Motor control apparatus adapted for use with a motorized vehicle

Claim 2

In an electrically driven vehicle having a pair of independently rotatable wheels each driven by a DC reversible motor under the control of a manually movable joystick means and comprising: means for steering said vehicle including motor direction control means to control energization of said motors in dependence upon the relative position of said joystick means to effect relative rotation between said motors and, hence, said rotatable wheels, means for controlling the speed of movement of said chair including motor speeding control means for varying the motor speed of said motors over a range of speeds in accordance with the magnitude of a speed control signal, and speed control signal means for providing a said speed control signal and including radiant energy transmitting means for transmitting a radiant energy beam and receiver means for receiving said radiant energy beam and providing a said control signal of a magnitude in dependence upon the amount of energy received and means for varying the amount of transmitted energy that is received by said receiving means in dependence upon the relaTive position of said joystick means to thereby vary the speed of said vehicle, said transmitting means includes means for directing four radiant energy light beams with said beams defining four parallel axes located at the corners of a square and said receiving means including four light sensor means positioned to respectively receive an associated one of said light beams, said energy varying means including a single mask which is substantially flat and lies in a plane perpendicular to said light beams and means for moving said mask along said plane from a centered position relative to all of said light beams and in dependence upon the positioning of said joystick means.

Claim 3

In an electrically driven vehicle as set forth in claim 1, wherein said single mask is configured so that when it is located in said beam centered position, the said mask substantially completely interrupts all of said light beams.

Claim 4

In an electrically driven vehicle having a pair of independently rotatable wheels each driven by a DC reversible motor under the control of a manually movable joystick means and comprising: means for steering said vehicle including motor direction control means to control energization of said motors in dependence upon the relative position of said joystick means to effect relative rotation between said motors and, hence, said rotatable wheels, means for controlling the speed of movement of said chair including motor speed control means for varying the motor speed of said motors over a range of speeds in accordance with the magnitude of a speed control signal, and speed control signal means for providing a said speed control signal and including radiant energy transmitting means for transmitting a radiant energy beam and receiver means for receiving said radiant energy beam and providing a said control signal of a magnitude in dependence upon the amount of energy received and means for varying the amount of transmitted energy that is received by said receiving means in dependence upon the relative position of said joystick means to thereby vary the speed of said vehicle, said transmitting means including means for directing four radiant energy light beams with said beams defining four parallel axes located at the corners of a square and said receiving means including four light sensor means positioned to respectively receive an associated one of said light beams, said mask being substantially flat and lying in a plane perpendicular to said light beams, said mask has a peripheral outline defining a square defined by peripheral sides angled at approximately 45* with respect to a square outline defined by imaginary lines interconnecting adjacent ones of said beams, the outer periphery of said mask being located outwardly with respect to said light beams so that when said joystick means is in its normal position the mask substantially completely interrupts said light beams and as said mask is displaced by said joystick means in any direction transverse to said light beams at least one of the light beams will be at least partially received by the light sensor means associated with that light beam.

Claim 5

In an electrically driven vehicle having a pair of independently rotatable wheels each driven by a DC reversible motor under the control of a manually movable joystick means and comprising: means for steering said vehicle including motor direction control means to control energization of said motors in dependence upon the relative position of said joystick means to effect relative rotation between said motors and, hence, said rotatable wheels, means for controlling the speed of movement of said chair including motor speed control means for varying the motor speed of said motors over a range of speeds in accordance with the magnitude of a speed control signal, and speed control signal means for providing a said speed control signal and including radiant energy transmitting means for transmitting a radiant energy beam and receiver means for receiving said radiant energy beam and providing a said control signal of a magnitude in dependence upon the amount of energy received and means for varying the amount of transmitted energy that is received by said receiving means in dependence upon the relative position of said joystick means to thereby vary the speed of said vehicle, said transmitting means including means for directing four radiant energy light beams with said beams defining four parallel axes located at the corners of a square and said receiving means including four light sensor means positioned to respectively receive an associated one of said light beams, said mask being substantially flat and lying in a plane perpendicular to said light beams, said mask has a peripheral outline defining a square defined by peripheral sides angled at approximately 45* with respect to a square outline defined by imaginary lines interconnecting adjacent ones of said beams, the outer periphery of said mask being located outwardly with respect to said light beams so that when said joystick means is in its normal position the mask substantially completely interrupts said light beams and as said mask is displaced by said joystick means in any direction transverse to said light beams at least one of the light beams will be at least partially received by the light sensor means associated with that light beam.

