JPH047606A - Guiding type motor driven vehicle - Google Patents

Abstract

PURPOSE:To improve operability by invalidating the output of a start button when an operating means is positioned between an operable position and a inoperable position. CONSTITUTION:A means to invalidate the output of the start button when the operating means is positioned between the operable position and the inoper able positioned between the operable position and the inoperable position is provided. Namely, when the operating means is positined at the inoperable position, a guide mode is selected, and a car travels along a guide line according to the output of a detecting means to detect a magnetic field generated along the guide line buried under the surface of a road. Besides, when the operating means is positioned at the operable position, a manual steering mode is selected, and the car travels by the operation of the operating means independently of the guide line. At the time when a mode is changed, if movement is insuffi cient for the operating means, the car does not start to travel even if the start button is operated, and the car never starts to travel in the mode different from the mode an operator desires. Thus,the operabilty can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a guided electric vehicle that travels guided along a guide line buried in the road surface, and is applicable to golf carts and the like.

(b) Conventional technology In the past, as this type of induction electric vehicle, for example,
The one shown in Japanese Patent No. 8005 is known. That is,
An alternating current is passed through a single induction wire buried in the road surface, and the alternating magnetic field generated by this is detected by two detection coils placed at equal intervals in the center of the electric vehicle body, and on the left and right sides of the wire. The induced electromotive force generated in each detection coil is compared, and the difference in induced electromotive force is used to control the angle control motor of the induction single wheel (hereinafter referred to as caster) relative to the motor body, change the direction of the caster, and The vehicle is guided along a guide line.

This guided electric vehicle is automatically steered along a guide line, but must be manually steered when traveling in an area without a guide line. however,
When changing the running direction using manual steering, you must push the handle fixed to the induction electric vehicle body in the direction you want it to run to change the running direction. It required a lot of force and had extremely poor maneuverability.

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

(d) Means for Solving the Problems The present invention provides a detection means for detecting a magnetic field generated in a guide wire buried in the road surface, and operable and non-operable positions for indicating the running direction of the electric vehicle body. an operating means that is selectively movable; detecting the position of the operating means; and outputting an output based on the output of the operating means when the operating means is located in an operable position; and a position where the operating means is inoperable. a selection means that outputs an output based on the electric power of the detection means when the caster is located at the electric vehicle; and a drive means that drives an angle control motor that controls the angle of the caster relative to the electric vehicle body based on the output of the selection means.
A start button that outputs a start signal to start running the electric vehicle is provided, and means is provided for disabling the output of the start button when the operating means is located between an operable position and an inoperable position. It is characterized by:

(e) When the operating means is placed in a position where it cannot be operated, the guidance mode is selected and the vehicle runs along the guidance wire based on the output of the detection means that detects the magnetic field generated in the guidance wire buried in the road surface. .

Furthermore, when the operating means is located at a position where it can be operated, the manual steering mode is selected, and the vehicle travels regardless of the guide line by operating the operating means.

When changing modes, if there is insufficient movement in the operating means, driving will not start even if the start button is operated, and driving will not start in the mode desired by the operator. do not have.

(f) Example An example in which the electric induction vehicle of the present invention is applied to a golf cart will be described in detail below.

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

Reference numeral 7 denotes an angle control motor attached to the mounting stay 4, a first pulley 8 is fixed to the motor shaft, a second pulley 9 is fixed to the shaft of the caster 5, and a timing belt 10 is connected between the two hoops. The rotation of the angle control motor 7 is transmitted to the casters 5 by connecting them, and the angle of the casters 7 with respect to the main body 1 is controlled.

Reference numeral 11 denotes a volume attached to the mounting stay 4, the rotating wheel of which is connected to the motor shaft of the angle control motor 7 via a timing belt 12, and the angle of the caster 50 with respect to the main body 1 is detected by the volume 1. It is supposed to be done.

