JP3224893B2 - Automatic transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic transport apparatus for automatically driving a golf car for transporting a golf bag to a destination at a golf course, for example.

[0002]

2. Description of the Related Art As a device for automatically driving a golf car at a golf course, there is a device conventionally configured as follows.

That is, a guide line is buried near the ground surface from the first point to the second point as a destination. on the other hand,
A guide line sensor is provided in a golf car.

[0004] The induction wire sensor detects the magnetic force of the induction wire to which an alternating current is passed in advance, and the steered wheels are steered via a control device in accordance with the detection signal. Thereby, the golf car automatically travels along the guide line. The portion in which the guide wire is buried constitutes a traveling course of the golf car.

[0005]

By the way, if the above-mentioned traveling course is single, a golf car frequently passes through the traveling course, so that the grass on the traveling course is severely damaged. There is a problem that the natural restoration of turf cannot be made in time.

In view of the above, a plurality of induction wires are juxtaposed from the first point to the second point, and an AC current is applied to a certain induction wire by operating a changeover switch to detect the magnetic force of the induction wire. It is conceivable to make the golf car automatically travel along the guidance line, that is, to make a plurality of travel courses and select one of them.

However, in this case, a plurality of guide wires are required, and a changeover switch is required, which complicates the configuration. Further, every time the golf car is to be automatically driven, an operation of the changeover switch is required, and the operation is complicated.

[0008]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide an automatic transfer apparatus having a simple structure and easy operation.

[0009]

A feature of the present invention to achieve the above object is that a plurality of main guide lines 75 to 79 are arranged side by side from a first point 71 to a second point 72 , and provided with an inlet guide wire 82 extending from the front of the point 81 of the first point 71 to the same as above the first point 71, the outlet guide wire 84 extending toward the tip of the point 83 than from the second point 72 Provided , each of these guide wires 75 to
79 , 82 , 84 are formed by bending a single wire,

At the first point 71, the entrance guidance
Start fixed point near the main guiding line 77 connected to the line 82
86, while at the second point 72,
End fixed points 87 are set near the main guide lines 75 to 79, respectively.
The automatic driving golf which automatically travels to the first point 71 along the detection while detecting the entrance guide line 82.
When the car ( vehicle ) 1 detects the start fixed point 86,
The vehicle automatically travels toward any one of the main guide lines 75 to 79 selected from the main guide lines 75 to 79 , and automatically travels along the route to the second point 72 while detecting the main guide line. Then, at the second point 72 , the golf car (vehicle)
1 automatically detects the end fixed point 87 and automatically travels toward the exit guide line 84.
Along the above point 83 while detecting 84
The point is that the vehicle is automatically driven toward.

[0011]

[Operation] The operation of the above configuration is as follows.

[0012] The terms in parentheses described below correspond to the terms in the claims.

A plurality of main guide lines 75 to 79 are arranged side by side from a first point 71 to a second point 72, and an entrance extends from a point 81 just before the first point 71 to the first point 71 as described above. A guide line 82 is provided, and an exit guide line 84 extending from the second point 72 to a point 83 further therefrom.
The guide wires 75 to 79, 82, and 84 are formed by bending a single wire.

That is, the main guide lines 75 to 7 provided for automatically driving the golf car (vehicle) 1 on a desired running course.
9, the entrance guide line 82 and the exit guide line 84 are formed of a single wire, so that the number of parts is reduced as compared with the case where these are individually provided.

At the first point 71, the entry
Open near the main guide wire 77 connected to the mouth guide wire 82
While the starting point 86 is provided, at the second point 72,
End fixed point 8 near each of the above main guide lines 75 to 79
7, the automatic traveling golf car (vehicle) 1 that has traveled automatically to the first point 71 along the entrance guide line 82 while detecting the entrance guide line 82 detects the start fixed point 86.
Thereby, the vehicle automatically travels toward any one of the main guide lines 75 selected from the main guide lines 75 to 79, and
While detecting the main guide line 75, the second
Automatically travel to the point 72, the golf in this second point 72
When the hooker (vehicle) 1 detects the end fixed point 87,
The vehicle travels automatically toward the exit guide line 84, and
While detecting the exit guide line 84, the vehicle automatically travels along the exit guide line 84 toward the aforementioned point 83.