Claim 6

In an electrically driven vehicle having a pair of independently rotatable wheels each driven by a DC reversible motor under the control of a manually movable joystick means and comprising: means for steering said vehicle including motor direction control means to control energization of said motors in dependence upon the relative position of said joystick means to effect relative rotation between said motors and, hence, said rotatable wheels, means for controlling the speed of movement of said chair including motor speed control means for varying the motor speed of said motors over a range of speeds in accordance with the magnitude of a speed control signal and speed control signal means for providing a said speed control signal and including radiant energy transmitting means for transmitting a radiant energy beam and receiver meAns for receiving said radiant energy beam and providing a said control signal of a magnitude in dependence upon the amount of energy received and means for varying the amount of transmitted energy that is received by said receiving means in dependence upon the relative position of said joystick means to thereby vary the speed of said vehicle, said transmitting means including means for directing four radiant energy light beams with said beams defining four parallel axes located at the corners of a square and said receiving means including four light sensor means positioned to respectively receive an associated one of said light beams, said mask being substantially flat and lying in a plane perpendicular to said light beams, said mask has an opening defined therein with the peripheral edges of the opening defining a square lying in a plane transverse to said light beams, the peripheral edges of said aperture being angled at substantially 45* with respect to imaginary lines interconnecting the centers of said beams to define essentially a square configuration, said aperture being of a size such that said light beams are normally completely interrupted by said mask when said joystick means is in its normal position and as said joystick means is displaced in any direction transverse to said light beams, at least one of said light beams will be at least partially received by the light sensor associated with that light beam.

Claim 7

In an electrically driven vehicle having a pair of independently rotatable wheels each driven by a DC reversible motor under the control of a manually movable joystick means and comprising: means for steering said vehicle including motor direction control means to control energization of said motors in dependence upon the relative position of said joystick means to effect relative rotation between said motors and, hence, said rotatable wheels, means for controlling the speed of movement of said chair including motor speed control means for varying the motor speed of said motors over a range of speeds in accordance with the magnitude of a speed control signal and speed control signal means for providing a said speed control signal and including radiant energy transmitting means for transmitting a radiant energy beam and receiver meAns for receiving said radiant energy beam and providing a said control signal of a magnitude in dependence upon the amount of energy received and means for varying the amount of transmitted energy that is received by said receiving means in dependence upon the relative position of said joystick means to thereby vary the speed of said vehicle, said transmitting means including means for directing four radiant energy light beams with said beams defining four parallel axes located at the corners of a square and said receiving means including four light sensor means positioned to respectively receive an associated one of said light beams, said mask being substantially flat and lying in a plane perpendicular to said light beams, said mask has an opening defined therein with the peripheral edges of the opening defining a square lying in a plane transverse to said light beams, the peripheral edges of said aperture being angled at substantially 45* with respect to imaginary lines interconnecting the centers of said beams to define essentially a square configuration, said aperture being of a size such that said light beams are normally completely interrupted by said mask when said joystick means is in its normal position and as said joystick means is displaced in any direction transverse to said light beams, at least one of said light beams will be at least partially received by the light sensor associated with that light beam.

