JPS61166605A - Guide type motor car - Google Patents

Abstract

PURPOSE:To improve the steering performance of the main body of a motor car by detecting an alternating magnetic field produced from an oscillation coil by two detection coils and fixing the direction of a caster against the motor car according to the deviation of detection output between both detector coils. CONSTITUTION:When a selector of a control box 20 is set at a retreat notch, an oscillation coil 18 provided to a card main body 1 produces an alternating magnetic field different from that produce from a guide line 17. The magnetic field of the coil 18 is detected by two detection coils 16a and 16b. In such a case where the coil 18 is set at a center position where no deviation of detection output is produced between both detection coils, the caster 9 is set in the front- back direction of the main body 1 by an angle control motor 10. Therefore the main body 1 is moved linearly back to a prescribed point by hands under such conditions when the manual retreat of the main body 1 is desired. Then the main body 1 is driven by a motor. If the fixing position of the coil 18 is shifted toward a point 18b by a control lever, the main body 1 curves and moves back to a prescribed point and then driven by a motor.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention is applicable to guided electric vehicles that travel guided along guide lines buried in the road surface, such as golf carts.

(b) Conventional technology An alternating current is passed through a single wooden induction wire buried in the road surface, and the alternating magnetic field generated by this is applied to the left and right sides of the center line of the electric vehicle body.
Two detection coils μ thrown at equal intervals are placed on both sides of the above-mentioned induction wire for detection, and the induced electromotive force generated in each detection coil is compared by a deviation detector via an amplifier to calculate the induced electromotive force. An induction type electric vehicle that controls the angle control motor of the guiding front wheels (hereinafter referred to as casters) relative to the electric vehicle body to change the direction of the casters and guide the electric vehicle body along a guide line based on the difference in electric power. has already been proposed (Jikko Kosho 5
5-80058-publication).

This guided electric vehicle is automatically steered when on a guide line, but manually steered where there is no guide line, and when leaving a hangar, the electric vehicle is manually backed up and turned in a wide space. and place it on the guide line, then automatically steer it.

However, casters are attached to caster mounting stays via a caster frame, and this caster frame has
Since the above-mentioned 2@ detection coils are installed and there are power supply lines to each detection coil, in order to prevent wire breakage, the rotation range is naturally regulated and the keystone does not rotate 1360 degrees. Because of this, as shown in Figure 5, when the electric vehicle main body (A) moves forward, the casters (B) are oriented in the forward direction (arrow C) K as shown by the broken line, but when moving backward, the casters (B) The caster (b) will rotate to the maximum point of the allowable rotation range, and the direction of the caster (b) will not match the backward direction (arrow 2). Therefore, as shown in Figure 6, the hangar (
Although it is possible to store a large number of electric vehicles (a) in the warehouse (e), it is not possible to take out the electric vehicles with the casters rotating. It required a great deal of force to retreat, and its maneuverability was extremely poor.

In addition, Figures J and 6 are model diagrams, respectively. (F) (F) indicates the driving rear wheels, (G)... indicates the charger, (example is the shelf with the charger installed, )... is the code for charging the storage battery installed in each electric vehicle (a).Me) is the driving trajectory of the electric vehicle when it enters the warehouse, and (4) is the trajectory when it leaves the warehouse with the point ( (A) is the direction change point. (C) Problems to be solved by the invention The present invention aims to solve the conventional drawbacks. It is intended to be simple.

B) Means for Solving the Problems The present invention solves the problems by applying an alternating magnetic field created by passing an alternating current to a guide wire placed on the road surface using two magnets installed on the caster frame of an electric vehicle. Detected by the detection coil /I/, and based on the detected output deviation, controls an angle control motor that controls the angle of the caster with respect to the electric vehicle body,
It is an electric vehicle that guides the electric vehicle body along a guide line, and the oscillation coil p of the oscillator that generates the front U4, 7, etc. The control means for controlling the position of the oscillation coil is mounted on the electric vehicle body so as to be movable substantially parallel to the mounting position of the detection coil 2@, and a control means for controlling the position of the oscillation coil is provided in the control box of the electric vehicle body, and the alternating magnetic field from the oscillation coil is It is characterized in that the direction of the caster can be fixed with respect to the electric vehicle body by sensing with two detection coils p and controlling the angle control motor based on the sensed output deviation.

