JPH07277160A - Self-traveling vehicle - Google Patents

Abstract

PURPOSE:To accurately perform the stop operation during the guided traveling by an unskillful driver without generating the operation error. CONSTITUTION:When any one of the conditions of turn-on of a brake switch 19 due to the operation of a brake pedal by a user getting in a vehicle, turn-off of a starting switch 12, and the receipt of the stop signal through a remote control receiver 13 is detected, a traveling control unit 10 perform the braking operation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guided vehicle used for moving a player or a caddy in a golf course and for carrying an article such as a golf bag.

[0002]

2. Description of the Related Art A golf cart used in a golf course is designed to prevent accidents due to reckless driving and to protect the lawn on the course. The mainstream is the one that guides the road. On the other hand, an engine-driven golf cart capable of obtaining a large horsepower has been eagerly needed in order to enable not only the transportation of articles such as golf bags but also the riding of users such as players and caddies. Therefore, in recent years, as disclosed in Japanese Patent Laid-Open No. 4-364506, a golf cart constructed so as to be guided by an engine while being capable of being guided has been put into practical use.

This golf cart is provided with a pair of left and right guidance signal sensors and a traveling sign sensor on the front of the vehicle body, and is also provided with means for adjusting the throttle opening and braking force of the engine as means for changing the traveling speed. A steering means for steering the vehicle body is provided. On the other hand, in order to instruct these changes to each position where running conditions need to be changed such as changing the speed and stopping, etc. The sign magnet of is embedded.

Such a golf cart has a remote control transmitter which is carried by the user in response to an on / off operation of a start switch which can be operated at the riding position while the user is in the vehicle and when the user is not in the vehicle. It can be started and stopped according to the operation. During the period from the start to the stop, the voltage induced in the pair of detection coils of the induction signal sensor is detected by the action of the magnetic field formed around the induction wire, and the deviation of the induced voltages of both detection coils is eliminated. Therefore, the guide traveling is performed by operating the steering means to trace the guide wire as a guide sign, and further, during this traveling, when the marker magnet is detected by the travel marker sensor, the traveling condition specified by this is realized. In order to do so, the speed changing means is operated to adjust the traveling speed.

When the running sign sensor detects a low speed sign, the golf cart is kept running at a low speed, and when a stop sign is detected, the golf cart is automatically stopped so that the golf cart is not in a riding state. It prevents the golf cart from running out of control if the remote control transmitter is not stopped during running.

The above-described guided traveling is disclosed in Japanese Patent Publication Nos. 5-51762 and 5-74842 by the applicant of the present application for a non-passenger type golf cart using an electric motor as a drive source. Can be implemented by the method described above.

By the way, in the conventional golf cart, before the start of business, an engineer starts the engine E, moves it from the garage to the cart road by manual steering, and then automatically switches the steering switch from manual steering to guidance. It is handed over to the user in a state where it is switched to the steering side and the vehicle can be driven by automatic steering. When the user gets on the vehicle and turns on the start switch, or when the user does not get on the vehicle, the remote control transmitter outputs a start signal to start the guided traveling under the control of the traveling control unit 10. This also applies to the case where the vehicle restarts after being stopped halfway inside the golf course.

In order to stop the golf cart during guided traveling, the start switch is turned off, a stop switch provided separately is turned on, or a stop signal is output by a remote control transmitter to control the running. The guide traveling is stopped by the control of the section 10.

[0009]

By the way, it is widely known in general passenger cars and the like that it is widely known and customary for a user in a golf cart to start or stop by turning the start switch on and off. The operation is completely different from the operation of depressing a certain brake pedal or the operation of gripping the brake lever, which is customary for bicycles, motorcycles, etc., so it is an erroneous operation when there is no normal psychological state, for example, sudden danger. However, in an emergency, the switch operation may be erroneously performed, and there is a risk that the danger cannot be avoided due to the delay in the operation due to the repeated erroneous operation.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an ordinary passenger car,
By enabling the braking operation by depressing the brake pedal, which has been universally used as a braking operation, even unskilled users can perform quick and accurate braking without error and prevent danger. It is to provide a self-propelled vehicle that can be done.

