JPH0536504U - Automatic driving guidance device - Google Patents

Abstract

(57) [Summary] (Correction) [Purpose] To provide an automatic travel guide device that does not steer the wheels even if the vehicle leans due to the unevenness of the traveling path. In an automatic traveling guidance device for automatically traveling a vehicle along a guidance cable 3 buried along a traveling path of a vehicle 10, first and second cable detection means 22 (21), 2
4 (25), the induced voltage induced by the current flowing through the induction cable
Third cable detection means 23 for outputting according to the distance to
And comparing means 85a to 85d for comparing the induced voltage output by the third cable detecting means with the induced voltage output by the first and second cable detecting means, and the first and second comparing means 85a to 85d. The induced voltage of the cable detection means is the third
The steering control means 91 is provided to steer the wheels so that the vehicle travels along the induction cable when the induced voltage is higher than the induced voltage of the cable detection means.

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. ..

As shown in FIG. 13, the traveling work vehicle 100 is provided with detection coils 101 and 102 at both ends in the vehicle width direction. The detection coils 101 and 102 output an induced voltage induced by an alternating current of 1000 Hz to 10 KHz flowing in the induction cable 103.

Then, a control device (not shown) steers the front wheels 104 and 105 so that the induced voltages of the detection coils 101 and 102 become the same, so that the traveling work vehicle 100 travels along the induction cable 103. It is what makes them.

[0006]

[Problems to be solved by the device]

 However, as shown in FIG. 14, in the traveling work vehicle 100, when the front wheel 104 rides on the convex portion 106a of the traveling path 106 and is inclined, the distance between the detection coil 101 and the guiding cable 103 increases, so that traveling work Even if the vehicle 100 is not displaced from the traveling path 106, a difference occurs in the induced voltage between the detection coil 101 and the detection coil 102. As a result, there is a problem that the control device determines that the traveling work vehicle 100 has deviated from the traveling path 106 and steers the front wheels 104 and 105.

The present invention has been made in view of the above problems, and an object thereof is to provide an automatic running guide device which does not steer the wheels even if the vehicle leans due to the unevenness of the running road. Especially.

[0008]

[Means for Solving the Problems]

 In order to achieve the above-mentioned object, the present invention embeds an induction cable along a running path of a vehicle, passes an alternating current of a predetermined frequency through the induction cable, and induces an induced voltage induced by the current flowing in the induction cable. The first and second cable detection means for outputting according to the distance to the induction cable are provided at both ends in the vehicle width direction of the vehicle, and the first and second cable detection means are provided on the basis of the induced voltage output by the first and second cable detection means. In an automatic travel guidance device for automatically traveling a vehicle along an induction cable, an induction voltage, which is provided at an intermediate position between the first and second cable detection means and is induced by a current flowing through the induction cable, The third cable detecting means for outputting according to the distance to the, and the induced voltage and the first and second cable detecting means for outputting by the third cable detecting means are outputted. If the induced voltage of the first and second cable detecting means compared by the comparing means for comparing with the induced voltage is larger than the induced voltage of the third cable detecting means, the vehicle is guided along the induction cable. A steering control means for steering the wheels so as to travel is provided.

[0009]

[Action]

 According to the invention, the comparison means compares the induced voltage output by the third cable detection means with the induced voltage output by the first and second cable detection means, and the steering control means operates by the comparison means. If the induced voltage of the compared first and second cable detecting means is higher than the induced voltage of the third cable detecting means, the wheels are steered so that the vehicle travels along the induced cable.

[0010]

【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 5 via an information transmitter 4, and its primary terminal 5b is connected to a power source of commercial frequency, A current of commercial frequency (50 Hz or 60 Hz) f can be passed through the cable 3. 7 is an automatic circuit breaker.

The information transmitter 4 is composed of, for example, a switch circuit made of 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.

As described above, the signal of, for example, [011] is transmitted according to 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. Then, detection coils 21 to 25 and 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 (third cable detecting means) 23, 28 are wound around the center of the vehicle width of the work vehicle 10, and the other detection coils (first, second cable detecting means) 21, 22, 24, The reference numeral 25 is wound around the detection coil 23 at positions equidistant from each other in the vehicle width direction. 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 and 37a extending rearward are formed on the bearing portions 36 and 37, and both ends of a connecting rod 44 are pivotally connected to the arm portion 36a and the arm portion 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.

Bearings 51, 52 are provided on the holders 34, 35 so as to be rotatable with respect to vertical shafts 57, 58. The bearings 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. 1).

