JPH0740763B2 - Driving motion control device for self-propelled vehicle - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a traveling motion control device for a self-propelled vehicle, and in particular,
When controlling the traveling operation of a self-propelled vehicle such as an electric wheelchair, an electric transporter, etc., a traveling operation control device for a self-propelled vehicle that can selectively use both a normal hand operation and a wireless remote operation.

[Conventional technology]

In recent years, in vehicles such as wheelchairs for people with physical disabilities or transport machines in factories, motorization has been progressing with motors as drive units, and they can be moved to other places by power sources other than input, Frequently, things are transported.

By the way, most of the electric wheelchairs and the electric transporters in this case are provided with an operation unit such as an operation panel at a predetermined position thereof. Then, the operator moves the operation unit to another place together with the vehicle or carries the luggage while operating the operation unit at hand.

On the other hand, there are some wireless remote control of the vehicle. In this case, the operation unit is provided separately from the vehicle, and it is possible to perform remote control freely within a predetermined area via the transmission / reception unit. .

[Problems to be solved by the invention]

However, in the above-mentioned conventional technology, for example, in the case of a normal hand operation, after moving or carrying to a desired place, when trying to return the vehicle required for the moving or carrying until then to the original place, Since it has to be returned manually, the inconvenience of the operation and the loss of time are caused by the return, and the inconvenience that the transfer efficiency and the transfer efficiency are reduced as a whole occurs.

As an example of this inconvenience, when a physically handicapped person exits the entrance while operating a chair with an electric power factor and operating the vehicle in front of the gate, the electric wheelchair may be returned to its original position. Included in this.

On the other hand, the method of moving and transporting a vehicle by wireless communication is inevitably operated by other wireless devices because it is unavoidable to operate it through radio waves for a long time even if the operation is sufficient at hand. However, there is an inconvenience that it is easy to generate radio wave interference due to noise mixing into the.

[Object of the Invention]

The present invention improves the inconvenience of the conventional example, and in particular, when the traveling operation of the self-propelled vehicle is performed, either the operation control by the direct operation on the self-propelled vehicle or the operation control by the remote operation is performed as necessary. It is an object of the present invention to provide a traveling motion control device for a self-propelled vehicle that can be freely selected.

[Means for solving problems]

In the present invention, an operation signal setting unit 14 that sets and outputs an operation control signal such as a start command or a traveling operation control signal, and a reception unit 15 that modulates and outputs the operation control signal from the operation signal setting unit 14, and these. It has a transmission unit 4A including a transmission unit main body 4Aa for accommodating each part. Also, the transmitter 15
A receiving unit 32 that receives a signal from the demodulator and demodulates and outputs a predetermined operation control signal, a vehicle controller 44 that controls driving of a vehicle driving unit based on the output of the receiving unit 32, and these units are housed. It has a receiving unit 4B including a receiving unit body 4Ba.

Further, the transmission unit body 4Aa is detachably mounted on the reception unit 4Ba, and the transmission unit body 4A is equipped with an auxiliary power unit 16 for the transmission unit 4A.

At the contact portion between the transmitter unit body 4Aa and the receiver unit body 4Ba, one terminal 20A is fixedly mounted on the transmitter unit body 4Aa side and the other terminal 20B is fixedly mounted on the receiver unit body 4Ba side. Signal transmission for wirelessly transmitting the above-mentioned operation control signal from the transmission unit body 4 side to the reception unit body 4Ba side in parallel with the signal transmission wired circuit including the contact mechanism 20. Wireless circuit is provided.

When the transmission unit body 4Aa is connected to the reception unit body 4Ba, the signal transmission wired circuit described above is automatically selected, and the reception unit body 4Ba and the transmission unit body 4A are selected.
At the time of separation from Aa, the changeover switches 18 and 19 that automatically select the signal transmission radio circuit described above are
Aa and the receiving unit main body 4Ba are equipped respectively. This aims to achieve the above-mentioned object.

Example of Invention

An embodiment of the present invention will be described below with reference to FIGS. 1 to 9.

In this embodiment, the present invention is applied to an electric wheelchair that is a self-propelled vehicle.

The embodiment shown in FIGS. 1 to 9 is based on the transmission unit 4A.
And a receiving unit 4B. The transmission unit 4A is
As shown in FIGS. 1 and 5, an operation unit 14 as an operation signal setting unit for setting an operation control signal such as a start command or a traveling operation control signal, and an operation control signal set by the operation unit 14 are modulated. The transmission unit 15 for outputting and the transmission unit main body 4Aa for accommodating these units are provided.

