JP2001202132A - Automatic branch system for unmanned traveling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic branch system prepared for an unmanned traveling vehicle and capable of reducing the number of guide lines and a construction cost by sharing guide lines by multiple traveling courses. SOLUTION: In the automatic branch system for determining the steering direction of a golf cart (unmanned traveling vehicle) autonomously traveling along a guide line 12 laid along a traveling course while detecting the guide line 12 by detecting an SN fixed point arranged in the vicinity of a branch point (a), an NNN (NNS) auxiliary fixed point is formed differently from the SN fixed point and the steering direction of the golf cart 1 is determined by the combination of the NNN (NNS) auxiliary fixed point and the SN fixed point. Since the steering direction of the golf cart 1 is determined by the combination of the NNN (NNS) auxiliary fixed point and the SN fixed point, the 1st and 2nd traveling directions can be changed each other, the guide line 12 can be shared by the multiple traveling courses and the number of guide lines 12 and the construction cost can be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic branching system for an unmanned vehicle that travels by itself while detecting a guide line buried underground.

[0002]

2. Description of the Related Art An unmanned vehicle such as a golf cart has a guide line sensor for detecting a guide line, a steering motor for driving a steering system, and a deviation from a guide line of a vehicle body in response to a signal from the guide line sensor. The controller includes a controller that calculates an amount and outputs a control signal corresponding to the value to the steering motor.

When an unmanned traveling vehicle travels on a traveling route having a branch point, an automatic branching system in which the steering direction is determined by detecting the fixed point installed near the branch point by the unmanned traveling vehicle. Has been proposed (see JP-A-6-75625).

[0004]

However, in the conventional automatic branch system, when an unmanned traveling vehicle passes the same branch point a plurality of times, the unmanned traveling vehicle is always steered in the same direction at the same branch point. Therefore, there is a problem that the number of guide lines increases and the construction cost increases in order to form a predetermined traveling course.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide an unmanned traveling system in which the number of guide lines and the construction cost can be reduced by sharing the guide lines with a plurality of traveling courses. An object of the present invention is to provide an automatic branch system for a vehicle.

[0006]

SUMMARY OF THE INVENTION In order to achieve the above object, an invention according to a first aspect of the present invention is directed to an unmanned traveling vehicle which travels along a guide line while detecting the guide line provided along the travel path. In an automatic branching system for unmanned traveling vehicles in which the steering direction is determined by detecting a fixed point installed near the branch point, an auxiliary fixed point is provided separately from the fixed point, and the auxiliary fixed point and the fixed point The steering direction of the unmanned traveling vehicle is determined by the combination.

[0007] According to a second aspect of the present invention, in the first aspect of the invention, an unmanned traveling vehicle is provided with a parking switch dedicated to garage parking, and when the parking switch is turned on, the unmanned traveling vehicle is moved in a certain direction. It is characterized by steering.

According to a third aspect of the present invention, in the invention of the first or second aspect, a branch switch for manually indicating a branch direction is provided in the unmanned traveling vehicle, and a controller provided in the unmanned traveling vehicle is provided in the controller. Several types of logic for indicating the steering direction corresponding to each fixed point are prepared, and the logic prepared for the controller is selected by connecting the terminal of the branch switch to the input terminal of the controller. Features.

Therefore, according to the first aspect of the present invention, the steering direction of the unmanned traveling vehicle is determined by the combination of the auxiliary fixed point and the fixed point. Therefore, when the unmanned traveling vehicle passes the same branch point a plurality of times, The traveling direction can be changed in the first and second times, and the guide line can be shared by a plurality of traveling courses, so that the number of guide lines and the construction cost can be reduced.

According to the second aspect of the invention, when the parking switch is turned on, the unmanned traveling vehicle is steered in a fixed direction, so that there is no need for a guidance line or a guidance line switching device dedicated to parking. Thus, the construction cost can be further reduced.

According to the third aspect of the present invention, the logic can be changed only by changing the connection of the terminal of the branch switch to the input terminal of the controller without changing the control software of the controller. However, it is possible to cope with the guide line layout of each traveling course different from each other by changing the logic, and it is possible to design the guide line layout at low cost.

[0012]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a perspective view showing a basic configuration of a golf cart as an unmanned vehicle, FIG. 2 is a diagram showing a traveling route on a golf course, and FIG. 3 is a block diagram showing a configuration of a steering control system of the golf cart. 4 is a flowchart showing a control procedure of the automatic branch system according to the present invention.

First, the basic structure of a golf cart 1 will be described with reference to FIG. Each is supported by the rear wheel 4 so that it can run freely.

