JPH09128053A - Method for controlling traveling of motor-driven carrier - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traveling control method capable of moving a motor- driven carrier to an optional position separated from a laid position of a guide line and then returning the carrier to the guide line without requiring manual operation. SOLUTION: This motor-driven carrier provided with at least two operation modes, i.e., a manual operation traveling mode and a guide traveling mode for traveling along a guide line is also provided with an unmanned operation mode for traveling in accordance with a preset prescribed condition so that when a guide line is detected during the traveling in the unmanned operation mode, the current mode is switched to the guide traveling mode to continue the traveling. A manual operation part 21 in the motor-driven carrier is provided with a switch function 25a having an automatic returning function, and every operation of the switch function 25a, the manual operation traveling mode/guide traveling mode and the unmanned traveling mode are switched, and at the time of detecting the guide line during the traveling in the unmanned operation mode, the current mode is switched to the guide traveling mode.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to running of an electric transport vehicle provided with a function of driving unmanned along a guide line (guide running function) and a function of manually driving other than the guide line (manually operated running function). Control method, in particular, after driving this electric vehicle away from the guide wire, without manual operation,
The present invention relates to a travel control method for an electric carrier that can easily return to guided travel.

[0002]

2. Description of the Related Art Recently, in many golf courses, means for a caddy or a player to mount a golf bag on an electric carrier (hereinafter referred to as a golf cart) to move and play a golf course are provided. . Depending on the golf course, there is a system in which a predetermined route for running golf carts along the golf course is provided in order of hole numbers, a guide wire is laid along this route, and the golf cart is allowed to travel along this guide line. . By the way, in order to move the golf bag to a position convenient for the player to play, it is inconvenient to simply run the golf cart along a pre-formed guide line. There is a golf cart system provided with two operation modes, a manual operation travel mode for operating the vehicle and a guide travel mode for traveling along the above-described guide line.

As for the technique related to the management / control of the golf cart system as described above, JP-A-6-288588 and JP-A-7-11441 by the same applicant as the invention of the present application.
There is one disclosed by Japanese Patent No. JP-A-6-2
The one disclosed in Japanese Patent No. 88588 is provided with a handle lever rotatably provided for steering on an electric carrier, and when the handle lever is in a neutral position, an electric motor for driving wheels of the electric carrier is provided. When the handle lever is rotated beyond the neutral position in the stopped state, the forward or reverse rotation speed of the electric motor is increased in proportion to the rotation amount. That is, for example, when the first and second electric motors for driving the driving wheels are provided on the left and right of this electric transport vehicle, each handle lever is moved to the left, right or / and front and rear directions beyond the neutral position. When the rotary operation is performed, the rotational speeds of the first and second electric motors in the forward or reverse rotation directions are increased in proportion to the amount of rotation, and the left or right turn steering and the forward or reverse speed control are performed. I was able to do each. In addition, this electric vehicle has a guide sensor, a front obstacle sensor, and
Equipped with an unmanned changeover switch, the manned / unmanned changeover switch is switched to the unmanned operation side and placed on a guide wire that has been laid in advance, so that the electric carrier can be controlled along the guide wire by steering control by a guide sensor. Make sure to drive at a speed, and when an obstacle sensor detects the presence of an obstacle such as an electric transport vehicle that is stopped in front of the guide wire, stops at a predetermined distance from the obstacle, When the unmanned changeover switch was switched to the manned operation side, the electric transport vehicle was moved away from the guide wire so that the vehicle could travel to any place by rotating the handle lever. further,
The handle lever constitutes a mechanism that effectively uses the above functions.

The one disclosed in Japanese Unexamined Patent Publication No. 7-114413 receives an electric wave from an artificial satellite on an unmanned golf cart to which an electric carrier can be applied and used and a cart operation remote controller which is a movement target of the unmanned golf cart. Each of them has a GPS function for positioning the current position, and the unmanned cart automatically follows the cart operation remote controller based on the position information. Furthermore, a GPS function and a position correction function of position information measured by this GPS function,
A master controller provided with a transmission function for transmitting the correction amount is installed at a predetermined position in the golf course, and the position measured by the GPS function of the unmanned golf cart or / and the cart operation remote controller is corrected. In addition, a course map memory that records the course layout, pin position, and altitude, and an arithmetic unit and a display device are provided in the unmanned golf cart and / or the cart operation remote controller so that the distance between the current position and the pin and the height difference are displayed. I chose In addition, the display device of the unmanned golf cart is provided with a touch sensor and an electronic pen so that the vehicle can run toward a position designated by the electronic pen. In addition, the unmanned golf cart is provided with an auxiliary function that effectively implements the above functions.

[0005]

By the way, in the golf cart system provided with the two driving modes of the manual operation traveling mode and the guiding traveling mode as described above, the golf cart is separated from the laying position of the guide wire and is set at an arbitrary position. Although it is convenient to move it to the position, it has been found that the inconvenience is that it is troublesome to manually return the golf cart to the position of the guide wire after it is separated from the guide wire laying position. SUMMARY OF THE INVENTION The present invention solves the above problems and requires manual operation after moving an electric vehicle, which is used in the above-described golf cart, from an installation position of a guide wire to an arbitrary position. It is an object of the present invention to provide a traveling control method for an electric transport vehicle, which is capable of accurately returning to the guide wire without doing so.

[0006]

In order to solve the above-mentioned problems, in the traveling control method for an electric transport vehicle according to the present invention, at least two modes of a manually operated traveling mode and a guided traveling mode for traveling along a guide line are used. In an electric vehicle equipped with one operation mode, an unmanned operation mode in which the vehicle travels according to a predetermined condition set in advance is provided, and when the guide wire is detected while traveling in the unmanned operation mode, the mode is switched to the guided travel mode. In the above traveling control method of the electric transport vehicle, the operated manual operation function is automatically maintained in the forward condition to travel in the unmanned operation mode, and the guided travel is performed when the guide wire is detected while traveling in the unmanned operation mode. It is desirable to automatically release the holding of the manual operation function while switching to the mode. In addition, the manual operation part of the electric transport vehicle is equipped with a switch function with an automatic return function, and the manual operation drive mode / guide drive mode and unmanned operation mode are switched each time the switch function is operated. If the guide wire is detected during traveling in the unmanned operation mode, the mode may be switched to the guide traveling mode.