A support plate 13 is fixed to the caster 5 and protrudes forward of the caster 5. A pair of detection coils 14a and 14 are provided on the left and right ends of the support plate 13, respectively, and are spaced an equal distance from the center.
b are respectively attached at predetermined positions. This pair of detection coils 12a, 12b is connected to a guide wire 15 buried in the road surface.
The alternating magnetic field radiated from the induction wire 15 is detected by passing an alternating current through the coil, and the angle of the caster 5 with respect to the main body 1 is controlled by controlling the angle control motor 7 based on the deviation of the detection output. ing.

Reference numeral 16 denotes a handle extending rearward from the main body l, and a brake lever 17 is disposed near the handle.

18 is a control box provided on the handle 16;
As is clear from the front view shown in FIG. 3, the main operation section 19 is disposed on the left side, and the speed control section 20 is disposed on the right side. The main operation unit 19 uses a sensor 23 to detect the magnetic force of a magnet 22 buried as a mark of a pre-scheduled stopping point near the road surface where a power switch 21 and a guide wire 15 are buried, thereby stopping the golf cart. A station passing selection switch 24 selects between a station stop mode and a station passing mode in which the station is passed by disabling the sensor output, and a power handle selection switch 25 selects whether or not to perform manual steering by operating an operating lever 32, which will be described later. The main operating section 19 is covered by a lid 26 so as to be openable and closable.

The speed control section 20 includes 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 a control lever 32, which will be described later. 3o is a start switch that starts the running of the main body 1.

Reference numeral 31 denotes a key switch formed on the side of the control box 18, which can be turned on and off using a detachable key. Only when the key switch 31 is turned on, the manual steering mode and guidance mode, which will be described later, can be selected. When the steering mode is turned off, manual steering mode cannot be selected.

Reference numeral 32 designates an operating lever whose one end is supported on the upper surface of the control box 18, and whose free end rotatably supports an operating section 33 made of synthetic resin. 1 position (see the solid line position in FIGS. 3 and 4, and FIG. 2), the operating portion 33 is press-fitted into the recess 34 of the control box 18 away from the user to prevent movement of the operating lever 32. The operating lever 32 is rotatable between the second position if (see the broken line position in FIGS. 3 and 4), and the operating lever 32 is supported so as to be swingable left and right in the first position. The volume 35 disposed inside the control box 18 is operated by swinging, and the output of this volume 35 is compared with the output of the volume 11 that detects the angle of the caster 5, and it is determined that both outputs are the same. The angle control motor 7 is controlled so that When the operating lever 32 is released from the right and left swinging force at the first position, it returns to the center position.

In the second position, the operating lever 32
3 is press-fitted into the recess 34 of the control box 18 to prevent the operating lever 32 from vibrating.

Reference numeral 36 denotes a synthetic resin holder containing a magnet 37, which is embedded in the surface of the operating lever 32 that faces the control box 18 when the operating lever 32 is positioned at the first position. 38 is a synthetic resin holder that houses a magnet 39.
It is embedded in the surface of the operating lever 32 that faces the control box 18 when the operating lever 32 is located at the second position. The portion of the holder 36, 38 that protrudes from the operating lever 32 is formed into 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 operating lever 32 is placed in the first position and neutralized.
2 to the first position, 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 operating lever 32 is placed in the second position. The Hall IC 41 detects the magnetic force of the magnet 39 and selects the induction mode.

On the top surface of the control box 18, the operation lever 32 is provided.
An arcuate groove 42 is formed at a position where the holder 36 comes into contact with the hemispherical protrusion of the holder 36 when the holder 36 swings in the first position, and extends over the swinging range of the operating lever 32 around the swinging center of the operating lever 32. This groove prevents the upper surface of the control box 18 from being exposed when the operating lever 32 is swung.

Next, the support and purchase of the operating lever 32 will be explained in detail based on FIGS. 5 to 8.

