JPH047715A - Induction type electric motor car - Google Patents

Abstract

PURPOSE:To make it unnecessary to set up a speed in each selection of a manual steering mode and to improve the operability of an induction type electric motor car by automatically setting up a running speed in the manual steering mode to a running speed selected in the preceding manual steering mode. CONSTITUTION:A low speed switch 27, a medium speed switch 28 and a high speed switch 29 are used for controlling the speed of the electric motor car when the manual steering mode is selected. A control part 94 has a means for storing the operation of the switches 27 to 29, and when the manual steering mode is switched again through the induction mode, the speed stored in the storage means is outputted to a control circuit means 95 to run the motor car at the speed set up at the time of selecting the preceding manual steering mode. Since the motor car can be run without setting up a new running speed again, the operability of the car can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a guided electric vehicle that travels guided along a guide line buried in the road surface, and is applicable to golf carts and the like.

(b) Conventional technology In the past, with this type of induction electric vehicle, for example,
The one shown in Japanese Patent No. 8003 is known. That is,
An alternating current is passed through a single induction wire buried in the road surface, and the alternating magnetic field generated by this is detected by two detection coils placed at equal intervals on the left and right sides of the center line of the electric vehicle body. The induced electromotive force generated in the coil is compared, and the difference in induced electromotive force is used to control the angle control motor of the induction wheels (hereinafter referred to as casters) relative to the electric motor body, change the direction of the caster, and induce the electric vehicle body. It is designed to guide the vehicle along a line.

This guided electric vehicle is automatically steered along a guide line, but must be manually steered when traveling in an area without a guide line. however,
When changing the running direction using manual steering, you must push the handle fixed to the induction electric vehicle body in the direction you want it to run to change the running direction. It required a lot of force and had extremely poor maneuverability.

(c) Problems to be Solved by the Invention The present invention has been made in view of the above-mentioned drawbacks, and an object of the present invention is to provide an induction electric vehicle with improved maneuverability.

(d) Means for Solving the Problems The present invention uses a detection sensor to detect the magnetic field generated in the guide wire buried in the road surface, and uses the detection output to control the angle of the caster with respect to the main body of the electric vehicle. There is a guidance mode in which the main body of the electric vehicle is guided to travel along a guide line, and a manual mode in which the angle control motor is controlled based on the amount of operation of the operating means and the main body of the electric vehicle is driven in accordance with the operation of the operating means. a selection means for selecting a steering mode;
A speed setting means for setting a traveling speed in manual steering mode, and a storage means for storing the speed set by the speed setting means and setting the traveling speed to the stored speed when manual steering mode is selected again. It is characterized by:

When the manual steering mode is selected, the vehicle travels regardless of the guide line by operating the operating means, and its traveling speed is appropriately selected by the speed setting means.

Furthermore, when the guidance mode is selected, the vehicle travels along the guidance wire based on the output of the detection means that detects the magnetic field generated in the guidance wire buried in the road surface.

After driving in manual steering mode, select guidance mode,
After that, when the manual steering mode is selected again, the traveling speed selected in the previous manual steering mode is set, and the vehicle can be driven without setting the traveling speed anew.

(f) Example An example in which the electric induction vehicle of the present invention is applied to a golf cart will be described in detail below.

Reference numeral 1 denotes a main body, and drive wheels (rear wheels) 2 are provided on both rear sides, and a drive motor 3 for driving the drive wheels 2, a lead-acid battery as its power source, a control circuit board, etc. are mounted inside. A mounting stay 4 is provided in front of the main body 1, and a caster 5 is rotatably supported on the stay 4, in other words, with respect to the main body 1, and the caster 5 has a guide wheel. (Front wheel) 6 is rotatably supported.

7 is an angle control motor attached to the mounting stay 4, a first pulley 8 is fixed to the motor shaft, a second pulley 9 is fixed to the shaft of the caster 5, and a timing belt 10 is connected between the two arms. The rotation of the angle control motor 7 is transmitted to the casters 5 by connecting them, and the angle of the casters 7 with respect to the main body 1 is controlled.

