JP3115129B2 - Guide route selection control device for electromagnetically guided vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an agricultural work in which one guiding cable is arranged for each guiding route, a plurality of the guiding routes are installed, and a guiding operation is performed along an arbitrary guiding route. The present invention relates to a control device for selecting a plurality of guidance routes for switching a guidance of a traveling vehicle such as an aircraft along the other guidance route.

[0002]

2. Description of the Related Art Conventionally, traveling vehicles such as an unmanned traveling vehicle for transporting cargo in a factory and an automatic traveling type sprayer (speed sprayer) in an orchard or the like have been used along a guidance route (work route). The difference between the output values (voltage values) of the pair of left and right magnetic sensors generated according to the magnitude of the lateral displacement of the traveling vehicle with respect to the guide cable buried (laid) in the ground, etc. Position) and the direction of the lateral shift (determination of right or left), and from these detection results, it is possible to perform steering control by changing the direction of the steered wheels so that the traveling vehicle travels along the guide cable. (See Japanese Patent Publication No. 36-21657).

[0003]

In this case, a plurality of guidance routes are provided, and the traveling vehicle is switched so that the traveling vehicle can be selectively shifted from one guidance route to another guidance route. While mounting a signal oscillating device such as a pair of left and right pulse signals, the guidance route is divided into a plurality of sections branching into various directions, and the start and end of the transition from one section to the other, A sensing coil for receiving (responsive to) a pulse signal from the signal oscillating device and a switch device such as a relay operated by the sensing coil are provided, and each switch device is responsive to the presence of a traveling vehicle at each of the transition portions. Control the vehicle so as to supply current to the induction cable in the area at the start end and to cut off the current to the induction cable in the area at the end end. Controller of the navigation route which is guided has been proposed.

In this configuration, the sensing coils provided at the start end and the end end do not receive the signal of the alternating magnetic field oscillated from the induction cable, that is, the signal mounted on the traveling vehicle so that the malfunction due to the signal interference does not occur. It has to be considered that the frequency of the pulse signal of the oscillating device is different from the frequency generated from the induction cable, and there is a disadvantage that the installation cost for mounting the signal oscillating device for each traveling vehicle is high.

In order to solve this drawback, an alternating current is supplied to an induction cable disposed along a guide path through which a traveling vehicle passes, but an alternating current is not supplied to an induction cable of an induction path which does not pass therethrough. It is also conceivable to control one power supply device, but at the time of switching the guidance route, the alternating current supplied to the guidance cable arranged along the guidance route is switched ON to one of the guidance cables, and the other is switched to the other. If the timing of switching off the induction cable is incorrect, the alternating magnetic field to be guided is temporarily interrupted at the branch point, and the strength of the alternating magnetic field generated in the induction cable on the side switched on is reduced. Due to the rising phenomenon, there is a time lag until the alternating magnetic field has a normal constant strength, and the traveling vehicle is guided in the wrong direction (guidance route). Have it.

[0006] Further, if the strength of the alternating magnetic field generated from the guide cables in all the guide paths is not constant, an accurate guiding action cannot be exhibited for each guide path.
It is necessary to perform current control so that the current value applied to the induction cable is constant. However, since the length of the guide cable to be laid differs depending on the length of the guide path, when switching from one guide path to the other guide path, the resistance value of the guide cable fluctuates sharply, and the above-mentioned constant value is obtained. Since there is a time lag until the current control is stabilized, there is a problem that the traveling vehicle may be guided in an incorrect direction (guidance route).

According to the present invention, an alternating magnetic field generated from an induction cable by a sensor mounted on the traveling vehicle while constantly applying an alternating current to both the induction cable of the guidance path through which the traveling vehicle passes and the guidance path not allowing the passage. It is an object of the present invention to provide a guidance route selection control device that enables a traveling vehicle to be smoothly guided to a predetermined selected guidance route by utilizing the fact that the frequency at which the vehicle can be sensed is limited. It is assumed that.

[0008]

SUMMARY OF THE INVENTION In order to achieve the technical object, the present invention arranges an individual guide cable along each of a plurality of guide paths, and separates the guide cables from the guide cables. In the control device for selecting a guidance route for an electromagnetic induction type traveling vehicle, comprising a control means for detecting an alternating magnetic field to be emitted by a sensor mounted on the traveling vehicle and performing steering substantially along the guidance cable; A power supply device for supplying an alternating current to the cable;
A circuit and a second circuit for supplying an alternating current having a frequency that cannot be detected by the sensor, wherein the first circuit is connected to an induction cable of an induction path through which the traveling vehicle should pass;
The second cable is used for the guidance cable of the guidance route through which the traveling vehicle does not pass.
It is configured to switch to connect circuits.

