JPH07113853B2 - Induction type electric car - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of Industrial Application The present invention relates to an induction type electric vehicle that guides and runs along a guide line buried in a road surface, and can be applied to a golf cart or the like.

(B) Conventional technology Conventionally, as an induction type electric vehicle of this kind, for example, the actual development 59-134
The one shown in Japanese Patent No. 809 (G05D1 / 02) is known. That is, it has two steering systems, an unmanned steering system that runs along a guided track line laid on the road surface and a manned steering system that is steered by operating a potentiometer, and these steering systems are operated by switches. It can be switched. Then, a switch for switching and an operation knob for manned steering are attached to the operation panel. Then, the user selects a steering system with a switch, steers with a potentiometer in the case of a manned steering system, and automatically travels on a guided track line in the case of an unmanned steering system.

However, with the above configuration, for example, when a person who cannot control is operated the operation panel when he / she is in the unmanned steering system and mistakenly switches to the manned steering system,
There is a problem that the potentiometer cannot be operated well, that is, it cannot be steered well because it is unfamiliar with the operation, which is very dangerous.

(C) Problem to be Solved by the Invention The present invention has been made in view of the above-mentioned drawbacks, and an object thereof is to provide an induction electric vehicle with improved safety.

(D) Means for Solving the Problems The present invention is directed to a detecting means for detecting a magnetic field generated in a guide wire buried in a road surface and an operation for instructing a traveling direction of an electric vehicle body regardless of a detection output of the detecting means. Means, selecting means for selectively outputting the output of the detecting means and the output of the operating means, and drive means for driving an angle control motor for controlling the angle of the caster with respect to the electric vehicle main body based on the output of the selecting means, A switch for disabling the control of the angle controlling motor by the operating means regardless of the selection of the selecting means is provided.

(E) Action When the manual steering mode is selected, the vehicle travels regardless of the guide wire by the operation of the operating means, and the traveling speed is appropriately selected by the speed setting means.

When the guide mode is selected, the vehicle travels along the guide line based on the output of the detection unit that detects the magnetic field generated in the guide line buried in the road surface.

When you operate the switch, the manual steering mode is not selected,
Only drive in guided mode. Therefore, even when a person who cannot steer the electric vehicle operates it, the driver can drive safely without making a mistake in the operation.

(F) Example A detailed description will be given below based on an example in which the induction electric vehicle of the present invention is applied to a golf cart.

Reference numeral 1 denotes a main body, in which drive wheels (rear wheels) 2 are provided on both rear sides, and a drive motor 3 for driving the drive wheels 2, a lead storage battery as a power source thereof, a control circuit board, and the like are mounted inside. A mounting stay 4 is provided in front of the main body 1,
A caster 5 is rotatably supported on the stay 4 with respect to the mounting stay 4, in other words, with respect to the main body 1, and a guide wheel (front wheel) 6 is rotatably supported on the caster 5.

Reference numeral 7 is an angle control motor mounted on the mounting stay 4, and a first pulley 8 is fixed to the motor shaft and a second pulley 9 is fixed to the shaft of the caster 5, and the two pulleys are connected by a timing belt 10. Then, the rotation of the angle control motor 7 is transmitted to the casters 5, and the angle of the casters 7 with respect to the main body 1 is controlled.

11 is a volume attached to the mounting stay 4,
The rotation shaft is connected to the motor shaft of the angle control motor 7 through a timing belt 12, and the volume 11
Thus, the angle of the caster 5 with respect to the main body 1 is detected.

Reference numeral 13 denotes a support plate which is fixed to the caster 5 and protrudes forward of the caster 5. A pair of detection coils 14a and 14b, which are equidistant from the center, are attached to predetermined positions on the left and right ends of the support plate 13, respectively. ing. This pair of detection coils 12
Reference numerals a and 12b are for detecting an alternating magnetic field radiated from the induction wire 15 by causing an alternating current to flow through the induction wire 15 buried in the road surface. The angle control motor 7 is controlled by the deviation of the detection output to control the main body. The angle of the caster 5 with respect to 1 is controlled.

Reference numeral 16 is a handle extending rearward from the main body 1, and a brake lever 17 is provided in the vicinity thereof.

