JPH05324055A - Yawing angle detection sensor and electro-magnetic guide type unmanned vehicle using the sensor - Google Patents

Abstract

PURPOSE:To provide the yawing angle detection sensor and electromagnetic guide type unmanned vehicle using the sensor which can output an amount in correlation to a yawing angle to the axial direction of an electro-magnetic guide line. CONSTITUTION:A sensing part 1 stores yawing angle coils 13a and 13b which perpendicularly cross each other. The sensing part 1 detects the change of a magnetic field formed by an AC current supplied to an electro-magnetic guide line 5 and outputs it a processing part 20. The processing part 20 operationally processes input signals from the respective coils 13a and 13b and outputs the amount in correlation to the yawing angle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a yawing angle detection sensor for detecting a magnetic field formed by an electromagnetic induction wire installed on a traveling road surface or below the traveling road surface to detect a yawing angle with the electromagnetic induction wire, and the detection. The present invention relates to an electromagnetic induction type unmanned vehicle that uses the sensor as an electromagnetic induction sensor.

[0002]

2. Description of the Related Art Conventionally, an electromagnetic sensor for detecting a concentric magnetic field formed by an alternating current applied to an electromagnetic induction wire installed on a traveling road surface or below the traveling road surface has been used as an electromagnetic induction sensor. There is known an electromagnetic induction type unmanned vehicle that steers the vehicle directly below the center of the sensor and travels on a traveling road surface. As the electromagnetic sensor used for this purpose, a pair of bias coils having a common axis in a direction orthogonal to the axial direction of the electromagnetic induction wire, and a follow-up coil that follows the electromagnetic induction wire and detects the presence or absence of derailment. It is known that the format is composed of.

[0003]

However, in such an electromagnetic induction sensor used in such a conventional electromagnetic induction type unmanned vehicle, the relative displacement of the sensor in the direction orthogonal to the axial direction of the electromagnetic induction wire, that is, the amount of deviation. Was detected, but was insufficient for detecting the angle of the sensor axis with respect to the axial direction of the electromagnetic induction wire, that is, the yawing angle. Further, regardless of the yawing angle, if the steering amount is determined according to the sensor signal value of only the deviation amount, the steering of the electromagnetic induction type unmanned vehicle may not be stable, which is a problem.

Further, there has been proposed an electromagnetic induction type unmanned vehicle in which a pair of bias sensors are installed in front and rear, and the outputs of both sensors are compared to detect a yawing angle. There was a problem that it became complicated. Therefore, an object of the present invention is to solve the above problems, and a yawing angle detection sensor capable of outputting an amount proportional to the yawing angle of the sensor with respect to the axial direction of the electromagnetic induction wire, and an electromagnetic induction type unmanned vehicle using the sensor. To provide.

[0005]

Therefore, the present invention adopts the following configuration as a means for solving the problems. That is,
The yawing angle detection sensor according to claim 1, wherein the yawing angle detection sensor detects a magnetic field formed by an electromagnetic induction wire to detect a yawing angle with the electromagnetic induction wire,
Obtaining a pair of yawing angle coils intersecting each other at a predetermined angle and outputs of the pair of yawing angle coils,
A yawing angle detection sensor comprising: a processing unit that calculates and outputs a value that correlates with the yawing angle between the electromagnetic induction wire and the pair of yawing angle coils from the output.

An electromagnetic induction type unmanned vehicle according to claim 2 is characterized in that the yawing angle detection sensor according to claim 1 is used as an electromagnetic induction sensor.

[0007]

The yawing angle detection sensor having the above-described configuration is installed such that the axes of the pair of yawing angle coils intersecting each other are substantially parallel to the traveling road surface, and that the yawing angle coils are located almost directly above the electromagnetic induction wire. To be done. Each yawing angle coil generates an induced current in itself by an electromotive force according to the magnetic field formed by the electromagnetic induction wire, and also outputs according to the electromotive force. The output is
Input to the processing unit.