The power supply device includes a plurality of constant current circuits set according to the lengths of the respective induction cables, a true oscillation circuit that generates an alternating signal having a frequency that can be detected by the sensor, and a sensor. A dummy oscillation circuit that generates an alternating signal of a frequency that cannot be detected, and an induction cable that supplies an alternating current with an alternating signal from the genuine oscillation circuit to an induction cable of an induction path through which the traveling vehicle should pass, but does not allow the traveling vehicle to pass. A switching circuit for selectively switching the supply of the alternating current may be configured to supply the alternating current to the induction cable of the path by the alternating signal from the dummy oscillation circuit.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment in which the present invention is applied to a system for guiding an automatic traveling type chemical sprayer (speed sprayer) will be described. A driving operation unit 2 having a handle 3 is provided on the front side of the traveling vehicle 1 of the speed sprayer. The traveling vehicle 1 is provided with a chemical liquid tank 4 having a substantially L-shape in plan view and a spraying unit 5 at the rear. ing.

The spraying section 5 is provided with a large number of spray nozzles 6 facing radially outward at appropriate intervals on the outer peripheral surface of the traveling vehicle 1 excluding the lower surface, and a blower 7 for sending wind outward in the radial direction.
The spray nozzle 6 can be spray-controlled so that the spraying operation is performed every three sections or two sections on the left and right sides and the upper surface of the traveling vehicle 1. Reference numerals 8 and 8 indicate left and right front wheels,
Reference numerals 9 and 9 denote left and right rear wheels. These four wheels are so-called four-wheel drive types that can be driven by power transmitted from an engine 10 through a traveling speed change mechanism 11, respectively.
0 from the blower 7 through another power transmission mechanism 12.
And the power pump 13 for the spray nozzle 6
Drive.

The steering device 14 with the steering wheel 3 is a power steering mechanism 15 including a mechanical or hydraulic system as shown in FIG. 3, and the power steering mechanism 15 is a double-acting hydraulic cylinder 17 in a hydraulic circuit 16. When the hydraulic cylinder 17 is operated and the hydraulic cylinder 17 is extended, the rear wheels 9 and 9 are changed to the left through a W-shaped bell crank 18 in a plan view, and via a connecting rod 19 and a V-shaped bell crank 20 in a plan view. So that the front and rear wheels can be turned right and left to change the direction, such as changing the front wheels 8, 8 to the right (when the hydraulic cylinder 17 contracts, the front wheels are changed to the left and the rear wheels are changed to the right). It is a four-wheel steering type.

The hydraulic circuit 16 is shown in FIG.
An electromagnetic solenoid type control valve for the hydraulic cylinder 17 for automatic steering is shown. Reference numeral 29 is a control valve for controlling a hydraulic cylinder 30 for operating a traveling brake and a clutch. In this case, it is connected to a hydraulic pipe 31 branched from the upstream of the control valve 23 for manual steering.

At the time of manual steering, the hydraulic motor 21 which sends the oil discharge amount via a control valve 23 in proportion to the rotation angle of the handle 3 sends the oil to a double-acting hydraulic cylinder 17 attached to the steering mechanism 15. In the automatic steering control, hydraulic oil is sent from the hydraulic pump 22 to the hydraulic cylinder 17 via the electromagnetic solenoid type control valve 28. Reference numeral 25 denotes a steering angle sensor such as a potentiometer capable of detecting the steering angle of the front wheel 8. In this case, the average value of the direction angles of the left and right wheels may be obtained and detected. The front wheels and the rear wheels may be connected via separate hydraulic cylinder type power steering mechanisms so that the front wheels and the rear wheels may be individually controlled.

