JP3308928B2 - Self-driving cart - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cart steering mechanism which can be automatically steered along a guide line buried under a cart path.

[0002]

2. Description of the Related Art Conventionally, a cart driven by a battery has been known. For example, as disclosed in Japanese Patent Application Laid-Open No. Sho 60-49408.

[0003]

However, in a conventional automatic traveling cart, an electromagnetic induction sensor for detecting a guide wire buried in a cart path is fixed to a body frame of the automatic traveling cart. Therefore, even if the front wheel, which is the steered wheel, is steered and turned by the steering wheel or the steering motor, the position of the electromagnetic induction sensor does not change immediately, the direction of the front wheel changes, and the aircraft travels to some extent. For the first time, the position of the electromagnetic induction sensor was following the running course of approaching the guidance line. Therefore, when the aircraft is controlled to a position along the guidance line and at the position of the electromagnetic induction sensor, a deviation from the guidance line has occurred. The control that it takes time was repeated. For this reason, the convergence of the control was delayed, and the chattering state was always occurring.

Another conventional technique is disclosed in
Although a technique as described in JP-A-39107 is known, the conventional technique is a mechanism in which only one front wheel of a walking cart is controlled and swung by a steering motor. As a result, the swing sensor rod and the electromagnetic induction sensor were integrally fixed. In addition, the steering motor and one of the front wheels could be connected to each other with a belt or the like to swing. However, in the configuration in which the walking type front wheel has two wheels, the swing rotation of the steering motor cannot be transmitted by the belt.
Further, in the case of a four-wheel riding type, it is necessary to enable automatic steering along a guide line and manual steering for movement during storage not along the guide line. Is a one-wheel mechanism, the steering motor can also be forcibly driven and rotated to enable the rotation. According to the present invention, in the case of a four-wheeled riding cart, both automatic steering and manual steering are easily switched, and when the manual switching is performed, the control circuit for automatic steering is not operated. Then, a switching signal is sent to the main controller.

[0005]

The problems to be solved by the present invention are as described above. Next, means for solving the problems will be described. In a four-wheeled automatic traveling cart that automatically travels along a guide line laid along a cart path, an electromagnetic induction sensor 81 that detects the guide line is connected to the right and left sides of a T-shaped swing sensor rod 84 and a left and right direction rod 84b. The swing sensor rod 84 is fixed to the end, and the swing sensor rod 84 is linked to a steering mechanism so as to swing left and right with the steering operation. The steering mechanism includes a steering gear box 98 disposed inside the steering column 5. And steering motor Mo
And a steering handle 11, and the steering gear box 98 includes a steering handle 1.
1, a manual input shaft 78 and an output shaft 79 are protruded, and the steering motor Mo is further provided at an upper portion thereof.
Automatic steering for steering by the steering motor Mo and the steering gear box 98;
The automatic manual switching unit 99 is configured to be switchable to the manual steering operated by the operator 1.
When the switch 9 is switched to automatic / manual, the switching sensor 100 for transmitting the switching signal to the main controller 28
Switch to manual steering attached to ring gear box 98
In this case, the steering motor Mo constituting the automatic steering mechanism is driven.
Turn off the main controller 28 so that it is not controlled.
Should be transmitted to the main controller 28.
It is a well-constructed one.

[0006]

BEST MODE FOR CARRYING OUT THE INVENTION Next, an embodiment of the present invention will be described with reference to the attached ground. The cart can be used for various purposes. In the present embodiment, a cart used in a golf course will be described. FIG. 1 is an overall perspective view of a golf cart of the present invention, and FIG. 2 is an overall side view of the same. In a golf course, since a cart path is provided outside the fairway, a guide line is buried under the cart path. An automatic stop position for automatic stop is determined by the guide line at the side of the tee shot position, the second shot / third shot position, and the green position. In addition, the golf cart of the present invention can be operated wirelessly while being driven by an engine, and includes a separately detachable wireless steering device. It is possible to stop at a free position by the radio pilot.