43 is a fixture that is screwed to the handle 16;
A screw 44, which is bent into a substantially U-shape and fixed to the upper wall surface, is passed through a bracket 45 fixed to the handle 16, and a nut 46 is screwed onto this screw 44 to fix the fixture 43. It is supposed to be done.

A synthetic resin base 47 of the control box 18 is fixed to the upper wall surface of the fixing metal fitting 43 with screws, and a lower bar 48 that covers the bottom opening of the base is fixed to the base.
It is designed to cover The base 47 has a circular opening 49 formed in the approximate center thereof, and an annular protrusion 50 is formed integrally with the base 47 toward the upper side at the periphery of the opening.

51 penetrates the upper and lower wall surfaces of the fixing fitting 43,
The rotating shaft is rotatably supported by the earth wall surface and the lower wall surface, and has a trowel-shaped support fitting 52 fixed to its upper end by caulking. 53 is fixed by caulking. The support fitting 52 projects above the base 47 from the opening 49.

54 is fitted onto the outer periphery of the support fitting 52 and is connected to the base 47.
A hemispherical cover made of synthetic resin that covers the upper part of the opening 49,
An annular rib 55 is formed on the lower surface of the opening 49 and is close to the outer edge of the protrusion 50, and the rib 55 and the protrusion 5
0 prevents rain or the like from entering the control box 18 through the opening 49.

Reference numeral 56 denotes a pair of support pieces provided on the operating lever 32, which are inserted into a slit 57 formed in the cover 54 and supported by a shaft 58 passing through the cover 54.
It is designed to be rotatably supported.

The slit 57 formed in the cover 54
It does not communicate with the inside and is sloped downward toward the outer periphery, so that rain or the like that drips into the slit 57 does not penetrate into the inside of the cover 54 and flows to the base along the slope of the bottom of the snot 57. They are guided onto a table 47.

Reference numerals 59 and 60 designate a pair of left and right metal arms, one end of which is laminated and rotatably supported by the earthen wall surface of the fixture 43, with bent pieces 61.
62 is bent and formed into the same shape with a cloth pressing part 63.64 having a depth of half the material thickness of the arm 61.62 at the free end, and the cloth pressing part 63.64 is bent downward. The arm 59 located above is formed to protrude upward, and the arm 60 located above is formed so as to protrude downward.

Reference numeral 65 designates a pair of bottles whose one end is caulked and fixed to the cloth pressing part 63.64 of the arm 59.60 so as to project downward, and the other end is positioned at the same height with respect to the fixing metal fitting 43. ing. That is, the arms 59 and 60 are supported with one end stacked on top of the other, and the cloth pressing portions 63 and 64 to which the bottle 65 is fixed are arranged such that the arm 59 located at the lower side extends upwardly by half the material thickness of the arm 59. Since the lower arm 60 is formed at a depth that is half of the material thickness of the arm 60 toward the bottom, the same-shaped bottle 65
When it is fixed by caulking, the other end will be located at the same height as the fixing metal fitting 43, as shown in FIG. Therefore, the spring body 66, which will be described later, is not installed diagonally, and the arms 59 and 60 can rotate smoothly.

66 has both ends locked to the bin 65, and the arm 59.
The rotating shaft 51 and the bottle 53 are held between the bent pieces 61 and 62 of the arm 59 and 60 by a spring body that urges the arms 59 and 60 toward each other. Therefore, when the operating lever 32 is swung in the left-right direction, the bin 53 near the rotating shaft 51 presses the bent piece 61.62 of one of the arms 59.60, and the arm 59.60 moves against the spring body 66.
The rotating shaft 51 rotates by rotating against the urging force of. For example, when swinging to the left, the arm 60 is pressed by the bottle 53 and rotates against the biasing force of the spring body 66. On the other hand, since the bending piece 61 of the other arm 59 is in contact with the rotating shaft 51, the other arm 59 does not rotate.