A pair of left and right front magnetic sensors 26a and 26b are provided at the front of the lower surface of the traveling vehicle 1 (see FIG. 3). Each of the magnetic sensors 26a and 26b may be a pickup coil in which a conductor is wound in a coil shape, or may be a Hall element, a Hall IC, a magnetoresistive element, or a magnetic transistor. The intensity of the alternating magnetic field generated in the induction cable 27 can be detected by the alternating current (alternating current) of an appropriate frequency given by the power supply device 60 (see FIGS. 6 and 7) for generating the alternating current. The power supply device 60 receives power from a battery (DC power supply) or an AC 100 V AC power supply (not shown).

FIG. 5 shows a block diagram of the steering control unit 32, and a central processing unit 33 such as a microcomputer.
Has a memory (RAM) 3 from which various data can be read and written.
4 and a read-only memory (ROM) 35 for storing a control program and the like. The central processing unit 33 includes the front magnetic sensors 26a, 26b.
A / D converters 36, 3
After converting to a digital signal in step 6
The central processing unit 33 calculates the amount of deviation of the lateral displacement of the center line of the traveling vehicle 1 with respect to the axis 7 and the lateral displacement direction of the vehicle body. That is, by subtracting the detection signals of the pair of magnetic sensors 26a and 26b, it is possible to determine the amount of deviation of the lateral displacement with respect to the guide cable 27 at the front part of the vehicle body and determine the direction (right or left) of the lateral displacement. .

Reference numeral 37 denotes a preliminary geomagnetic sensor for discriminating the revolving portion, reference numeral 40 denotes a level sensor of an electric resistance type or the like for detecting the level (water level) of the chemical in the chemical tank 4. Reference numeral 41 denotes a flow rate detection sensor for detecting the consumption amount of the chemical solution at the time of spraying.
3 to the input terminal of the interface. The following are connected to the output terminal of the interface in the central processing unit 33. That is, a driving circuit 43 of the power pump 13 that sends a chemical solution from the chemical solution tank 4 to the spray nozzle 6,
A drive circuit 45 for a control valve 44 provided in the middle of the chemical flow pipe to control and shut off the flow rate of the liquid, and an electromagnetic solenoid 28 for right steering of the control valve 28 for automatic steering.
R electric drive circuit 46 and left steering electromagnetic solenoid 28
L electric drive circuit 47 and a display lamp 48 illuminated when the chemical level in the chemical tank 4 is at a minimum.
And an actuator drive circuit 49 for operating a traveling brake of the traveling vehicle 1 and an actuator drive circuit 50 for operating a clutch for interrupting power transmission of the engine.

In this configuration, the central processing unit 33 calculates the lateral shift amount with respect to the guide cable 27 detected by the pair of left and right front magnetic sensors 26a and 26b provided on the traveling vehicle 1, and calculates the detected lateral shift amount and steering. Angle sensor 2
From the detected value of 5, a steering correction command amount signal for performing steering control so as to reduce the lateral shift amount is obtained, and a drive pulse signal is given to the electric drive circuits 46 and 47.

Next, a guidance route selection control device of the present invention will be described. In the embodiment shown in FIG. 6, there are two guide paths to be selected, and each of the guide cables 27a and 27b is selected.
Are laid in grooves formed along the first guide path 61 and the second guide path 62, which are work areas of the orchard, or buried underground. In this embodiment, one power supply 60 for supplying an alternating current to the two induction cables 27a and 27b is set according to the length of each of the induction cables 27a and 27b as shown in FIG. A first constant current circuit 64, a second constant current circuit 66, a true oscillation circuit 63 that generates an alternating signal having a frequency that can be detected by the magnetic sensors 26a and 26b mounted on the traveling vehicle 1,
A dummy oscillating circuit 65 for generating an alternating signal having a frequency that cannot be detected by the sensors 26a and 26b; and a switch for switching the supply of the alternating signal from the true oscillating circuit 63 and the dummy oscillating circuit 65 to the two constant current circuits 64 and 66. And a circuit 67.

The true oscillation circuit 63 generates an electric signal having a frequency (1.5 kHz) which can be detected by the magnetic sensors 26a and 26b. The first constant current circuit 64 corresponds to the length (total resistance value) of the induction cable 27a along the first induction path 61, and generates an alternating magnetic field of a predetermined strength over the entire line of the induction cable 27a. In this way, a predetermined value of current is applied to the induction cable 27a.

