JPH0536503U - Automatic driving guidance device - Google Patents

Abstract

(57) [Summary] (Corrected) [Purpose] By making the current flowing through the induction cable an alternating current at the frequency of the commercial power supply, it is not necessary to supplement the attenuation on the way with a power amplifier. In an automatic traveling induction device for automatically traveling a vehicle 10 along an induction cable 3, a current supply means 5 for supplying a current having a commercial frequency to the induction cable, and an induction cable 3
And a transmitting means 4 for sending a traveling control signal by intermittently flowing a current flowing through the vehicle. Based on the induced voltage induced by the cable detection units 21 to 30 according to the distance to the induction cable, the steering control unit 91 steers the wheels so that the vehicle travels along the induction cable 3. The traveling control signal represented by the intermittent pulse of the commercial frequency current is received by the receiving means 90.
The vehicle travels based on the traveling control signal. Since the commercial frequency is low, there is little attenuation in the induction cable and no attenuation compensation is required.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an automatic travel guide device in which a guide cable is buried along a traveling path of a vehicle and the vehicle is automatically traveled along the guide cable.

[0002]

[Prior Art]

 2. Description of the Related Art Traveling work vehicles that automatically drive agricultural chemicals and spray pesticides on the ridges of gardening facilities are known.

Such a traveling work vehicle travels along an induction cable buried at a depth of 30 to 60 cm on a traveling path, and an induction current of 1000 Hz to 10 kHz is applied to the induction cable. .. The traveling work vehicle has a detection coil for detecting the position of the induction cable from the induced voltage induced by the alternating current of 1000 Hz to 10 kHz, and a control device for steering the wheels based on the detection of the detection coil. Is provided. Based on the detection of the detection coil, the control device steers the wheels so that the traveling work vehicle travels along the guidance cable, and causes the traveling work vehicle to travel on the traveling road.

[0004]

[Problems to be solved by the device]

 By the way, when the traveling path is long, the guide cable also becomes long, and the impedance of the guide cable becomes large. Therefore, a large-capacity power amplifier is required to supply a predetermined current to the induction cable, which causes a problem of high cost.

Further, since the current flowing through this induction cable is a high frequency current of 1000 Hz to 10 KHz, if the induction cable is long, the attenuation in the middle of this induction cable is large, and the attenuation must be compensated by inserting an amplifier or a coil in the middle thereof. There were problems such as having to do it.

Further, when the guide cable is long, there is a problem that it is difficult to control the traveling work vehicle by sending a signal to the guide cable because the attenuation on the way is large.

The present invention has been made in view of the above problems, and an object thereof is to eliminate the need for supplementing a power amplifier or attenuation on the way, and to provide a signal on an induction cable for a vehicle traveling on a traveling path. It is intended to provide an automatic travel guidance device capable of performing control and the like.

[0008]

[Means for Solving the Problems]

 In order to achieve the above-mentioned object, the present invention provides an automatic driving induction device in which an induction cable is embedded along a traveling path of a vehicle and the vehicle automatically travels along the induction cable. And a transmitting means for transmitting a traveling control signal for interrupting the current flowing in the induction cable to cause the vehicle to run or stop, and induce a voltage induced by the current flowing in the induction cable. A cable detecting means for outputting according to the distance to the guide cable, and based on the detection by the cable detecting means, a steering wheel that steers the wheels so that the vehicle runs along the guide cable. Control means, receiving means for receiving the traveling control signal sent to the guide cable, and based on the traveling control signal received by the receiving means And running control means for Ru to perform the running and stopping of both, characterized in that provided in the vehicle.

In addition, in an automatic traveling induction device in which an induction cable is embedded along a traveling path of a vehicle and the vehicle automatically travels along the induction cable, a current supply means for supplying a current having a commercial frequency to the induction cable is provided. And a transmitting unit that transmits a work signal for controlling a work machine mounted on the vehicle as an intermittent signal in which a current flowing through the induction cable is intermittent, and an induction voltage induced by the current flowing through the induction cable is Cable detection means that outputs according to the distance to the guidance cable, and steering control means that steers the wheels so that the vehicle runs along the guidance cable based on the detection of the cable detection means. Receiving means for receiving the work signal sent to the induction cable, and the working machine based on the work signal received by the receiving means And a working machine control means for controlling, characterized in that provided in the vehicle.

