JPH08130803A - Vehicle - Google Patents

Abstract

PURPOSE: To accurately detect the external magnetic field of a vehicle mounted with an engine and battery. CONSTITUTION: A vehicle which is driven by an engine E mounted on the vehicle and provided with an AC generator 26 which generates electric power for charging a battery 34 and a magnetic field detecting sensor which detects the external magnetic field of the vehicle is provided with a synchronous status detecting means A which detects that the fluctuating frequency of the current generated by the generator 26 reaches or approaches a set frequency which gives an adverse influence on the detecting operation of the magnetic field detecting sensor and charge stop means B which stops the supply of the charging current to the battery 34 from the generator 26 through a feeder line 31 in accordance with the results of detection of the detecting means A.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle equipped with an alternator which is rotationally driven by a mounted engine and which generates electric power to charge a battery, and magnetic field detecting means for detecting an external magnetic field.

[0002]

2. Description of the Related Art In a vehicle having the above structure, the magnetic field detecting means detects an external magnetic field such as a magnetic field formed by supplying an electric current to an induction wire installed on the ground side or an external magnetic field such as a geomagnetic field. For example, various controls such as automatic guided traveling of the vehicle and determination of the azimuth and traveling direction of the vehicle body can be performed. In addition to the external magnetic field of interest, the magnetic field generated from inside the vehicle,
For example, the magnetic field (noise) generated from the power supply line to which the charging current for the battery is supplied from the AC generator may prevent effective detection of the external magnetic field. The magnetic field detecting means is installed at a position as far as possible from the place where the noise source is installed.

[0003]

However, since the battery charging current by the AC generator as described above is a large current, the strength of the magnetic field generated thereby cannot be ignored with respect to the external magnetic field. It will be big. In particular, in this type of vehicle, the engine speed constantly changes based on the change in the driving load, and the change frequency of the charging current generated by the AC generator changes with the change. Therefore, if the fluctuating frequency becomes close to the detection frequency of the magnetic field detecting means, there is a great risk that the detection operation will be adversely affected. There is a disadvantage that the detection operation cannot be performed.

The present invention has been made paying attention to such a point, and an object thereof is to detect an external magnetic field in a vehicle equipped with an engine and a battery by adopting a rational configuration. The point is that it can be performed with high accuracy.

[0005]

The features of the first invention are as follows:
In a vehicle equipped with an alternator that is rotationally driven by a mounted engine and that generates electric power to charge a battery, and a magnetic field detection unit that detects an external magnetic field, a fluctuating frequency of the electric current generated by the alternator. Is a set frequency that adversely affects the detection operation of the magnetic field detection means, or a synchronous state detection means for detecting that the frequency has become close to the set frequency. A charging stop means for stopping the supply of the charging current to the battery through the electric wire is provided.

A characteristic configuration of the second invention is to specify a configuration suitable for carrying out the first invention, in which the synchronization state detecting means determines the fluctuation based on detection information of an output speed of the engine. The point is that it is configured to detect that the frequency has reached a set frequency or a frequency close to the set frequency that adversely affects the detection operation of the magnetic field detection means.

A characteristic structure of the third invention is to specify a structure suitable for carrying out the first or second invention, wherein the AC generator is rotationally driven by the engine, and
A primary coil to which an exciting current is supplied, and a secondary coil that is provided in a fixed position and in which an electromotive force is induced by a magnetic field generated by the primary coil are provided, and the charging stop means is the Current interrupting means that is switchable between a current supply state in which an exciting current is supplied to the next coil and a current stop state in which the supply of current is stopped, and the current interrupting means is supplied with current in accordance with the detection operation of the synchronous state detecting means. And a current control means for switching from the state to the current stop state.

According to a fourth aspect of the present invention, a characteristic configuration suitable for carrying out the first, second or third aspect of the invention is specified, and the charge stopping means is such that the rotational power of the engine is the alternator. And a clutch control means for switching the clutch from the transmission state to the power cut-off state in accordance with the detection operation of the synchronous state detection means.