[0011]

A self-propelled vehicle according to the present invention is a self-propelled vehicle having an engine for driving and driving, a steering means for automatically steering along a predetermined traveling path, and a braking means. The means includes a brake pedal that mechanically operates the brake, a brake motor that operates the brake, a brake switch that detects a depression of the brake pedal and outputs a signal to drive the brake motor, and an output signal of the brake switch. And a control unit for operating the brake motor based on the above.

[0012]

According to the present invention, the brake switch detects this by depressing the brake pedal, the operation of which is generalized in general passenger cars, and the control unit detects the detected signal. Since the brake motor is driven to perform the braking operation, the danger can be avoided in an emergency without delay. Further, by mechanically connecting the brake pedal to the brake, the braking operation can be secured even when a malfunction occurs in the brake switch.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the drawings showing the embodiments. FIG. 1 is a side view showing the outer appearance of a golf cart to which the guidance device according to the present invention is applied, and FIG. 2 is a plan view schematically showing the internal structure of the golf cart.

As shown in the figure, the golf cart 1 covers the upper part of a vehicle body frame 4 supported by a pair of left and right front wheels 2, 2 and rear wheels 3, 3 with a front cowl 4a and a rear cowl 4b, and in front of the rear cowl 4b. Seat for sitting
5a and step 5b are installed to form the riding section 5, and the steering wheel 6 for steering is attached to the upper end of the steering column 6a projecting at a position where it can be operated while sitting on the seat 5a. It becomes.

The upper side of the riding section 5 is surrounded by a roof plate 7b supported by a pair of left and right supports 7a, 7a (only one side is shown) protruding from the front cowl 4a toward the rear upper side, and the front side is also supported by the roof plate 7b. Windshield 7c installed between 7a and 7a
The front part of the passenger compartment is surrounded by the front cover so as to protect the occupant on the riding section 5 from wind and rain. Further, a bulky article such as a golf bag is mounted on the rear side of the riding section 5, and a mounting frame 8a is projectably provided so as to be able to be fixed appropriately. Further, on the front side of the riding section 5, gloves, a hat, etc. An accessory case 8b for accommodating small-sized articles is attached.

In such a golf cart 1, the rear wheels 3 and 3 are used as driving wheels and the front wheels 2 and 2 are used as steering wheels.
Run while changing the direction. Steering of the front wheels 2 and 2 is manual steering by a driver sitting on the seat 5a of the riding section 5 and automatic steering by guiding along a predetermined traveling path. The direction is limited to the operation of a full-time worker such as putting out the garage before use and entering the garage after use, and only automatic steering by guidance is possible while a general user such as a player or caddy is on board. It is said that

The front wheels 2 and 2 are attached to both ends of a front axle 20 which is horizontally mounted on the front portion of the vehicle body frame 4 so as to be swingable about a substantially vertical axis, and the front axle 20 is also provided.
The rack shafts 21 arranged side by side on the rear side are connected to both ends via separate knuckle arms 22 and 22, respectively. The rack shaft 21 meshes with a pinion (not shown) inside a rack housing 23 that houses the rack shaft 23. The pinion is pivotally supported inside the steering column 6a, and a steering shaft that rotates as the steering wheel 6 rotates. They are connected via a universal joint 24.

When the steering wheel 6 is operated, the pinion rotates via the universal joint 24, this rotation is converted into movement of the rack shaft 21 in the axial direction, and the knuckle arms 22, 22 swing, The front wheels 2 and 2 are steered in the operation direction of the steering wheel 6 by an angle corresponding to the operation amount. A steering motor M ₁ is attached to an intermediate portion of the rack housing 23. An output end of the steering motor M ₁ is extended inside the rack housing 23 and meshes with the rack shaft 21 via a pinion (not shown). I am allowed.

