JP2003269966A - Vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle capable of improving safety by preventing a vehicle from entering a dangerous zone in traveling. <P>SOLUTION: This vehicle travels by driving a driving source 15 on the basis of the control by a travel driving circuit 18, and simultaneously travels by determining the traveling direction by steering a control wheel 2 on the basis of the control of a steering driving circuit 19. A dangerous spot information inputted to a traveling route storage means 39 and a present position calculated by a positional information means 38 are displayed on a display part 40 to inform the dangerous spot to a user, and further the vehicle is stopped by a braking means 25 when it comes close to the dangerous spot. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle capable of preventing a danger during driving based on current position information detected from an artificial satellite and a dangerous place stored in advance.

[0002]

2. Description of the Related Art Conventionally, a vehicle of this type has been disclosed in JP-A-7-57.
As described in Japanese Patent No. 189 (G08G1 / 0969),
CD-RO that remembers the layout and distance of the golf course
There is known a navigation device that includes M and a receiver that receives position information from an artificial satellite and can play by using a GPS system that displays on the screen along with a layout of a golf course based on the received position information. ing.

However, since this device only displays the current position and the layout of the golf course, for example, in the case of a golf cart that can be manually driven, the user can freely travel in the golf course. Therefore, there is a risk that you may run into a dangerous area and fall into a valley, get stuck in muddy water and not be able to escape, or even enter the lawn you are growing and damage the grass. It was

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned drawbacks, and provides a vehicle in which the vehicle is prevented from entering a dangerous area and the safety is improved. Is an issue.

[0005]

SUMMARY OF THE INVENTION The present invention comprises a traveling drive means for driving a drive source and a steering drive means for steering steered wheels, and a receiver for receiving position information from an artificial satellite, While traveling by the position information calculation means for calculating the current position based on the signal from the receiver, the traveling road storage means for preliminarily storing the dangerous place together with the position information, and the positional information calculation means and the traveling road storage means. And a display unit for displaying the dangerous place.

Further, a traveling drive means for driving the drive source,
A steering drive means for steering the steered wheels, a receiver for receiving position information from an artificial satellite, a position information calculation means for calculating a current position based on a signal from the receiver, and position information together with The present invention is characterized in that a traveling path storage means for storing a dangerous place in advance, and an informing means for informing when the current position during traveling matches the position of the dangerous location by the position information calculation means and the traveling path storage means are provided. And

Further, a traveling drive means for driving the drive source,
A steering drive means for steering the steered wheels, a braking means for braking the traveling by the drive source, a receiver for receiving position information from the artificial satellite, and a current position based on a signal from the receiver When the current position during traveling is coincident with the position of the dangerous place by the position information calculating means for calculating, the traveling road storing means for preliminarily storing the dangerous place together with the position information, and the position information calculating means and the traveling road storing means. A control circuit for operating the braking means to stop the braking means is provided.

[0008] A traveling drive means for driving the drive source and a steering drive means for steering the steered wheels are provided, and the receiver receives the position information from the artificial satellite, and based on the signal from the receiver. Position information calculating means for calculating the present position, a traveling road storage means for storing a preset traveling road and a dangerous place together with position information, the position information calculating means and the traveling road storage means, and A control circuit for controlling the traveling drive means and the steering drive means so that the vehicle travels on the set traveling path, the position information calculating means and the traveling path storing means, and displays the current position and the dangerous place during traveling. It is characterized in that a display unit for operating is provided.

A traveling drive means for driving the drive source,
A steering drive unit for steering the steered wheels, a receiver for receiving position information from an artificial satellite, and a position information calculation unit for calculating the current position based on a signal from the receiver, which are set in advance. The traveling road storage means for storing the traveling road and the dangerous place together with the position information, the position information calculating means and the traveling road storage means, and the traveling drive means for traveling on the preset traveling road. A control circuit for controlling the steering drive means, and an informing means for informing when the current position during traveling coincides with the position of the dangerous place by the position information calculating means and the traveling path storing means. To do.

Then, the vehicle is provided with traveling drive means for driving the drive source, steering drive means for steering the steered wheels, and braking means for braking traveling by the drive source, and receiving position information from the artificial satellite. Machine, position information calculation means for calculating a current position based on a signal from the receiver, running road storage means for storing a preset running road and a dangerous place together with position information, and the position information calculation means. The traveling drive means and the steering drive means are controlled so as to travel on a preset traveling path by collating with the traveling path storage means, and the running information is stored by the position information calculating means and the traveling path storage means. And a control circuit for activating and stopping the braking means when the current position coincides with the position of the dangerous place.

Further, it is characterized in that braking means for braking traveling by the drive source is provided, and the control circuit operates and stops the braking means when the vehicle is derailed from the traveling road.

Further, the control circuit operates the braking means to stop when the vehicle derails from the traveling road.

Further, a traveling direction detecting means for detecting a traveling direction and a steering detecting means for detecting a steering direction are provided, and the control circuit performs the traveling operation when the receiver does not receive a position signal from an artificial satellite. It is characterized in that a position signal is generated by the direction detecting means and the steering detecting means after the position signal is no longer received, and the generated position signal is used as the current position for traveling.

Furthermore, the dangerous area is characterized by an entry prohibited area where entry is prohibited and a confirmation required area where entry is possible according to the judgment of the user.

Then, the control circuit does not accept the restarting operation until the current position during traveling coincides with the position of the prohibited area, the braking means is operated and stopped, and the control circuit is reset. It is characterized by

Further, the control circuit operates the braking means to stop when the current position during traveling coincides with the position of the confirmation required area, and restarts when a start signal is input to the control circuit. It is characterized by doing.

Further, a start switch for instructing a start operation is provided, and the start signal is inputted by the start switch.