The electromotive force due to electromagnetic induction generated in the coil placed at a certain point in the magnetic field formed by the current flowing through the electromagnetic induction wire is proportional to the magnetic flux intersecting the coil. The strength of the magnetic field at that point is inversely proportional to the distance from the electromagnetic induction line, and the magnetic flux crossing the coil is proportional to the sine of the crossing angle between the coil and the magnetic field. Therefore, the electromotive force generated in the coil correlates with the distance between the coil and the electromagnetic induction wire and the crossing angle between the coil and the magnetic field.

Since the pair of yawing angle coils are arranged so as to intersect each other at a predetermined angle, when the bisector in the direction along the electromagnetic induction line of the intersection angle and the electromagnetic induction line are parallel to each other. The output of both yaw angle coils will be virtually the same. However, when the bisector of the crossing angle and the electromagnetic induction line are not parallel to each other and a yawing angle is generated, the outputs of both yawing angle coils have different magnitudes. When a value proportional to the output of the yawing angle coils of different magnitudes is input to the processing unit and arithmetic processing is performed, a value that correlates to the yawing angles of both the yawing angle coils and the electromagnetic induction wire is calculated. From this value, the yawing angle or a value proportional to the yawing angle can be calculated. Alternatively, an approximate value that is approximately proportional to the yawing angle can be calculated from the value that correlates to the yawing angle. The processing unit calculates and outputs one of the values according to the setting.

The output value from this processing unit can be regarded as a yawing angle or a value proportional thereto,
In an electromagnetic induction type unmanned vehicle characterized by using this yaw angle detection sensor as an electromagnetic induction sensor,
The axis line along the traveling direction of the unmanned vehicle is electromagnetically induced according to the output from the processing unit of the yawing angle detection sensor mounted at an appropriate position of the unmanned vehicle and the deviation amount detected by the deviation detection sensor separately. Steered to be directly above the line.

Since steering is performed according to not only the amount of deviation but also the yawing angle, the course of the electromagnetic induction type unmanned vehicle can be corrected smoothly. As a result, the electromagnetic induction line following ability of the electromagnetic induction type unmanned vehicle is improved, and the steering is stabilized.

[0012]

Embodiments of the present invention will now be described in detail with reference to the drawings. (Embodiment 1) As shown in FIG. 1, a yawing angle coil 1 intersecting with each other at an angle 2α is provided in a sensing portion 10 of a yawing angle detection sensor 1 according to an embodiment of the present invention.
3a and 13b are stored. In this embodiment, 2α = 9
It is 0 ° (α = 45 °). Each yawing angle coil 1
3a and 13b are 1-turn ring coils, and the description will be made assuming that the magnetic flux density distribution in the coils is small enough to be considered substantially uniform. In the present embodiment, each yawing angle coil 13a, 13b has an outer diameter of about 60 mm, and one yawing angle coil 13b has a slight concave portion at the crossing portion, so that it can be regarded as substantially the same shape.

Further, below the sensing unit 10 in the drawing,
An electromagnetic induction wire 5 is buried under the road surface 3. An alternating current from a power source (not shown) is passed through the electromagnetic induction wire 5, and a magnetic field centering on the electromagnetic induction wire 5 is formed by the action of the alternating current.

The axes of the yawing angle coils 13a and 13b and the traveling road surface 3 are substantially parallel to each other. As shown in FIG. 2, the outputs from the respective yawing angle coils 13 a and 13 b are configured to be input to the processing unit 20.

As shown in FIG. 3, the processing section 20 includes a drive circuit 21 for amplifying and rectifying the input signals from the yawing angle coils 13a and 13b, and a signal corresponding to the input signal from the drive circuit 21 for receiving analog signals. It is composed of an A / D conversion circuit 23 for digital / digital conversion, and a microcomputer 25 for reading the digital signal converted by the A / D conversion circuit 23, performing arithmetic processing on the digital signal, and outputting it. The microcomputer 25 includes a well-known CPU 25a and ROM 2
5b, the RAM 25c, the input port 25d, and the output port 25e are connected by a bidirectional bus 25f to constitute an arithmetic logic operation circuit. Programs for performing various processes according to a predetermined procedure are stored in the ROM 25b in advance.

