JP4033621B2 - Self-propelled vehicle - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a self-propelled vehicle that travels along a predetermined taxiway.
[0002]
[Prior art]
Conventionally, as described in Japanese Patent No. 2630763 (B60L 15/40), this type of self-propelled vehicle includes a transmitter for transmitting electromagnetic waves to the rear of the golf cart body and a preceding golf cart body. And a receiver that receives a transmission signal of the same, and a vehicle that travels following a preceding golf cart while maintaining a predetermined distance. Such follow-up running can be switched between execution and release of follow-up running by operating a follow-up switch provided on the top surface of the golf cart. A station switch is provided at a place, for example, a point passing through the club house, and the vehicle follows the vehicle until it passes through the station switch.
[0003]
However, in the case of the configuration as described above, since a switch for executing and releasing such follow-up running is provided on the top surface of the golf cart, anyone can operate it, and a player who is unfamiliar with the operation of the golf cart can enter the course. It is possible to operate even after leaving the vehicle, and there is a risk that the following traveling may be canceled due to an operation mistake and caused to make a collision with the preceding golf cart even though the following traveling must be performed. For this reason, it is conceivable that a switch for switching the follow-up running is provided on a part where the player does not touch the eyes, for example, under the seat or inside the screwed lid. In this way, the player can operate the switch. Although it is safe because it disappears, even a golf cart administrator or caddy cannot be easily operated, making operation difficult.
[0004]
[Problems to be solved by the invention]
The present invention has been made in view of the above disadvantages. A person unfamiliar with the operation of the self-propelled vehicle cannot perform the switching operation of the follow-up traveling, and only a manager of the self-propelled vehicle can easily operate, and is safe and easy to use. It is an object to provide a self-propelled vehicle.
[0005]
[Means for Solving the Problems]
According to the configuration of the first aspect of the present invention, when the distance between the main body that travels along a predetermined guideway by the drive source and the preceding vehicle provided in the main body is equal to or less than a predetermined value, the drive source A collision prevention circuit that stops the operation of the vehicle, and a tracking operation that starts the operation of the drive source and performs the following traveling when the separation distance from the preceding vehicle exceeds a predetermined value after stopping by the operation of the collision prevention circuit. A microcomputer that controls the operation of the main body, a key switch for inputting a signal to the microcomputer, a start / stop switch for instructing start and stop, and an accelerator connected to an accelerator for instructing driving force A pedal and a brake pedal, and the follow-up circuit is a combination of a start / stop switch, an accelerator pedal, a brake pedal, and a key switch. Characterized by operating the following circuit by work is performed.
[0008]
Then, according to the second aspect, the operation of the following circuit by the combined operation, characterized in that the disabling Past operation start after a predetermined distance.
[0009]
According to a third aspect of the present invention, the operation of the follow-up circuit by the combined operation becomes invalid after a predetermined time after the operation starts.
[0010]
According to a fourth aspect of the present invention, the magnet sensor circuit for inputting the magnet information provided on the traveling road surface is provided, and if the detection of the magnet instructing the release of the follow-up running is detected, the follow-up running by the combined operation is released. It is characterized by that.
[0012]
According to a fifth aspect of the present invention, there is provided an informing means for informing when the following circuit is operated by the composite operation.
[0013]
According to a sixth aspect of the present invention, when the follower circuit is operated by the combined operation, the drive source is set to a minimum traveling speed.
[0014]
According to a seventh aspect of the present invention, when the follow-up traveling is operated by the combined operation, the traveling is started after a predetermined time.
[0015]
According to the above-described configuration, the main body that travels by driving the drive source travels while detecting the distance from the preceding vehicle, and travels by the operation of the rear-end collision prevention circuit when the distance from the preceding vehicle becomes a predetermined value or less. Is supposed to stop. Thereafter, when the preceding vehicle starts traveling and the separation distance becomes equal to or greater than a predetermined value, the traveling circuit starts following the preceding vehicle by driving the driving source when the following circuit is operable. However, when the follower circuit is not operating, the vehicle does not travel even if the preceding vehicle starts traveling and the separation distance exceeds a predetermined value.
[0016]
When operating this follow-up circuit, the follow-up circuit can be operated by performing a predetermined predetermined composite operation. For example, the start switch is pressed by a combination of a start switch and a power switch for instructing the start of traveling. When the power supply switch is turned on in the state, the tracking circuit operates so that only a specific person can enter the tracking mode, which is convenient and improves safety.
