JPH05119830A - Guided electric motor vehicle - Google Patents

Abstract

PURPOSE:To stably detect a stop point, etc., by preventing wheels from running on a permanent magnet, and eliminating damage of the permanent magnet and a movement of its embedded position. CONSTITUTION:The guided electric motor vehicle A runs on a guided line 18 by detecting an alternating field from the guided line 18 by two pieces of detecting coils 16, 17 and controlling an angle control motor 10 by a detection output deviation, and also, controls a driving motor by a sensitive sensor 19 for detecting a permanent magnet 20 embedded on the road surface. Also, the permanent magnet 20 embedded on the road surface is provided the outside of a wheel track marked by running of the guidance type electric motor vehicle A.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an induction type electric vehicle device which guides and runs along a guide line buried in a road surface.

[0002]

2. Description of the Related Art An alternating current is caused to flow through a single induction wire buried in a road surface, and an alternating magnetic field generated by the alternating current is attached to two detection coils, which are attached to the left and right of the center line of an electric vehicle body at equal intervals. The induced electromotive force generated in each detection coil is detected by locating it on both sides of the wire and compared with the deviation detector via an amplifier. An induction type electric vehicle has been already proposed (Japanese Utility Model Publication No. 55-8005) which controls the angle control motor to change the direction of the caster and guides the electric vehicle body along the guide line.

In this proposed device, there is no disclosure about means for stopping the electric vehicle during automatic traveling. In this regard, in the past, for example, Japanese Utility Model Publication No.
As disclosed in Japanese Patent No. 278, the induction wire is bent in a loop shape, and a strong alternating magnetic field generated from this loop is detected by the detection coil.

However, when the induction type electric car is applied to a golf cart, several tens of golf carts run along the guide line buried in the road surface at a golf course every day. In this case, in all the proposed golf carts, the casters of the cart body are designed to run on the guide line, so that the ruts caused by the running of the golf cart are always at the same location and the road surface is dug. It will be.
Further, the loop as a stopping point necessarily has a width, the loop is under the rut, and there is a risk that the loop is gradually exposed due to the rut, and an accident such as disconnection of the loop is likely to occur.

[0005]

SUMMARY OF THE INVENTION The present invention has been devised in view of the above point, and does not form a loop requiring a width due to a stop point or the like, and a permanent magnet having a width narrower than that of the loop is formed. The purpose is to stabilize the detection of stop points and the like.

[0006]

According to the present invention, an induction wire and a permanent magnet buried in a road surface and an alternating magnetic field from the induction wire are detected by two detection coils provided in the electric vehicle main body, and the detection output thereof is detected. Depending on the deviation, the angle control motor for the front wheels of the induction vehicle with respect to the traveling method of the electric vehicle body is controlled to guide the vehicle along the guide line, and the magnetic force from the permanent magnet is detected by the sensor to detect the electric vehicle body. And an induction type electric vehicle for controlling the drive motor of (1), wherein the permanent magnet is embedded outside a rudder caused by traveling of the electric vehicle.

[0007]

The two coils provided in the induction electric vehicle detect the alternating magnetic field from the induction wire, and the electric vehicle travels on the induction wire.
While the electric vehicle is running, the drive motor is controlled when the embedded permanent magnet is detected by the detection sensor. At this time, the electric vehicle runs without stepping on the permanent magnet.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the induction electric vehicle device according to the present invention is applied to a golf cart will be described below with reference to the drawings.

FIG. 1 is a perspective view of the golf cart (A).
In this drawing, reference numeral 1 is a cart main body, a main body frame 2 made of a pipe is a main supporting body, and drive wheels (rear wheels) 3 are provided on both rear sides. A drive motor for driving wheels and a lead storage battery as a power source thereof are mounted. The main body frame 1 has a golf bag mounting portion 5, a putter case 6, etc., a mounting stay 8 for the caster portion 7 is provided in front of the cart main body 1, and the cart main body 1 of the caster 9 is provided on the lower surface of the stay. A motor 10 for angle control is attached to
A first pulley 11 is provided on the motor shaft, and a second pulley 13 is provided on the upper surface of the mounting stay 8 on the shaft of the caster frame 12 mounted on the mounting stay 8, and the two pulleys are connected by a timing belt 14. ing.

