JPH0911775A - Engine type dolly - Google Patents

Abstract

PURPOSE: To prevent an erroneous operation of obstacle detecting means owing to the voltage reduction of a battery at the starting time, by controlling to stop a driving shaft when a signal is input from the obstacle detecting means, and cutting off the signal from the obstacle detecting means when an engine is started. CONSTITUTION: In the stopping condition of an engine 20, the input of signals from obstacle detecting means 39 and 40 are made impossible to be received to a main controller 48. And the engine 20 is started by a sel-motor 30, and the time of a timer is set at 0. And the time is added one by one, and when the time to allow that the preset battery voltage is made to the original condition is reached, the signal from the obstacle detecting means, that is, a bamper 39, an obstacle sensor 40, and following receiver, is received by the main controller 48. The reason to wait the input from the obstacle detecting means 39 and 40 for a specific time is to prevent an error operation of the obstacle detecting means owing to the reduction of the battery voltage and the like by the sel- motor operation at the engine starting time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an engine-type transport vehicle which uses an engine as a drive source and transports luggage, people and the like.

[0002]

2. Description of the Related Art Conventionally, such an engine type carrier is
As shown in Japanese Patent Application Laid-Open No. 5-73137 (G05D 1/00), an automatic driving mode in which steered wheels are automatically steered along a guide line and a steering wheel is steered to travel by operating a steering wheel. 2. Description of the Related Art There are two modes that are provided with a manual operation mode, and one of the modes can be selected by running a switch to drive the vehicle. And, in this type of engine-powered vehicle, a device for cutting off the driving force to the drive wheels by contacting a bumper or the like,
For example, a clutch or the like is provided so as not to move further after contact with an obstacle.
These obstacle sensors detect the distance to the obstacle by contacting them with a pressure-sensitive sensor that detects when they hit the obstacle, or by receiving ultrasonic waves that emit ultrasonic waves and reflect. An ultrasonic sensor that controls to stop when it approaches is used.

However, in the engine-type transport vehicle, the sensor for detecting such an obstacle may malfunction due to a drop in the battery voltage when the starter motor is operated, that is, when the engine is started. . And, even after the engine is started, the stopped state continues,
There is a problem that the user does not operate even though there are no obstacles when the user instructs the vehicle to start.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and provides an engine type transport vehicle which does not malfunction due to the voltage drop of the battery at the time of starting and the obstacle detecting means does not malfunction. This is an issue.

[0005]

According to the present invention, there is provided a starter motor which is operated by a battery, an engine which is started by the starter motor, drive wheels which are rotated by the driving of the engine, and an obstacle detecting means which detects an obstacle. Control means for controlling the driving wheels to stop when a signal from the obstacle detection means is input, and the control means cuts off the signal from the obstacle detection means at the time of starting the engine. And

Further, the control means receives a signal from the obstacle detection means after a predetermined time has passed after the engine was started.

Further, a voltage detecting means for detecting the voltage of the battery is provided, and the control means receives a signal from the obstacle detecting means after a predetermined voltage value is reached after the engine is started. To do.

[0008]

According to the structure of claim 1 of the present invention, when the engine is started by the starter motor, a voltage drop occurs in the battery. At that time, since the signal from the obstacle detecting means is not input, the obstacle detecting means starts without malfunctioning.

Further, since the signal from the obstacle detecting means is not inputted for a predetermined time after the engine is started, the signal from the obstacle detecting means is inputted after the battery voltage is stabilized, so that the malfunction occurs. Start without doing.

Further, since the signal from the obstacle detecting means is not accepted until the voltage detecting means returns to the predetermined voltage, the signal from the obstacle detecting means is accepted after the battery voltage becomes stable. It is possible to start without malfunctioning.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings by taking an inductive golf cart as an example.

Reference numeral 1 denotes a golf cart main body for carrying a person and luggage such as a golf bag. The main body 1 has a frame 2 downwardly.
And a front wheel 3 that steers forward of the frame 2 and a rear wheel 4 that drives rearward of the frame 2. This golf cart body 1
Is a manual operation mode in which a person can drive freely and a remote control transmitter (not shown) can be used to start and stop from a remote location, and a guide wire (not shown) buried in the ground can be used. It has two modes: an automatic operation mode in which the vehicle travels by detecting a magnetic field.

