JP2011078828A - Electric-powered vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an electric-powered golf cart which has a motor as a drive source to travel quietly and makes others known of its presence according to its travelling situation for better safety. <P>SOLUTION: The vehicle includes: the motor to drive wheels powered by a battery; a drive control circuit for controlling the motor drive; a brake unit for providing braking force to the drive wheels; a brake control circuit for operating the brake unit; an obstacle sensor for outputting a signal to operate the brake unit when detecting any obstacle ahead; and an annunciation means for notification based on the detection by the obstacle sensor. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

The present invention relates to an electric vehicle that travels using a motor as a drive source.

 Conventionally, in such an electric vehicle, for example, a golf cart, as shown in Japanese Patent Application Laid-Open No. 2000-51419, the motor is used as a drive source and the vehicle is steered by an automatic travel mode in which the vehicle travels along a buried guide line and a user's operation. The golf cart starts and stops running by operating a start stop switch and a remote control switch provided on the operation panel.

 Further, as disclosed in Japanese Patent Laid-Open No. 9-164943, the engine is started by operating the start / stop switch and the remote control switch provided on the operation panel, using the engine as a drive source, to start or stop running the golf cart. There are also things.

 In the case of a golf cart that uses the engine described above as a drive source, the engine starts before starting running, and the engine stops when it stops, so the person near the golf cart predicts the movement of the golf cart with that sound. it can.

However, in an electric vehicle that uses a motor as a drive source, the running noise during running is quiet, so the surrounding people cannot predict the movement of the electric vehicle and may collide with the person when starting. In addition, in the case of starting and stopping by operating the remote control switch, because of remote control, a person in the vicinity of the golf cart cannot predict the operation of the golf cart and has a high risk of collision. Furthermore, if you stop suddenly when walking about the back of the electric car, it may stop suddenly regardless of the will of the person behind you, and at this time there is a risk that the person may collide with the electric car, Very dangerous.
JP 2000-51419 A Japanese Patent Laid-Open No. 9-164943

 SUMMARY OF THE INVENTION An object of the present invention is to provide an electric vehicle that uses a drive source as a motor to quiet the running sound and informs the presence of a golf cart according to the running state, thereby improving safety. .

  According to the configuration of the first aspect of the present invention, the motor includes a motor that drives a driving wheel using a battery as a power source, and a drive control circuit that controls the driving of the motor, and a magnetic force signal generated by a combination of a plurality of magnets embedded in the road surface. An input means for inputting and a notifying means for notifying based on a signal from the input means are provided.

  According to a second aspect of the present invention, the magnet includes a start signal for instructing start of notification by the notification means and an end signal for instructing end of notification by the notification means.

  With the above configuration, a battery is used as a power source to drive a motor under the control of a drive control circuit, and when a specific magnetic force signal is input to the input means by a combination of a plurality of magnets embedded in the road surface in the travel path Travel while informing the means. Further, when a specific magnetic force signal for instructing the notification means to end notification is input to the input means, the notification ends. As a result, even if the running sound is driven by a quiet motor, it is possible to notify a person in the vicinity of the approach of the electric vehicle by notifying by an informing means in a place where danger is likely to occur.

  According to the configuration of the third aspect of the present invention, a motor that drives the driving wheels using a battery as a power source, a drive control circuit that controls driving of the motors, a braking device that applies braking force to the driving wheels, and the braking A braking control circuit for operating the device and a receiver for receiving a transmission signal transmitted from a forward electric vehicle are provided, and the braking device is activated when a reception signal received by the receiver detects a predetermined value or more. It has a follow-up mode in which it runs and stops following the electric vehicle ahead when it becomes less than a predetermined value. When running in the follow-up mode, a notification is made based on the received signal received by the receiver. An informing means is provided.

  According to the configuration of claim 4 of the present invention, the notification means notifies when the receiver detects a reception signal of a predetermined value or more.

  According to the structure of Claim 5 of this invention, the said alerting | reporting means alert | reports, when the said receiver detects the received signal below a predetermined value, It is characterized by the above-mentioned.

  Moreover, according to the structure of Claim 3 thru | or 5, when an electric vehicle drive | works, if it sets to a follow-up mode, a transmitter will receive the transmission signal from a front electric vehicle, and a front electric vehicle and When the received signal exceeds a predetermined distance, that is, a predetermined value, the electric vehicle is stopped by the braking device. When the distance from the front electric vehicle becomes a predetermined distance or more, the vehicle follows the front electric vehicle and travels. By repeating this, if this mode is selected, the vehicle will follow the vehicle without pressing the start / stop switch while keeping the distance from the front electric vehicle constant. In this way, when the follow-up mode is selected, the notifying means notifies when the electric vehicle starts and stops, and can notify the surroundings along with the operation of the electric vehicle.

  According to the configuration of the sixth aspect of the present invention, a motor for driving the drive wheels using a battery as a power source, a drive control circuit for controlling the drive of the motor, a braking device for applying a braking force to the drive wheels, and the braking A brake control circuit for operating the device, and a remote control means for remotely starting and stopping the drive control circuit and the brake control circuit, and a notification means for notifying based on an operation by the remote control means It is provided.