Furthermore, when the operating force on the operating lever 32 is released, the arm 59, 60 returns to its original position due to the biasing force of the spring body 66, and this return presses the bottle 53, returning the rotary shaft 51 to the neutral position, and the operating lever 32 returns to neutral position.

Reference numeral 67 denotes a pair of positioning protrusions that are fixed to the upper wall surface of the fixture 43 and protrude upward, and are connected to the arm 59.
．． 60 to restrict the rotation range of the arm, thereby restricting the swing range of the operating lever 32. In this embodiment, the projection 67 restricts the operating lever 32 to a range of up to 60 degrees on both sides, to prevent the golf cart from overturning due to too sudden operation.

The volume 35 is fixed to the lower wall surface of the fixing metal fitting 43, and its rotating shaft extends below the lower wall surface through the lower wall surface, and a first gear 68 is fixed to the lower end. The second gear 69 fixed to the lower end of the shaft 51 is engaged,
Due to the meshing of the first gear 68 and the second gear 69, the rotating shaft 5
1 is transmitted to the volume 35, and the direction of the caster 5 is controlled by controlling the angle control motor 7 which controls the angle of the caster 5 with respect to the main body 1 by varying the output from the volume 35. The wiring from the control box 18 is routed inside the main body 1 through an opening (not shown) formed in the handle 16.

Next, the circuit will be explained based on FIG.

Reference numeral 70 denotes a guide wire detection means for detecting the guide wire 15 buried in the road surface, and the detection coil 14a detects an alternating magnetic field generated when an alternating current is supplied to the guide wire 15;
14b, and amplifier circuits 71a and 7 that amplify the detection output thereof.
1b, and a comparison circuit 72 that compares the amplified outputs thereof. 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.

75 is a mileage measuring means for measuring the distance traveled, and has a magnetic sensor 77 that detects 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 -V conversion circuit 78 converts the signal into a DC voltage, and outputs it as a traveling distance signal and a speed signal to a control circuit means 95, which will be described later.

Reference numeral 79 denotes a proximity detection means for detecting proximity to an obstacle located in front of the main body 1, which detects ultrasonic waves or radio waves emitted from an ultrasonic generation means or a radio wave generation means disposed in front of the main body 1. It consists of a sensor 80 that detects reflected waves due to the Donpla effect, and a comparison circuit 81 that compares the output of this sensor with a predetermined value. When the obstacle approaches within a distance corresponding to the predetermined value, an output is sent to a control circuit means 95, which will be described later, and the control circuit means 95 stops the vehicle from traveling.

82 is a detection means for detecting the magnetic flux from the magnet 22 as a signal generation source buried as a preset stopping point near the guide wire 15, and the output of the detection coil 23 for detecting the magnetic flux of the magnet 22 is amplified. It is amplified by the circuit 83 and waveform shaped by the waveform shaping circuit 84, and the output of the second waveform shaping circuit 84 is outputted to the control circuit means 95, which will be described later.
The control circuit means 95 is adapted to stop running based on the output of the detection means 82. Also, at this time, the control circuit means 95 controls the station passing selection switch 2.
4, the station stop mode in which the vehicle is stopped based on the output of the detection means 82 and the station passing mode in which the vehicle travels regardless of the output of the detection means 82 are selected, and the vehicle travels based on the selected mode. is designed to be controlled.

Reference numeral 85 denotes a clock signal generating means for generating a tally signal for the operation of the control circuit means 95, which outputs this tally signal to a timer means 86 which performs a coefficient based on a command from the control circuit means 95 to control the output of the timer means. The signal is output to circuit means 95.

Reference numeral 87 denotes a manual steering means for controlling the angle of the caster 5 with respect to the main body 1 by manual operation, and the control lever 32
a volume 35 that is controlled by the swinging operation of , an amplifier circuit 88 that amplifies the output thereof, a volume 1 that detects the angle of the caster 5, eight amplifier circuits that amplify the output, and a amplifier circuit 88 that amplifies the output of the volume 35; The comparison circuit 90 performs dynamic comparison. The duty of the chopper circuit 91 is controlled based on the deviation output of the comparison circuit 90, and the rotation of the angle control motor 7 is controlled via the drive circuit 74.

