JPH10171533A - Automatic tracking dog dog leading car - Google Patents

Abstract

(57) [Summary] [PROBLEMS] When a woman or the elderly who is physically weak walks a dog, it is not necessary to directly lead the dog by holding a dog leash or a string by hand. SOLUTION: A transmitter 3 carried by an owner who is a preceding person H
A pair of left and right receivers 25 and 26 are provided for receiving the guidance signal transmitted from 0, and the position and direction of the transmitter 30 are detected based on the strength and difference of the guidance signal received by each receiver, and the front wheel 27 is detected. A dog dog D connected via a dog chain 9 to a dog dog leading vehicle W that steers to the left and right and automatically controls the driving speed of the rear wheels 16a and 16b and keeps a constant distance from the preceding person H to lead the dog. In addition, the dog can be safely walked without any effort.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a dog owner (especially a weak person such as a woman or an elderly person) which travels and follows a guidance signal transmitted from a transmitter carried by a dog owner to lead a walk of the dog. The present invention relates to an automatic tracking type dog dog leading vehicle.

[0002]

2. Description of the Related Art In recent years, an aging society has progressed, and this problem has become not negligible not only socially but also politically and economically. On the other hand, the pet boom has made remarkable progress, and the number of cases where physically weak people such as single women and the elderly keep pets such as dogs has been steadily increasing.

[0003] When a dog is kept, it is necessary to take the dog for a walk every morning and evening, which will also help maintain the health of the owner. However, as middle- and large-sized dogs grow, their strength increases as they grow, and when a woman or the elderly walks, it is physical strength to directly control the dog's walking speed and moving direction by holding the dog leash or string in his hand. It becomes difficult.

[0004] In addition, the number of cases in which a dog runs away while being surprised by something unusual during a walk, or the child or the owner himself is bitten by the dog and is killed or pursues a deep wound is increasing. However, at present, there is no effective walking assist means capable of safely walking the dog without such labor and danger.

On the other hand, in a golf course or the like, a radio signal from a transmitter carried by a golfer is already received by a receiver installed on a golf bag carrier, and the golf bag carrier is tracked in the moving direction of the transmitter. Something like that has been proposed and seems to be being used.

However, in the case of a golf course, the ground is not flat like a general road, and the ground covered with grass is relatively soft, and the vehicle itself is heavy because it loads a heavy object such as a golf bag. Therefore, load is applied to the wheels,
Since relatively strong power is also required for steering (steering), the left and right rear wheels are rotated by two separate drive motors, and the steering is also braked by applying the same drive motor respectively.
A rear-wheel drive / rear-wheel steering system in which the direction is changed by the rotational speed difference between two wheels is adopted. Therefore,
Such a golf bag carrier is large, expensive, and cumbersome to operate, and cannot be used as a leading vehicle for walking a dog.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and is intended to be a relatively powerful middle- and large-sized dog, even for physically weak women and the elderly. However, it is an object of the present invention to provide a dog leading car that can safely walk a dog by carrying a small transmitter without directly holding a dog leash or a string. It also aims to allow the dog to move freely within a certain range, allow the leading vehicle to run manually in some cases, and to make an emergency stop when an abnormal condition occurs. .

[0008]

SUMMARY OF THE INVENTION In order to achieve the above-mentioned object, the present invention provides an automatic tracking type dog leading vehicle which can move following a guidance signal transmitted from a transmitter carried by a preceding person. And characterized in that it is configured as follows.

That is, a pair of receiving bodies which are provided at intervals at symmetrical positions on both sides of a vehicle body having rear wheels for vehicle traveling and front wheels for steering, and receive the guidance signal, respectively. , A driving motor for driving the rear wheels, a steering mechanism including a steering motor for steering the front wheels, a power supply battery for supplying power to the driving motor and the steering motor, and the pair of receivers Based on the strength and difference of the guidance signals received respectively, the position and moving direction of the preceding transmitter are detected, and the start, stop or acceleration / deceleration of the drive motor for traveling is automatically controlled according to the detected position, A motor control means for automatically controlling a steering steering motor in accordance with the moving direction; and a dog leash or a dog leash having one end connected to a dog collar, and the other end connected to the vehicle body. And a rotatable ring for.