Further, it is characterized in that a confirmation means is provided for prohibiting the operation of the braking means which operates when it coincides with the position of the confirmation required area.

According to the above-mentioned structure, the vehicle travels by driving the drive source under the control of the traveling drive means, and at the same time, the steering wheels are steered by the control of the steering drive means to determine the traveling direction and travel. At this time, the dangerous place information input to the traveling path storage means and the current position calculated by the position information means are displayed on the display unit to inform the user of the dangerous place. Further, when the current position coincides with the position of the dangerous place, the user can be informed of the danger by notifying the danger by the notifying means. Further, when the vehicle approaches a dangerous place, it is stopped by the braking means, so that it can be stopped even if the user does not notice the danger, and the safety is improved.

Further, the vehicle receives the position information from the artificial satellite, calculates the current position by the position information calculating means, and determines where the self-propelled vehicle is on the map together with the running path storage means. Calculate Then, the traveling path of the traveling path storage means is compared with the position information to calculate the direction to be traveled, the traveling drive circuit and the steering drive circuit are controlled, and the traveling direction is controlled to travel according to the traveling direction of the traveling path storage means. . In this way, the vehicle is driven in the instructed direction by sequentially comparing the position information calculated by the position information calculation means with the traveling path stored by the traveling path storage means.

Then, the display unit displays the current position and the dangerous place in the traveling path to inform the user of the dangerous place. Further, when the current position coincides with the position of the dangerous place, the notifying means also notifies. By doing this,
Even when the user tries to enter a dangerous place by getting off the traveling road during the automatic traveling, the user can operate and stop. Further, since the braking means stops when the current position coincides with the position of the dangerous place, danger can be prevented beforehand.

Furthermore, when the vehicle travels while checking the position information from the artificial satellite and the traveling path of the traveling path storage means, when the vehicle derails from the traveling path, the braking means stops so that the vehicle reaches a dangerous place. Can be stopped by
If it still does not stop, the danger point is displayed by the display means and the user is informed by the notification means, so that the safety can be improved.

Further, when the vehicle travels while checking the position information from the artificial satellite and the traveling path of the traveling path storage means, when the vehicle derails from the traveling path, the braking means stops the operation, so that the vehicle reaches a dangerous place. Can be stopped by
If it still does not stop, braking is applied again by the braking means. Therefore, even if it does not stop at the time of derailing or even if the derailing cannot be recognized, it does not reach a dangerous place, so that safety can be improved.

The dangerous place is composed of an inaccessible area and a confirmation-needed area, and can inform the user of the degree of danger. The prohibited area is an area that cannot be entered, and the confirmation-required area is an area that can be entered when the user judges that it is possible to enter.

Further, when the current position coincides with the position of the prohibited area, the vehicle is stopped by the braking means and the control circuit is not restarted unless the control circuit is reset. Therefore, the control circuit does not start by the start operation after the stop. You can check the danger point before starting while resetting.

When it coincides with the position of the confirmation required area,
Since the vehicle is stopped by the braking means and restarts when the start signal is input, after stopping, it is possible to start after confirming a dangerous point, and safety can be improved. The start signal is composed of a start switch and restarts when the switch is operated. The switch may be a remote control or the like that can be operated remotely, but it is better to be provided on the main body, and it is more convenient to be able to start the vehicle after checking the dangerous place. In addition, normally, when it coincides with the position of the confirmation required area, it is stopped by the braking means, but the state of the dangerous place is known in advance,
If it can be determined that it is not dangerous even if the vehicle enters, it is possible to enter the dangerous place without stopping by prohibiting the operation of the braking means by the confirmation means such as the start switch.

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a vehicle of the present invention will be described with reference to the drawings using a golf cart as an example.

First, a configuration of the entire golf cart and a block diagram of its control circuit will be described with reference to FIGS. 1 and 2.

First, the overall structure will be described with reference to FIG.

Reference numeral 1 denotes a golf cart main body which runs by using a motor as a drive source, and the main body 1 includes a front wheel 2 for steering and a rear wheel 3 serving as a drive wheel. This golf cart main body 1 has a manual traveling mode in which the front wheel 2 is steered by a user's operation of the steering wheel 4, and a traveling path storage means 3 described later.
It has two modes of an automatic traveling mode in which the front wheels 2 are automatically steered along the traveling path stored in 9 for traveling, and the vehicle can travel in a desired traveling mode depending on the user's selection.

Reference numeral 5 denotes a main frame of the main body 1 on which the front wheel 2 and the rear wheel 3 are mounted, and the main frame 5 is covered with a main body cover 6 made of resin.

A seat 7 is provided in front of and behind the main frame 5 so that the user can ride side by side. The front wheel 2 is located in front of the front seat 7 when the user operates the manual running mode. A steering wheel 4 that can steer is attached. The handle 4 is fixedly provided with a handle post that is obliquely attached to the front of the main body 1 and supports the handle 4. The handle 4 is rotatably provided by being inserted into the handle post.

Reference numeral 8 denotes a golf bag receiver which is attached to the rear of the main body 1 and can be mounted with the golf bag inclined.

Reference numeral 9 is a transparent resin front shield provided on the front part of the main body 1, and a roof 10 is provided continuously from the front shield 9 to cover the entire upper part of the seat 7.

A stay 11 is provided at the rear of the main body 1 and supports the roof 10.

Reference numeral 12 is a bumper provided on the front part of the main body 1, and a switch (not shown) is provided on the bumper 12.
Is provided, and when it comes into contact with an obstacle, the switch is turned on and stopped.

Reference numeral 13 is an artificial satellite for transmitting position information, and the main body 1 can measure the current position by receiving this signal. Generally, GPS (Glob
al Positioning System) is installed.