[0017]
Further, the operation of the tracking circuit by a predetermined composite operation is such that the tracking circuit operates only when the presence of the preceding vehicle is detected. Accordingly, for example, when the power of the preceding vehicle is not turned on and there is no signal from the transmitter of the preceding vehicle, the operation of the follow-up circuit is performed and the vehicle does not collide with the preceding vehicle.
[0018]
Further, according to the above-described configuration, when the tracking circuit is operated for a predetermined period by a predetermined combined operation, the operation of the tracking circuit is automatically canceled by distance, time, magnet information embedded in the road surface, and the like. .
[0019]
In addition, a notification means is provided to distinguish between when the tracking circuit is operated by a normal switch or the like and when a predetermined combined operation is performed, so that the user can recognize. Also, as a notification method, notification is made when a predetermined combined operation is performed.
[0020]
Further, when the follower circuit is operated by performing a predetermined combined operation, the vehicle travels at a low speed, so that it is unlikely to collide with a person, and even if it collides, it does not cause a major accident.
[0021]
When the tracking circuit is operated by a predetermined composite operation, the starting operation is performed after a predetermined time elapses before starting the vehicle, compared to when the tracking circuit is operated by the switch.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of a self-propelled vehicle of the present invention will be described with reference to the drawings by taking an electromagnetic induction golf cart as an example.
[0023]
First, the structure of the whole golf cart is demonstrated based on FIG. 1 thru | or FIG.
[0024]
Reference numeral 1 denotes a golf cart main body that travels using a motor as a drive source. The main body 1 includes a front wheel 2 that performs steering and a rear wheel 3 that serves as a drive wheel. The golf cart main body 1 includes a manual travel mode in which the front wheel 2 is steered by a user's handle 4 operation, and an automatic travel mode in which the front wheel 2 is automatically steered along a guide line 5 embedded in the travel road surface. It has two modes.
[0025]
Reference numeral 6 denotes a main frame of the main body 1 on which the front wheel 2 and the rear wheel 3 are mounted. The main frame 6 is mounted with a resin main body cover 7 covered.
[0026]
Reference numeral 8 denotes a seat in which two users can ride side by side, and a handle 4 that can steer the front wheels 2 by being operated by the user in the manual travel mode is attached to the front of the seat 8. The handle 4 is fixedly provided with a handle post 9 that supports the handle 4 attached obliquely to the front of the main body 1, and the handle 4 is rotatably inserted through the handle post 9.
[0027]
Reference numeral 10 denotes a golf bag receptacle that is attached to the rear of the main body 1 and can be mounted with the golf bag inclined.
[0028]
Reference numeral 11 denotes a transparent resin front shield provided in front of the seat 8, and a roof 12 covering the entire upper portion of the seat 8 is provided continuously from the front shield 11.
[0029]
Reference numeral 13 denotes a pickup coil that is provided one by one with the guide wire 5 in between and swings as the front wheel 2 is steered. The pickup coil 13 detects a magnetic field from the guide wire 5 in the automatic travel mode, and The front wheels 2 are steered so that the signal strengths of these are equal. Thus, the vehicle is steered so as to travel along the guide line 5.
[0030]
Reference numeral 14 denotes a transmitter that is attached to the main frame 6 and transmits an electromagnetic wave toward the rear. The transmitter 14 is provided to inform the rear golf cart of the existence of the golf cart.
[0031]
A receiver 15 is provided at the center of the arm 16 provided with the pickup coil 13 in front of the main body 1 and receives electromagnetic waves from a transmitter 14 of a golf cart traveling forward. The receiver 15 is a preceding vehicle. When it receives a signal from, it stops.
[0032]
Reference numeral 17 denotes a speed reducer that reduces the rotation of the motor 18, and the speed reducer 17 is connected to an axle 19 that connects the rear wheel 3.
[0033]
Reference numeral 20 denotes four batteries mounted on the main frame 6 provided in the vehicle width direction of the main body 1, and the batteries 20 serve as a power source for the motor 18.
[0034]
Reference numeral 21 denotes a power generation device for charging the battery 20, and the power generation device 21 detects the capacity of the battery 20, and automatically starts operation and starts charging when the capacity decreases.
[0035]
Reference numeral 22 denotes a control box made of a metal casing provided on the main frame 6, and the control box 22 incorporates a control board and the like for controlling the travel of the main body 1.
[0036]
Next, the control circuit of the golf cart of this embodiment will be described with reference to FIG.