[0010] Then, the guide signal from the transmitter carried by the preceding person is received in a predetermined reception area by the pair of receivers, and while detecting the position and the moving direction of the transmitter, the guide signal is converted to the guide signal. This is a self-tracking dog-leading vehicle that runs following the dog and can guide the dog to walk through the dog leash or the dog string.

Further, it is preferable to provide a hand-operated handle which can be stored and pulled out and has at least a switch for starting and stopping a driving motor for traveling, on the body of the automatic tracking type dog dog leading vehicle. Then, on narrow roads or on roads with obstacles, it is possible to pull out the push handle and operate the vehicle by manual steering.

Further, it is preferable to provide means for variably setting the standard value of the traveling speed of the vehicle body by driving the driving motor for driving in a stepwise or stepless manner. Thereby,
The owner can set a standard value (normal traveling speed) of the traveling speed of the vehicle body according to his walking speed.

Further, a luggage-carrying basket which has a shape conforming to the shape of the surface of the vehicle body and is detachable from the vehicle body may be provided. As a result, the baggage for shopping or the like can be stored in the basket and transported by the automatic tracking method or the manual steering with the hand wheel, and can be used for purposes other than the walking of the dog.

[0014] In addition, a detachable weight of various weights may be provided on the vehicle body so that the weight of the vehicle body can be changed according to the difference in the physique and the indexing power of the dog anchored via the dog leash or the dog string. it can. This can reduce the weight of a small dog and reduce the power consumption of the power battery, and can increase the weight of a large dog and cause the vehicle to fall or be dragged by the pulling force of the dog. You can be afraid.

A member (center pole in the embodiment) holding a rotatable ring for anchoring the other end of the dog leash or dog string to the vehicle body receives a pulling force exceeding a preset value. At this time, it is desirable to provide a means for detecting this and stopping the traveling drive motor to make an emergency stop. As a result, when the dog is surprised by the anomaly, etc. and suddenly goes out of control or tries to run away and pulls the dog leash or string strongly, the member holding the rotatable ring on the vehicle body receives a force exceeding the set value, and the emergency stop means is provided. However, the vehicle senses this by the elastic deformation of the member or the like and stops the vehicle in an emergency, thereby increasing safety.

Further, in any of the following cases (a) to (f), if an emergency stop means which detects and activates the emergency stop is provided, the automatic tracking type dog-leading vehicle is more secure. Will be high.

(A) When the power of the transmitter is turned off, (b)
(C) when the vehicle body starts to run out of the preset reception area of the guidance signal from the transmitter by the receiver, or is too close to or too far from the position of the transmitter; (E) when a load exceeding a set limit is applied to the traveling drive motor during an uphill climb or the like when the shock absorbing bumper provided at the tip of the vehicle body hits an animal or an object.
When the drive motor for traveling starts to rotate at a speed higher than the set limit during downhill descent, etc., (f) When any trouble occurs in the transmitter or the dog leading vehicle,

[0018]

Embodiments of the present invention will be specifically described below with reference to the drawings. FIG. 1 is a schematic diagram showing a state where a dog is taking a walk using the automatic tracking type dog dog leading vehicle according to the present invention.

A preceding person (owner, etc.) H walks with the transmitter 30 attached to the body using a band or the like, and an automatic tracking type dog leading vehicle (hereinafter simply referred to as "dog leading vehicle") W is separated by a substantially constant distance. To follow. A dog chain anchoring ring 8 rotatably inserted in a center pole 6 below a disk-shaped head 5 provided at the center of the body 1 of the dog leading vehicle W.
Then, the other end of a commercially available dog leash (or a dog string) 9 having a length of about 1.5 m and one end connected to the collar R of the dog D is connected, and the dog D is fixed to the vehicle body 1. I have.

Since the dog leash anchoring ring 8 is fitted on the center pole 6 so as to be mounted on the circular vertebral foot cover 7, the dog D can be anchored to the vehicle body 1 because it can rotate very smoothly. In this state, it is possible to freely move around the leading vehicle W to some extent. The body 1 of the dog leading car W is
Even if dog D moves around around it, dog leash 9 may get tangled,
The surface is covered with a simple curved vehicle body cover 2 having no projections or the like so as not to be entangled or caught in the wheels.