Next, the control circuit will be described with reference to FIG.

Reference numeral 14 denotes six traveling batteries mounted on the main frame 6 of the main body 1 in the vehicle width direction. The traveling battery 14 is composed of 72-volt batteries connected in series. It is connected so that it can be applied to the traveling motor 15 with a bolt.

Reference numeral 16 is a control battery which serves as a power source of a control circuit for controlling the traveling of the main body 1. Each control battery 16 has a voltage of 12 volts down to 5 volts, such as a microcomputer 17 which will be described later. Control.

Reference numeral 17 denotes a microcomputer (hereinafter referred to as a microcomputer) for controlling traveling such as driving, steering and braking.

Reference numeral 49 is a key switch which is connected in series between the control battery 16 and the microcomputer 17, and which turns on and off the power supply to the microcomputer 17. The key switch 49 is
A switch provided between the traveling battery 14 and the motor controller 18 is also linked by a relay, and when the key switch 49 is turned on, the motor controller 18 can be energized.

Reference numeral 18 denotes a traveling drive circuit, that is, a motor controller, which uses the traveling battery 14 as a power source and controls switching based on a PWM signal from the microcomputer 17 to drive the traveling motor 15. Reference numeral 18 is composed of a switching element such as a FET. Output from the microcomputer 17
As the PWM signal, a signal for traveling at a predetermined instruction speed is output in the automatic traveling mode. Further, in the manual traveling mode, a signal is output so that the vehicle travels at a speed corresponding to the operation amount of the accelerator pedal (not shown) operated by the user.

Reference numeral 19 is a steering motor for steering the front wheels 2, and the steering motor 19 is
PWM control is performed by the steering drive circuit 20, and normal rotation and reverse rotation are performed with respect to a predetermined position, whereby steering is performed to the left and right. The steering motor 19 operates not only in the automatic traveling mode but also in the manual traveling mode, and by operating with a smaller force than in the automatic traveling mode, the steering motor 19 operates as an aid to the operation of the steering wheel 4. That is, in the manual traveling mode, the torque sensor 21 detects the operating force of the steering wheel 4, and the steering motor 19 is operated according to the magnitude of the torque, whereby the user operates the steering wheel 4 with a light operating force. be able to.

Reference numeral 22 is a steering detection means, that is, a steering motor detection means for detecting how much the steering motor 19 is moving left and right with respect to a predetermined position as a reference. The steering motor detection means 22 is a steering motor 19. The output shaft, etc., is provided with a gear or the like that interlocks with the rotation of the output shaft, and is calculated by a potentiometer or the like.

Reference numeral 23 is a brake motor for operating a disc brake (not shown) provided on the front wheel 2 and the rear wheel 3, and when the brake motor 23 is operated, a braking force acts to decelerate or stop the brake. You can

The reference numeral 24 stops the rotation of the rear wheel 3 by fixing the rotation of the gear in a gear box (not shown) provided in the transmission path between the traveling motor 15 and the rear wheel 3. With a parking brake that can be used, the parking brake 24 operates when the traveling speed falls below a predetermined value close to zero, that is, when the vehicle is stopped.
Brake so that does not move.

The disc brake by the brake motor 23 and the parking brake 24 are collectively referred to as braking means 25.

Reference numeral 26 is a brake switch provided in the vicinity of a brake pedal (not shown) provided in the main body 1, and the brake switch 26 operates when the user operates the brake pedal. Then, when it is detected that the brake pedal is operated, a signal is sent to the microcomputer 17 to operate the brake motor 23 to apply the braking.

Reference numeral 27 is a brake home switch which is provided in the vicinity of the brake motor 23 and includes a switch for detecting when the brake motor 23 is at the reference position. The brake home switch 27 is under a braking force. The position of the brake motor 23 when not present is detected. Reference numeral 28 is a brake limit switch that is a switch that detects the position when the maximum braking force of the brake motor 23 is applied.

Numeral 29 is a brake oil detecting means for detecting the amount of oil in the hydraulic cylinder for operating the disc brake.
Alarms when the oil is low, and when the oil is low, outputs a signal for operating the braking means 25 from the microcomputer 17 and controls the main body 1 to stop.

Reference numeral 30 designates an automatic / manual detecting means for detecting a traveling mode selected by the user. The automatic / manual detecting means outputs the mode selected by the user to the microcomputer 17 by a signal and selects the selected mode. The traveling control in the mode is performed.

Reference numeral 31 denotes a main body 1 which is remotely operated by a remote control transmitter (not shown) during traveling in the automatic traveling mode.
The remote control receiver 31 is for starting or stopping the vehicle. The remote control receiver 31 starts when the signal from the remote control transmitter enters the stop state and stops when the signal enters the running state.

Reference numeral 32 denotes a start / stop switch for starting or stopping the main body 1 while riding on the main body 1 when traveling in the automatic traveling mode. The start / stop switch 32 is provided near the handle 4.

Reference numeral 33 is a forward / reverse switch for the user to select whether to travel in the forward or reverse direction when traveling in the manual traveling mode. The forward / reverse switch 33 is also the start / stop switch 32. Similarly, it is provided near the handle 4.

Reference numeral 34 is a bumper switch for detecting that an obstacle has come into contact with the bumper 12, and the bumper switch 34 is turned on when an obstacle is detected so that a signal is sent to the microcomputer 17. Has become. At this time, a signal is output from the microcomputer 17 to operate the braking means 25.

Reference numeral 35 is an encoder for detecting the rotational direction of the rear wheel 3, that is, the traveling direction and the rotational speed of the rear wheel 3, that is, the traveling speed. The encoder 35 inputs the detected signal to the microcomputer 17, Based on this signal, the drive signal is adjusted and output so that the traveling speed becomes the instructed speed. That is, the encoder 35 serves as a traveling direction detecting means and a traveling speed detecting means.