18 is a control box provided on the handle 16,
As is clear from the front view shown in the figure, the main operating section 19
Is provided with a speed control unit 20 on the right side. Main operation section
19 is a station stop mode for stopping the golf cart by detecting the magnetic force of the magnet 22 embedded as a mark of a predetermined stop point in the vicinity of the road surface in which the power switch 21 and the guide wire 15 are embedded to stop the golf cart. Station pass selection switch 24 to select the station pass mode to pass the station by invalidating the sensor output,
It has a power handle selection switch 25 for selecting whether or not to perform manual steering by operating an operation lever 32, which will be described later, and the main operating portion 19 is covered by a lid body 26 so as to be openable and closable.

The speed control unit 20 has a low speed switch 27, a medium speed switch 28, and a high speed switch 29 that switch the output of the drive motor 3 during manual steering by operating an operation lever 32 described later. Reference numeral 30 is a start switch for starting the traveling of the main body 1.

Reference numeral 31 denotes a key switch formed on the side surface of the control box 18, which can be turned on and off by a detachable key. Only when the key switch 31 is turned on, a manual steering mode and a guidance mode to be described later are selected. Is enabled, and the selection of the manual steering mode is disabled when the switch is off.

Reference numeral 32 denotes an operation lever whose one end is supported on the upper surface of the control box 18, and rotatably supports an operation portion 33 made of synthetic resin at the free end, and the operation portion 33 is directed upward toward the front side of the user. 1 position (see solid line positions in FIGS. 3 and 4 and FIG. 2) and the operation portion 33 are press-fitted into the recess 34 of the control box 18 away from the user to prevent movement of the operation lever 32. Second
It is adapted to rotate between a position (see the broken line position in FIGS. 3 and 4).

Further, the operation lever 32 is supported so as to be swingable left and right in the first position, and the swinging control box causes the control box to swing.
18 Operates the volume 35 arranged inside and compares the output of this volume 35 with the output of the volume 11 for detecting the angle of the caster 5 so that both outputs become the same. To control. The operating lever 32 returns to the central position when the swinging force to the left and right is released in the first position.

In the second position, the operating lever 32 presses the operating portion 33 into the recess 34 of the control box 18 to prevent the operating lever 32 from vibrating.

Reference numeral 36 denotes a holder made of synthetic resin that houses the magnet 37, and is embedded in the surface of the operation lever 32 facing the control box 18 when the operation lever 32 is positioned at the first position. 38 is a magnet
A holder made of synthetic resin that houses 39 is embedded in the surface of the operation lever 32 facing the control box 18 when the operation lever 32 is positioned at the second position. The holder 36,
A portion of the operation lever 38 protruding from the operation lever 32 is formed in a substantially hemispherical shape.

Reference numeral 40 denotes a Hall IC disposed at a position facing the holder 36 in the control box 18 when the operation lever 32 is positioned at the first position and neutralized, and moves the operation lever 32 to the first position. By doing so, the Hall IC 40 detects the magnetic force of the magnet 37 and selects the manual steering mode.

Reference numeral 41 denotes a Hall IC disposed at a position facing the holder 38 in the control box 18 when the operation lever 32 is moved to the second position, and by moving the operation lever 32 to the second position. The Hall IC 41 detects the magnetic force of the magnet 39 and selects the induction mode.

On the upper surface of the control box 18, when the operation lever 32 swings in the first position, the swing of the operation lever 32 is centered around the swing center of the operation lever 32 at the position where it abuts the hemispherical protrusion of the holder 36. An arc-shaped groove portion 42 is formed over the moving range, and the groove portion prevents damage to the upper surface of the control box 18 when the operation lever 32 is rocked.

Next, the support structure of the operation lever 32 will be described in detail with reference to FIGS.

