JP3474539B2 - Operation control device for unmanned 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 operation control device for an unmanned vehicle that automatically operates and stops along a guide line or the like buried in the ground.

[0002]

2. Description of the Related Art Conventionally, there has been publicly known a technique for enabling unmanned operation along a guide line in a golf course cart or the like.

[0003]

DISCLOSURE OF THE INVENTION The present invention makes it possible to play at a golf course, such as a golf cart running along a guide line, without the need for a caddy.
By reducing the play fee, when the golf cart is running automatically, a wireless transmitter and a start / stop switch etc.
By allowing the vehicle to start and stop, it is possible to eliminate the misplacement of golf carts and the like.

Further, in the prior art, when the guide wire is detected by the left and right guide sensors, the automatic steering mechanism is uniformly operated according to the detected value. Therefore, there is a problem that the unmanned vehicle does not go straight and always sways to the left or right, or performs a meandering operation.

Further, when the unmanned traveling vehicle tries to ride on the guiding line again by manual steering while the unmanned traveling vehicle is away from the guiding line, whether the unmanned traveling vehicle is on the line capable of automatic steering. However, there is a problem in that the timing for switching from the manual steering control to the automatic steering control cannot be achieved. The present invention solves such a problem of the conventional technique.

[0006]

The problems to be solved by the present invention are as described above. Next, the means for solving the problems will be described. According to the first aspect of the present invention, there is provided an unmanned vehicle capable of switching between unmanned traveling and manual operation by an automatic manual changeover operation switch, and a steering handle 23 for manual operation is provided at a position where a guide wire is not buried, When the drag rod 11 is operated by the manual rotation operation of the steering handle 23 and the guide wire buried in the ground is present and the automatic operation control is performed, the guide wire is detected by the left and right guide sensors 5L and 5R. Then, the drag rod 11 is operated by the automatic steering motor, and as the start / stop control signal input in the case of the automatic steering, the start / stop signal from the wireless transmitter and a part of the vehicle are provided separately from the wireless transmitter. Contactless to prevent a collision with the start / stop signal from the arranged start / stop switch 24 and the front of the machine to prevent collision with other unmanned vehicles that can move ahead A signal from Nsa, those provided with the signals from the fixed point stop sensor for detecting the stop fixed point constituted by winding a guide wire.

According to a second aspect of the present invention, in the operation control device for an unmanned traveling vehicle according to the first aspect, the target vehicle speed of the unmanned traveling vehicle is changed and controlled according to the steering angle detected by the steering angle sensor. is there.

According to a third aspect of the present invention, in the operation control device for an unmanned vehicle according to the first aspect, manual operation is possible at a position where the guide wire is not buried, and the manual operation allows the unmanned vehicle to operate as the guide wire. When mounted, the online display lamp is configured to blink.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Next, examples will be described. FIG. 1 is an overall side view of an unmanned vehicle of the present invention, FIG. 2 is a side view with a canopy and a bonnet removed, and FIG. 3 is a sensor frame 1 arranged between wheels 10L and 10R, which are front wheels, and left and right guidance. FIG. 4 is a plan view of the sensors 5L and 5R, and FIG. 4 is the sensor frame 1 and the left and right induction sensors 5L and 5R.
5 is an enlarged plan view of a portion of FIG. 5, FIG. 5 is a controller input / output view of a control mechanism for an unmanned vehicle according to the present invention, FIG. 6 is a flowchart of a shift amount response steering control mechanism, and FIG. 7 is a flowchart of steering angle response steering control. Figures and 8 show left and right induction sensor 5L
・ Flowchart diagram of vehicle speed control by 5R net voltage, Fig. 9 is a flowchart diagram of vehicle height response type steering control, Fig. 10 is a flowchart diagram when an unmanned traveling vehicle is guided on a guide line, and Fig. 11 is a flowchart of approach control. It is a figure.

The structure of an unmanned vehicle will be described with reference to FIGS. 1 and 2. It is operated by four wheels 10. The steering wheel 23 is operated when the vehicle is running manually or where there is no guide wire. 27 is a seat, 29 is a rest bar, 26 is a backrest, 25 is a bag frame, 28 is a golf bag, and 24 is a starter placed separately from the wireless transmitter.
It is a stop switch.

Next, description will be made with reference to FIGS. The arrangement of the left and right induction sensors 5L and 5R and the magnet sensor 12 provided inside the front wheel will be described. In the case of manual operation, the steering handle 23 operates, and in the case of automatic operation, the drag rod 11 is operated by the automatic operation motor to rotate the knuckle arms 7L and 7R. The knuckle arm 7R
The knuckle arm 7L is rotated via the tie rod 8. The front wheels 10 pivotally supported by the knuckle arms 7L and 7R on the front axles 9L and 9R via axles.
・ 10 is driven. And the knuckle arm 7L
A connecting rod 4 is projected from the connecting rod 4 and the tip of the connecting rod 4 is connected to the sensor frame 1.