When the position of the oscillating coil is controlled and fixed by the control means, the direction of the caster is adjusted so that the alternating magnetic field from the oscillating coil is not affected by the alternating magnetic field from the guiding wire. It is detected and the direction of the casters is regulated. Further, the direction of the casters is determined by the fixed position of the oscillation coil.

For this reason, for example, when a desired electric vehicle is taken out of a hangar with a large number of electric vehicles stored in a row in a hangar without guide wires, the electric vehicle must be fixed with its casters in the desired direction. It can be pushed back.

(F) Example Hereinafter, an example in which an electric induction vehicle according to the present invention is applied to a golf cart will be described with reference to the drawings.

FIG. 1 is a perspective view of a golf cart. In this drawing, (1) is the cart body, the main body frame (2) made of pipes is the main support, and the rear two swords are the drive wheels *
<? ik ring)! 31+31 is provided, and within the cover (4) between the wheels, a drive motor for driving the wheels,
It is equipped with a lead-acid IW battery as a power source and control circuit components. The main body frame (1) has a golf puffer fish placing part (5), a butter case (6), etc., and the front of the cart main body (1) has a mounting stay (8) for the caster part (7).
) is provided on the underside of this stay, and a motor [101 for controlling the angle of the cart body (l) of the caster; A second pulley (131) is provided on the upper surface of each mounting stay on the caster frame (one shaft), and both pulleys are connected by a timing belt 0→.

The caster part f71 I/i is rotatably attached to the mounting stay (8), that is, the cart body (IB), and is composed of a caster frame (12) and casters (9) as main elements.

A support plate is attached to the gear star frame α2)K that protrudes forward from the # end of the mounting stay (8), and a pair of detection coils/l are placed on the left and right ends of the support plate, respectively, and are spaced the same distance from the center. /(16a) and (16b) are respectively attached at predetermined positions. This pair of detection carp 1v (16a)
(16b) detects the alternating magnetic field emitted from the guide wire 07+ buried in the road surface, and controls the angle control motor (101) of the caster (9) with respect to the cart body +11 based on the deviation of the detected output. Further, on the lower surface of the front end of the mounting stay (8), an oscillation coil is mounted on, for example, a slide rail so as to be movable approximately parallel to the mounting positions of the two detection coils yv (16a) (16b). , and other circuit components constituting the oscillator H (see Fig. 3) are mounted inside the cover (4).When this oscillating coil/v is activated, it generates an alternating magnetic field different from the alternating magnetic field from the guiding wire (17). This alternating magnetic field is detected by two detection coils.
Detection coil 1v (16a) (1
6b) may be used, or another specially provided detection coil p may be used.

Next, a brake lever (2) is provided near the handle, which is an example of a control box provided in the hand/L' (ri I). As is clear from the front view shown in Figure 2, the control box handle controls the operation of the notch switched by the selector (decoy) by switching the selector □□□ and pressing the start button. This is related to the circuit.In contrast to Nottsuchi's "fully automatic" and "passing through a stopping point" guided run, the "high speed" and "low speed" of an electric cart are based on the presence of a guide line (17) as an electric cart. "Parking" is a state in which power supply from the lead-acid battery is blocked and the drive vehicle es(sr+sr) is locked by the brake means so that the cart body +1j does not move. '' is a state that can be pushed by hand when the brake force is released from the ``park'' state. 1. Cart body (1)
The vehicle is in a state where it can be manually retracted.

A control lever 4, which serves as a control means for controlling the position of the oscillation coil IL/(II9), is slidably mounted on the control box, and the sliding operation of the control lever 4 is performed via a piano wire. Then, the oscillating coil /I/ (181K is transmitted. Therefore, when the control lever (251 all points (25a)) is placed in the K position, the oscillating coil /I/ end is located at the point (18a), and the control lever is turned to the point (18a). (25b), the oscillating coil/L
'(+The barrel is located at point (18b) K.

