command rotation speed Na and load torque T corresponding to this speed command value V.
a. When the transport vehicle is running at a drive motor current value ia (hereinafter simply referred to as load current) (Fig. 3, operating points a and b), when the drive wheels 1 of the conveyance vehicle slip, the running surface and the drive fA1 Since the coefficient of friction (coefficient of adhesion) between the two ends decreases, the load torque of the drive motor 3 decreases to Ta-ΔT.
この状態で駆動モータ３は指令回転数Ｎ：１で回転する
ように速度制御されているんので負荷電流ｉａはｉａ−
Δｉに低下して第３図の動作点す。In this state, the speed of the drive motor 3 is controlled so that it rotates at the commanded rotation speed N:1, so the load current ia is ia-
Δi decreases to the operating point in FIG.
ｄで走行することになる。It will run at d.
したがって、駆動モータ３の負荷電流ｉを検出して負荷
電流ｉが各速度指令値（Ｖｌ、 Ｖ２． Ｖ３）に対応
する空転電流値（Ｉ ｌ＋ Ｉ ２＋ Ｉ ））よ
りも小さくなれば空転状態が空転検出部１６で検出され
る。また、負荷電流ｉが粘着電流値■。よりも大きくな
れば空転解消（粘着状態回復）が粘着検出部１８で検出
される６
第２図及び第５図を参照して、いま速度指令１２から高
速度指令値■１が出力されているとすると空転検出部１
６には空転電流メモリ１４及び空転電流選択部１５によ
り高速度指令値■１に対応する空転電流値■１が入力さ
れている。また、粘着電流メモリ１７には粘着回復速度
指令値Ｖ０に対応する粘着電流値■。が記憶されこの粘
着電流１．が粘着検出部１８に入力されている。Therefore, if the load current i of the drive motor 3 is detected and the load current i becomes smaller than the idling current value (I l+ I 2+ I ) corresponding to each speed command value (Vl, V2, V3), the idling state is detected. It is detected by the idling detection section 16. Also, the load current i is the adhesive current value ■. If the value becomes larger than , then the slipping is eliminated (adhesion state recovery) is detected by the adhesion detection unit 18.6 Referring to FIGS. 2 and 5, the high speed command value ■1 is now output from the speed command 12. Then, the idle rotation detection part 1
The idle current value ■1 corresponding to the high speed command value ■1 is inputted to 6 by the idle current memory 14 and the idle current selection unit 15. The adhesive current memory 17 also stores an adhesive current value ■ corresponding to the adhesive recovery speed command value V0. is memorized and this adhesive current 1. is input to the adhesion detection section 18.
この状！ぶで、駆動輪１に空転が発生すると（第５図、
Ｐ点）駆動モータ３の負荷電流ｉは低下し、負荷電流ｉ
が上記空転電流値１１以下になるとく第５図、９点）空
転検出部１６が駆動輪１の空転を検出する。これにより
、空転検出部１６がアンド回Ｆ！？！２０を介して速度
指令制御部２２をセットし、速度指令制御部２２により
速度指令選択部１３が空転モードにされ速度指令部１２
がらの粘着回復速度指令値■冨が駆動モータ３に送出さ
れる。This situation! When the drive wheel 1 starts spinning (Fig. 5,
P point) The load current i of the drive motor 3 decreases, and the load current i
When the idling current value becomes less than 11, the idling detection section 16 detects the idling of the driving wheel 1 (FIG. 5, point 9). As a result, the idling detection unit 16 detects AND rotation F! ? ! The speed command control unit 22 sets the speed command selection unit 13 to the idling mode via the speed command control unit 20.
A sticky recovery speed command value ■Fu is sent to the drive motor 3.
これにより、駆動１ａ１の速度が低下され駆動輪１の走
行面９に対する粘着係数が増加し粘着を回復しく第５図
、Ｒ点）駆動モータ３の負荷電流ｉもしだいに増加し、
駆動モータ３の負荷電流ｉが粘着電流■、を上まると（
第５図、３点）、粘着検出部１８がアンド回路２１を介
して速度指令制御部２２をリセットし、速度指令制御部
２２により速度指令選択部１３が空転回復モードにされ
速度指令部１２からの高速度指令値■１が再び駆動モー
タ３に送出され、通常の運行動作が行われる。As a result, the speed of the drive 1a1 decreases, the adhesion coefficient of the drive wheel 1 to the running surface 9 increases, and the adhesion is restored (Fig. 5, point R). The load current i of the drive motor 3 also gradually increases.