[0016] For this reason, golf car (vehicle) 1 is given
Since any one of the main guide lines 75 to 79 installed on the traveling course is selected and the vehicle automatically travels along the selected main guide line , in the golf course G, for example, the golf car (vehicle) 1 is mainly used. Predetermined running command along guidance lines 75-79
Suddenly hits some obstacles, such as trees,
Collision is prevented, and the vehicle is prevented from passing only through a certain traveling course.

[0017]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of an automatic transfer apparatus according to the present invention.

In FIG. 2, FIG. 3, and FIG.
Is a golf car as an automatic traveling vehicle capable of unmanned traveling, G is a golf course, and an arrow Fr in the figure indicates the front of the golf car 1. The left and right described below refer to the direction toward the front.

A pair of left and right front wheels 3, 3 are supported at the front of the body 2 of the golf car 1 so as to be steerable. on the other hand,
A pair of left and right rear wheels 4 and 4 serving as drive wheels are supported at the rear of the vehicle body 2. At the front end of the vehicle body 2, a bumper 5 extending left and right is attached.

A gasoline engine 6, which is a driving source of the vehicle, is mounted substantially at the center of the vehicle body 2 in the front and rear directions. A carburetor 7 and an intake pipe 8 are connected to an intake port of the engine 6, while an exhaust pipe 9 and a muffler 1 are connected to an exhaust port.
The muffler 10 is disposed on the right side of the vehicle body 2.

Further, a fuel tank 11 for supplying gasoline fuel to the engine 6 via the carburetor 7 is provided.

A gear type speed reducer 12 is supported on the vehicle body 2 behind the engine 6. The input shaft of the speed reducer 12 is connected to the engine 6 by a V-belt wrapped automatic transmission 13, and the output shaft of the speed reducer 12 is connected to the rear wheels 4, 4. When the engine 6 is driven, the rear wheels 4 and 4 are sequentially driven via the automatic transmission 13 and the speed reducer 12, so that the golf car 1 can run.

A starter dynamo 15 is provided in front of the engine 6, and the starter dynamo 15 is connected to the engine 6 by a V-belt winding device 16. The starter dynamo 15 also functions as a starter motor for starting the engine 6 and a generator.

When the starter dynamo 15 functions as a starter motor, the starter dynamo 15
Drives the battery 6 disposed on the left side thereof as a power source and starts the engine 6. On the other hand, when the starter dynamo 15 functions as a generator, its output is charged to the battery 17.

A handle post 19 is provided at a front portion of the vehicle body 2 so as to project rearward and upward from a central portion in the right and left direction. A steering shaft 20 is supported on the handle post 19 so as to be rotatable around its axis. A bar-type handle 21 is attached to the upper end of the steering shaft 20.

A link mechanism 22 is provided at the lower end of the steering shaft 20.
The front wheels 3 and 3 are connected to each other via a steering wheel.

A steering motor 23 is supported by the handle post 19, and the front wheels 3, 3 are steerably connected to the steering motor 23 via the link mechanism 22.

In any case, the front wheels 3 and 3 are steered through the link mechanism 22 by operating the steering wheel 21 or driving the steering motor 23. A potentiometer 18 for detecting the steering angle of the front wheels 3, 3 is provided in conjunction with the steering motor 23. On the other hand, a parking lever 24 is pivotally supported at the upper end of the steering shaft 20.

A disk brake 25 is mounted on the right end of the intermediate shaft of the speed reducer 12, and an electromagnetic brake 26 is mounted on the left end of the other intermediate shaft.

The disc brake 25 is braked or released by operating the parking lever 24. On the other hand, a brake lever 27 is provided corresponding to the left grip of the handle 21, and the disc brake 25 is braked or released by operating the brake lever 27. And, by this braking operation, the speed reducer 12
, The rear wheels 4 and 4 are braked.

The electromagnetic brake 26 is normally electrically turned off (OFF). In this case, the electromagnetic brake 26 is performing a braking operation by a spring force, whereby the rear wheels 4 and 4 are also braked via the speed reducer 12.

On the other hand, when the electromagnetic brake 26 is electrically turned on (ON), the braking of the electromagnetic brake 26 is released by the electromagnetic force that opposes the spring force.