Further, in the above-described traveling control method for the electric transport vehicle, a remote control function having a switch function having an automatic return function is provided, and the electric transport vehicle is run or stopped each time the switch function is operated. You may do it. In addition, a guide wire detection sensor is installed before and after the guide sensor installed in the traveling direction of the electric transport vehicle, and if the front guide wire detection sensor detects the guide wire while traveling in the unmanned operation mode, The traveling speed may be reduced to a predetermined value or less, and the electric vehicle may be stopped when the rear guide wire detection sensor detects the guide wire.

Further, when the guide sensor detects the guide wire while the electric transport vehicle is traveling in the unmanned operation mode, the guide traveling mode is executed after correcting the traveling direction of the electric transport vehicle to the traveling direction of the guide wire. You can also choose to do so. In this case, it is more desirable to execute the switching operation to the guide traveling mode when the guide wire is detected at the guide wire tracking neutral position of the guide sensor.

Further, means for detecting an angle formed by the traveling direction of the electric transport vehicle and the traveling direction of the guide wire while traveling in the unmanned operation mode is provided, so that the traveling direction of the electric transport vehicle and the guide wire are formed. It is desirable to keep the angle within a predetermined value. In this case, a means for detecting the distance between the electric transport vehicle and the guide wire during traveling is provided, and when the distance between the electric transport vehicle and the guide wire is within a predetermined distance, the traveling speed of the electric transport vehicle is reduced. It is also possible to keep it below a predetermined value.

Furthermore, a function of storing a course map of a predetermined travel area created by providing a travel permission area and a travel prohibition area of the electric transport vehicle, and a current position detection function of the electric transport vehicle are provided, and a current position is provided. It is desirable to disable the selection of the unmanned operation mode when the detection function makes a determination that the traveling direction of the electric transport vehicle is in the traveling prohibited area. In this case, one of the means for detecting the angle formed by the traveling direction of the electric transport vehicle and the traveling direction of the guide wire, the means for detecting the distance between the electric transport vehicle and the guide wire, and one of the present position detection functions. It is also possible to use one or more combinations of position information obtained by the GPS function by radio waves transmitted by the artificial satellite. In this case, a gyro may be used as the above means.

With the above-mentioned structure, the electric carrier separated from the guide wire can be easily and surely returned to the guide wire and can be correctly tracked along the guide wire. In particular, a map storage function created by setting a travel-permitted area and a travel-prohibited area for an electric transport vehicle and a current position detection function for this electric transport vehicle are provided. If the selection of the unmanned operation mode is disabled when it is detected that the vehicle is in the travel-prohibited area, the travel can be performed even if an operation such as an OB area or a hazard is automatically restored in a direction unsuitable for traveling. It is automatically stopped.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Next, details of an optimum embodiment in which a traveling control method for an electric vehicle according to the present invention is applied to a golf cart system will be described in detail with reference to FIGS. 1 to 6. . The above golf cart has the above-mentioned Japanese Patent Laid-Open No. 6-
As disclosed in Japanese Patent No. 288588, the golf lever is operated by a handle lever to run / stop, and a guide sensor attached to a lower front side of the golf cart preliminarily connects the golf course along each hole on the ground. It is assumed that the electric vehicle is a so-called guided vehicle that is unmanned along a guide line laid on a set traveling path. Therefore, in the following description, the following definitions will be used. The electric carrier will be described as a golf cart. The golf cart targeted in the following description of the embodiments detects a stop command function provided at a predetermined position along the guide line, or has a function of automatically stopping when approaching a predetermined distance to the golf cart stopping forward. Shall be provided. However, it is needless to say that the technical idea of the present invention can be applied to an electric vehicle having functions and characteristics other than the object of the description by applying the various embodiments described below to the respective functional systems. Absent.

First Embodiment: FIG. 3A shows an outline of the control function of a golf cart to which the present invention is applied. In FIG. 3A, 20A is a control function that executes various control methods described below, for example, utilizing a microcomputer. Reference numeral 21 denotes a handle lever for manually operating the golf cart in the manual running mode. When the handle lever 21 is operated to the left or right, the variable element 21a such as a variable resistor is operated to generate a steering signal in the left or right direction. Input to the control function 20A. When the handle lever 21 is operated back and forth, the variable element 2 such as a variable resistor is
1b is operated to generate a forward traveling signal or a backward traveling signal, which is input to the control function 20A. further,
The handle lever 21 is formed by a spring so as to always return to the neutral state, and stops the golf cart in the neutral state. In the guide traveling mode in which the golf cart travels along the guide line, the golf cart advances when the handle lever 21 is tilted forward, and stops when the handle lever 21 is tilted backward, but does not respond to an operation in the left and right directions. When the handle lever 21 is pushed in fully, the variable element 21b is released from the operation, the contact 21c is operated, and the variable lever 21b is locked with a weak force that can be manually released by an electromagnetic function such as an electromagnet. When the contact 21c is operated, the golf cart enters an unmanned operation mode in which the left and right moving wheels are driven at the same predetermined rotation speed and travel straight ahead without steering. The golf cart running in the unmanned operation mode is stopped when the handle lever 21 is manually returned against the lock to return to the neutral state. In addition, the vehicle travels in advance according to predetermined conditions.

Reference numeral 22 is a switch for switching between the manual traveling mode and the guide traveling mode. The switch 22 for switching between the manual travel mode and the guided travel mode corresponds to the purpose and configuration of the target golf cart (electric transport vehicle), and even if it is a switch between two points, it is manually operated every time it is pressed. It may be a switch with an automatic return mechanism for converting between the traveling mode and the guided traveling mode. For example, if the switch is attached to the handle lever 21 and the handle lever 21 is operated while pressing the switch 22, the mode becomes the manual traveling mode. If the handle lever 21 is operated without pressing 22, the guide traveling mode may be set. If the conditions are set, the switch 22 is not pressed, that is, when the guide sensor is not detecting the guide wire in the guide traveling mode and the handle lever 21 is fully pushed, as described above, the unmanned operation mode is set. Should be 23 is
For example, a first electric motor that drives the left driving wheel, 24 is a second electric motor that drives the right driving wheel, and the first electric motor 23 and the second electric motor 24 respectively indicate the rotation direction according to the operation signal generated by the control function 20A. The rotation speed is manipulated. Therefore, when the golf cart goes straight, the first electric motor 23
And the second electric motor 24 rotate at the same rotational speed in the same direction. On the other hand, in order to turn the vehicle body in a substantially right-angled direction, when turning on the spot, the first electric motor 23 and the second electric motor 24 are rotated. May be rotated in the opposite directions at the same rotation speed.