When the load current i of the drive motor 3 exceeds the adhesive current ■, (
(3 points in FIG. 5), the adhesion detection section 18 resets the speed command control section 22 via the AND circuit 21, and the speed command selection section 13 is set to the idle recovery mode by the speed command control section 22. The high speed command value ■1 is again sent to the drive motor 3, and normal operation is performed.
第５図中、Ｉ、は無負′Ｒ電流と示す。In FIG. 5, I indicates a non-negative 'R current.
ここで、空転検出部１６及び粘着検出部１８にはハンチ
ングを防止するために時限要素またはヒステリシス特性
を持たせている。Here, the slip detection section 16 and the adhesion detection section 18 are provided with a time element or hysteresis characteristic in order to prevent hunting.
また、上記実施例は１輪駆動式の無人搬送車について述
べたが、複数輪駆動式の無人搬送車の場合は粘着回復速
度指令値ＶＷを複数の駆動モータに同時にあたえれば１
輪駆動方式の場合と同様に無人搬送車の空転防止回路が
実現できる。Furthermore, although the above embodiment describes a one-wheel drive type automatic guided vehicle, in the case of a multi-wheel drive type automatic guided vehicle, if the adhesion recovery speed command value VW is given to multiple drive motors at the same time,
As in the case of wheel drive systems, it is possible to realize an idling prevention circuit for automatic guided vehicles.
効 果
以上説明したように、本発明によれば駆動モータの負荷
電流と速度指令部で指示される速度指令値に対応する空
転電流とを常時監視し自動的に駆動輪の空転を検出し、
駆動輪の空転を検出したときには自動的に空転回復モー
ドで駆動モータの速度制御を行うこととした。Effects As explained above, according to the present invention, the load current of the drive motor and the idling current corresponding to the speed command value instructed by the speed command section are constantly monitored, and idling of the drive wheels is automatically detected.
When idle rotation of the drive wheels is detected, the speed of the drive motor is automatically controlled in idle recovery mode.
したがって、本発明は無人搬送車を空転しやすい走行面
で使用し空転が発生しても速やかに空転を回復すること
ができ、搬送車に横振れや脱線が生じることがなく、安
全に運行することができ、積載品を破損することもなく
、走行面でも高速で運行することができる。また、従来
装置のように特殊なタイヤや走行面の管理を必要とせず
、しかも走行通路幅を狭く出来るのでスペースもすくな
くてすむ等の優れた効果を有する。Therefore, the present invention allows an automatic guided vehicle to be used on a running surface where it is prone to idling, and even if idling occurs, the idling can be quickly recovered, and the guided vehicle does not sway or derail, allowing safe operation. This allows the vehicle to operate at high speed without damaging the cargo on board. In addition, unlike conventional devices, special tires and running surface management are not required, and the width of the running path can be narrowed, so it has excellent effects such as requiring less space.
【図面の簡単な説明】
第１図は本発明一実施例の要部回路構成図。
第２図はυＣ来装置の要部回路構成図。
第３図は本発明一実施例の空転および空転回復検出動作
の説明図。
第４図ａ、ｂ、ｃは本発明一実施例の動作波形図。
第５図は本発明一実施例の動作タイムチャート。
１１・・・ 空転時制御部
８．１２・・速度指令部
１３・・・ 速度指令選択部
１４・・・ 空転電流メモリ
１６・・・ 空転検出部
１７・・・ 粘着電流メモリ
１８・・・ 粘着検出部
２２・・・ 速度指令制御部
（外５名）
第１図
＋３−を度行乎１群？
ｎ−ｗｅム電充メＬν
１６− ９転禮血舌Ｐ
１７−−ヱ引眉庸ぽ乳メモリ
第２図
第３図
＝４０BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing the main circuit configuration of an embodiment of the present invention. Figure 2 is a circuit diagram of the main parts of the υC device. FIG. 3 is an explanatory diagram of the idle rotation and idle recovery detection operation according to an embodiment of the present invention. FIGS. 4a, b, and c are operational waveform diagrams of an embodiment of the present invention. FIG. 5 is an operation time chart of one embodiment of the present invention. 11... Slip control section 8.12... Speed command section 13... Speed command selection section 14... Slip current memory 16... Slip detection section 17... Adhesive current memory 18... Adhesive Detection unit 22... Speed command control unit (5 people included) Figure 1 +3- to 1 group? n-we mu electric charge Lν 16- 9 turn blood tongue P 17--Ebrow eyebrows breast memory 2nd figure 3rd figure = 40
Claims (1)
令値を出力する速度指令部と、 前記駆動モータの負荷電流を検出する電流検出器とを備
えた無人搬送車において、 前記速度指令部から出力される前記速度指令値に対応す
る空転電流値を記憶する第１のメモリと、前記速度指令
部から出力される粘着回復速度指令値に対応する粘着電
流値を記憶する第２のメモリと、 前記電流検出器の出力と前記第１のメモリの内容とに基
づいて前記駆動輪の空転を検出する空転検出部と、 前記電流検出器の出力と前記第２のメモリの内容とに基
づいて前記駆動輪の空転回復を検出する粘着検出部と、 前記空転検出部と前記粘着検出部との出力に基づいて前
記速度指令部から前記駆動モータへ出力される速度指令
値を切換・選択する速度指令選択部とを備えたことを特
