JPH0522928B2 - - Google Patents

Description

[Detailed Description of the Invention] (a) Industrial Application Field The present invention relates to a control device for an electric vehicle running on a predetermined running road, and detects a magnetic force generation source provided on the running road and generates a detection signal thereof. The present invention relates to a device that controls the operation of an electric vehicle according to the following conditions.

(b) Prior art Conventionally, magnetic fields have been developed by detecting the alternating magnetic field generated by passing an alternating current through induction wires buried in the road surface, or by providing wires with different reflection efficiencies on the road surface.
Vehicles that guide an electric vehicle along the line by optically detecting this line are applied to golf carts, transport vehicles, and the like.

In this type of conventional device, in order to stop or decelerate an electric vehicle, a magnetic force generating source is buried in the road surface and this magnetic force is detected (Japanese Patent Publication No. 50-9956). In this case, if a permanent magnet is used as the magnetic force generation source, two types of signals can be obtained using the polarity of the permanent magnet. Similarly, a signal can be obtained by forming a loop in the guide wire, and the loop By changing the direction, two types of signals can be obtained. In this way, in the conventional device,
Two types of signals can be obtained, but it is difficult to obtain more types.

(c) Purpose of the Invention The present invention has been invented in view of the above points, and by varying the length or spacing of the magnetic force generating sources provided on the running route, it is possible to generate signals according to multiple types of installation positions. It is an object of the present invention to provide a device that detects the signal and controls the operation of the electric vehicle according to the signal.

(d) Structure of the Invention In order to achieve the above object, the device according to the present invention includes a detection means for detecting magnetic force from a magnetic force generation source formed in a loop shape of a permanent magnet or a guide wire provided on the running path of the main body of an electric vehicle. a processing means for waveform processing the detection signal of the means; a sensing means for sensing timing pulses corresponding to the running of the electric vehicle body; a counting means for counting the timing pulses; and a first switching from the processing means. comprising gate circuit means for inputting the timing pulse to the counting means only between the arrival of the pulse and the second switching pulse; and control command means for controlling the operation of the electric vehicle main body according to the number of timing pulses of the counting means. It is what it is.

(e) Examples Examples of the present invention will be described based on the drawings. 1st
The figure shows the basic configuration of an electric vehicle. In this drawing, reference numeral 1 denotes an electric vehicle main body, which includes at least one drive wheel 2 and at least one guide wheel 3. The drive wheel 2 is driven by a drive motor 4, the guide wheel 3 is driven by an angle control motor 5, and each motor 4, 5 is controlled by a drive circuit 6 or 7, respectively. Both drive circuits are controlled based on commands from control command means 8, and are each provided with a pulse width modulation circuit, by which each motor 4, 5 is smoothly controlled.

Reference numeral 9 denotes a detection means for detecting a predetermined running route, and control command means 8 is sent based on the output of this means.
A control command is then given to the drive circuit 7 to cause the guide wheels 3 to follow a predetermined travel path.
In this case, the pulse width modulation circuit included in the drive circuit 7 causes the guide wheels 3 to gradually follow the traveling path when they deviate from the traveling path. The detection means 9 may be configured to detect an alternating magnetic field from a guide wire buried in the running road surface, or may be configured to optically detect lines with different reflection efficiencies provided on the running road surface.

Reference numeral 10 denotes a manual operation section, which includes a control box and a brake lever, and the control box has notches such as "fully automatic,""passing a stop,""releasebrake,""park,""lowspeed," and "high speed." The notches are switched by a selector and each notch starts operating by pressing a start button.
The "Full automatic" and "Pass stop" notches are used when guiding the vehicle along a predetermined route.
The "brake release" notch is used for manual operation. Furthermore, the "low speed" and "high speed" notches are used when the vehicle is driven electrically while being manually steered outside a predetermined travel route. The drive circuits 6 and 7 and the brake means 12 are controlled by commands from the operating section 10 or by commands from the second detection means 11 for detecting obstacles, for example.

Reference numeral 13 denotes a detection means that detects the magnetic force from a magnetic force generation source 14 provided on the running path. This detection means 13 has a detection coil 13a and an amplifier 13b for amplifying its detection output. This amplifier output is waveform-processed by the waveform processing means 5 and compared with a reference value, and is inputted to the control command means 8 as a detection output of the detection means 13.