Numeral 11 is a bolt attached to the mounting stay 4, and its rotating shaft is connected to the motor shaft of the angle control motor 7 via a timing belt 12, and the volume 11 controls the angle of the caster 5 with respect to the main body 1. It is designed to be detected.

A support plate 13 is fixed to the caster 5 and protrudes forward of the caster 5. A pair of detection coils 14a and 14 are provided on the left and right ends of the support plate 13, respectively, and are spaced an equal distance from the center.
b and ′ are respectively attached at predetermined positions. The pair of detection coils 12a and 12b are connected to a guide wire 1 buried in the road surface.
The alternating magnetic field radiated from the guide wire 15 is detected by passing an alternating current through the guide wire 15, and the angle of the caster 5 relative to the main body 1 is controlled by controlling the angle control motor 7 based on the deviation of the detected output. It has become.

] 6 is a handle extending rearward from the main body 1, and a brake lever 17 is disposed nearby.

18 is a control box provided on the handle 16;
As is clear from the front view shown in FIG. 3, the main operation section 19 is disposed on the left side, and the speed control section 20 is disposed on the right side. The main operation unit 19 uses a sensor 23 to detect the magnetic force of a magnet 22 buried as a mark of a pre-scheduled stopping point near the road surface where a power switch 21 and a guide wire 15 are buried, thereby stopping the golf cart. A station passing selection switch 24 that selects between a station stop mode and a station passing mode in which the station is passed by disabling the sensor output, and a power handle selection switch that selects whether or not to perform manual steering by operating an operating lever 32, which will be described later. 25, and this main operation section 19 is covered by a lid body 2 so as to be openable and closable.

The speed control section 20 includes a low speed switch 28, a medium speed switch 28, a high speed switch 28, and a high speed switch 28 for switching the output of the drive motor 3 during manual steering by operating a control lever 32, which will be described later.
It has a chi 29. Reference numeral 30 denotes a start switch for starting the running of the main body I.

Reference numeral 31 denotes a key switch formed on the side of the control box 18, which can be operated from ON to OFF using a removable key. Only when the key switch 31 is turned ON can the manual steering mode and guidance mode, which will be described later, be selected. When the steering mode is turned off, manual steering mode cannot be selected.

Reference numeral 32 designates an operating lever whose one end is supported on the upper surface of the control box 18, and whose free end rotatably supports an operating section 33 made of synthetic resin. 1 position (see the solid line position in FIGS. 3 and 4, and FIG. 2), the operating portion 33 is press-fitted into the recess 34 of the control box 18 away from the user to prevent movement of the operating lever 32. It is designed to rotate between the second position (see the broken line position in FIGS. 3 and 4).

Further, the operating lever 32 is supported so as to be able to swing from side to side in the first position, and by swinging it operates a volume 35 disposed inside the control box 18, and outputs the output of the second volume 35. The angle control motor 7 is compared with the output of the volume 1 which detects the angle of the caster 5, and the angle control motor 7 is controlled so that both outputs are the same. In the first position, the operating lever 32 has left and right sides.
When the rocking force is released, it returns to the center position.

In the second position, the operating lever 32
3 is press-fitted into the recess 34 of the control box 18 to prevent the operating lever 32 from vibrating.

A holder 36 made of synthetic resin houses a magnet 37, and is embedded in the surface of the operating lever 32 that faces the control bore box 18 when the operating lever 32 is moved to the first position. The holder 38 is made of synthetic resin and has a magnet 39 housed therein, and is embedded in the surface of the operating lever 32 facing the control box 18 when the operating lever 32 is placed in the second position. The portion of the holder 36, 38 that protrudes from the operating lever 32 is formed into a substantially hemispherical shape.

Reference numeral 40 denotes a Hall IC disposed at a position facing the holder 36 in the control box 18 when the operating lever 32 is placed in the first position and neutralized.
2 to the first position, the Hall IC 40 detects the magnetic force of the magnet 37 and selects the manual steering mode.

Reference numeral 41 denotes a Hall IC disposed at a position facing the holder 38 in the control box 18 when the operating lever 32 is placed in the second position. The Hall IC 41 detects the magnetic force of the magnet 39 and selects the induction mode.