徴とする無人搬送車の空転防止装置。(1) A drive wheel, a drive motor that drives the drive wheel, a speed command unit that outputs a speed command value to the drive motor to rotate the drive wheel, and a current that detects a load current of the drive motor. an automatic guided vehicle comprising: a first memory storing a slipping current value corresponding to the speed command value output from the speed command section; and an adhesive recovery speed command output from the speed command section. a second memory that stores an adhesion current value corresponding to the current value; a slip detection section that detects slip of the drive wheel based on the output of the current detector and the contents of the first memory; and the current detection section. an adhesion detection section that detects recovery of slippage of the drive wheel based on the output of the device and the contents of the second memory; An idling prevention device for an automatic guided vehicle, comprising a speed command selection section that switches and selects a speed command value to be output to a drive motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61224029A JPS6378205A (en) | 1986-09-22 | 1986-09-22 | Prevention device for idling of automatically guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61224029A JPS6378205A (en) | 1986-09-22 | 1986-09-22 | Prevention device for idling of automatically guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6378205A true JPS6378205A (en) | 1988-04-08 |
Family
ID=16807473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61224029A Pending JPS6378205A (en) | 1986-09-22 | 1986-09-22 | Prevention device for idling of automatically guided vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6378205A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014021362A1 (en) * | 2012-08-02 | 2014-02-06 | 日産自動車株式会社 | Error detection system for unpiloted conveyance vehicles |
-
1986
- 1986-09-22 JP JP61224029A patent/JPS6378205A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014021362A1 (en) * | 2012-08-02 | 2014-02-06 | 日産自動車株式会社 | Error detection system for unpiloted conveyance vehicles |
| CN104583889A (en) * | 2012-08-02 | 2015-04-29 | 日产自动车株式会社 | Error detection system for unpiloted conveyance vehicles |
| JP5871071B2 (en) * | 2012-08-02 | 2016-03-01 | 日産自動車株式会社 | Abnormality detection system for automated guided vehicles |
| US9346370B2 (en) | 2012-08-02 | 2016-05-24 | Nissan Motor Co., Ltd. | Abnormality detecting system for automated guided vehicle |
| JPWO2014021362A1 (en) * | 2012-08-02 | 2016-07-21 | 日産自動車株式会社 | Abnormality detection system for automated guided vehicles |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2752539B2 (en) | Control device for vehicle electric motor | |
| CN101801712B (en) | Controller for electric vehicle | |
| JP3323899B2 (en) | Electric car control device | |
| US4463289A (en) | Wheel slip control using differential signal | |
| JPH08500720A (en) | Slip control method and device | |
| US4658189A (en) | Series connected series motors for independent loads | |
| JP3305612B2 (en) | Electric vehicle control device | |
| JPS6378205A (en) | Prevention device for idling of automatically guided vehicle | |
| JP3129063B2 (en) | Control device for induction motor electric vehicle | |
| JPS61161905A (en) | Series connected series motor for independent load | |
| KR100243977B1 (en) | Driving control apparatus of a motor drived vehicle | |
| JPH0884405A (en) | Control device for electric rolling stock | |
| JP2835055B2 (en) | Electric car control device | |
| JP3104808B2 (en) | Electric car control device | |
| JPH0246104A (en) | Controller for electric vehicle | |
| JPH0469002A (en) | Control method for inverter electric vehicle | |
| JPS61227603A (en) | Controller for electric railcar | |
| CN115716414A (en) | Rail vehicle wheel vector synchronous control method and system | |
| JP3591118B2 (en) | Drive control device for electric vehicles | |
| SU1659253A1 (en) | Traction electric drive | |
| JPH03230703A (en) | Electric vehicle controller | |
| JPH06217407A (en) | Controller for electric vehicle | |
| GB1590441A (en) | Electric motor circuits | |
| JP2000059911A (en) | Controller for electric rolling stock | |
| JP2574893B2 (en) | AC electric vehicle control device |