Reference numeral 16 denotes a sensing means that senses timing pulses corresponding to the running of the electric vehicle main body 1.
This sensing means is provided with one or more permanent magnets 16a attached to the wheels of the electric vehicle body 1, for example, the guide wheels 3, and a magnetic sensor 16b for sensing the magnetic flux of the permanent magnets. Therefore, the magnetic flux of the permanent magnet 16a can be sensed as a timing pulse in accordance with the running of the electric vehicle main body 1. This timing pulse is counted by a counting means 17.
Between the counting means and the sensing means 16 there are gate circuit means 18 which detect the timing pulses during the arrival of the first switching pulse and the second switching pulse from the sensing means 13 to the counting means 17. input. The counting output of the counting means 17 is input to the control commanding means 8, and a control command according to the counting output is outputted from the control commanding means to the drive circuits 6, 7, the brake means 12, etc.
control the behavior of

Next, the related operations of the detection means 13 and the counting means 17 when the magnetic force generation sources 14 ₁ , 14 ₂ and 14 ₃ are sequentially arranged on the running road as shown in FIG. 2a will be explained based on FIG. explain.

When the electric vehicle main body 1 runs on a running road provided with magnetic force generation sources 14 ₁ to 14 ₃ , the detection means 13 detects each magnetic force generation source, and the detection output waveform 21 is shown in FIG.
It will be as shown below. In this case, the detection output corresponds to the polarity of each magnetic force generation source, and in the case of N pole, a positive signal,
It is assumed that a negative signal is generated at the S pole. This diagram b
The DC level (+V) and (-V) signals 22 and 23 are reference levels for removing noise, and the waveform processing means 15 compares and detects detection outputs that exceed this reference level. A rectangular signal 24 corresponding to the north pole of the magnetic force generation source and a rectangular signal 25 corresponding to the south pole are output. These rectangular signals are shown in FIGS. 2c and d.

On the other hand, the timing pulse 26 shown in the figure e is sensed by the sensing means 16 due to the rotation of the guide wheel 3. In the drawing, a timing pulse train during constant speed running is shown.

Now, each of the magnetic force generation sources 14 ₁ to 14 ₃ has a different size, that is, a length in the running direction, and a first rectangular signal 24 ₁ corresponding to the N pole of the first magnetic force generation source 14 ₁ is generated. As a result, the gate circuit means 18 is opened, and the subsequent timing pulse enters the counting means 17, resulting in a second rectangular signal 25 corresponding to the S pole.
₁ , the gate circuit means 18 is closed.
Therefore, while both rectangular signals 24 ₁ and 25 ₁ arrive, l ₁
The counting means 17 counts the number of timing pulses. In this case, four timing pulses 26 are counted during the rising time interval l ₁ of both rectangular signals 24 ₁ , 25 ₁ corresponding to the length of the magnetic force generation source 14 ₁ . Similarly, for the length of the second magnetic force generation source 14 ₂ , between the rising time interval l ₂ of the rectangular signals 24 ₂ and 25 ₂ , 8
counting timing pulses 26. For the length of the third magnetic force generation source 14 ₃ , the rectangular signal 24 ₃
12 timing pulses 26 are counted between a rising time interval l ₃ of and 25 ₃ . In this way, the rectangular signal 2
4 is the first switching pulse, and the rectangular signal 25 is the second switching pulse.
This becomes a switching pulse.

FIG. 3 shows a diagram of the control command means 8 when counting timing pulses corresponding to the length of one magnetic force generation source 14 ₁ to 14 ₃ in this manner.
Based on this drawing, a case will be described as a representative case in which timing pulses corresponding to the length of the first magnetic force generation source 14 ₁ are counted.

The first rectangular signal 24 ₁ is output from the detection means 13.
When the timing pulse 26 from the sensing means 16 is detected, it is determined in the step whether or not it is the rising edge of the first rectangular signal 24 ₁ .
and this means starts counting. If the answer is "No" in the step, proceed to the step;
It is determined whether or not the second rectangular signal ₂₅₁ rises.
For the first rectangular signal 24 ₁ the step is "no" and is in the counting state described above.

Next, when the second rectangular signal ₂₅₁ arrives, at the time of its rise, the result is "no" and the result is "yes", so the process moves to step and the gate circuit means 18 is closed. Therefore, counting of timing pulses by the counting means 17 is completed. When this count value is a value predetermined by the control command means 8, a step operation signal is outputted from the control command means 8 to the drive circuits 6, 7, etc. to control the operation of the electric vehicle main body 1. At the same time, the counting means 17 is cleared in step 7 to return to the initial state. In step, when the count value of the counting means 17 is different from a predetermined value,
That is, if it is noise or the like other than the first and second rectangular signals 24 ₁ and 25 ₁ , the answer in step is "no", and the process moves to step to return to the initial state.

In the above embodiment, one magnetic force generation source 14 ₁ , 14
₂ , 14 ₃ , and operates by detecting the polarity of both poles of the magnetic force generation source _{14 .} may be detected by detecting the same polarity of both magnetic force generation sources.The foot chart in this case is shown in FIG. 4, and the distance between the magnetic force generation sources ₁₄₁ and ₁₄₂ is detected as a representative. I will explain about it. In this example, it is assumed that the north pole of each magnetic force generation source 14 ₁ and 14 ₂ is detected.