Reference numeral 43 is a fixing metal fitting that is fixed to the handle 16 by a screw, and is formed in a substantially U shape by bending, and a screw 44 fixed to the upper wall surface is provided.
Through the Brakent 45 fixed to the handle 16,
A nut 46 is screwed onto the screw 44 to fix the fixing bracket 43. A base 47 made of synthetic resin of the control box 18 is screwed to the upper wall surface of the fixing bracket 43, and a bar 48 that covers the lower opening of the base is fixed to the base, and the fixing bracket 43 is fixed. I'm supposed to cover it. A circular opening 49 is formed in a substantially central portion of the base 47, and an annular projection 50 is formed integrally with the base 47 toward the upper edge of the opening 49.

Reference numeral 51 denotes a rotary shaft that penetrates through the upper wall surface and the lower wall surface of the fixing bracket 43 and is rotatably supported by the upper wall surface and the lower wall surface.
A support bracket 52 formed in a U shape is fixed to the upper end by caulking, and a pin 53 is provided near the rotary shaft 51 on the support bracket.
Is fixed by crimping. The support fitting 52 is adapted to project above the base 47 from the opening 49.

54 is a hemispherical cover made of synthetic resin, which is fitted on the outer periphery of the support fitting 52 and covers the opening 49 of the base 47,
An annular rib 55 near the outer periphery of the ridge 50 around the opening 49.
The ribs 55 and the protrusions 50 prevent rain and the like from entering the control box 18 through the openings 49.

Reference numeral 56 denotes a pair of support pieces provided on the operation lever 32, which is inserted into a slit 57 formed in the cover 54 so as to rotatably support the operation lever 32 by a shaft 58 penetrating the cover 54. Has become. The slit 57 formed in the cover 54 is not communicated with the inside of the cover 54, and is formed so as to be inclined toward the outer periphery so as to be lowered.
Rain or the like dropped on the base 54 is guided along the inclination of the bottom of the slit 57 onto the base 47 without entering the inside of the cover 54.

Numerals 59 and 60 are a pair of left and right metal arms whose one end is laminated and one end of which is rotatably supported on the upper wall surface of the fixing member 43, and bending pieces 61, 62 are provided on the surfaces facing each other. Is bent, and the seat pressing portions 63, 64 having a depth half the thickness of the arms 61, 62 at the free end have an arm 59 located below,
The arm 60 located above is formed so as to project downward.

Reference numeral 65 is a pair of pins, one end of which is crimped and fixed to the seat pressing portions 63 and 64 of the arms 59 and 60 so as to project downward, and the other end is located at the same height as the fixing bracket 43. ing. That is, the arms 59 and 60 are supported by stacking one end thereof, but the seat pressing portions 63 and 64 to which the pins 65 are fixed are such that the arm 59 located below is half the material thickness of the arm 59 toward the top. 6 and the lower arm 60 is formed to have a depth of half of the material thickness of the arm 60 toward the bottom, the pin 65 of the same shape is caulked and fixed, as shown in FIG. As described above, the other end is located at the same height with respect to the fixing bracket 43. Therefore, the spring body 66, which will be described later, is not installed obliquely, and the pivoting operation of the arms 59 and 60 can be performed well.

Reference numeral 66 denotes a spring body having both ends locked to the pin 65 and biasing the arms 59 and 60 in a direction in which the arms 59 and 60 are close to each other. The rotary shaft 51 and the pin 53 are interposed between the bent pieces 61 and 62 of the arms 59 and 60. It is designed to sandwich. Therefore, when the operation lever 32 is swung in the left-right direction, the pin 53 near the rotary shaft 51 pushes the bent pieces 61, 62 of one of the arms 59, 60 to cause the arms 59, 60 to move.
Is rotated against the biasing force of the spring body 66, whereby the rotary shaft 51 is rotated. For example, when it swings to the left, it is pressed by the pin 53 and the arm 60 rotates against the biasing force of the spring body 66. On the other hand, since the bending piece 61 is in contact with the rotary shaft 51, the other arm 59 does not rotate.

When the operating force applied to the operation lever 32 is released, the arms 59 and 60 are returned by the urging force of the spring body 66, and the pin 53 is pressed by the return and the rotary shaft 51 is returned to the neutral position. Returns to the neutral position.

67 is a pair of positioning projections fixed to the upper wall surface of the fixing bracket 43 and projecting upward, and abutting against the arms 59 and 60 to restrict the rotation range of the arms, and the swing range of the operating lever 32. Are regulated. In this embodiment, the protrusion 67 restricts the operating lever 32 to a range of up to 60 ° on both the left and right sides to prevent the golf cart from overturning by performing a too rapid operation.