  According to the structure of Claim 7 of this invention, the said alerting | reporting means alert | reports when the said drive control circuit starts operation | movement by the said remote control means.

  According to the structure of Claim 8 of this invention, the said alerting | reporting means alert | reports when the said braking control circuit starts operation | movement by the said remote control means.

  According to the configurations of claims 6 to 8 of the present invention, when the electric vehicle is started and stopped, the operation is performed by the user's remote control means. Based on this remote operation signal, the notification means simultaneously informs at the time of start and stop by a signal by the remote means, so that the person around the electric vehicle can be notified along with the operation of the electric vehicle. it can.

  According to the configuration of claim 9 of the present invention, a motor for driving the drive wheels using a battery as a power source, a drive control circuit for controlling the drive of the motor, a braking device for applying a braking force to the drive wheels, and the braking A brake control circuit for operating the device; and an obstacle sensor for outputting a signal to operate the brake device when a front obstacle is detected, and provided with notification means for notifying based on detection of the obstacle sensor It is characterized by that.

  According to the structure of Claim 10 of this invention, the said alerting | reporting means alert | reports when the said obstacle sensor detects an obstacle.

  According to the structure of Claim 11 of this invention, the said alerting | reporting means alert | reports when the obstacle is no longer detected after the said obstacle sensor detects an obstacle.

  According to the structure of Claim 12 of this invention, the said obstacle sensor consists of a transmitter which transmits an ultrasonic wave, and a receiver with which the ultrasonic wave transmitted from this transmitter receives the reflected wave from an obstacle. The presence of an obstacle is detected when a signal received by the receiver is equal to or greater than a predetermined value.

  According to the ninth to twelfth aspects of the present invention, when the electric vehicle travels, if the obstacle sensor is operated, the obstacle is detected forward, and the distance from the obstacle is a predetermined distance. That is, when the received signal exceeds a predetermined value, the electric vehicle is stopped by the braking device. Then, when the distance to the obstacle becomes a predetermined value or more, the vehicle starts to travel again. Thus, when the obstacle sensor is operating, the notification means notifies when the electric vehicle starts and stops, and can notify the surroundings along with the operation of the electric vehicle.

  According to the configuration of the thirteenth aspect of the present invention, a motor for driving the drive wheels using a battery as a power source, a drive control circuit for controlling the drive of the motor, a braking device for applying a braking force to the drive wheels, and the braking A braking control circuit for operating the device, an obstacle sensor for outputting a signal to operate the braking device when an obstacle ahead is detected, and an input means for inputting a magnetic force signal by a combination of a plurality of magnets embedded in the road surface And a notification means for notifying based on the signal of the input means and detection of the obstacle sensor, wherein the notification means provides a start signal for instructing the start of notification of the notification means by the magnetic force signal of the magnet. It is input and it notifies, when the said obstacle sensor detects an obstacle.

  With the configuration of the thirteenth aspect, a battery is used as a power source to drive the motor under the control of the drive control circuit, and a specific magnetic force signal is input to the input means by a combination of a plurality of magnets embedded in the road surface in the travel path. When the signal from the obstacle sensor becomes a predetermined value or less, the notification means is notified and the operation is stopped. Further, when a specific magnetic force signal for instructing the notification means to end notification is input to the input means, the notification ends. Furthermore, even if a magnetic force signal for starting notification is input, the notification means does not notify when the obstacle sensor does not detect the obstacle. Therefore, by notifying only when an obstacle is detected in a specific area, even if the traveling sound is driven by a quiet motor, only when there is a possibility that danger may occur in a specific place, By notifying, the approach of the electric vehicle can be informed.

According to the structure of Claim 14 of this invention, the said alerting | reporting means changes the content of alerting | reporting with the content of a signal, It is characterized by the above-mentioned.

  With the configuration described above, people in the vicinity can start and stop, as well as the type of start and stop, so the user can know the approach of the electric vehicle and listen to the notification content. Thus, the operating state of the electric vehicle can be determined.

  According to the structure of Claim 15 of this invention, the said alerting | reporting means operate | moves at the time of automatic driving | running | working along the guide line provided in the road surface to drive | work.

  With the above-described configuration, since the vehicle is not driven by a human operation and the vehicle travels on a guide line that cannot be seen further, the notification means notifies the vehicle. Since notification is performed in an unpredictable automatic running state, safety is improved.

  According to a sixteenth aspect of the present invention, the drive control circuit reduces the traveling speed when the notification means notifies.

  With the configuration described above, the traveling speed is reduced when reporting in a dangerous state, so that safety is further improved.

  According to the structure of Claim 17 of this invention, the selection means which selects whether to alert | report the said alerting | reporting means was provided.

 With the configuration described above, when it is troublesome to notify, it can be set not to notify the notification means, so that the usability is improved.

  According to the configuration of the first aspect of the present invention, the motor includes a motor that drives a driving wheel using a battery as a power source, and a drive control circuit that controls the driving of the motor, and a magnetic force signal generated by a combination of a plurality of magnets embedded in the road surface. An input means for inputting and an informing means for informing based on a signal of the input means are provided, and according to the configuration of claim 2 of the present invention, the magnet has a start signal for instructing the start of the informing of the informing means, And an end signal for instructing the end of notification by the notification means.

