JP2003199202A - Speed controller for self-driving vehicles - Google Patents

Abstract

(57) [Summary] [PROBLEMS] The speed of an automatic traveling vehicle capable of controlling traveling by appropriately selecting an armature current and a field current of a DC shunt motor in accordance with a driving mode, a state of undulation of a golf course, and the like. A control device is provided. SOLUTION: When a brake of an automatic traveling vehicle using a DC shunt motor for driving breaks down, the vehicle is operated for high torque, and when the vehicle starts on a slope, it is operated for low speed and medium torque. In operation at, the motor is operated for medium speed and medium torque, and when operated in manual driving mode, it is operated for high speed and low torque. The torque is generated by increasing the field current of the DC shunt motor, and whether the vehicle is on a slope is determined by an inclination sensor 29 installed on the vehicle. Then, the torque during operation in the automatic traveling mode is made higher than the torque during operation in the manual traveling mode.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic vehicle which travels along a guide line on a predetermined track.

[0002]

2. Description of the Related Art An electromagnetic induction type riding golf cart as shown in FIG. 5 is used as an automatic vehicle which travels along a guide line on a predetermined track. That is, a guide line is previously embedded in a cart running path in a golf course (not shown). Then, by passing a low-frequency alternating current through the induction wire, an alternating magnetic field is generated around the induction wire.

In the automatic driving mode, the AC magnetic field is detected by the two inductive sensors 10a and 10b installed in the riding golf cart. Then, the steering motor 11 is operated so that the respective induction sensors 10a, b receive an alternating magnetic field of the same strength, that is, the guidance wire is located directly below the intermediate position of the respective induction sensors 10a, b. The front wheels 12a, 12b are being steered.

The traveling speed of the riding golf cart is measured by a vehicle speed sensor 23 installed on the vehicle body, and the controller 6 controls the rotational speed of the traveling motor 9 so as to reach a target speed which will be described later. That is, the controller 6 takes the difference between the traveling speed of the riding golf cart and the target speed, and controls the motor driver 8 to reduce the difference. Then, the traveling motor 9 is rotated by the control signal from the motor driver 8, and the rotation of the traveling motor 9 is transmitted to the transmission 13
It is transmitted to the rear wheels 14a and 14b via.

There are various types of cart running roads on a golf course, such as a straight road on a flat ground, a steep uphill or downhill, and a sharp curve. Therefore, in order to ensure safety in the automatic driving mode, a method is used in which the target speed is controlled using permanent magnets as needed according to the cart traveling path. In this method, a plurality of permanent magnets are embedded in the traveling path in advance, and the embedded permanent magnets detect the pattern of whether the north pole is facing the ground or the south pole is facing. , Accelerate the vehicle,
This is a method for performing fine automatic speed control such as deceleration.

That is, when a riding golf cart passes over a plurality of permanent magnets embedded in a running path, the pattern signal of the N pole or S pole of the embedded permanent magnets causes a coil or the like attached to the riding golf cart. It is detected by the used magnet sensor 19. Then, the target speed of the riding golf cart is changed by the embedded pattern signal to decelerate or accelerate.

Conventionally, starting and stopping of a passenger golf cart have been performed by operating a start / stop switch 15 mounted on a vehicle body or a remote control by a remote controller 16 or the like. Further, even during automatic driving, the passenger golf cart can be stopped at any time by stepping on the brake pedal 17 for the purpose of preventing danger and for other reasons.

On the other hand, in a place where there is no guide wire, the driver can also operate the steering wheel 18 to operate the front tires 12a and 12b after switching the automatic / manual switching device 7 to the manual traveling mode. As shown in FIG. 4, in the manual traveling mode,
The amount of depression of the accelerator pedal 2 is detected by an accelerator depression amount measuring device 3 using a potentiometer or the like.
Then, the controller 6 rotates the traveling motor 9 via the motor driver 8 so that the traveling speed corresponds to the depression amount. The rotation of the traveling motor 9 drives the rear wheels 14a and 14b via the transmission 13 to allow the vehicle to travel at a speed desired by the driver.

As the traveling motor 9, a direct current shunt motor is generally used as the traveling motor 9 in these riding golf carts, since the control of the rotation speed, torque, and forward / reverse rotation is easy.

[0010]

However, these riding golf carts use a DC shunt motor for safety reasons and ease of use, and are operated in an automatic driving mode or a manual driving mode. Alternatively, it is preferable that the content of speed control depending on the ups and downs of the golf course can be changed at any time. In particular, in a golf course with severe undulations or a golf course in which high-speed running is required, it is necessary to appropriately select and control the armature current and field current supplied to the DC shunt motor.