The volume 35 is fixed to the lower wall surface of the fixing bracket 43, and its rotary shaft extends through the lower wall surface and extends downward to the lower wall surface, and the first gear 68 is fixed to the lower end of the rotary shaft. Axis 51
The second gear 69 fixed to the lower end is meshed, and the rotation of the rotary shaft 51 is transmitted to the volume 35 by the meshing of the first gear 68 and the second gear 69, and the output from the volume 35 is changed. The angle control motor 7 for controlling the angle of the caster 5 with respect to the main body 1 is controlled to control the direction of the caster 5.

Wiring from the control box 18 is passed through the inside of the handle 16 from an opening (not shown) formed in the handle 16 to the main body 1.
It is wired inside.

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

70 is a guide wire detection means for detecting the guide wire 15 buried in the road surface, the detection coils 14a, 14b for detecting the alternating magnetic field generated by the AC current supplied to the guide wire 15, and its detection output. It is composed of amplification circuits 71a and 71b for amplification, and a comparison circuit 72 for operating and comparing the amplified outputs. The duty of the chopper circuit 73 is controlled based on the deviation output of the comparison circuit 72, and the rotation of the angle control motor 7 is controlled via the drive circuit 74.

A traveling distance measuring means 75 measures a traveling distance, and has a magnetic sensor 77 for detecting a magnetic flux from a magnet 76 attached to the drive wheel 2 or the guide wheel 6, and the output from this magnetic sensor is F. The voltage is converted into a DC voltage by the -V conversion circuit 78 and output as a travel distance signal and a speed signal to the control circuit means 95 described later.

Reference numeral 79 is a proximity detecting means for detecting proximity to an obstacle located in front of the main body 1, which is an ultrasonic wave generating means arranged in front of the main body 1 or an ultrasonic wave or a radio wave emitted from the electric wave generating means. Sensor that detects reflected waves due to the Doppler effect
80 and a comparison circuit 81 for comparing the output of this sensor with a preset value.The comparison circuit 81 compares the output of the sensor 80 with a predetermined value to detect the distance to an obstacle, Is approached within a separation distance corresponding to the predetermined value, it is output to the control circuit means 95 described later and the control circuit means 95 stops the traveling.

Reference numeral 82 is a detection means for detecting the magnetic flux from the magnet 22 as a signal generation source embedded as a preset stop point in the vicinity of the induction wire 15, and the output of the detection coil 23 for detecting the magnetic flux of the magnet 22 is amplified. Waveform shaping circuit amplified by circuit 83
The waveform is shaped by 84, the output of the waveform shaping circuit 84 is output to the control circuit means 95 described later, and the control circuit means 95
The traveling is stopped based on the output of the detecting means 82. At this time, the control circuit means 95 operates the station passage selection switch 24 to detect the detection means 82.
The station stop mode in which the vehicle is stopped based on the output of the vehicle and the station passing mode in which the vehicle travels regardless of the output of the detection means 82 are selected, and the traveling is controlled based on the selected mode. .

Reference numeral 85 is a clock signal generation means for generating a clock signal for the operation of the control circuit means 95, and outputs this clock signal to the timer means 86 which makes a coefficient based on the instruction of the control circuit means 95 to control the output of the timer means. It is adapted to output to the circuit means 95.

Reference numeral 87 is a manual steering means for manually controlling the angle of the caster 5 with respect to the main body 1. The volume 35 is controlled by the swinging operation of the operation lever 32, an amplifier circuit 88 for amplifying the output thereof, and the caster. It comprises a volume 11 for detecting the angle of 5, an amplifier circuit 89 for amplifying its output, and a comparison circuit 90 for differentially comparing both amplified outputs. A chopper circuit based on the deviation output of the comparison circuit 90
The duty of 91 is controlled, and the rotation of the angle control motor 7 is controlled via the drive circuit 74.