  With the configuration described above, in an electric vehicle that is driven by a motor with a quiet running sound, in a specific place where a predetermined danger is likely to occur, a notification means notifies the person in the vicinity of the electric vehicle. And the effect of improving safety can be achieved.

  According to the configuration of the third aspect of the present invention, a motor that drives the driving wheels using a battery as a power source, a drive control circuit that controls driving of the motors, a braking device that applies braking force to the driving wheels, and the braking A braking control circuit for operating the device and a receiver for receiving a transmission signal transmitted from a forward electric vehicle are provided, and the braking device is activated when a reception signal received by the receiver detects a predetermined value or more. It has a follow-up mode in which it runs and stops following the electric vehicle ahead when it becomes less than a predetermined value. When running in the follow-up mode, a notification is made based on the received signal received by the receiver. According to the configuration of claim 4 of the present invention, the notification unit notifies when the receiver detects a received signal of a predetermined value or more, and according to the configuration of claim 5 of the present invention. The notification means is provided with the receiver. Characterized by notifying when it detects the following received signal values.

  According to the above configuration, when the electric vehicle travels, if the follow mode is set, the transmitter receives a transmission signal from the front electric vehicle, and the predetermined distance from the front electric vehicle, that is, a predetermined value. When the received signal becomes the above, the braking device stops the electric vehicle and notifies it by the notification means. When the distance from the front electric vehicle exceeds a predetermined value, the vehicle follows the front electric vehicle and starts running. Notify the notification means. In this way, when the follow-up mode is selected, the notification means notifies when the electric vehicle starts and stops, so the operation of the electric vehicle can be notified to the surroundings, improving safety. There is an effect such as.

  According to the configuration of the sixth aspect of the present invention, a motor for driving the drive wheels using a battery as a power source, a drive control circuit for controlling the drive of the motor, a braking device for applying a braking force to the drive wheels, and the braking A brake control circuit for operating the device, and a remote control means for remotely starting and stopping the drive control circuit and the brake control circuit, and a notification means for notifying based on an operation by the remote control means According to the configuration of claim 7, the notification means notifies when the drive control circuit starts operation by the remote operation means, and according to the configuration of claim 8, the notification means The means is notified when the braking control circuit starts to operate.

  According to the above configuration, when starting and stopping by a remote control means that is not around the electric vehicle, since the person around the electric vehicle does not know the movement of the electric vehicle, the notification means notifies at the same time as starting and stopping. By doing this, it is possible to notify a person around the electric vehicle that the electric vehicle is operating, and there is an effect that safety is improved.

  According to the configuration of claim 9 of the present invention, a motor for driving the drive wheels using a battery as a power source, a drive control circuit for controlling the drive of the motor, a braking device for applying a braking force to the drive wheels, and the braking A brake control circuit for operating the device; and an obstacle sensor for outputting a signal to operate the brake device when a front obstacle is detected, and provided with notification means for notifying based on detection of the obstacle sensor According to the configuration of claim 10, the notification means notifies when the obstacle sensor detects an obstacle, and according to the configuration of claim 11, the notification means indicates that the obstacle sensor detects an obstacle. Notify when no obstacles are detected after detection. According to the configuration of claim 12, the obstacle sensor includes a transmitter that transmits an ultrasonic wave, and a receiver that receives a reflected wave from the obstacle by an ultrasonic wave transmitted from the transmitter. The presence of an obstacle is detected when a signal received by the receiver is equal to or greater than a predetermined value.

  According to the configuration described above, when an obstacle is detected ahead and the distance between the obstacle and the obstacle becomes a predetermined distance, that is, a reception signal equal to or greater than a predetermined value, the braking device stops the electric vehicle and notifies the notification means. When the distance to the obstacle becomes a predetermined value or more, the vehicle starts to travel again and the notification means is notified, so that when the electric vehicle moves, the surroundings can be notified and safety can be improved. There are effects such as being able to.

  According to the configuration of the thirteenth aspect of the present invention, a motor for driving the drive wheels using a battery as a power source, a drive control circuit for controlling the drive of the motor, a braking device for applying a braking force to the drive wheels, and the braking A braking control circuit for operating the device, an obstacle sensor for outputting a signal to operate the braking device when an obstacle ahead is detected, and an input means for inputting a magnetic force signal by a combination of a plurality of magnets embedded in the road surface And a notification means for notifying based on the signal of the input means and detection of the obstacle sensor, wherein the notification means provides a start signal for instructing the start of notification of the notification means by the magnetic force signal of the magnet. It is input and it notifies, when the said obstacle sensor detects an obstacle.

  With the configuration of the thirteenth aspect described above, even when an obstacle is detected in a specific area, there is a possibility that danger may occur in a specific place even if the running sound is driven by a quiet motor. Only when there is a notification by the notification means, it is possible to notify the approach of the electric vehicle, and there is an effect of improving safety.

  According to the structure of Claim 14 of this invention, the said alerting | reporting means changes the content of alerting | reporting with the content of a signal, It is characterized by the above-mentioned.