A roof 5 covers the main body 1, and the roof 5 is made of resin and is supported by a rear stay 6 at the rear. Further, the front of the roof 5 is formed of a transparent and colorless resin having good visibility, and is attached to the front of the main body 1.

A front cowl 7 covers the front wheel 3 and the frame 2 in front of the main body 1, and the front cowl 7 is made of resin.

Reference numeral 8 denotes a rear cowl which covers the rear wheel 4 and the upper portion of the frame 2 at the rear of the main body 1. The rear cowl 8 is also made of resin like the front cowl 7.

Reference numeral 9 denotes a bag stand provided on the rear cowl 8 behind the rear stay 6, and the bag stand 9 is capable of mounting a plurality of golf bags (not shown) in parallel. .

Reference numeral 10 is a seat in which a person gets in, and the seat 10 has two seats.
They are arranged side by side so that two people can sit side by side.

Reference numeral 11 denotes a steering wheel for steering the front wheels 3 in the manual operation mode. The steering wheel 11 is connected to a steering motor 16 which will be described later via a steering wheel stay 12 and an automatic manual switching device 13, and a rack and pinion. 14
Is operated to move the front wheel 3.

Reference numeral 15 denotes an automatic manual switching lever for connecting and disconnecting the gears in the automatic manual switching device 13,
The switching lever 15 connects the handle 11 by a gear in the manual operation mode, separates the gear in the automatic operation mode, and fixes the handle 11 so as not to rotate freely. Further, the automatic manual switching lever 15 is
A switch (not shown) capable of switching control between an automatic operation mode and a manual operation mode is provided in the automatic manual switching device 13 together with the connection / disconnection of the handle 11.

Reference numeral 16 denotes a steering motor for moving the rack and pinion 14 in the automatic operation mode. The steering motor 16 is provided on the left and right induction signal sensors 17 provided in front of the main body 1 for detecting a magnetic field from the induction wire. It operates based on the induction signal from. The inductive signal sensor 17
Is attached to the tip of the sensor stay 18, and moves the steering motor 16 to steer the front wheels 3 so that the guide wire is always positioned at the center of the guide signal sensor 17. Further, in the manual operation mode, the front wheel 3 can be steered by the operation of the steering wheel 11 via the steering motor 16.

Reference numeral 19 denotes a guide wire sensor which is attached to the sensor stay 18 and detects a signal from the guide wire to detect that the main body 1 is not derailed from the guide wire.

Reference numeral 20 is an engine as a drive source, and the engine 20 is a 250 cc, OHV type engine. A centrifugal clutch 21 is connected to the output shaft of the engine 20, and a driven pulley is provided from the centrifugal clutch 21 via a V belt 22.
23 is designed to rotate. The centrifugal clutch 21,
Also, the driven pulley 23 is a mechanism in which the tension of the V-belt 22 changes according to the rotation speed of the rotating shaft of the engine 20, and the speed is changed accordingly.

A gear box 24 rotates the axle 25 by decelerating the rotational speed of the driven pulley 23 to rotate the rear wheel 4.

Reference numeral 26 is a parking brake that fixes the axle 25 and stops the main body 1. The parking brake 26 has a spring 28 pulling one side of an arm 27 that rotates about a central portion. The parking brake 26 is applied by pulling. To release the parking brake 26, the parking brake motor 29 that rotates the arm 27 in the direction opposite to the urging of the spring 28 is operated.

Reference numeral 30 is a starter motor for starting the engine 20, and the starter motor 30 is connected to the centrifugal clutch 21 and the dynamo 32 by a belt 31.

Reference numeral 33 is an air cleaner.

Reference numeral 34 is a brake pedal that operates a brake provided on the rear wheel 4, that is, a drum brake 60 (described later), which is different from the parking brake 26, and is braked from the brake pedal 34 in the manual operation mode. The drum brake 60 is operated via the wire 35 according to the operation amount. Further, in the automatic operation mode, when an instruction to stop or decelerate is given, the brake motor 36 is operated to pull the connecting rod 37, and the brake wire 35 is pulled according to the operation amount of the drum brake 60. Is supposed to work.