In addition, the receiving unit 4B, as shown in FIGS.
A receiving unit 32 that receives a signal from the transmitting unit 15 and demodulates and outputs a predetermined operation control signal, and an output of the receiving unit 32 to the operation unit 14
A servo mechanism 33 that distributes to a motion control signal such as a start command or a travel motion control signal, and a signal processing circuit 42 that processes the output of this servo mechanism 33 as a digitalized predetermined motion control signal. , This signal processing circuit
A vehicle controller 44 that drives and controls the vehicle drive unit based on the output of 42 and a reception unit body 4Ba that houses these units are provided.

The transmitter unit body 4Aa described above is the receiver unit body 4a.
It is equipped to be detachable. The transmission unit 4A is equipped with an auxiliary power supply unit 16 for the transmission unit 4A.

For operation control signal transmission, one terminal 20A is fixedly installed on the transmitting unit main body 4Aa side and the other terminal 20B is fixedly installed on the receiving unit main body 4a side at the contact portion between the transmitting unit main body 4Aa and the receiving unit main body 4Bb. Is equipped with a contact mechanism 20 (see FIGS. 3 and 5). And this contact mechanism
In parallel with the signal transmission wired circuit including 20, the operation control signal described above is transmitted from the transmission unit body 4 side to the reception unit body 4B.
A wireless circuit for signal transmission for wireless transmission is provided on the a side. This signal transmission radio circuit is the transmitter unit main body 4Aa.
The transmitting antenna 23 installed on the side and the receiving unit body 4B
It is composed of a receiving antenna 36 mounted on the a side.

When the transmission unit body 4Aa is connected to the reception unit body 4Ba, the signal transmission wired circuit described above is automatically selected, and the reception unit body 4Ba and the transmission unit body 4A are selected.
At the time of separation from Aa, the changeover switches 18 and 19 that automatically select the signal transmission radio circuit described above are
The Aa and the receiving unit body 4Ba are respectively equipped (see FIGS. 3 and 5).

Further, the contact mechanism 20 is connected in series with an overpower suppressing means 37 that appropriately suppresses the output level of the transmitter output.
Then, the receiving unit main body 4Ba is activated immediately after the transmitting unit main body 4Aa is separated from the receiving unit main body 4Ba, and after a predetermined time elapses, the power supply ON / OFF switching circuit 48 provided in advance in the receiving unit main body 4Ba is passed. A comparison delay control circuit 53 is provided as an over-discharge preventing means for controlling the power supply of the receiving unit 4B (see FIG. 5).

This will be described in more detail below. In FIG. 1, reference numeral 2 indicates a part of a right-sleeve arm of the electric wheelchair, and a step portion 2A is provided at a tip end portion of the right-sleeve arm 2. The traveling motion control device 4 for an electric wheelchair is mounted on the step portion 2A.

As shown in FIG. 1, this traveling motion control device 4 receives a traveling motion control signal from the receiving unit 4A that outputs a traveling motion control signal by an operator's operation and a traveling motion control signal from this transmitting unit 4A, performs processing calculation, and executes an electric wheelchair. Vehicle drive unit 6
(See FIG. 5) and is divided into a receiving unit 4B for activating a predetermined operation.

At the same time, the transmission unit 4A is configured to be detachably detachable from and integrated with the reception unit 4B. Further, since the receiving unit 4B is fixed on the stepped portion 2A described above, the transmitting unit 4A in the combined state (see the phantom line X in FIG. 1) is placed in a posture like a load of a truck. Has been done.

Here, the attachment / detachment mechanism for the transmission unit 4A and the reception unit 4B will be described in more detail.

In the receiving unit 4B, the receiving unit main body 4Ba, which is the case main body, is formed in a box shape as a whole. Inside the receiving unit body 4Ba, the entire upper right corner in FIG. 1 is partitioned by the guide frame 10, whereby the upper surface and one side surface are partially opened to form a box-shaped space S. In addition, the transmission unit 4A described above
Has a size and shape that allows it to be incorporated into the box-shaped space S.

Therefore, when the transmission unit 4A is united, the transmission unit 4A is inserted into the box-shaped space S from the open surface,
It is configured to be fixed by a lock knob 12 on the side surface of the receiving unit 4B. When the lock knob 12 is turned in the locking direction (see FIG. 2), the key-shaped arm 12A connected to the knob 12 is rotated to lock the bottom of the transmission unit 4A, and is turned in the opposite direction. And the lock is released.

Further, the configuration of the transmission unit 4A will be described with reference to FIGS. 1 to 6.

As described above, the transmission unit 4A includes the operation unit 14, the transmission unit 15, the auxiliary power supply unit 16, and the like.

The operation unit 14 is configured with a joystick 14A arranged in the center of the transmission unit 4A as the center,
By operating a joystick lever 14B (see FIG. 1) as an operating lever projecting on the upper surface, a predetermined traveling motion control signal for an electric wheelchair can be transmitted to the variable resistor (volume) 14C (see FIG. 5). It is supposed to be sent from.