The transmitter 30 carried by the preceding person H is located symmetrically around the center poles 6 on both sides of the vehicle body 1.
A pair of receivers 25 for receiving the guidance signal transmitted from
26. In the lower part of the vehicle body 1, two rear wheels 16a and 16b for driving the vehicle and one wheel for steering are provided.
And two front wheels 27.

Then, the dog leading vehicle W transmits an induction signal from the transmitter 30 carried by the preceding person H to the pair of receivers 2.
5 and 56, the signal is received within a predetermined reception area,
The vehicle follows the guidance signal while detecting the position and the movement direction of 0, and leads the walk of the domestic dog D via the dog chain 9 or the dog string. It can be used in parks and on roads.

[0023] Such a dog-leading vehicle is not a system in which steering is also performed by two right and left rear wheel drive motors, as in the above-mentioned automatic tracking type golf bag transport vehicle, which is a heavy load transport type and whose control is complicated. The driving for the vehicle is simplified by the rear wheels, and the steering is separately performed by the front wheels.

The position and the moving direction of the transmitter are determined by the strength and difference of the induction signals from the transmitter 30 which are separately received by the receivers 25 and 26 arranged on the right and left sides of the vehicle body 1 one by one. Detect, and according to the position and the moving direction,
The motor for driving the rear wheels and the motor for steering the front wheels are automatically controlled so that the vehicle always travels with a delay of a substantially constant distance from the preceding vehicle and follows the walking of the preceding vehicle. That is,
The dog leading vehicle W automatically tracks and travels within a certain speed range substantially matching the walking speed of the preceding person H.

Next, an example of the structure of the dog leading vehicle W will be described in detail. FIG. 2 is a perspective view showing the internal configuration of the dog leading vehicle W in a see-through manner, FIG. 3 is a side view thereof, and FIG. 4 is a plan view thereof.

As shown in these figures, the body 1 of the dog leading vehicle W has a curved body cover 2 having no projection.
Covered with. A front lid 3 for maintenance and inspection and a rear lid 4 for opening and closing the control box are hinged on the vehicle body 1 by hinges 3b and 4b (see FIG. 3) on the upper surface of the body cover 2, respectively. It is fixed to the vehicle body 1 by 4a, and is opened by removing its set screws 3a and 4a. The front cover 3 includes a steering mechanism 2 including a battery 21 and a steering motor 22 for steering front wheels.
The rear cover 4 is used for maintenance and inspection of the vehicle 1 and the like, and when a weight for adjusting the vehicle weight (not shown) is attached to and detached from the inside of the body cover 2, the rear cover 4 is provided with a control box 38 (FIG. 3) and a drive motor for traveling. It is used at the time of maintenance inspection of 17 etc.

A disk-shaped head 5 and a center pole 6 supporting the disk-shaped head 5 are provided at the center of the vehicle body 1 at the lower end thereof.
(FIG. 3) and is vertically erected. From the disk-shaped head 5, receiver support bars 25s and 26s project toward both sides (vehicle width direction) of the vehicle body 1, and receivers 25 and 26 with a built-in receiving antenna are respectively provided with center poles 6 at the ends thereof. It is arranged at a symmetrical position with respect to the center.

The exposed portion of the center pole 6 between the disk-shaped head 5 and the upper surface of the vehicle body cover 2 is covered at its lower part with a circular vertebra-shaped foot cover 7, and a dog leash (or dog string) 9 is anchored thereon. A dog chain anchoring ring (hereinafter simply referred to as “ring”) 8 is rotatably fitted. When the ring 8 is pulled in one direction by the dog leash 9 with a strong force and slightly tilted in either direction, the center pole 6 is provided with a ring type switch 24 (see FIG. Touch 3) to turn it on. As a result, a power supply path of a power supply circuit described later is cut off, and the driving motor 17 of the leading dog W stops, but the vehicle stops urgently.

At the tip of the vehicle body cover 2, a bumper 10 for cushioning is provided.
Is mounted so that the micro switch is activated immediately upon collision with an animal or an object, thereby also causing an emergency stop. Immediately above the buffer bumper 10, headlights 11 that are turned on during night driving are provided, and on the rear surface of the vehicle body 1, reflective tail lights 12 are mounted at two places on the left and right sides to prevent rear-end collision.