Next, the arithmetic processing in the processing section 20 will be described. FIG. 4 shows the routine. Data proportional to each output of the yawing angle coils 13a and 13b is input through the drive circuit 21, the A / D conversion circuit 23 and the input port 25d and read by the CPU 25a (step 100). Then, a value that is approximately proportional to the yawing angle is calculated based on the above-mentioned data and is output (step 200).

In step 200, the following calculation is performed. First, as illustrated in FIG. 5, the bisector in the direction along the electromagnetic induction wire 5 at the intersection angle between the electromagnetic induction wire 5 and each of the yawing angle coils 13a and 13b (hereinafter referred to as the axis of the yawing angle detection sensor). ) Is not parallel, that is, when yawing.

For convenience of explanation, each physical quantity and constant are expressed as follows. All distances or intervals are core-core. B: Magnetic flux density (Wb / m ² ) due to the current being applied to the electromagnetic induction wire 5 h: Height of the yawing angle coils 13a and 13b from the electromagnetic induction wire 5 (m) H: Electric current applied to the electromagnetic induction wire 5 the strength of the magnetic field due to that current (a / m) H _R: amount proportional to the output of the right yaw angle coil 13a H _L: the amount proportional to the output of the left yaw angle coil 13b I: is energized electromagnetic induction line 5 Current (A) r: Distance from electromagnetic induction wire 5 (m) x: Deflection amount (m) α: Left and right yawing angle Opening angle (rad) of coils 13a and 13b θ: Yawing angle (rad) μ _o : Permeability of vacuum (4π × 10 ^-7 ) At the distance r, the strength of the magnetic field due to the current of the electromagnetic induction wire 5 is

[0019]

[Equation 1]

And the magnetic flux density is

[0021]

[Equation 2]

It is The electromotive force due to electromagnetic induction generated in the coil placed at a certain point in the magnetic field formed by the current flowing through the electromagnetic induction wire 5 is proportional to the magnetic flux intersecting the coil. The strength of the magnetic field at that point is inversely proportional to the distance r from the electromagnetic induction line, and the magnetic flux intersecting the coil is proportional to sin η, where η is the crossing angle between the coil and the magnetic field. Therefore, the electromotive force generated in the coil is proportional to sin η / r.

Assuming that the yawing angle coils 13a and 13b are at a position x from the electromagnetic induction wire in the horizontal direction and h in the height direction and at a distance r from the electromagnetic induction wire.

[0024]

[Equation 3]

In addition,

[0026]

[Equation 4]

[0027] Therefore, if 1 / 2π is regarded as a proportional constant, H _R is

[0028]

[Equation 5]

Similarly, H _L is

[0030]

[Equation 6]

From equations (5) and (6),

[0032]

[Equation 7]

It becomes Furthermore, from equation (7),

[0034]

[Equation 8]

Is obtained. Since the value corresponding to tan θ is obtained by the equation (8), the yawing angle can be calculated from this. When θ≈0, tan θ≈θ

[0036]

[Equation 9]

The crossing angle of the yawing angle coils 13a and 13b of the yawing angle detecting sensor 1 of this embodiment is 90.
Since α is 45 °, α = 45 °, and tan α = 1. Therefore,

[0038]

[Equation 10]

The value on the right side of the equation (10) can be regarded as a value proportional to the yawing angle. In this embodiment, the error is 1.0% when θ = 10 ° and 2.3% when θ = 15 °. As a result, each yawing angle coil 13
CPU 25 sets the quantities H _R and H _L proportional to the outputs of a and 13b.
By inputting into a, it is possible to calculate a value that can be considered as proportional to the yawing angle.

When the yawing angle θ = 0, the quantities H _R and H _L proportional to the outputs of the yawing angle coils 13a and 13b become equal, so that (H
The term of ( _{R− HL} ) becomes 0. Therefore, the calculated value in this case is 0. Next, the operation of the yawing angle detection sensor 1 of this embodiment will be described.

Each of the yawing angle coils 13a and 13b of the yawing angle detection sensor 1 arranged at a relative position so as to be almost directly above the electromagnetic induction wire 5 is formed by an alternating current supplied to the electromagnetic induction wire 5. In the magnetic field. Since the strength of the magnetic field formed by the change of the phase of the alternating current applied to the electromagnetic induction wire 5 also changes, the magnetic flux density interlinking with the yawing angle coils 13a and 13b changes. As a result, each yawing angle coil 13
An induced voltage is generated in a and 13b. An electric signal according to the induced voltage is input to the processing unit 20 from each of the yawing angle coils 13a and 13b.