  With the above-described configuration, the surrounding people can start and stop, and can also determine the type of stop, so that the user can know the approach of the electric vehicle and notify the situation of the electric vehicle. It can be judged by listening, and it has the effects of improving safety and improving usability.

  According to the structure of Claim 15 of this invention, the said alerting | reporting means operate | moves at the time of automatic driving | running | working along the guide line provided in the road surface to drive | work.

  With the above-described configuration, when the vehicle travels on a guide line that cannot be seen by a human operation and cannot be seen further, the notification means notifies the user. Thus, stop, start, and destination are expected. Since the notification is performed in a difficult traveling state, there is an effect that safety is improved.

  According to a sixteenth aspect of the present invention, the drive control circuit reduces the traveling speed when the notification means notifies.

  With the above-described configuration, the traveling speed is reduced when reporting in a dangerous state, and thus there is an effect that safety is further improved.

  According to the structure of Claim 17 of this invention, the selection means which selects whether to alert | report the said alerting | reporting means was provided.

 With the configuration described above, when it is troublesome to be notified, it can be set not to notify the notification means, so that there are effects such as improved usability.

It is a control block diagram which shows embodiment of this invention. It is a whole perspective view of the golf cart main body. It is a figure which shows the alerting | reporting content of the alerting | reporting means. It is a figure of a part of golf course which shows the alerting | reporting area of the alerting | reporting means. It is the figure seen from the upper surface when the golf cart drive | works on a guide wire. It is a figure which shows the positional relationship of the same magnet sensor and a magnet. It is a flowchart which shows control of the alerting | reporting means. It is a flowchart which shows control of the alerting | reporting means. It is a flowchart which shows control of the alerting | reporting means which shows the 2nd Embodiment of this invention.

  An embodiment of the electric vehicle of the present invention will be described with reference to the drawings, taking an electric golf cart as an example.

  First, a block diagram of a control circuit in a golf cart is shown in FIG. 1, an overall perspective view of a golf cart body is shown in FIG. 2, and the overall configuration will be described based on the drawings.

  1 includes a manual mode in which a user can get on and drive and travel, and an automatic mode in which the user can travel along a guide line 49 embedded in a road surface, which will be described later, and is equipped with a golf bag The golf cart main body 1 travels with the travel motor 17 as a drive source.

  Reference numeral 2 denotes a base provided on a main frame (not shown) and provided in the front-rear direction of the main body 1. The base 2 has a seat 3 for a user to ride on and a steering base. A front wheel 4 serving as a steering wheel and a rear wheel 5 serving as a driving wheel are provided.

  A handle 6 is provided at a position where a user can operate while sitting on the seat 3 when the manual mode is selected, and the front wheel 4 is steered by the operation.

  Reference numeral 7 denotes a loading platform for mounting a golf bag provided at the rear portion of the golf cart main body 1 so that the oblique rear side extends upward.

  Reference numeral 8 denotes a resin front cowl that covers a connecting portion between the handle 6 and the front wheel 4. The front cowl 8 is provided with a lid portion 9 at the center, and when the lid portion 9 is opened, a golf ball, a glove, etc. It is an accessory case for putting.

  Reference numeral 10 denotes a transparent resin front shield provided at the front of the main body 1 and at the top of the front cowl 8. A resin roof 11 covering the upper portion of the seat 3 extends from the top of the front shield 10 to the rear. Is provided. The rear portion of the roof 11 is supported by two support columns 12 provided upward from the vicinity of the loading platform 7.

  Next, a block diagram of the control circuit will be described.

  Reference numeral 13 denotes a control circuit for controlling the running of the golf cart main body 1. The control circuit 13 includes a main CPU 14, which is a microcomputer, an induction sensor processing CPU 15, and a magnet sensor processing CPU 16. The main CPU 14 is for running. Signals are generated and output to perform control, steering control, braking control, and the like. The induction sensor processing CPU 15 is a microcomputer for processing signals from an induction sensor 33 described later, and the magnet sensor processing CPU 16 is a microcomputer for processing signals from a magnet sensor 32 described later. The main CPU 14 is connected to the induction sensor processing CPU 15 and the magnet sensor processing CPU 16 by serial communication. In this way, the control circuit 13 is composed of a plurality of microcomputers, so that the processing speed of the operation is increased, and even in the case of partial damage, only the damaged microcomputer is replaced. Good and has the effect of making repairs easier.

  Reference numeral 17 denotes a travel motor serving as a drive source for rotationally driving the rear wheel 5. The travel motor 17 is PWM-controlled via a motor controller 19 based on a signal from the main CPU 14 using a travel battery 18 as a power source. Drive by. The traveling battery 18 is provided with a charger 20 for charging, and can be appropriately charged when one round is completed by the charger 20. Reference numeral 21 denotes a control battery for supplying power to the control circuit 13, and the control battery 21 can be charged simultaneously by the charger 20.

  Reference numeral 22 denotes an automatic / manual detection means provided on the front surface of the seat 3 for detecting a change of the running mode by switching of the user's switch or the like. The automatic / manual detecting means 22 is a running mode selected by the user. Is input to the main CPU 14.