On the top surface of the control box 18, the operation lever 32 is provided.
An arcuate groove 42 is formed at a position where the holder 36 comes into contact with the hemispherical protrusion of the holder 36 when the holder 36 swings in the first position, and extends over the swinging range of the operating lever 32 around the swinging center of the operating lever 32. This groove prevents the upper surface of the control box 18 from being damaged when the operating lever 32 is swung.

Next, the support structure of the operating lever 32 will be explained in detail based on FIGS. 5 to 8.

43 is a fixing metal fitting that is screwed to the handle [6];
A screw 44, which is bent into a substantially U-shape and fixed to the upper wall surface, is passed through a bracket 45 fixed to the handle 16, and a slot 46 is screwed onto the screw 44 to complete the fixing fitting 43. It is designed to be fixed.

A synthetic resin base 47 of the control box 18 is fixed to the upper wall surface of the fixing metal fitting 43 with screws, and a lower bar 48 that covers the bottom opening of the base is fixed to the base.
It is designed to cover A circular opening 49 is formed in the base 47 approximately in the center, and an annular protrusion 50 is formed integrally with the base 47 toward the upper side at the periphery of the opening.

51 penetrates the upper and lower wall surfaces of the fixing fitting 43,
The rotating shaft is rotatably supported by the earth wall surface and the lower wall surface, and has a U-shaped support fitting 52 fixed to its upper end by caulking. Fix the bottle 53 by caulking it. The support fitting 52 projects above the base 47 from the opening 49.

54 is fitted onto the outer periphery of the support fitting 52 and is connected to the base 47.
A hemispherical cover made of synthetic resin that covers the upper part of the opening 49,
An annular rib 55 is formed on the lower surface of the opening 49 in close proximity to the outer periphery of the protrusion 50, and the rib 55 and the protrusion 5
0 prevents rain or the like from entering the control box 18 through the opening 49.

Reference numeral 56 denotes a pair of support pieces provided on the operating lever 32, which are inserted into a slint 57 formed in the cover 54, and supported by a shaft 58 passing through the cover 54.
2 is rotatably supported.

The slit 57 formed in the cover 54
It does not communicate with the inside and is sloped downward toward the outer periphery, so that rain or the like that drips into the slit 57 does not enter the inside of the cover 54, but instead flows to the base along the slope of the bottom of the slit 57. They are guided onto a table 47.

Reference numerals 59 and 60 designate a pair of left and right metal arms, one end of which is rotatably supported on the upper wall surface of the fixture 43 in a stacked state, and bent pieces 61.
62 is bent and formed into the same shape with a cloth pressing part 63.64 having a depth of half the material thickness of the arm 61.62 at the free end, and the cloth pressing part 63.64 is bent downward. The arm 59 located above is formed to protrude upward, and the arm 60 located above is formed so as to protrude downward.

Reference numeral 65 designates a pair of bottles whose one end is caulked and fixed to the cloth pressing part 63.64 of the arm 59.60 so as to project downward, and the other end is positioned at the same height with respect to the fixing metal fitting 43. ing. That is, the arms 59 and 60 are supported with one end stacked on top of the other, and the cloth pressing portions 63 and 64 to which the bottle 65 is fixed are arranged such that the arm 59 located at the lower side extends upwardly by half the material thickness of the arm 59. Since the lower arm 60 is formed at a depth that is half of the material thickness of the arm 60 toward the bottom, the same-shaped bottle 65
When it is fixed by caulking, the other end will be located at the same height as the fixing metal fitting 43, as shown in FIG. Therefore, the spring body 66, which will be described later, is not installed diagonally, and the arms 59 and 60 can be rotated smoothly.
The rotating shaft 51 and the bottle 53 are held between the bent pieces 61 and 62 of the arm 59 and 60 by a spring body that urges the arms 59 and 60 toward each other. Therefore, when the operating lever 32 is swung in the left-right direction, the bin 53 near the rotating shaft 51 presses the bent piece 61.62 of one of the arms 59.60, and the arm 59.60 moves against the spring body 66.
The rotating shaft 51 rotates by rotating against the urging force of. For example, when swinging to the left, the arm 60 is pressed by the bottle 53 and rotates against the biasing force of the spring body 66. On the other hand, since the bending piece 61 of the other arm 59 is in contact with the rotating shaft 51, the other arm 59 does not rotate.