The characteristic features of the fifth invention are the first, second and third aspects.
Alternatively, a configuration suitable for carrying out the fourth aspect of the invention is specified, and an induction wire for supplying an electric current to form a magnetic field is installed on the ground side, and the magnetic field detection means separates the induction wire from the ground wire. Is detected as the strength of the magnetic field, and in each of the plurality of travel routes having different distances from the guide wire, the magnetic field is applied so that the vehicle body travels in the direction along the longitudinal direction of the guide wire. The vehicle body is provided with traveling control means for controlling the steering operation means of the vehicle body based on the detection result of the detection means.

[0010]

According to the characterizing feature of the first aspect of the invention, the engine speed changes based on the fluctuation of the engine driving load, and the fluctuation frequency of the electric current generated by the AC generator is at or above the set frequency. When it is detected, the supply of the charging current from the AC generator to the battery through the power supply line is stopped.

Therefore, a charging current having a set frequency or a frequency close to it, which adversely affects the detection operation of the magnetic field detection means, does not flow through the power supply line, and the detection operation of the external magnetic field by the magnetic field detection means is disturbed by a disturbance magnetic field (noise). ) Can be effectively prevented.

Further, when the fluctuating frequency of the current generated by the AC generator is a frequency that does not adversely affect the detection operation of the magnetic field detecting means, the charging current is supplied to the battery, so that the battery is charged. It does not significantly reduce the charging function.

According to the characterizing structure of the second invention, there is the following function in addition to the function of the characterizing structure of the first invention. Even if the mechanical speed (corresponding to the engine speed) in the AC generator and the fluctuation frequency of the current are different, between the mechanical speed and the fluctuation frequency of the current Since there exists a predetermined correlation determined in advance by the characteristics of the generator, based on the output speed of the engine,
It is possible to detect that the fluctuating frequency of the electric current generated by the alternating-current generator has reached a set frequency that adversely affects the detection operation of the magnetic field detection means or a frequency close to the set frequency.

According to the characterizing feature of the third invention, there are the following effects in addition to the effects of the characterizing feature of the first or second invention.
In the state where the current interrupting means is switched to the current supply state, the primary coil to which the exciting current is supplied is rotationally driven by the engine, and the magnetic field generated by the primary coil causes the electromagnetic field to induce the electromagnetic induction. Electromotive force for charging the battery is induced in the secondary coil.

When it is detected by the synchronous state detecting means that the fluctuating frequency of the current generated by the AC generator becomes the set frequency or a frequency close to the set frequency, the current supply state is changed to the current stop state. Since it is switched and the supply of exciting current to the primary coil is stopped,
The electromagnetic induction action disappears, the electromotive force is not induced in the secondary coil, and the supply of the charging current to the battery is stopped.

According to the characteristic constitution of the fourth invention, the first and second aspects are provided.
Alternatively, the following operation is provided in addition to the operation according to the characteristic configuration of the third invention. When it is detected by the synchronization state detecting means that the fluctuating frequency of the current generated by the alternator becomes the set frequency or a frequency close to the set frequency, it is inserted in the transmission system between the engine and the alternator. Since the engaged clutch is switched from the transmission state to the power cutoff state, the power generation function of the AC generator is stopped, and the supply of the charging current to the battery is stopped.

According to the characterizing feature of the fifth aspect of the invention, the following effect is obtained in addition to the effect of the characterizing feature of the first, second, third or fourth aspect. A magnetic field is formed by the current supplied to the guide wire installed on the ground side, and the magnetic field detection means provided in the vehicle body detects the distance between the vehicle body and the guide wire as the strength of the magnetic field.

Then, for example, the strength of the detected magnetic field has a set value, and the steering operation means is controlled so as to maintain the set value, whereby a predetermined length along the longitudinal direction of the guide wire is obtained. The vehicle body can be guided to travel along the traveling route, and the traveling can be effectively performed in each of the traveling routes by setting the set value to a plurality of different values and traveling. It will be possible.

[0019]

According to the characterizing feature of the first invention, attention is paid to the fact that the fluctuating frequency of the battery charging current by the AC generator changes due to the change of the engine speed according to the driving load. Since the supply of the charging current to the battery through the power supply line is stopped only when the detection operation of the magnetic field detecting means is adversely affected, the magnetic field can be reduced without significantly deteriorating the charging function of the battery. It has become possible to effectively prevent the detection operation of the external magnetic field by the detection means from being disturbed by the disturbance magnetic field (noise) caused by the charging operation of the battery.