A steering shaft 5 is erected obliquely upward and rearward at a substantially central portion in the vehicle width direction at the front of the vehicle body 2.
A steering wheel 6 is connected to an upper end of the vehicle, and one or two tie rods 7 for steering the front wheel 3 are connected to a lower end thereof. A steering motor 8 is provided near the steering shaft 5, and a pulley 9 connected to an output shaft end of the steering motor 8 is connected to a pulley 10 connected to the steering shaft 5 via a belt 11. Connected. The output shaft of the steering motor 8 and the steering shaft 5 may be connected by a gear.

Further, three guide line sensors 13L, 13C and 13R for detecting a guide line 12 buried in the ground are arranged side by side at an appropriate interval in the vehicle width direction in the lower front part of the vehicle body 2. I have. These guidance line sensors 13L, 13C, 1
3R is a sensor for detecting a magnetic field generated when a current flows through the induction wire 12;
3C is arranged at the center in the vehicle width direction, and guide line sensors 13L and 13R are respectively installed on the left and right of the center. Each of the guide wire sensors 13L, 13C, 13R is electrically connected via an amplifier 14 to a main controller 15 which is a control means. The main controller 15
Is electrically connected to the steering motor 8 via a steering controller 16.

On the other hand, an engine 17 which is a driving source is mounted at a substantially central portion of the vehicle body 2, and a carburetor 18 and a throttle motor 19 are connected to an intake system of the engine 17. Pulley 20 at the shaft end
Is bound.

A cell dynamo 21 and a differential device 22 are provided before and after the engine 17, respectively. Between the pulleys 23 and 24 connected to these input shafts and the pulley 20, respectively. Belts 25 and 26 are wound respectively. The throttle motor 19 and the cell dynamo 21 are electrically connected to the main controller 15 as shown.

By the way, rear axles 27 extend from both sides of the differential device 22, and the rear wheel 4 is connected to an outer end of each rear axle 27. And one rear axle 2
7, an electromagnetic brake 28 is interposed. An encoder 29 is provided below the differential device 22, and the encoder 29 and the electromagnetic brake 28 are electrically connected to the main controller 15, respectively. The electromagnetic brake 28 may be attached to the input shaft of the differential device 22.

Further, a fixed point sensor 30 for detecting a fixed point and an auxiliary fixed point, which will be described later, installed in the middle of the golf course (out course A and in course B) shown in FIG. The fixed point sensor 3
0 is electrically connected to the main controller 15.

An operation panel 31 is provided behind the steering wheel 6.
A branch switch 32 and a warehousing switch 33 (see FIG. 3) are provided above, and these are electrically connected to the main controller 15.

FIG. 3 shows the structure of the steering control system. In the main controller 15, there is provided a deviation calculator 34 for calculating a deviation x of the vehicle body 2 from the guide line 12, and the guide line sensor. An A / D converter 35 for converting an analog signal input from 13L, 13C, 13R via the amplifier 14 into a digital signal, to the steering motor 8 according to the deviation x calculated by the deviation calculator 34. , A memory 37, interfaces 38, 39, and 40 of the fixed point sensor 30, the branch switch 32, and the entry switch 33, a fixed point determination unit 41, and a traveling distance. (Time) calculation unit 42 is incorporated.

Here, the traveling route of the golf cart 1 in the golf course shown in FIG. 2 will be described.

The guide wire 12 is laid in a loop so as to form an out course A of No. 1 to No. 9 holes and an in course B of No. 10 to No. 18 holes.
Form a receiving course C that branches off from the middle of the in-course B and reaches the cart storage 50, and an outgoing course D that joins the in-course B from the cart storage 50.

By the way, in the vicinity of the branch points a and b of the guide line 12 constituting the courses A to D (upstream position in the traveling direction of the golf cart 1), an "S" pole is formed in the traveling direction of the golf cart 1. A fixed point (hereinafter, referred to as an SN fixed point) having permanent magnets arranged in the order of the "N" poles and "N", "S", "N"
A fixed point formed by arranging permanent magnets in the order of poles (hereinafter, referred to as NSN storage fixed point) is arranged. An auxiliary fixed point (hereinafter, referred to as “N”) in which three permanent magnets having “N” poles are arranged in the traveling direction of the golf cart 1 near the junctions c and d shown in the figure (upstream position in the traveling direction of the golf cart 1). An auxiliary fixed point (hereinafter, referred to as an NNS auxiliary fixed point) having permanent magnets arranged in the order of NNN, "N", and "S" poles is disposed.