[0037]
Reference numeral 23 denotes a microcomputer that controls the operation of the golf cart body 1, that is, a main CPU. The main CPU 23 is provided in the control box 22.
[0038]
24, an ON / OFF signal is input to the main CPU 23 in response to ON / OFF of the key switch 24.
[0039]
Reference numeral 25 denotes a start / stop switch for instructing start and stop in the automatic driving mode. The start / stop switch 25 transmits a signal each time it is pressed, and is repeatedly instructed to start and stop.
[0040]
26 is a front / rear detection switch that is provided before and after the main body 1 and is switched on by an impact on the bumper at the time of a collision. When an ON signal is input from the front / rear detection switch 26, a braking force is applied. It is like that.
[0041]
Reference numeral 27 denotes a magnet sensor circuit for inputting magnet information such as the polarity of a magnet by a combination of magnets provided in the vicinity of the guide wire 5. The magnet sensor circuit 27 is connected to the main CPU 23 with the magnet polarity and the distance between the magnets. The magnet information produced based on this is output, and the traveling speed and the like are set by the main CPU 23.
[0042]
Reference numeral 28 denotes an encoder provided in the vicinity of the speed reducer 17, and the encoder 28 is provided for measuring a traveling direction and a traveling distance.
[0043]
29 is an alarm sound generating device that generates an alarm by sound when an abnormality occurs.
[0044]
Reference numeral 30 denotes an accelerator that is connected to an accelerator pedal provided below the handle 4, changes the operation angle of the accelerator pedal to a change in the value of the potentiometer, and instructs the motor driving force according to the operation amount of the user.
[0045]
31 is a follow-up switch that switches between a follow-up running that follows a preceding vehicle and follows a preceding vehicle in an automatic running mode, and a normal run that does not follow the preceding vehicle. It is attached inside the control box 22 which is closed by screwing. In addition to the switching by the tracking switch 31, it is possible to set the following traveling by a predetermined combined operation. When the key switch 24 is changed from OFF to ON while the start / stop switch 25 is pressed, the tracking is performed. It is designed to switch to driving. At this time, the warning sound generating device 29 notifies the user that it has been switched to the follow-up running by a method other than the follow-up switch 31 by notifying with a sound such as “beep-pip” or the light of the LED or the like. Yes. In this way, the reason why the traveling is switched to the follow-up traveling by the specific combined operation is to make it possible to operate only a specific person such as a player such as a golf course manager or a caddy.
[0046]
Further, in this embodiment, the notification is made when the follow-up running is caused by a specific combined action. However, the start-up action at the time of the follow-up running may be set to be delayed by several seconds. . Further, the start may be set to be delayed and the notification may be performed. In addition, the user may be informed of the fact by changing the contents to be notified when the follow-up travel is performed by a specific combined operation and when the follow-up travel is performed by the follow-up switch 31.
[0047]
32 is a cart guard that transmits an electromagnetic wave from the transmitter 14 and receives a reception signal of the electromagnetic wave received by the receiver 15. The cart guard 32 is connected from the receiver 15 to the transmitter 14 of the preceding vehicle. When the presence of this signal is received, the main CPU 23 outputs a signal, and the control of the main CPU 23 stops the driving of the motor 18 and applies braking. Thus, the cart guard 32 has a built-in collision prevention circuit that prevents a collision with a preceding vehicle. Further, the cart guard 32 has a built-in follow-up circuit for the follow-up running described above. If the follow-up circuit is in an operable state, the motor 18 is driven when the signal from the receiver 15 is lost. Control is performed to run.
[0048]
Reference numeral 21 denotes a power generation device for charging the battery 20. The power generation device 21 charges the battery 20 with the engine 33 serving as a drive source, a generator 34 that generates power for driving the engine 33, and the generated power. And a charger 35.
[0049]
A motor drive circuit 36 controls the drive of the motor 18 serving as a drive source. The motor control circuit 36 detects the motor current and performs feedback control.
[0050]
Reference numeral 37 denotes an MB motor for operating the main brake. The main brake is provided on the rear wheel 3 and is used during normal braking.
[0051]
Reference numeral 38 denotes a PB motor for operating the parking brake. The parking brake is provided in the speed reducer 17 and is a braking means for stopping the movement of the axle.
[0052]
Reference numeral 39 denotes an HM motor for switching between the automatic travel mode and the manual travel mode, and the HM motor 39 is provided for intermittently connecting the handle 4 and the front wheel 2.