According to the characterizing structure of the second invention, in addition to the effect of the characterizing structure of the first invention, there are the following effects. When the mechanical frequency of the engine is detected, it is possible to obtain a pulse signal corresponding to the rotational speed, for example, and when the fluctuation frequency is detected based on the electrical output signal of the AC generator. Compared with, there is an advantage that the signal processing circuit can be simplified.

According to the characterizing structure of the third invention, the following effect is obtained in addition to the effect of the characterizing structure of the first or second invention.
Since the configuration is such that the electric current to the primary coil, which constitutes an electric circuit of a system different from the electric circuit to the other electric equipment to which power is supplied by the battery, is intermittent, the battery and other electric equipment are connected. Only the charging function can be stopped without affecting the circuit configuration.

According to the characteristic configuration of the fourth invention, the first and second
Alternatively, there are the following effects in addition to the effects of the characteristic configuration of the third invention. Since the rotation operation itself of the alternator is stopped, a charging current that adversely affects the detection operation of the magnetic field detection means is generated due to, for example, the influence of the residual magnetic field, as compared with the case where the excitation current is intermittently supplied to the primary coil. It can be surely prevented.

According to the characterizing feature of the fifth invention, the following effect is obtained in addition to the effect of the characterizing feature of the first, second, third or fourth invention. With one guide wire, it is possible to control the guided travel of the vehicle along a plurality of travel routes, and the strength of the magnetic field becomes smaller as the vehicle is farther from the guide wire. Even the strength of
The traveling control can be executed effectively without being disturbed by the disturbance magnetic field (noise).

[0024]

Embodiments will be described below with reference to the drawings. Figure 2
As shown in Fig. 4, an AC current is supplied to each of the ridges 2a, 2b, 2c, 2d located on the four sides of the rectangular field 1 and to the guide wires 3a, 3b, 3c, 3d installed over substantially the entire length of each ridge. Form a magnetic field, and by the electromagnetic induction method,
A guide traveling control system is configured to automatically drive a moving vehicle V (an example of a vehicle) such as an agricultural tractor so that the vehicle automatically travels straight along a plurality of traveling routes k along the longitudinal direction of the ridge. .

FIG. 3 shows the guide wires 3a, 3b, 3c, 3
The installation state of d is shown. The installation configuration of each guide wire is similar, and the guide wire 3a is shown as a representative.
One end of the guide wire 3a has a metal pile body 4 driven into the underground G.
To the metal pile body 4 and the supporting portion 5 so that the other end is supported by the supporting portion 5 formed of an insulator. Further, another metal pile body 6 driven into the ground G is provided on the other end side of the induction wire 3a, and a pair of connections in the current supply device 7 as a current source provided corresponding to each induction wire 3 is provided. One connection terminal 8 of the terminals is connected to the other end of the guide wire 3, and the other connection terminal 9 is connected to the other metal pile body 6. As described above, the current supplied from the current supply device 7 flows through the induction wire 3a and the underground G.

The current supply device 7 provided for each induction wire has a frequency of several hundreds of hertz to 10 kilohertz.
The current supply device 7 configured to supply an alternating current having a current value of about 1 amp to several amps to each of the induction wires 3a, 3b, 3c, 3d, and installed in each ridge supplies currents of different frequencies. And the frequency of the current supplied to the guide wire 3a along the ridge 2a on one side in the longitudinal direction and the frequency of the current supplied to the guide wire 3c on the ridge 2c on the other side in the longitudinal direction. Guide wires 3 set to have frequencies different from each other and installed along the longitudinal direction.
Each traveling route k by the magnetic field formed by a and 3c
The automatic steering control according to is performed. Each guide wire 3
The frequencies of the currents supplied to a and 3c are set to appropriate frequencies so that harmonics will not be generated.

The magnetic field formed by the guide lines 3b and 3d installed on the shorter ridges 2b and 2d is used for control such as detecting the end position of the traveling route k of the moving vehicle.

By supplying the current to the guide wire in this manner, a magnetic field is formed outside the guide wire, and the strength of the magnetic field is such that the distance L from the guide wire is large as shown in FIG. It becomes smaller in proportion to the square of the separation distance L,
At the points where the distance L is equal, that is, at each point in the direction along the guide wire, the magnetic field strengths are almost equal.