In the processing section 20, first, the electric signals from the respective yawing angle coils 13a and 13b are sent to the drive circuit 21.
Amplification, noise signal removal, rectification, etc.
It is sent to the A / D conversion circuit 23. The signal input to the A / D conversion circuit 23 is converted into a digital signal here and input to the microcomputer 25 as data proportional to the outputs of the yawing angle coils 13a and 13b.

When data proportional to the outputs of the yawing angle coils 13a and 13b is input to the input port 25d, the CPU 25a starts the routine process shown in FIG. That is, the yawing angle coil 13
Data proportional to the outputs of a and 13b is read (step 100), and a value recognizable as proportional to the yawing angle is calculated based on the respective data and output (step 200). This value is the value shown in the above equation (10).

The output from the processing unit 20 is the yawing angle coils 13a and 13b at the relative position where the axis of the yawing angle detecting sensor 1 is parallel to the electromagnetic induction wire 5.
Since the amounts H _R and H _L proportional to the output of the yaw become equal, the output of the yawing angle detection sensor 1 also becomes zero.

However, when the relative position between the axis of the yawing angle detection sensor 1 and the electromagnetic induction wire 5 is yawed from the axial direction of the electromagnetic induction wire 5 to the left or right as shown in FIG. 5, H _R ≠ H _L Therefore, a value that cannot be recognized as being proportional to the yawing angle is output. Therefore, the yawing angle from the axial direction of the electromagnetic induction wire 5 can be detected from the output value.

[0046] In this case, the right, on whether you are yawing in any left, by determining the value of H _R -H _L positive, negative or positive accordingly also the output value, a negative value. Therefore, the yaw angle and its direction can be detected simultaneously from the output value. In the present embodiment, the approximate value of the yawing angle θ is calculated and output by the equation (10), but the yawing angle θ or a value proportional to the θ is calculated and output based on the equation (8). It can also be configured.

Although the yawing angle coils 13a and 13b of this embodiment have been described as one-turn ring coils, the shape of each yawing angle coil is not limited to this. However, it is desirable that the magnetic flux density distribution in the coil is small enough to be regarded as substantially uniform. When the windings of both yawing angle coils are crossed multiple times,
For example, when the windings of the yawing angle coil 13b are alternately passed through the inside and outside of the yawing angle coil 13a at the intersection, the windings passing through the inside and the outside are balanced as a whole, and good output characteristics are obtained. Be done.

Further, in the present embodiment, the arithmetic processing in the processing section 20 is performed by the microcomputer 25, but instead of this, an analog circuit in which an adding circuit and a multiplying circuit are combined can be used. In this case, A /
The D conversion circuit 23 becomes unnecessary. The description of the first embodiment is completed above, and then an embodiment of the electromagnetic induction type unmanned vehicle in which the yawing angle detection sensor described in the first embodiment is incorporated into the electromagnetic induction sensor and used. (Embodiment 2) FIG. 6 is an explanatory view showing a device configuration of an electromagnetic induction type unmanned vehicle 50 of the present embodiment, and FIG. 8 is a block diagram illustrating a basic configuration of the electromagnetic induction type unmanned vehicle.

First, the structure of the electromagnetic induction type unmanned vehicle 50 will be described. As shown in FIG. 6, an electromagnetic induction type unmanned vehicle 50
Includes four wheels, a front guide wheel 53 and a rear guide wheel 55 attached to the center of the longitudinal end of the carriage 51, and drive wheels 57a and 57b installed in the center of the side portions.

FIGS. 7 and 8 are explanatory views showing a state in which the electromagnetic induction type unmanned vehicle 50 is mounted on the traveling road surface 70. The front guide wheel 53 and the rear guide wheel 55 are not shown. An electromagnetic induction wire 80 of a conductive cable is buried under the traveling road surface 70, and an alternating current from a power supply device (not shown) is supplied to the electromagnetic induction wire 80. The electromagnetic induction type unmanned vehicle 50 runs on the traveling road surface 70 along the axial direction of the electromagnetic induction wire 80.
It is possible to move forward and backward.