The traveling operation control signal from the operation unit 14 is transmitted to the transmission unit.
It is sent to the transmitter 15 provided at the right end of FIG. The transmitter 15 is composed of a low frequency amplifier, a carrier wave oscillator, a modulator, a high frequency amplifier, etc., which are not shown,
The traveling operation control signal is modulated into a high frequency signal, which is used as a changeover switch in the signal transmission means 17 provided between the transmission unit 4A and the reception unit 4B of the microswitch 18 (see FIG. 5). The input is connected to the common contact C.

The micro switch 18, together with the micro switch 19 and the contactor 20 on the side of the receiving unit 4B, which will be described later, switches the signal transmission path when the transmitting unit 4A is separated and united, to a connection by a wired transmission circuit or a connection by a wireless transmission circuit. It constitutes an automatic switching mechanism for.

This automatic switching mechanism will be described in detail with reference to FIGS. 2 to 3 and 6. The micro switch 18, as shown in FIG.
It is arranged at the bottom near the opposite side of the transmission unit 4A as seen from the operator, and is provided so as to face a micro switch 19 on the side of the reception unit 4B described later. Then, in the separated state of the transmission unit 4A as indicated by the symbol A in FIG. 3, no external force is applied to the actuator 18A, so that the contact x on the antenna 23 side is "" as shown in FIG. It is configured such that it is “closed” and the contact point y on the contactor 20 side is “open”.

Further, as shown by the symbol B in FIG. 3, the actuator 18A is operated by the pressing force being applied to the receiving unit 4B when the transmitting unit 4A is in the combined state, by contacting the receiving unit 4B. In contrast to the case of FIG. 6 described above, the contact y of the microswitch 18 is “closed” and the contact x is automatically switched to “open” (see FIG. 5).

This operation is the same for the micro switch 19 on the receiving section 32 side.

Further, the contactor 20 as a contactor mechanism is provided close to the microswitches 18 and 19, as shown in FIG. Then, as indicated by B in FIG. 3, the transmission unit 4A
The convex terminal 20A is configured to come into contact with the concave terminal 20B on the receiving unit 4B side to conduct electricity only in the combined state.

One of these terminals 20A and 20B is connected to the transmitter unit 4A.
The upper and lower ends of the support member 22 fixed to the bottom main plate 21A and the upper plate 21B of the receiving unit 4B are insulated and fixed. The support member 22 has a predetermined height, and since the intermediate portions of the terminals 20A and 20B are each formed in a substantially L shape, they have a predetermined contact pressure.

On the other hand, the contact point x (fifth
(Refer to the drawing) is communicated with a lead wire antenna 23. The antenna 23 is mounted on the outer surface of the transmission unit body 4Aa (see FIG. 1) and is used for high frequency radio wave radiation during wireless transmission of control signals.

Further, the contact point y (see FIG. 5) of the micro switch 18 is
It is connected to the convex terminal 20A of the contactor 20 and functions as a signal transmission path for wired transmission of the control signal.

Furthermore, on the left end of the transmission unit 4A, as shown in FIG.
The auxiliary power supply unit 16 is equipped. That is, the transmission unit 4A
Side of the operator and the receiving unit facing it
As shown in FIG. 4, on the side surface of 4B, a contact mechanism for transmitting electric power from the power source on the receiving unit 4B side in the united state.
Equipped with 26. The contact mechanism 26 is composed of three pairs of contact ends, and its power feeding side is composed of concave terminals h, i, j as shown in FIG. 5, and its power receiving side is composed of convex terminals h ', i'. ,
Made of j ′. Then, in the combined state of the transmission units 4A, an appropriate contact pressure is applied so that they come into contact with each other.

The terminal i'in the contactor mechanism 26 is, as shown in FIG.
Transmitter power switch equipped on the outside of the transmitter unit 4A
The first changeover switch 27 of the double switches constituting the 27
It is designed to be grounded via A when necessary. When the changeover switch 27A is on (contact), it turns off the power supply of the receiving unit 4B as described later, and is configured to interlock with the other second changeover switch 27B, that is, the power supply switch for the transmission section. Has been done.

The terminal h'is connected to the terminal j ', and the output terminal of the charging circuit 28 in the auxiliary power supply section 16 and a nickel-cadmium battery (hereinafter, simply referred to as "Ni-Cd battery") 29 as an auxiliary power supply 29. Is connected to the second changeover switch 27B in the transmission side source switch 27 via each of the output terminals of.

Then, in the combined state of the transmission unit 4A described above, the power supply from the reception unit 4B and the charging to the Ni-Cd battery 29 are performed, and also under the separated state (wireless transmission state), The Ni-Cd battery 29 operates as an auxiliary power source for the transmitter 15.