The front wheels 14 are steered wheels which are turned by the steering handle 11 and the steering motor Mo.
The rear wheels 15 are drive wheels. An engine E and a transmission case M are arranged inside the engine room 6.
At the front end of the body frame, an obstacle sensor mechanism is arranged as a movable bumper 17, and below the movable bumper 17 is arranged a non-contact sensor 16 for detecting an obstacle ahead in a non-contact manner. An electromagnetic induction sensor 81 for detecting an underground guidance line and a non-contact sensor 82 for detecting an underground fixed-point detector are arranged on a swing sensor rod 84 disposed behind the swing sensor rod 84 so as to swing left and right. I have.

A seat 10 is disposed above the engine compartment 6, and a golf bag 7 is provided at the rear of the seat 10.
, And a putter insertion tube 13 for inserting four putters protrude therefrom. The bag mounting frame 12 includes two support rods 24 protruding from the seat 10 and two support rods 2 protruding from the rear of the body.
5 to support. Also, one rear roof support 19 and two front roof supports 22 at the front are arranged upward from the body frame. A front roof 21 is mounted on a front portion of the front roof support 22, and a ceiling roof 20 is mounted on an upper portion. The front roof 21 and the ceiling roof 20 are all made of a transparent resin plate.

A steering column 5 is provided upright at the front of the seat 10, and a steering handle 11 is provided from the steering column 5.
Are projected obliquely. An accessory case 23 is provided between the steering handle 11 and the front roof 21.
Is arranged. In addition, an automatic manual switching unit 99 is disposed near the base of the steering handle 11. An accelerator pedal 8 and a brake pedal 9 are arranged below the automatic manual switching unit 99. A forward / backward switching lever 70 is disposed below the seat 10 and in front of the engine compartment 6.

Next, FIG. 3 will be described. FIG. 3 is a plan view of the body frame portion of the golf cart with the engine room 6 and the steering column 5 removed. An obstacle sensor mechanism constituted by a movable bumper 17 is arranged at the front end of the body, and a non-contact sensor 16 for detecting an obstacle ahead in a non-contact manner is arranged below the movable bumper 17. Left and right knuckle arms 38 and 37 are disposed between the front wheels 14, and are steered by the steering handle 11 and the steering motor Mo. A steering power unit 36 is disposed in front of the steering motor Mo. An accelerator pedal 8 and a brake pedal 9 are arranged at the rear of the steering motor Mo.

A remote control receiver 27, a main controller 28, and a steering controller 35 are arranged on the lower surface of a step portion where an operator places a foot.
An engine E is disposed in the center of the engine room 6, and a fuel tank 33 is disposed on a body frame F on the left side of the engine E. A fuel pump is provided from the fuel tank 33 to the engine E. The oil is fed by 68. A muffler 52 is arranged on the right side of the engine E, and the upper part is covered with a muffler cover 51.

A battery B is mounted on the right side of the muffler cover 51. The battery B transmits power to the starting motor 97 of the engine E. The battery B is charged by the generator 55 disposed above the engine E. The engine E has a drive frame 42
The transmission case M is also mounted on the drive frame 42 so that pitching and rolling to some extent are possible. An axle 1.1 projects left and right from the transmission case M, and a rear wheel 15 is disposed at an outer end of the axle 1.1.

FIG. 4 is a plan view showing the vicinity of the engine E and the transmission case M, FIG. 5 is a left side view, FIG. 6 is a right side view, and FIG. 7 is a rear view. Aircraft frame F
5 is bent upward from a side position of the engine E, and linearly extends rearward from the bent position, as shown in FIG. The engine room frame 50 on which the engine room 6 is mounted is moved upward from a position just before the body frame F bends.
Is protruding. Therefore, the engine room frame 50 and the body frame F are integrally formed. Shock absorbers 44 are interposed between the rear end of the engine room frame 50 and the axles 1.1.

The front ends of the drive frames 42 are pivotally supported at a pivot 43 by a part of the body frame F. The drive frame 42 can be pitched up and down around the pivot 43, and the pivot 43 is pivotally supported with an elastic tube interposed therebetween, so that the drive frame 42 has a certain amount of left and right. Rolling is possible. However, between the drive frame 42 and the body frame F, as shown in FIG.
As shown in the figure, a lateral link 45 is interposed.