In the dummy oscillation circuit 65, a frequency (1.3 kHz) which cannot be detected by the magnetic sensors 26a and 26b.
(Hz) to generate an electrical signal. Second constant current circuit 6
6 is a guide cable 2 along the second guide path 62;
A predetermined value of current is applied to the induction cable 27b so as to correspond to the length (total resistance) of the induction cable 27b and generate an alternating magnetic field of a predetermined strength over the entire line of the induction cable 27b.

The two induction cables 27a, 27b
Is connected to the ground terminal 68, and the other end is connected to the respective constant current circuits 64 and 66. In this configuration, as shown in FIG. 6, when the traveling vehicle 1 travels in the direction of arrow X1 along the first guidance route 61, the true oscillation circuit 63 → the switching circuit 67 → the first constant current circuit 64
Is supplied to the induction cable 27a along the first induction path 61, and the dummy oscillation circuit 65 → the switching circuit 67 is supplied to the induction path 27b of the second induction path 62 through which the traveling vehicle 1 does not pass. → An alternating current is supplied by the second constant current circuit 66. By doing so, the first guidance route 6
The magnetic sensors 26a and 26b mounted on the traveling vehicle 1 are located at a branch point 68 between the first and second guidance routes 62 and at a location where the guidance cables 27a and 27b are close to each other but slightly different as the guidance route. Is sensitive only to the alternating magnetic field of the frequency (1.5 kHz), it is guided along the induction cable 27a, and is guided along the induction cable 27b which erroneously outputs the alternating magnetic field of the frequency (1.3 kHz). Never.

To change the route of the traveling vehicle 1 guided along the guide cable 27a from the branch point 68 to the second guide path 62, the branch point 6
8, the switching is performed such that an alternating magnetic field having a frequency (1.5 kHz) is generated for the induction cable 27b, while an alternating magnetic field having a frequency (1.3kHz) is generated for the other induction cable 27a. That is, the alternating current generated by the genuine oscillation circuit 63 → the switching circuit 67 → the second constant current circuit 66 is supplied to the induction cable 27b along the second induction path 62, while the dummy oscillation circuit 65 → the switching circuit 67 → The alternating current by the first constant current circuit 64 is supplied to the induction cable 27a.

In this way, the two induction cables 27
Since a and 27b are always provided with an alternating current and differ only in frequency, the current O
A transient phenomenon such as a case where the current is switched from the state of the FF does not occur, and an alternating magnetic field of a predetermined frequency is not generated in a route to be guided, such as when switching timing is removed, An alternating magnetic field having a predetermined frequency and a predetermined strength is generated for an induction cable to be passed through the traveling vehicle 1 without generating an alternating magnetic field for guiding to a route that should not be generated. It can be done smoothly. That is, there is an effect that a stable electric signal can be applied to a predetermined induction cable immediately after the path switching.

When the number of the induction paths and the number of the induction cables are three, one power supply device 60 for supplying an alternating current to the three induction cables is set according to the length of each of the induction cables. One constant current circuit, one true oscillation circuit that generates an alternating signal having a frequency that can be detected by the sensor, one dummy oscillation circuit that generates an alternating signal that has a frequency that cannot be detected by the sensor, and a traveling vehicle. An alternating current is supplied to the induction cable of the induction route by an alternating signal from the genuine oscillation circuit, while an alternating current is supplied to the induction cable of the induction route that does not allow the traveling vehicle to pass by the alternating signal from the dummy oscillation circuit. In this case, a single switching circuit for selectively switching the supply of the alternating current may be provided, and as in the above-described prior art, the switching circuit is provided at each branch point of the path. It is not necessary to provide a frequency switching device, an effect that the structure of the entire navigation route selection device is also simplified.

In order to compensate for the difference in the total length of each induction cable (difference in the resistance value of the induction cable), a short resistor is added to the short induction cable so as to match the resistance value of the long induction cable. As a result, the number of constant current circuits can be reduced to one, so that a power supply device that supplies an alternating current to a plurality of induction cables is connected to the true oscillation as a first circuit that supplies an alternating current having a frequency that can be detected by the sensor. A circuit 63 and a dummy oscillation circuit 65 as a second circuit for supplying an alternating current having a frequency that cannot be detected by the sensor.
And the one constant current circuit, wherein the first circuit is connected to an induction cable of an induction path through which the traveling vehicle passes, and a second circuit is connected to the induction cable of an induction path through which the traveling vehicle does not pass. May be configured to be switched so as to be connected.