The present invention has been made in view of the above-mentioned problems, and appropriately selects the armature current and the field current according to the driving mode, the undulation state of the golf course, and the like,
It controls the speed of an automatic vehicle.

[0012]

In order to solve the above-mentioned problems, a speed control device for an automatic vehicle according to the present invention comprises:
Depending on whether to drive in the automatic traveling mode or the manual traveling mode, and the undulation state of the golf course, etc., the control conditions of the rotation speed (traveling speed) and torque of the traveling motor 9 are set to the armature current and the field. The current and the current are appropriately selected and controlled.

That is, according to the first aspect of the invention, the speed control device for an automatic traveling vehicle, which switches between the automatic traveling mode and the manual traveling mode and has a DC shunt motor for driving, has a brake failure. In the case where a table operated for high torque is used, speed control is performed using a table operated for low speed / medium torque when starting on a slope. A speed control is performed by using a table operated for medium speed / medium torque during operation in the automatic travel mode, and a table operated for high speed / low torque during operation in the manual travel mode. Is.

In the third invention, the torque is generated by increasing a field current of the DC shunt winding motor. In the fourth invention, whether the road is a slope or not is set in a vehicle. The fifth aspect of the invention is characterized by making a determination by an inclination sensor, and making the torque during driving in the automatic driving mode higher than the torque during driving in the manual driving mode.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings (FIGS. 4 and 5). The electromagnetic induction riding golf cart according to the present invention has an automatic traveling mode in which the vehicle automatically travels along the above guide line, and a manual traveling in which the driver operates the accelerator pedal 2, the brake pedal 17, and the steering wheel 18. You can choose one of the modes. The mode switching is performed by operating the automatic / manual switching device 7 installed in the vehicle.

(1) Manual traveling mode The driver operates the steering wheel 18 by operating the steering wheel 18 after traveling in a place where there is no guide line and, if necessary, after switching the automatic / manual switching device 7 to the manual traveling mode. The tires 12a, 12b can be operated.

As shown in FIG. 4, in the manual traveling mode,
The amount of depression of the accelerator pedal 2 is detected by an accelerator depression amount measuring device 3 using a potentiometer or the like, and is output to a controller 6. Then, the controller 6 energizes the electromagnetic brake 20 to release the restraint of the traveling motor 9, and also rotates the traveling motor 9 via the motor driver 8 so that the number of revolutions corresponds to the accelerator depression amount. In other words, the rotation of the traveling motor 9 drives the rear wheels 14a and 14b via the transmission 13 to allow the vehicle to travel at the speed desired by the driver.

When decelerating or stopping the riding golf cart, release the foot from the accelerator pedal 2 and stop the depression. By this operation, the return spring 5 returns the accelerator pedal 2, the accelerator depression amount measuring device 3 returns to its original position, and the controller 6 sends a command to the motor driver 8 to set the rotation command of the traveling motor 9 to zero.

On the other hand, the driver actuates the hydraulic cylinder 21 by depressing the brake pedal 18, and the front wheel 12
Drum brakes 22a to 22d attached to a, b and rear wheels 12a, b, 14a, b act to brake the wheels. Vehicle speed sensor 23
When the rotation of the traveling motor 9 becomes equal to or less than a certain value, the electromagnetic brake 20 is closed by the instruction of the controller 6 and the golf cart is stopped. Therefore, the passenger golf cart does not move in this state.

(2) Automatic running mode When the passenger golf cart is started in the automatic running mode, the start / stop switch 15 is turned on after the automatic / manual switching device 7 is switched to the automatic running mode, or Alternatively, the operation is performed by turning on the remote controller 16. When the start command is sent to the controller 6, the electromagnetic brake 20 that restrains the rotation of the traveling motor 9 is energized to release the restraint.

A guide wire is embedded in advance in the traveling path of the riding golf cart. Then, by passing a low-frequency alternating current through the induction wire, an alternating magnetic field is generated around the induction wire.

In the automatic driving mode, a coil in which the alternating magnetic field is installed at the center of the front end of the riding golf cart is used.
The individual inductive sensors 10a, 10b detect as a voltage signal due to induced electromotive force, and the signal is output to the controller 6. Then, the steering motor 11 is operated so that the respective inductive sensors 10a and 10b generate the AC voltage of the same intensity, that is, the inductive wires come directly below the intermediate position of the respective inductive sensors 10a and 10b. The front wheels 12a, 12b are steered by the control so that the vehicle body does not deviate from the guide line.