Next, with reference to FIG. 4 and FIG. 5, guide wire detecting sensors including a guide sensor mounted on the lower front side of the golf cart and detection signals by the sensors will be described. In FIG. 4, reference numeral 10 shows an outline of the golf cart as seen from below, and the arrow indicates the front direction. In the golf cart 10, 11a is a guide sensor that detects a guide wire (not shown) laid along the road, and is composed of a pair of left and right sensor elements. Guide wire (not shown)
Is formed of a magnetic tape, the guide sensor 11a is composed of a first magnetic sensor element a and a second magnetic sensor element b that are provided on the left and right at predetermined intervals, and the characteristics thereof are shown in FIG. Is shown in. The guide sensor 11a is a high-frequency current detection coil when the induction wire is composed of a conducting wire through which a high-frequency current is passed, and the sensor that can obtain the characteristics corresponding to the description of each embodiment as shown in FIG. A signal processing means may be adopted. In the following description, the case where the sensor is composed of a magnetic sensor element will be described.

In the characteristic diagram shown in FIG. 5, the detection level characteristic of the first magnetic sensor element a in the state deviated from the guide line is a curve Sa, and the second magnetic sensor element b in the state deviated from the guide line is shown. The detection level characteristics of are indicated by curves Sb, respectively. In FIG. 5, 0 is the position of the detection level zero in each level characteristic described above, and is the arrow R to the right.
Is the direction in which the guide sensor 11a is displaced to the right,
Arrows L respectively indicate the directions of positions where the guide sensor 11a is displaced to the left, and the intersections of the vertical direction and the curves Sa and Sb at the respective positions of the horizontal axis are magnetic sensor elements a, respectively.
It is the detection level at each position of b. For example, p
a is a position where the position of the first magnetic sensor element a coincides with the guide line to obtain the maximum level output, and pb is a position where the position of the second magnetic sensor element b coincides with the guide line and the maximum level output is obtained. The obtained positions are shown respectively. Therefore, when the guide wire is located between pa and pb with respect to the guide sensor 11a, this golf cart can be stably controlled. Therefore, the guide wire is p with respect to the guide sensor 11a.
When the vehicle is located between a and pb, the OK signal is output, and in the guide traveling mode, the emergency stop is performed when the OK signal is not output. Further, S is two magnetic sensor elements a and b.
The total detection signal obtained by synthesizing the detection levels is shown. Corresponding to the level and direction of the level of the detection signal S, a pair of two wheel drive motors 23 shown in FIG. Golf cart 1 by operating each rotation speed of 24
The golf cart control device 20A is formed so as to control the traveling direction and traveling speed of zero. Further, ON is a neutral part set corresponding to a preset minute level of the total detection signal S, and when the detection signal S is in the neutral part ON, it is shown in FIG. 3 (A) described above. The golf cart is run with the golf cart in a straight traveling state while maintaining the rotation speeds of the pair of moving wheel driving electric motors 23, 24 at the same value. That is, the neutral part ON is set within a predetermined level range around 0 of the detection signal S, and the guide wire is in the vicinity of the central part of the guide sensor 11a.
This neutral part ON is used for the execution function of the present invention described later.

Reference numerals 11b and 11c denote first and second sensors for detecting the presence or absence of a guide wire, respectively, and are applied to an unmanned driving function according to the present invention described later. Both or either of 11b and 11c may be removed when there is no need for an explanation as described later.

A flowchart showing the function of the present invention formed in the golf cart having the above-mentioned functions is shown in FIG. 2, FIG. 1 for explaining the relationship between the running path of the golf cart and the guide wire in the unmanned operation mode, and the control function 20A. 3 showing the configuration of
This will be described with reference to FIG. 4A to FIG. 6A showing the positional relationship between (A) and the guide sensor and the guide wire. In the flowchart of FIG. 2, the state in which each sensor detects a predetermined place is indicated by the reference numeral of the place. That is, b detection when the first sensor 11b detects the guide wire, c detection when the second sensor 11c detects the guide wire, and
The central portion of the guide sensor 11a is located on the guide wire, as shown in FIG.
When the neutral portion is in the ON state shown in (4), it is simply shown as ON detection.

(In the case of control of guide traveling) In FIG.
When the golf cart is started (S0) in the guide travel mode (S1), the handle lever 21 is tilted slightly forward to travel, and the guide wire is detected between pa and pb of the guide sensor 11a. When the OK signal is output, this golf cart guides the guide wire 11
Always run while maintaining the neutral part ON, which is the center part of a. Therefore, a pair of two driving wheel drive electric motors 23, so as to travel along the guide line at a predetermined speed set in advance,
The rotation speed of 24 is controlled (S2). The golf cart running in the guided traveling mode detects, for example, a stop command function provided at a predetermined position along the guide line, or approaches a golf cart that stops ahead in a predetermined distance, or the handle lever 21. When is slightly tilted backward, these detection signals are stopped as a stop command (S3) (S4-1).
As described above, the handle lever 21 returns to the neutral position when the handle lever 21 is tilted forward and then released, but the traveling in the guided traveling mode is continued until the stop command is input (S3) (S3).
1, S2).

(In the case of manual traveling) In this case, the golf cart is started (S0), and it is determined that the manual traveling mode is not in the guided traveling mode (S1) and the manual traveling mode is in (S5). When the golf cart is continuously tilted in the predetermined direction, the golf cart runs while being controlled by the operation of the handle lever 21 in accordance with the function described above (S6). When the handle lever 21 is returned to the neutral position, this is used as a stop command (S7) and the golf cart is stopped (S4).
-1) Until the stop command is input (S7), the traveling in the guided traveling mode is continued (S6).