  Reference numeral 23 denotes a brake motor for adjusting a braking force of a disc brake (not shown) which is operated by a hydraulic force provided on the front wheel 4 and the rear wheel 5, and the brake motor 23 is supplied from the main CPU 14. PWM control is performed by the signal.

  Reference numeral 24 denotes a parking brake including an electromagnetic brake for stopping the main body 1. The parking brake 24 is released from a braking force when energized, and is applied by a spring force when not energized. When the power is not supplied, a braking force is applied in the middle of the drive system in the vicinity of the traveling motor 17 so that the rear wheel 5 is fixed.

  The above-described disc brake and parking brake are referred to as a braking device.

  A steering motor 25 is connected to the main CPU 14 and operates based on a control signal from the main CPU 14. The steering motor 25 steers the front wheels 4 with a driving force of only the steering motor 25 when the automatic mode is selected. When the manual mode is selected, in addition to the human force for operating the handle 6, the force of the steering motor 25 operates in an auxiliary manner.

  A handle motor 26 is provided in the middle of the handle 6 axis and electrically connects and disconnects the handle 6 and the front wheel 4 when the automatic mode is selected and when the manual mode is selected. When switched, the handle 6 is fixed so that it cannot be operated. When switched to the manual mode, the front wheel 4 is electrically operated so as to be steered as the handle 6 is operated.

  A brake switch 27 is configured to output a signal when a user operates a brake pedal (not shown). When a signal from the brake switch 27 is output when the automatic mode is selected, the main CPU 14 causes the brake motor 23 to be output. A signal is output so that the parking brake 24 operates, and the parking brake 24 operates after a predetermined time.

  Reference numeral 28 denotes a brake home switch for detecting the initial operation of the operation amount of the brake motor 27. When this switch 28 is turned on, it is detected that the disc brake is not in operation.

  29 is a brake limit switch for detecting the end of the operation amount of the brake motor 27. When the brake limit switch 29 is operating, it is detected that the braking amount of the disc brake is operating fully. To do.

  Reference numeral 30 denotes brake oil detection means for detecting whether or not the brake hydraulic pressure is appropriate.

  Reference numeral 31 denotes an inclination sensor provided in the golf cart body 1 for detecting the inclination angle of the golf cart body 1, and the inclination sensor 31 converts the detected inclination angle into a voltage value and inputs it to the main CPU 14. And based on this value, control at the time of start and stop is performed.

  32 is an input means for detecting the magnetic field of the magnet 48 embedded in the vicinity of the guide wire 49, that is, a magnet sensor. The magnet sensor 32 detects whether the magnetic pole of the magnet 48 is an S pole or an N pole, These magnetic pole signals are converted into pulses and input to the magnet sensor processing CPU 16. The embedded magnet 48 generates a signal for instructing a speed at the time of automatic traveling and a signal for starting and stopping notification by an informing means 45 described later by a signal formed by the N pole, the S pole, and the number thereof. Is done. The magnetic force signal of the magnet 48 is, for example, a stop signal when the S pole and the S pole are arranged at intervals of 60 centimeters, and by a plurality of combinations such as traveling at 3 km / h when the N pole and the S pole are arranged at intervals of 120 centimeters. It constitutes an instruction signal.

  These magnet sensors 32 are provided on the bottom surface of the golf cart main body 1 and input a magnetic force signal of a magnet 48 embedded in the vicinity of the guide wire 49 on the road surface.

  Reference numeral 33 denotes a pair of induction sensors that are provided in the golf cart body 1 and rotate to the left and right along with the steering of the front wheel 4 to be steered. The induction sensors 33 detect a magnetic field from the induction line 49 and guide each other. The front wheels 4 are steered so that the detection levels of the sensors 33 are the same. Accordingly, when the front wheel 4 is steered, the guidance sensor 33 is also rotated to the left and right, so that the guidance wire 49 is steered so as to be positioned at the center of the pair of guidance sensors 33.

  34 is a cart guard comprising a receiver provided at the front part of the golf cart body 1 and a transmitter provided at the rear part. The cart guard 34 is provided from the transmitter of the golf cart body 1 at the front. The electromagnetic wave is received, and control is performed so that the parking brake 24 as a braking device operates when the received signal value is equal to or greater than a predetermined value, that is, a predetermined distance.

  35 is composed of a transmitter for transmitting an ultrasonic wave and a receiver for receiving an ultrasonic wave reflected by an obstacle, and is an obstacle sensor that detects an obstacle based on the value of reflection of the ultrasonic wave, ie, an ultrasonic wave. The ultrasonic sensor 35 is also a sensor, and the parking brake 24 as a braking device operates when the distance from the obstacle becomes a predetermined distance.

  Reference numeral 36 denotes an encoder that detects the rotational speed of the rear wheel 5, and a signal detected by the encoder 36 is input to the main CPU 14. In addition to the encoder 36, a sub-encoder 37 for detecting the rotational speed of the rear wheel 5 is also provided. A signal from the sub-encoder 37 is also input to the main CPU 14, and the encoder 36 is operated normally based on this signal. It is provided for determining whether the encoder 36 is operating or for use as a main encoder when the encoder 36 becomes abnormal.