Reference numeral 38 is an accelerator pedal for adjusting the speed in the manual operation mode, and a potentiometer 53 (described later) is attached to the accelerator pedal 38,
The rotation speed of the engine 20 is changed according to the movement of the potentiometer 53.

Reference numeral 39 is a bumper provided in front of the front cowl 7, and the bumper 39 can be moved forward and backward. When the bumper 39 moves to the main body 1 side, that is, when something hits while running. The traveling is stopped and the parking brake 26 is applied.

Reference numeral 40 is an obstacle sensor for detecting an obstacle in front of the obstacle sensor. The obstacle sensor 40 transmits ultrasonic waves to the front,
If there is an obstacle, the reflected ultrasonic wave is detected to detect the presence of the obstacle, and the main body 1 is controlled to stop.

Reference numeral 41 is a follow-up receiver provided in front of the front cowl 7, and reference numeral 42 is a follow-up transmitter provided in the rear of the rear cowl 8. The follow-up transmitter 42 outputs an electromagnetic wave. When the golf cart in front is present, the electromagnetic wave output from the front is received by the golf cart in the rear, and the golf cart main body 1 is stopped. At this time, the receiving sensitivity is set so as to stop at a predetermined distance. The tracking transmitter 41 and the tracking receiver 42 are collectively referred to as a tracking sensor 43.

These bumpers 39, obstacle sensors 40,
The tracking receiver 41 and the tracking receiver 41 are collectively referred to as obstacle detection means. These obstacle detecting means are provided by a main controller 48, which will be described later, until the starter motor 30 operates and the engine 20 starts.
No signal is input to.

Reference numeral 66 is a forward / reverse switching lever provided on the side surface of the main body 1. By moving the forward / backward switching lever 66, the gear in the gear box 24 can be moved to switch the traveling direction.

Reference numeral 44 is a control box containing a control board for controlling the running of the golf cart body 1.

Next, the control circuit will be described with reference to FIG.

Reference numeral 45 is a remote control transmitter for instructing running and stopping in the automatic operation mode.
The operation can be controlled by sending a signal to the remote control receiver 46 provided in the main body 1.

Reference numeral 47 denotes a start / stop switch for turning on / off the running state and the stopped state, and sends a signal for turning on / off the start / stop switch 47 to a control circuit, that is, the main controller 48.

Reference numeral 49 is an alarm indicator for notifying the abnormality of the main body 1, and the alarm indicator 49 displays the state of the engine 20 and the like.

Reference numeral 50 denotes a temperature sensor for detecting the ambient temperature. The temperature sensor 50 sends temperature information to the main controller 48, operates a choke solenoid 51 based on the information, and causes a choke lever 52 to operate the engine 20. Adjust the amount of fuel sent to.

Reference numeral 53 is an accelerator depression sensor which is attached to the accelerator pedal 38 and detects whether or not the accelerator pedal 38 is depressed. The accelerator depression sensor 53 uses a micro switch. Further, a potentiometer 65 that detects the amount of depression of the accelerator pedal 38 and sends a signal to the main controller 48 is provided near the accelerator pedal.

Reference numeral 54 is a battery that serves as a power source for the parking brake motor 29, the steering motor 16 and the like, and is a 12-volt battery.

Reference numeral 55 is a switch for turning on / off the power supply to the battery 54.

Reference numeral 56 is a throttle lever for adjusting the rotational speed of the engine 20, and the throttle lever 56 is an accelerator motor 57 in response to a signal from the main controller 48.
Is driven and moved.

Reference numeral 58 is a foot brake depression sensor for detecting the operation of the brake pedal 34, and the foot brake depression sensor 58 is adapted to be turned on when a micro switch is depressed.