(In the case of unmanned running) In this case, the golf cart is started (S0), not the guided running mode (S1), not the manual running mode (S5), and the unmanned running mode is selected. (S8). That is, as described above, when the handle lever 21 is fully tilted in the state where the guide sensor 11a does not detect the guide wire without pressing the changeover switch 22, the contact points are changed as shown in FIG. 21c is selected, and the handle lever 21 is locked by the lock function formed by the electromagnetic function to enter the unmanned operation mode. When the unmanned operation mode is selected, as described above, a pair of two driving wheel drive motors 23, 24
The golf cart is run straight while maintaining the same rotation speed (S9), and the steering-free travel in the unmanned operation mode is continued (S9) until some stop command is issued (S10). Next, when the second sensor 11c of the running golf cart detects the guide wire (S11), the vehicle is decelerated (S11).
12) Then, when the guide wire is further advanced to detect the state in which the guide wire is arranged in the middle portion of the guide sensor 11a (S13).
A stopping operation is performed as necessary (S14). If the stopping operation is performed, the golf cart stops at that position, and if the stopping operation is not performed, the golf cart remains in the decelerated state (S1).
4) Perform a turning motion to match the traveling direction with the correct traveling direction along the guide line (S15), S1
It is sufficient to switch to the unmanned traveling mode via 6, S17 or not. In this way, the control of the golf cart is
1A and FIG. 1B are different in whether the operation of step S14 is deceleration or stop. In this embodiment, the case of FIG. That is, as shown in FIG. 1 (A), when the guide wire 1 is obliquely entered within a predetermined angle, for example, within 45 degrees as shown by 2a, the positional relationship between the guide wire 1 and the guide sensor 11a entering the guide wire 1 is determined. The first magnetic sensor element a constituting the guide sensor 11a as shown in FIG.
Detects the guide wire 1 and ignores the input signal which is large as shown in pa of FIG. 5, and at the timing when the neutral portion ON reaches the guide wire 1 (S13), without stopping the vehicle speed, At the same time, the neutral portion ON of the guide sensor 11a turns so as to travel in line with the guide wire so that the golf cart turns in the same direction as the direction of the guide wire. (S16) and unmanned operation mode are canceled (S17), and it shifts to guidance run mode. In this case, the process may directly proceed to S1 without going through S16 and S17. That is, after (S13) described above, when the current for locking the electromagnetic function that locks the handle lever 21 that is locked by the electromagnetic function is cut off and the handle lever is returned to the neutral position by the spring force,
Since the guide sensor 11a detects the guide wire, the golf cart travels along the guide wire (S2) until a stop command is issued in the guide travel mode (S3). The guide sensor 11a fails to detect the guide wire and the first sensor 11b
When the guide wire is detected (S18), a stop command is issued and the golf cart is stopped (S4-1). As described above, there is a guide wire in the middle of the guide sensor 11a, and when the guide sensor 11a enters the neutral state ON characteristic state shown in FIG. 5, the guide sensor 11a is completely stopped according to the speed of the golf cart up to that point. Even if the turning operation is performed after that, the turning operation may be performed without being completely stopped.
As shown in FIGS. 1 (B), 1 (C) and 1 (D), the angle at which the golf cart enters the guide wire 1 is 45 degrees to less than 90 degrees, 90 degrees, and more than 90 degrees. In this case, the guide sensor may be disengaged from the guide wire before completely turning the golf cart in the direction of the guide wire 1. In that case, a stop command is output and the golf cart stops. That is, the present embodiment is suitable for the course condition of the golf course in which the running can be started in such a posture that the guide line 1 always enters within about 45 degrees in the traveling direction of the guide wire 1, and in other cases. In order to do so, the countermeasure will be described in the embodiment described later.

Second Embodiment: Next, as shown in FIG. 1 (B), the angle at which the guide wire 1 obliquely enters as shown by 2b is larger than 45 degrees but smaller than 90 degrees. An embodiment that can handle a small case will be described. As shown in FIG. 6, from the traveling distance from when the first magnetic sensor element a of the guide sensor 11a detects the guide wire 1 to when the guide wire is detected when the guide sensor 11a is in the neutral portion ON state, the above guide A function for calculating the angle of oblique entry to line 1 is provided, and the timing at which the neutral portion ON state reaches the guide line 1 (S13)
After the vehicle speed is further reduced by the stop operation in the stop direction and the vehicle is temporarily stopped (S14), the above-described turning is performed to match the traveling direction of the golf cart with the direction of the guide line (S15), and the guide traveling is completed. When the posture becomes possible (S
16) Then, the unmanned operation mode is released (S17) and the mode is changed to the guidance traveling mode (S1).

Although not belonging to the second embodiment, the case of the above-mentioned FIG. 1C and FIG. 1D will be described below. As shown in FIG. 1 (C), when the approach angle is almost right angle to the guide wire 1 as shown in 2c, the first
Since the magnetic sensor element a and the second magnetic sensor element b of 1 detect the guide wire 1 almost at the same time and the turning direction cannot be recognized, a stop command is output (S10) and the golf cart is stopped (S4-2). ). The countermeasures in this case will be described in the eighth and ninth embodiments.

In addition, as shown in FIG.
On the other hand, when the approaching direction is opposite as shown in 2d, it is indistinguishable from the approaching direction which is symmetric with respect to the approaching direction in FIG. 1B, so a stop command is issued on the guide line. Until, the golf cart will travel in the opposite direction. Countermeasures in this case will be described in the eighth and ninth embodiments.

Third Embodiment: The third embodiment is
A remote control function having a switch function having an automatic return function, which is configured as shown in FIG. 3 (B), is provided to the golf cart each time the switch function is operated. It is designed to start or stop. In FIG. 3B, 25 is a remote control function,
Reference numeral 25a is a switch function having an automatic return function, 25b is an antenna for transmitting a remote control signal, 25c is a receiving antenna provided on the golf cart main body, and 20B is shown in FIG.
In addition to the control function shown in (A), a function of receiving a signal transmitted from the remote control function 25 and starting or stopping the golf cart according to the signal is added. Other reference numerals shown in FIG. 3B indicate the same element functions as the reference numerals of the element functions described above with reference to FIG. When the switch function 25a is pressed in the guide traveling mode state, the golf cart starts moving, and when the switch function 25a is pressed on the running golf cart, the golf cart is stopped.
Further, in the unmanned operation mode, when the switch function 25a is pressed on the golf cart running in the unmanned operation mode, the golf cart is stopped. As described above, the running golf cart may be formed by the remote control function or the like so that the golf cart can be brought to an emergency stop simply by touching it without tilting the handle lever 21. Other functions and functions are the same as those in the first embodiment, and detailed description thereof will be omitted.

Fourth Embodiment: The fourth embodiment is
The handle lever 26 is configured as shown in FIG. 3C, except that the handle lever 21 is locked to select the unmanned operation mode in the first embodiment, and the handle lever 26 is used instead. A switch function 27 having an automatic return function for selecting a mode is provided. As the unmanned operation mode is changed, the control function 20A shown in FIG. 3 (A) is changed to 20C, and necessary functions are changed and provided. The other reference numerals shown in FIG. 3C indicate the same element functions as the reference numerals of the element functions described above with reference to FIG. When the switch function 27 is touched under the condition that the guide sensor 11a does not detect the guide wire, this golf cart enters the unmanned operation mode, and the handle lever 26 is tilted slightly forward to be described in the first embodiment. Similar to, the golf cart goes straight. The other functions and functions are the same as those of the first embodiment, and thus detailed description thereof will be omitted.