Reference numeral 36 is a receiver provided in the main body 1 for receiving a signal from a transmitter 37 of the artificial satellite 13. The receiver 36 receives the signal at any time and the microcomputer 17
The position information calculation means 38 in the microcomputer 17 calculates the current position of the main body 1.

Reference numeral 39 denotes a traveling path storage means in which the previously stored traveling path and the layout of the course of the golf course are input. The traveling path stored in the traveling path storage means 39 is a traveling course, the main body 1 The traveling direction, traveling speed, stop position and the like are stored, and the microcomputer 17 takes in this information when it needs it. In addition, the running path storage means 39 stores a dangerous place such as a valley or a cliff in a golf course, and the dangerous place is a prohibited area such as a valley or a cliff that should not enter at all.
It is memorized separately for two types of dangerous areas, such as a confirmation-needed area in which the admissibility changes depending on the day, such as muddy water caused by rain.

Reference numeral 40 denotes a display unit for displaying the layout diagram of the golf course stored in the traveling path storage unit 39, the current position of the main body 1, a warning display, and the like.
Is a liquid crystal display such as an LCD.

Next, the contents stored in the traveling road storage means 39 are shown in FIG.

As the information of this traveling path, the longitude and the latitude are stored, the line described in the horizontal direction in FIG. 3 is the line indicating the longitude, and the line described in the vertical direction is the line indicating the latitude. . Although these lines are not shown in FIG. 3, the longitude and latitude are stored in more detail.

In the figure showing the longitude and latitude, the course of the golf course to be used is stored, and the clubhouse 41 is used for reception of players and running management of golf carts.
In addition, the cart house 42 in which the golf cart is stored and the layout of the golf course are stored. The memorized layout is the golf course 43 from the first hole to the 18th hole, the starting point 44, and the green 4.
5, the pond 46, etc. are stored so that the longitude and latitude of all positions on the course of the golf course can be known.

The running path storage means 39 also stores the running path on which the golf cart main body 1 runs, and the running path 47 is a line connecting the sides of each hole with a solid line and a broken line.
Further, the traveling direction is stored in the traveling path 47, and the arrow described on the traveling path 47 is the traveling direction. In addition, the traveling speed of the golf cart body 1 is also stored in the traveling path 47. The portion indicated by the solid line is the indicated speed of 6 kilometers per hour, and the portion indicated by the broken line is the indicated speed of 10 kilometers per hour. Furthermore, the point shown in the middle of the line is the part that indicates the stop position. Specifically, FIG.
As shown in FIG. 2, first, the car starts from the cart house 42, and when it arrives at the club house 41, it first stops and then starts according to the start instruction of the start / stop switch 32 by the user, and goes to the first hole. Then, stop at the side of the start point 44, drive from the start point 44 at a speed of 6 km / h, and then at a speed of 10 km / h, and turn to the green 4
It is information that the vehicle will slow down to 6 kilometers per hour when it comes near 5, and stop near the green 45. The details will be described with reference to FIG.
Is stored with a predetermined width, and the portion indicated by A is the portion instructing to travel at 6 kilometers per hour, the portion indicated by B is the portion instructing to travel at 10 kilometers per hour, and C is the stop position. This is the part shown. A reference line 48 that serves as a reference for the traveling path is set in the center. As described above, since the reference line 48 is set to have a predetermined width on the traveling path 47, the traveling path 47 can be traveled with a margin, and it is possible to prevent the vehicle from easily derailing. .

Furthermore, the dangerous place is also shown in the traveling path storage means 39, and the dangerous place is stored together with the position information in the shaded portion in the drawing. Among them, the shaded area is set as a prohibited area 50 such as a valley or a cliff, which may cause an accident such as a fall when the golf cart body 1 enters, and must never enter. In addition, the shaded area is an area where it becomes possible or impossible to enter depending on the day, such as being muddy by rain or building grass.
Confirmation required area 51 where you can enter if the user confirms
Is set as. In addition, these danger points are not the last line of danger, but safety is maintained by setting them in a wide range with some margin.

Next, the operation will be described.

First, the traveling operation when the manual traveling mode is selected will be described.

When the user selects the manual traveling mode by the automatic / manual detecting means 30, the automatic / manual detecting means 30 is selected.
A signal indicating that the manual traveling mode has been selected is input from the microcomputer 17. Based on this signal input, the microcomputer 17 switches to the manual traveling mode. At this time, the microcomputer 17 outputs a signal corresponding to the operation amount of the accelerator pedal, and the motor controller 18 drives the traveling motor 15. Regarding steering, at the same time that the front wheel 2 is steered by operating the steering wheel 4, the torque sensor 21 detects the torque applied to the steering wheel 4 at this time, and the steering motor 19 steers the front wheel 2 in accordance with this torque. This helps the user to operate. Further, the steering motor detecting means 22 also detects the steering amount of how much the front wheels 2 are being steered, and the steering amount signal is also input to the microcomputer 17. Regarding braking, when the brake switch 26 is operated by operating the brake pedal and this signal is input to the microcomputer 17, the brake motor 23 is operated and braking is applied. When stopping, the encoder 35 detects that the speed has become zero, and operates the parking brake 24 to stop.

Further, the control when the vehicle approaches the dangerous place stored in the traveling path storage means 39 during traveling in the manual traveling mode will be described with reference to the flowchart of FIG.

When the mode is switched to the manual running mode, it is determined whether the position signal from the artificial satellite 13 is input to the receiver 36 (S1). Then, when a signal is input, the current position is calculated by the position information calculation means 38 from this signal (S2), and the traveling path storage means 39 is provided.
Is input (S3). Then, based on these pieces of information, the current position is displayed on the display unit 40 together with the layout information of the golf course. This layout information also displays a preset dangerous spot at the same time, so that it is possible to determine where the vehicle is currently located while traveling in the manual traveling mode, and it is possible to drive so as not to approach the dangerous spot (S4). ).