The moving vehicle V is movably provided by an engine E mounted therein, and the orientation of the steered wheels 10 can be changed by an actuator CY such as a hydraulic cylinder or an electric motor as steering control means. Has been done. Then, as shown in FIG. 5, as described above, a pair of left and right coil-type magnetic field detections as magnetic field strength detection means for detecting the magnetic field strength that changes according to the separation distance L from the guide wire as the separation distance information. Sensors 11R and 11L are installed on both the left and right sides of the moving vehicle V at set intervals, and serve as control means for controlling the electromagnetic control valve 12 for the actuator CY based on the detection information of the detection sensors 11R and 11L. A control device 13 is provided. Control device 1
3 is provided with a microcomputer. The detection signals of the respective magnetic field detection sensors 11R and 11L are configured to be converted into a DC signal by the signal processing unit 14, subjected to amplification processing, and then input to the control device 13.

The magnetic field detection sensors 11R and 11L are
As shown in FIG. 6, as described above, the magnetic field generated by the pair of guide wires 3a and 3c installed along the longitudinal ridges formed by supplying the currents of different frequencies causes the induced induction based on the electromagnetic induction. When electric power is generated, the magnetic field is detected, and the detection coil 15 as a magnetic field detection unit that outputs all of them and the output from the detection coil 15 are input. Two band pass filters 16a and 16c are provided as frequency selecting means for individually selecting and outputting outputs corresponding to the strength of the magnetic field corresponding to each frequency. One of the bandpass filters 16a has a frequency characteristic that allows only a signal in a frequency band corresponding to the frequency of the current supplied to the one induction line 3a to pass, and the other bandpass filter 16c supplies the other induction line 3c. It is configured to have frequency characteristics that allow only signals in the frequency band corresponding to the frequency of the generated current to pass.

The decrease in gain due to the absence of the resonance circuit in the detection coil 15 is configured to be compensated by the amplifier 17 having a wide frequency band including each of the above-mentioned fluctuation frequencies, and the outputs of the bandpass filters 16a and 16c, respectively. It is configured to be amplified by the amplifiers 18 and 19 and output to the signal processing unit 14 separately.

The configuration of the signal processing section 14 will be described. As shown in FIG. 7, 2 from each magnetic field detection sensor
One of the outputs is converted into a direct current component of the effective value by the direct current conversion circuits 20 and 21, and the larger output is selected from the outputs converted into the direct current (corresponding to the strength of the magnetic field), It is configured to be input to the amplifier circuit 22 in the subsequent stage. That is, the two DC outputs are given to the control device 13, the control device 13 discriminates which output is larger, and is configured to output a selection command signal to the analog switch 23. It is configured to output the selected output to the amplifier circuit 22.

The amplifier circuit 22 includes four amplifiers 23a, 24b, 24c and 24d each having a different amplification gain.
And based on the outputs of the magnetic field detection sensors 11R and 11L,
It is composed of an analog switch 25 as an amplifier selecting means for selecting an amplifier having an appropriate amplification gain from a plurality of amplifiers.

As shown in FIG. 4, the detection values of the magnetic field detection sensors 11R and 11L have a large fluctuation range with respect to the change of the separation distance L. Further, when the separation distance L becomes large, the detection values change with respect to the change of the distance. Since the distance becomes smaller, if the entire variation range is processed with a constant amplification gain, the distance cannot be detected accurately when the separation distance L becomes large. Therefore, the amplification gain is automatically adjusted according to the detection values of the magnetic field detection sensors 11R and 11L so that the input value to the control device 13 is within the appropriate setting range in each state where the moving vehicle V is located on each traveling route. Adjust so that That is, as the detection values of the magnetic field detection sensors 11R and 11L become smaller, the amplifier having a larger amplification gain is switched to ensure sufficient resolution with respect to the variation of the separation distance L.

Specifically, each amplifier 24a, 24b, 2
All the outputs of 4c and 24d are input to the controller 13,
The amplifier within the proper setting range is selected by the analog switch 25 based on the selection signal given from the control device and input to the control input terminal. FIG. 8 shows a change in the input value to the control device 13, that is, the output value of the amplifier circuit 22, when the amplifier is switched. In the figure, points a, b and c indicate switching points of the amplifier. In FIG. 8, an amplifier having a larger amplification gain is switched to the right side (the separation distance L is larger). In this way, the input value to the control device 13 is in the proper setting range while being located on each traveling route.