Fifth Embodiment: The fifth embodiment is
As shown in FIG. 3D, a remote control function having a switch function having an automatic return function is provided in the same manner as the third embodiment with respect to the above-described fourth embodiment. The golf cart is run or stopped each time the function is operated. In the present embodiment, a switch function 25a having an automatic return function similar to that of the third embodiment (FIG. 3B) is added to the configuration of the fourth embodiment (FIG. 3C). A remote control function 25 having an antenna 25b for transmitting a remote control signal and a receiving antenna 25c on the golf cart body are provided, and the control function 20C shown in FIG. 3C is changed to a control function 20D operated by the remote control function. It was done. Therefore, in the present embodiment, except for the unmanned operation mode, the remote control function described in the third embodiment may be combined with the description of the fourth embodiment. In the unmanned operation mode, under the condition that the guide sensor 11a does not detect the guide wire, the switch function 27 is touched and the unmanned operation mode is set, and then the switch function 25a is applied to the golf cart while the handle lever 26 is in the neutral state. When is pressed, the golf cart starts moving straight, and when the switch function 25a is pressed again, the golf cart is stopped. The other functions and functions are the same as those in the above-described embodiment, and thus detailed description thereof will be omitted.

Sixth Embodiment: The sixth embodiment is
The guide traveling mode, which is configured as shown in FIG. 3E, is different from the first and fourth embodiments described above.
Two kinds of traveling speeds, a manual traveling mode, an unmanned operation mode switching, and an unmanned operation mode, are selected by a switch for switching. That is, for example, when the first contact 28a of the switch 28 for switching four circuits is selected, the guide traveling mode is selected, and when the second contact 28b of the switch 28 for switching is selected, the manual traveling mode is switched to the third. When the contact point 28c is selected, the unmanned low speed operation mode is selected, and when the fourth contact point 28d is selected, the unmanned high speed operation mode is selected. When the handle lever 26 is tilted forward, the manual forward mode is selected. The control function 20E causes the golf cart to run and stop so that the golf cart stops when the golf cart is pushed down. The other reference numerals shown in FIG. 3 (E) indicate the same element functions as the reference numerals of the element functions described above with reference to FIG. 3 (C). Since the unmanned low speed operation mode described above executes unmanned operation at a relatively low speed, it is used when returning the golf cart to the guide wire at a relatively large angle. In the unmanned high-speed driving mode, when returning the golf cart to the guide wire at a relatively small angle, or when it is desired to go straight at a predetermined position in a place unrelated to the guide wire, the golf course described in the embodiment described later. This is used, for example, when gear shifting is enabled in accordance with the above condition. Other functions and functions are the same as those in the first embodiment, and detailed description thereof will be omitted.

Seventh Embodiment: The seventh embodiment is
As shown in FIG. 3F, a remote control function having a switch function having an automatic return function is provided in the same manner as the third embodiment with respect to the above-described sixth embodiment. The golf cart is run or stopped each time the function is operated. That is, according to the present embodiment shown in FIG. 3F, the third embodiment (FIG. 3E) is added to the configuration of the sixth embodiment (FIG. 3E) described above.
Switch function 2 having an automatic return function similar to (B))
5a and a remote control function 25 having an antenna 25b for transmitting a remote control signal and a receiving antenna 25c on the golf cart main body, and the control function 20E shown in FIG. 3E is controlled by the remote control function 20F. It has been changed to. Therefore, in the present embodiment, the remote control function described in the third embodiment may be combined with the description of the sixth embodiment, and thus detailed description of the function and function will be omitted.

Eighth Embodiment: Next, in any one of the above-described first to seventh embodiments, the current position of the golf cart is measured using GPS, and the current position of the guide line is determined. By controlling the traveling speed and direction of the golf cart correspondingly, even under the condition of the golf course where the approach angle with respect to the guide line as shown in FIGS. 1 (C) and 1 (D) must be taken. An applicable embodiment will be described. FIG.
FIG. 3A is the same as FIG. 3 in the first to seventh embodiments.
The control function 20A shown in (A), the control function 20B shown in (B), the control function 20C shown in (C), the control function 20D shown in (D), and the control function shown in (E). 10] is a schematic block diagram showing a configuration of elemental functions necessary to realize a function in which GPS is applied to any of the control function 20E shown in FIG. 4) and the control function 20F shown in FIG.

In FIG. 7A, reference numeral 31 is a transmission bus line of codes for designating various transmission signals and destination addresses of signals to be transmitted. The bus line 31 has a CP that executes data processing such as predetermined calculation / evaluation / details described later.
U (Central Processing Unit) 32, CPU
A first storage function 33 for recording a basic program executed by 32, a program for executing position calculation in accordance with a GPS function, a program for executing the functions described in the first to seventh embodiments, and the like. A second memory function 34 for recording a dedicated program, and a fixed data necessary for running a golf cart peculiar to the golf course, which is an area where the golf cart runs, such as a golf course course map described later in detail. Storage function 35, a fourth storage function 36 for storing data such as data being processed by the CPU 32 that needs to be temporarily stored when this golf cart is in operation, reception for receiving radio waves transmitted from artificial satellites The GPS function unit 37b and the like connected to the unit 37a are connected. Further, 38 connected to the bus line 31 is a first
Through the input function unit which collectively shows the input units of the various sensors and switches described in the seventh embodiment including the input interface, 39 is a motor control signal for driving the driving wheels of the golf cart and other various output signals. It is an output function unit that collectively shows the output units of a class including the output interface.

Next, a partial example of the above-mentioned golf course course map will be described with reference to FIG. FIG. 8 shows a map of the nth hole and its surroundings on the target golf course. FIG.
In Fig. 1, 1 is a guide line laid on the running path of the golf cart continuing from the left to the right in the golf course, 51 is a tee ground, 52 is a green, 53 is a vegetation between adjacent holes, etc. The grove, 54 is O
Area B, 54a, shows the rough near the tee ground 51. Guide wire 1, tee ground 51, green 5
2. The area between the grove 53 and the OB area 54 is the fairway of the nth hole, where 55 is a pond, 56 is a bunker, 57 is a tree, and 58 is a pond 55 across the fairway.
It is a bridge that was passed to. Also, a number of lines 59a ₁ , 59a ₂ , 59a ₃ ... (Abbreviated as 59 for simplicity below) that are written across the fairway are lines that indicate the position where the inclination angle of the ground in the fairway changes. Shows. The line 59 indicating the changing position of the tilt angle may be a contour line, and the tilt angle may be calculated from the interval of the contour lines and calculated.