Left and right inductive sensor mounting bodies 1a are projected from the sensor frame 1, and left and right inductive sensor 5L and 5R are fixed to both left and right ends of the inductive sensor mounting body 1a. Also, the central frame 1b of the sensor frame 1
A steering angle sensor 2 is pivotally supported by a pivot shaft portion of the steering wheel, and the steering angle is detected. Further, the magnet sensor 12 is fixed to the magnet sensor frame 1c protruding rightward from the central frame 1b. 6L and 6R are holes for passing the bundle of magnetic force lines, and 3 is a pivotal support portion of the connecting rod 4.

In addition to the above mechanical construction, an electrical construction is provided as shown in the controller input / output diagram shown in FIG. As the control signal input, a signal from a wireless transmitter, a non-contact sensor provided in the front part of the machine body to prevent a collision with another unmanned vehicle traveling ahead, and a left and right guidance sensor provided in the sensor frame 1 5L and 5R, a magnet sensor 12, and a fixed point stop sensor that detects a fixed stop point configured by winding a guide wire.

Further, as analog inputs, there are a rotation angle sensor of the accelerator pedal 15, a steering angle sensor 2, an engine speed sensor, a body inclination sensor, and the like. The digital inputs include an automatic manual switching operation switch and a start / stop switch 24. In addition, as the signal from the detection sensor, a vehicle speed sensor, a brake pedal sensor,
A reverse detection sensor, an oil level sensor, an obstacle detection sensor, a collision sensor, a temperature sensor, and the like.

With these input signals, a starter generator, an engine ignition unit, an emergency brake solenoid, a choke solenoid, a steering solenoid, a brake cylinder, a throttle actuator, and a fuel supply pump are supplied via a controller and a relay. , Back alarm buzzer etc. are operated.

Next, referring to FIG. 6, the shift amount response steering control will be described. The absolute value of the combined voltage of the left and right induction sensors 5L and 5R is calculated, and the steering speed is changed according to the magnitude of the absolute value. That is, when the airframe largely deviates from the guide wire, the absolute value of the combined voltage of the left and right guide sensors 5L and 5R becomes large. In this case, since it is necessary to quickly return to the position of the guide line, the steering speed is increased. On the contrary, when the guide lines are slightly deviated from each other on the right and left sides, the return steering speed is slowed down.

Next, referring to FIG. 7, the steering angle response type control will be described. In this case, the left and right induction sensors 5L and 5R
Instead, depending on whether the value of the steering angle sensor 2 for detecting the rotation amount of the sensor frame 1 is within a certain range,
The value of the target vehicle speed is changed. That is, as shown in the graph of FIG. 7, the steering angle sensor 2 is the most sensor frame 1
From the left to the rightmost, the angle b in FIG.
Since it changes from 0 to an angle c to a position close to 90 degrees, it is not necessary to take an absolute value. Then, the portion where the value of the steering angle sensor 2 is closest to 0 and the portion where the value is close to 90 degrees are farthest from the guide line. In order to achieve this, the target vehicle speed must be constant and fast.

Next, in the case of FIG. 8, the target vehicle speed is not controlled by the value of the steering angle sensor 2 as described above, but the net voltage which is the absolute value of the combined voltage of the left and right induction sensors 5L and 5R is large or small. Thus, a flowchart for changing the target vehicle speed is shown.

Next, referring to FIG. 9, the vehicle height response type control will be described. Also in this case, it is detected whether the combined voltage of the left and right inductive sensors 5L and 5R is within a certain range, and if it is within a certain range, the net voltage of the net is calculated, and the net voltage is calculated. The steering gain is changed according to the value, and the steering is configured. Then, when the combined voltage deviates more than a certain range, the steering is initially performed with the initially set steering gain.

Next, referring to FIG. 10, the display lamp lighting control at the time of online detection will be described. The unmanned vehicle is automatically guided along the guide line, but in the case of storing it in the garage or in other special cases, the operator may manually remove the guide line. In such a case, or in the case of a normal automatic operation state, when the net sensor voltage of the left and right inductive sensors 5L and 5R is a certain value or more, the online lamp is configured to be turned on. This makes it possible to determine whether or not the unmanned vehicle is on the guide wire.

Next, referring to FIG. 11, the approach control will be described. In this case, the combined voltage values of the left and right induction sensors 5L and 5R are calculated at regular time intervals, and the difference between the combined voltage values in the front and rear is calculated to determine whether the unmanned vehicle is approaching the guide line or moving away from it. Determine if there is. When the vehicle is approaching, the steering speed is slowed, and when the vehicle is moving away, the steering speed is increased and returned.