Furthermore, when the operating force on the operating lever 32 is released, the arm 59, 60 returns to its original position due to the biasing force of the spring body 66, and this return presses the bottle 53, returning the rotary shaft 51 to the neutral position, and the operating lever 32 returns to neutral position.

Reference numeral 67 denotes a pair of positioning protrusions that are fixed to the upper wall surface of the fixture 43 and protrude upward, and are connected to the arm 59.
．． 60 to restrict the rotation range of the arm, thereby restricting the swing range of the operating lever 32. In this embodiment, the projection 67 restricts the operating lever 32 to a range of up to 60 degrees on both the left and right sides to prevent the golf cart from overturning due to too sudden operation.

The volume 35 is fixed to the lower wall surface of the fixing metal fitting 43, and its rotating shaft extends below the lower wall surface through the lower wall surface, and a first gear 68 is fixed to the lower end. The second gear 69 fixed to the lower end of the shaft 51 is engaged,
Due to the meshing of the first gear 68 and the second gear 69, the rotating shaft 5
The rotation of 1 is transmitted to the volume 35.
2. Cask 5 by varying the output from volume 35
The direction of the caster 5 is controlled by controlling an angle control motor 7 that controls the angle of the caster 5 with respect to the main body 1.

Note that the wiring from the control box 18 is routed into the main body 1 through an opening (not shown) formed in the handle 16 and through the inside of the handle 16.

Next, the circuit will be explained based on FIG.

Reference numeral 70 denotes a guide wire detection means for detecting the guide wire 15 buried in the road surface, and the detection coil 14a detects an alternating magnetic field generated when an alternating current is supplied to the guide wire 15;
14b, and amplifier circuits 71a and 7 that amplify the detection output thereof.
1b, and a comparison circuit 72 that compares the amplified outputs thereof. The duty of the chopper circuit 73 is controlled based on the deviation output of the comparison circuit 72, and the rotation of the angle control motor 7 is controlled via the drive circuit 74.

75 is a mileage measuring means for measuring the distance traveled, and has a magnetic sensor 77 that detects magnetic flux from a magnet 76 attached to the drive wheel 2 or the guide wheel 6, and the output from the second magnetic sensor is It is converted into a DC voltage by the F-V conversion circuit 78, and output as a traveling distance signal and a speed signal to a control circuit means 95, which will be described later.

79 is a proximity detection means for detecting proximity to an obstacle located in front of the main body 1; It consists of a sensor 80 that detects reflected waves due to the Doppler effect, and a comparison circuit 81 that compares the output of the second sensor with a predetermined value. The distance to the object is detected, and when the obstacle approaches within a distance corresponding to the predetermined value, an output is sent to a control circuit means 95, which will be described later, and the control circuit means 95 stops the vehicle from traveling.

82 is a detection means for detecting the magnetic flux from the magnet 22 as a signal generation source buried as a preset stopping point near the guide wire 15, and the output of the detection coil 23 for detecting the magnetic flux of the magnet 22 is amplified. It is amplified by the circuit 83 and waveform-shaped by the waveform shaping circuit 84, and the output of the waveform shaping circuit 84 is outputted to the control circuit means 95, which will be described later.
The control circuit means 95 is adapted to stop running based on the output of the detection means 82. Also, at this time, the control circuit means 95 controls the station passing selection switch 2.
4, the station stop mode in which the vehicle is stopped based on the output of the detection means 82 and the station passing mode in which the vehicle is driven regardless of the output of the detection means 82 are selected. It is designed to control driving.

Reference numeral 85 denotes a clock signal generating means for generating a clock signal for the operation of the control circuit means 95, which outputs this tarok signal to a timer means 86 which performs a coefficient based on a command from the control circuit means 95 to control the output of the timer means. The signal is output to circuit means 95.

Reference numeral 87 denotes a manual steering means for controlling the angle of the caster 5 with respect to the main body 1 by manual operation, and the control lever 32
A volume 35 controlled by the swinging operation of the caster 5, an amplifier circuit 88 that amplifies its output, a volume 11 that detects the angle of the caster 5, an amplifier circuit 89 that amplifies its output, and both amplified outputs are differentially connected. It is composed of a comparison circuit 90 for comparison. The duty of the chopper circuit 91 is controlled based on the deviation output of the comparison circuit 90, and the rotation of the angle control motor 7 is controlled via the drive circuit 74.