At the rear of the vehicle body 1, a push handle 13 is housed with its handle bar 15 caught above the vehicle body, and the push handle 13 is grasped by the handle bar 15 as shown by an imaginary line. When it is pulled out upward, the automatic steering control circuit operated by the guidance signal from the transmitter 30 is turned off, and when the start switch 14a provided on the handlebar 15 is pressed, the drive motor 17 for running is started to be manually operated. When the stop switch 14b is pressed, the traveling drive motor 1 can be driven.
7 can be stopped and stopped.

It is desirable that the traveling drive motor 17, the steering motor 22, the control box 38, and the like be surrounded by a wall so that dust and rainwater do not enter. Next, the configuration and functions of the inside of the vehicle body shown by broken lines in FIGS. 2 to 4 will be described.

The running drive motor 17 of the vehicle is a DC motor driven by a DC power supply of a battery 28, and is automatically controlled by a motor control circuit described later, or is started / stopped by the switches 14a and 14b. The shaft rotation of the motor 17 is transmitted to a rear wheel drive pulley 19 via a counter pulley 18 by a belt transmission mechanism, and simultaneously rotates an axle 20 and both rear wheels 16a and 16b with tires, which are integrated with the pulley 19. Run the vehicle. The rear wheel 16 of the rotational driving force of the motor 17
For transmission to a and 16b, a chain transmission mechanism, a gear transmission mechanism, or the like may be used instead of the belt transmission mechanism.

In this embodiment, the steering for changing the traveling direction of the vehicle is performed by using a caster-type front wheel 27 that receives a guidance signal from a transmitter 30 carried by a preceding person at symmetrical positions on both sides of the vehicle body 1. The reception is separately performed by the receivers 25 and 26, and the steering control is performed such that the tired front wheel 27 is always turned in the direction of the receiver having a strong reception signal.

The steering of the front wheels 27 is performed by the steering motor 22. In this example, as the steering motor 22, a stepping motor that rotates stepwise by a forward / reverse rotation signal and a drive pulse signal from a motor control unit described later is used. In order to transmit the forward / reverse rotation of the steering motor 22 to the front wheels 27, a motor pulley 22a attached to the rotating shaft and a steering pulley 27a attached to the vertical rotating shaft 27 of the front wheels 27
And a steering mechanism 21 in which a timing belt 23 is stretched.

FIG. 5 is a perspective view clearly showing the steering mechanism 21, FIG. 6 is a side view thereof, and FIG. 7 is a front view thereof. As shown in these figures, the rotating shaft 22b of the steering motor 22 is fitted to the intermediate support plate 31b so as to penetrate the intermediate support plate 29b and smoothly rotate the motor pulley 22a between the steering shaft 22 and the upper support plate 29a. Bearing 2
2c.

On the other hand, the front wheel 27 allows the vertical rotation shaft 27b provided integrally with the fork 27c to vertically penetrate both the upper support plate 29a and the intermediate support plate 29b.
a between the steering pulley 27a and the intermediate support plate 29b.
Are supported by bearings 27d and 27e fitted to the penetrating portions of the support plates 29a and 29b so that the vertical rotation shaft 27b rotates smoothly.

According to the steering mechanism 21, when a forward / reverse rotation command and a rotation degree (rotation angle) command based on a driving pulse signal are issued to the steering motor 22 from a motor control unit described later, the steering 22
Rotates the rotating shaft 22b to the right or left by an angle corresponding to the number of drive pulses, and rotates the rotating shaft 22b from the motor pulley 22a through the timing belt 23 and the steering pulley 27a to the vertical rotating shaft of the caster-type front wheel 27 with a tire. The power is transmitted to the fork 27b and the fork 27c so that the front wheel 27 can be steered.

Here, the principle of the steering function of the dog leading vehicle will be described with reference to FIG. As shown in FIG. 8, a line L connecting a pair of receivers 25 and 26 disposed at symmetrical positions on both sides of the center line of the dog leading vehicle W is defined as a base, and a transmitter 30 carried by the leading person H is located at the top. As
A straight line connecting the transmitter 30 and the receiver 25 and a receiver 26
When the triangle formed by the straight line connecting to the triangle maintains the isosceles triangle as shown in FIG.
The radio waves of the guidance signal transmitted from the receivers 25 and 26
With the same strength.