Claim 8

In an electrically driven vehicle having a pair of independently rotatable wheels each driven by a DC reversible motor under the control of a manually movable joystick means and comprising: means for steering said vehicle including motor direction control means to control energization of said motors in dependence upon the relative position of said joystick means to effect relative rotation between said motors and, hence, said rotatable wheels, means for controlling the speed of movement of said chair including motor speed control means for varying the motor speed of said motors over a range of speeds in accordance with the magnitude of a speed control signal, and speed control signal means for providing a said speed control signal and including radiant energy transmitting means for transmitting a radiant energy beam and receiver means for receiving said radiant energy beam and providing a said control signal of a magnitude in dependence upon the amount of energy received and means for varying the amount of transmitted energy that is received by said receiving means in dependence upon the relative position of said joystick means to thereby vary the speed of said vehicle, said transmitting means including means for directing four radiant energy light beams with said beams defining four parallel axes located at the corners of a square and said receiving means including four light sensor means positioned to respectively receive an associated one of said light beams, said mask being substantially flat and lying in a plane perpendicular to said light beams, said joystick means carries switch actuator means, motor direction control switch means positioned to be actuated by said switch actuator means as said joystick means is displaced from its normal position, said switch means including a left forward switch means and a left reverse switch means, for when actuated, indicating that the motor means for the left wheel be driven in a forward or reverse direction and a right forward switch means and right reverse switch means for, when actuated, indicating that the motor for the right wheel be driven in a forward or reverse direction.

Claim 9

In an electrically driven vehicle having a pair of independently rotatable wheels each driven by a DC reversible motor under the control of a manually movable joystick means and comprising: means for steering said vehicle including motor direction control means to control energization of said motors in dependence upon the relative position of said joystick means to effect relative rotation between said motors and, hence, said rotatable wheels, means for controlling the speed of movement of said chair including motor speed control means for varying the motor speed of said motors over a range of speeds in accordance with the magnitude of a speed control signal, and speed control signal means for providing a said speed control signal and including radiant energy transmitting means for transmitting a radiant energy beam and receiver means for receiving said radiant energy beam and providing a said control signal of a magnitude in dependence upon the amount of energy received and means for varying the amount of transmitted energy that is received by said receiving means in dependence upon the relative position of said joystick means to thereby vary the speed of said vehicle, said transmitting means including means for directing four radiant energy light beams with said beams defining four parallel axes located at the corners of a square and said receiving means including four light sensor means positioned to respectively receive an associated one of said light beams, said mask being substantially flat and lying in a plane perpendicular to said light beams, said joystick means carries switch actuator means, motor direction control switch means positioned to be actuated by said switch actuator means as said joystick means is displaced from its normal position, said switch means including a left forward switch means and a left reverse switch means, for when actuated, indicating that the motor means for the left wheel be driven in a forward or reverse direction and a right forward switch means and right reverse switch means for, when actuated, indicating that the motor for the right wheel be driven in a forward or reverse direction.

Claim 10

In an electrically driven vehicle having a pair of independently rotatable wheels each driven by a DC reversible motor under the control of a manually movable joystick means and comprising: means for steering said vehicle including motor direction control means to control energization of said motors in dependence upon the relative position of said joystick means to effect relative rotation between saId motors and, hence, said rotatable wheels, means for controlling the speed of movement of said chair including motor speed control means for varying the motor speed of said motors over a range of speeds in accordance with the magnitude of a speed control signal, and speed control signal means for providing a said speed control signal and including radiant energy transmitting means for transmitting a radiant energy beam and receiver means for receiving said radiant energy beam and providing a said control signal of a magnitude in dependence upon the amount of energy received and means for varying the amount of transmitted energy that is received by said receiving means in dependence upon the relative position of said joystick means to thereby vary the speed of said vehicle, said energy varying means includes means for mounting said transmitting means and said receiver means such that one of said last mentioned means is carried by said joystick means for movement therewith relative to the other of said last mentioned means.