[0010]

[Action]

 According to this configuration, the current supply means causes the current supply means to flow the commercial frequency current through the induction cable buried along the traveling path, and the transmission means interrupts the current flowing through the induction cable to send the traveling control signal to transmit the cable. The detection means outputs an induced voltage according to the distance to the induction cable, and the steering control means steers the wheels based on the induced voltage of the cable detection means so that the vehicle travels along the traveling path. The receiving means receives the travel control signal sent to the guide cable, and the travel control means causes the vehicle to run or stop based on the travel control signal received by the receiving means.

Further, the work means for controlling the work machine mounted on the vehicle is transmitted by the transmitting means as an intermittent signal which interrupts the current flowing through the induction cable, and the work machine control means is based on the work signal received by the receiving means. The work machine is controlled.

[0012]

【Example】

 Hereinafter, an embodiment of an automatic travel guide device according to the present invention will be described with reference to the drawings.

FIG. 2 is a plan view showing a horticultural facility. In FIG. 2, reference numeral 1 is a cultivation field for cultivating fruit trees and flowers, and 2 is a traveling path on which a work vehicle (vehicle) 10 travels. A guide cable 3 is buried in the road 2 along the traveling road 2 at a depth of 30 to 60 cm as shown in the figure.

As shown in FIG. 3, this induction cable 3 is connected to a secondary terminal 5a of an insulating transformer (current supply means) 5 via an information transmitter (transmission means) 4, and its primary terminal 5b is a commercial terminal. It is connected to a power source of a frequency so that a current having a commercial frequency (50 Hz or 60 Hz) f can flow through the induction cable 3. 7 is an automatic circuit breaker.

The information transmitter 4 is composed of a switch circuit made of, for example, a semiconductor, and interrupts the current flowing through the induction cable 3 based on a command from the command device 6 to send a signal to the induction cable 3. ..

This signal is a current that is interrupted by turning on / off the switch circuit. For example, as shown in FIG. 4, the signal is turned off for a predetermined time T1 at time t0, and then turned on for t1 time. .. After that, it is turned off for T1 time and turned on for t2 (> t1) time. Furthermore, after this, it is turned off for T1 hours and turned on for t2 hours. After this, turn it off for T1 hours and turn it on.

In this way, for example, a signal of [011] is transmitted depending on the on time, that is, the length of the conduction time t1, t2 of the switch circuit. Then, the signal controls the running or stopping of the work vehicle 10 or the work machine 92 (see FIG. 1) mounted on the work vehicle 10.

5 to 7 show a work vehicle 10 traveling on the traveling path 2. In FIGS. 5 to 7, 11 is a body frame, and a loading platform 12 is provided on the body frame 11. It has been done. A work machine 92 (see FIG. 1) for spraying agricultural chemicals, for example, is mounted on the platform 12.

At the front and rear of the work vehicle 10, cores 13 and 14 each having a length substantially equal to the vehicle width are provided in parallel with the vehicle width direction. The cores 13 and 14 have six cores extending downward. The protrusions 13a and 14a are provided at predetermined intervals. Further, detection coils (cable detection means) 21 to 25, 26 to 30 for detecting the induction cable 3 are wound around the cores 13 and 14 between the protrusions 13a and 14a. The detection coils 23, 28 are wound around the center of the vehicle width of the work vehicle 10, and the other detection coils 21, 22, 24, 25 are wound around the detection coil 23 at positions equidistant from each other. There is. The same applies to the detection coils 26, 27, 29, 30. A signal coil 20 for signal detection is wound around the position of the detection coil 23.

Reference numeral 31 denotes a bottom plate attached to the bottom of the vehicle body frame 11, and front and rear sides of the bottom plate 31 are provided with holding portions 32 to 35 extending in the vehicle width direction and having their front ends fixed to the frame 11. .. Bearings 36 and 37 are rotatably provided on the holding portions 32 and 33 with respect to vertical shafts 38 and 39, and the axles 42 and 43 of the front wheels 40 and 41 are held on the bearing portions 36 and 37. There is.