Next, a specific example of the receiving unit 4B will be described.

As shown in FIG. 5, the receiving unit 4B has a receiving unit 3B.
2, it has each equipment such as a servo mechanism 33, an output control unit 34, a power supply unit 35, and the like.

Of these, the receiving unit 32 is located near the right end of the receiving unit 4B in FIG. 1, and the transmitting unit 15 is provided via the signal transmitting means 17.
Receive high frequency signals from. That is, when the transmission unit 4A is in the separated state (wireless transmission state), the externally equipped reception lead wire antenna 36 first receives the signal from the transmission antenna 23 described above, and this reception signal causes the microswitch 19 to be received. It is adapted to be sent to the receiving section 32 via the. Also, the transmission unit 4A is in a united state (wired transmission state)
In the case of, the signal sent from the transmission unit 4A is
Recessed terminal 20B of contact 20, resistor as a means for suppressing overpower
The data is sent to the receiving unit 32 via the 37 and the microswitch 19 in order. As described above, the automatic switching between wire transmission and wireless transmission is performed by the micro switch.
This is due to the action of the automatic switching mechanism composed of 18, 19 and the contactor 20.

Here, the resistor 37 as the overpower suppressing unit is for adjusting the power by attenuating the power when the wireless transmission is switched to the wired transmission. This is because in the case of wireless transmission, the transmission power is set to a high level in anticipation of power loss during transmission, so if this is directly received by wire transmission, there will be overpower and the elements in the receiver 32 may be burned out. This is to prevent this in advance. Of course, this resistor 37 is a transmitter unit.
It is also possible to insert it on the 4A side.

The high-frequency signal thus received is sent to the receiving section 32 via the common terminal C of the microswitch 19 as described above. The receiver 32 includes a demodulator, a low-frequency amplifier, etc. (not shown), removes the carrier from the high-frequency signal to extract the original operation control signal, and locates it in the central portion (see FIG. 1) of the receiver unit 4B. It has a function of sending to the servo mechanism 33 that operates.

The servo mechanism 33 is composed of a servo unit 38 and a variable resistor 39 in this embodiment (see FIG. 5). Of these, the servo unit 38 is driven by a built-in driver circuit. The variable resistor connected to this servo unit 38 is energized by the operation of this servo unit 38.
39 is operated, and the electric output thereof causes the movement of the joystick lever 14B of the transmission unit 4A, that is, the operation of the operator to be reproduced. Then, the output signal of the servo mechanism 33 (specifically, the accelerator signal or the like) is sent to the signal processing circuit 42 in the output control unit 34 described above.

Here, the output control unit 34 and the power supply unit 35 described in detail later.
Is arranged at the left end of the receiving unit 4B in FIG.

Further, the signal processing circuit 42 is equipped with a microcomputer, etc., and comprehensively judges the accelerator signal from the servo mechanism 33 and the instruction signal from the high / low speed switch 43 connected to this circuit 42, It is configured to output an optimum control signal (digital signal) to the vehicle controller 44.

Since the vehicle controller 44 is equipped with a D / A converter, an amplifier, etc., which are not shown, the control signal is converted into an analog signal, power is amplified, and the vehicle drive unit 6 which is an operated object is controlled.
It is designed to be sent to. That is, in this embodiment, a control current is sent to the field winding of the motor of the electric wheelchair to control the motor, thereby controlling the operation of the vehicle.

On the other hand, the power supply unit 35 uses a vehicle battery 47 mounted on an electric wheelchair as a main power source.

More specifically, the output of the vehicle battery 47 is connected to an input end of a power source on / off switching circuit 48 for performing on / off switching control of the power source by a battery cable 51 (see FIG. 1). (See FIG. 5). Further, a power switch (push button type) 49 for turning on the power is connected to the circuit 48. Further, the output of the power source on / off switching circuit 48 is sent to each of the h terminal and i terminal of the contact mechanism 26 and the signal processing circuit 42 described above (see FIG. 5). Also, another output terminal is
It is connected to a battery meter 52 (see FIG. 1) as well as reaching a predetermined power source terminal of each circuit of the device.

Further, the j terminal of the contact mechanism 26 is connected to the input end of the power supply ON / OFF switching circuit 48 via the comparison delay control circuit 53 as the overdischarge preventing means. This comparison delay control circuit
Reference numeral 53 is a circuit that controls the power-on / off switching circuit 48 to be forcibly turned off after delaying the off operation of the power-on / off switching circuit 48 for a predetermined time when the transmission unit 4 is separated.