While traveling, the set prohibited area 5
It is always determined whether or not the position of 0 and the current position match (S5), and when the position of the prohibited area 50 and the current position match, the display unit 40 notifies (S6) and the braking means 25 is activated. It operates and stops (S7). In this case, the user turns off the key switch 49 once,
You cannot start without resetting (S
8).

When it is judged whether the set position of the prohibited area 50 and the current position match (S
5) If it is judged that the area is not the prohibited area 50, it is judged whether it is the confirmation required area 51 (S9), and the confirmation required area 5
If it is 1, the fact that the dangerous place is approaching is notified (S1).
0). Then, after that, the start / stop switch 32
It is determined whether or not the start signal is input by the vehicle (S11), and when the start signal is not input, the braking means 25
Then, the stop operation is started (S12). In S11, the start / stop switch 32 is pressed by the user's confirmation before entering the confirmation-required area 51.
The operation of No. 5 is prohibited, and the traveling can be continued without stopping.

Next, the control when the position information signal from the artificial satellite 13 is not input during traveling in the manual traveling mode will be described.

In S1, if the positional information signal is not input to the receiver 36 due to the relationship of the terrain or the disconnection of the signal line to the receiver 36, the traveling locus until the received signal disappears is read (S13), and the received signal is The steering direction after disappearance is input from the steering motor detection means 22 (S14),
Further, the traveling direction and the traveling speed are input from the encoder 35 (S15), and the current position is assumed by the position information calculating means (S16). Then, using this position information as the current position, the control from S3 onward is performed. And artificial satellite 1
When the signal from 3 resumes input, display is started based on the input signal.

Next, the traveling operation when the automatic traveling mode is selected will be described with reference to the flowchart of FIG.

When the automatic / manual detecting means 30 detects that the user has selected the automatic traveling mode, the microcomputer 17 reads the traveling path information stored in the traveling path storage means 39 (S1), and then the receiver 37. The microcomputer 17 also reads the position signal of the artificial satellite 13 received in (S2). Further, the traveling speed and traveling direction from the encoder 35 are read by the microcomputer 17 (S3, S4). Then, the current position in the golf course is calculated by comparing the traveling path information with the position information, and the current traveling position is displayed on the display unit 40 together with the layout of the course. Further, the traveling direction is determined by collating the current position with the traveling road information, and the steering motor 19 is steered so that the traveling direction follows the traveling direction of the predetermined traveling road information (S5). Then, the traveling locus of the actual traveling is stored in the microcomputer 17 (S6). Next, it is judged whether or not the place where the vehicle is traveling is a dangerous place, that is, it is judged whether it is the inaccessible area 50 or the confirmation required area 51, and the control is performed according to the flowchart described later (S7).

Next, the steering method of the steering motor 19 described above will be concretely described with reference to the flowchart of FIG.

The traveling road information stored in the traveling road storage means 39 is compared with the current position calculated by the position information means 38 to determine whether or not the main body 1 is displaced to the right with respect to the traveling direction ( S1). Then, when it is determined that it is shifted to the right, it is determined whether it is within the predetermined width of the traveling path (S2), and if it is within the predetermined width, the shortest distance to the reference line 48 is calculated (S3). , The shortest reference line 48
The target is 10 m ahead (S4), the steering motor 19 is steered to the left, and the vehicle travels so as to reach the target (S5). Such control returns to S6 of the flowchart of FIG. 5 once S5 is completed, but when the steering control step of S5 of FIG. 5 is reached, control is performed again even if the reference line 48 has not been reached. . That is, since the steering is performed by correcting the traveling direction so as to reach the reference line 48 many times during the steering control as described above, the vehicle can smoothly travel without the meandering operation. Also,
If the vehicle is not located within the predetermined width of the traveling road 47 during traveling (S
2) Control is performed to operate the braking means 25 so as to stop (S6), and since traveling in the automatic traveling mode becomes impossible, the traveling mode is switched to the manual traveling mode (S7).

When the steering control is not performed in the rightward direction (S1), it is determined whether the vehicle is deviated in the leftward direction from the reference line 48 (S8). It is determined whether or not the position is within the predetermined width (S9). During traveling, when the vehicle is not located within the predetermined width of the traveling path 47 (S9), control is performed to stop (S6), and the traveling mode is switched to the manual traveling mode (S7). Even if it is deviated to the left, if it is within the predetermined width, the shortest distance to the reference line 48 is calculated (S10), the target 10m ahead of the shortest reference line 48 is set (S11), and the steering motor 19 is steered to the right. Then, the vehicle travels so as to reach the target (S12).

Similarly to when shifting to the right, when shifting to the left, the control of FIG. 6 is performed again after passing through the control of FIG. In this way, meandering operation is prevented.

The above-mentioned steps S3 to S5 and S10 in FIG.
A specific calculation method for performing the control from S12 to S12 will be described with reference to FIGS. 9 and 10. For example, if the main body 1 is located at the point A in FIG. 9, first, in S3, a perpendicular line to the reference line 48 is drawn and the point intersecting with the reference line 48 is set as the shortest position, and in the next S4, the intersecting point. A target of a point B 10 m ahead from the target is to drive the steering motor 19 in the left direction to control traveling in S5. Also, in FIG.
If there is the main body 1 at the point, first, in S10, draw a perpendicular to the reference line 48 to make the point intersecting with the reference line 48 the shortest position, and then in S11, 10m from the intersecting point.
Targeting at the point B, the steering motor 19 is driven to the right in S12 to control traveling.