The number of revolutions of the traveling motor 9 is measured by a vehicle speed sensor 23 installed on the vehicle body, and the value is fed back to the controller 6 and controlled to a target speed described later. That is, the controller 6 replaces the number of revolutions of the traveling motor 9 with the traveling speed of the riding golf cart, takes the difference between it and the target speed, and controls the motor driver 8 to reduce the difference. Then, the traveling motor 9 is controlled by a control signal from the motor driver 8, and the rotational power of the traveling motor 9 is transmitted to the rear wheels 14a, 14b via the transmission 13.

There are various types of cart running roads on a golf course, such as a straight road on a flat ground, a steep uphill or downhill, and a sharp curve. Therefore, in order to ensure safety in the automatic driving mode, a method is used in which the target speed is controlled using permanent magnets as needed according to the cart traveling path. In this method, a plurality of permanent magnets are embedded in the traveling path in advance, and the embedded permanent magnets detect the pattern of whether the north pole is facing the ground or the south pole is facing. , Accelerate the vehicle,
This is a method for performing delicate speed control such as deceleration.

That is, when the riding golf cart passes over a plurality of permanent magnets embedded in the traveling path, the pattern signal of the N pole or S pole of the embedded permanent magnets causes a coil or the like attached to the riding golf cart. It is detected by the used magnet sensor 19. Then, the target speed of the riding golf cart is changed by the pattern signal of the embedded permanent magnet to decelerate or accelerate.

In the automatic driving mode as well, for the purpose of preventing danger and other reasons, a system is used in which the passenger golf cart can be stopped at any time by stepping on the brake pedal 17.

That is, by depressing the brake pedal 17, a stop command is sent to the controller 6. Then, while braking the traveling motor 9, send an operation command to the brake motor driver 25, rotate the brake motor 26, operate the hydraulic cylinder 21 via the gear 27 to pressurize, and the drum brakes 22a to 22d to drive the wheels. Brake on.
When the rotation speed of the traveling motor 9 falls below a certain value by the vehicle speed sensor 23, the electromagnetic brake 2
0 closes and stops the golf cart.

[0028]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A speed control device for an automatic vehicle according to the present invention will be described in detail below with reference to FIGS.

1. Overview of Speed Control Device FIG. 3 is a block diagram of a speed control device for an automatic vehicle according to the present invention. While the passenger golf cart is traveling, the controller 6 outputs a speed command 31 to the motor driver 8 so as to attain the target speed. Incidentally, the target speed, in the automatic driving mode, the magnet sensor 19, the tilt sensor 29,
The vehicle speed sensor 23 determines the amount of depression of the accelerator 2 in the manual operation mode.

That is, the controller 6 outputs a speed command 31 and a table selection command 32 described later to the motor driver 8 in consideration of various input signals. Then, the current and voltage to be supplied to the armature 34 of the traveling motor 9 and the current to be supplied to the field coil 39 are determined so as to reach the target speed.

The motor driver 8 properly controls the current supplied to the armature 34 and the field coil 39 of the traveling motor 9 from the speed command 31 and the table selection command 32. That is, the current and voltage (electric power) supplied to the armature 34 according to the speed command 31 are determined by the armature current control 33 and the armature voltage control 35. The current value actually flowing in the armature 34 is measured by the armature current detection 36 and fed back to the armature current control 33 to perform PID control. The armature measured by the armature current detection 36
The current actually flowing in 34 is also output to the field current table 37 described later.

On the other hand, the field current table 37 of the motor driver 8 selects an optimum table out of the four types described later according to the table selection command 32 from the controller 6 and the value by the armature current detection 36, and Output to the magnetic current control 38. The current actually flowing in the field coil 39 is the field current detection.
The PID control is performed so that it is measured at 40 and is fed back to the field current control 38 to obtain an appropriate value.

2. Table Selection and Table Contents In the present invention, as shown in FIG. 2, the relationship between the current flowing through the armature 34 and the current flowing through the field coil 39 is shown in four types of tables (for high torque, for low speed / medium torque). , Medium-speed / medium-torque, high-speed / low-torque), and these are switched according to the situation of the golf course, the driving mode, etc. to perform the traveling control.

For example, in the case of medium speed / medium torque (FIG. 2- (c)), when the current flowing through the armature 34 is a, the current flowing through the field coil 39 is controlled to be b. It The region in which the armature current is negative indicates control in a regenerative region such as a downhill.

The controller 6 performs speed control by selecting a table as shown in the flow chart of FIG. That is, when a power supply (not shown) is turned on and the start / stop switch 15 is turned on, it is determined whether or not the start / stop switch 15 is turned off after that, and if it is turned off, the operation is stopped (ST1).