92: i A switching means for switching the control of the angle control motor 7 between control based on the guide line detection means 70, that is, a guidance mode, and control based on the manual steering means 87, that is, a manual steering mode; A pair of Hall IC40,4
1 and a switching circuit 93, and the switching circuit 93 includes:
Based on the outputs of the Hall ICs 40 and 41, it is determined whether the operating lever 32 is located at the first position or the second position, and when the operating lever 32 is located at the first position. In this case, only the output from the manual steering means 87 is outputted to the drive circuit 74, and when the operating lever 32 is located at the second position, only the output from the guide wire detection means 7o is outputted to the drive circuit 74. It is designed to be output.

Note that when the manual steering mode is selected, when the operating lever 32 is swung, the Hall IC 40 no longer detects the magnetic force of the magnet 37 embedded in the operating lever 32, but the switching circuit 93: is operated to the first position. When the lever 32 is moved, the Hall IC 40 detects magnetic force to switch to the manual steering mode, and thereafter maintains the manual steering mode regardless of the detection of the magnetic force.

Further, the switching circuit 93 is configured so that the key switch 31 is turned off.
It has a switch means that cuts off the output from the manual steering means 87 when switched to FF, and the key switch 3
When 1 is turned off, the induction mode is set.

94 indicates the power switch 21, station passage selection switch 24, power handle selection switch 25, low speed switch 27, medium speed switch 28, high speed switch 29,
The control unit includes a start switch 30, and outputs are output to the control circuit means 95 based on the operation of each of the switches. The low speed switch 27, medium speed switch 28, and high speed switch 29 are used to control speed when manual steering mode is selected, and the control section 94 controls the low speed switch 27, medium speed switch 28, and high speed switch
9, and when the manual steering mode is switched again after the guidance mode, the tf is stored in the storage means.
The calculated speed is output to the control circuit means 95, and the vehicle is caused to run at the speed set when the manual steering mode was selected last time.

Reference numeral 95 denotes a control circuit means which includes a microprocessor and controls the drive wheel 2 via a drive circuit 96 based on each input signal.
The drive motor 3 for driving and the brake means 97 are controlled. Further, the control circuit means 95 controls the control circuit 95 when one of the Hall ICs 40 and 41 detects no magnetic force, that is, when the operating lever 32 is in the neutral position at the first position or at the second position. If it is not positioned securely, the start switch 30 will not start even if the start switch 30 is operated.

Reference numeral 98 indicates the power switch 21, the station passage selection switch 24, the power handle selection switch 25, the low speed switch 27, the medium speed switch 28, the high speed switch 29,
Control circuit means 95 based on operation of start switch 3o
a display section 991 that is a display circuit that displays the operating state based on the output from the power switch 21, and that lights up when the power switch 21 is operated;
Display section 100 that lights up when JA r+ of the station passage changeover switch 24, display section 1゜1 lights up when the power handle selection 7 inch 25 is operated, display section 102 that lights up when the low speed switch 27 is operated, medium speed switch The display section 103 is turned on by operating the switch 28, and the display section 104 is turned on by the operation of the high-speed switch 29.

Next, the operation will be explained.

When the operating lever 32 is moved to the second position, the Hall IC 41 corresponding to the second position detects magnetic force, and based on the output, the switching circuit 93 outputs only the output from the guide wire detection means 7o to the drive circuit 74. Switch to induction mode.

In this induction mode selection state, start switch 3
When 1) is operated, the output is sent to the control circuit means 95, and the first stage control circuit 95 drives the drive motor 3 via the drive circuit 96, causing the golf cart to travel.