Arm portions 36a, 37a extending rearward are formed in the bearing portions 36, 37, and both ends of a connecting rod 44 are pivotally connected to the arm portions 36a and the arm portions 37a. It The central portion of the connecting rod 44 is pivotally supported by the protruding portion 45a of the swinging member 45, and the swinging member 45 is provided with a semicircular gear 45b. The swinging member 45 is swingable about a shaft 46 provided at the center of the gear 45b as a fulcrum. A gear 47 is meshed with the gear 45b, and the gear 47 is rotated by a steering motor 50 (see FIG. 1).

When the gear 47 is rotated by the steering motor 50, the swinging member 45 swings around the shaft 46 as a fulcrum by the gear 45b, and the swinging moves the connecting rod 44 left and right. The left and right movement of the connecting rod 44 causes the bearings 36 and 37 to rotate about the vertical shafts 38 and 39 as fulcrums, and as a result, the front wheels 40 and 41 are steered in the left and right directions. Reference numeral 49 is an encoder for detecting the turning angles of the front wheels 40, 41.

Bearing portions 51, 52 are provided on the holding portions 34, 35 so as to be rotatable with respect to vertical shafts 57, 58, and the bearing portions 51, 52 have axles 55, 54 for the rear wheels 53, 54. 56 are retained.

Similarly to the above, the bearing portions 51 and 52 are formed with rearwardly extending arm portions 51a and 52a, and both ends of the connecting rod 59 are pivotally supported by the arm portions 51a and 52a. Are linked together. The central portion of the connecting rod 59 is pivotally supported by the projecting portion 60a of the swinging member 60, and the swinging member 60 is provided with a semicircular gear 60b. The swinging member 60 is swingable about a shaft 61 provided at the center of the gear 60b as a fulcrum. A gear 62 is meshed with the gear 60b, and the gear 62 is rotated by a steering motor 70 (see FIG. 8).

Then, similarly to the above, the rear wheels 53, 54 are steered by the rotation of the steering motor 70. Reference numeral 71 is an encoder for detecting the turning angles of the rear wheels 53, 54.

The rear wheels 53, 54 are driven by drive motors 72, 73 attached to the rear wheels 53, 54, and the drive motors 72, 73 are print motors. Reference numeral 75 denotes a control box provided on the bottom plate 31, and a control device 80 for controlling the motors 50, 70, 72, 73 and the working machine 92 is built in the control box.

As shown in FIG. 1, the controller 80 detects the positions of the induction cables based on the induced voltages output from the detection coils 21 to 30 and the induction coils in the signal coil 20. The information receiver (reception means) 90 that receives the signal sent to the induction cable 3 from the induced voltage generated, and the motors 50, 70, 72 based on the detection by the detection units 81, 82 and the reception by the information receiver 90. , 73 and the work machine 92.

As shown in FIG. 8, the detection unit 81 includes amplifiers 83a to 83e that amplify the induced voltage induced in the detection coils 21 to 25, and rectifiers 84a to 84e that rectify the amplified induced voltage. , The output voltage of the rectifier 84c is used as a reference voltage, and the output voltage of each rectifier 84a, 84b, 84d, 84e is compared, and when the output voltage is equal to or higher than the reference voltage, a comparator 85a for outputting an H level signal is output. And 85d.

Then, the detection unit 81 detects when the front side of the work vehicle 10 is largely displaced to the right (in FIG. 8) with respect to the induction cable 3 and the detection coil 21 comes closest to the induction cable 3. Since the induced voltage in the coil 21 is maximized, the output shown in state 1 in Table 1 below is obtained.

[0030]

[Table 1]

When the front side of the work vehicle 10 is slightly shifted to the right with respect to the induction cable 3 and the detection coil 22 comes closest to the induction cable 3, the induced voltage of the detection coil 22 becomes maximum, The output is shown in state 2 of Table 1. Further, when the work vehicle 10 is not displaced to the left or right with respect to the induction cable 3, the detection coil 23 is in the state closest to the induction cable 3, so that the induced voltage of the detection coil 23 becomes maximum and Table 1 The output is as shown in state 3.