The drive wheels 57a and 57b are respectively the motor 5
Motors 59a and 59b are connected to 9a and 59b.
It is driven by and rotates. A traveling control device 61 including a microcomputer 63 is electrically connected to the motors 59a and 59b. Further, the traveling control device 61 includes a power control unit 62 having a built-in battery. The power control unit 62 supplies the current from the battery to the motors 59a and 59b according to the instruction from the microcomputer 63, and
It is possible to control operating states such as rotation and stop of 9a and 59b.

The traveling control device 61 includes an electromagnetic induction sensor 6
5 is electrically connected. The yaw angle detection sensor 65a described in the first embodiment is used as the electromagnetic induction sensor 65.
In addition, a deviation detection sensor 65b for detecting a deviation in a direction orthogonal to the axial direction of the electromagnetic induction wire 80, that is, a deviation amount is additionally included. The bias detection sensor 65b is of a known type that includes a pair of bias coils that detect a magnetic field formed by an electromagnetic induction wire.

Therefore, from the electromagnetic induction sensor 65,
The yaw angle detection sensor 65a outputs the yaw angle and the deviation detection sensor 65b outputs the deviation amount.
It is supposed to be input to.

The yawing angle sensor 65a is installed at the center of the electromagnetic induction type unmanned vehicle 50 such that the axis line is located on the central longitudinal section of the electromagnetic induction type unmanned vehicle 50.
On the other hand, the bias sensor 65b is installed at the end of the electromagnetic induction type unmanned vehicle 50 so as to be bilaterally symmetrical with respect to the central longitudinal section of the electromagnetic induction type unmanned vehicle 50.

As a result, the output signal of the electromagnetic induction sensor 65, that is, the output signals of the yawing angle sensor 65a and the deviation sensor 65b can be input to the traveling control device 61, more precisely to the microcomputer 63. The microcomputer 63 is a well-known CPU 63a, RO
The M63b, the RAM 63c, and the input / output circuit 63d are connected by a bidirectional bus 63f to constitute an arithmetic logic operation circuit. Further, the ROM 63b stores in advance a program for performing various processes according to a predetermined procedure.

In the steering amount calculation routine shown in FIG. 9, the microcomputer 63 reads the output from the electromagnetic induction sensor 65, calculates the steering amount based on the signal, and instructs the power control unit 62. The traveling speed and the traveling direction are also instructed by a subroutine set separately.

In the steering amount calculation routine, the microcomputer 63 reads as a data a value that can be regarded as being proportional to the yawing angle output from the yawing angle detection sensor 65a of the electromagnetic induction sensor 65 (step 1).
000). Next, a value proportional to the deviation amount output from the deviation detection sensor 65b of the electromagnetic induction sensor 65 is read as data (step 2000).

Subsequently, step 1000 and step 2
The steering amount is calculated based on the data read in 000 (step 3000). Then, the calculated steering amount is instructed to the power control unit 62 (step 4000). The steering amount calculated and instructed here depends on the amount of deviation and the magnitude and direction of yawing (right or left in the traveling direction with respect to the electromagnetic induction wire 80).

An example thereof is shown in FIGS. 12 (a) and 12 (b).
The traveling direction of the electromagnetic induction type unmanned vehicle 50 is the direction of arrow X. In the examples shown in FIGS. 12A and 12B, the detected deviation amounts x are the same, but in the case of FIG. 12A, the steering amount is “small”. In this case, the steering amount is “large”.

As described above, since the steering amount is calculated from the yawing angle data and the deviation amount data, smoother steering and traveling can be performed as compared with the case where only the deviation amount data is used. Next, the operation of the electromagnetic induction type unmanned vehicle 50 of this embodiment will be described. Electromagnetic induction type unmanned vehicle 5 placed on the road surface 70
When 0 is instructed to start traveling, the microcomputer 63 outputs an instruction signal regarding traveling speed and traveling direction. The traveling control device 61 is the microcomputer 6
The electric power is supplied to the motors 59a and 59b so that the traveling speed and the traveling direction correspond to the instruction signal of No. 3.