When the cell dynamo 21 is driven and the engine 17 is started based on a command from the main controller 15, a part of the output of the engine 17 is
0, a belt 26 and a pulley 24, which are input to the differential device 22, further transmitted to the left and right rear wheels 4 via a rear axle 27, and the rear wheels 4 are driven to rotate so that the golf cart 1 runs. Note that while the golf cart 1 is running,
A signal from the encoder 29 is input to the travel distance (time) calculation section 42 (see FIG. 3) of the main controller 15, and the travel distance (time) calculation section 42 uses the integrated value of the number of revolutions of the rear wheel 4 to perform golf. The travel distance and time of the cart 1 are calculated, and the results are output to the deviation amount calculation unit 34. The throttle motor 19 is connected to the main controller 1.
5 to adjust the opening of the throttle valve (not shown) to set the rotation speed of the engine 17, that is, the traveling speed of the golf cart 1 to a predetermined value.

Here, the operation of the automatic branch system according to the present invention will be described with reference to the flowchart shown in FIG.

When the golf cart 1 is unloaded from the cart storage 50 shown in FIG. 2 and stopped at the position shown in the drawing, first of all, when playing is started from the out course A, the occupant turns the branch provided on the operation panel 31 of the golf cart 1. The switch 32 is set to the A side, and the entry switch 33 is turned off.

The control mode of the steering system of the golf cart 1 includes a normal mode selected when traveling at a point other than the junctions a and b in the traveling route shown in FIG. There is provided a branch mode that is selected when passing through. In the memory 37 of the main controller 15, the type of the fixed point and the auxiliary fixed point and the steering direction ("right" or "left") for the fixed point and the auxiliary fixed point are, as shown in FIG.
/ OFF is input in advance. The memory 37
Includes a coefficient for calculating the deviation amount x and a timing for returning from the branch mode to the normal mode (golf cart 1).
The travel distance and travel time from the branch points a and b) are input in advance.

When the golf cart 1 starts running from the out course A, it is first determined whether or not the entry switch 33 is turned on (step S1 in FIG. 4). At the start of play, the entry switch 33 is turned off as described above, so the determination result is NO, and the process proceeds to step S2,
At 2, it is determined whether the fixed point sensor 30 has detected the auxiliary fixed point.

At the start of play, since the auxiliary fixed point is not detected by the fixed point sensor 30, the determination in step S2 is NO, and the process proceeds to step S3, where the fixed point sensor 3
Based on 0, it is determined whether a fixed point has been detected. If the fixed point is not detected, the normal mode is selected as the control mode of the steering system, and the process proceeds to step S4.
In the deviation amount calculating section 34 of the main controller 15, the A / D
Inductive sensor 13 digitized by converter 35
Using the signals V _L , V _C , and V _R from L, 13C, and 13R, the deviation x is calculated by the following equation.

X = f1 (V _L , V _C , V _R ) (1) The deviation amount x calculated by the above equation (1) is input to the steering motor current command value calculation unit 36, and the calculation unit 3
In step 6, a current command value to the steering motor 8 corresponding to the deviation x (current command value corresponding to the deviation x = 0) is calculated (step S5), and the result is output to the steering controller 16. (Step S6).
Then, the steering controller 16 controls the driving of the steering motor 8, whereby the steering shaft 5 shown in FIG. 2 is rotated by a predetermined angle in a predetermined direction, and the front wheel 3 is steered by a predetermined amount in the same direction. As a result, the unmanned traveling vehicle 1 travels along the guide line 12 by itself.

When the golf cart 1 travels along the guide line 12 and reaches near the branch point a, and the fixed point sensor 30 detects the SN fixed point installed near the branch point a, the result of the determination in step S3 is as follows. YES, the detection signal is input to the fixed point determination unit 41 via the interface 38 of the main controller 15 shown in FIG. The fixed point determination unit 41 determines the direction (right or left) in which the golf cart 1 should travel based on the steering direction with respect to the SN fixed point previously input to the memory 37 (step S7), and uses the result as a deviation amount calculation unit 34. To enter.

As shown in FIG. 5, the storage switch 33 is
In the FF, when the branch switch 32 is set to A, the steering direction is “right”, and the direction in which the golf cart 1 should proceed at the branch point “a” is right. Therefore,
The right branch mode is selected as the control mode (step S
8, S9), the deviation calculating unit 34 calculates the deviation x by the following equation using the signals V _C and V _R from the center and right guiding line sensors 13C and 13R (step S10).