When the front side of the work vehicle 10 is slightly shifted to the left (in FIG. 8) with respect to the induction cable 3 and the detection coil 24 comes closest to the induction cable 3, the induced voltage of the detection coil 24 becomes maximum. Therefore, the output shown in state 4 of Table 1 is obtained. When the front side of the work vehicle 10 is largely displaced to the left with respect to the induction cable 3 and the detection coil 25 comes closest to the induction cable 3, the induced voltage of the detection coil 25 becomes maximum. The output shown in state 5 is obtained.

As shown in FIG. 9, the detector 82 has the same configuration as that shown in FIG. 8, and therefore its explanation is omitted.

When the rear side of the work vehicle 10 is displaced with respect to the guide cable 3, the output thereof is as shown in Table 2 below, in the same manner as above.

[0035]

[Table 2]

The information receiver 90 receives the signal sent to the induction cable 3 from the induced voltage induced in the signal coil 20, and as shown in FIG. The pulse signal is long and short and represents [0] [1].

The control circuit 91 is composed of a microcomputer and the like, and as shown in Table 1, when the output of the detection unit 81 is in the state 1, the front wheels 40 and 41 are steered to the left by the angle β, In the state 2, the front wheels 40, 41 are steered to the left by an angle α (<β). Further, when the output of the detection unit 81 is in the state 3 in Table 1, the front wheels 40, 41 are not steered, in the state 4, the front wheels 40, 41 are steered to the right by the angle α, and in the state 5, The front wheels 40, 41 are steered to the right by an angle β.

Further, the control circuit 91 turns the rear wheels 53, 54 to the left by the angle γ when the output of the detection unit 82 is in the state 1 of Table 2, and when the output of the detection unit 82 is in the state 2, the rear wheels 53, 54 are moved to the left. The steering wheel is turned to an angle δ (<γ). Further, when the output of the detection unit 82 is the state 3 in Table 1, the rear wheels 53 and 54 are not steered, and when the state 4 is the rear wheels 53 and 54 are steered to the right by the angle δ, the state 5 is , The rear wheels 53, 54 are steered to the right by the angle γ.

The steered angles of the front wheels 40, 41 and the rear wheels 53, 54 are obtained from the signals output from the encoders 49, 71. For example, the encoders 49 and 71 generate a pulse each time the gears 47 and 62 rotate by a predetermined angle, and the control circuit 91 counts this pulse to obtain the turning angle.

The control circuit 91 has functions as steering control means for steering wheels, traveling control means for traveling and stopping the work vehicle 10, and machine control means for controlling the work machine 92. is doing.

Next, the operation of the automatic travel guide system of the embodiment configured as described above will be described.

The traveling work vehicle 10 will be described as, for example, as shown in FIG. 2, starting from a point Q1 and automatically traveling along a direction indicated by an arrow P to a point R.

First, as shown in FIG. 3, an AC current having a commercial frequency is applied to the induction cable 3, and a drive signal for driving the drive motors 72 and 73 by the instruction device 6 is generated. As shown in FIG. 4, the signal is intermittently transmitted and transmitted.

The signal coil 20 outputs an induced voltage according to the intermittent current flowing in the induction cable 3, and the information receiver 90 receives the drive signal transmitted to the induction cable 3 from the induced voltage of the signal coil 20. Then, a pulse signal corresponding to the intermittent current is output.

The control circuit 91 receives the pulse signal and drives the drive motors 50 and 70. By this drive, the work vehicle 10 travels straight from the point Q1 to the right (in FIG. 2). On the other hand, in the induction coils 21 to 30, similarly to the signal coil 20, an induced voltage according to the current flowing in the induction cable 3 is generated.

When the work vehicle 10 is traveling straight ahead in the state shown in FIG. 2, the induced voltage induced in the detection coils 23, 28 is the largest, so that the comparators 85a-85d, 88a-88d are respectively. Outputs E1 to E4 and F1 to F4 are at L level as shown in the state 3 of Tables 1 and 2. In this state, the control circuit 91 continues to drive only the drive motors 72 and 73 without driving the steering motors 50 and 70. As a result, the work vehicle 10 continues to travel straight.