The moving vehicle V is equipped with a battery 34 for supplying electric power to various electric circuits as described above and various electric components on the moving vehicle side.
Are configured to be charged by the AC generator 26 driven by the engine E.

As shown in FIG. 1, the AC generator 26 is rotatably driven by the engine E and is provided with a rotor coil 27 as a primary coil to which an exciting current is supplied and in a fixed position. A three-phase winding stator coil 28 as a secondary coil in which an electromotive force is induced by a magnetic field generated by the coil 27 is provided.
In this AC generator 26, by operating the main switch 29 to the ON position, the battery coil BT is switched to the rotor coil 27.
An exciting current is supplied to the rotor coil 27, the rotor coil 27 is rotationally driven by the engine E, and a three-phase AC electromotive force is induced in the stator coil 28. The three-phase alternating current is full-wave rectified by the six diodes 30, and then supplied as a charging current to the battery 34 through the power supply line 31. The AC generator 26 is also provided with a regulator 32 that adjusts the exciting current supplied to the rotor coil 27 so that the output voltage does not rise excessively.

As described above, the charging current supplied to the battery 34 is a pulsating current in which the three-phase alternating current is full-wave rectified, and becomes a fluctuation signal in which the current value fluctuates in a cycle proportional to the engine speed. . As a result, a magnetic field similar to an alternating current is formed by this charging current, and the magnetic field formed by this charging current is the magnetic field detection sensor 11R,
There is a risk of a disturbance magnetic field for 11L.

Therefore, the moving vehicle V is provided with an AC generator 2
Of the synchronous state detecting means A for detecting that the fluctuating frequency of the electric current generated by 6 has reached a set frequency or a frequency close to the set frequency that adversely affects the detection operation of the magnetic field detecting sensors 11R, 11L. Along with the detection operation, the battery 3 is passed from the AC generator 26 through the power supply line 31.
4 and a charging stop means B for stopping the supply of the charging current to the battery 4.

More specifically, a rotation speed sensor 33 for detecting the rotation speed of the engine E is provided, and this rotation speed sensor 33 is provided.
The detected value of is input to the control device 13. Since the engine speed and the variation frequency of the charging current by the AC generator 26 have a predetermined correlation based on the characteristics of the AC generator 26, the variation frequency of the charging current is supplied to each induction wire. The set engine speed when the variable frequency is equal to the current fluctuation frequency is stored in the control device 13 in advance, and the control device 13 determines whether or not the detected engine speed has reached the set engine speed. Is configured. Therefore, the synchronization state detecting means A is
Will be prepared for.

Further, as a current interrupting means which can be switched between a current supply state in which the excitation current is supplied to the rotor coil 27 and a current stop state in which the supply is stopped, in the excitation current supply path from the battery 34 to the rotor coil 27. The electromagnetic relay 35 is provided, and the control device 13 is provided with the current control means 100 that switches the electromagnetic relay 35 from the current supply state to the current stop state in accordance with the detection operation of the synchronization state detection means A.

When the electromagnetic relay 35 is switched to the current stop state, the exciting current does not flow in the rotor coil 27, so that the power generation function is stopped and the supply of the charging current to the battery 34 is stopped. Therefore, the electromagnetic relay 3
5 and the current control means 100 constitute the charge stop means B.

Next, the control operation of the controller 13 will be described. After moving the moving vehicle V to the start end (work start position) of the traveling route k located at the end by radio control or manual control, the vehicle V automatically moves straight along the guide line 3 along the longitudinal direction of the ridge. The steering control is executed so that the vehicle runs. As shown in FIG. 9, the engine speed is read by the engine speed detection sensor 33 (step 1), and the detected engine speed N _X is the maximum value N _S1 and the minimum value of the set engine speed as described above. When it is between _Ns2 and N _S2 , the electromagnetic relay 35 is switched to the current stop state to stop the supply of the charging current to the battery 34 (steps 2 and 3), and the current generated by the AC generator 26 is changed. The fluctuating frequency of does not adversely affect the detection operation of the magnetic field detection sensors 11R and 11L.