From FIG. 1, when the start / stop switch 15 is ON, it is confirmed whether or not the brakes such as the electromagnetic brake 20 and the drum brakes 22a to 22d are normal (ST2). If the brake is not normal, the table for high torque is selected (ST3, FIG. 2- (a)). When the high torque table is selected, the traveling control is performed so that the current supplied to the field coil 39 is maximized and the torque is maximized to travel slowly as described later. Therefore, even if the brake breaks down, the traveling speed can be suppressed, so that the vehicle can be prevented from running out of control.

From FIG. 1, when the brake is normal, the inclination sensor 29 is used to confirm whether or not the vehicle is starting on a slope (ST
4) In case of starting on a slope, a table for low speed / medium torque is selected (ST5, FIG. 2- (b)). Whether it is a slope or not is determined by an inclination sensor 29 installed in the vehicle. That is, in the case of starting downhill or uphill,
Since the running stability is more important than the running speed, a relatively large field current was used. In particular, the traveling control is performed in this manner because the vehicle may retreat when the torque is small on the uphill and may be rapidly accelerated on the downhill.

From FIG. 1, when the vehicle is not started on a slope,
It is determined whether it is the automatic operation mode or the manual operation mode (ST6). In the automatic operation mode, select the table for medium speed / medium torque (ST7, Fig. 2
(C)). That is, since the stability of the traveling speed is important in automatic traveling, the traveling speed becomes stable as the torque increases. Since the drive motor is a DC shunt winding motor, the torque is increased by slightly increasing the field current, and the traveling speed can be stabilized although the speed decreases. In addition, when a steep slope is generated during automatic traveling, a steep climbing force is required, and it is desirable to make the torque relatively large in advance.

On the other hand, in the case of the manual operation mode, the table for high speed / low torque is selected (ST8, FIG.
(D)). That is, it is desired that the maximum speed can be increased as much as possible by adjusting the accelerator pedal 2 for the driver to operate in the manual operation mode. In addition, in manual driving, even if there is an uphill slope, the driver can easily cope with the depression of the accelerator pedal 2.

[0040]

As described above, the automatic vehicle using the speed control device according to the present invention has an armature current and a magnetic field depending on the driving mode, the state of ups and downs of the golf course, the presence or absence of brake failure, and the like. Since it is possible to appropriately control the electric current and the traveling control, the traveling stability is excellent.

[Brief description of drawings]

FIG. 1 is a flowchart for selecting a table according to the present invention.

FIG. 2 is four types of tables showing the relationship between armature current and field current according to the present invention.

FIG. 3 is a block diagram of a speed control device for an automatic vehicle according to the present invention.

FIG. 4 is a schematic view around the accelerator device during manual traveling.

FIG. 5 is a schematic view of an electromagnetic induction type riding golf cart.

[Explanation of symbols]

1: Accelerator device, 2: Accelerator pedal, 3:
Accelerator depression amount measuring device, 4: Accelerator depression detection switch, 5: Return spring, 6: Controller, 7: Automatic /
Manual switching device, 8: motor driver, 9: traveling motor,
10a, b: Inductive sensor, 11: Steering motor, 12a, b: Front wheels, 13: Transmission, 14a, b: Rear wheels, 15: Start / stop switch, 16: Remote controller, 17: Brake pedal, 18: Steering wheel, 19: Magnet sensor, 20: Electromagnetic brake, 21: Hydraulic cylinder, 22a-d: Drum brake, 23: Vehicle speed sensor, 24: Steering motor driver, 25: Brake motor driver, 26: Brake motor, 27: Gear, 28: Battery, 29: Tilt sensor, 31: Speed command, 32: Table selection command, 3
3: Armature current control, 34: Armature, 35: Armature voltage control, 36: Armature current detection, 37: Field current table, 38: Field current control, 39: Field coil, 40: Field magnet Current detection

Claims (5)

[Claims] 1. A speed control device for an automatic vehicle that switches between an automatic traveling mode and a manual traveling mode and has a DC shunt motor for driving, which is for high torque when a brake fails. Using a table operated by
A speed control device for an automatic vehicle characterized by performing speed control using a table operated for low speed and medium torque when starting on a slope. 2. Speed control is performed using a table operated for medium speed / medium torque during operation in the automatic travel mode, and using a table operated for high speed / low torque during operation in the manual travel mode. The speed control device for an autonomous vehicle according to claim 1, wherein: 3. The speed control device for an autonomous vehicle according to claim 1, wherein the torque is generated by increasing a field current of the DC shunt winding motor. 4. The inclination sensor installed in the vehicle determines whether the road is a slope or not.
Alternatively, the speed control device for the automatic traveling vehicle according to Item 3. 5. The automatic traveling vehicle according to claim 1, wherein the torque during driving in the automatic traveling mode is higher than the torque during driving in the manual traveling mode. Speed control device.