The drive wheels 5 are driven by the motors 59a and 59b operating.
When 7a and 57b are rotated, the electromagnetic induction type unmanned vehicle 50 travels in a direction corresponding to the rotation direction of the drive wheels 57a and 57b. If the horizontal relative positions of the electromagnetic induction wire 80 and the electromagnetic induction type unmanned vehicle 50 change during traveling, yawing and / or deviation occurs.

First, the case where yawing and deviation occur simultaneously will be described. The axis line along the traveling direction of the electromagnetic induction sensor 65 yaws to the left or right from the vertical extension surface of the axis line of the electromagnetic induction line 80, and at the same time, the electromagnetic induction line 8
When there is a deviation from 0, the yawing angle detection sensor 65a of the electromagnetic induction sensor 65 outputs a signal that can be considered as proportional to the yawing angle, and the deviation detection sensor 65b also outputs a signal proportional to the deviation amount. , To the microcomputer 63.

For example, assuming that the electromagnetic induction type unmanned vehicle 50 yaw at θ (rad) in FIG. 8 (yaw angle θ), kθ (k is a proportional constant) is output from the yaw angle detection sensor 65a. When kθ is input, the microcomputer 63 first reads a value that can be regarded as proportional to the yawing angle as data according to the routine shown in FIG. 10 (step 100).
0).

Next, a value proportional to the deviation amount output from the deviation detection sensor 65b is read as data (step 2000). Then, the steering amount is calculated based on the both data read (step 3000). Next, the calculated steering amount is output (step 4000).

The power control unit 62 controls the motors 59a, 5a depending on the steering amount calculated and output by the microcomputer 63.
The rotation speed of 9b is changed so that the drive wheels 57a,
The rotation speed of 57b is changed. In the above example, the rotational speeds of the motors 59a and 59b are controlled so that the rotational speed of the drive wheel 57b is higher than the rotational speed of the drive wheel 57a. Then, the electromagnetic induction type unmanned vehicle 50 turns in the direction of arrow A, and the deviation and yawing are corrected.

In this embodiment, since the steering of the electromagnetic induction type unmanned vehicle 50 is performed according to the deviation amount and the yawing angle, the steering operation is smoother than the steering operation according to only the deviation amount. Become. When the steering process according to the steering amount input from the microcomputer 63 is completed, the motor 59
The rotational speeds of a and 59b are set to the same speed again, and the electromagnetic induction type unmanned vehicle 50 goes straight.

When the electromagnetic induction sensor 65 detects yawing and deviation from the electromagnetic induction wire 80 in the electromagnetic induction type unmanned vehicle 50 in this straight traveling state, the electromagnetic induction type unmanned vehicle 50 is again operated in the same process as described above. Go straight. Next, when the horizontal relative position change between the electromagnetic induction wire 80 and the electromagnetic induction type unmanned vehicle 50 is only yawing, the output of the yawing angle detection sensor 65a outputs kθ which is proportional to the yawing angle. The output value of 65b becomes 0.

Similarly to the above, the microcomputer 63 reads a value that can be regarded as proportional to the yawing angle as data (step 1000) and a value proportional to the deviation amount (0 in this case) as data (step 2000). .. Next, the steering amount is calculated based on the read both data (step 3000), and the calculated steering amount is output (step 4000).

Subsequently, as in the above, the power control unit 62
Changes the rotation speed of the motors 59a and 59b according to the steering amount calculated and output by the microcomputer 63,
As a result, the rotational speeds of the drive wheels 57a and 57b are changed, so that the electromagnetic induction type unmanned vehicle 50 goes straight.

If the horizontal relative position change between the electromagnetic induction wire 80 and the electromagnetic induction type unmanned vehicle 50 is only the deviation, the output value of the yawing angle detection sensor 65a becomes 0, and only the output of the deviation detection sensor 65b. At, the course is corrected in the same manner as above. The electromagnetic induction type unmanned vehicle 50 travels along the electromagnetic induction wire 80 while repeating this, and stops at a position set separately.