Next, of the circuit configuration shown in FIG. 5 described above, the detailed circuit configuration and operation relating to the power source (the auxiliary power source unit 16 of the transmission unit 4A, the contact mechanism unit 26, and the power source unit 35 of the reception unit 4B) will be described in the fifth.
It will be described with reference to FIGS.

First, the negative side of the vehicle battery 47 is grounded, and the positive side is connected to one end of the power switch 49 and one end of the relay coil 60A of the relay 60 in the power ON / OFF switching circuit 48. Of these, the other end of the relay coil 60A is connected to the first NPN transistor 6 for switching as shown in FIG.
Connected to 1 collector. The emitter of the transistor 61 is grounded, and its base is connected to the other end of the relay contact 60B via the resistor 62 and also to the other end of the power switch 49, which enables self-holding using the relay 60. A closed circuit is configured.

Here, the diode 63 for reverse voltage control is connected to the relay coil 60.
It is inserted in parallel with A. The other end of the relay contact 60C is connected to the contact end h in the contact mechanism 26, the battery meter 52, etc. described above.

Therefore, the power switch mounted on the top of the receiving unit 4B
When 49 is pressed, the first transistor 61 is turned on, the relay coil 60A is energized, and the interlocking contacts 60B and 60C are closed. Therefore, even after the power switch 49 is released, the conduction of the transistor 61 is maintained by the contact 60B,
A state in which power can be supplied from the vehicle battery 47 via the contact 60c is formed.

The base of the switching transistor 61 is connected to the transmission side power switch 27 via the contact ends i, i ′ of the contact mechanism 26.
Is connected to the first changeover switch 27A in
It is configured to be grounded by turning off 7A. As a result, the base potential of the transistor 61 becomes the ground potential in conjunction with the power off of the transmission unit 4A, and the transistor 61 is forcibly switched off.

In addition, the base of the transistor 61 is the second for switching.
It is also connected to the collector of the transistor (NPN type) 65. The emitter of the second transistor 65 is grounded, and the base of the second transistor 65 is connected to a comparison delay control circuit 53, which will be described in detail later, via a resistor 66. This second transistor 65
Is for performing on / off switching according to the output voltage from the comparison delay control circuit 53. That is, when a predetermined "high" level is output, the second transistor 65 is turned on, and the base potential of the first transistor is lowered to about the ground level, and the first transistor is turned on.
61 is configured to be forced off. Also,
At a predetermined "low" level (eg, ground level), the second transistor 65 remains off and the first transistor 61 has no effect.

On the other hand, the contact end h ′ of the contact mechanism 26 is connected to one end of the resistor 70 in the charging circuit 28 forming the auxiliary power supply section 16. The other end of the resistor 70 is connected to the cathode of a zener diode 71 for constant voltage whose anode is grounded, and one end of a resistor 72. The other end of this resistor 72 is connected to a Ni-Cd battery as an auxiliary power source via a diode 73 for preventing backflow.
It is connected to the second changeover switch 27B of the plus side 29 and the transmission side power switch 27. The other end of the switch 27B reaches the power supply end of the transmitter 15 as shown in FIG. Therefore, when the transmitter unit 4A is in the combined state, Ni
-The Cd battery 29 is charged by the charging circuit 28, and at the same time the transmitter
Power is supplied from the vehicle battery 47 to 15 (see FIG. 5) via the second changeover switch 27B. Also, when the transmitter unit 4A is in the separated state, the Ni
-Transmission unit 1 from the Cd battery 29 via the second changeover switch 27B
5 is configured to be powered.

Further, the contact end h ′ reaches the comparison delay control circuit 53 via the contact end j′-j, and first, at one end thereof, is connected to the other end of the potential detecting resistor 74 whose one end is grounded and the inverting input end of the comparator 75. Connected (see FIG. 7). A predetermined reference potential V _d is applied to the non-inverting input terminal of the comparator 75. The output terminal of the comparator 75 is connected to the input terminals of the capacitor 77 and the buffer 78 via the resistor 76. Further, the output terminal of the buffer 78 is connected to the base of the second transistor 65 via the resistor 66 in the power supply ON / OFF switching circuit 48. Here, reference numeral 79 indicates a drive diode.

Therefore, when the transmission unit 4A is in the united state and the power switch 49 is turned on, the potential at the point P in FIG. 7 becomes equal to the predetermined potential at the point Q, and when the transmission unit 4A is in the separated state. , The potential at the point P becomes the ground potential via the resistor 74.

Therefore, the comparison delay control circuit 53 compares the predetermined potential at the point P with the reference potential V _d, and determines a predetermined “high” or “low”.
The level output is added to the base of the second transistor 65 in the power source on / off switching circuit 48, and the transistor 65 is turned on / off as described above.