Claim 11

In an electrically driven vehicle having a pair of independently rotatable wheels each driven by a DC reversible motor under the control of a manually movable joystick means and comprising: means for steering said vehicle including motor direction control means to control energization of said motors in dependence upon the relative position of said joystick means to effect relative rotation between saId motors and, hence, said rotatable wheels, means for controlling the speed of movement of said chair including motor speed control means for varying the motor speed of said motors over a range of speeds in accordance with the magnitude of a speed control signal, and speed control signal means for providing a said speed control signal and including radiant energy transmitting means for transmitting a radiant energy beam and receiver means for receiving said radiant energy beam and providing a said control signal of a magnitude in dependence upon the amount of energy received and means for varying the amount of transmitted energy that is received by said receiving means in dependence upon the relative position of said joystick means to thereby vary the speed of said vehicle, said energy varying means includes means for mounting said transmitting means and said receiver means such that one of said last mentioned means is carried by said joystick means for movement therewith relative to the other of said last mentioned means.

Claim 12

In an electrically driven vehicle as set forth in claim 6 wherein said energy transmitting means includes light source means for directing a single light beam along a path in the direction of said receiver means, said receiving means including a plurality of light sensor means positioned so that each receives a variable amount of light from said light source means in dependence upon the direction and extent of the displacement of said joystick means from its neutral position.

Claim 13

In an electrically driven vehicle as set forth in claim 7, including logic circuit means for providing control signals for use in controlling both motor speed and direction in dependence upon the relative magnitudes of light received by said sensor means.

Claim 14

In an electrically driven vehicle as set forth in claim 6, wherein said transmitting means includes means for directing a single light beam toward said receiver means and said receiver means includes a single light sensor means for providing an output signal which varies in magnitude in dependence upon the amount of radiant energy received.

Claim 15

A motor control system for controlling motor direction and speed of at least one reversible DC motor and comprising a movable direction command member having at least a neutral position and movable therefrom in opposite directions to forward and reverse positions respectively indicative of forward and backward motor direction; motor direction control means responsive to said forward and reverse movements of said command member for respectively controlling said DC motor to rotate in forward and backward directions; and motor speed control means for controlling the motor speed over an increasing range of speeds as said command member is moved away from said neutral position and including motor speed control circuit means for varying the motor speed in dependence upon the magnitude of a speed control signal, means for providing a speed control signal which varies in magnitude as a function of the displacement of said command member means from its neutral position and including radiant energy transmitting means for transmitting a beam of radiant enerby and receiving means for receiving said energy and developing a said control signal having a magnitude in dependence upon the magnitude of energy received, and means for varying the amount of energy received by said receiving means in dependence upon the displacement of said command member to thereby vary the magnitude of said speed control signal, said energy varying means includes means mounting said transmitting means and said receiving means in such a manner that one of said last mentioned means is secured to said joystick means for movement therewith relative to the other of said last mentioned means so as to vary the amount of energy received by said receiving means in dependence upon the relative position of said joystick means.

Claim 16

A motor control system for controlling motor direction and speed of at least one reversible DC motor and comprising a movable direction command member having at least a neutral position and movable therefrom in opposite directions to forward and reverse positions respectively indicative of forward and backward motor direction; motor direction control means responsive to said forward and reverse movements of said command member for respectively controlling said DC motor to rotate in forward and backward directions; and motor speed control means for controlling the motor speed over an increasing range of speeds as said command member is moved away from said neutral position and including motor speed control circuit means for varying the motor speed in dependence upon the magnitude of a speed control signal, means for providing a speed control signal which varies in magnitude as a function of the displacement of said command member means from its neutral position and including radiant energy transmitting means for transmitting a beam of radiant enerby and receiving means for receiving said energy and developing a said control signal having a magnitude in dependence upon the magnitude of energy received, and means for varying the amount of energy received by said receiving means in dependence upon the displacement of said command member to thereby vary the magnitude of said speed control signal, said energy varying means includes means mounting said transmitting means and said receiving means in such a manner that one of said last mentioned means is secured to said joystick means for movement therewith relative to the other of said last mentioned means so as to vary the amount of energy received by said receiving means in dependence upon the relative position of said joystick means.