JP2002312034A - Automatic traveling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic traveling vehicle capable of traveling without making an emergency stop for derailing or preventing the derailing even when traveling on a sharp curve. SOLUTION: A guidepath wire sensor 7 detects a signal corresponding to a distance from a guidepath wire 8. A main CPU controls current-carrying to a steering motor 17 based on the detected signal of the guidepath wire sensor 7 to make the vehicle automatically travel. When it is traveling on a sharp curve, the microcomputer 23 computes a quantity of deviation from its normal position, if the quantity of deviation exceeds a first predetermined value which is smaller than a prescribed predetermined value, and large slippage is produced although it is not derailed, the operation of the vehicle is controlled so as to reduce its present speed down to a prescribed speed. In addition, if a prescribed time has elapsed since the vehicle is put in a condition wherein the quantity of deviation is smaller than a second predetermined value which is smaller than the first predetermined value, the travelling motor is controlled so as to accelerate it up to its original vehicle speed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling vehicle such as a golf cart which performs automatic steering and speed control along a guideway while detecting a guideline embedded in a predetermined guideway.

[0002]

2. Description of the Related Art As an example of a self-propelled vehicle, a golf cart for transporting luggage such as a golf bag or a person in a golf course has been widely used recently.
What is operated by remote control or unmanned induction driving is used. Such an automatic traveling vehicle is provided with an operation control device, which performs automatic steering and speed control, and the golf cart automatically travels along a predetermined guidance route.

FIG. 1 shows an external side view of a two-seater type golf cart which is an automatic traveling vehicle developed by the present applicant. This golf cart is of a type having automatic and manual switching means, in which a golf back can be loaded at the rear, and a roof for sunshade and rain protection is installed at the upper part.

The golf cart 1 covers an upper part of a body frame 4 supported by a pair of left and right front wheels 2 and rear wheels 3 with a front cowl 4a and a rear cowl 4b.
A seat 5a is installed on the front side of the rear cowl 4b to constitute the riding section 5, and a steering wheel 6 is mounted on the front end of a steering shaft 6a supported at the front of the seat 5a so as to be operable in a seated position on the seat 5a. It is configured. Further, a sensor 7 for detecting an induction current of an induction wire 8 buried underground is attached to a front portion of the vehicle body.

The control system of the golf cart generally includes a microcomputer of a control box, an operation unit, a steering unit, a sensor unit, a power supply unit, a motor unit or a driving engine, a parking unit, a main brake unit, and the like. .

When the golf cart having the above configuration is operated manually, setting the automatic operation switching lever to "manual" switches to a manual driving mode, in which the steering (steering) operation is performed in the same manner as in a normal riding cart. By operating the accelerator and the brake, the player can move forward and backward by operating the player himself.

Next, when traveling automatically, the automatic driving mode is set by setting the automatic operation switching lever to "automatic". At that time, an induction current flowing through a loop line buried along the traveling path is detected by an induction line sensor, and a deviation amount of the vehicle position from the induction path is calculated based on a detection result of the induction line sensor. Operation control is performed based on the control command value so that the amount becomes zero, and steering in the left and right traveling directions is performed.

Similarly, by reading control information such as speed and stop by the buried magnet array, the operation control device travels on the road while performing automatic control, automatic increase / decrease, and automatic stop control. The start / stop switch provided on the golf cart main body or the remote control transmitter can be started and stopped at an arbitrary place.

In the case of automatic running, for example, when the vehicle is running on a sharp curve, the deviation calculated by the driving control device may exceed a predetermined set value (discrimination determination value for determining that there is no wheel). Therefore, in such a case, a configuration is adopted in which the running of the vehicle is stopped in order to prevent derailing.
Alternatively, a method is also adopted in which magnets are arranged and buried immediately before a curve of a traveling road, and deceleration control is performed immediately before the curve.

[0010]

However, suddenly stopping the vehicle suddenly during automatic driving has caused anxiety to the occupants. Further, when restarting after stopping, there is a trouble that the vehicle body is manually moved on the guide line in advance. Then, it was necessary to embed a magnet for decelerating every curve. Accordingly, the present invention provides an automatic traveling vehicle that can safely travel without the need for burying magnets or the like without performing an emergency stop to prevent derailing even in a sharp curve running or the like. The purpose is to provide.