Next, FIG. 3 is a steering circuit diagram. In this drawing, the detection outputs of two detection coils /L/(16a) (16b) are amplified by amplifiers (26a) (26b), respectively, and a comparison
The amplified outputs of the respective detection outputs are compared, and the detected output deviation, which is the output, controls the motor drive circuit (Inc.) to control the angle control motor tio+. Cart body (
1) During guided travel when the vehicle travels on the guide line θη,
The alternating magnetic field from the guide wire is detected by 2@ detection coil /l/(16a
) (16b), and the direction of the caster (9) is adjusted by the angle control motor (10) so that the detected outputs are equal.
Since it is controlled by the cart body (+1 is the guiding line αη
run on top.

*Izr 1jIl 21a+ +knee, tsux f9
When the nl is set to the notch, the oscillating coil ρθ field provided on the cart body (1) is generated by an oscillator (l sacrifice f′PvJ), which generates an alternating magnetic field different from the alternating magnetic field generated from the guiding wire Qη. Generates a magnetic field.This alternating magnetic field is
The oscillating coil/I/ (16a) (16b) detects the detection coil/I/ and
In the embodiment in which the I/α barrel is located in the center, the orientation of the casters (9) in the front-rear direction of the cart body (ljl) is controlled and fixed by the angle control motor (lω). When retracting lj manually, by setting the selector plate to the "reverse" notch, the casters (9) can be rotated by manually pulling the cart body ill with the direction of the casters (9) fixed. Meanwhile, the cart body (11) recedes linearly.As is clear from FIG. 4, which shows a schematic view of the inside of the hangar corresponding to FIG. The vehicle then moves backwards and then exits the garage using electric power as shown in trajectory (30).

Also, if the fixing position of the oscillating carp/'Q81 is shifted from the control button on the control lever side to the point (18b) in Fig. 1, the cart body (11 points, 311) will curve and retreat. Then, the vehicle is driven out of the garage by electric driving according to the trajectory (towards).For this reason, the distance (L) is shorter than when driving straight backwards.
The retreat distance becomes shorter. Note that a is a hangar.

(G) Effects of the Invention The induction electric vehicle according to the present invention has a 2fl oscillation coil of an oscillator that generates an alternating magnetic field different from the alternating magnetic field from the guide wire.
! The detection coil μ is mounted on the electric vehicle body so as to be movable approximately parallel to the mounting position, and a control means for controlling the position of the oscillation coil μ is provided in the control box of the electric vehicle body, and the alternating magnetic field from the oscillation coil is The present invention is characterized in that the direction of the caster can be fixed with respect to the electric vehicle body by sensing with the two detection coils and controlling the angle control motor based on the sensed output deviation. When reversing the electric vehicle, the electric vehicle can be operated with the direction of the casters fixed, and the direction of the casters can also be fixed arbitrarily by the control means, improving the maneuverability of the electric vehicle.

[Brief explanation of the drawing]

1 to 4 show one embodiment of the present invention, in which FIG. 1 is a perspective view of a golf cart to which an induction electric vehicle is applied, FIG. 2 is an enlarged front view of a control box, and FIG. 3 is a steering wheel. The circuit diagram, Figure 4 shows the main part of the hangar model.
21... Caster frame, (16a) (16b)
...Detection carp~, (1)...Cart body (electric vehicle body), "I...caster, +Iα...motor, ■...
・Oscillator, alpha coil... oscillation coil, h... control reno (
- (control means).

Claims (1)

[Claims] (1) The alternating magnetic field caused by passing an alternating current through the induction wire buried in the road surface is detected by two detection coils installed on the caster frame of the electric vehicle, and the detected output deviation is used to detect the change in the caster relative to the electric vehicle body. An electric vehicle that controls an angle control motor that controls an angle to guide the electric vehicle body along a guide wire, and includes an oscillation coil of an oscillator that generates an alternating magnetic field different from an alternating magnetic field from the guide wire. A control box of the electric vehicle body is provided with a control means that is movably attached to the electric vehicle body substantially parallel to the mounting position of the oscillation coil and controls the position of the oscillation coil. Sensed by two detection coils,
An induction electric vehicle characterized in that the direction of the caster can be fixed with respect to the electric vehicle body by controlling the angle control motor based on the detected output deviation.