X = f2 (V _C , V _R ) (2) The deviation calculated by the above equation (2) (the deviation of the vehicle body 2 from the guide line 12) x is a steering motor current command value calculator 36. The calculation unit 36 calculates a current command value to the steering motor 8 corresponding to the deviation amount x (step S11), and outputs the result to the steering controller 16 (step S1).
2). Then, the steering controller 16 controls the driving of the steering motor 8, whereby the steering shaft 5 shown in FIG. 2 is rotated rightward by a predetermined angle, and the front wheel 3 is steered by a predetermined amount in the same direction. The golf cart 1 runs along the out course A.

Then, after the control mode is switched from the normal mode to the branch mode, the travel distance or travel time of the golf cart 1 from the branch point a is calculated by the travel distance (time) calculation section 42 of the main controller 15 (step). S13) If the value exceeds the predetermined value, the control mode is returned from the branch mode to the normal mode (steps S14 and S15), and thereafter, all the guide line sensors 13L and 1L are controlled.
The steering system is controlled using the signals V _L , V _C , and V _R from the 3C and 13R, and the golf cart 1 runs on the out course A by itself.

When the golf cart 1 runs short of the confluence c of the out course A after the play of the nine holes No. 1 to No. 9 is completed, the fixed point sensor 30 is installed there. Upon detecting the NNN auxiliary fixed point, the golf cart 1 returns to the initial position shown in FIG. Then, the determination result in step S2 shown in FIG. 4 becomes YES, and when the fixed point sensor 30 next detects the SN fixed point installed near the same branch point a, the determination result in step S16 becomes YES, and the processing is terminated. Proceeding to step S7, the direction in which the golf cart 1 should travel is determined.

As shown in FIG. 5, the storage switch 33 is
In the FF, when the branch switch 32 is set to A and the SN fixed point is detected after the NNN auxiliary fixed point is detected (indicated by “NNN-SN” in FIG. 5), the steering direction is “left”. , The direction in which the golf cart 1 should travel at the branch point a is to the left. Therefore, the left branch mode is selected as the control mode (steps S8 and S1).
7), the deviation amount calculating section 34, left and central guiding line sensor 13L, the deviation amount x is calculated signals from @ 13 C V _L, using a V _C by the following equation (step S18).

X = f3 (V _L , V _C ) (3) The deviation calculated by the above equation (3) (the deviation of the vehicle body 2 from the guide line 12) is the steering motor current command value calculation unit 36. The calculation unit 36 calculates a current command value to the steering motor 8 corresponding to the deviation amount x (step S11), and outputs the result to the steering controller 16 (step S1).
2). Then, the steering controller 16 controls the driving of the steering motor 8, whereby the steering shaft 5 shown in FIG. 2 is rotated leftward by a predetermined angle, and the front wheels 3 are steered by a predetermined amount in the same direction. The golf cart 1 runs along the in-course B.

Then, after the control mode is switched from the normal mode to the branch mode, the travel distance or travel time of the golf cart 1 from the branch point a is calculated by the travel distance (time) calculation section 42 of the main controller 15 (step). S13) If the value exceeds a predetermined value, the control mode is returned from the branch mode to the normal mode (step S13).
14, 15), and thereafter, all the guide line sensors 13L, 13L
The steering system is controlled using signals V _L , V _C , and V _R from C and 13R, and the golf cart 1 runs on the in-course B by itself.

While the golf cart 1 is traveling on the in-course B, the fixed point sensor 30 is set to a position N near the branch point b.
The SN storage fixed point is detected. In this case, the storage switch 3
Since 3 is in the OFF state, the traveling direction determination in step S8 in FIG. 4 is “left” as shown in FIG. 5, and the golf cart 1 travels along the in-course B as it is.

When the golf cart 1 runs short of the confluence d of the into-course B after the play of the nine holes No. 10 to No. 18 is completed, the fixed point sensor 30 is installed there. Upon detecting the NNS auxiliary fixed point, the golf cart 1 returns to the initial position shown in FIG.

As described above, in the present embodiment, the steering direction of the golf cart 1 is determined by the combination of the auxiliary fixed point and the fixed point. The direction of travel can be changed between the first and second times, and the outgoing course A and the incourse B can share the guide wire 12, and as a result, the number of guide wires 12 and the construction cost can be reduced.
In the above, the case where the play is started from the out-course A has been described, but when the play is started from the in-course B, the branch switch 32 may be set to the B side.

When the golf cart 1 is returned to the cart storage 50 after the end of the play of the in-course B, the entrance switch 33 provided on the operation panel 31 of the golf cart 1 stopped at the position shown in FIG. . Then, the decision result in the step S1 shown in FIG. 4 is YES, and the process proceeds to a step S19.