[0011]

According to a first aspect of the present invention, there is provided an automatic traveling vehicle which is capable of automatic steering along a guideway of a predetermined traveling path, and has a drive source. In an autonomous vehicle mounted on the main body, a guide line buried along a guideway is detected by a guideline sensor, and a deviation amount of a vehicle position from the guideway is calculated based on a detection result of the guideline sensor. Performing operation control based on a control command value such that the deviation amount is set to zero, and when the deviation amount exceeds a predetermined set value, the vehicle stops running, and the deviation amount is greater than the predetermined set value. When the vehicle speed exceeds a small first set value, the vehicle has a driving control device that reduces the current vehicle speed to a predetermined speed.

In this way, if the deviation exceeds a predetermined value due to a sharp curve or the like, the vehicle speed is reduced, so that the deviation is reduced, and the vehicle can travel safely without derailing. It is not necessary to embed a magnet to generate a signal, and the traveling speed is automatically reduced to realize an automatic traveling vehicle that can travel safely and efficiently without stopping easily even on a sharp curve. Can be.

According to a second aspect of the present invention, there is provided an automatic traveling vehicle which is capable of automatically steering along a guideway of a predetermined traveling path and has a drive source mounted on a main body thereof. A guide line sensor buried along is detected by a guide line sensor, a deviation amount of the vehicle position from the guidance path is calculated based on the detection result of the guidance line sensor, and a control command value is set so that the deviation amount becomes zero. When the deviation amount exceeds a predetermined set value, the vehicle stops running, and when the deviation amount exceeds a first set value smaller than the predetermined set value,
An operation control device that decelerates the current vehicle speed to a predetermined speed and accelerates to the original vehicle speed when a state in which the deviation amount falls below a second set value smaller than the first set value for a predetermined time while the vehicle is running at the predetermined speed. .

By setting the second set value to a value smaller than the first set value, deceleration and acceleration are prevented from being performed frequently, the vehicle runs at a low speed during the curve, and returns to the original speed at the end of the curve. Therefore, efficient speed control can be realized.

According to a third aspect of the present invention, there is provided an automatic traveling vehicle, wherein the driving source according to the first or second aspect is constituted by a driving motor supplied with power from a battery.

According to a fourth aspect of the present invention, there is provided an automatic traveling vehicle, wherein the driving source according to the first or second aspect is constituted by a driving engine.

According to a fifth aspect of the present invention, there is provided an automatic driving vehicle, wherein a driving motor is supplied with power from a battery charged with the output of a vehicle-mounted generator driven by an engine. It consisted of.

A self-driving vehicle according to a sixth aspect of the present invention is constructed by applying the self-driving vehicle according to the first to fifth aspects to a golf cart.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention relates to an autonomous vehicle that can be automatically steered, in which an engine is directly used as a drive source, an electric drive type using only a battery power source, or an engine is driven. In the case of an electric drive type using a battery power source that is charged by the output of the onboard generator,
The present invention is applicable to any type of self-driving vehicle, but here, an example in which the present invention is applied to an electric riding golf cart using a battery power source capable of selecting automatic steering and manual driving will be described.

FIG. 1 is a side view showing the appearance of an electric golf cart according to the present invention, FIG. 2 is a plan view showing the same internal configuration, and FIG. 3 shows a control system configuration. Hereinafter, embodiments of the present invention will be described with reference to the drawings. The outer side surface of the golf cart of FIG. 1 has been described above, and will not be described.

In FIG. 2, a plurality of batteries 11 for a traveling motor 13 and other motors are attached to the vehicle body frame 4. Mission 1 is installed on the axle of the rear wheel 3.
2, a traveling motor 13 is attached. In the case where the battery is charged by the generator driven by the engine, a power generating / charging device for charging the battery 11, which is a power supply, can be mounted at the position indicated by reference numeral 10. Then, a control circuit section 9 for performing overall control is arranged on the vehicle body frame 4.

The golf cart 1 covers an upper portion of a body frame 4 supported by a pair of left and right front wheels 2 and rear wheels 3 with a front cowl 4a and a rear cowl 4b.
A riding section 5 composed of a seat 5a is formed in front of the rear cowl 4b, and a steering wheel 6 is attached to a distal end of a steering shaft 6a supported at the front of the seat 5a so as to be operable in a seated position on the seat 5a. It is configured. At the front of the vehicle body, a sensor 7 composed of three sensors, which will be described below, for detecting an induced current of an induction wire 8 buried underground is attached.