In this case, the induced signal voltage output from each of the receivers 25 and 26 is equal, and the voltage after being amplified by a motor control unit to be described later and subjected to a comparison process through a potentiometer becomes zero. No drive signal to the (stepping motor) 22 is generated. Therefore, the front wheel 27 of the dog leading vehicle W keeps moving forward toward the transmitter 30 while facing straight ahead.

However, when the preceding person H carrying the transmitter 30 changes the walking course to the left, the isosceles shape of the triangle is broken, and as shown in FIG.
The distance x between the transmitter 30 and the receiver 25 on the left side is
It becomes shorter than the distance y between 0 and the receiver 26 on the right side, and the strength of the radio wave received by the receiver 25 exceeds the strength of the radio wave received by the receiver 26.

In this case, the induced signal voltage output from the receiver 25 is higher than the induced signal voltage output from the receiver 26, and the voltage after the comparison processing as described above is the difference between the signal voltages. And a positive or negative voltage corresponding to the steering motor 22 in the left direction, that is, the receiver 2
A motor rotation drive signal comprising a different number of drive pulse signals according to the rotation direction command to the fifth side and the magnitude of the voltage difference is output. This signal allows the steering motor 2
2 is rotationally driven, and the front wheel 27 is steered leftward by the steering mechanism 21 so as to track in the direction of the transmitter 30.

Conversely, when the preceding person H carrying the transmitter 30 changes the walking course to the right, as shown in FIG. 8C, the distance y between the transmitter 30 and the right receiver 26 is changed. But,
The distance becomes shorter than the distance x between the transmitter 30 and the receiver 25 on the left side, and the strength of the radio wave received by the receiver 26 exceeds the strength of the radio wave received by the receiver 25.

In this case, the induced signal voltage output from the receiver 26 is higher than the induced signal voltage output from the receiver 25, and the voltage after the comparison processing as described above is the same as the signal voltage. The voltage of the polarity opposite to that in the case of (A) according to the difference is obtained. A motor drive signal including a pulse signal is output. The steering motor 22 is rotationally driven by this signal, and the front wheel 27 is steered rightward by the steering mechanism 21 so as to track in the direction of the transmitter 30.

When the front wheels 27 are steered in this manner, the dog leading vehicle W returns to the state of proceeding straight ahead toward the transmitter 30 again, and the pair of receivers 25 and 26 on the vehicle body 1 receive the guidance signals respectively. When the strengths of the received radio waves become equal, FIG.
(B), the front wheel 27 is in the neutral position facing the front so as to continue tracking straight toward the transmitter 30.

FIG. 9 is a block circuit diagram showing a simple circuit configuration of the transmitter 30 carried by the preceding person H. The size of the transmitter 30 is such that it can be stored in a rear pocket such as pants worn by an adult.

As shown in FIG. 9, the transmitter 30 includes a crystal oscillator 31 and an oscillation circuit 32 including transistors and the like.
The control circuit 33 includes a control circuit 33 including a power supply battery, an amplifier 34, and an antenna circuit 35 including a variable capacitor 35a and an antenna coil 35b, and transmits an electromagnetic wave of an induction signal having a predetermined frequency with a constant output. Since a known transmitter for transmitting a simple constant signal can be used, detailed description thereof is omitted.

FIG. 10 shows a pair of receivers 25 and 2 disposed symmetrically with respect to the center lines on both the left and right sides of the vehicle body 1.
6 is a block circuit diagram showing a circuit configuration of No. 6. FIG. Since the receivers 25 and 26 have the same specifications, the receiver 25
, A schematic configuration thereof will be described. As shown in FIG. 10, the receiver 25 includes a receiving antenna 25a for receiving an electromagnetic wave of an induction signal from the transmitter 30, a tuning capacitor 25b, a buffer amplifier 25c, and a crystal oscillator 25d.
And an amplifier 25e.

An induction signal is received by a reception antenna 25a and a tuning capacitor 25b which resonate (tune) with an electromagnetic wave of a specific frequency transmitted from the preceding transmitter 30, and the signal voltage is applied to an extra load on the crystal oscillator. The signal is supplied to the crystal oscillator 25d through the buffer amplifier 25c so as not to be applied, and only a signal of a specific frequency is transmitted from the crystal oscillator 25d to the motor control unit 40 shown in FIG. It is transmitted through the shielded cable 25f. Similarly, a signal of the same frequency is transmitted from another receiver 26 to the motor control unit 40 in parallel through the shielded communication cable 26f.