When the steering motor M ₁ rotates, this rotation is transmitted to the rack shaft 21 via the pinion, and the knuckle arms 22 and 22 swing by the movement of the rack shaft 21 in the axial direction. As a result, the front wheels 2 and 2 are steered in the rotation direction of the steering motor M ₁ by an angle corresponding to the rotation amount. The steering motor M ₁ serves as a steering means for the golf cart 1 during guided travel and serves as a body frame 4
It is rotationally driven in response to a drive signal provided from the traveling control unit 10 mounted near the central portion of the.

The switching between the manual steering and the automatic steering by the guidance is performed in accordance with the operation of the steering switching lever 25 arranged in the middle of the steering column 6a. FIG. 3 shows a steering switching lever 25 and a clutch K operated by the steering switching lever 25.
FIG. 4 is an enlarged cross-sectional view (in the connecting state), and FIG. 4 is an operation explanatory view showing the case where the clutch K is in the disengaged state. An upper shaft 27 directly connected to the steering wheel 6 is provided in the steering column 6a.
And a lower shaft 28 connected to the front wheels 2 and 2 that are steering wheels are concentrically arranged, and a spline shaft portion 27a provided at the lower end of the upper shaft 27 and a spline shaft provided at the upper end of the lower shaft 28. The portions 28a are opposed to each other with a slight gap therebetween, and the spline shaft portions 27a, 28a are fitted to each other by a cylindrical clutch member 29 so as to be mutually connected or disconnected. is there.

The clutch member 29 includes the spline shaft portion 27a,
A spline is formed on the inner peripheral surface for spline coupling with 28a, and a ring 29c provided with a guide pin 29a and a control pin 29b for preventing rotation is fitted on the outer peripheral wall so as to be rotatable relative to the clutch member 29. Has been. guide pin
29a is engaged with a guide groove 6b bored in the axial direction of the peripheral wall of the steering column 6a, and the operation pin 29b is engaged with a fork 25b connected to the operation lever 25 with the shaft 25a interposed. . On the outer peripheral wall of the steering column 6a, there is provided a steering changeover switch 11 composed of micro switches MS ₁ and MS ₂ facing the vicinity of both ends of the guide groove 6b, and the guide pin 29a is located above the guide groove 6b. When moving to the terminal, the micro switch MS ₁ turns on, and when moving to the lower terminal, the micro switch MS ₂ turns on,
The connection state and disconnection state are detected, and the detection signal is the steering control unit.
Given to 10.

The operating lever 25 and the fork 25b are a shaft 25a pivotally supported by a bearing 6c provided on the outer peripheral wall of the steering column 6a.
The ends of the forks are fixed to the fork 25 when the operation lever 25 is rotated from the position shown in FIG. 3 to the position shown in FIG.
b indicates a state in which the clutch member 29 is fitted over both spline portions 27a, 28a, and a disengaged state in which the support cylinder 6c and spline portion 27a are engaged, and the upper shaft 27 and the steering wheel 6 are held in a locked state. I am doing it. The support cylinder 6c holds an upper shaft 27 formed concentrically and integrally with the inside of the steering column 6a, and a spline is formed on the outer peripheral surface thereof.

When the clutch member 29 is in the disengaged position, the steering wheels 6 cannot be operated to steer the front wheels 2 and 2, and only the steering in response to the rotation of the steering motor M ₁ is effective. Steering state. A coil spring is fitted on the shaft 25a so that the operating lever 25
May always be biased to the disconnection position side.

Next, the structure of the drive system for the rear wheels 3 and 3 which will be the drive wheels will be described. The engine E, which is a drive source of the rear wheels 3 and 3, is horizontally fixed on the vehicle body frame 4 slightly front of the left and right rear wheels 3 and 3 with its output shaft oriented in the left-right direction. A drive pulley 31 provided with a centrifugal clutch 30 is fitted to the output end.

A transmission T is fixed to the vehicle body frame 4 above the rear axle 32 that houses the axles of the rear wheels 3 and 3. A driven pulley 33 is fitted on an input end of a transmission T projecting on the same side as an output end of the engine E, and an output of the engine E is wound between a drive pulley 31 and a driven pulley 33. Transmission belt
It is transmitted to the transmission T via 34, and is further connected to the lower part of the transmission T to form a rear axle.
Distributed by a differential gear D (see FIG. 1) coaxially arranged in the middle of 32, the left and right rear wheels 3, 3
It is designed to be transmitted to.