  A torque sensor 38 is provided on the handle 6 shaft and detects an operation torque generated by operating the handle 6. The torque sensor 38 is connected to the main CPU 14, and the operation torque is inputted as an electric signal. Accordingly, the steering motor 25 is operated.

  Reference numeral 39 denotes a bumper switch that is attached to a bumper 40 provided at the front portion of the golf cart body 1 and operates when an obstacle or the like abuts against the bumper 40. When a signal from the bumper switch 39 is inputted, A signal is input to the CPU 14.

  An accelerator switch 41 is provided in the vicinity of the accelerator and outputs a signal to the main CPU 14 when a user's accelerator operation is performed. The accelerator switch 41 starts by a signal input from the accelerator switch 41 when the automatic travel mode is selected. It is supposed to be.

  Reference numeral 42 denotes a forward / reverse switch provided at a position operable by the user and instructing the traveling direction by the user. The forward / backward switch 42 is connected to the main CPU 14 and is switched between forward and reverse. The traveling motor 17 is driven so as to travel in the direction instructed by the input of the signal.

  43 is a start / stop switch for instructing start / stop of the golf cart body 1 when the automatic mode is selected. The start / stop switch 43 is operated. A signal is sometimes input to the main CPU 14, and based on this signal input, the travel motor starts and stops driving.

  Reference numeral 44 denotes a remote control receiver for receiving a signal from a remote controller for remotely controlling the start and stop of the golf cart main body 1. The remote control receiver 44 is also connected to the main CPU 14, and travel control is performed by the received signal. It is like that. The remote control is provided with one operation button, and a signal is output when the operation button is pressed. When the signal is input while the golf cart body 1 is running, the operation is stopped. Control is performed, and the start is controlled when a signal is input during stoppage.

  Reference numeral 45 denotes a display unit provided at a position that is in front when the user gets on the seat 3. The display unit 45 displays a battery remaining amount, a display of a selected travel mode, and the like. It is like that.

  46, when a signal to start notification from the magnet sensor 32 is input, or at the start / stop in the follow-up mode, at the start / stop by remote operation, at the start / stop of the obstacle sensor, The notification means 46 is a notification means comprising a speaker for notification, and the notification means 46 is operated by a signal from the main CPU 14.

  Reference numeral 47 denotes a selection unit that is provided on the golf cart main body 1 and includes a switch that can turn on and off the notification of the notification unit 46. The selection means 47 can be turned on and off according to the user's preference.

  Next, the operation in the above-described configuration will be described.

  When the selection of the manual mode is detected by the automatic manual detection means 22 and the vehicle starts to travel, when the accelerator is operated, the traveling motor 17 is driven with a driving force corresponding to the operation amount of the accelerator. As a result, the rear wheel 5 rotates and starts running. Simultaneously with the start of traveling, the parking brake 24 is released.

  When stopping, the brake motor 23 operates with a braking amount corresponding to the brake operation amount, and the parking brake 24 operates when the encoder 36 detects that the vehicle speed is zero.

  For steering during traveling, the front wheel 4 is steered in accordance with the operation of the handle 6, and at the same time, the operation torque of the handle 6 is detected by the torque sensor 38. In response to this torque, the steering motor 25 is driven, and a driving force is applied so as to assist the operating force of the handle 6.

  Next, the case where the automatic mode is selected will be described.

  When the start / stop switch 43 is pressed during the stop, the parking brake 24 is released and the traveling motor 17 starts driving. The traveling speed at this time is performed based on a speed instruction signal from a magnet embedded in the road surface. Then, the vehicle travels by being steered along a guide line 49 embedded in the road surface by an operation of a guide sensor 33 described later. When the start / stop switch 43 is pressed during traveling, the golf cart body 1 stops by performing regenerative braking, the operation of the brake motor 23, and the operation of the parking brake 24.

  Next, the notification contents of the notification means 46 will be described with reference to FIG.

  As shown in FIG. 3, the notification means 46 starts and stops notification according to four input conditions.

  First, when passing over the magnet 48 instructed to notify the notification means 46 by the magnet 48 embedded in the road surface, a signal to notify the notification means 46 is input from the magnet sensor 32, and the notification means 46 is input by this input. Notification is started. The content of the notification at this time continues the notification by playing music. When a signal indicating that the magnetic force signal from the magnet 48 stops notification is input, the music is stopped. That is, if music is played when an area surrounded by a broken line in FIG. 4, for example, a clubhouse or a master room or the like where the player comes and goes, The approach of the main body 1 can be understood, and safety is improved. In FIG. 4, 50 shows the 1st hole and 51 shows the 9th hole of the last hole. Reference numeral 52 denotes a master room serving as a starting point for running the golf cart body 1 at the start and end of play.