FIG. 11 is a power supply circuit diagram showing a power supply path of the dog leading vehicle W. Battery 28 as power supply
A power supply circuit 70 is constituted by a circuit breaker 75 also serving as a power switch, which is interposed in a power supply path from the battery to the power supply panel 80. The circuit breaker 75
It comprises a pair of switches 72 and 73 inserted in the middle of conducting wires 78 and 79 forming a power supply path from the anode and cathode of the battery 28 to the power supply panel 80, a power switch button 71 and a solenoid 74. The power switch button 71 is
It is provided so that it can be operated from outside.

When the power switch button 71 is pressed, the pair of switches 72 and 73 are turned on in conjunction with each other, held in that state by a lock mechanism (not shown), and when pressed again, the lock is released and the pair of switches is released. Switches 72, 73
Is turned off, and the power switch button 71 returns to the original position. When the solenoid 74 is energized by energization, the lock of the lock mechanism is released and the pair of switches 72,
73 is forcibly turned off.

A micro switch 76 which is turned on when an object collides with the shock absorbing bumper 10 provided at the tip of the vehicle body 1 and a center pole in the center of the vehicle 1 are connected to the power supply circuit from the battery 28 of the power supply circuit 70 to the solenoid 72. A ring-type switch 24 surrounding the center pole 6, which is turned on when the dog chain anchoring ring 8 inserted into the ring 6 is pulled by a strong force due to the dog standing or running away, is inserted in parallel.

Therefore, when the pair of switches 72 and 73 of the circuit breaker 75 are turned on to supply power to the power supply panel 80, either the micro switch 76 or the ring type switch 24 is operated and turned on. Then, Solade 7
2 and the switches 72 and 73 are turned off.
The state becomes F, and the power supply to the power supply panel 80 is cut off. As a result, the vehicle comes to an emergency stop.

When the switches 72 and 73 are turned off, the solenoid 74 is not excited, but thereafter the switches 72 and 73 are depressed until the power switch button 71 is pressed again.
Does not turn on. Therefore, even if the micro switch 76 or the ring type switch 24 is turned on for a short time and then returns to the off state, the switches 72 and 73 are turned off.
Will remain. 77 is a pilot lamp which has a protection resistor R
Are connected to the conductors 78 and 79 through
When the power supply panel 80 is turned on and the power supply panel 80 is turned on, the light is turned on so that the input of electric energy can be visually checked.

The power output from the power supply circuit 70 is
The power is supplied to the power supply panel 80 through the conductors 78 and 79, where various power sources having different voltages are prepared. The receivers 25 and 26 and the driving motor 1 are provided through a plurality of output lines 81.
7 and a motor control unit 40 that drives and controls the steering motor 22. Reference numeral 82 denotes a battery voltage drop display circuit which, when the charged amount of the battery 28 is reduced and its output voltage is lowered to require charging, the detection is made and the display lamp 83 is turned on to give a warning.

Since the vehicle body 1 is light in weight and travels on a generally flat road at a low speed equivalent to the walking speed, both the driving motor 17 and the steering motor 22 may be small motors, and the power consumption is small. Battery 2
8 is sufficient for a 12V type motorbike battery. However, when a 24V power supply is required depending on the type of the mounted motor, two 12V type batteries can be connected in series and used. Chargers for this type of battery are commercially available at low prices and can be easily charged at home.

FIG. 12 shows the control box 38 shown in FIG.
FIG. 3 is a block circuit diagram showing a circuit configuration of a motor control unit provided in the inside. The signals transmitted from the receivers 25 and 26 via the communication shielded cables 25f and 26f are as follows:
In the motor control unit 40, amplifiers 41a and
Amplified by 1b, the DC component is cut through capacitors 42a and 42b, and detected by detection circuits 43a and 43b. Thereby, it is converted into DC voltages V ₁ and V ₂ proportional to the magnitude of the amplitude of the input signal. This DC voltage V ₁
And V ₂ are controlled by a level adjusting circuit composed of resistors 44a and 44b connected to the output sides of detection circuits 43a and 43b and a variable resistor 45 having a movable contact grounded, respectively.
In the state of (B) in FIG. 8, DC voltages V ₁ and V ₂ are level adjusted to the same potential.