The drive pulley 31 and the driven pulley 33 change their respective widths in the opposite directions by the action of the tension of the transmission belt 34 wound between them, and the engine E to the transmission T
The automatic transmission is configured to change the speed reduction ratio during transmission to the engine according to the increase or decrease of the load of the engine E. As a result, it is possible to obtain a sufficient rotational torque for the rear wheels 3 and 3 when the vehicle is traveling, when a large number of articles are loaded, when traveling on an uphill road, or the like that causes an increase in the engine E load. The transmission T is only capable of switching between forward and reverse, and this switching is performed by a forward / backward switching lever 36 located below the seat 5a of the riding section 5 and arranged on the side surface of the rear cowl 4b.
(See FIG. 1).

A starter belt 35 is provided at the output end of the engine E.
The starter motor M ₄ is connected via the motor, and the engine E is started by forcibly rotating the output shaft by the rotation of the starter motor M ₄ . The centrifugal clutch 30 attached to the drive pulley 31 is engaged when the rotational speed of the engine E reaches a predetermined magnitude, and the output of the engine E to the drive pulley 31 is taken out from the centrifugal clutch 30. The operation is performed on condition that the clutch 30 is engaged. Therefore, the engine E is started up by disconnecting the centrifugal clutch 30 from the transmission T, and the starter for operating a key switch (not shown) arranged at an operable position on the riding section 5 is started. The engine E can be reliably started by an easy operation for driving the motor M ₄ .

A throttle motor M is provided outside the engine E.
₂ and choke solenoid 38 are attached. The throttle motor M ₂ winds the throttle wire 37 by its rotation to open and close a throttle valve (not shown) built in the engine E, and the output of the engine E is forward and reverse rotation of the throttle motor M _2. It will be increased or decreased accordingly.

The throttle motor M ₂ is rotationally driven according to a drive signal given from the traveling control unit 10 in order to adjust the traveling speed of the golf cart 1 during traveling by automatic steering by induction. The throttle opening determined according to this rotation is detected by a throttle opening sensor 50 using a potentiometer or the like through the rotation angle of the throttle motor M ₂ and given to the traveling control unit 10.

On the other hand, the speed of the golf cart 1 which is running by manual steering is adjusted in accordance with the depression of the accelerator pedal AP provided on the step 5b of the riding section 5. However, the throttle wire 37 of the engine E and the accelerator pedal
AP is not mechanically connected, and speed adjustment during manual travel is performed by detecting the depression amount of the accelerator pedal AP by an accelerator sensor 51 using a potentiometer and the like, and the traveling control based on the detection result. The operation of the section 10 drives the throttle motor M ₂ to adjust the output of the engine E.

The accelerator pedal AP also serves as a start instruction for the golf cart 1, and an accelerator switch 18 (see FIG. 2) is arranged in the movement range associated with the depression of the accelerator pedal AP, and the accelerator pedal AP is depressed. At this time, when the accelerator switch 18 is turned on at the initial stage of the depression, the instruction signal for starting the traveling in the automatic steering by the guidance is given to the traveling control unit.
It is given to 10 and the running is started.

On the other hand, the choke solenoid 38 is the engine E
Is connected to a choke valve (not shown) arranged in the fuel supply system, and the choke valve is opened according to the energization of its exciting coil to increase the fuel concentration in the air-fuel mixture supplied to the engine E. It is an eggplant. The choke solenoid 38 is energized by a choke button (not shown) or a temperature sensor, which is provided at a position where the riding section 5 can be operated.
When the temperature detected by 17 (outside air temperature) is equal to or lower than a predetermined temperature, the engine E is started. As a result, the engine E can be reliably started even in a cold region.

Further, the left and right rear wheels 3, 3 are provided with brakes 40, 40 for applying a braking force to each of them. These brakes 40, 40 are the same as the accelerator pedal AP.
Is connected to the brake pedal BP projecting on the step 5b of the riding section 5 via separate brake wires 41, 41 indicated by a chain double-dashed line in the figure, and a link mechanism (not shown).