As shown in FIG. 3, the control system of the electric golf cart includes a microcomputer of a control box, an operation unit, a steering unit, a sensor unit, a power supply unit, a motor unit, a parking unit, a main brake unit, and the like. .

The motor section, which is a power section, includes a traveling motor 1
3, a main brake (MB) motor 14, a parking brake (PB) motor 15, an automatic / manual switching (HM) motor 16, and a steering control (SM) motor 17.

The traveling motor 13 is provided with a traveling motor control circuit 18 and a current detection circuit (not shown).
The main brake motor 14 is provided with a main brake motor control circuit section 19, and a control circuit and a brake position sensor are provided with a current detection circuit (not shown). The parking brake motor 15 is provided with a control circuit 20 and a current detection circuit (not shown). The control unit 21 of the automatic / manual switching motor 16 includes a control circuit and an automatic / manual detection circuit.

The control system of the steering unit has a guide line sensor, a torque sensor linked to a steering wheel, and a steering motor. The torque sensor is arranged as means for detecting the steering operation amount. An SM control circuit 22 is provided in the steering motor 17, and each motor is controlled by a main CPU (microcomputer) 23.

FIG. 4 is a schematic diagram of a control system of the steering unit. In the figure, reference numerals 7a, 7b, and 7c denote guide line sensors 7.
, Which are disposed at the center of a T-shaped arm 24 attached to the front end of the vehicle and on the left and right sides thereof so as to face the ground. The guide line sensors 7a to 7c magnetically detect the guide line 8 embedded along a predetermined guide path, and output a detection signal of a voltage level corresponding to the distance from the guide line 8 to the CPU 23. I do. The steering motor 17 drives the steering shaft 6a via gears 25 and 26.

When the electric golf cart having the above configuration is operated by manual driving, when the automatic driving switching lever is set to "manual", a manual driving mode is set, and the steering wheel (steering wheel) is set in the same manner as a normal riding golf cart. ) Operates the means for detecting the steering operation amount of the torque sensor that responds to the left or right rotation of the steering wheel, and rotates the steering motor through the main CPU 23 to the left. Then, by operating the steering wheel (steering) and operating the accelerator and the brake, forward and backward driving can be performed by an operation by a player or a cart manager.

Next, when performing automatic driving, the automatic driving mode is set by setting the automatic driving switching lever to "automatic". The guide line sensor 7 magnetically detects the guide line 8 buried along the course of the golf course, and outputs a detection signal corresponding to the distance from the guide line to the main CPU 23 of the control circuit unit 9.
To enter. The main CPU 23 calculates a deviation amount of the vehicle position from the guidance line based on detection signals from the left and right sensors 7a and 7c constituting the guidance line sensor 7, and performs a steering instruction to set the deviation amount to "0". By outputting a signal to the SM control circuit 22, the power supply to the steering motor 17 is controlled.

As a result, the steering motor 17 turns the steering shaft 6a in a predetermined direction via the gears 25 and 26 by a predetermined angle to steer the front wheels 2 and 2 so that the vehicle does not deviate from a predetermined guidance route. Thus, the vehicle can automatically travel along the guidance route.

As described above, the vehicle travels on the cart road while performing automatic control, automatic increase / decrease, and automatic stop according to a command from the main CPU 23. Further, the user can start and stop at an arbitrary place by operating the remote control or the start / stop button.
Also, when a danger is detected by various safety devices such as a cart guard detecting means, the emergency stop is performed.

In particular, in the case of the cart guard detecting means, if an output from the cart guard antenna of the golf cart in the forward direction is stopped or the vehicle is stopped or running, the cart guard detecting means automatically detects the collision. If a danger is detected by various safety devices, such as braking the vehicle and stopping, the emergency stop is performed and the golf car running forward is stopped.
When the vehicle is present, the vehicle stops when the distance from the preceding vehicle is kept at a certain value or more.

FIG. 5 shows a detection signal from the central guide line sensor 7b constituting the guide line sensor 7, in which the horizontal axis represents the deviation amount (mm) from the guide line of the golf cart, and the vertical axis represents the guide line sensor. 7B represents the output (V).