Reference numeral 59 is a brake position sensor for detecting the operation position of the brake motor 36 for operating the drum brake 60 during traveling in the automatic operation mode. The brake position sensor 59 operates the operation amount of the drum brake 60. Can be determined by the operation amount of the brake motor 36, and the elongation of the brake wire 35 can be detected by previously determining 0% and 100% of the operation amount of the drum brake 60.

Reference numeral 61 is a speed sensor for detecting the rotation of the rear wheel 4 to detect the vehicle speed.

Reference numeral 62 is a magnet sensor for detecting a magnetic field from a magnet (not shown) buried in the ground, and the magnet sensor 62 can distinguish the N pole and the S pole of the magnet. The embedded magnet utilizes this, stopping at N-N, decreasing speed one step at S-N, N-
At S, commands for speed control such as medium speed operation and stop are given.

Reference numeral 63 is an accelerator rotation amount sensor for detecting the rotation amount of the accelerator motor 57, and the accelerator rotation amount sensor 63 determines the rotation amount of the accelerator motor 57.

Reference numeral 64 is a rotation speed sensor for detecting the spark cycle of the engine 20 to detect the rotation speed of the engine 20.

Reference numeral 65 is a voltage detecting means for constantly detecting the voltage of the battery 54 and outputting this voltage signal to the main controller 48.

Next, the operation will be described.

In the manual operation mode, the switch 55
Then, the automatic manual switching lever 15 provided in the vicinity of the handle 11 is set to the manual position to enable traveling. With the start / stop switch 47 ready to start, and by depressing the accelerator pedal 38, a signal is input from the potentiometer 65 to the main controller 48, and the accelerator motor 57 rotates according to the amount of depression to rotate the engine 20. The number goes up. When the engine 20 starts, the centrifugal clutch 21, V-belt 22, driven pulley 2
3. The rear wheel 4 rotates via the gear box 24.

Further, the front wheels 3 are steered by the steering wheel 11 so that the traveling speed can be freely increased to 19 km / h with the accelerator pedal.
Adjustable by 38.

When stopping or decelerating, the brake wire 35 is pulled by the brake pedal 34, and the drum brake 60
multiply.

Next, the automatic operation mode will be described. The running state is shown in the flowchart of FIG.

First, the automatic manual switching lever 15 is automatically set, the handle 11 is fixed so as not to rotate, and the automatic operation mode is switched. Before this, it is confirmed that there is no stop signal, for example, a signal from the obstacle sensor 40 or the follow-up sensor 43 bumper 39.

When the signal to start traveling from the remote control transmitter 45 is received, the engine 20 is started and the parking brake 26 is released to start. At this time, the magnetic field generated from the guide wire is received by the guide signal sensor 17, and the main body 1 runs along the guide wire. The traveling speed is controlled by a magnet embedded in the ground.

When the vehicle is instructed to decelerate by the magnet or the follow-up sensor 43, the brake motor 36 operates to pull the brake wire 35 and operate the drum brake 60. If you want to stop it as it is, operate the parking brake motor 26 after that.
Can be stopped.

When decelerating, it is necessary to rotate the engine 20 at a rotational speed at which the centrifugal clutch 21 cannot be disengaged. Therefore, the brake motor 36 should be operated while keeping the operation amount of the potentiometer 65 at a minimum of 20%. Go. Finally, the parking brake 26 is operated and stopped. Also, when you are approaching a steep slope, the potentiometer 65
The speed is reduced by the brake motor 36 while maintaining 20%.

In the above-mentioned automatic operation mode, the traveling speed can be set to three levels of 10 km, 6 km and 4 km per hour, and when decelerating from 6 km to 4 km by the magnet, after deceleration, After traveling for 10 meters, it will return to 6 km / h. For example, when it is desired to continue traveling at 4 km / h, if the vehicle is further instructed at 4 km / h within 10 meters from the first magnet instructed position, the vehicle will further extend 10 meters. Further, when increasing the speed from 6 km to 10 km, the instruction for 10 km is given by the magnet as in the case described above. In this case, it will return to 6 km / h after traveling 50 meters. As with the above case, if you want to run more than 50 meters, if you give another instruction of 10 km / h to 50 meters from the position of the first magnet, you can extend and run at 10 km. Become.