The throttle valve of the carburetor 7 has a first
A switching device 29 is connected via a wire 28, and a governor device 31 is connected to the switching device 29 via a second wire 30. An accelerator lever 33 provided corresponding to the right grip of the handle 21 is connected to the governor device 31 via a third wire 32.

An electromagnetic clutch 35 and a stepping motor 36 are connected to the throttle valve of the carburetor 7 via the first wire 28 and the switching device 29.

When the accelerator lever 33 is connected to the throttle valve of the carburetor 7 by the switching operation of the switching device 29, the operation of the accelerator lever 33 is performed via the governor device 31 and the switching device 29. Vaporizer 7
Of the accelerator lever 3
The opening and closing operation of the throttle valve according to the operation amount of No. 3 can be obtained.

If the stepping motor 36 is connected to the throttle valve of the carburetor 7 by the switching operation of the switching device 29,
Is operated (connected operation) by the electromagnetic clutch 35,
The operation is transmitted to the throttle valve of the carburetor 7 via the switching device 29, and the opening and closing operation of the throttle valve according to the operation of the stepping motor 36 is obtained.

A step plate 3 is provided at the rear of the vehicle body 2.
8 are laid. When the operator gets on the step plate 38, the steering operation of the handle 21 can be performed while the operator stands, and the brake lever 27 and the accelerator lever 33 can be operated.

A basket 40 on which a golf bag 39 is placed is provided at a front portion of the vehicle body 2, and an operator can carry the golf bag 39 to a desired position by steering or the like.

In FIG. 2 to FIG.
A control device for electrically and electronically controlling travel of the vehicle will be described.

A main controller 42 is provided at substantially the left and right centers of the vehicle body 2. On the other hand, the engine 6
An ignition circuit 44 is electrically connected (hereinafter simply referred to as “connection”), and the ignition circuit 44 is connected to the main controller 42. Further, a rotation sensor 45 for detecting the number of rotations of the engine 6 is provided. The rotation sensor 45 is also connected to the main controller 42, and the ignition timing in the ignition circuit 44 is determined by the output signal of the rotation sensor 45.

A main switch 46 is provided to enable the electric power of the battery 17 to be supplied to each electric component such as the main controller 42. Further, a start stop switch 47 that enables the golf car 1 to start or stop is connected to the main controller 42. The main switch 46 and the start / stop switch 47
Is attached to the instrument panel 43 supported by the handle post 19.

The main switch 46 includes a caddy switch 46a, a self switch 46b, and a fixed point passing switch 46c, as shown in FIGS. The main switch 46 is a key switch, and includes a lock 48 provided on the instrument panel 43 and a key 49 which is inserted into the lock 48 so as to be freely inserted and removed and operated by a key.

As shown in FIG. 5, when the key 49 is turned off, all power supply from the battery 17 to other electric components is cut off. When the key 49 is set to, the caddy switch 46a is turned on, when set to, the self switch 46b is turned on, and when set to, the fixed point passing switch 46c is turned on. When one of the switches is turned on, the other switches are turned off.

In this case, when the caddy switch 46a and the fixed point passing switch 46c are turned on by the key 49, the key 49 is not mechanically removed from the lock 48.

In FIG. 2 to FIG.
A transmitter 50 is provided separately from the transmitter 50.
A start stop switch 51 having the same function as the start stop switch 47 is provided. On the other hand, a remote control receiver 52 connected to the main controller 42 is provided.

When the start stop switch 51 of the transmitter 50 is operated, the signal is transmitted to the remote control receiver 5.
2, the components of the golf car 1 are operated. In addition, 52a is an antenna of the remote control receiver 52.

The speed reducer 12 is provided with a vehicle speed sensor 53 which is connected to the main controller 4.
2 are connected.

The throttle valve of the carburetor 7 is provided with a throttle sensor 55 for detecting its opening. The throttle sensor 55 is constituted by a potentiometer, and is connected to the main controller 42 together with the stepping motor 36.

A resistor 57 is connected in parallel to a series circuit of the battery 17 and the main relay 56. One end of this parallel circuit is connected to the main controller 42 via a power system controller 58, and the other end is connected to the starter dynamo. 15. In addition, the main relay 56,
And the current sensor 60 is connected to the main controller 42. Further, a steering relay 65 is connected to the battery 17 in parallel. The resistor 57 is covered and protected from outside the vehicle body 2 by a resistor guard 57a.