Reference numeral 92 is a guide wire detecting means for controlling the angle control motor 7.
70 based control, that is, the guide mode and the control based on the manual steering means 87, that is, the switching means for switching between the manual steering mode, the pair of Hall ICs 40, 41 and the switching circuit.
The switching circuit 93 determines whether the operating lever 32 is located at the first position or the second position based on the outputs from the Hall ICs 40 and 41, and the switching circuit 93 determines whether the operating lever 32 is located at the first position or the second position. Is in the first position, only the output from the manual steering means 87 is output to the drive circuit 74, and when the operating lever 32 is in the second position, the guide wire detecting means 70 Only the output from is output to the drive circuit 74.

When the operating lever 32 is swung when the manual steering mode is selected, the Hall IC 40 causes the magnet embedded in the operating lever 32 to move.
Although the magnetic force of 37 is not detected, the switching circuit 93 switches to the manual steering mode by the Hall IC 40 detecting the magnetic force when the operation lever 32 is moved to the first position, and thereafter, regardless of the detection of the magnetic force. It is designed to maintain the manual steering mode.

Further, the switching circuit 93 has a switch means for cutting off the output from the manual steering means 87 when the key switch 31 is turned off. It comes to be in a state.

Reference numeral 94 denotes the power switch 21, the station passage selector switch 24, the power handle selection switch 25, the low speed switch 2
7. A control unit having a medium speed switch 28, a high speed switch 29, and a start switch 30 outputs to the control circuit means 95 based on the operation of each switch.
The low speed switch 27, the medium speed switch 28, the high speed switch 29
Is for performing speed control when the manual steering mode is selected, and the control unit 94 has means for storing operations of the low speed switch 27, the medium speed switch 28, and the high speed switch 29, and the manual steering is performed again through the guidance mode. When the mode is switched, the speed stored in the storage means is output to the control circuit means 95 so that the vehicle travels at the speed set when the previous manual steering mode was selected.

Reference numeral 95 denotes a control circuit means, which includes a microprocessor and controls the drive motor 3 for driving the drive wheels 2 and the braking means 97 via the drive circuit 96 based on each input signal. Further, the control circuit means 95 is a Hall IC 40,
If either one of 41 does not detect the magnetic force, that is, if the operating lever 32 is not reliably positioned at either the neutral position in the first position or the second position,
Even if the start switch 30 is operated, it will not start.

Reference numeral 98 is the power switch 21, station passage selector switch 24, power handle selection switch 25, low speed switch 2
7, a display circuit that displays the operating state by the output from the control circuit means 95 based on the operation of the medium speed switch 28, the high speed switch 29, and the start switch 30, and the display unit 99 that lights up when the power switch 21 is operated, and the station A display unit 100 that is turned on by operating the passage switching switch 24, a display unit 101 that is turned on by operating the power handle selection switch, a display unit 102 that is turned on by operating the low speed switch 27, and a display unit 103 that is turned on by operating the medium speed switch 28. The display unit 104 which is turned on by the operation of the high speed switch 29 is controlled.

Next, the operation will be described.

When the operation lever 32 is moved to the second position, the Hall IC 41 corresponding to the second position detects the magnetic force, and the switching circuit 93 outputs only the output from the guide wire detecting means 70 based on the output thereof.
Switch to the guidance mode to output to 74.

In this guidance mode selected state, the start switch 30
When is operated, the output is output to the control circuit means 95,
The control circuit means 95 drives the drive motor 3 via the drive circuit 96 to drive the golf cart.

In addition, the detection coils 14a and 14b detect the alternating magnetic field generated in the guide wire 15, and the angle control motor 7 is controlled by the difference in the detected outputs to control the angle of the caster 5 with respect to the main body 1 to control the golf cart. Drive along guide line 15.

When the guidance mode is selected, the operating portion 32 of the operating lever 32 is pressed into the recess 34 of the control box 18, so that the operating lever 32 vibrates due to vibration during traveling, and the operating lever 32 vibrates. No noise will occur between 32 and. Further, since the operation portion 33 of the operation lever 32 is press-fitted into the recess 34, the rocking operation cannot be performed, and the operation lever 32 is prevented from being operated by mistake, and the operator's error operation can be prevented.