  Next, regarding the notification of the notification means 46 when the follow-up mode of traveling by the cart guard 34 is selected, the signal value of the receiver of the cart guard 34 is not more than a predetermined value, that is, the golf cart main body 1 is in front of the golf cart. When the vehicle starts to follow, the driving motor 17 is driven, and at the same time, “beep” is notified. When the signal of the receiver of the cart guard 34 is equal to or higher than a predetermined value, that is, when the golf cart body 1 approaches a predetermined distance from the front golf cart, the braking device such as the disc brake or the parking brake 24 is operated. The notification means 46 notifies the user of a “beep”. In this way, by making the contents of the notification different at the time of start and stop, it is possible to notify the surrounding person that the golf cart body 1 has approached.

  In addition, when starting and stopping by a remote control means, that is, a remote controller, if a signal is input to the receiver of the remote controller 44, if the signal is a start instruction signal, “bubu” is notified and a stop instruction signal is sent. If there is, “Boo” is notified. As described above, when the start and stop operations of the golf cart main body 1 are remotely controlled, the notification means 46 is notified so that the operation status of the golf cart main body 1 can be notified to the surrounding people, which is safe. Can be improved.

  Furthermore, when starting and stopping are performed by the ultrasonic sensor 35, as in the case of starting and stopping in the follow-up mode described above, a notification that the vehicle stops when it is detected that an obstacle ahead is present within a predetermined range, for example, The siren keeps ringing for 1 second. Further, after detecting an obstacle, when the detection is lost, a notification that the golf cart body 1 starts, for example, a siren continues to sound for 2 seconds.

  As described above, when the golf cart body 1 is in a specific area, or when starting or stopping, the notification means notifies the golf cart so that the golf cart can be approached even in a golf cart with a quiet driving sound. You can let people know. In addition, by changing the notification contents depending on the cause of the stop, it is possible to predict how the golf cart body 1 will move with respect to the user, thereby improving safety. Furthermore, the safety at the time of a start with high danger can be improved by making the notification length at the time of start longer than at the time of a stop.

  Next, the notification contents for each factor shown in FIG. 3 described above will be described based on the flowcharts shown in FIGS.

  First, the operation of the notification routine by the magnet sensor 32 will be described with reference to FIG.

  It is determined whether or not a signal for notifying the notification means 46 is input from the magnet sensor 32 (S1). When the signal is input, music is started to be played as shown in FIG. 3 (S2). At the same time, for example, the normal running speed of 8 km / h is reduced to a predetermined speed of 3 km / h and the running is continued (S3). In this manner, the vehicle travels at a speed of 3 km / h while playing music, and this traveling state is continued until a notification end signal is input to the magnet sensor 32 (S4). When the notification end signal is input to the magnet sensor 32, the notification is terminated (S5), the speed is returned to the first designated speed of 8 km / h, and the traveling is continued (S6). Further, when the notification start signal from the magnet sensor 32 in S1 is not input, the above-described operation is not performed, and normal traveling is continued without notification.

  Next, notification at the time of start and stop by the cart guard 34, the remote controller 44, and the ultrasonic sensor will be described based on the flowchart of FIG.

  First, the notification by the cart guard 34 will be described. When the signal level of the receiver of the cart guard 34 is not more than a predetermined value during traveling in the follow-up mode, that is, if it is detected that the front golf cart is more than the predetermined distance away, the notification (S1), the golf cart body 1 starts to start and notifies the notifying means 46 (S2). As for the notification at this time, as shown in FIG. Next, after performing this notification, the vehicle continues to travel, and when it is detected that the signal level of the receiver of the cart guard is equal to or greater than a predetermined value, that is, the distance from the front golf cart body 1 is equal to or smaller than a predetermined distance, The golf cart body 1 stops and notifies by the notification means 46 (S4). At this time, as shown in FIG.

  Next, the notification by the remote controller 44 will be described. Similar to the notification of the cart guard 34 described above, when a start signal is input by the remote controller 44, the start is started and the notification means 46 notifies "Boobu". When the stop signal is input from the remote controller 44, the stop is performed and the notification means 46 notifies "boo".

  Further, in the notification by the ultrasonic sensor 35 that is an obstacle sensor, similarly, when the signal value reflected from the obstacle is equal to or higher than a predetermined level, that is, when the distance from the obstacle approaches a predetermined distance, golf is performed. The cart body 1 is stopped from running and the siren is sounded by the notification means 46 for 1 second. Then, when it is detected that the obstacle has disappeared from the state in which the obstacle is detected based on the state in which the level of the reflected signal value is equal to or lower than the predetermined value, the running is started and the siren is sounded for 2 seconds.

  In this way, in the flowchart shown in FIG. 8, unlike the notification by the magnet sensor 32, the notification is not continued while the notification start and notification end signals are input, and different notifications are given at the time of start and stop. Controlled to do.

  Next, a second embodiment will be described based on FIG.

  The present embodiment is an embodiment in which the ultrasonic sensor 35 and the magnet sensor 32 of the above-described embodiment are combined. The configuration of the control circuit and the golf cart body is the same, and the description thereof is omitted.