In the present embodiment, the steering motor 19 was steered with a target of 10 meters ahead. However, depending on the traveling speed, the target is ahead of 10 meters when the speed is fast and ahead of 10 meters when the speed is slow. By traveling as a target, it is possible to reduce the meandering and to travel more reliably along the traveling path.

As described above, by using the GPS and controlling the traveling direction by the steering motor 19 on the basis of the traveling road information, it is possible to travel without burying the guide wire on the road surface as in the conventional case, and the construction related to the burying work can be performed. Cost savings,
Even when the course is changed, the traveling path storage means 39
All you have to do is change the running path inside and you can do it easily.

Further, since the traveling drive is also controlled based on the speed and the stop position stored in the traveling path storage means 39, it is not necessary to install a conventional magnet or the like.

Next, the case where the vehicle travels in the reverse direction with respect to the traveling direction stored in the traveling path will be described.

In S1 to S4 of FIG. 5, the traveling road information and the traveling direction are read, and when it is judged by the microcomputer 17 that the traveling direction is different from the actual traveling direction, the vehicle travels in the reverse direction and the subsequent traveling is performed. Since there is a risk of collision with the golf cart, the brake motor 23 is operated to apply braking. Then, while displaying that the vehicle is running in reverse, the user is prompted by the display to switch the running mode from automatic to manual, and the user switches to manual and turns the main body 1 in the opposite direction again. Drive in automatic drive mode.

The operation at this time will be described with reference to the flowchart of FIG.

When the traveling direction from the encoder 35 is read in S4 of FIG. 5, the traveling locus stored in the microcomputer 17 is read (S1), and it is determined whether the traveling direction is correct (S2). . If it is correct, the operation is performed according to the flowchart of FIG. 5, and if it is determined that the vehicle is running in reverse, a message indicating that the vehicle is running in reverse is displayed (S3). It is stopped by the action.

In the above-mentioned control, the traveling locus is read and it is judged whether or not the vehicle is traveling in reverse. However, the traveling direction can be detected by detecting a plurality of passage points and their passage times.
It is possible to judge whether or not the vehicle is running in reverse.

Next, the operation of the automatic traveling mode when the radio waves from the artificial satellite 13 are no longer received will be described.

When the radio wave from the artificial satellite 13 is no longer received, the running locus after the signal is no longer received is calculated by the signals from the steering motor detecting means 22 and the encoder 35 to calculate the virtual running position. To do. Then, the calculated virtual traveling position is sequentially input to the microcomputer 17, and the calculated current position is displayed on the display unit 40. The virtual travel position is compared with the travel path of the travel path storage unit 39, and the vehicle travels based on this. The traveling based on such a virtual traveling position is continuously performed until a signal from an artificial satellite enters the receiver 36.

The traveling operation at this time will be described with reference to the flowchart of FIG.

In S2 of FIG. 5, when the position signal is not input, it is confirmed whether there is a signal from the artificial satellite 13 (S1). If the signal is received, the position information calculating means 38 in the microcomputer 17 is used. Calculate the current position.
However, when the signal from the artificial satellite 13 cannot be received due to the influence of the weather or the terrain, the traveling locus sequentially stored in the microcomputer 17 is read (S2), and then the steering motor detecting means 22 detects the traveling direction. (S3). Further, the traveling speed and the traveling direction (forward or backward) are read from the encoder 35 (S4), and thereby the virtual current position is calculated (S5). Then, assuming that this information is the position information received from the artificial satellite 13, the vehicle travels based on the flowchart of FIG. In this way, even if the radio wave from the artificial satellite 13 is not received due to some influence and the current traveling position is unknown, the traveling is continued because the virtual current position is calculated and traveling is performed as described above. You can In this control, when the signal from the artificial satellite 13 returns, the signal from the artificial satellite 13 is input as correct position information, and the control is continued.

Next, the case of determining the traveling area in the automatic traveling mode will be described with reference to the flowchart of FIG. This flowchart is a flowchart for determining the traveling area in S7 of FIG.

First, the current position signal from the artificial satellite 13 is input (S1), then the traveling road information input to the traveling road storage means 39 is input (S2), and the layout of the golf course is based on them. And the current position is shown. At this time, the dangerous place is also displayed at the same time (S3).
Then, when the current position and the traveling path storage means 39 are collated, if the current position coincides with the position of the prohibited area 50 (S4), the display unit 40 informs that the vehicle is dangerous (S5) and the braking means. Control is performed so as to stop by 25 (S6). When the vehicle enters the prohibited area 50 and stops, the vehicle will not restart unless it is reset by the key switch 49, and the notification and the stopping operation are continuously performed until it is reset (S7). ).

Further, when the current position is collated with the traveling path storage means 39, if the current position is not the entry prohibited area 50 (S4), it is judged whether or not the current position is the confirmation required area 51 ( S8), if it is not the confirmation required area 51,
It is determined that the current position is not the dangerous place, and the process returns to S1 of FIG. 5 and is controlled. Further, when it is determined that the vehicle is in the confirmation required area 51, the display unit 40 notifies it (S9) and the presence or absence of the start signal from the start / stop switch 32 is determined (S10). Is operated to stop (S11). At this time, when the signal from the start / stop switch 32 is input, by continuing the traveling without operating the braking means 25, it is possible to prevent the vehicle from stopping each time, and it is possible to shorten the operation management time. effective.

In the above-described embodiment, in both the manual traveling mode and the automatic traveling mode, when the vehicle enters the confirmation-required area 51, it is controlled so as not to start until the start signal from the start / stop switch 32 is input. The start signal may be sent from the remote controller. However, the start signal from the start / stop switch 32 provided in the golf cart body 1 is the best, and it is most preferable to start the vehicle after the user approaches the golf cart body 1 and confirms the state of the confirmation required area 51.