The analog switch 23 is selected by selecting the larger one of the outputs a and b corresponding to each fluctuation frequency as described above in each magnetic field detection sensor.
Output selection control for instructing a selection signal to the CPU is executed (step 4), and then an amplifier having an appropriate amplification level is selected for the selected sensor output, and the analog switch 2 is selected.
The amplification level selection control for instructing the selection signal to 5 is executed (step 5).

Then, the separation distance L from the one guide wire 3 is calculated based on the average value information of the detection values of the magnetic field detection sensors 11R and 11L input in the appropriate state and the theoretical formula. (Step 6). Then, as shown in FIG. 10, due to the separation distance L and the installation distance d between the magnetic field detection sensors 11R and 11L, the left and right in a state (reference state) in which the moving vehicle V is in a normal traveling posture along the traveling route k. The information is converted into information on equidistant lines (aggregate lines at the same magnetic field strength) with respect to the guide wire 3 corresponding to the positions of the magnetic field detection sensors 11R and 11L (step 7). That is, the distance information for each equidistant line from the guide line 3 is obtained, and the difference value ΔH of the magnetic field strength on each of the equidistant lines X1 and X2, that is, the normal traveling posture of the moving vehicle V along the traveling route k. The control target value in the state of 1 is calculated (step 8).

Then, the traveling of the moving vehicle V is started by radio control or manual control (step 9), and when the magnetic field generated by the guide wire 3 installed on the short ridge exceeds the set value, the moving vehicle V travels. Until the end of the route k is detected, the left and right magnetic field detection sensors 11R and 11L are detected.
When the difference between the detected difference value and the control target value exceeds a set amount while detecting the difference value of the detected values of 1, the detection values of the magnetic field detection sensors 11R and 11L are both set to the control target value. Depending on whether it is larger or smaller than the value in the reference state used (the magnetic field strength on each equidistant line),
It is determined whether the moving vehicle V is deviated to the left or right with respect to the travel route k, and the actuator CY is operated and controlled so as to return to the proper travel route k (steps 10 to 1).
5). In this way, the moving vehicle V can be controlled so as to travel straight along the traveling route k.

By detecting the magnetic field formed by the guide lines 2b and 2d along the shorter ridge, the moving vehicle V can travel along the traveling route k.
When it is detected that the trailing end has been reached, turning control is executed (step 16). The turning traveling is configured such that the turning control is executed in a predetermined steering operation state in order to travel toward the starting end portion of the next traveling route k.

In the vicinity of the center of the field, magnetic fields generated by the guide lines 3a and 3c along the ridges in the longitudinal direction facing each other are mixed, but in step 4, the magnetic field having the larger magnetic field strength is automatically selected. The control is continued based on the magnetic field.

[Other Embodiments] (1) In the above embodiment, the magnetic field formed by the guide wire installed on the ground was used as the external magnetic field. However, instead of such a structure, a structure for detecting the geomagnetism is used. May be
As a magnetic field detecting means for detecting the earth's magnetism, for example, FIG.
As shown in FIG. 1, with respect to the fixed bracket 40, the exciting coil Co is wound around the toroidal core 42 which is rotatable about the vertical axis by the motor 41 and whose rotation angle can be detected by the potentiometer PM. At the same time, two output coils Cx and Cy are wound in a direction orthogonal to each other, and an alternating current of a predetermined frequency is supplied to the exciting coil Co to induce an output signal in the output coils Cx and Cy by electromagnetic induction. The output voltage detected by each of the output coils Cx and Cy and converted into direct current changes according to the external magnetic field (geomagnetism) applied to the toroidal core 42. Potentiometer PM
The configuration may be such that the azimuth of the vehicle body can be detected based on the output signal of the above.

(2) In the above embodiment, the rotor coil 27
Although the supply of the excitation current to the battery 34 is stopped and the supply of the charging current to the battery 34 is stopped, the power supply line 31 to the battery 34 may be cut off. May be.

As shown in FIG. 12, a rotational speed of the engine E is transmitted to the AC generator 26, and a clutch 43 which can intermittently interrupt the power is provided in the transmission system to detect the synchronous state detecting means A. The clutch control means 101 provided in the control device 13 may be configured to switch the clutch 43 from the transmission state to the power cut-off state upon operation. In this case, the clutch 43 and the synchronization state detecting means A constitute the charge stopping means B.