When the operating lever 32 is moved to the first position, the Hall IC 40 corresponding to the first position detects the magnetic force of the magnet 37, and the switching circuit 93 outputs only the output from the manual steering means 87 based on the output of the Hall IC 40. Switch to the manual steering mode to output to.

When the start switch 30 is operated in the manual steering mode selected state, the output thereof is output to the control circuit means 95, and the control circuit means drives the drive motor 3 via the drive circuit 96 to run the golf card.

Then, in the direction that the operator wants to drive, the operating lever
When 32 is operated, the volume 35 is controlled according to the operation of the operation lever 32, and the output from the volume 35 is compared with the output of the volume 11 that detects the angle of the caster 5 with respect to the main body 1, and the comparison value is obtained. In response to this, the drive circuit 74 controls the angle control motor 7 to control the angle of the caster 5 with respect to the main body 1 in accordance with the operation of the operation lever 32 to steer the traveling direction to the direction desired by the operator.

In this manual steering mode, the operator operates the operation lever 32
Although it is operated by pressing, the hemispherical projection of the holder 36 attached to the operation lever 32 is brought into contact with the groove 42 formed in the control box 18 so that other parts do not come into contact. The upper surface of the control box 18 is not damaged and the appearance can be maintained in a good state for a long period of time. Further, since the groove portion 42 is formed over the swing range of the operation lever 32, the groove portion 42 indicates the swing range of the operation lever 32, so that the operator swings the operation lever 32 beyond the swing range. It is possible to prevent erroneous operation such as damage due to damage. Furthermore, the formation of the groove portion 42 brings the Hall IC 40 and the magnet 37 close to each other, so that the Hall IC 40 can more reliably detect the magnetic force and perform the mode switching surely.

Even if the operator intends to switch the operating lever 32 to the first position or the second position, the switching is not performed, and in particular, even if the operator intends to switch from the first position to the second position, the operating lever 32 The operating part 33 of the control box 18 is
Although it is not completely press-fitted into, there is a risk of traveling in the previous mode when the start switch 30 is operated, but the control circuit means 95 sends a start signal if either Hall IC 40, 41 does not detect the magnetic force. Since the vehicle is not accepted, it is possible to improve safety without traveling in the previous mode.

In addition, due to lack of caddies, sometimes there is no caddy when playing, in which case the player has to operate the golf cart, but if a player who is not familiar with the operation steers in the manual steering mode, the golf cart will not be operated. There is a risk of dropping.

However, if the key switch 31 is turned off and the key is removed, the manual steering mode will not be entered even if the operation lever 32 is moved to the first position, and therefore, even if a player who cannot operate is operated by the golf cart. Never drop it in a pond. When the key switch 31 is operated in this way, it is performed with the golf cart on the guide wire. Normal,
When moving a golf cart out of a garage or the like to a place with a guide line, a person who is familiar with the operation uses the manual steering mode. Then, the golf cart is moved onto the guide line, and when the user is a person who is unfamiliar with the operation, such as a player, the key switch 31 is operated so that the user can operate only in the guide mode. By doing so, only automatic steering is performed on the guide line, and it is not necessary to perform steering, which is very safe.

Next, an operation for leaving the golf cart delivered to the garage will be described. When the power switch 21 is operated, the control circuit means 95 is in a state of being braked by the brake means 97. In this state, the brake release switch (not shown) provided on the back surface of the control box 18 is operated to release the brake, and the operation lever 32 is moved to the first position to select the manual steering mode. When the operation lever 32 is not operated, the operation lever 32 is located in the neutral position, and therefore the caster 5 is fixed in the direction parallel to the main body 1, and the handle is kept with the operation lever 32 maintained in the neutral position. Pull 16, pull the golf cart straight back and leave. Further, if necessary, the operation lever 32 can be operated to change the direction of the casters 5, and the golf cart can be curved back to be taken out.

FIG. 11 is a circuit diagram showing a second embodiment. The same parts as those in the above-mentioned embodiment are designated by the same reference numerals and the description thereof will be omitted.