[0098]

According to the present invention, since the display unit for displaying the current position and the dangerous place during traveling is provided by the position information calculating means and the traveling path storing means, the manual traveling mode and the automatic traveling mode are both effective. The user can be informed of the dangerous place and the safety can be improved.

Further, when the current position during traveling approaches the dangerous place by the position information calculating means and the traveling path storing means,
Since the notification is provided by the notification means, the user can be notified of the dangerous place in both the manual traveling mode and the automatic traveling mode, and the safety can be improved.

Furthermore, when the current position during traveling approaches the dangerous point by the position information calculating means and the traveling path storing means,
Since the control circuit operates and stops the braking means,
In both manual drive mode and automatic drive mode,
You can stop without being aware of the danger,
This has the effect of improving safety.

Further, the current position is calculated based on the position information from the artificial satellite, the traveling drive means and the steering drive means are controlled so that the vehicle travels on a preset traveling path, and the current position during traveling is calculated. Is displayed on the display when the vehicle approaches a dangerous place, it saves the trouble of burying guide wires and the like, and also displays the dangerous place to the user even if the user derails from the road in automatic driving mode. There is an effect that the property can be improved.

Then, the current position is calculated on the basis of the position information from the artificial satellite, and the traveling drive means and the steering drive means are controlled so that the vehicle travels on a preset traveling path.
When the current position during driving approaches a dangerous place, the notification means informs you, so you can save time and labor to bury guide wires etc., and use it when you are approaching a dangerous place by derailing from the road in automatic driving mode. To inform people of the danger,
The effect of improving safety can be obtained.

Then, the present position is calculated on the basis of the position information from the artificial satellite, and the traveling drive means and the steering drive means are controlled so that the vehicle travels on a preset traveling path.
When the current position during driving approaches a dangerous place, it is stopped by braking means, so it saves the trouble of burying guide wires etc., and it is used when approaching a dangerous place by derailing from the road in automatic driving mode. Even if the person does not know that it is dangerous, the vehicle stops, so that the safety is improved.

Further, since the vehicle is stopped when the wheels are removed from the road by the braking means for braking the traveling by the drive source, it can be stopped when the wheels are removed before reaching the dangerous place.
In addition, since the braking operation is performed again when the vehicle reaches a dangerous place even if the vehicle is not stopped due to a control abnormality when the vehicle is derailed, a double braking operation can be performed, and safety is improved.

When the receiver does not receive the position signal from the artificial satellite, the traveling direction detecting means and the steering detecting means produce the position signal after the position signal is not received, and the produced position signal is used as the present position. Since it runs as a car, it can display the current position even if the signal cannot be received due to the disconnection of the signal line of the receiver or the influence of the terrain, and it has the effect of preventing entry to dangerous places. .

Further, since the dangerous place is composed of an inaccessible area where entry is prohibited and a confirmation required area where entry is possible at the discretion of the user, the dangerous place can be displayed in accordance with the degree of danger, and the danger is presented to the user. An effect such as being able to inform the degree is exhibited.

Then, when the current position during running approaches the prohibited area, the braking means is operated to stop and the restart operation is not accepted until the control circuit is reset. There is no effect of starting the vehicle by performing the operation, and once resetting, the user is given time to confirm the state of the dangerous place, so that the safety can be improved.

Also, when the current position during running approaches the confirmation required area, the braking means is operated to stop, and the vehicle restarts when the start signal is input. It has effects such as being able to start and improving safety.

Further, since a start switch for instructing the start operation is provided and the start signal is inputted by the start switch, it is possible to start after confirming a dangerous place, and there is an effect that the safety is improved.

Then, a confirming means for prohibiting the operation of the braking means which operates when approaching the confirmation required area is provided, and normally the braking means stops when approaching the confirmation required area. If you know the condition and you can judge that it is not dangerous to enter, you can enter the dangerous place by prohibiting the operation of the braking means with a confirmation means such as a switch, so you do not have to stop Good effect such as improved usability.

[Brief description of drawings]

FIG. 1 is an overall perspective view of a main body that is an embodiment of the present invention.

FIG. 2 is a block diagram of the control circuit.

FIG. 3 is a course layout diagram stored in the travel route storage means.

FIG. 4 is a flowchart showing a control for determining a traveling area when the manual traveling mode is selected.

FIG. 5 is a flowchart showing traveling control when the automatic traveling mode is selected.

FIG. 6 is a flowchart showing control of the steering motor when the automatic driving mode is selected.

FIG. 7 is a flowchart showing a control for reading a traveling direction when the automatic traveling mode is selected.

FIG. 8 is a flowchart showing a control for inputting position information when the automatic traveling mode is selected.

FIG. 9 is a diagram of a traveling path for explaining a method of calculating a target position when the automatic traveling mode is selected.

FIG. 10 is a diagram of a traveling path for explaining a method of calculating a target position when the automatic traveling mode is selected.

FIG. 11 is a diagram showing a reference line, speed information, and stop information stored on the same traveling path.

FIG. 12 is a flowchart showing a control for determining a traveling area when the automatic traveling mode is selected.