As described above, when the golf cart 1 travels on the in-course B, the parking switch 33 is turned off after the fixed point sensor 30 detects the NNS auxiliary fixed point, and then the SN fixed point is detected. As shown in FIG. 5, since the steering direction at the branch point a is “left”, the golf cart 1 travels along the in-course B, and the fixed point sensor 30 detects the NSN entrance fixed point near the branch point b in the middle. Then, the decision result in the step S19 shown in FIG. 4 is YES, and the process proceeds to a step S7.

In step S7, the traveling direction of the golf cart 1 at the branch point b is determined.
When the NSN storage fixed point is detected in the N state, FIG.
Since the steering direction at the branch point b is “right” as shown in FIG.
It runs toward 0 and is stored in the cart storage 50.

In this embodiment, the golf cart 1 is steered in a fixed direction when the entry switch 33 is turned on. It becomes unnecessary, and the construction cost can be further reduced.

When the cart storage 50 is installed at the position shown by the chain line in FIG.
An S-stocking fixed point is set up. When the entrance switch 33 is ON, the steering direction at the branch point b of the golf cart 1 that has detected the NSS entrance fixed point is “left” according to FIG. 5, so that the golf cart 1 moves to the entrance course C ′. It travels along the carton storage 50 along with and is stored in the cart storage 50. Therefore, if the storage fixed point is changed, the installation location of the cart storage 50 can be arbitrarily set.

It is to be noted that several types of logic as shown in FIG. 5 for instructing the main controller 15 provided in the golf cart 1 with the steering direction corresponding to each fixed point are prepared as shown in FIG. If the logic prepared in the main controller 15 is selected by connecting the terminal of the branch switch 32 to the input terminal of the interface 39 connected to the controller 15, the branch switch can be changed without changing the control software of the main controller 15. The logic can be changed only by changing the connection of the 32 terminals to the input terminals of the main controller 15. Therefore, it is possible to cope with the guide line layout of each traveling course having a different branch direction by changing the logic, and it is possible to design the guide line layout at low cost.

Although the present invention has been described with reference to a form in which the present invention is applied particularly to an automatic branching system for a golf course of a golf cart, the present invention is similarly applicable to an automatic branching system for any other unmanned vehicle. It is.

[0051]

As is apparent from the above description, according to the present invention, an unmanned vehicle traveling by itself along a guide line while detecting a guide line provided along the travel path is located near the junction. In an automatic branching system for an unmanned traveling vehicle in which the steering direction is determined by detecting a fixed point installed in a vehicle, an auxiliary fixed point is provided separately from the fixed point, and unmanned traveling is performed by a combination of the auxiliary fixed point and the fixed point. Since the steering direction of the vehicle is determined, the number of guide lines and the construction cost can be reduced by sharing the guide lines with a plurality of traveling courses.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a basic configuration of a golf cart as an unmanned traveling vehicle.

FIG. 2 is a diagram showing a traveling route on a golf course.

FIG. 3 is a block diagram showing a configuration of a steering control system of the golf cart.

FIG. 4 is a flowchart showing a control procedure of the automatic branch system according to the present invention.

FIG. 5 is a diagram showing a logical example of a steering direction in the automatic branching system according to the present invention.

FIG. 6 is a configuration diagram of a connection section between a branch switch and a controller.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Golf cart (unmanned traveling vehicle) 12 Guidance line 15 Main controller (controller) 30 Fixed point sensor 32 Branch switch 33 Storage switch

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3D030 EA01 EA22 EA28 EA44 3D033 CA02 CA11 DB05 KA04 KA06 KA07 5H301 AA03 AA09 BB13 DD06 EE05 EE15 FF04 FF18 FF27 HH01 HH13

Claims (3)

[Claims] 1. A steering direction is determined by detecting a guide line provided along a traveling path and detecting a fixed point installed near a branch point by an unmanned traveling vehicle traveling by itself along the guide line. In the automatic branching system for unmanned traveling vehicles, an auxiliary fixed point is provided separately from the fixed point, and a steering direction of the unmanned traveling vehicle is determined by a combination of the auxiliary fixed point and the fixed point. Automatic branching system for unmanned vehicles. 2. An unmanned traveling vehicle is provided with a parking switch exclusively for garage entry, and when the parking switch is turned on, the unmanned traveling vehicle is steered in a fixed direction. Automatic branching system for unmanned vehicles. 3. An unmanned traveling vehicle is provided with a branch switch for manually instructing a branching direction, and several types of logic for instructing a controller provided on the unmanned traveling vehicle with a steering direction corresponding to each fixed point are prepared. 3. The automatic branch of an unmanned vehicle according to claim 1, wherein a logic prepared in the controller is selected by connecting a terminal of the branch switch to an input terminal of the controller. system.