Further, a brake switch 19 for detecting the depression of the brake pedal BP is provided in the movement range associated with the depression of the brake pedal BP, and further behind the position where the brake pedal BP is provided. A brake motor M ₃ is mounted on the vehicle body frame 4 of. The brake switch 19 is adapted to give a braking start signal to the traveling control unit 10 when detecting depression of the brake pedal BP. The traveling control unit 10 applies braking by the engine brake and the brake by the brake motor M ₃ and, after stopping, operates the parking brake. The output end of the brake motor M ₃ is connected to the brake wires 41, 41 via a link mechanism common to the speed reducer and the brake pedal BP (not shown).

As a result, the brake wires 41, 41 are pulled in response to the depression of the brake pedal BP or the rotation of the brake motor M ₃ , and the brake is pulled in response to this pull.
The braking force generated by 40, 40 is applied to the rear wheels 3, 3, respectively. Stepping on the brake pedal BP and the brake motor M ₃
The interference with the rotation of is absorbed by the link mechanism.

The brake motor M ₃ is rotationally driven according to a drive signal given from the traveling control unit 10 in order to stop the golf cart 1 while traveling by automatic steering by guidance and to adjust the traveling speed. . The braking force applied to the rear wheels 3, 3 by this rotation is detected as a rotation angle of the brake motor M _{3 by} a brake sensor 52 using a potentiometer or the like and is given to the traveling control unit 10.

At the front part of the golf cart 1, a midway part thereof is pivotally supported substantially at the center of the front axle 20, and a sensor arm 60 is provided.
Is installed. The sensor arm 60 is mounted on the vehicle body frame 4
Is extended to the front of the front wheels 2 and 2 on the lower side, and is branched to both left and right sides. A pair of inductive signal sensors 61, 61 are provided at the branch ends of the front wheels 2, 2 and the rear wheels 3, 2. It is attached so as to face the road surface where 3 is grounded. The rear end of the sensor arm 60 is engaged with the rack shaft 21 inside the rack housing 23 and moves left and right together with the rack shaft 21. Therefore, the inductive signal sensors 61, 61 at the front of the sensor arm 60
Follows the steering of the front wheels 2 and 2 accompanying the movement of the rack shaft 21 and swings to the left and right in a plane substantially parallel to the road surface.

On the bottom surface of the vehicle body frame 4 on the slightly rear side of the rack housing 23, the front surface of the front wheels 2, 2 and the rear wheels 3, 3 should be opposed to the ground surface at a position offset from the center in the width direction to one side. A traveling sign sensor 62 is attached. The traveling sign sensor 62 and the induction signal sensors 61, 61 are both coils that generate an induced voltage by the action of a peripheral magnetic field. The former is a guide wire 9a that is buried under the road surface and is energized with an alternating current. The magnetic field formed in the surroundings is the detection target, and the latter is the detection target is the magnetic field formed by the marker magnet 9b embedded at a required position under the road surface. The detection results of the guidance signal sensors 61, 61 and the traveling sign sensor 62 are given to the traveling control unit 10 as voltage signals induced therein.

FIG. 5 is a block diagram showing the configuration of the control system of the golf cart 1 constructed as described above. Detection signals of the throttle opening sensor 50, the accelerator sensor 51, the brake sensor 52, and the temperature sensor 17 are given to the input side of the travel control unit 10 using a microprocessor. The induced voltages of the inductive signal sensors 61, 61 are amplified by the separate amplifiers 63, 63 and given to the comparator 64,
The output of the comparator 64, that is, the deviation signal of the induced voltage of both sensors 61, 61 is given to the traveling control unit 10, and the induced voltage of the traveling sign sensor 62 is amplified by the amplifier 65 and travels via the waveform shaping circuit 66. It is given to the control unit 10.