  In this embodiment, notification is performed by the notification means 46 when an obstacle is detected by the ultrasonic sensor 35 in the area where notification is performed by the signal of the magnet sensor 32. First, notification by the magnet sensor 32 is performed. It is determined whether or not the vehicle has entered the area (S1), and if it is in the area to be notified, the ultrasonic sensor 35 detects whether or not an obstacle is present (S2). At this time, when neither is detected, the process is repeated until both the magnet sensor 32 and the ultrasonic sensor 35 are detected. In S1 and S2, when an obstacle is detected in the notification area, notification is started by the notification means 46 (S3), and a signal for canceling the notification, which is the notification area in this embodiment, is output. The notification is terminated (S5). If the magnet sensor 32 detects that the area to be notified has escaped even if the obstacle detection is continued (S6), the notification is terminated (S7). In this embodiment, the notification by the notification means 46 is continuously performed under a predetermined condition. However, as in the above-described embodiment, the notification is given once at the start of notification, and the notification is performed again based on the notification end signal. You may control to do.

  In the above-described embodiment, control is performed so that the notification is made at the time of start and stop, but the notification may be continued from the time of start to the time of stop.

18 battery
4 Steering wheel (front wheel)
17 Motor 13 Drive control circuit (control circuit)
48 Magnet 46 Notification means 13 Braking control circuit (control circuit)
24 Braking device (parking brake)
23 Braking device (brake motor)
34 Receiver (Cart Guard)
44 Remote control means (remote control)
35 Obstacle Sensor (Ultrasonic Sensor)
47 selection means

Claims (17)

An input means for inputting a magnetic force signal by a combination of a plurality of magnets embedded in a road surface, comprising: a motor for driving the drive wheels using a battery as a power source; and a drive control circuit for controlling the drive of the motor; and a signal from the input means An electric vehicle characterized by comprising an informing means for informing based on the above. 2. The electric vehicle according to claim 1, wherein the magnet includes a start signal for instructing start of notification by the notification means and an end signal for instructing end of notification by the notification means. A motor for driving the driving wheels using a battery as a power source; a driving control circuit for controlling driving of the motor; a braking device for applying braking force to the driving wheels; a braking control circuit for operating the braking device; A receiver for receiving a transmission signal transmitted from the electric vehicle, and when the reception signal received by the receiver detects a predetermined value or more, the brake device is operated to stop, and becomes a predetermined value or less. Provided with a follow-up mode for running following the electric vehicle ahead, and provided with a notification means for making a notification based on a received signal received by the receiver when running in the follow-up mode. Electric car. The electric vehicle according to claim 3, wherein the notification unit notifies when the receiver detects a reception signal equal to or greater than a predetermined value. The electric vehicle according to claim 3, wherein the notification means notifies when the receiver detects a reception signal equal to or less than a predetermined value. A motor for driving the driving wheels using a battery as a power source; a driving control circuit for controlling driving of the motor; a braking device for applying braking force to the driving wheels; a braking control circuit for operating the braking device; and the driving An electric vehicle comprising: a remote operation means capable of remotely starting and stopping a control circuit and a braking control circuit; and providing an informing means for informing based on an operation by the remote operation means. The electric vehicle according to claim 6, wherein the notification unit notifies when the drive control circuit starts to operate by the remote control unit. The electric vehicle according to claim 6, wherein the notification unit notifies when the braking control circuit starts to operate by the remote control unit. A motor for driving the driving wheels using a battery as a power source; a driving control circuit for controlling driving of the motor; a braking device for applying braking force to the driving wheels; a braking control circuit for operating the braking device; An electric vehicle comprising: an obstacle sensor that outputs a signal to operate the braking device when an obstacle is detected, and provided with an informing means for notifying based on detection of the obstacle sensor. The electric vehicle according to claim 9, wherein the notification unit notifies when the obstacle sensor detects an obstacle. The electric vehicle according to claim 9, wherein the notification unit notifies when the obstacle sensor stops detecting an obstacle after detecting the obstacle. The obstacle sensor includes a transmitter that transmits an ultrasonic wave and a receiver that receives a reflected wave from the obstacle by an ultrasonic wave transmitted from the transmitter, and a signal received by the receiver is a predetermined value. The electric vehicle according to claim 9, wherein the presence of an obstacle is detected when the above is true. A motor for driving the driving wheels using a battery as a power source; a driving control circuit for controlling driving of the motor; a braking device for applying braking force to the driving wheels; a braking control circuit for operating the braking device; An obstacle sensor that outputs a signal to operate the braking device when an obstacle is detected, and an input means that inputs a magnetic force signal by a combination of a plurality of magnets embedded in the road surface, the signal of the input means and the Informing means for informing based on the detection of the obstacle sensor is provided, the informing means inputs a start signal instructing the start of notification of the informing means by the magnetic force signal of the magnet, and the obstacle sensor is in an obstacle state. An electric vehicle characterized in that a notification is given when the vehicle is detected. The electric vehicle according to claim 1, claim 3, claim 6, claim 9, or claim 13, wherein the notification means varies the content of the notification depending on the content of the signal. 14. The electric vehicle according to claim 1, 3, 6, 9, or 13, wherein the notifying means operates during automatic traveling along a guide line provided on a traveling road surface. . The electric vehicle according to claim 1, wherein the drive control circuit reduces a traveling speed when the notification means notifies. The electric vehicle according to claim 1, 3, 6, 9, or 13, further comprising selection means for selecting whether or not to notify the notifying means.

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