Further, the operation of the control circuit of the obstacle detecting means will be described with reference to FIG.

When the engine 20 is stopped, the signal from the obstacle detecting means cannot be received by the main controller 48. Then, the engine 20 is started by the operation of the starter motor 30, and the timer time T is set to zero. Then, T is incremented by one, and when a predetermined battery voltage reaches a time Tm at which the battery voltage can be returned to the original state, obstacle detection means, that is, bumper 39, obstacle sensor 4
0, the main controller 48 receives the signal from the tracking receiver 41. At this time, the input from the obstacle detecting means is waited for Tm time in order to prevent the obstacle detecting means from malfunctioning due to a drop in the battery voltage due to the operation of the starter motor at the time of engine start or a large change in the voltage.

Next, the second embodiment will be described.

The running state is the same as that of the above-mentioned embodiment, and therefore its explanation is omitted.

The operation when the voltage detecting means 65 is used will be described with reference to FIG.

The signal input state from the obstacle detecting means at the time of starting the engine 20 is different from that of the above-mentioned embodiment, and the engine 20 is started after the start of the starter motor 30. At that time, the battery voltage drops due to the operation of the starter motor, and the voltage V at that time is input to the main controller 48. When the engine 20 starts, the battery voltage gradually returns to its original level,
The signal from the obstacle detecting means is inputted to the main controller 48 when the predetermined voltage Vm is reached. The voltage Vm at this time is set to a voltage at which the obstacle detection unit does not malfunction due to a large voltage change due to a voltage drop.

[0067]

According to the present invention, since the control circuit for cutting off the signal from the obstacle sensor at the time of starting the engine is provided, the malfunction does not occur due to the voltage drop when the starter motor is moved, and the obstacle sensor does not malfunction. The effect of performing an accurate operation is achieved.

Further, since the control is such that the signal from the obstacle sensor is received after a lapse of a predetermined time after the engine is started, the obstacle sensor does not malfunction due to the voltage drop when the starter motor is moved, and the obstacle sensor malfunctions. It produces effects such as no operation and accurate operation.

Further, since the control circuit for receiving the signal from the obstacle sensor after the predetermined voltage value is reached after the engine is started, the malfunction does not occur due to the voltage drop when the starter motor is moved. The effect that the object sensor does not malfunction and that the sensor operates accurately can be obtained.

[Brief description of the drawings]

FIG. 1 is a component layout view of a guide cart showing an embodiment of the present invention as seen from a side surface thereof.

FIG. 2 is a component layout view seen from the top surface.

FIG. 3 is a block diagram of the control circuit.

FIG. 4 is a flowchart showing a traveling state in the automatic driving mode.

FIG. 5 is a flowchart showing a signal input state of an obstacle detection means at the time of starting the engine.

FIG. 6 is a flow chart showing a signal input state of obstacle detection means at the time of engine starting showing the second embodiment of the present invention.

[Explanation of symbols]

 54 Battery 30 Cell Motor 20 Engine 4 Drive Wheel (Rear Wheel) 39 Obstacle Detection Means (Bumper) 40 Obstacle Detection Means (Obstacle Sensor) 41 Obstacle Detection Means (Following Receiver) 48 Control Means (Main Controller) 65 Voltage Detection means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Michio Koji 2-5-5 Keihan Hondori, Moriguchi City, Osaka Sanyo Electric Co., Ltd.

Claims (3)

[Claims] 1. A starter motor operated by a battery, an engine started by the starter motor, driving wheels rotated by the drive of the engine, an obstacle detecting means for detecting an obstacle, and a signal from the obstacle detecting means. And a control means for controlling the driving wheels to stop when the engine is input, and the control means cuts off a signal from the obstacle detection means at the time of starting the engine. 2. The control means, after the engine is started,
2. The engine type carrier according to claim 1, wherein a signal from the obstacle detecting means is received after a predetermined time has elapsed. 3. A voltage detecting means for detecting the voltage of the battery is provided, and the control means receives a signal from the obstacle detecting means after a predetermined voltage value is reached after the engine is started. The engine type carrier according to claim 1.