Reference numeral 105 is a guide wire detecting means for detecting the guide wire 15 buried in the road surface.
Detection coils 14a and 14b for detecting the alternating magnetic field generated in 15
And an amplification circuit 106a, 106b for amplifying the detection output, and outputs the output from the guide wire detection means 105 to the drive circuit 114 via the switching means 110, the comparison circuit 112, and the chopper circuit 113 described later. Then, the drive circuit 114 drives the angle control motor 7 to control the angle of the caster 5 with respect to the main body 1 so that the golf cart travels along the guide line 15.

Reference numeral 107 denotes a manual steering means for manually controlling the angle of the caster 5 with respect to the main body 1. The volume 35 is controlled by swinging the operation lever 32, an amplifier circuit 108 for amplifying the output thereof, and the caster. Volume 11 for detecting the angle of 5 and amplifier circuit 109 for amplifying its output
And the output from the manual steering means 105, which will be described later, a switching means 110, a comparison circuit 112, and a chopper circuit 113.
To the drive circuit 114, the drive circuit 114 drives the angle control motor 7 to control the angle of the caster 5 with respect to the main body 1, and the golf cart is operated by operating the operation lever 32. .

110 is a switching means for switching the control of the angle control motor 7 between the control based on the guide wire detecting means 105, that is, the guide mode and the control based on the manual steering means 107, that is, the manual steering mode. Hall ICs 40 and 41 and a switching circuit 111, and the switching circuit 111 is a Hall IC4.
Based on the outputs from 0 and 41, it is determined whether the operation lever 32 is in the first position or the second position, and when the operation lever 32 is in the first position, ,
Only the output from the manual steering means 107 is output to the drive circuit 114 via the comparison circuit 112 and the chopper circuit 113, and when the operating lever 32 is located at the second position, the guide wire detection means.
Only the output from 105 is output to the drive circuit 114 via the comparison circuit 112 and the chopper circuit 113.

Reference numeral 112 is a comparison circuit for comparing the amplified output of the guide wire detection means 105 or the amplified output of the manual steering means 107, the duty of the chopper circuit 113 is controlled based on the deviation output of the comparison circuit 112, and the drive circuit 114 The angle of the drive control motor 7 with respect to the main body is controlled.

With the circuit configuration of the second embodiment, the comparison circuits 72 and 90 and the chopper circuit, which are provided on the output sides of the guide wire detection means 70 and the manual steering means 87 in the first embodiment, respectively.
73 and 91 can be used in common, and the circuit configuration can be simplified.

(G) Effect of the Invention As described above, according to the present invention, the guide mode for traveling along the guide line and the manual steering mode for steering by operating the operating means can be appropriately selected as necessary. It is possible to improve the property. In addition, since the manual steering mode cannot be selected by operating the switch, even a person who is not able to control the vehicle can safely drive the vehicle without making a mistake in the control.

[Brief description of drawings]

1 to 10 show an embodiment in which the present invention is applied to a golf cart. FIG. 1 is a circuit diagram, FIG. 2 is a perspective view of a control box, FIG. 3 is a top view of the control box, and FIG. FIG. 4 is a side view of the control box, FIG. 5 is an exploded perspective view of the control box, FIG. 6 is a sectional view of a main part of the control box, FIG. 7 is an exploded perspective view of the inside of the control box, and FIG. 8 is a main part. Perspective view, ninth
Figure is a perspective view of the caster part, Figure 10 is an external perspective view, and 11th.
The drawing is a circuit diagram showing a second embodiment of the present invention. 5 ... Caster, 7 ... Angle control motor, 11 ... Volume, 14a, 14b ... Detection coil, 15 ... Guiding wire, 32 ...
… Operating lever, 92 …… switching means, 94 …… coit roll section, 95 …… control circuit means.

Claims (1)

[Claims] 1. A detecting means for detecting a magnetic field generated in a guide wire buried in a road surface, an operating means for indicating a traveling direction of an electric vehicle main body regardless of a detection output of the detecting means, and an output of the detecting means. And selecting means for selectively outputting the output of the operating means, drive means for driving an angle control motor for controlling the angle of the caster with respect to the electric vehicle main body based on the output of the selecting means, and selecting the selecting means. An induction electric vehicle, characterized by comprising a switch for disabling control of the angle control motor by the operating means.