With the above-described structure, the present invention enables a player to play as a golf cart or the like traveling along a guide line on a golf course without a caddy, thereby reducing the play fee. When the golf cart is running automatically, the wireless transmitter and the start / stop switch can be used to stop the start of the golf cart, thereby eliminating the misalignment of the golf cart.
In addition, the guidance signal from the guidance wire is sent to the left and right guidance sensors 5L and 5L.
In an unmanned traveling vehicle that constantly travels along the guide line as detected by R, it becomes difficult to converge the control in the control for the unmanned traveling vehicle to follow the guide line, and the vehicle repeats meandering forever or constantly shakes. It eliminates the condition of traveling. Furthermore, when the unmanned traveling vehicle was placed on the guide line again from the state where the guide line was separated, the lamps indicated that the left and right guide sensors 5L and 5R started to receive signals from the guide line. Therefore, the operation for switching to the automatic operation control can be reliably performed.

[0023]

Since the present invention is constructed as described above, it has the following effects. Since the present invention is configured as in claim 1, the present invention enables, as a golf cart or the like that runs along a guide line, to play even if the caddy does not accompany it on the golf course, thereby reducing the play fee, and When the vehicle is traveling automatically, the wireless transmitter and the start / stop switch can be used to stop the start of the vehicle, thereby eliminating the misalignment of the golf cart or the like.

According to the second aspect of the invention, the steering speed in the returning direction is controlled by the size of the unmanned vehicle deviating from the guide line. Since it returned slowly, it was possible to reduce the meandering and shaking of the unmanned vehicle.

According to the third aspect of the present invention, when the unmanned vehicle is placed on the guide line again from the state where the guide line is separated, the left and right guide sensors 5L and 5R start receiving signals from the guide line. Since the information can be displayed by the lamp, the subsequent operation for switching to the automatic operation control can be reliably performed.

[Brief description of drawings]

FIG. 1 is an overall side view of an unmanned vehicle of the present invention.

FIG. 2 is a side view with the canopy and bonnet removed.

FIG. 3 is a plan view of the sensor frame 1 and the left and right induction sensors 5L and 5R arranged between the front wheels 10.

[FIG. 4] Similarly, a sensor frame 1 and a left and right induction sensor 5
The enlarged plan view of the part of L * 5R.

FIG. 5 is a controller input / output diagram of a control mechanism of an unmanned vehicle according to the present invention.

FIG. 6 is a flowchart of a shift amount response steering control mechanism.

FIG. 7 is a flowchart of steering angle response steering control.

FIG. 8 is a flowchart of vehicle speed control based on net voltages of the left and right induction sensors 5L and 5R.

FIG. 9 is a flowchart of vehicle height response type steering control.

FIG. 10 is a flowchart diagram when an unmanned traveling vehicle is guided on a guide line.

FIG. 11 is a flowchart of approach control.

[Explanation of symbols]

1 sensor frame 2 Rudder angle sensor 4 connecting rod 5L, 5R Left and right induction sensor 12 Magnet sensor 10 wheels

Continuation of front page (56) Reference JP-A 61-66924 (JP, A) JP-A 53-140729 (JP, A) JP-A 63-71433 (JP, A) JP-A 2-48703 (JP , A) JP 60-14306 (JP, A) JP 4-612 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G05D 1/02

Claims (3)

(57) [Claims] 1. An unmanned vehicle capable of switching between unmanned traveling and manual operation by means of an automatic manual changeover operation switch, wherein a steering handle 23 for manual operation is provided at a position where a guide wire is not buried. When the drag rod 11 is operated by the manual turning operation of the steering handle 23 and the guide wire buried in the ground is present and the automatic operation control is performed, the guide wire is detected by the left and right guide sensors 5L and 5R. The drag rod 11 is operated by an automatic steering motor, and the start / stop signal from the wireless transmitter and the wireless transmitter are arranged in a part of the vehicle as a start / stop control signal input in the case of the automatic steering. Was started
A start / stop signal from the stop switch 24, a signal from a contactless sensor that is provided at the front of the fuselage to prevent a collision with another vehicle capable of running unmanned ahead, and a fixed stop point formed by winding a guide wire. An operation control device for an unmanned traveling vehicle, comprising a signal from a fixed-point stop sensor for detecting the. 2. The operation control device for an unmanned traveling vehicle according to claim 1, wherein the unmanned traveling vehicle is configured to change and control a target vehicle speed depending on a steering angle detected by a steering angle sensor. Operation control device for traveling vehicle. 3. The operation control device for an unmanned traveling vehicle according to claim 1, wherein manual operation is possible at a position where the guide wire is not buried, and when the unmanned traveling vehicle is placed on the guide wire by the manual operation. Is an operation control device for an unmanned vehicle, which is configured to blink an online display lamp.