In the above embodiments, the relationship between the frequency detectable by the magnetic sensor and the non-detection frequency is preferably such that the least common multiple of both frequencies is large. In addition, FIG.
FIG. 10 shows an embodiment in which, when remote control is performed by the wireless operation device 70 to switch and select the spraying direction of the chemical solution from the spraying unit 5 to the right side or the left side of the traveling vehicle 1, the misunderstanding of the operation is prevented. The indicator lights 72 and 73 are provided on the right side of the traveling vehicle 1, while the indicator lights 74 and 75 are provided on the left side so that the indicator light on the spraying side is turned on and the indicator light on the other side (spray pause side) is turned off. To control. In the embodiment shown in FIG. 9, among the spray direction instruction buttons on the wireless operation device 70, the right instruction button 76 is set to green, and when pressed, the button is turned on in that color, and the right indicator lamps 72, 73 are set to green. I do. On the other hand, when the left instruction button 77 is pressed in red, the corresponding button is illuminated in that color, and the left indicator lights 74 and 75 are colored in red.

In the embodiment of FIGS. 10 (a) and 10 (b), in consideration of the direction of the traveling vehicle 1 with respect to the worker holding the wireless operation device 70, the operation section of the wireless operation device 70 has a spray direction instruction. In correspondence with the buttons 78 and 79, an illustration (figure) 80 in which the direction of the traveling vehicle can be seen at a glance is displayed. At this time, in the embodiment of FIG. 10A, the number of spray direction instruction buttons is two, and the figure 80 is a front view and a rear view of the traveling vehicle corresponding to each direction instruction button. FIG.
In the embodiment of 0 (b), there are four spray direction instruction buttons,
FIG. 80 shows a front view and a rear view of the traveling vehicle corresponding to each direction instruction button.

According to these embodiments, it is possible to reliably prevent the medicine from being sprayed in an erroneous direction by mistaking the relationship between the direction of the worker and the traveling vehicle. If the drive circuit 45 of the drug amount control valve 44 is configured to be remotely controllable by the wireless operation device 70, the selection of the direction of spraying the chemical solution can be performed.
In addition to N · OFF, the spray amount can be adjusted. The embodiment of FIGS. 11 and 12 relates to an improvement of an indicator light for determining the spray direction and an indicator light for determining whether or not the vehicle is in an automatic traveling state, an emergency stop state, and the like. It is preferable that these indicator lights are arranged at a position higher than the body of the traveling vehicle 1 in order to facilitate visual recognition from a distance. On the other hand, in the case where the branches and leaves are likely to come into contact with the traveling vehicle 1 as in an orchard, if the indicator light is provided at the tip of the fixed support, the indicator light may be damaged by the contact of the branch or the like or the tree may be damaged. There is much fear. Therefore, as shown in FIGS. 11 and 12, the base end of a column 82 provided with an indicator light 81 at the tip is pivotally connected to a bracket 83 at an appropriate position of the traveling vehicle 1, and the urging spring 4 is provided.
The contact force with the obstacle is released against the eight forces to be tilted. Reference numeral 85 denotes a stopper for holding the upright posture of the column 82.

[0030]

As described above, according to the present invention, for each of a plurality of guide paths, an individual guide cable is provided along each guide path, and an alternating magnetic field emitted from the guide cable is provided. In a control device for selecting a guidance route for an electromagnetic induction type traveling vehicle, which is provided with control means for detecting by a sensor mounted on the traveling vehicle and performing steering substantially along the guidance cable, an alternating current is supplied to the plurality of guidance cables. And a second circuit for supplying an alternating current having a frequency that cannot be detected by the sensor, and a second circuit for supplying an alternating current having a frequency that cannot be detected by the sensor. The first circuit is connected to the guide cable of the guide route to be connected, and the second circuit is connected to the guide cable of the guide route through which the traveling vehicle does not pass. Are those that you configured.

Therefore, a plurality of induction cables are always supplied with an alternating current, and only the frequency is different. Therefore, a transient phenomenon such as a case where the current is switched from a current OFF state to a current ON state is obtained. Does not occur, and an alternating magnetic field of a predetermined frequency is not generated in a route to be guided, or an alternating magnetic field for guiding to a route not to be guided is generated, such as when switching timing is removed. Does not occur, and it is possible to smoothly generate an AC magnetic field having a predetermined frequency and a predetermined strength with respect to the guide cable to be passed through the traveling vehicle.
That is, there is an effect that a stable electric signal can be quickly applied to a predetermined guide cable immediately after the path switching.