[Explanation of symbols]

15 Drive Source (Moving Motor) 18 Traveling Drive Circuit (Motor Controller) 2 Steering Wheels (Front Wheels) 20 Steering Drive Circuit 13 Artificial Satellite 36 Receiver 38 Position Information Calculating Means 39 Traveling Path Storage Means 40 Display 40 Informing Means (Display) 25) Braking means 17 Control circuit (microcomputer) 35 Traveling direction detecting means (encoder) 22 Steering detecting means (steering motor detecting means) 21 Steering detecting means (torque sensor) 50 Inaccessible area 51 Confirmation required area 32 Start switch ( Start / Stop switch) 32 Confirmation means (Start / Stop switch)

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) G08G 1/0969 G08G 1/0969 (72) Inventor Masafumi Yamaguchi 2-5-5 Keihanhondori, Moriguchi-shi, Osaka No. Sanyo Electric Co., Ltd. (72) Inventor Hirofumi Mitsue 2-5-5 Keihan Hondori, Moriguchi-shi, Osaka Sanyo Electric Co., Ltd. (72) Inventor Koji Moriyama 2-5 Keihan-hondori, Moriguchi-shi, Osaka No. 5 Sanyo Electric Co., Ltd. (72) Inventor Kazuhiro Matsuoka 2-5-5 Keihan Hondori, Moriguchi City, Osaka Prefecture Sanyo Electric Co., Ltd. F-term (reference) 2F029 AA02 AB07 AB12 AB13 AC02 AC08 AC16 5H180 AA27 BB08 FF05 FF22 FF25 FF27 FF33 LL06 LL09 LL14 5H301 AA03 BB13 CC03 CC06 DD01 DD06 EE12 GG06 GG08 HH01 LL01 LL03 LL08 LL11 LL14 QQ04 QQ06

Claims (14)

[Claims] 1. A receiver comprising a traveling drive means for driving a drive source and a steering drive means for steering steered wheels, the receiver receiving position information from an artificial satellite, and a signal based on the signal from the receiver. Position information calculating means for calculating the current position by means of the above, running road storage means for storing the dangerous place together with position information in advance, and the current position during running and the dangerous place by the position information calculating means and the running road storage means. A vehicle provided with a display unit for displaying. 2. A receiver that includes a traveling drive unit that drives a drive source and a steering drive unit that steers the steered wheels, receives a position information from an artificial satellite, and a signal from the receiver. Position information calculating means for calculating the current position by means of the position information, running road storage means for storing the dangerous place in advance together with the position information, and the current position during running by the position information calculating means and the running road storage means is the position of the dangerous place. And a notifying means for notifying when the vehicle coincides with the vehicle. 3. Receiving to receive position information from an artificial satellite, which comprises a traveling drive means for driving a drive source, a steering drive means for steering steered wheels, and a braking means for braking traveling by the drive source. Machine, position information calculating means for calculating the current position based on a signal from the receiver, running road storing means for preliminarily storing a dangerous place together with position information, the position information calculating means and the running road storing means. And a control circuit for activating and stopping the braking means when the current position during traveling coincides with the position of the dangerous place. 4. A receiver that includes a traveling drive unit that drives a drive source and a steering drive unit that steers the steered wheels, receives a position information from an artificial satellite, and a signal based on the signal from the receiver. Position information calculating means for calculating the present position, a traveling road storage means for storing a preset traveling road and a dangerous place together with position information, the position information calculating means and the traveling road storage means, and A control circuit for controlling the traveling drive means and the steering drive means so that the vehicle travels on the set traveling path, the position information calculating means and the traveling path storing means, and displays the current position and the dangerous place during traveling. A vehicle provided with a display unit that operates. 5. A receiver for driving a driving source and a steering driver for steering steered wheels, the receiver receiving position information from an artificial satellite, and a signal from the receiver. Position information calculating means for calculating the present position, a traveling road storage means for storing a preset traveling road and a dangerous place together with position information, the position information calculating means and the traveling road storage means, and A control circuit for controlling the traveling drive means and the steering drive means so that the vehicle travels on the set traveling path, the position information calculating means and the traveling path storage means make the current position during traveling the position of the dangerous point. A vehicle provided with notifying means for notifying when they match. 6. A receiver for receiving position information from an artificial satellite, comprising: a traveling drive means for driving a drive source; a steering drive means for steering steered wheels; and a braking means for braking traveling by the drive source. Machine, position information calculation means for calculating a current position based on a signal from the receiver, running road storage means for storing a preset running road and a dangerous place together with position information, and the position information calculation means. The traveling drive means and the steering drive means are controlled so as to travel on a preset traveling path by collating with the traveling path storage means, and the running information is stored by the position information calculating means and the traveling path storage means. A vehicle provided with a control circuit for activating and stopping the braking means when the current position coincides with the position of the dangerous place. 7. The braking means for braking traveling by the drive source is provided, and the control circuit operates and stops the braking means when the vehicle derails from the traveling path. The vehicle according to item 5. 8. The vehicle according to claim 6, wherein the control circuit operates and stops the braking means when the vehicle derails from the traveling road. 9. A traveling direction detecting means for detecting a traveling direction and a steering detecting means for detecting a steering direction are provided, and the control circuit is configured to perform the traveling when the receiver does not receive a position signal from an artificial satellite. 7. The vehicle according to claim 1, wherein the direction detection means and the steering detection means generate a position signal after the position signal is no longer received, and the generated position signal is used as a current position for traveling. 10. The vehicle according to claim 1, wherein the dangerous place includes an entry prohibited area where entry is prohibited and a confirmation required area where entry is possible according to a user's judgment. 11. The control circuit, when the current position during traveling approaches the prohibited area, operates the braking means to stop, and does not accept the restart operation until the control circuit is reset. The vehicle according to claim 10, wherein the vehicle is a vehicle. 12. The control circuit operates the braking means to stop when the current position during traveling coincides with the position of the confirmation required area, and restarts when a start signal is input to the control circuit. The vehicle according to claim 10, wherein: 13. The vehicle according to claim 12, further comprising a start switch for instructing a start operation, and the start signal is input by the start switch. 14. The vehicle according to claim 12, further comprising a confirmation means for prohibiting the operation of the braking means that operates when the position coincides with the position of the confirmation required area.