The caster portion 7 is rotatably attached to the attachment stay 8, that is, the cart body 1, and the caster frame 12 is provided.
And the caster 9 as a main element. A support plate 15 protruding forward from the front end of the mounting stay 8 is attached to the caster frame 12, and a pair of detection coils 16 and 17 equidistant from the center are attached to predetermined positions on the left and right ends of the support plate. Has been. This pair of detection coils 16, 17
Is for detecting the alternating magnetic field radiated from the guide wire 18 buried in the road surface, and is for controlling the angle control motor 10 of the caster 9 with respect to the cart body 1 by the deviation of the detected output.

Next, 19 is a sensor attached to the support plate 15, which senses the magnetic force from the permanent magnet 20 embedded in the road surface, and is specifically composed of a coil as shown in FIG. In FIG. 1, reference numeral 21 is a manual control switch, and 22 is a manual brake, which is used for manual operation of the golf cart. This manual operation is used when the golf cart is operated regardless of the position where the guide wire is buried. 23 is a road surface.

FIG. 3 is a partial electric circuit diagram of the golf cart. In this figure, the outputs of the two detection coils 16 and 17 for detecting the alternating magnetic field radiated from the induction wire 18 are compared by a comparison amplifier 24, and the comparison output outputs the angle control motor 10
The drive circuit 25 is controlled so that the direction of the caster 9 is aligned with the direction of the guide wire 18, and the caster 9 is made to run on the guide wire 18. This traveling occurs because the drive motor 26 is rotated by the output of the drive circuit 27, and the drive wheels 3, 3 are driven by this rotational force, and the drive force of the drive motor 29 is directly applied to the casters 9. Instead, the caster 9 is driven and rotated by the movement of the cart body 1 due to the rotation of the drive wheels 3, 3.

In this way, when the cart body 1 travels, the brake circuit 28 operates when the sensor 19 detects the permanent magnet 20 at the stopping point provided on the guide line or when the brake lever 22 is operated. Then, the regenerative brake, the power generation brake, and the electromagnetic brake are applied in this order, the drive motor 26 is stopped, and the cart body 1 is stopped.

FIG. 4 is a schematic view showing a buried position of the permanent magnet 20. In this drawing, 30 is a rut caused by the traveling of the casters 9, and 31 and 32 are ruts caused by the traveling of the drive wheels 3, 3. These ruts 30, 31,
The permanent magnets 20 are embedded on road surfaces other than 32. Since the permanent magnet 20 is embedded in the road surface other than the ruts 30, 31, and 32 in this manner, the permanent magnet 20 is cracked without stepping on the permanent magnet 20, and the permanent magnet 20 is embedded at a position where the permanent magnet 20 is embedded by the wheels 3 and 9. It doesn't move.

[0015]

As described above, according to the present invention, since the permanent magnet is embedded in a place other than the rut generated by the traveling of the electric vehicle, there is no possibility that the guide wire loop is exposed by the rut as in the conventional device. Since the wheels do not run on the permanent magnet, there is no damage to the permanent magnet or movement of the buried position,
It is possible to stabilize the detection of stop points and the like.

[Brief description of drawings]

FIG. 1 is a perspective view of a golf cart according to the present invention.

FIG. 2 is an enlarged sectional view of a front portion of the golf cart.

FIG. 3 is an electric circuit diagram of a main part of the golf cart.

FIG. 4 is a schematic diagram for explaining an embedded position of the permanent magnet.

[Explanation of symbols]

 18 Guide wire 20 Permanent magnet 1 Electric vehicle main body (cart main body) 16 Detection coil 17 Detection coil 9 Induction front wheel (caster) 10 Angle control motor 19 Sensing sensor 26 Drive motor A Electric car (golf cart) 30 Rudder 32 Rudder 32 Rudder

Claims (1)

[Claims] 1. A guide wire and a permanent magnet embedded in a road surface,
The alternating magnetic field from the induction wire is detected by the two detection coils provided in the electric car body, and the detection output deviation controls the angle control motor of the induction front wheel with respect to the traveling direction of the electric car body to An induction type electric vehicle that guides the vehicle along an induction line and senses the magnetic force from the permanent magnet with a sensor to control the drive motor of the electric vehicle body. An inductive electric vehicle device that is buried outside the rudder.