In addition, the detection coils 14a and +4b detect the alternating magnetic field generated in the guide wire 15, and the angle control motor 7 is controlled based on the difference in detection output, thereby controlling the angle of the caster 5 with respect to the main body 1, and moving the golf cart. Travel along guide line] 5
let

When selecting this guidance mode, the operation ('f = lever 3
2 has its operating portion 33 press-fitted into the recess 34 of the control box 18, so the operating lever 3 may be damaged by vibrations during driving.
2 will not vibrate and generate noise between the control box 18 and the operating lever 32. Furthermore, since the operating portion 33 of the operating lever 32 is press-fitted into the recess 34, swinging operation is disabled, preventing erroneous operation and preventing the operator from operating the lever 32 erroneously.

When the operating lever 32 is moved to the first position, the Hall IC 40 corresponding to the first position detects the magnetic force of the magnet 37, and based on the output of the Hall IC 40, the switching circuit 93 switches only the output from the manual steering means 87 to the drive circuit 74. Switches to manual steering mode with output.

In this manual steering mode selection state, when the start switch 30 is operated, its output is output to the control circuit means 95, and the control circuit means drives the drive motor 3 via the drive circuit 96 to cause the golf cart to travel.

Then, when the operator operates the control lever 32 in the direction in which the operator wants the vehicle to travel, the volume 35 is controlled in accordance with the operation of the control lever 32, and the output from the volume 35 and the angle of the caster 5 with respect to the main body 1 are detected. The drive circuit 74 controls the angle control motor 7 according to the comparison value, and controls the operation lever 32.
The angle of the casters 5 with respect to the main body 1 is controlled in accordance with the operation, and the traveling direction is steered in the direction desired by the operator.

In this manual steering mode, the operator
Operate by pressing down on control lever 3.
The hemispherical protruding part of the holder 36 attached to the control box 18 is brought into contact with the groove part 42 formed in the control box 18, and other parts are not brought into contact with it, so that the top surface of the control box 18 is not damaged. , the appearance can be maintained in good condition for a long period of time.

Furthermore, since the groove portion 42 is formed over the swinging range of the operating lever 32, the groove portion 42 indicates the swinging range of the operating lever 32, so that the operator cannot swing the operating lever 32 beyond the swinging range. This prevents erroneous operations such as damage caused by Furthermore, by forming the groove portion 42, the Hall IC 40
Since the magnet 37 and the magnet 37 are brought close to each other, the Hall IC 40 can more reliably detect the magnetic force and reliably perform mode switching.

Even if you intend to switch the operating lever 32 to the first position or the second position, the switching is not completed.
In particular, even if you intend to switch from the first position to the second position, the operating part 33 of the operating lever 32 is not completely press-fitted into the recess 34 of the control box 18, and when you operate the start switch 30, the previous mode However, the control circuit means 95 is connected to either one of the Hall ICs 40,
41 does not detect the magnetic force, the start signal is not received, so the vehicle does not run in the previous mode, and safety can be improved.

In addition, due to a shortage of caddies, there may be cases where a player is not accompanied by a caddy when playing, and in that case, the player must operate the golf cart, but if a player who is not accustomed to operating the golf cart operates in manual steering mode, the golf cart may be driven into a pond. There is a risk that it may fall.

However, if the key switch 31 is turned OFF and the key is removed, the golf cart will not shift to manual steering mode even if the operating lever 32 is moved to the first position. I never drop it into a pond.

Next, the operation for leaving the golf cart delivered to the garage will be explained. When the power switch 21 is operated, the control circuit means 95 is in a state where the brake means 97 applies the brake. In this state, a brake release switch (not shown) provided on the back side of the control box 18 is operated to release the brake, and the operating lever 32 is moved to the first position to select the manual steering mode. When the operating lever 32 is not operated, the operating lever 32 is located at the neutral position, and therefore, the casters 5 are fixed in a direction parallel to the main body li. I pulled a 16, backed the Corfu cart straight back, and left the warehouse. Also, if necessary, the operation lever 32
By operating the , the direction of the casters 5 can be changed, and the golf cart can be moved back in a curved manner and taken out of the warehouse.

FIG. 11 is a circuit diagram showing a second embodiment, in which the same parts as in the above-mentioned embodiment are given the same reference numerals, and the explanation thereof will be omitted.