In conjunction with the link mechanism 22, the front wheels 3,
The turning arm 62 that turns left and right in synchronization with the steering direction of No. 3
Is provided. Three guide line sensors 63 are attached to the turning end of the turning arm 62, and these guide line sensors 63 are connected to the main controller 42 via a guide fixed point amplifier 64. The steering motor 23 is also connected to the main controller 4 via a power controller 58.
2 are connected.

A fixed point sensor 66 is attached to the lower abdomen of the vehicle body 2, and a parking switch 6 for detecting that the disc brake 25 has been braked by operating the parking lever 24.
8 are provided. The step plate 38
A boarding switch 69, which is a boarding detection sensor, is provided on the lower surface of the vehicle. These sensors 66, 68, and 69 are also connected to the main controller 42.

1 to 3, in the golf course G, a guide line 61 is buried in the vicinity of the ground surface along a desired traveling course on which the golf car 1 is to travel. A normal fixed point 61a is appropriately buried along the guide line 61, and the normal fixed point 61a is formed of an S-pole or N-pole magnet.

One hole 70 in the golf course G has a first point 71 on the side where the starting position is located, a second point 72 on the side where the green is formed, and an intermediate point 73 between the two. It is configured.

In particular, as shown in FIG.
Has first to fifth main guide lines 75 to 79 which extend substantially linearly from the first point 71 to the second point 72 and are arranged substantially parallel to each other. In addition, the first point 71
An entrance guide line 82 extending from a point 81 just before the first point to a first point 71 is provided. Furthermore, the second point 7
An exit guide line 84 is provided extending from 2 to a point 83 further therefrom.

The guide wire 61 is formed by bending a single wire. That is, the entrance guide line 82 is connected to the rear end of the third main guide line 77, and the third main guide line 7
The front end 77a of the second bending member 7 is bent to the right at a substantially right angle, and is connected to the front end of the second main guiding line 76. The rear end 76a of the second main guide wire 76 is bent substantially rightward to the right, and
The main guide wire 75 is connected to the rear end.

The front end 75a of the first main guide line 75 is bent substantially rightward to the left and is connected to the front end of the fourth main guide line 78. The front end 75a of the first main guide line 75 is connected to the third end of the third main guide line 75.
It is located near the front of the front end 77a of the main guide wire 77.
The rear end 78a of the fourth main guide line 78 is bent substantially rightward to the left and connected to the rear end of the fifth main guide line 79. The front end 79a of the fifth main guide line 79 is bent substantially rightward at a right angle and is connected to the exit guide line 84.
The front end 79a of the main guiding line 79 is located near the front of the front end 75a of the first main guiding line 75.

At the first point 71, near the rear of the third main guide line 77, a fixed start point 86 composed of an S-pole or N-pole magnet is buried. In addition, the second point 7
In FIG. 2, near the front portions of the first to fifth main guide lines 75 to 79, end fixed points 87 each composed of the same magnet are embedded.

In FIGS. 2 and 6, an offset travel switch 89 and a main guide line selection switch 90 are attached to the vehicle body 2, and these are connected to the main controller 42.
It is connected to the. The offset travel switch 89 and the main guide line selection switch 90 are covered with a cover so as to be openable and closable. The cover can be locked to the vehicle body 2 by a key operation in a closed state.

Each control of the golf car 1 by the main controller 42 will be described in more detail.

When driving the golf car 1, first, the caddy switch 46
a, self-switch 46b, and fixed-point passing switch 4
6c is selected. Then, the golf car 1 enters a control state of automatic traveling.

At the same time, the start stop switch 4
When the start command is given to the main controller 42 by operating the start stop switch 51 of the transmitter 7 or the transmitter 50, the golf car 1 automatically runs.

That is, in response to the start command, the main relay 56 is connected, whereby the starter dynamo 15 is connected to the battery 17.
Functions as a starter motor and starts the engine 6. In response to the start command, the electromagnetic clutch 35 is connected and the stepping motor 36 is connected to the switching device 29.
It is connected to the throttle valve of the carburetor 7 via the electromagnetic clutch 35, and its opening is automatically adjusted by the stepping motor 36.

In this case, the connection of the governor device 31 and the accelerator lever 33 to the throttle valve of the carburetor 7 is released by the switching device 29. At the same time as the above, the electromagnetic brake 26 is turned on to release the braking.