Further, on the input side of the traveling control unit 10, the micro switches MS ₁ and MS ₂ constituting the steering changeover switch 11 are provided.
ON / OFF signal of the vehicle, an ON / OFF signal of the start switch 12 arranged at a position operable on the riding section 5, an output signal of a remote control receiver 13 mounted at an appropriate position, a front portion of the vehicle body frame 4. Output signal of an obstacle sensor 14 disposed in the vehicle, an output signal of a vehicle speed sensor 15 that detects the traveling speed of the golf cart 1, an accelerator switch 18 that detects the depression of the accelerator pedal AP, and a brake that detects the depression of the brake pedal BP. The output signals of the switch 19 are given respectively.

The steering changeover switch 11 is a microswitch MS.
₁ is on, that is, it is on when the clutch K is in the disengaged state, and it is off when the microswitch MS ₂ is on, that is, the clutch K is in the disengaged state. Micro switch MS ₁ , MS ₂
When any of these is off, the alarm lamp L is turned on to inform the user that the operation of the clutch K is incomplete.

The start switch 12 is used as a means to start the vehicle when the user who rides on the riding section 5 turns it on and to stop it when the user turns it off, and the remote control receiver 13 is used from the golf cart 1. It receives a start or stop signal from the remote control transmitter 16 carried by the user for start and stop operations at a distant position, and outputs the reception result, and travels according to the input from these. The golf cart 1 is turned on by a predetermined operation of the control unit 10, or an accelerator switch 18 is turned on by depressing the accelerator pedal AP or a remote control transmitter.
It is started according to the start operation of 16, or the brake switch 19 is turned on by depressing the brake pedal BP, or the remote control transmitter 16 is stopped, or stopped in response to detection of a fixed point stop marker magnet 9b described later. Be punished. Aside from these, a stop switch may be provided at an operable position in the driver's seat, and the stop switch may be turned on to stop.

As shown in FIGS. 1 and 2, the obstacle sensor 14 is provided with, for example, an ultrasonic transmitter or receiver for the vehicle body frame 4.
It is a well-known device that is placed in the front part of the device and catches the reflected wave from the obstacle of the ultrasonic wave emitted from the transmitter forward by the receiver and judges the presence or absence of the obstacle by the level of the output of the receiver. You may When the obstacle sensor 14 detects the obstacle, the traveling control unit 10 performs a predetermined operation to cause the golf cart 1 to make an emergency stop.

The vehicle speed sensor 15 is provided with, for example, a slit disc mounted at an appropriate position of the transmission system from the transmission T to the rear wheels 3, 3 and a photo interrupter arranged with the slit disc interposed therebetween. A plurality of pulse signals may be obtained per one rotation and an output corresponding to the rotational speeds of the rear wheels 3 and 3, that is, the vehicle speed of the golf cart 1 may be obtained by the F / V converter. The output of the vehicle speed sensor 15 is used for comparison with a target speed designated by the marker magnet 9b as described later and for calculation of the traveling distance.

The accelerator switch 18 is a switch for detecting the depression of the accelerator pedal AP, is connected to the traveling control unit 10, and is turned on when the accelerator pedal AP is depressed to a predetermined depth, and the traveling control is performed. The section 10 recognizes this and starts running. Further, the brake switch 19 is a switch for detecting the depression of the brake pedal BP, and is connected to the travel control unit 10. When the brake pedal AP is depressed to a predetermined depth, the brake switch 19 turns on, and the travel control unit 10 Recognize this and stop running.

On the other hand, the output side of the traveling control unit 10 is connected to the steering motor M ₁ , the throttle motor M ₂ and the brake motor M ₃ via separate drive circuits D ₁ , D ₂ and D _3. , The motors M ₁ , M ₂ , M ₃ are rotationally driven according to the drive signals respectively given from the traveling control unit 10, and their respective operations, that is, the steering of the front wheels 2 and 2, the engine E.
Output adjustment and braking of the rear wheels 3 and 3.

FIG. 6 is a plan view showing an example of a golf course where the golf cart 1 is used. The guide line 9a is continuously embedded in the approximate center of the dedicated cart path R provided along the course. The guide line 9a serves as a guide sign when the golf cart 1 is guided and run along the cart road R. At the start of the guide travel, the golf cart 1 is at the starting point of the cart road R, as shown in FIG. A pair of guide signal sensors 61, 61 attached to the section are positioned so as to straddle the guide wire 9a, and the traveling switching lever 25 is operated to the guide traveling side to be delivered to the user.