On the other hand, when the transmission unit 4A is brought into the separated state from the combined state, the delay circuit having the capacitor 77 as a main part operates to delay the automatic switching of the second transistor 65 from off to on for a predetermined time. The delay of this predetermined time is, in this embodiment, after separating the transmission unit 4A, by the operation signal of the linear transmission by the wire from the transmission unit 4A, before moving the electric wheelchair equipped with the reception unit 4B. It is set to allow sufficient time to return to a predetermined position.

That is, in the combined state of the transmission unit 4A, the reference potential V _d is the inverting input terminal of the comparator 75 (that is, the P
The output of the comparator 75 is at a predetermined "low" level because it is set to be smaller than the potential of the point). This "low" level causes the delay capacitor 77 to
A predetermined "low" level (here, ground level) is output from the buffer 78 as well as being discharged through. Therefore, the second transistor 65 remains off.

On the other hand, when the transmission unit 4A is separated and the potential at the point P becomes the ground potential, the comparator 75 outputs a predetermined "high" level. In this case, the electric charge is accumulated in the capacitor 77 via the resistor 76 up to the “high” level of the comparator 75, but the potential of the electric charge is unlikely to change suddenly due to the time constant. It takes a certain amount of time to change from the level to the “high” level output. That is, in this embodiment, as will be described later, this delay time is set in advance and used as the return time of the electric wheelchair.

Then, after the elapse of a certain delay time, the output of the buffer 78 becomes the “high” level, so that the second transistor 65
Turns on and is energized by the first transistor 61.
Turns off. Therefore, the relay contacts 60B and 60C are opened and the power supply is stopped.

Next, the overall operation of this embodiment will be described with a focus on the flowcharts of FIGS. 8 and 9.

First, the operation in the state where the transmission unit 4A is integrated will be described with reference to FIG. In this combined state, the microswitches 18, 19 and the contactor 20 that constitute the automatic switching mechanism are
It is set in the state shown in FIG. 5 and forms a signal transmission path for direct transmission.

At this time, the first transistor 61 in the power on / off switching circuit 48 stands by while detecting that both the power switch 27 on the transmitting side and the power switch 49 on the receiving unit are closed (see FIG. 8). Steps 80, 81). When both of these switches 27 and 49 are turned on, the transistor 61 is turned on to perform self-holding (step in the figure).
82; At this time, the second transistor 65 is off). As a result, the power supply circuit is closed, power is supplied to each circuit of the transmission unit 4A and the reception unit 4B, and at the same time, the Ni-Cd battery 29 is charged (step 83 in the figure).

Therefore, at this time, the operator can operate the vehicle by operating the joystick lever 14B of the transmission unit 4A, as described above. In this case, the high-frequency signal from the transmission unit 15 is wired transmission. In other words, in normal use where there is no need for wireless transmission, unnecessary radio waves are suppressed from being emitted into the air as much as possible, and noise is prevented from entering from the outside.

Further, in this combined state, when the transmission side power switch 27 is turned off (step 84 in FIG. 8), the first transistor 61 is turned off (step 85 in the same), and the relay contact 60C by self-holding is opened. The power supply is stopped (step 86 in the figure), and the operation ends.

Next, after moving to the destination place, the operation when separating the transmission unit 4A and returning the electric wheelchair body to the original place,
This will be described with reference to FIG.

In this case, the operation up to power feeding (operation up to point a) in the case of direct transmission shown in FIG. 8 is similarly applied to FIG.

That is, the operator reaches the destination and the operator sends the transmission unit 4A.
Is separated (step 87 in FIG. 9), the signal transmission means 17 is automatically switched to wireless transmission by the action of the automatic switching mechanism (see A and B in FIG. 3) as shown in FIG. It Simultaneously with this automatic switching, the Ni-Cd battery 29 as an auxiliary power source becomes the power source on the transmitting unit 4A side (step 88 in FIG. 9), and is the same as the above only within the delay time until the receiving side unit 4B is powered off. Wireless operation of the vehicle is performed. Then, for example, after returning the electric wheelchair to the original place, when the transmission side power switch 27 is turned off (step 89 in FIG. 9), the power supply of the transmission unit 4A is stopped (step 90 in FIG. 9).

On the other hand, after the transmission unit 4A is separated (step 87 in the figure), the comparison delay control circuit 53 is operating in the reception unit 4B as described above in parallel with the operation of the transmission unit 4A described above (see in the figure). In step 91), the power supply stop is delayed by the vehicle traveling time. Then, after the lapse of a predetermined delay time, the first transistor 61 is turned off (step 92 in the figure), and the power supply of the receiving unit 4B is automatically stopped (step 93 in the figure). This makes it possible to stop the power supply on the receiving unit 4B side without labor and prevent the vehicle battery 47 from being over-discharged more than necessary.