When the engine 6 reaches a predetermined number of revolutions, its power is transmitted to the speed reducer 12 while being automatically shifted by the automatic transmission 13. Then, after being decelerated by the speed reducer 12, the power is transmitted to the rear wheels 4 and 4, whereby the golf car 1 starts running.

When the traveling starts, each of the induction wire sensors 63 detects the magnetic force of the induction wire 61 through which an alternating current is passed in advance, and the main controller 42 and the power system controller 58 , The steering motor 23 is driven to rotate forward and reverse, and in conjunction with this, the left and right front wheels 3, 3 serving as steered wheels are steered via the link mechanism 22.

At the same time, the steering motor 23
The rotation arm 62 also rotates in conjunction with the above-mentioned drive via the same link mechanism 22. Then, a change in the detection signal of each guide line sensor 63 accompanying the rotation of the rotation arm 62 is fed back to the steering motor 23, and the steering motor 23 is driven in response thereto, and again as described above. As each front wheel 3 is steered, the turning arm 62 is also turned. Then, this is repeated, and the golf car 1 performs unmanned automatic traveling along the guide line 61.

During the above-mentioned automatic running, if the vehicle speed is low based on the detection signal of the vehicle speed sensor 53, the stepping motor 36
The throttle valve of the carburetor 7 is opened more greatly by the operation of, and the throttle valve is closed smaller as the vehicle speed increases.

When the throttle valve opens and closes due to the operation of the stepping motor 36, the throttle sensor 55 detects the opening and feeds it back to the stepping motor 36 via the main controller 42. An appropriate opening can be obtained.

As described above, the opening of the throttle valve of the carburetor 7 is adjusted by the detection signal of the vehicle speed sensor 53, and a certain high speed running is normally maintained.

During this traveling, when the guidance line sensor 63 detects that the golf car 1 has deviated from the guidance line 61 by a certain size or more, the vehicle is switched to a constant low-speed traveling mode.

The normal fixed point 61a is located just before a steep downhill or a sharp turn. When the fixed point sensor 66 detects the normal fixed point 61a, the vehicle travels at a low speed. In this low-speed running, a low-speed running distance is calculated by a detection signal of the vehicle speed sensor 53 and a timer built in the main controller 42, and after running a predetermined distance in the low-speed running, the vehicle automatically returns to the high-speed running. It has become.

During the running, the starter dynamo 15 driven by the engine 6 functions as a generator, and its output is charged to the battery 17 via the turned-on main relay 56.

When descending a downhill, the power generation by the starter dynamo 15 causes a regenerative braking action, and the golf car 1 is decelerated. When the battery 17 is sufficiently charged, the regenerative braking becomes insufficient. At this time, the main relay 56 is turned off and the starter dynamo 15 is switched to be connected to the resistor 57. . Then, the generated current is consumed by the resistor 57, whereby desired resistance braking is obtained.

When the traveling of the golf car 1 is stopped, a stop command is given to the main controller 42 by the start stop switch 47 or the start stop switch 51 of the transmitter 50.

In this case, first, the electromagnetic clutch 35 is turned on (connection operation), and the vaporizer 7 is closed by the operation of the stepping motor 36. Then, the golf car 1 is decelerated by the engine brake of the engine 6 and the regenerative braking by the power generation of the starter dynamo 15. Thereafter, when it is determined from the detection signal of the rotation sensor 45 or the vehicle speed sensor 53 that the rotation speed or the vehicle speed of the engine 6 has become lower than a predetermined value, the engine 6 is turned on by the ignition circuit 4.
4 caused a misfire.

At this time, the electromagnetic clutch 35 is turned off (disconnected), and the throttle valve in the carburetor 7 is fully closed by a spring return, whereby the engine 6 is stopped. At the same time as the engine 6 is stopped, the electromagnetic brake 26 is turned off to brake the rear wheels 4 and 4, whereby the golf car 1 is stopped.

As shown by reference numeral A in FIG. 1, the golf car 1 automatically travels to the first point 71 along the entrance guide line 82 while detecting the magnetic force of the entrance guide line 82 by the guide line sensor 63. The main controller 4 so that the golf car 1 automatically travels on a desired traveling course.
2 is automatically controlled.

The above control will be described with reference to FIGS. 1 and 7.

