Control system for driving and steering driverless transport devices

• US 4,800,977 A
• Filed: 08/24/1987
• Issued: 01/31/1989
• Est. Priority Date: 08/10/1984
• Status: Expired due to Fees

• Current Assignee: Digitron AG
• Original Assignee: Jd-Technologie AG
• Inventors: Buser, Jorg, Boegli, Peter
• Primary Examiner(s): Mitchell, David M.
• Assistant Examiner(s): Diederiks, Jr., Everett G.
• Application Number:
  US07/088,598
• Time in Patent Office: 526 Days
• Field of Search: 180/168, 180/167, 180/6.2, 180/6.48, 180/6.5, 180/6.44, 180/131, 180/79.1, 318/587, 318/625, 318/310, 318/329, 364/436, 364/444, 364/445, 364/447, 364/424
• US Class Current: 180/168
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility
• CPC Class Codes: Y10S 388/91 Operational/differential amplifier

Abstract

Each transport device contains at least two drive wheels which are driven at individual speeds V_A and V_B and which are pivotable by related steering angles α and β. Identical servo-drive units are associated with the drive wheels and their mode of operation and mutual coupling is adapted by switch devices to the steering angles α and β such that the required speed adjustment must not be computed in accordance with the relationship V_B =(cosα/cosβ). V_A but the speed is automatically adjusted through the entire steering angle range of -90° to +90°. At α=β=0° the leading servo-drive unit is rigidly guided by its speed regulation loop as a MASTER servo-drive unit and its armature current is supplied as a reference magnitude to the armature current regulation loop of the trailing servo-drive unit which is operated as a SLAVE servo-drive unit. At α=β=±90° the two servo-drive units operate as independent MASTER servo-drive units and their speed regulation loops receive related reference speed signals from related microcomputers. Throughout the steering angle range of -90° to +90° the MASTER/SLAVE configuration and the MASTER/MASTER configuration are selectively used depending on the operating conditions and the travel durations. The optimum adaption of the servo-drive units to the steering angles and the limitation of the speed to the maximum speed which corresponds to optimum efficiency, insure precise track guidance, improved maneuverability and minimum current consumption.

Claims

1. A control system for driving and steering a driverless transport device, comprising:

at least two drive wheels;

a predetermined number of free-wheeling support wheels;

each one of said at least two drive wheels being provided with a substantially vertically extending steering axle and being pivotable by predetermined steering angles through means of said steering axle;

a predetermined one of said at least two drive wheels being freely controllable with respect to its drive speed;

said at least two drive wheels being provided with essentially identical servo-drive units;

each said servo-drive unit comprising a d.c.-electromotor, a speed regulation loop, an armature current regulation loop and a switch device;

each said servo-drive unit assuming a preselectable configuration and mode of operation;

said switch device adapting said configuration and said mode of operation of its associated servo-drive unit to predetermined values of said steering angle of its associated one of said at least two drive wheels;

said at least two drive wheels comprising a leading drive wheel and a predetermined number of trailing drive wheels;

said switch devices associated with the related servo-drive units of said leading drive wheel and of said trailing drive wheels, adapting said configuration and mode of operation of their associated servo-drive units such that a MASTER/SLAVE configuration is formed which constitutes an optimum configuration at predetermined values of said steering angles of said leading and trailing drive wheels;

said servo-drive unit operatively associated with said leading drive wheel, in said MASTER/SLAVE configuration, constituting a leading MASTER servo-drive unit and being operated in the manner of a motor-driving speed regulation loop;

said leading MASTER servo-drive unit generating an armature current;

said servo-drive units operatively associated with said predetermined number of trailing drive wheels, in said MASTER/SLAVE configuration, constituting a predetermined number of trailing SLAVE servo-drive units each of which is operated in the manner of a motor-driving armature current regulation loop and to each of which said armature current generated by said leading MASTER servo-drive unit is coupled as a reference current;

means for generating a reference speed signal and feeding said reference speed signal to said leading MASTER servo-drive unit; and

said reference speed signal being controlled by said steering angles such that at least one of said predetermined number of trailing SLAVE servo-drive units assumes a predetermined drive speed which is smaller than or equal to a maximum value of the drive speed.

2. The control system as defined in claim 1, wherein:

said predetermined angles each have a value of about 0°

.

3. The control system as defined in claim 1, further including:

a drive module associated with said leading drive wheel and containing a microcomputer;

a predetermined number of angle transmitters each of which is associated with a related one of said predetermined number of trailing SLAVE servo-drive units;

data lines interconnecting said predetermined number of angle transmitters and said microcomputer of said drive module associated with said leading drive wheels;

said microcomputer constituting said means for generating said reference speed signal and gradually reducing said reference speed signal supplied to said leading MASTER servo-drive unit when the associated steering angle falls below a predetermined value in order to limit the drive speed of said predetermined number of trailing SLAVE servo-drive units; and

said microcomputer gradually increasing said reference speed signal supplied to said leading MASTER servo-drive unit when the non-associated steering angle, which is associated with at least one of said predetermined number of trailing drive wheels, falls below a predetermined value and is greater than said associated steering angle, in order to limit said drive speed of said predetermined number of trailing SLAVE servo-drive units.