The engine E is supported on the drive frame 42 by four vibration isolator devices 41, 41, 41, 41. Also from the rear end of the drive frame 42 protrudes a brake guard 40 to the left and right, the parking brake mechanism disposed inside the wheel wheel 32 of the rear wheel 15, and protection for internal of that brought into contact with an obstacle on the ground surface ing.
A transmission case M arranged at the rear of the engine E
An operation wire 69 from the forward / reverse switching lever 70 is extended, and an automatic brake wire 49 for pressing the brake disk is extended at a portion of the disc brake mechanism 46. An air cleaner 76 and an accelerator actuator 39 are arranged above the engine E as shown in FIG. The starting motor 97 is disposed between the air cleaner 76 and the drive frame 42.

An automatic transmission drive pulley 48 is disposed on the crankshaft of the engine E, and an automatic transmission input pulley 47 is disposed on the input shaft of the transmission case M. An urging spring 55 is attached to the automatic transmission input side pulley 47.
Is interposed. In addition, a mechanism for operating the automatic braking wire 49 for the emergency brake mechanism and the soft brake mechanism is configured above the transmission case M. A traveling speed detection gear 53 is fixed between the automatic transmission input side pulley 47 and the transmission case M and is fixed to the automatic transmission input side pulley 47.
A traveling speed detection sensor 5 for detecting the rotation of the tooth portion 3
4 are provided.

The braking mechanism includes a parking brake mechanism disposed on the rear wheel 15, a soft brake mechanism for operating the brake disk 2 by the brake actuator 3, and an emergency brake mechanism. I have. When the vehicle is stopped by a normal radio control device or at a fixed point, the vehicle is stopped by the soft brake mechanism. In addition, when the driver depresses the brake pedal 9 while riding, or an obstacle constituted by the obstacle sensor mechanism 17 When an emergency state is detected by the sensor mechanism or the non-contact sensor 16, the emergency brake mechanism is used to stop the vehicle.

FIG. 8 is a front view of the front axle portion of the cart of the present invention, and FIG. 9 is a plan view of the same. A center pin pivot plate 114 is disposed at the center of the body frame F, and the front and rear center pin pivot plates 114 are attached to the base rods 106, 107, 1 of the front axles 130, 131.
09 ・ 108 are pivot pins 105 ・ 104 ・ 110 ・ 1
It is pivoted by 11. A front axle 130 is fixed between the base bars 107 and 108,
The front axle 131 is fixed between 6.109.

On the front axles 130 and 131, a steering angle limit switch 12 constituting a main part of the present invention is provided.
7.124 is fixed. Also front axle 13
The kingpin pivots 112 and 113 are fixed to the ends of 0.131. The kingpin 118 and the knuckle arms 37 and 38 are pivotally supported by the kingpin pivots 112 and 113, and a front wheel shaft 116 integrally formed with the knuckle arms 37 and 38 protrudes. The knuckle arms 37 and 38 are connected by tie rods 85.

On the knuckle arms 37 and 38, switch operating rods 125 and 126 for operating the steering angle limit switches 127 and 124 described above are fixedly provided. The knuckle arms 37 and 38, the switch operating rods 125 and 126
If the steering angle limit switches 127 and 124 are not provided, they directly collide with the edges of the front axles 130 and 131 and constitute a mechanical stopper that prevents further steering angles. Therefore, in the immediate vicinity of the mechanical stopper formed between the knuckle arms 37 and 38 and the front axles 130 and 131, the steering angle limit switch 127
By arranging the switch 124 and the switch operating rods 125 and 126, it is possible to easily construct a boarding golf cart and an unmanned golf cart.