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 induces in the signal coils 20 and the detection units 81 and 82 that detect the position of the induction cable based on the induced voltage output from each of the detection coils 21 to 30. 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 for amplifying the induced voltage induced in the detection coils 21 to 25, and rectifiers 84a to 84e for rectifying the amplified induced voltage. , Using the output voltage of the rectifier 84c as a reference voltage and comparing it with the output voltage of each rectifier 84a, 84b, 84d, 84e, and outputting a signal of H level when this output voltage is higher than the reference voltage (comparator (comparison Means) 85a to 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.

[0028]

[Table 1]

When the front side of the work vehicle 10 is slightly deviated 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 displaced 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 is detected. Is the maximum, 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 is as shown in state 5.

As shown in FIG. 9, the detection unit 82 has the same configuration as that of FIG. 8, and therefore its description 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.

[0033]

[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].

Since the control circuit (steering control means) 91 is composed of a microcomputer and the like, as shown in Table 1, when the output of the detection unit 81 is in the state 1, the front wheels 40, 41 are angled to the left. β is steered, and in 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 of Table 1, the front wheels 40, 41 are not steered, in the state 4, the front wheels 40, 41 are steered by the angle α to the right, and in the state 5, the front wheels 40, 41 are not steered. 40 and 41 are steered to the right by the angle β.

Further, the control circuit 91 steers 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 section 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.

Next, the operation of the automatic travel guiding apparatus of the embodiment configured as described above will be described.

It is assumed that the traveling work vehicle 10 automatically travels from a point Q1 to a point R along a direction indicated by an arrow P as shown in FIG. 2, for example.

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 corresponding to the intermittent current flowing through 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 and 28 is the largest, so that the comparators 85a to 85d, 88a to 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 where 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 represented by 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 and 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.

Further, as shown in FIG. 10, when the front portion of the work vehicle 10 is shifted to the right (with respect to the induction cable 3) and the rear portion is shifted to the left, the induced voltage of 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 work vehicle 10 has its front portion and rear portion 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 working vehicle 10 is modified 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 tilts, the detection coils 21 to 30 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. 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 point Q2, the induced voltage of the detection coil 22 or the induced voltage of the detection coil 21 becomes maximum, and the outputs E1 to E4 of the comparators 85a to 85d are in the state 2 or the state 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 through 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 five, and may be three, for example.

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

[0064]

【effect】

 As described above, the present invention has a third cable detecting means provided at an intermediate position between the first and second cable detecting means, an induced voltage output from the third cable detecting means, and the first and second cable detecting means. Since the comparison means for comparing the induced voltage output by the vehicle and the steering control means for steering the wheels are provided, the vehicle is tilted in the vehicle width direction and the induced voltages of the first and second cable detection means are provided. Even if fluctuates, if the vehicle is not displaced from the traveling path, the induced voltage of the third cable detecting means is the maximum, so the induction of the first and second cable detecting means compared by the comparing means is compared. The voltage is always smaller than the induced voltage of the third cable detecting means, and the steering control means does not steer the wheels even if the vehicle leans due to the unevenness of the traveling path.

[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.

FIG. 13 is an explanatory view showing a conventional work vehicle,

FIG. 14 is an explanatory diagram showing a state in which wheels are riding on a convex portion of a road.

[Explanation of symbols]

 2 Running path 3 Induction cable 10 Work vehicle (vehicle) 21,22 Detection coil (first cable detection means) 23 Detection coil (third cable detection means) 24,25 Detection coil (second cable detection means) 85a to 85d Comparator (Comparison means) 91 Control circuit (steering 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 induction cable is buried along a traveling path of a vehicle, an alternating current having a predetermined frequency is applied to the induction cable, and an induction voltage induced by the current flowing through the induction cable is supplied to the induction cable. The first and second cable detecting means for outputting in accordance with the above are provided at both ends in the vehicle width direction of the vehicle, and the vehicle is guided along the inductive cable based on the induced voltage output by the first and second cable detecting means. In an automatic traveling guidance device for automatically traveling, an induction voltage provided at an intermediate position between the first and second cable detection means and induced by a current flowing through the induction cable is output according to a distance to the induction cable. A third cable detecting means, an induced voltage output from the third cable detecting means, a first,
If the induced voltage of the first and second cable detecting means compared by the comparing means for comparing the induced voltage output by the second cable detecting means is larger than the induced voltage of the third cable detecting means, An automatic travel guidance device, comprising: a steering control unit that steers the wheels so that the vehicle travels along an induction cable. 2. The automatic running guide device according to claim 1, wherein a current having a commercial frequency is passed through the induction cable.