In this embodiment, the electromagnetic induction sensor 65
The outputs of the yawing angle detection sensor 65a and the deviation detection sensor 65b are independently input to the microcomputer 63. However, the microcomputer 63 combines the outputs of the yawing angle detection sensor 65a and the deviation detection sensor 65b. Alternatively, the input may be performed.

Although the motors 59a and 59b are driven by the battery built in the traveling control device 61, electric power may be supplied from a trolley wire or the like installed on the traveling road surface 70 instead of the battery. .. Further, the steering method of the electromagnetic induction type unmanned vehicle is not particularly limited, and may be, for example, a method of changing the direction of the guide wheels in addition to the difference in rotational speed between the left and right drive wheels. The number and arrangement of the drive wheels and the guide wheels are not limited to those in this embodiment, and the front two wheels-
It can be implemented in various numbers and arrangements such as two rear wheels, one front wheel and two rear wheels.

The present invention is not limited to the embodiments as described above, and can be carried out in various modes without departing from the gist of the present invention.

[0074]

As described above in detail, the yawing angle detection sensor of the present invention can output an amount that can be considered to be proportional to the yawing angle of the yawing angle coil with respect to the electromagnetic induction wire. Further, an electromagnetic induction type unmanned vehicle using this yawing angle detection sensor as an electromagnetic induction sensor can perform smooth and stable steering because steering is performed according to the yawing angle together with the amount of deviation.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a sensing unit of a yawing angle detection sensor according to a first exemplary embodiment.

FIG. 2 is a block diagram of a yawing angle detection sensor according to the first embodiment.

FIG. 3 is a block diagram illustrating a configuration of a processing unit of the yawing angle detection sensor according to the first exemplary embodiment.

FIG. 4 is a flowchart of a yawing angle calculation routine in the first embodiment.

FIG. 5 is an explanatory diagram of a relative position of each coil of the electromagnetic induction wire and the yawing angle detection sensor in the first embodiment.

FIG. 6 is an explanatory diagram showing a configuration of an electromagnetic induction type unmanned vehicle of a second embodiment.

FIG. 7 is an explanatory diagram of relative positions of an electromagnetic induction type unmanned vehicle and an electromagnetic induction wire according to a second embodiment.

FIG. 8 is an explanatory diagram of a relative position between an electromagnetic induction type unmanned vehicle and an electromagnetic induction wire according to a second embodiment.

FIG. 9 is a block diagram of an electromagnetic induction type unmanned vehicle according to a second embodiment.

FIG. 10 is a flowchart of a steering amount calculation routine for an electromagnetic induction type unmanned vehicle according to a second embodiment.

FIG. 11 is a block diagram of a travel control device for an electromagnetic induction type unmanned vehicle according to a second embodiment.

FIG. 12 is an explanatory diagram of the size and direction of yawing and the amount of deviation of the electromagnetic induction type unmanned vehicle of the second embodiment.

[Explanation of symbols]

1 ... Yawing angle detection sensor, 3 ... Road surface, 5 ... Electromagnetic induction wire, 10 ... Sensing unit, 1
3a, 13b ... yawing angle coil, 20 ...
Processing unit, 21 ... Drive circuit, 23 ... A / D conversion circuit, 25 ... Microcomputer, 50 ... Electromagnetic induction type unmanned vehicle, 51 ... Bogie, 53 ... Front wheel, 5
5 ... Rear wheel, 57a, 57b ... Drive wheel, 59
a, 59b ... Motor, 61 ... Travel control device, 6
2 ... Power control unit, 63 ... Microcomputer, 65 ... Electromagnetic induction sensor, 65a ... Yaw angle detection sensor, 65b ... Bias detection sensor.

Claims (2)

[Claims] 1. A yawing angle detection sensor for detecting a magnetic field formed by an electromagnetic induction wire to detect a yawing angle with the electromagnetic induction wire, comprising: a pair of yawing angle coils intersecting each other at a predetermined angle; A yawing angle detection device is provided, which is provided with a processing unit for obtaining an output of the yawing angle coil and calculating and outputting a value correlating with a yawing angle between the electromagnetic induction wire and the pair of yawing angle coils from the output. Sensor. 2. An electromagnetic induction type unmanned vehicle, wherein the yawing angle detection sensor according to claim 1 is used as an electromagnetic induction sensor.