The DC voltages V ₁ and V ₂ are output via normally closed switches 46a and 46b, respectively.
a and 47b are input to the non-inverting input terminal and the inverting input terminal of the differential amplifier 48, respectively. Accordingly, the differential amplifier 48 has a voltage signal Vs (Vs = V ₁ −V ₂ ) having a magnitude (absolute value) corresponding to the difference between the input voltages V ₁ and V _{2 and having} a different polarity depending on which is larger. Is output. This voltage signal Vs has a magnitude corresponding to the difference in distance between the receivers 25 and 26 and the transmitter described with reference to FIG.

This voltage signal Vs is input to a stepping motor drive control circuit 50 via a buffer amplifier 49, and the steering motor 22 as a stepping motor is
Drive control.

This stepping motor drive control circuit 50
Is generally marketed in the form of an IC, but in addition to a pulse signal oscillator, an excitation phase control unit, a power amplification unit, etc.
Functions such as stop and variable oscillation frequency are incorporated. The voltage signal Vs input via the buffer amplifier 49
The rotation direction (forward or reverse) of the motor is determined according to the polarity of the motor, the number of drive pulses is determined by setting the rotation angle according to the magnitude, and a plurality of drive pulses having different phases are sent to the steering motor 22. And rotationally control it. The rotation speed can be controlled by the frequency of the driving pulse.

In this way, the front wheel 27 can be steered by the steering motor 22 according to the principle described above with reference to FIG. 8, and the traveling direction of the dog leading vehicle W can be changed in the walking direction of the preceding person H. Note that the stepping motor drive control circuit 50 may rotate the steering motor 22 in accordance with the amount and direction of change of the voltage signal Vs from the operation amplifier 48 so as to eliminate the meandering of the vehicle. Alternatively, when the voltage signal Vs becomes zero, a returning force may be applied by a weak spring or the like so that the front wheel 27 is automatically returned to the straight traveling position parallel to the longitudinal direction of the vehicle body 1.

The detected DC voltages V ₁ and V ₂ are also input to the non-inverting input terminal of the addition amplifier 52 via the resistors 51a and 51b, and the addition amplifier 52 adds the voltage signals Vd (Vd = V ₁ + V ₂ ). The voltage signal Vd is input to the DC motor drive control circuit 54 via the buffer amplifier 53, and the drive of the traveling drive motor (hereinafter referred to as “DC motor”) 17, which is a DC motor, is controlled.

This DC motor drive control circuit 54
A general controller sold with the motor 17 can be used. A tacho generator 55 is attached to the rotating shaft of the DC motor 17.
A voltage corresponding to the number of rotations is generated and fed back to the DC motor drive control circuit 54.

In order for the dog leading vehicle W to follow the average walking speed of the preceding person H who walks while carrying the transmitter 30 shown in FIG. 1, the tachogenerator 55 is driven at the running speed. a voltage corresponding to the voltage Vf generated, resistor 56 and is generated by voltage dividing circuit by the variable resistor 57, it is set to the DC motor drive control circuit 54 it as a standard speed voltage V _0. Thereby, when the voltage signal Vd input from the buffer amplifier 53 matches a reference voltage Vx described later, the voltage Vf generated by the tachogenerator 55 matches the standard speed voltage V ₀ (Vf
= V ₀ ), the rotation of the DC motor 17 is controlled by adjusting the value of the current flowing through the DC motor 17.

On the other hand, the voltage signal Vd output from the addition amplifier 52 and input via the buffer amplifier 53 is an intermediate signal between the transmitter 30 and the pair of receivers 25 and 26 attached to the dog leading vehicle W in FIG. The longer the distance connecting the points, the smaller the distance, and the shorter the distance, the larger the distance. Therefore, for example, the distance connecting the transmitter 30 and the intermediate point between the receivers 25 and 26 is 2
In the case of meters (set to an arbitrary distance), the voltage signal Vd is used as the reference voltage Vx as the DC motor drive control circuit 5
4 is set.

When the distance becomes shorter than 2 meters (when the leading dog W approaches the preceding person H), the input voltage signal Vd becomes larger than the reference voltage Vx.
By subtracting from the previously set standard speed voltage V ₀ by the difference, the target rotation speed of the DC motor 22 is reduced,
The running speed of the dog leading vehicle W can be reduced.