Reference numeral 92 denotes a switching means for switching the control of the angle control motor 7 between control based on the guide line detection means 70, that is, guidance mode, and control based on the manual steering means 87, that is, manual steering mode; Hall IC40, 41
and a switching circuit 93, and 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. , when the operating lever 32 is located at the first position, only the output from the manual steering means 87 is output to the drive circuit 74, and the operating lever 32 is at the second position.
When the guide wire detecting means 70 is located at the position shown in FIG.

Note that when the manual steering mode is selected and the operating lever 32 is swung, the Hall IC 40 no longer detects the magnetic force of the magnet 37 embedded in the operating lever 32, but the switching circuit 93 moves the operating lever to the first position. 32 is moved, the Hall IC 40 detects the magnetic force and switches to the manual steering mode, and after that, the manual steering mode is maintained regardless of the detection of the magnetic force.

Further, the switching circuit 93 is configured so that the key switch 31 is turned off.
It has a switch means that cuts off the output from the manual steering means 87 when switched to FF, and the key inch 3
When 1 is turned off, the induction mode is set.

Reference numeral 94 denotes a control unit having the power switch 21, the station pass selection switch 24, the power handle selection switch 25, the low speed switch 27, the medium speed switch 28, the high speed switch 29, and the start switch 30, and the control circuit is activated based on the operation of each of the switches. It is designed to output to means 95. The low speed switch 27, medium speed switch 28, and high speed switch 29 are used to control speed when manual steering mode is selected, and the control section 94 stores the operations of the low speed switch 27, medium speed switch 28, and high speed switch 29. When the manual steering mode is switched again after going through the guidance mode, 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 manual steering mode was selected last time. It has become.

Reference numeral 95 denotes a control circuit means which includes a microprocessor and controls the drive wheel 2 via a drive circuit 96 based on each input signal.
The drive motor 3 for driving and the brake means 97 are controlled. Further, the control circuit means 95 determines that one of the Hall ICs 40 and 41 is not detecting the magnetic force, that is, the operating lever 32 is either in the first position, the neutral position, or the second position. If the engine is not positioned securely, the start switch 30 will not start even if the start switch 30 is operated.

Reference numeral 98 indicates the operating state based on the output from the control circuit means 95 based on the operation of the power switch 21, the station pass selection switch 24, the power handle selection switch 25, the low speed switch 27, the medium speed switch 28, the high speed switch 29, and the start switch 30. The display circuit includes a display section 991 that lights up when the power switch 21 is operated, a display section 100 that lights up when the station passing changeover switch 24 is operated, a display section 101 that lights up when the power handle selection switch 25 is operated, a low speed switch, A display section 102 that lights up when the switch 27 is operated, a display section 103 that lights up when the medium speed switch 28 is operated, and a display section 104 that lights up when the high speed switch 29 is operated are controlled.

Next, the operation will be explained.

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

In this induction mode selection state, start switch 3
0 is operated, the output is output to the control circuit means 95, and the control circuit means 95 drives the drive motor 3 via the drive circuit 96, causing the golf cart to travel.

Further, 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 based on the difference in detection output to control the angle of the caster 5 with respect to the main body 1, thereby controlling the golf cart. It is made to run along the guide line 15.

When selecting this induction mode, the operating lever 32 is
Since the operating part 33 is press-fitted into the recess 34 of the control box 18, it cannot be operated due to vibrations during driving, which may cause noise between the control box 18 and the operating lever 32. In addition, since the operating portion 33 of the operating lever 32 is press-fitted into the recess 34, swinging operation is disabled, preventing erroneous operation and preventing the operator from operating the lever 32 erroneously.