Now, when the work vehicle 10 is in a state in which the front side is displaced as shown by the broken line in FIG. 2, the induced voltage of the detection coil 22 becomes the maximum voltage, and the outputs E1 to E4 of the comparators 85a to 85d are as shown in the table. As shown in the state 2 of No. 1, it becomes [LHLL]. Further, since the induced voltage of the detection coil 28 is the maximum, the outputs F1 to F4 of the comparators 88a to 88d remain L level as shown in the state 3 of Table 2.

The control circuit 91 drives the steering motor 50 based on the output of the detection unit 81 to steer the front wheels 40, 41 to the left by a predetermined angle α.

Since the outputs F1 to F4 of the comparators 88a to 88d are at the L level, the steering motor 70 is not driven and the rear wheels 53 and 54 are not steered.

By steering the front wheels 40, 41, the traveling direction of the work vehicle 10 is corrected, and the work vehicle 10 returns to the regular traveling path 2. In this case, when the deviation of the traveling vehicle 10 from the traveling path 2 is large, the induced voltage of the detection coil 21 becomes the maximum, the outputs E 1 to E 4 of the comparators 85a to 85d become the state 1 in Table 1, and the front wheels 40 and 41 have different angles. It is steered to the left by an angle β larger than α. As a result, the work vehicle 10 can be promptly returned to the regular road 2 even if the deviation amount is large.

When the work vehicle 10 returns to the regular traveling path 2, the induced voltage in the detection coil 23 becomes maximum. As a result, the control device 91 reversely rotates the steering motor 50 and returns the steering angles of the front wheels 40, 41 to zero. As a result, the work vehicle 10 travels straight ahead again.

When the work vehicle 10 has its front portion shifted to the right (with respect to the induction cable 3) and its rear portion shifted to the left as shown in FIG. 10, the induced voltage in the detection coil 21 becomes maximum and the comparators 85a to 85a. The outputs E1 to E4 of 85d are as shown in state 1 of Table 1. Further, since the induced voltage of the detection coil 30 is maximized, the outputs F1 to F4 of the comparators 88a to 88d are as shown in state 5 in Table 2.

The control circuit 91 steers the front wheels 40, 41 to the left by an angle β based on the outputs E1 to E4 of the comparators 85a to 85d, and based on the outputs F1 to F4 of the comparators 88a to 88d, The rear wheels 53, 54 are steered to the right by δ. As a result, the work vehicle 10 is corrected to rotate in the counterclockwise direction and returns to the regular road 2.

Further, as shown in FIG. 11, when the front and rear parts of the work vehicle 10 are displaced to the left, the induced voltage between the detection coil 25 and the detection coil 29 becomes maximum, and the outputs of the comparators 85a to 85d are maximized. E1 to E4 are as shown in state 5 of Table 1, and outputs F1 to F4 of the comparators 88a to 88d are as shown in state 4 of Table 2. Based on these outputs, the control circuit 91 steers the front wheels 40 and 41 to the right by the angle β and the rear wheels 53 and 54 to the right by the angle δ.

As a result, the work vehicle 10 is corrected so as to move in parallel in the direction of the arrow S, returns to the regular traveling path 2, and travels along the guide cable 3.

When the work vehicle 10 is traveling straight ahead, for example, as shown in FIG. 12, when the front wheel 40 rides on the convex portion 2a on the traveling path 2 and the work vehicle 10 leans, the detection coils 21 to 30 of the detection coils 21 to 30 are moved. The induced voltage varies depending on the slope. However, even in this case, as long as the induced voltage of the detection coil 23 is maximum, the outputs E1 to E4 and F1 to F4 of the comparators 85a to 85d and 88a to 88d are the states 3 in Tables 1 and 2. It remains at the L level as shown in.