The traveling control unit 10 recognizes the switching to the guided traveling state by turning on the steering changeover switch 11, and then the golf cart 1 is operated by the user riding on the riding unit 5 to turn on the start switch 12 or Traveling is started in response to an ON operation of the accelerator switch 18 by depressing the accelerator pedal AP or a start operation of the remote control transmitter 16 at a remote position. During this traveling, induced voltages are generated in the induction signal sensors 61, 61 by the action of the magnetic field formed around the induction wire 9a, and the magnitudes of these induced voltages depend on the induction wire 9a which is the source of the magnetic field. Inversely proportional to the distance from.

Therefore, the output of the comparator 64 is when the center of the two induction signal sensors 61, 61, that is, the substantially center portion in the width direction of the golf cart 1 having these sensors at the front is biased with respect to the guide line 9a. , A signal having a code corresponding to the bias direction and a level corresponding to the bias amount. The traveling control unit 10 recognizes the deviation of the golf cart 1 with respect to the guide wire 9a from the input from the comparator 64, issues a drive command to the steering motor M ₁ connected to the output side to eliminate this deviation, and outputs the front wheel. Performs an operation to steer 2 and 2. As a result, the golf cart 1 travels on the cart road R while the center portion in the width direction is automatically steered so as to follow the guide line 9a.

The sign magnet 9b to be detected by the running sign sensor 61 is for enabling safe running over the entire area of the cart road R, which changes variously in accordance with the surrounding natural conditions. It is buried in each position where traveling conditions need to be changed, such as changing the speed and stopping.

The marker magnet 9b is used not only for changing the speed and stopping, but also for preventing dangerous remote operation at a position where it is difficult to see from the course. An instruction to ignore the start command given afterwards, to prevent a meaningless stop at a position where a standing tree or the like exists near the cart road R, and an instruction to reduce the detection sensitivity of the obstacle sensor 14, on the contrary, In order to increase safety at a position where crossing etc. is expected, various instructions are provided according to the situation of the traveling road, such as an instruction to increase the detection sensitivity of the obstacle sensor 14, and the types of these instructions are , Sign magnet
This is performed by utilizing the difference in the polarity of 9b, the order in which a plurality of marker magnets 9b are arranged in parallel, the difference in the interval between these arrangements, and the like.

At the points (C ₁ , C ₂ , C ₃ ) on the kart road R, which are close to the tee ground TG, the green G, and the second hitting point in the middle of the course, for example, Two marker magnets 9b having S polarity,
9b are embedded in this order at a short interval of about 60 cm to provide a stop sign.

In FIG. 6, the embedded positions of the marker magnet 9b at each of the points are shown by dots, but the intervals between the dots schematically represent the difference between the short intervals and the long intervals described above. However, it does not correspond to the actual embedding interval. The dots are shown outside the cart path R for convenience of illustration, but the actual marker magnet 9b
Is buried close to one side of the guide wire 9a buried in the cart road R as shown in FIG.

When the output of the traveling sign sensor 62 according to the detection of the sign magnet 9b is given, the traveling control unit 10 calculates the traveling distance based on the detection result of the vehicle speed sensor 15 from this time point, and this distance is predetermined. It monitors whether or not the next marker magnet 9b will be detected until the distance (120 cm) is reached, and if this is detected, this marker magnet 9b will be detected.
The polarity of 9b is examined, and the type of the traveling sign is judged from these results.

In such a golf cart, the start switch 12 starts when the user is on board.
Accelerator switch 18 located in the movement range of the accelerator pedal AP by turning on or depressing the accelerator pedal.
The normal traveling operation is started by the traveling control unit 10 by either turning on the vehicle or inputting a start signal through the remote control receiver 13. Start switch like this
12.In addition to the operation of turning on the remote control receiver 13, the accelerator switch 18 can be turned on to start running by depressing the accelerator pedal AP, so the accelerator pedal AP has become more universal as a running start operation than before. There is an effect that it is possible to start running when you depress, and it becomes very easy to use.