(3) In the above embodiment, the synchronous state detecting means detects the synchronous state based on the detection information of the output speed of the engine E.
6 may be detected, or the fluctuation frequency of the output current of the AC generator 26 may be electrically detected to detect the fluctuation frequency.

(4) In the above embodiment, the magnetic field detecting means is configured to detect the distance from the guide wire as the strength of the magnetic field, and a plurality of travel routes having different distances from the guide wire. In each of the above, the guide traveling is performed, but one traveling route may be formed by one guide line.

It should be noted that reference numerals are added to the claims for facilitating the comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a control block diagram for battery charging.

FIG. 2 is a plan view of the guidance traveling control system.

FIG. 3 is a diagram showing the installation state of the guide wire.

FIG. 4 is a graph showing changes in magnetic field strength.

FIG. 5 is a control block diagram.

FIG. 6 is a block diagram of a magnetic field detection sensor.

FIG. 7 is a block diagram of a signal processing unit.

FIG. 8 is a graph showing an output value when the amplifier is switched.

FIG. 9 is a flowchart of control operation

FIG. 10 is an explanatory diagram of control operation.

FIG. 11 is a perspective view showing a magnetic field detecting means of another embodiment.

FIG. 12 is a control block diagram for battery charging according to another embodiment.

[Explanation of symbols]

 3a, 3c Guide wire 11R, 11L Magnetic field detection means 13 Travel control means 26 Alternator 27 Primary coil 28 Secondary coil 31 Power supply line 34 Battery 35 Current interruption means 43 Clutch 100 Current control means 101 Clutch control means A Synchronous state detection Means B Charge stopping means CY Steering operation means E Engine

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Reference number within the agency FI technical display location G05D 1/02 B H02J 7/24 E (72) Inventor Yokoyama Yokoo 64 Ishizukitamachi, Sakai City, Osaka Prefecture Kubota Sakai Factory Co., Ltd.

Claims (5)

[Claims] 1. An alternating current generator (26), which is rotatably driven by a mounted engine (E) and generates electric power for charging a battery (34), and magnetic field detection means (11R), (11L) for detecting an external magnetic field. And a set frequency at which the fluctuation frequency of the current generated by the AC generator (26) adversely affects the detection operation of the magnetic field detection means (11R), (11L), or Synchronous state detecting means (A) for detecting that the frequency has become close, and with the detection operation of the synchronous state detecting means (A), from the AC generator (26) through the power supply line (31) A vehicle provided with a charging stop means (B) for stopping the supply of the charging current to the battery (34). 2. The synchronization state detecting means (A), based on the detection information of the output speed of the engine (E), the fluctuation frequency, the magnetic field detecting means (11R),
The vehicle according to claim 1, wherein the vehicle is configured to detect that the set frequency has a bad influence on the detection operation of (11L) or a frequency close to the set frequency. 3. The AC generator (26) is provided in a fixed position with a primary coil (27) that is rotationally driven by the engine (E) and is supplied with an exciting current. A secondary coil (28) in which electromotive force is induced by a magnetic field generated by the coil (27) is provided, and the charging stop means (B) supplies an exciting current to the primary coil (27). A current interrupting means (35) that can be switched between a current supply state and a current stop state in which the supply is stopped, and the current interrupting means (35) is supplied with a current in accordance with the detection operation of the synchronous state detecting means (A). The vehicle according to claim 1 or 2, comprising a current control means (100) for switching the state to the current stop state. 4. The charging stop means (B) is configured such that the rotational power of the engine (E) is the AC generator (2).
6) Clutch (43) interposed in the transmission system transmitted to
And a clutch control means (101) for switching the clutch (43) from a transmission state to a power cutoff state in accordance with the detection operation of the synchronization state detection means (A). Vehicle described. 5. Guide lines (3a) and (3c) for supplying a current to form a magnetic field are installed on the ground side, and the magnetic field detecting means (11R) and (11L) are the guide lines (3a). , (3c) is detected as the strength of the magnetic field, and the guide line (3a), (3c) in each of the plurality of travel routes different in separation distance from each other, the guide wire ( Three
The steering operation means (CY) of the vehicle body is controlled based on the detection results of the magnetic field detection means (11R), (11L) so that the vehicle body travels in the direction along the longitudinal direction of (a), (3c). Vehicle according to claim 1, 2, 3 or 4, characterized in that the vehicle is equipped with travel control means (13).