Therefore, the front wheels 40, 41 and the rear wheels 53, 54 are not steered, and the work vehicle 10 travels straight as it is. In other words, the control device 91 determines that the work vehicle 10 deviates from the regular travel path 2 even if the work vehicle 10 leans due to the unevenness of the travel path 2, and rolls the front wheels 40, 41 and the rear wheels 53, 54. There is no need to steer.

When the work vehicle 10 reaches the corner Q2, the induced voltage of the detection coil 22 or the induced voltage of the detection coil 21 becomes the maximum, and the outputs E1 to E4 of the comparators 85a to 85d are the states 2 or the states of Table 1. As shown by 1. Based on this output, the control circuit 91 turns the front wheels 40, 41 to the left by the angle α or the angle β. As a result, the work vehicle 10 turns left along the guide cable 3.

When the work machine 92 is operated while the work vehicle 10 is running to spray agricultural chemicals, a work signal for operating the work machine 92 is sent to the guide cable 3 by the command device 6 shown in FIG. send. The transmission of this work signal is performed by interrupting the current flowing through the induction cable 3, as shown in FIG.

The signal coil 20 outputs an induced voltage according to the intermittent current flowing in the induction cable 3, and the information receiver 90 receives the work signal transmitted to the induction cable 3 from the induced voltage of the signal coil 20. Then, a pulse signal corresponding to the intermittent current is output. Then, the control circuit 91 operates the work machine 92 according to the instruction of the pulse signal to spray the pesticide.

When the work vehicle 10 travels along the guide cable 3 to the point R, the instruction device 6 transmits a stop signal to stop the work vehicle 10. This transmission is also carried out by interrupting the alternating current flowing through the induction cable 3 as in the above. By this transmission, the signal coil 20 outputs an induced voltage according to the intermittent current flowing through the induction cable 3, and the information receiver 90 outputs a pulse signal according to the intermittent. The control circuit 91 stops the driving of the drive motors 72 and 73 in response to the instruction of the pulse signal to stop the traveling of the work vehicle 10.

By the way, since the frequency of the current flowing through the induction cable 3 is the commercial frequency f (50 Hz or 60 Hz), the impedance does not become so large even if the induction cable 3 is long, and therefore the current is supplied to the induction cable 3. The transformer 5 may be small. Further, since only the current having the commercial frequency is supplied, there is almost no attenuation during the induction cable 3. Therefore, it is not necessary to insert an amplifier or a coil in the middle of the induction cable 3 to compensate for the attenuation, so that the cost is low.

Further, as the earth leakage breaker and the protection relay, those of commercial power source can be used as they are, which is convenient.

Further, since the signal is also transmitted by intermittently transmitting the alternating current, it can be reliably transmitted to the work vehicle 10 even if the induction cable 3 is long, and the work vehicle 10 and the work machine 92 can receive the signal. Control can be performed easily.

Although the detection coils 21 to 30 are provided in front of and behind the vehicle in the above embodiment, only the detection coils 21 to 25 provided in front may be used. In this case, the rear wheels 53 and 54 may not be steered. Further, although five detection coils 21 to 25 are provided, the number of detection coils is not limited to this and may be two, for example. In this case, one detection coil is provided on each of the left and right sides, and the front wheels are steered so that the difference in induced voltage between the detection coils becomes zero.

Further, although the working vehicle for agriculture has been described in the above embodiment, the present invention is not limited to this, and can be applied to, for example, a vehicle for construction work, a golf cart and the like.

[0067]

【effect】

 As described above, according to this invention, since the current of commercial frequency is passed through the induction cable, the impedance does not become so large even if the induction cable is long, and therefore the current supply means for supplying the current to the induction cable is small. Anything is fine. Also, since only the current at the commercial frequency is passed, there is almost no attenuation in the middle of the induction cable. Therefore, it is not necessary to insert an amplifier or coil in the middle of the induction cable to compensate for the attenuation, so the cost is low. Will be things.

Also, as the earth leakage breaker and the protection relay, those of commercial power source can be used as they are, which is convenient.