4. The control system as defined in claim 3, further including:

means for individually determining, for each said transport device, said predetermined value of the associated steering angle and said predetermined value of the non-associated steering angle as a function of curve geometry, wheel base length, allowable deceleration and acceleration as well as speed reserve.

5. The control system as defined in claim 4, wherein:

said predetermined value of the associated steering angle and said predetermined value of the non-associated steering angle are individually determined for each said transport device by means of computer simulation.

6. The control system as defined in claim 1, wherein:

each one of said leading MASTER servo-drive unit and said trailing SLAVE servo-drive unit assuming a drive speed adapted to a maximum drive speed corresponding to essentially optimum efficiency;

at least one of said drive speeds assuming a value which is at least equal to said maximum drive speed; and

each one of said two drive speeds being continuously equal to or smaller than said maximum drive speed.

7. A control system for driving and steering a driverless transport device, comprising:

at least two drive wheels;

a predetermined number of free-wheeling support wheels;

each one of said at least two drive wheels being provided with a substantially vertically extending steering axle and being pivotable by predetermined steering angles through means of said steering axle;

a predetermined one of said at least two drive wheels being freely controllable with respect to its drive speed;

said at least two drive wheels being provided with essentially identical servo-drive units;

each said servo-drive unit comprising a d.c.-electromotor, a speed regulation loop, an armature current regulation loop and a switch device;

each said servo-drive unit assuming a preselectable configuration and mode of operation;

said switch device adapting said configuration and said mode of operation of its associated servo-drive unit to predetermined values of said steering angle of its associated one of said at least two drive wheels;

said switch devices associated with the related servo-drive units of said at least two drive wheels, adapting said configuration and mode of operation of their associated servo-drive units such that a MASTER/MASTER configuration is formed which constitutes an optimum configuration at predetermined values of about ±

90°

for said steering angles of said at least two drive wheels;

each said MASTER servo-drive unit operatively associated with one of said at least two drive wheels constituting a motor-driving speed regulation loop; and

said MASTER servo-drive units being operated independently of each other.

8. The control system as defined in claim 7, wherein:

each one of said MASTER servo-drive units assuming a drive speed adapted to a maximum drive speed corresponding essentially to optimum efficiency;

at least one of said drive speeds assuming a value which is at least equal to said maximum drive speed; and

each one of said two drive speeds being continuously equal to or smaller than said maximum drive speed.

9. A control system for driving and steering a driverless transport device, comprising:

at least two drive wheels;

a predetermined number of free-wheeling support wheels;

each one of said at least two drive wheels being provided with a substantially vertically extending steering axle and being pivotable by predetermined steering angles through means of said steering axle;

a predetermined one of said at least two drive wheels being freely controllable with respect to its drive speed;

said at least two drive wheels being provided with essentially identical servo-drive units;

each said servo-drive unit comprising a d.c.-electromotor, a speed regulation loop, an armature current regulation loop and a switch device;

each said servo-drive unit assuming a preselectable configuration and mode of operation;

said switch device adapting said configuration and said mode of operation of its associated servo-drive unit to predetermined values of said steering angle of its associated one of said at least two drive wheels;

a predetermined number of drive modules each of which contains a related one of said servo-drive units;

each said drive module comprising a microcomputer;

said microcomputer generating a reference speed signal;

each said speed regulation loop being operatively associated with a related one of said predetermined number of drive modules;

each said speed regulation loop containing a pulse rate digital converter and being closed by means of a speed regulator; and

data lines interconnecting each said microcomputer and said speed regulator of said speed regulation loop operatively associated with the related drive module and supplying said reference speed signal to said speed regulator.

10. The control system as defined in claim 9, wherein:

said reference speed signal is supplied by said microcomputer in parallel form and via said data lines to said speed regulator.

11. The control system as defined in claim 9, wherein:

said speed reference signal is serially supplied by said microcomputer via said data lines to said speed regulator.

12. A control system for driving and steering a driverless transport device, comprising:

at least two drive wheels;

a predetermined number of free-wheeling support wheels;

each one of said at least two drive wheels being provided with a substantially vertically extending steering axle and being pivotable by predetermined steering angles through means of said steering axle;

a predetermined one of said at least two drive wheels being freely controllable with respect to its drive speed;

said at least two drive wheels being provided with essentially identical servo-drive units;

each said servo-drive unit comprising a d.c.-electromotor, a speed regulation loop, an armature current regulation loop and a switch device;

each said servo-drive unit assuming a preselectable configuration and mode of operation;

said switch device adapting said configuration and said mode of operation of its associated servo-drive unit to predetermined values of said steering angle of its associated one of said at least two drive wheels;

said at least two drive wheels constituting only two drive wheels;

each said steering angle of said two drive wheels assuming a steering angle range of -90°

to +90°

inclusive of the steering angles -90° and

+90°

; and

said two servo-drive units operatively associated with said two drive wheels, depending on the operating conditions and the travel duration of the associated transport device, selectively assuming either one of a MASTER/SLAVE configuration wherein the MASTER servo-drive unit is associated with the leading one of said two drive wheels and the SLAVE servo-drive unit is associated with the trailing one of said two drive wheels, or a MASTER/MASTER configuration wherein each said servo-drive unit operates independently of the other.