The third storage function 35 includes position data indicating the above-mentioned areas, position data indicating the route of the guide line 1,
The position data of the line 59 indicating the position where the tilt angle changes and the tilt angle data between the lines 59, the region where the traveling of the golf cart should be prohibited in accordance with the above-mentioned map conditions, for example, the inaccessible zone of the tee ground, Position data indicating each area of the no-entry zone, trees, OB area, ponds, bunkers, trees, etc. where the golf cart is dangerous to run, the direction of large incline, steep slope area, etc. The position data for specifying the entry prohibition and the traveling direction (hereinafter, the zone where the travel is prohibited is generically referred to as the travel prohibited area) and the condition data for automatically giving the travel command to other golf carts are recorded.

With the above-described structure and conditions, the golf cart takes in its own current position data by the GPS function and records it in the fourth memory function 36. The CPU 32 is the fourth
The current position data recorded in the memory function 36 of FIG. 3 and the travel prohibited area data recorded in the third memory function 35 described above are constantly compared with each other. The alarm function provided is activated, and in the unmanned operation mode, the alarm function is activated if there is a traveling prohibited area in the straight ahead direction. In addition, the traveling is stopped or prohibited. Except for constantly measuring the current position of the golf cart and using it for traveling management, it is the same as any one of the first to seventh embodiments described above, and therefore detailed description of its function and function will be omitted.

Ninth Embodiment: As described above, if there is an area where the golf cart is prohibited from traveling, the direction in which the golf cart returns to the guide line in the unmanned driving mode is limited, and the steps shown in FIGS.
There are cases where the traveling direction must be as shown in (D). Next, a measure for executing the unmanned operation mode even in such a case will be described. That is, FIG. 1 (E)
As shown in FIG. 5, the travel correction line 1c is formed substantially parallel to the guide wire 1 at a predetermined distance, and the position data thereof is recorded in the above-mentioned third storage function 35. The CPU 32 measures the traveling direction of FIG. 1E in the unmanned operation mode, for example, the angle formed by 2e shown in FIG. 1E and the traveling direction of the guide wire 1 to measure the fourth storage function 36. To record. CP
As described above, U32 compares the current traveling position with the golf course map data recorded in the third storage function 35, and when the golf cart reaches the traveling correction line 1c, the traveling speed of the golf cart is preset. The output function unit 39 creates a command signal for controlling the rotational speed of each of the electric motors 23 and 24 so as to turn in the traveling direction and the direction 2ec in which the vehicle can appropriately travel along the guide line while decelerating to the value.
Output to Therefore, if there is no traveling prohibited area in the traveling direction of the golf cart, the golf cart will travel correctly even if the unmanned operation mode is selected without considering the approach angle with respect to the guide line 1.

Tenth Embodiment: Next, even if there is an area in which the golf cart is prohibited from traveling, or if the golf cart is run in an unmanned operation mode in any direction, it is affected by the traveling prohibited area. Instead, an embodiment will be described in which the vehicle travels correctly toward the guide wire 1. When the golf cart is started in the unmanned operation mode, the CPU 32 checks the relationship between the traveling direction of the golf cart and the traveling direction of the proximity guide wire 1 in the hole, and automatically creates the shortest distance route. Check whether there is a prohibited area on the route. If there is no travel-prohibited area on the above-mentioned route, a command signal for driving the golf cart on this route is created and output to the output function unit 39. Therefore, the golf cart runs in the unmanned operation mode without stopping halfway and then enters the guide running mode along the guide line. If there is a travel-prohibited area on the above-mentioned route, the CPU 32 automatically creates a route that can reach the guide line 1 without passing through the travel-prohibited area, and issues a command signal to cause the golf cart to travel along this route. It is created and output to the output function unit 39. Therefore, the golf cart runs in the unmanned operation mode without stopping halfway and then enters the guide running mode along the guide line. The above-described route automatic creation function is created in a program in advance, recorded in the second storage function 34, and executed under the control of the basic program recorded in the first storage function 33.

Eleventh Embodiment: Next, an embodiment in which the golf cart can be automatically moved to an arbitrary place by utilizing the above-mentioned function will be described. When a golf cart is touched with a display function (not shown) formed of a liquid crystal or the like capable of displaying the golf course map data recorded in the third storage function 35 and an arbitrary position on the map displayed by this display function. ,
A touch sensor function (not shown) for inputting the position is provided. For example, as shown in the sixth embodiment, when a predetermined position on the map is selected as described above under the condition that the unmanned high speed operation mode is selected by the fourth contact 28d of the switch for switching, The golf cart runs at a predetermined speed to the designated position. If there is a travel-prohibited area on the travel route, it is possible to avoid the travel-prohibited area and travel as described above.

Twelfth Embodiment: Next, the traveling direction of the golf cart is measured by using the above-mentioned function, and, for example, the angle at which the unmanned driving mode enters the guided traveling mode is kept below a predetermined value. A means for preventing the occurrence of a mode conversion error from the unmanned operation mode to the guided traveling mode will be described. The traveling direction of the golf cart can be measured from the change in the current position on the map during a predetermined time.
Further, as described above, the distance between the guide line and the current position can be easily measured from the map and the current position data on the map. Therefore, calculate the position data of the target guide line on the map, the current position of the golf cart and the angle of the traveling direction with respect to the guide line, and automatically create the traveling route of the golf cart within the preset angle. Control to run along the course.

Thirteenth Embodiment: Next, FIG. 7 shows a current position measuring means of a golf cart which does not use the GPS function.
This will be described with reference to (B). In FIG. 7B, 40a
Is a gyro and an interface unit for converting an output signal of the gyro into a digital signal suitable for computer processing (hereinafter referred to as a gyro). The type of gyro is not limited to the golf cart, and may be set appropriately according to the type and conditions of the electric vehicle to be applied. Reference numeral 40b is a measurement function for measuring the distance traveled by the golf cart (or other target electric transport vehicle) per unit time and an interface unit for converting an output signal of this measurement function into a digital signal suitable for computer processing (hereinafter referred to as running). Called a range finder). The function of measuring the traveling distance may be such that the rotation angle measuring function is mounted on an appropriate wheel and the CPU 32 calculates and calculates it from the diameter value of the wheel recorded in the third memory function 35 in advance. The rotation speed may be measured and calculated by the CPU 32.