FIG. 7 shows a flowchart for the main controller 42, in which (P-1) to (P-29).
Indicates each step of the program.

The golf car 1 moves to the first point 7 as described above.
It is assumed that the vehicle has automatically traveled to 1. In (P-2), the detection signal of the steering angle by the potentiometer 18, the detection signal of the magnetic force of the induction wire 61 by the induction wire sensor 63, and the detection signal of the magnetic force of the start fixed point 86 and the end fixed point 87 by the fixed point sensor 66 are: Each is input to the main controller 42.

In (P-3) and (P-4), when the mode (flag) is “normal running” and the magnetic force at the start fixed point 86 is not detected (P-5), the normal deviation calculation (P
-6), normal wheel-off determination (P-7), steering speed / direction calculation (P-8), steering output by steering motor 23 (P-9)
Are sequentially executed, the process returns to (P-2), and the golf car 1 automatically travels along the entrance guide line 82. Note that the normal deviation calculation in (P-6) is to calculate the amount of deviation of each guide line sensor 63 with respect to the guide line 61.

At (P-5), if the magnetic force at the start fixed point 86 is detected and the offset running switch 89 is on (P-10), the mode is set to "moving" (P-1).
1).

Then, in (P-12), one of the first to fifth main lead lines 75 to 79 is selected by random number calculation, or a main lead line selection switch is selected. At step 90, a preset main guiding line is selected. In the illustrated example, the first main guide line 75 is selected.

Next, the main guide line passage counter is set to 0 (P
-13), the target travel angle (α), and the left / right steering direction are set (P-14). And the above (P-6) ~
Execute (P-9) and return to (P-2). At this time, the golf car 1 automatically travels while being steered, as indicated by reference numeral B in FIG.

In the above (P-11), the mode is “moving”.
Therefore, the process moves from (P-2) to (P-15) via (P-3). When the traveling angle of the golf car 1 reaches the moving target traveling angle (α) (P-16), the steering angle is set to 0 (P-17). Then, the golf car 1 automatically travels in a straight line at the movement target advance angle (α) as indicated by reference numeral C in FIG.

If the new main guide line reaches the second main guide line 76 during this straight traveling (P-18), the main guide line passage counter is counted up by one (P-19).

The first main guide line 75 as a target main guide line
Is reached (P-20), since the mode is “moving” as described above (P-21), (P-2)
In 2), the mode is set to “movement completed”. Then, the steering speed / direction during the movement is calculated (P-24), and the (P
-9) is executed. At this time, the golf car 1 automatically travels along the first main guide line 75 while detecting the magnetic force of the first main guide line 75, as indicated by reference symbol D in FIG.

At this time, since the mode is “movement completed”, the process shifts from (P-9) to (P-25) via (P-2) and (P-3). When the golf car 1 reaches the second point 72 and the fixed point sensor 87 detects the fixed end point 87 (P-26), the mode is set to "return" (P-2).
7), the main guide line counter is set to 0 (P-2)
8).

Next, the return target advance angle (β) is set (P-29). Then, (P-6) to (P-9) are executed, and the process returns to (P-2). At this time, the golf car 1 automatically travels while being steered, as indicated by reference numeral E in FIG.

In (P-27), since the mode is "return", the process shifts from (P-2) to (P-15) via (P-3). If the advancing angle of the golf car 1 reaches the return target advancing angle (β) (P-16), the steering angle is set to 0 (P-17). Then, the golf car 1 automatically travels in a straight line at the return target advance angle (β), as indicated by reference numeral F in FIG.

If the vehicle reaches the second main guide line 76, which is a new main guide line during this automatic traveling (P-18), the main guide line passage counter is counted up by one (P-1).
9). Then, the numerical value thus counted and when the mode was "moving" were counted (P-19).
If the numerical values match, it is determined that the golf car 1 has reached the third main guide line 77, which is the target main guide line (P-2).
0).

At (P-20), since the mode is "return" (P-21), (P-23) is executed, and the mode is set to "normal running". Next, (P-24),
(P-9) are sequentially executed, and at this time, the golf car 1 automatically detects the magnetic force of the third main guide line 77 along the third main guide line 77 while detecting the magnetic force as indicated by reference numeral G in FIG. To run.

When each guide line sensor 63 crosses the guide line 61 at a substantially right angle together with the golf car 1, the magnetic force of the guide line 61 is applied to each of the guide line sensors 6.
No. 3 has a property that it is difficult to detect.