The output of the guide line sensor 7b is V0 when the golf cart is traveling on the center of the taxiway, and the output of the guide line sensor 7b is V3 when the golf cart is derailed. When the wheel does not derail, but the deviation is large and the wheel departure caution value is reached, the output of the guide wire sensor 7b is V2, and the wheel departure caution release value when the deviation such as disappearance of the curve is reduced. , The output of the guide wire sensor 7b becomes V1.

Therefore, in the case of automatic traveling, for example, in a sharp curve traveling, the output of the guide line sensor 7b becomes V3,
When the deviation amount from the normal position calculated by the microcomputer 23 of the operation control device exceeds a predetermined set value (a dissenting judgment value for judging that there is no wheel separation) e3 (= V0−V3), the microcomputer 23 Main brake motor control circuit 19,
A command signal is output to the traveling M control circuit 18 to control the operation of the main brake motor 14 and the traveling motor 13 so as to stop the traveling of the vehicle for the purpose of preventing derailing.

Next, although the wheel does not come off, a large deviation occurs and the output of the guide wire sensor 7b, which is the cautionary value for wheel removal, becomes V2, and the deviation from the normal position calculated by the microcomputer 23 of the operation control device. The first is less than a predetermined set value;
If the set value e2 (= V0−V2) is exceeded, the microcomputer 23 outputs a command signal to the main brake motor control circuit unit 19 and the traveling M control circuit 18 so that the current vehicle speed is reduced to a predetermined speed. , Main brake motor 14,
The operation of the traveling motor 13 is controlled.

In this way, when the deviation exceeds a predetermined value due to a sharp curve running or the like, the vehicle speed is reduced, so that the deviation decreases, and the vehicle can travel safely without derailing. It is possible to realize an automatic traveling vehicle capable of traveling safely and efficiently without stopping even on a sharp curve.

Further, the second set value e1 (= V0-V) in which the deviation amount is smaller than the first set value e2 during traveling at the predetermined speed.
When a state below 1) has elapsed for a predetermined time, a command signal is output from the microcomputer 23 to the traveling M control circuit, and the operation of the traveling motor 13 is controlled so as to accelerate to the original vehicle speed.

In this way, by setting the second set value e1 to a value smaller than the first set value e2 (e1 <e2), frequent deceleration and acceleration are prevented, and the vehicle runs at a low speed during a curve. At the end of the curve, the speed returns to the original speed, and efficient speed control can be realized.

The operation of the operation control device according to the present invention will be described below with reference to the flowchart shown in FIG. When a golf cart, which is an autonomous vehicle, is automatically traveling,
In step S1, operation control of automatic steering control and speed control is performed. In step S2, based on the detection signal from the guide line sensor 7b, the microcomputer 23 calculates how much the current vehicle position deviates from the guideway as a deviation amount.

Next, in step S3, it is determined whether or not the deviation amount has exceeded a departure caution determination value (a set value smaller than the departure determination value). Even if the vehicle is traveling on a sharp curve, if the deviation does not exceed the departure caution determination value and if the deviation of the vehicle position from the taxiway is within the derailment caution determination value, the speed of the golf cart may be reduced. The operation control is continued as it is,
The automatic traveling vehicle automatically travels along a predetermined taxiway.

If it is determined in step S3 that the deviation amount has exceeded the departure caution determination value due to running on a sharp curve or the like, the microcomputer 23 issues a vehicle speed deceleration command in step S4. That is, the microcomputer 23 controls the traveling motor control circuit 18 and the main brake motor 14 to decelerate the traveling motor 13 in a predetermined deceleration pattern.
A command signal is sent to the control circuit 19. Then step S
Reaches 5. Due to this deceleration operation, the deviation amount is suppressed, the vehicle is automatically steered without derailing, and the vehicle can reliably travel along the taxiway.

If it is determined in step S3 that the deviation amount does not exceed the departure caution determination value, the process proceeds to step S3.
Reaches 5. In step S5, it is determined whether the predetermined amount of time has elapsed in a state where the deviation amount has become smaller than the departure attention release determination value (a set value smaller than the departure attention determination value) due to a decrease in the deviation amount due to the deceleration of the vehicle or the end of the curve. If it is determined that the predetermined time has elapsed, in step S6, an acceleration command to the original vehicle speed is issued.

In step S5, if the predetermined amount of time has not elapsed in a state where the deviation amount has become smaller than the departure caution release judgment value (a set value smaller than the departure caution judgment value), the driving control of the golf cart remains unchanged. Continuous and efficient speed adjustment can be realized. Subsequently, a series of control operations is repeated by a return operation returning to step S1.