FIG. 7B shows the GP of FIG. 7A described above.
The S-related functions 37a and 37b are replaced with a gyro 40a and an odometer 40b, and the other components are the same, so detailed description thereof will be omitted. However, it goes without saying that the content of the program recorded in the second storage function 34 changes. That is, the traveling distance and traveling direction at a predetermined timing are accumulated in the second storage function 34 from the traveling distance per unit time of the golf cart and the output value of the gyro according to an arithmetic expression set corresponding to the type of gyro. The current position data is obtained as an integrated value by performing integration on the position data of a predetermined start point recorded in advance in the fourth storage function 36 before the start of measurement. Since the usage of the current position data is the same as that of the eighth to eleventh embodiments described above, detailed description thereof will be omitted.

Fourteenth Embodiment: Next, an embodiment capable of reducing the accuracy of the gyro that can be executed when the golf cart is formed so as to always run at a fixed position when the golf cart moves between holes, etc. explain. In advance, the golf cart is provided with a marker function along a guide line that must pass through. For example, a plurality of magnetic poles are arranged at a predetermined position on the guide wire corresponding to the passage between the holes to form a marker for expressing a code for identifying the point, and the code indicated by the magnetic pole on the golf cart. Is provided, and each code and the position data of the code arrangement portion are associated and recorded in the third storage function 35.

In the above structure, when the golf cart passes through the respective marker portions, the current position data created by integrating the golf cart as described above is made to correspond to the code indicated by the marker portion. The position data recorded in the storage function 35 of No. 3 is replaced. That is, every time the marker portion is passed, the current position data created by the integral calculation is converted into the correct position data to eliminate the error that may be introduced by the calculation. As a means to calibrate the current position data, if conditions allow other than the above method,
The identification code of the marker part is not provided, and each time it passes through the marker part, it is replaced with the position data that is recorded in a predetermined order, and is replaced with the recorded position data that is the closest to the currently recorded position data. You may take simple means such as doing.

The above description is directed to an embodiment in which the present invention is mainly applied to a golf cart. The target use system of the electric vehicle and its environmental conditions, uses, usages, structures, functions, It goes without saying that it may be appropriately modified in accordance with various conditions such as the control function, the drive mechanism and the drive function. Further, although it has been described that the vehicle travels in the guided traveling mode when the guiding wire is detected in the unmanned operation mode, it is natural that the vehicle may be stopped at the guiding wire portion.

[0044]

The present invention is constructed as described above.
It has the following excellent effects. (1) An electric vehicle separated from the guide line can be easily and surely returned to the guide line, and can automatically shift to the guide run as it is. (2) In this case, when the operated manual operation function is automatically held in the forward traveling condition and the vehicle travels, and when the guide wire is restored, the above-mentioned operation is automatically released. Can be realized easily and surely. (3) If the manual operation unit has a switch function with an automatic return function, and the manual operation drive mode / guide drive mode and unattended operation mode are switched each time the switch function is operated, the unattended operation mode can be set easily. it can. (4) If a remote control function is provided, it is possible to issue an instruction to stop traveling at a position away from the target electric transport vehicle. (5) A guide wire detection sensor is attached to the front side of the guide wire tracking guide sensor, and when the guide wire detection sensor detects the guide wire, the traveling speed of the electric transport vehicle is reduced. The unmanned traveling speed for returning to the guide line can be increased. (6) If a guide wire detection sensor is installed behind the guide sensor for tracking the guide wire, and if this guide wire detection sensor detects the guide wire, the guide wire will be stopped if the electric vehicle is stopped. There is no fear of runaway even if the guide sensor fails to detect the guide wire in the unmanned operation mode for returning to the normal state. (7) If the guide sensor detects a guide wire while traveling in the unmanned operation mode, the traveling direction of the electric vehicle may be corrected to the traveling direction of the guide wire when the guide traveling mode is entered. There is no fear of meandering because the car body is facing the guide wire correctly. (8) If the switching operation to the guide traveling mode is executed at the guide line tracking neutral position of the guide sensor while traveling in the unmanned driving mode, the center of the vehicle body (guide sensor There is little deviation between the central part) and the guide wire, so there is no fear of meandering. (9) A means for detecting the angle formed by the traveling direction of the electric transport vehicle and the traveling direction of the guide wire running in the unmanned operation mode is provided so that the angle formed by the electric transport vehicle and the guide wire is within a predetermined value. If it is maintained, the unmanned operation mode can be smoothly shifted to the guided traveling mode. (10) When the travel control is performed such that the travel permitted area and the travel prohibited area of the electric transport vehicle are provided, the unmanned electric transport vehicle collides with an obstacle or a tree or enters a difficult traveling location. There is no risk of falling or falling on a slope. (11) If the current position of the electric transport vehicle is obtained by the GPS function, the current position of the electric transport vehicle can be accurately detected, so that various safe driving and economical driving in the unmanned driving mode can be realized. (12) Even if a gyro is used to grasp the current position of the electric carrier, the same effect as GPS can be obtained.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a relationship between a traveling path and a guide wire of an electric transport vehicle (golf cart) in an unmanned operation mode to which the present invention is applied, in which FIG. Angle (B) shows the approach angle of the electric cart that can enter with the standard function, and (C) shows the relationship between the road and the guide line. The right angle state, FIG. 6D is a diagram for explaining a means for correcting the approach angle of an electric vehicle which cannot be entered by the standard function, and FIG. 6E is a means for correcting the approach angle in the state of FIG. The relationship angles between the traveling path and the guide wire of the electric vehicle corresponding to the ninth embodiment are shown respectively.

FIG. 2 is a flowchart showing an outline of an operation for executing the present invention.

FIG. 3 is a block diagram showing a schematic configuration of a control function of an electric vehicle to which the present invention is applied, in which FIG.
And a configuration example used in the second embodiment, FIG. 7B shows a configuration example used in the third embodiment, and FIG.
FIG. 6D shows a configuration example used in the fifth embodiment, FIG. 6D shows a configuration example used in the sixth embodiment, FIG. ) Indicates configuration examples used in the seventh embodiment, respectively.