Reference numeral 105 denotes a guide wire detection means for detecting the guide wire 15 buried in the road surface, and a detection coil 1 for detecting an alternating magnetic field generated in the guide wire 15 by passing an alternating current through the guide wire 15.
4a, 14b, and an amplifier circuit 10 that amplifies the detection output thereof.
6a and 106b, the output from the guide wire detection means 105 is connected to a drive circuit 114 via a switching means 110, a comparison circuit 112, and a chopper circuit 113, which will be described later. 7 to control the angle of the casters 5 with respect to the main body 1, and the golf cart is run along a guide line 15.

Reference numeral 107 denotes a manual steering means for manually controlling the angle of the caster 5 with respect to the main body l, and the control lever 3
2, an amplifier circuit 108 that amplifies its output, a volume 11 that detects the angle of the caster 5, and an amplifier circuit 109 that amplifies its output. Manual steering means】0
5, a switching means 110 and a comparison circuit 11 whose outputs will be described later.
2. Output to the drive circuit 114 via the chopper circuit 113, drive the angle control motor 7 by the drive circuit 114 to control the angle of the caster 5 with respect to the main body 1, and steer the golf cart by operating the control lever 32. It looks like this.

Reference numeral 110 denotes a switching means for switching the control of the angle control motor 7 between control based on the guide line detection means 105, that is, the guidance mode, and control based on the manual steering means 107, that is, the manual steering mode. Hall IC4
0 and 41, and a switching circuit 111, and the switching circuit 111 determines whether the operating lever 32 is located at the first position or the second position based on the output from the Hall ICs 40 and 41. It is determined that the operation lever 32 is in the first position.
In position 1, only the output from the manual steering means 107 is sent to the drive circuit 114 via the comparison circuit 112 and the chopper circuit 113, and the operating lever 32 is located in the second position. In this case, only the output from the guide wire detection means 105 is outputted to the drive circuit 114 via the comparison circuit 112 and the chopper circuit 113.

112 is a comparison circuit for comparing the amplified output of the guide wire detection means 105 or the increased power of the manual steering means 107. Based on the deviation output of this comparison circuit 112, the duty of the chopper circuit 113 is controlled, and the driving circuit 114 controls the angle of the drive control motor 7 with respect to the main body.

With the circuit configuration of this second embodiment, the comparison circuits 72 and 9 (i and the chopper circuit 73 .91 can also be used, and the circuit configuration can be simplified.

(Effects of the Invention) As described above, according to the present invention, the guidance mode in which the vehicle travels along the guide line and the manual steering mode in which the vehicle is steered by operating the operating means can be appropriately selected as needed, resulting in improved maneuverability. In addition, the traveling speed in the manual steering mode is automatically set to the traveling speed selected in the previous manual steering mode, so the speed setting is performed each time the manual steering mode is selected. This is not necessary and has the effect of improving operability.

[Brief explanation of the drawing]

1 to 10 show an embodiment in which the present invention is applied to a golf cart, in which FIG. 1 is a circuit diagram, FIG. 2 is a perspective view of a control box, and FIG. 3 is a top view of the control box. Figure 4 is a side view of the control box, Figure 5 is an exploded perspective view of the control box, Figure 6 is a sectional view of the main parts of the control box, Figure 7 is an exploded perspective view of the inside of the control box, and Figure 8 is the main parts. 9 is a perspective view of the caster portion, FIG. 10 is an external perspective view, and FIG. 11 is a circuit diagram showing a second embodiment of the present invention. Caster, 7 angle control motor, 11 volume,
14a, 14b - detection coil, 15 guiding wire, 32... operating lever, 92 - switching means, 94 - control section, 95 control circuit means.

Claims (1)

[Claims] (1) A detection sensor detects the magnetic field generated in the guide wire buried in the road surface, and the detection output controls the angle control motor that controls the angle of the caster relative to the electric vehicle body, and the electric vehicle body is connected to the guide wire. a selection means for selecting a guidance mode in which the electric vehicle is guided along the vehicle, and a manual steering mode in which the electric vehicle body is caused to travel in accordance with the operation of the operation means by controlling the angle control motor based on the operation amount of the operation means;
a speed setting means for setting a traveling speed in the manual steering mode; a storage means for storing the speed set by the speed setting means and setting the traveling speed to the stored speed when the manual steering mode is selected again; An induction electric vehicle characterized by being equipped with.