As described above, it is possible to prevent a sudden stop during automatic running on a curve, so that the passenger does not feel uneasy. Also, there is no need to embed a magnet to generate a deceleration signal, the traveling speed can be automatically reduced, and the vehicle can safely turn a curve, preventing it from deviating from the taxiway or falling off. Therefore, when restarting after stopping, there is no need to manually move the vehicle body on the guide line in advance.

[0046]

According to the automatic traveling vehicle of the present invention, it is possible to prevent a sudden and sudden stop during automatic traveling on a sharp curve, so that the passenger does not feel uncomfortable. Also, there is no need to embed a magnet to generate a deceleration signal, the traveling speed can be automatically reduced, and the vehicle can safely turn a curve, preventing it from deviating from the taxiway or falling off. Can be. Therefore, there is very little need to restart the vehicle after the vehicle has been stopped after the vehicle has been derailed, so that the trouble of manually moving the vehicle body on the taxiway in advance is relieved.

Further, by setting the second set value to a value smaller than the first set value, frequent deceleration and acceleration are prevented, the vehicle runs at a low speed during the curve, and returns to the original speed at the end of the curve. Therefore, it is possible to realize an automatic traveling vehicle that can travel safely and efficiently.

[Brief description of the drawings]

FIG. 1 is an external side view of a golf cart.

FIG. 2 is a plan view of the electric golf cart.

FIG. 3 is a control system configuration diagram of the electric golf cart.

FIG. 4 is a schematic diagram of a control system of a steering unit.

FIG. 5 is a detection signal of a guide wire sensor.

FIG. 6 is a flowchart of a driving operation of the automatic traveling vehicle according to the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Electric golf cart 2, 3 Front / rear wheel 4 Body frame 5 Riding section 6 Steering wheel 7 Induction sensor 8 Induction line 9 Control circuit section 11 Battery 12 Mission 13 Traveling motor 14-17 Motor for controlling each section 18 Traveling motor control section Reference Signs List 19 main brake motor control circuit section 20 parking brake motor control section 21 automatic / manual switching motor control section 22 motor control section for steering control 23 main CPU (microcomputer) 24 T-shaped arm 25, 26 gear

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme court ゛ (Reference) B62D 133: 00 B62D 133: 00 137: 00 137: 00 (72) Inventor Tomoaki Uenishi Keihan, Moriguchi-shi, Osaka 2-5-5 Hondori Sanyo Electric Co., Ltd. (72) Inventor Takeya Matsushita 2-5-5 Keihanhondori, Moriguchi-shi, Osaka F-term in Sanyo Electric Co., Ltd. 3D032 CC02 CC46 DA15 DA64 DA76 DA83 DA88 DA93 DA94 DB02 DC33 DC34 EA01 EB04 EC22 FF01 FF07 FF10 GG15 GG20 5H301 AA03 AA09 BB13 EE05 GG07 GG29 HH01 LL07 LL08 MM07 MM09 QQ04

Claims (6)

[Claims] 1. An automatic traveling vehicle which can be automatically steered along a guideway of a predetermined traveling path and has a drive source mounted on a main body, detects a guideline buried along the guideway by a guideline sensor. And calculates a deviation amount of the vehicle position from the guidance path based on the detection result of the guidance line sensor, and performs operation control based on a control command value so that the deviation amount becomes zero. A driving control device that stops running when the vehicle speed exceeds a predetermined set value, and reduces the current vehicle speed to a predetermined speed when the deviation amount exceeds a first set value smaller than the predetermined set value. An autonomous vehicle, characterized in that: 2. When the vehicle travels at the predetermined speed and the deviation amount falls below a second set value that is smaller than the first set value for a predetermined time, the driving control is performed so as to accelerate to an original vehicle speed. The self-driving vehicle according to claim 1, wherein: 3. The self-driving vehicle according to claim 1, wherein the drive source is a drive motor supplied with power from a battery. 4. The self-driving vehicle according to claim 1, wherein the driving source is a driving engine. 5. The self-driving vehicle according to claim 1, wherein the driving source is a driving motor that is supplied with power from a battery that is charged by an output of an onboard generator driven by an engine. . 6. The self-propelled vehicle according to claim 1, wherein the self-propelled vehicle is a golf cart.