FIG. 4 is a schematic layout diagram showing guide wire detection sensors including a guide sensor mounted on the lower front side of the electric transport vehicle according to the present invention.

FIG. 5 is a schematic characteristic curve diagram illustrating characteristics of a guide sensor mounted on the lower front side of the electric transport vehicle according to the present invention.

FIG. 6 is a plan view showing a positional relationship between a guide sensor and a guide wire for explaining the function of the present invention.

FIG. 7 is a block diagram showing an example of control functions formed in an electric vehicle to which the present invention is applied. FIG. 7A shows an eighth to twelfth embodiment, and FIG. And the fourteenth embodiment are shown respectively.

FIG. 8 is a plan view of an essential part of a golf course on which an electric transport vehicle to which the present invention is applied travels.

[Explanation of symbols]

1: Guide wire 1c: Travel correction lines 2a to 2e, 2ec: Unmanned travel route 10: Electric vehicle (golf cart) 11a: Guide sensor 11b, 11c: First sensor, second sensor (guide wire detection sensor) ) 20A to 20F: control function 21, 26: handle lever 22, 25a, 27: switch 25: remote control function 28: 4 circuit changeover switch 23, 24: electric motor 31: bus line 32: CPU 33-36: storage function 37a : GPS receiving unit 37b: GPS function unit 38: Input function unit 39: Output function unit 40a: Gyro 40b: Odometer 59: Line indicating the position where the tilt angle changes

Claims (13)

[Claims] 1. An electric transport vehicle having at least two operation modes, a manual operation traveling mode in which the vehicle travels by a manual operation, and a guided traveling mode in which the vehicle travels along a guide wire laid on a traveling path. An unmanned operation mode for traveling unmanned according to conditions is provided, and while traveling in the unmanned operation mode, when the guide line is detected, the guide control mode is switched to the guide traveling mode. . 2. In the unmanned operation mode of the traveling control method for an electric carrier according to claim 1, the vehicle is operated while the operated manual operation function is automatically maintained in a forward condition, and the vehicle is operated in the unmanned operation mode. When a guide wire is detected inside, it switches to the guide travel mode, and at the same time, the driving control method for the electric transport vehicle that automatically releases the holding of the manual operation function. 3. The traveling control method for an electric transport vehicle according to claim 1, wherein a manual operation section of the electric transport vehicle is provided with a switch function having an automatic return function, and a manual operation is performed every time the switch function is operated. Operation control of the electric transport vehicle that switches between the operation drive mode / guided drive mode and the unmanned drive mode, and switches to the guided drive mode when the guideline is detected while the electric transport vehicle is traveling in the unmanned drive mode. Method. 4. The travel control method for an electric transport vehicle according to claim 1, further comprising a remote control function having a switch function having an automatic return function, each time the switch function is operated. A traveling control method for an electric transport vehicle, wherein the electric transport vehicle is switched between running and stopping. 5. The traveling control method for an electric transport vehicle according to any one of claims 1 to 4, wherein a guide wire is detected in front of a guide sensor for guiding a guide wire mounted in the traveling direction of the electric transport vehicle. When the sensor is attached and the guide wire detection sensor detects a guide wire while the electric vehicle is traveling in the unmanned operation mode, the electric vehicle is designed to reduce the traveling speed of the electric vehicle to a predetermined value or less. Control method for a mobile carrier. 6. The traveling control method for an electric transport vehicle according to claim 1, wherein a guide wire is provided behind a guide sensor for guiding the guide wire mounted in the traveling direction of the electric transport vehicle. When the guide wire detection sensor is equipped with a detection sensor and the guide wire detection sensor detects a guide wire while the electric vehicle is running in the unmanned operation mode, the electric vehicle is stopped. Control method. 7. The traveling control method for an electric transport vehicle according to claim 1, wherein when the guide sensor detects a guide wire during traveling in an unmanned operation mode, A travel control method for an electric transport vehicle, which executes a guide travel mode after correcting the travel direction to the travel direction of a guide line. 8. The driving control method for an electric guided vehicle according to claim 1, wherein the guide wire is detected at a guide wire tracking neutral position of the guide sensor while traveling in an unmanned operation mode. Then, the driving control method of the electric transport vehicle that switches to the guided driving mode. 9. The traveling control method for an electric transport vehicle according to claim 1, wherein the traveling direction of the electric transport vehicle traveling in the unmanned operation mode and the traveling direction of the guide wire are formed. A traveling control method for an electric transport vehicle, which is provided with means for detecting an angle so as to maintain an angle formed by the electric transport vehicle and a guide wire within a predetermined value. 10. The traveling control method for an electric transport vehicle according to claim 1, further comprising means for detecting a distance between the electric transport vehicle and the guide wire that are traveling in the unmanned operation mode. A traveling control method for an electric transport vehicle, wherein when the distance between the electric transport vehicle and the guide wire is within a predetermined distance, the traveling speed of the electric transport vehicle is maintained below a predetermined value. 11. A course of a predetermined traveling area created by providing a traveling permission area and a traveling prohibition area of the electric transport vehicle according to the traveling control method of the electric transportation vehicle according to any one of claims 1 to 10. A map storage function and a current position detection function of the electric transport vehicle are provided, and a determination function using the detection signal of the current position detection function provided in the control function of the electric transport vehicle is the electric transport vehicle. The driving control method for the electric transport vehicle, which makes it impossible to select the unmanned operation mode when it is determined that there is a traveling prohibited area in the traveling direction. 12. A means for detecting an angle between a traveling direction of the electric transport vehicle according to claim 9 and a traveling direction of the guide wire, and a distance between the electric transport vehicle and the guide wire according to claim 10. Means, a combination of one or more of the present position detection functions according to claim 11, which uses a radio wave transmitted by an artificial satellite.
A travel control method for an electric carrier that uses position information obtained by a PS function. 13. A means for detecting an angle between a traveling direction of the electric guided vehicle according to claim 9 and a traveling direction of the guide wire, and a distance between the electric guided vehicle and the guide wire according to claim 10. Means, one or more combinations of the present position detection functions according to claim 11 are mounted on the electric transport vehicle to measure the distance traveled / calculate, a gyro and an arithmetic expression set corresponding to the type of the gyro. Of the electric transport vehicle, which is obtained by integrating and integrating the travel distance and the traveling direction at a predetermined timing of the electric transport vehicle obtained by giving the output value of the above-mentioned travel distance measurement / calculation function and the output value of the gyro. Driving control method.