Further, in this embodiment, it is an auxiliary power source for the transmission unit 4A.
The Ni-Cd battery 29 is charged during the direct transmission connection and, in most cases, does not require replacement and is easy to operate.

Although the present embodiment has been described for the case of an electric wheelchair, the present invention is not necessarily limited to this.
For example, the same applies to a vehicle such as an electric transporter. In addition, in this embodiment, the power switch 27 on the transmission side is
Although the first changeover switch 27A and the second changeover switch 27B are shown as interlocking with each other, the invention is not necessarily limited to this.
The first changeover switch 27A is independently equipped with the receiving unit 4B, and is independent of the power supply of the transmitting unit 4A.
It is also possible to manually stop the power supply of.

〔The invention's effect〕

Since the present invention is constructed and functions as described above, according to this, the transmitting unit (4A) can be freely separated from the receiving unit (4B) at any time, and further, the transmitting unit (4A) can be automatically separated at the same time. Changeover switch (18),
(19) is activated to receive the traveling operation control signal receiving unit (4
Since the direct transmission mode to B) is automatically switched to enable wireless transmission via the antenna, the transmission unit (4A) is simply separated from the reception unit (4B) as necessary. The wireless transmission mode can be set only by itself, which allows the self-propelled vehicle to be returned to the predetermined storage position by remote control at any time, and can be driven unattended at any time. Can be effectively eliminated, and switching to remote operation is automatically performed by simply separating the transmitting unit (4A) from the receiving unit (4B), so no operation is required for that. Therefore, it is possible to reduce the troublesomeness of the switching operation to some extent, and to suppress the output level of the transmitter output to the contact mechanism (20) appropriately. When stage (37) connected in series,
It becomes possible to avoid in advance the overpower transmission state of the signal transmission power when switching from antenna transmission to direct transmission,
Therefore, it is possible to increase the reliability and durability of the device at such a point, and further, when the receiving unit (4B) is equipped with the overdischarge preventing means (53), the receiving unit (4B) is powered by the receiving unit (4B). It is possible to set the operating state as it is until the self-propelled vehicle equipped with 4B) is returned to the storage position by remote control, and therefore after the remote operation is completed even when the above-mentioned self-propelled vehicle is returned. The power supply is automatically controlled to stop after an appropriate amount of time has passed, which makes it possible to effectively prevent over-discharge on the receiving unit (4B) side. Can be provided.

[Brief description of drawings]

FIG. 1 is a partially cutaway perspective view showing an embodiment of the present invention, FIG. 2 is a front view from the line || in FIG. 1, and FIG. 3 is an explanation showing the operation of an automatic switching mechanism. FIGS. 4 and 5 are side views of the contact mechanism showing the contact state, with parts omitted, FIG. 5 is an overall block diagram of the embodiment of FIG. 1, and FIG. 6 is a wireless connection of the automatic switching mechanism. FIG. 7 is a circuit configuration diagram showing a power source-related portion in FIG. 6, FIG. 8 is a flow chart in the case of wired connection, and FIG. 9 is a flow chart in the case of shifting from wired connection to wireless connection. is there. "Explanation of Codes" 4 ... Driving control device for self-propelled vehicle, 4A ... Transmitting unit, 4Aa ... Transmitting unit main body, 4B ... Receiving unit, 4
Ba: receiving unit main body, 14: operating section as operation signal setting section, 15: transmitting section, 16: auxiliary power supply section, 18, 19 ...
... Micro switch as changeover switch, 20 ... Contact as contactor mechanism, 20A ... Convex terminal that forms one terminal, 20B ... Recessed terminal that forms the other terminal, 23 ... Transmitting antenna, 32 ... … Receiving part, 36 …… Receiving antenna, 37…
… Resistors as a means to suppress overpower, 44… Vehicle controllers, 48… Power on / off switching paths. 53 …… Comparison delay control circuit as a means to prevent over-discharge.

Claims (3)