When the first rectangular signal ₂₄₁ arrives as the output of the detection means 13, the step determines whether or not it is the rising edge of the signal. In this case, the gate circuit means 18 is closed in a step, and it is determined in a step whether the count value of the counting means 17 up to that point is a predetermined value. If the answer is "no", the process moves to step 100, where the count value of the counting means 17 is cleared, and the gate circuit means 18 is opened at the step, so that the counting means 17 receives the timing pulse 2 from the sensing means 16.
Start counting 6.

If the second rectangular signal 24 ₁ arrives and the step is YES, the step closes the gate circuit means 18 and prevents the timing pulse 26 from entering the counting means 17 . Therefore, counting means 17
It is determined in the step whether or not the count value of the timing pulse 26 at is a predetermined value;
If ``yes'', an operation signal is output to the drive circuits 6, 7, etc. in step to control the electric vehicle main body 1. At the same time, the count value is cleared in a step, and the gate circuit means 18 is opened in a step to return to the initial state.

In this way, the first and second rectangular signals 24 ₁ ,
24 ₂ becomes a switching pulse, and 10 timing pulses 26 are counted at the interval l ₁₂ in which this pulse arrives,
Depending on whether this count value is a predetermined value or not, 2
The operation signal corresponds to the interval between the magnetic force generation sources.

(F) Effects of the Invention The control device for an electric vehicle according to the present invention includes a detection means for detecting magnetic force from a magnetic force generation source formed in a loop shape of a permanent magnet or a guide wire provided on the running path of the electric vehicle body; a processing means for waveform processing the detection signal of the means; a sensing means for sensing timing pulses corresponding to the running of the electric vehicle body; a counting means for counting the timing pulses;
The present invention includes gate circuit means for inputting timing pulses to the counting means only during the arrival of the switching pulse and the second switching pulse, and control command means for controlling the operation of the electric vehicle main body according to the number of timing pulses of the counting means. Therefore, by changing the generation interval of the first switching pulse and the second switching pulse, the count value of the timing pulse can be changed, and a large number of operation signals can be set based on this count value. It can be adapted to various operations of electric vehicles. Also, malfunctions due to noise detection are reduced.

[Brief explanation of the drawing]

The drawings show a device according to the present invention; FIG. 1 is a diagram of the principle configuration of an electric vehicle, FIG. 2 is a signal waveform diagram corresponding to the position of a magnetic force generation source, and FIGS. 3 and 4 are flowcharts of different embodiments. It is. 1... Electric vehicle body, 14, 14 ₁ , 14 ₂ , 14
₃ ... Magnetic force generation source, 13... Detection means, 15...
Processing means, 16... Sensing means, 17... Counting means, 18... Gate circuit means, 8... Control command means.

Claims (1)

[Scope of Claims] 1. A detection means for detecting magnetic force from a permanent magnet provided on the running path of the electric vehicle body, a processing means for waveform processing the detection signal of this means, and a timing corresponding to the running of the electric vehicle body. sensing means for sensing the pulse;
counting means for counting the timing pulses; gate circuit means for inputting the timing pulses to the counting means only during the arrival of the first switching pulse and the second switching pulse from the processing means; A control device for an electric vehicle, comprising a control command means for controlling the operation of an electric vehicle body in accordance with the operation of the electric vehicle. 2. The first switching pulse and the second switching pulse are
2. A control device for an electric vehicle according to claim 1, wherein detection signals detected from magnetic poles of different polarities of said permanent magnet are processed by a processing means. 3. The first switching pulse and the second switching pulse are
2. A control device for an electric vehicle according to claim 1, wherein a processing means processes detection signals detected from magnetic poles of the same polarity of said permanent magnets installed adjacently at a distance. 4. A detection means for detecting the magnetic force generated by a magnetic force generation source formed in a loop of a guide wire provided on the running path of the electric vehicle body, a processing means for waveform processing the detection signal of this means, and a detection means for waveform processing the detection signal of this means, and sensing means for sensing the timing pulses, counting means for counting the timing pulses, and gate circuit means for inputting the timing pulses to the counting means only during the arrival of the first switching pulse and the second switching pulse from the processing means. and control command means for controlling the operation of the electric vehicle main body according to the number of timing pulses of the counting means. 5. The first switching pulse and the second switching pulse are
5. The control device for an electric vehicle according to claim 4, wherein the detection signals detected from the magnetic force generation sources wound in different directions are processed by a processing means. 6 The first switching pulse and the second switching pulse are
The electric vehicle according to claim 4, wherein the detection signal detected from the magnetic force generating sources installed adjacently with winding intervals in the same direction is processed by a processing means. Control device.