That is, a preset intermediate speed (for example, 6 km)
/ h) is a target speed operation for guiding travel, the vehicle speed detected by the vehicle speed sensor 15 is taken in, the speed is compared with the target speed, and the throttle motor M is used to eliminate the deviation between the two.
₂ to issue a drive command to adjust the output of the engine E, and further to issue a drive command to the brake motor M ₃ if necessary, and to control the speed by applying a braking force to the rear wheels 3 and 3 by the brakes 40 and 40. Guide wire 9a by input from signal sensors 61, 61
The steering control for recognizing the deviation with respect to the steering wheel and issuing a drive command to the steering motor M ₁ to eliminate the deviation and steering the front wheels 2, 2 is performed.

On the other hand, in order to stop the running golf cart by the automatic steering by the guidance, the starting switch 12 is turned off, a separately provided stop switch is turned on, or the brake pedal BP is depressed to brake. When one condition of either turning on the brake switch 19 arranged in the movement range of the pedal BP or receiving a stop signal through the remote control receiver 13, the traveling control unit 10 sets this. Recognize and take action to stop normally.

That is, by controlling the slot motor M ₂ , the throttle opening is set to a predetermined lower limit opening and decelerated by engine braking, and the speed detected by the vehicle speed sensor 15 is set to a predetermined value (1 km
/ h) is reached, weak braking (about 25% of full braking) is applied by the control of the brake motor M ₃ to stop gently.

After the stop is completed, the steering motor M₁To
Turn off the power and throttle motor M ₂The home position
The brake motor M₃The ho
Stop, apply the parking brake, and shift to the standby state.
It In addition, in the above-described embodiment, the golf cart that guides
However, it is not limited to this.
Find your current position while driving and aim at your target position
Needless to say that it can be applied to various vehicles that automatically drive
Absent.

[0060]

As described above, in the self-propelled vehicle according to the present invention, the control portion performs the braking operation by turning on or off any one of the start switch and the brake switch by depressing the brake pedal. Since it is configured to stop, it is possible to stop operation with the same feeling as depressing the brake pedal that is universalized in general passenger cars, it is possible to prevent operation delay and high safety etc. The present invention has excellent effects.

[Brief description of drawings]

FIG. 1 is a side view showing the outer appearance of a golf cart to which a guiding device according to the present invention is applied.

FIG. 2 is a plan view schematically showing the internal structure of a golf cart to which the guiding device according to the present invention is applied.

FIG. 3 is a partially enlarged cross-sectional view showing a case where a clutch is in a disengaged state.

FIG. 4 is a partially enlarged sectional view showing a case where a clutch is in a disengaged state.

FIG. 5 is a block diagram showing a configuration of a control system of a golf cart to which the guiding device according to the present invention is applied.

FIG. 6 is a plan view showing an example of a golf course provided with the guiding device according to the present invention.

[Explanation of symbols]

1 Golf Cart 4 Body Frame 9a Guide Wire 9b Sign Magnet 10 Travel Control Unit 11 Steering Switch 12 Start Switch 13 Remote Control Receiver 14 Obstacle Sensor 15 Vehicle Speed Sensor 16 Remote Control Transmitter 51 Throttle Opening Sensor 52 Brake Sensor 60 Sensor Arm 61 Guidance signal sensor 62 Travel sign sensor E Engine M ₁ Steering motor M ₂ Throttle motor M ₃ Brake motor R Cart road

Claims (2)

[Claims] 1. A self-propelled vehicle having a running drive engine, a steering means for automatically steering along a predetermined traveling path, and a braking means, wherein the braking means comprises a brake pedal for mechanically operating a brake, Based on a brake motor that operates a brake, a brake switch that detects a depression of a brake pedal, and outputs a signal to drive the brake motor, and an output signal of the brake switch,
A self-propelled vehicle comprising: a control unit that operates the brake motor. 2. The self-propelled vehicle according to claim 1, wherein the brake pedal is mechanically linked to the brake.