Therefore, an exit guide line 84 is disposed near the front of the third main guide line 77 and on an imaginary extension line thereof.
The front end 5a, the front end 77a, and the front end 79a are substantially orthogonal to each other.

Therefore, the guide line sensor 63 moves from the third main guide line 77 to the exit guide line 84 without erroneous detection. The golf car 1 is connected to the exit guide line 8
While detecting the magnetic force of No. 4, along this exit guide line 84,
The vehicle automatically travels from the second point 72 to the point 83 ahead.

The target advancing angles α and β may be equal to each other or may be different from each other. The golf car 1, the main controller 42, and the guide wire 61
May be applied to an automatic warehouse or the like.

[0097]

According to the present invention, a plurality of main guide lines are juxtaposed from a first point to a second point, and the entrance extends from a point before the first point to the first point. A guide line is provided, and an exit guide line extending from the second point to a point further from the second point is provided.
It is formed by bending a wire rod.

That is, since the main guide line, the entrance guide line, and the exit guide line provided for automatically driving the vehicle on a desired traveling course are constituted by a single wire, it is necessary to provide these individually. Compared with this, the number of parts is reduced, so that the configuration of the automatic transfer device is simplified.

At the first point, the entrance
Set a fixed start point near the main guide wire connected to the conductor
On the other hand, at the second point, the
The respectively completion fixed point provided by the automatic <br/> traveling vehicle which has been automatically travel to the said first point along which while detecting the inlet guide line to detect the start sentinel, the main induction The vehicle automatically travels toward any of the main guide lines selected from the lines, and automatically travels along the detected main guide line to the second point while detecting the main guide line.
The vehicle automatically travels toward the exit guide line by detecting the end fixed point, and automatically travels toward the preceding point along the exit guide line while detecting the exit guide line. It is.

Therefore, the vehicle is installed on a predetermined traveling course.
Select one of the main guiding line being, and the selected
Since the vehicle automatically travels along the main guide line , for example, in a golf course, the vehicle travels along a predetermined travel course along the main guide line.
Sudden collision with some obstacles, such as standing trees, while driving
This is prevented, and the vehicle is prevented from passing through only a certain traveling course. Therefore, the smooth
The running is ensured, in the running of the vehicle is prevented that only a portion of the grass hurts violently.

The selection of the guide line is automatically performed, and the operation of the changeover switch is not required. Therefore, the operation of the automatic transport device can be easily performed.

[Brief description of the drawings]

FIG. 1 is an overall plan view.

FIG. 2 is a simplified schematic side view of a golf car.

FIG. 3 is a simplified plan view of the entire golf car.

FIG. 4 is a detailed rear view of the main switch.

FIG. 5 is an operation explanatory view of a main switch.

FIG. 6 is an overall diagram including an electrical wiring diagram.

FIG. 7 is a flowchart of the main controller.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Golf car (vehicle) 61 Guidance line 71 1st point 72 2nd point 73 Intermediate point 75 1st main guidance line 76 2nd main guidance line 77 3rd main guidance line 78 4th main guidance line 79 5th main guidance line 81 Point in front 82 Entrance guidance line 83 Point ahead 84 Exit guidance line 86 Start fixed point 87 End fixed point

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) G05D 1/00-1/12 B61B 13/00-13/04

Claims (1)

(57) [Claims] 1. A plurality of main guide lines are juxtaposed from a first point to a second point, and an entrance guide line extending from a point before the first point to the first point is provided,
An exit guide line extending from the second point to a point further from the second point is provided, and each of these guide lines is formed by bending a single wire, and is connected to the entrance guide line at the first point.
While the starting fixed point is provided near the main guide line,
At the point, the end fixed point near each of the above main guide lines
The provided, automatic traveling vehicle which has been automatically travel to the said first point along which while detecting the inlet guide wire is the
By detecting the start fixed point , the vehicle automatically travels toward any one of the main guide lines selected from the main guide lines,
In addition, while detecting the main guidance line, the vehicle automatically travels along the second guidance point to the second point, and at this second point, the vehicle
An automatic transport device that automatically travels toward the exit guide line by detecting the end fixed point , and automatically travels along the exit guide line while detecting the exit guide line toward the above-mentioned point. .