Furthermore, since the signal to be passed through the induction cable is an alternating current that is intermittent, it can be reliably transmitted to the vehicle even if the induction cable is long, and the control of the vehicle and the work machine is facilitated. You can

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a control device according to the present invention,

FIG. 2 is a plan view showing a gardening facility in which a work vehicle travels,

FIG. 3 is a circuit diagram showing a circuit for supplying current to an induction cable,

FIG. 4 is an explanatory view showing currents and signals flowing in the induction cable,

FIG. 5 is a front view showing the front of the work vehicle,

FIG. 6 is a plan view showing a plane of the work vehicle,

FIG. 7 is an explanatory diagram showing a configuration of a drive mechanism for wheels of a work vehicle,

FIG. 8 is a block diagram showing a configuration of a detection unit,

FIG. 9 is a block diagram showing a configuration of a detection unit,

FIG. 10 is an explanatory view showing an example of a state where the work vehicle is displaced from the guide cable,

FIG. 11 is an explanatory view showing another example of a state where the work vehicle is displaced from the guide cable,

FIG. 12 is an explanatory diagram showing a state in which the work vehicle is tilted.

[Explanation of symbols]

2 traveling path 3 induction cable 4 information transmitter (transmission means) 5 insulation transformer (current supply means) 21-30 detection coil (cable detection means) 90 information receiver (reception means) 91 control circuit (turning control means, traveling) Control Means,
Machine control means)

 ─────────────────────────────────────────────────── ─── Continuation of the front page (71) Applicant 000235923 Mitsuhisa Hikita 1632-20 Mure, Mure-cho, Kida-gun, Kagawa Prefecture Shin-Yaguridai housing complex (71) Applicant 591234765 Kazuhiko Mori 109-2 Nishihaze-cho, Takamatsu-shi, Kagawa (71) Applicant 000238441 Yasuo Takeda 937-21 Asano, Kagawa-cho, Kagawa-gun, Kagawa Prefecture (72) Inventor Takeshi Imoto 4 of 368 Ichinomiya-cho, Takamatsu-shi, Kagawa (72) Inventor Atsushi Yamashita 51-128, Fukukaku-cho, Matsuyama-shi, Ehime Prefecture (72) 52) Ryoo, Aibatake, Ishii-cho, Meisai-gun, Tokushima Prefecture 52-30 (72) Creator Kazuhiko Mori 109-2 Nishihaze-cho, Takamatsu-shi, Kagawa (72) Mitsuaki Hikita 1632, Mure-cho, Kure-gun, Kagawa −20 Shin-Yaguridai housing complex (72) Inventor Yasuo Takeda 937-21 Asano, Kagawa-cho, Kagawa-gun, Kagawa Prefecture

Claims (2)

[Scope of utility model registration request] 1. An automatic running guide device in which an induction cable is buried along a running path of a vehicle and the vehicle is automatically run along the guiding cable, comprising: current supply means for supplying a current having a commercial frequency to the guiding cable. A transmission means for sending and receiving a traveling control signal that causes the vehicle to run or stop by interrupting the current flowing through the induction cable, the induction voltage induced by the current flowing through the induction cable up to the induction cable. And a steering control means for steering the wheel so that the vehicle travels along the guide cable based on the induced voltage of the cable detection means, and the guide cable. Receiving means for receiving the traveling control signal sent to the vehicle, and performing traveling or stopping of the vehicle based on the traveling control signal received by the receiving means. An automatic travel guiding device, characterized in that the vehicle is provided with a travel control means. 2. An automatic traveling guide device in which an induction cable is embedded along a traveling path of a vehicle and the vehicle automatically travels along the induction cable, comprising: current supply means for supplying a current having a commercial frequency to the induction cable. A transmission means for transmitting a work signal for controlling a work machine mounted on the vehicle as an interrupted signal in which a current flowing through the induction cable is interrupted, and an induction voltage induced by the current flowing through the induction cable, Cable detection means for outputting according to the distance to the induction cable, based on the induced voltage of the cable detection means, steering control means for steering the wheels so that the vehicle travels along the induction cable, Receiving means for receiving the work signal sent to the induction cable, and control of the working machine based on the work signal received by the receiving means. An automatic travel guiding apparatus, characterized in that a working machine control means for controlling the vehicle is provided in the vehicle.