Further, the power supply device includes a plurality of constant current circuits set in accordance with the lengths of the respective induction cables, a true oscillation circuit for generating an alternating signal having a frequency that can be detected by the sensor, and A dummy oscillation circuit that generates an alternating signal of a frequency that cannot be detected, and an induction cable that supplies an alternating current with an alternating signal from the genuine oscillation circuit to an induction cable of an induction path through which the traveling vehicle should pass, but does not allow the traveling vehicle to pass. In order to supply the alternating current with the alternating signal from the dummy oscillation circuit to the induction cable of the path, in the case of a switching circuit for selectively switching the supply of the alternating current, in addition to the above effects, The current value to be applied in advance can be set and controlled by the constant current circuit according to the length (resistance value) of each induction cable. Than it is advantageously possible to quickly stabilize the intensity of the alternating magnetic field generated from the point of induction cable.

[Brief description of the drawings]

FIG. 1 is a side view of a medicine sprayer.

FIG. 2 is a plan view of the medicine sprayer.

FIG. 3 is a schematic plan view of the steering device.

FIG. 4 is a control hydraulic circuit diagram of the steering device.

FIG. 5 is a functional block diagram of a steering control device.

FIG. 6 is a plan view showing an arrangement relationship of an induction cable.

FIG. 7 is a block diagram of a power supply device.

FIG. 8 is a perspective view of the medicine spraying machine.

FIG. 9 is a diagram showing a relationship between the medicine sprayer and the wireless operation device.

FIG. 10 is a view showing another embodiment of the wireless operation device.

FIG. 11 is a side view showing another embodiment of the indicator light.

FIG. 12 is a plan view.

[Explanation of symbols]

 Reference Signs List 1 traveling vehicle 3 handle 6 spray nozzle 7 blower 8,8 front wheel 9,9 rear wheel 10 engine 11 traveling transmission mechanism 12 power transmission mechanism 14 steering device 16 hydraulic circuit 26a, 26b magnetic sensor 27,27a, 27b guidance cable 28 automatic steering Control valve 32 Steering control device 33 Central processing unit 60 Power supply device 61 First guidance path 62 Second guidance path 63 True oscillation circuit 64 First constant current circuit 65 Dummy oscillation circuit 66 Second constant current circuit 67 Switching circuit 68 Branch point

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-48-41477 (JP, A) JP-A-47-31365 (JP, A) JP-A-52-66177 (JP, A) JP-A 52-66177 39089 (JP, A) JP-A-5-2418 (JP, A) JP-A-49-133271 (JP, A) JP-A-51-97186 (JP, A) Japanese Utility Model Publication No. 58-71808 (JP, U) JP-B-36-21657 (JP, B1) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05D 1/02

Claims (2)

(57) [Claims] An individual guide cable is provided along each of the plurality of guide paths, and an alternating magnetic field emitted from the guide cable is detected by a sensor mounted on the traveling vehicle, In a guidance route selection control device for an electromagnetic induction type traveling vehicle provided with control means for steering substantially along an induction cable, a power supply device for supplying an alternating current to the plurality of induction cables can be detected by the sensor. A first circuit for supplying an alternating current at a frequency;
A second circuit for supplying an alternating current having a frequency that cannot be detected by the sensor, wherein the first circuit is connected to an induction cable of an induction route through which the traveling vehicle passes, and the induction of an induction route through which the traveling vehicle does not pass. A control device for selecting a guidance route for an electromagnetic induction type traveling vehicle, wherein the switching is performed so that a second circuit is connected to the cable. 2. A power supply device comprising: a plurality of constant current circuits set in accordance with the length of each of the induction cables; a true oscillation circuit for generating an alternating signal having a frequency detectable by the sensor; A dummy oscillation circuit that generates an alternating signal of a frequency that cannot be detected, and an induction cable that supplies an alternating current with an alternating signal from the genuine oscillation circuit to an induction cable of an induction path through which the traveling vehicle should pass, but does not allow the traveling vehicle to pass. The switching cable for selectively switching the supply of the alternating current so as to supply the alternating current to the induction cable of the path by the alternating signal from the dummy oscillation circuit. A guidance route selection control device for an electromagnetically guided vehicle according to the above description.