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 based on the output of the Hall IC 40, the switching circuit 93 switches only the output from the manual steering means 87 to the drive circuit 74. Switches to manual steering mode with output.

In this manual steering mode selection state, when the start switch 30 is operated, its output is output to the control circuit means 95, and the control circuit means drives the drive motor 3 via the drive circuit 96 to cause the golf cart to travel.

Then, when the operator operates the control lever 32 in the direction in which the operator wants the vehicle to travel, the volume 35 is controlled in accordance with the operation of the control lever 32, and the output from the volume 35 and the angle of the caster 5 with respect to the main body 1 are detected. The drive circuit c controls the angle control motor 7 according to the comparison value, and controls the angle of the caster 5 with respect to the main body 1 according to the operation of the operation lever 32 to change the running direction. steer in the direction desired by the operator.

In this manual steering mode, the operator
Operate by pressing down on control lever 3.
The hemispherical protruding part of the holder 36 attached to the control box 18 is brought into contact with the groove part 42 formed in the control box 18, and other parts are not brought into contact with it, so that the top surface of the control box 18 is not damaged. , the appearance can be maintained in good condition for a long period of time.

Furthermore, since the groove portion 42 is formed over the swinging range of the operating lever 32, the groove portion 42 indicates the swinging range of the operating lever 32, so that the operator cannot swing the operating lever 32 beyond the swinging range. It is possible to prevent erroneous operations that may result in damage. Furthermore, by forming the groove portion 42, the Hall IC 40
Since the magnet 37 and the magnet 37 are brought close to each other, the Hall IC 40 can more reliably detect the magnetic force and reliably perform mode switching.

Even if you intend to switch the operating lever 32 to the first position or the second position, the switching is not completed.
In particular, even when switching from the first position to the second position, the operating part 33 of the operating lever 32 is not completely press-fitted into the recess 34 of the control box 18, and when the start switch 30 is operated, the previous mode However, the control circuit means 95 is connected to either one of the Hall ICs 40,
41 does not detect a magnetic force, the start signal is not received, so the vehicle does not run in the previous mode, and safety can be improved.

Also, due to a lack of caddies, players may not be able to hit the key when playing, and in that case, the player must operate the golf cart, but if a player who is not accustomed to operating it operates in manual steering mode, There is a risk of dropping the golf cart into the pond.

However, if the key switch 31 is turned OFF and the key is removed, the golf cart will not shift to manual steering mode even if the operating lever 32 is moved to the first position. I never drop it into a pond.

Next, the operation for leaving the golf cart delivered to the garage will be explained. When the power switch 21 is operated, the control circuit means 95 is in a state where the brake means 97 applies the brake. In this state, a brake release switch (not shown) provided on the back side of the control box 18 is operated to release the brake, and the operating lever 32 is moved to the first position to select the manual steering mode. When the operating lever 32 is not operated, the operating lever 32 is located at the neutral position. Therefore, the casters 5 are fixed in a direction parallel to the main body 1, and the handle is moved while maintaining the operating lever 32 at the neutral position. I pull a 16, pack the golf cart straight, and leave. Moreover, the direction of the casters 5 can be changed by operating the operating lever 32 as needed, and the golf cart can be moved back in a curved manner and taken out of the warehouse.

FIG. 11 is a circuit diagram showing a second embodiment, in which the same parts as in the above-mentioned embodiment are given the same reference numerals, and the explanation thereof will be omitted.

Reference numeral 105 denotes a guide wire detection means for detecting the guide wire 15 buried in the road surface, and a detection coil 1 for detecting an alternating magnetic field generated in the guide wire 15 by passing an alternating current through the guide wire 15.
4a, 14b, and an amplifier circuit 10 that amplifies the detection output thereof.
6a and 106b, the output from the guide wire detection means 105 is outputted to a drive circuit 114 via a switching means 110, a comparison circuit 112, and a chopper circuit 113, which will be described later, and the drive circuit 114 controls the angle control motor. 7 is driven to control the angle of the casters 5 with respect to the main body 1, and the golf cart is run along a guide line 15.