FIG. 10 is a plan view showing the configuration of the electromagnetic induction sensor 81 and the non-contact sensor 82, and FIG. 11 is a side view of the same. The electromagnetic induction sensor 81 and the non-contact sensor 82
Are fixed to a swing sensor rod 84 connected to the knuckle arms 37 and 38 by an interlocking link 83. The swing sensor rod 84 is formed in a T-shape by a front-rear direction rod 84a and a left-right direction rod 84b, and a part of the front-rear direction rod 84a is connected to a pivot for swing and a knuckle arm 37. An engaging portion of the interlocking link 83 is configured. Also, at both ends of the left and right direction rod 84b,
Electromagnetic induction sensors 81 are fixedly provided. A plurality of pivot holes 37a are provided in a portion pivotally connecting the interlocking link 83 to the knuckle arm 37. By changing the pivot holes 37a, the swing sensor It is possible to adjust the rotation angle of 84.

The electromagnetic induction sensor 81 is constituted by left and right sensors. The left and right electromagnetic induction sensors 81 detect the position of the guide line at the center and drive the steering motor Mo. The steering angle sensor 80 is
The rotation positions of the knuckle arms 37 and 38 and the swing sensor rod 84 are detected and fed back to the main controller 28. In addition, the non-contact sensor 82 detects a signal from a solenoid embedded near the guide line,
This is for stopping at a predetermined position or reducing the speed.

FIG. 12 shows a steering gear box 98.
FIG. 13 is a front view of the automatic manual switching unit 99, and FIG. Disconnect with the steering gear box 98
The switching sensor 100 and the steering motor Mo are arranged inside the steering column 5. Then, when the operator switches the automatic / manual switching unit 99 between automatic and manual, this signal is detected by the switching sensor 100 and a signal is transmitted to the main controller 28. The steering gear box 98 is provided with a manual input shaft 78 connected to the steering handle 11 and an output shaft 79. Therefore, when the mode is switched to the manual mode, the rotation of the steering handle 11 is transmitted, and when the mode is automatically switched, the rotation of the steering motor Mo is transmitted.

FIG. 14 shows the knuckle arm 38 and the front wheel shaft 11
FIG. 15 is a side sectional view showing a sealing mechanism of a king pin 118 penetrating the knuckle arm 38 and the front wheel shaft 116. The front wheel axle 116 and the knuckle arm 38 are integrated by a kingpin cylinder 117, and the kingpin 11
8 and the outdoor heat exchanger 18 is
9 is bolted to the kingpin pivot 11
It is fixed to 2. Oil seals 121 and 122 are fitted above and below the fitting brake between the kingpin cylinder 117 and the kingpin 118 to prevent muddy water from entering the kingpin 118.

As shown in FIG. 16, the entire flowchart is constituted. First, following the initial setting, a guidance signal is detected according to the guidance signal detection mode, and then the brake is released according to the brake release mode. Next, it is determined whether the operation is manual or automatic, and only in the automatic mode, the steering operation sub-mode shown in FIG. 17 is performed. The steering operation sub-mode is disclosed in FIG. Electromagnetic induction sensor 8
The left or right signal of 1.81 is detected, the difference between the two is obtained by subtraction, and the steering angle is calculated so that this becomes zero. Then, the steering motor Mo is rotated by the difference between the steering angle obtained by the steering angle sensor 80 and the steering angle. At that time,
Detects vehicle speed control mode, and at normal traveling speed,
In the case of the vehicle speed reduction mode, two types of operation modes are prepared to change the speed of the steering motor Mo.

As described above, the guide line is buried in the cart road, and the guide line is formed by the left and right electromagnetic induction sensors 81 and.
The drive of the steering motor Mo is controlled by the main controller 28 so as to be at the center of 81. And
In the present invention, the front wheel 14 is controlled by the steering motor Mo.
As the swing sensor rod 84 swings right and left with the left and right steering rotation, the position of the guide line shifts left and right, and the steering motor Mo is driven. It returns to the symmetrical position. But,
Since it is a four-wheeled cart, free steering during storage is not possible unless automatic steering is performed along the guide line or if automatic steering is stopped and manual steering by operating the steering handle is not possible. It becomes impossible. At the time of switching to the manual steering, the main controller is controlled so that the steering motor Mo constituting the automatic steering mechanism is not controlled.
The switch 28 must be turned off, and a switching signal is transmitted to the main controller 28 together with the operation of the automatic manual switching unit 99.