[0053]
Reference numeral 40 denotes an SM motor that steers the front wheel 2 in the automatic travel mode and operates by adding the driving force of the motor to the human operation force by observing the movement of the handle 4 during the manual travel. It is provided below.
[0054]
Next, the following traveling in the automatic traveling mode will be described.
[0055]
In the automatic travel mode, the pickup coil 13 detects the magnetic field generated by the induced current flowing in the guide wire 5 and the SM motor 49 steers the front wheel 2 so that the main body 1 travels on the guide wire 5. At this time, electromagnetic waves are transmitted from the transmitter 14 toward the rear of the main body 1. The receiver 15 travels in a state where the electromagnetic waves from these transmitters 14 can be received. When the distance from the preceding vehicle becomes a predetermined value or less, the MB 15 Traveling stops when the PB motor 38 operates. At this time, in the case of the follow-up running, the preceding car starts running, and when the cart guard 32 detects that the vehicle has left a predetermined value or more, the subsequent golf cart automatically starts running. The traveling speed at this time is set to 3.5 km / h, which is the minimum speed in the automatic traveling mode. However, when it is not following driving, even if the preceding vehicle starts to run and the separation distance from the preceding vehicle exceeds a predetermined value, the subsequent golf cart does not start running and continues to be stopped. To do.
[0056]
In addition, as described above, when a follow-up running is caused by a specific combined operation, the follow-up running can be released by embedding magnets on the road surface in a specific arrangement and detecting this information, Such a method is canceled when the encoder 28 detects that the vehicle has traveled a predetermined distance from when the main CPU 23 has started, or when the main CPU 23 counts a predetermined time after the follow-up traveling. It is set to be canceled by any of the above.
[0057]
Next, the operation in the follow-up running described above will be described with reference to FIG. This flowchart shows a case where a predetermined combined operation is performed to perform follow-up running, which is a method other than switching of the follow-up switch 31 in the automatic running mode.
[0058]
First, the key switch 24 is turned on (S1). At this time, it is confirmed whether the start / stop switch 25 is ON and whether a signal from the transmitter 14 of the preceding vehicle is received (S2). Is switched to ON, and if a signal from the transmitter 14 of the preceding vehicle is received, it switches to follow-up running (S3). However, if these conditions are not met, the follow-up traveling is not performed, and the vehicle operates in the automatic traveling mode as usual (S4). However, since the signal from the transmitter 14 of the preceding vehicle is received, the vehicle is switched to the follow-up traveling but the stopped state is maintained.
[0059]
Next, it is detected whether the signal from the transmitter 14 of the preceding vehicle is received (S5), and if it is in the received state, the stop state is continued (S6). As described above, since the stop is determined according to the intensity of the transmission signal from the preceding vehicle, the vehicle is stopped with a constant distance from the preceding vehicle. Following this operation, the signal from the transmitter 14 of the preceding vehicle is always ready to be received (S7). If the transmission signal is being received, the stop state is continued. However, if the transmission signal is not received, it is determined that the preceding vehicle has advanced first and starts traveling (S8). The traveling speed at this time is set to 3.5 km / h, which is the minimum speed in the automatic traveling mode. Then, it is detected whether or not there is a detection of a magnet for instructing the cancellation of the follow-up running (S9). If the magnet is detected, the follow-up run is canceled, and if not, the procedure returns to S5 and the follow-up running is repeated.
[0060]
In this embodiment, the follow-up running by the magnet is canceled in S9, but it is not necessary to limit to this method in particular, and it may be automatically released when the vehicle travels 100 meters, and further, over time. You can cancel it.
[0061]
In this embodiment, the specific combined operation is set to the combined operation of the start / stop switch 25 and the key switch 24. However, the present invention is not limited to this, and the key switch 24 is turned on while the accelerator pedal is depressed. Even when the key switch 24 is turned on with the brake pedal depressed, it may be configured to switch to follow-up running.
[0062]
【The invention's effect】
In the present invention, the tracking circuit is operated only for a predetermined period by performing a predetermined combined operation, and therefore, the vehicle can be operated following such a special operation and can be operated only by an administrator. It is safe for those unfamiliar with it to operate. In addition, since switching can be performed without operating a switch in a hidden place in order to switch to follow-up traveling, there are effects such as improved operability.
[0063]
In addition, the tracking circuit operates only when it detects the presence of a preceding vehicle when performing a predetermined combined operation, so it detects that there is no signal from the preceding vehicle when the preceding vehicle is turned off. As a result, the following vehicle does not collide with the preceding vehicle, and the safety can be improved.