[Claims] 1. An operation signal setting section 14 for setting and outputting an operation control signal such as a start command or a traveling operation control signal, and a transmitting section 15 for modulating and outputting the operation control signal from the operation signal setting section 14. A receiving unit 32 having a transmitting unit 4A having a transmitting unit main body 4Aa for accommodating each of these units, receiving a signal from the transmitting unit 15 and demodulating and outputting a predetermined operation control signal, and the receiving unit 32. Controller 44 for controlling the drive of the vehicle based on the output of
And a receiving unit 4B including a receiving unit main body 4Ba for accommodating these respective parts, and the transmitting unit main body 4Aa is detachably attached to the receiving unit main body 4Ba, and the transmitting unit 4A naturally has a transmitting unit. Equipped with an auxiliary power supply unit 16 for 4A, at the contact portion between the transmitter unit body 4Aa and the receiver unit body 4Ba, one terminal 20A on the transmitter unit body 4Aa side
However, a contact mechanism 20 for transmitting an operation control signal, in which the other terminal 20B is fixedly mounted on the receiving unit body 4Ba side, respectively.
And a signal transmission wireless circuit for wirelessly transmitting the operation control signal from the transmission unit body 4 side to the reception unit body 4Ba side in parallel with the signal transmission wire circuit including the contact mechanism 20. When the receiver unit body 4Ba and the transmitter unit body 4Aa are connected, the signal transmission wired circuit is automatically selected, and when the receiver unit body 4Ba and the transmission unit body 4Aa are separated, the signal transmission wireless circuit is automatically selected. A traveling motion control device for a self-propelled vehicle, characterized in that changeover switches (18, 19) that are selectively selected are provided on the transmission unit body (4Aa) and the reception unit body (4Ba), respectively. 2. An operation signal setting section 14 for setting and outputting an operation control signal such as a start command or a traveling operation control signal, and a transmitting section 15 for modulating and outputting the operation control signal from the operation signal setting section 14. A receiving unit 32 having a transmitting unit 4A including a transmitting unit main body 4Aa for accommodating each of these units, receiving a signal from the transmitting unit 15, demodulating and outputting a predetermined operation control signal, and this receiving unit A vehicle controller that controls the drive of the vehicle based on the output of 32
44, and a receiving unit 4B having a receiving unit main body 4Ba for accommodating each of these parts, the transmitting unit main body 4Aa is detachably attached to the receiving unit main body 4Ba, and Equipped with an auxiliary power supply unit 16 for the unit 4A, at the contact portion between the transmitter unit body 4Aa and the receiver unit body 4Ba, one terminal 20A on the transmitter unit body 4Aa side.
However, a contact mechanism 20 for transmitting an operation control signal, in which the other terminal 20B is fixedly mounted on the receiving unit body 4Ba side, respectively.
And a signal transmission wireless circuit for wirelessly transmitting the operation control signal from the transmission unit body 4 side to the reception unit body 4Ba side in parallel with the signal transmission wire circuit including the contact mechanism 20. , When the receiving unit body 4Ba and the transmitting unit body 4Aa are connected, the signal transmission wired circuit is automatically selected, and when the receiving unit body 4Ba and the transmitting unit body 4Aa are separated, the signal transmission wireless circuit is automatically selected. Equipped with changeover switches 18 and 19 that are selectively selected in the transmission unit body 4Aa and the reception unit body 4Ba, respectively, and the contact mechanism 20 appropriately suppresses the output level of the output of the transmission unit. A traveling motion control device for a self-propelled vehicle, characterized in that 37 are connected in series. 3. An operation signal setting section 14 for setting and outputting an operation control signal such as a start command or a traveling operation control signal, and a transmitting section 15 for modulating and outputting the operation control signal from the operation signal setting section 14. A receiving unit 32 having a transmitting unit 4A having a transmitting unit main body 4Aa for accommodating each of these units, receiving a signal from the transmitting unit 15 and demodulating and outputting a predetermined operation control signal, and the receiving unit 32. Controller 44 for controlling the drive of the vehicle based on the output of
And a receiving unit 4B including a receiving unit main body 4Ba accommodating each of these parts, the transmitting unit main body 4Aa is detachably attached to the receiving unit main body 4Ba, and the transmitting unit 4A has the transmitting unit. Equipped with an auxiliary power supply unit 16 for 4A, the transmission unit main body 4Aa and the receiving unit main body 4Ba, the one terminal 20A on the transmission unit main body 4Aa side.
However, a contact mechanism 20 for transmitting an operation control signal, in which the other terminal 20B is fixedly mounted on the receiving unit body 4Ba side, respectively.
And a signal transmission wireless circuit for wirelessly transmitting the operation control signal from the transmission unit body 4 side to the reception unit body 4Ba side in parallel with the signal transmission wire circuit including the contact mechanism 20. , When the receiving unit body 4Ba and the transmitting unit body 4Aa are connected, the signal transmission wired circuit is automatically selected, and when the receiving unit body 4Ba and the transmitting unit body 4Aa are separated, the signal transmission wireless circuit is automatically selected. The transmission unit main body 4Aa and the reception unit main body 4Ba are equipped with changeover switches 18 and 19 that are selectively selected, and the reception unit main body 4Ba is activated immediately when the transmission unit main body 4Aa is separated from the reception unit main body 4Ba. However, when a predetermined time has elapsed, the power of the receiving unit 4B is turned on via the power on / off switching circuit 48 which is pre-installed in the receiving unit body 4Ba. Over-discharge prevention means for disconnecting the power source
A traveling motion control device for a self-propelled vehicle, which is equipped with 53.