[0027]

As described above, the present invention has the following advantages. First, in a four-wheel passenger cart, in addition to the automatic steering, an automatic manual switching unit 99
As a result, manual steering by operating the steering handle 11 is enabled, so that the free movement of moving from the guide line to the hangar can be easily performed. Secondly, in the case of this automatic steering, the switching signal of the automatic manual switching unit 99 is transmitted from the switching sensor 100 to the main controller 28 for control.
Since the electronic circuit for automatic steering by o can be stopped, erroneous steering by the steering motor Mo does not occur, and it is possible to completely switch to only manual steering by the steering handle 11. Third, since a signal indicating that the operation has been automatically switched to manual operation is transmitted from the switching sensor 100 to the main controller 28 in conjunction with the operation of the automatic manual switching unit 99, the operator operates the switch separately to perform control. There was no need to switch between automatic and manual circuits.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of a cart according to the present invention.

FIG. 2 is an overall side view of the same.

FIG. 3 is a plan view of a body frame portion of the cart from which an engine room 6 and a steering column 5 are removed.

FIG. 4 is a plan view showing the vicinity of an engine E and a transmission case M;

FIG. 5 is a left side view of the same.

FIG. 6 is a right side view of the same.

FIG. 7 is a rear view of the same.

FIG. 8 is a front view of a front axle portion of the cart according to the present invention.

FIG. 9 is a plan view of the same.

FIG. 10 shows an electromagnetic induction sensor 81 and a non-contact sensor 82.
It is a top view which shows the structure of.

FIG. 11 is a side view of the same.

12 is a front view of a steering gear box 98 and an automatic manual switching unit 99. FIG.

FIG. 13 is a side view of the same.

14 is a plan view of a knuckle arm 38 and a front wheel shaft 116. FIG.

FIG. 15 is a side cross-sectional view showing a sealing mechanism of a kingpin 118 penetrating a part of the knuckle arm 38 and the front wheel shaft 116.

FIG. 16 is a drawing showing an overall flowchart of an automatic cart steering mechanism of the present invention.

FIG. 17 is a view showing a steering sub mode in the flowchart of FIG. 16;

[Explanation of symbols]

 F Airframe 3 Braking actuator 4 Manual automatic switching lever 5 Steering column 15 Rear wheel 16 Non-contact sensor 17 Movable bumper 37/38 Knuckle arm 81 Electromagnetic induction sensor 82 Non-contact sensor 84 Swing sensor rod 88 Obstacle sensor 99 Automatic manual switching Part 100 Switching sensor 125/126 Switch operating rod 127/124 Steering angle limit switch

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-63-16311 (JP, A) JP-A-53-140729 (JP, A) JP-A-1-180011 (JP, A) JP-A 64-64 46111 (JP, A) Jpn. Sho 61-168402 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05D 1/02

Claims (1)

(57) [Claims] 1. In a four-wheeled automatic traveling cart that automatically travels along a guide line laid along a cart road, an electromagnetic induction sensor 81 for detecting the guide line is connected to a left and right side of a T-shaped swing sensor rod 84. The swing sensor rod 84 is fixed to the left and right ends of the directional rod 84b, and is configured to swing left and right with the steering operation in conjunction with the steering mechanism. The steering mechanism is disposed inside the steering column 5. The steering gear box 98 is composed of a steering motor Mo and a steering handle 11, and the steering gear box 98 is provided with a manual input shaft 78 and an output shaft 79 which are connected to the steering handle 11, and is further provided on the upper portion. The steering motor Mo is attached, and the steering motor Mo and the steering gear box 9 are provided.
An automatic manual switching unit 99 is provided for automatic steering by the steering operation 8 and manual steering by the steering handle 11.
The switching sensor 100, which transmits a switching signal to the main controller 28 when the operator switches the automatic / manual switching unit 99 to automatic / manual, is configured as a switch.
Attached to the tearing gear box 98 to switch to manual steering
At the time of replacement, the steering motor Mo that constitutes the automatic steering mechanism
Turn off the main controller 28 to prevent drive control.
Switch signal to the main controller 28
An autonomous driving cart characterized by a structure designed to achieve this.