107 is a manual steering means for manually controlling the angle of the caster 5 with respect to the main body 1;
2, an amplifier circuit 108 for amplifying its output, a volume 11 for detecting the angle of the caster 5, and an amplifier circuit 109 for amplifying its output. manual steering means 10
5, a switching means 110 and a comparison circuit 11 whose outputs will be described later.
2. Output to the drive circuit 114 via the chopper circuit 113, drive the angle control motor 7 by the drive circuit 114 to control the angle of the caster 5 with respect to the main body 1, and steer the golf cart by operating the control lever 32. It looks like this.

110 is a switching means for switching the control of the angle control motor 7 between control based on the guide line detection means 105, that is, guidance mode, and control based on the manual steering means 107, that is, manual steering mode; Hall IC40
, 41 and a switching circuit 111, the switching circuit 1
11 determines whether the operating lever 32 is located at the first position or the second position based on the output from the Hall ICs 40 and 41, and determines whether the operating lever 32 is located at the first position. In the case where the manual steering means 107 only outputs the output to the drive circuit 114 via the comparison circuit 112 and the chopper circuit 113, and the operation lever 32
When the guide wire detection means 105 is located at the position shown in FIG.

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. Based on the deviation output of this comparison circuit 112, the duty of the chopper circuit 113 is controlled, and the driving A circuit 114 controls the angle of the drive control motor 7 with respect to the main body.

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

(g) As described above, according to the present invention, it is possible to appropriately select between a guidance mode in which the vehicle travels along a guide line and a manual steering mode in which the vehicle is steered by operating the operating means, as necessary. Maneuverability can be improved. In addition, the guidance mode and manual steering mode can be selected by selecting the position of the operating means, making it easy to select the mode, and when the guidance mode is selected, the operating means cannot be operated. Since the steering wheel is located at a position where the driving direction is possible, the driver will not mistakenly operate the operating means in order to control the traveling direction by mistakenly thinking that the steering mode is manual steering mode. In addition, if the position of the operating means is insufficiently selected, even if the start button is operated,
This has the advantage that the vehicle does not start traveling and does not start traveling in a mode different from the mode desired by the driver.

[Brief explanation of drawings]

Figures 1 to 10 show an embodiment in which the present invention is applied to a golf cart, with Figure 1 being a circuit diagram, Figure 2 being a perspective view of the control box, and Figure 3 being a top view of the control box. , 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 main parts of the control box, Fig. 7 is an exploded perspective view of the inside of the control box, and Fig. 8 is an exploded perspective view of the control box. A perspective view of the main parts, FIG. 9 is a perspective view of the caster part, FIG. 10 is an external perspective view,
FIG. 11 is a circuit diagram showing a second embodiment of the present invention. 5... Caster, 7... Angle control motor, 11
Volume, 14a, 14b...Detection coil, 1
5...Guiding wire, 32...Operation lever, 92...
- Switching means, 95...control circuit means. Ward Figure 2 Figure 4 Figure 8 6

Claims (1)

[Claims] (1) A detection means that detects a magnetic field generated in a guide wire buried in the road surface, and an operation means that can be selectively moved between an operable position and a non-operable position to indicate the running direction of the electric vehicle body. , detects the position of the operating means, and outputs an output based on the output of the operating means when the operating means is located in an operable position, and outputs the chamber force of the detection means when the operating means is located in an unoperable position. a selection means for outputting an output based on the selection means; a driving means for driving an angle control motor that controls the angle of the caster relative to the electric vehicle body based on the output of the selection means;
means for disabling the output of the start button when the operating means is located between an operable position and an inoperable position, comprising a start button that outputs a start signal to start the electric vehicle running; An induction electric vehicle characterized by being equipped with.