[0064]
Furthermore, since the predetermined combined operation is based on the operation of turning on the key switch while holding down the start switch, it is not operated by a person other than the administrator and can be switched to the follow mode by a simple operation. There are effects such as improved usability.
[0065]
The operation of the tracking circuit by a predetermined combined operation becomes invalid after a predetermined distance after the start of the operation.Therefore, the switching to the tracking driving is performed only at a necessary place, the release is automatically performed, and the trouble of switching the switch is caused. There are also effects such as improved usability.
[0066]
In addition, the operation of the follow-up circuit by a predetermined composite operation becomes invalid after a predetermined time after the start of the operation, so that it is switched to follow-up running only at a necessary place, automatically released, and troublesome to switch the switch. There are also effects such as improved usability.
[0067]
In addition, the operation of the follow-up circuit by a predetermined composite operation is invalidated by the magnet information embedded on the road surface after the start of operation, so it switches to follow-up running only where it is necessary, automatically releases it, and bothers to switch the switch. There is no shortage, and there are effects such as improved usability.
[0068]
Furthermore, since a notification means is provided for distinguishing between when the tracking circuit is operated by a switch and when the tracking circuit is operated by a predetermined composite operation, the user can know in what state the tracking has been performed. It is possible to produce an effect such as improved usability.
[0069]
In addition, since the notification means notifies only when the follower circuit is operated by a predetermined combined operation, the user can know in what state the follower travel is performed, and the follower travel can be performed in a special state. Since the notification is made only when the error occurs, there is no mistake in operation, and there are effects such as improved usability.
[0070]
And, when the tracking circuit is operated by a predetermined combined operation, the drive source is set to the minimum speed of the traveling speed, so that the safety during traveling in the following traveling in a special state can be improved. Play.
[0071]
In addition, when the tracking circuit is operated by a predetermined combined operation, the vehicle starts to travel after a predetermined time, so that it is possible to improve safety during traveling in the following traveling in a special state.
[Brief description of the drawings]
FIG. 1 is an overall side view of a main body according to an embodiment of the present invention.
FIG. 2 is a top view showing the configuration of the main body.
FIG. 3 is a perspective view showing the start / stop switch and key switch.
FIG. 4 is a block diagram of the control circuit.
FIG. 5 is a flowchart showing the operation of the control circuit.
[Explanation of symbols]
18 Drive source (motor)
5 Guide wire 1 Body 32 Rear collision prevention circuit (Cart guard)
32 Tracking circuit (Cart guard)
24 Key switch 25 Start switch (Start / Stop switch)
31 switch (follow-up switch)
29 Notification means (alarm sound generator)

Claims (7)

A main body that travels along a predetermined guide path by a drive source, and a rear-end collision prevention circuit that stops the operation of the drive source when a separation distance between the main body and the preceding vehicle that is provided in the main body is equal to or less than a predetermined value; After stopping by the operation of the rear-end collision prevention circuit, when the separation distance from the preceding vehicle becomes a predetermined value or more, a follow-up circuit that starts the operation of the drive source and performs follow-up running,
A microcomputer for controlling the operation of the main body;
A key switch for inputting a signal to the microcomputer;
A start / stop switch for instructing start and stop;
An accelerator pedal connected to an accelerator for instructing driving force;
A brake pedal,
The tracking circuit operates the tracking circuit by performing a combined operation of a key switch with any of a start / stop switch, an accelerator pedal, and a brake pedal,
A self-propelled vehicle that is set to follow-up traveling only when the combined operation is performed and the presence of a preceding vehicle is detected when the combined operation is performed to follow-up. 2. The self-propelled vehicle according to claim 1, wherein the operation of the tracking circuit by the combined operation becomes invalid after a predetermined distance after the operation starts . 2. The self-propelled vehicle according to claim 1, wherein the operation of the tracking circuit by the combined operation becomes invalid after a predetermined time has elapsed after the operation is started. 2. A magnet sensor circuit for inputting information on magnets provided on a traveling road surface, wherein the following traveling by the combined operation is canceled when the detection of the magnet instructing the cancellation of the following traveling is detected . Self-propelled vehicle The self-propelled vehicle according to claim 1 , further comprising an informing means for informing when the following circuit is operated by the composite operation . The self-propelled vehicle according to claim 1 , wherein when the tracking circuit is operated by the combined operation, the drive source is set to a minimum traveling speed . The self-propelled vehicle according to claim 1, wherein when the follow-up traveling is operated by the combined operation, the traveling is started after a predetermined time .

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