Conversely, when the distance is longer than 2 meters (the leading dog W moves away from the preceding person H), the input voltage signal Vd becomes smaller than the reference voltage Vx, so that the difference is set earlier by the difference. By adding to the standard speed voltage V ₀ , the target rotation speed of the DC motor 22 can be increased, and the running speed of the dog leading vehicle W can be accelerated.

When the distance becomes 2 meters and the input voltage signal Vd becomes equal to the reference voltage Vx, the state returns to the state where the rotation speed of the DC motor 17 is controlled by the standard speed voltage V ₀ again. In this way, it is possible to keep the distance between the dog leading vehicle W and the preceding person H substantially constant and follow the leading dog H in accordance with the average walking speed of the preceding person H.

Voltage signal V output from summing amplifier 52
d is also input to the proximity control circuit 58 and the remote control circuit 59. Close stop circuit 58, when it exceeds the level corresponding to the approach limit the antecedents and vehicles voltage signal Vd is input is preset, and outputs a stop signal S _1. ToHanare stop circuit 57, when below a level corresponding to ToHanare limit (limit away) the antecedents and vehicles voltage signal Vd is input is preset, and outputs a stop signal S _2.

The voltage Vf generated by the tacho generator 55 is also input to the acceleration / deceleration stop circuit 60. Accordingly, the acceleration / deceleration stop circuit 60 determines that the voltage Vf corresponding to the rotation speed of the DC motor 17 generated by the tachogenerator 55 becomes abnormally high on a downhill or the like, or the motor Mf on an uphill or the like.
Outputs a stop signal S ₃ when it becomes lower than is taking too much load on D.

Each of these stop signals S ₁ , S ₂ , S ₃ is O
The signal is input to a DC motor drive control circuit 54 via an R gate 61 and a backflow preventing diode 62,
Is stopped, and the brake incorporated in the DC motor 17 is operated. Thereby, the dog leading car W
Stop suddenly. The capacitor 63 is provided to absorb a very short stop signal as a noise component.

With this configuration, it is possible to determine whether or not the dog leading vehicle starts running out of the radio wave reception area set in advance from the transmitter or is too close to the position of the transmitter.
Or, when the vehicle is too far away, or when some trouble occurs on the transmission side or on the vehicle side, as well as on the uphill or downhill, the driving drive motor 17 is overloaded, or the rotational speed of the motor accelerates beyond the set limit. When you start, you can stop the dog leading car for safety.

Voltage signal V output from summing amplifier 52
d is also used as a start signal of the DC motor drive control circuit 54, and is also input to the stepping motor drive control circuit 50 and used as the start signal. That is, when the power switch of the transmitter 30 shown in FIG.
5 and 26 cannot receive anything, so the voltage signal Vd is zero. In this state, the DC motor drive control circuit 54
Cuts off the power supply circuit to the DC motor 17, and the stepping motor drive control circuit 50 also cuts off the drive pulse sending circuit to the steering motor 22.

When the power switch of the transmitter 30 is turned on and the transmitter 30 is activated and starts transmitting the guidance signal,
Since the receivers 25 and 26 receive it, the voltage signal Vd is output. When it goes above a certain level, D
The C motor drive control circuit 54 starts a power supply circuit to the DC motor 17, and the stepping motor drive control circuit 50 also starts a drive pulse sending circuit to the steering motor 22. In this way, safety can be improved and wasteful power consumption can be prevented.

Further, the DC motor drive control circuit 54 has a signal for pulling and retracting the push handle 13 shown in FIGS. 2 to 4 and an ON / OFF signal to the start switch 14a and the stop switch 14b. Is also entered. When the push handle 13 is pulled out, the DC motor drive control circuit 54 causes the switches 46a and 4 in FIG.
Turn off 6b to disable the automatic tracking function. The DC motor 1 is turned on by turning on the start switch 14a.
7 is activated, and the stop switch 14b is turned on,
The DC motor 17 is stopped.

Next, an example in which a weight for adjusting the vehicle weight is attached to the outside of the vehicle body on the dog leading vehicle according to the present invention will be described with reference to FIGS. 13 and 14. FIG. FIG. 13 is a front view showing a state in which a weight is attached to the dog leading car, and FIG. 14 is a side view.

In this example, a pair of weights 90, 90 are connected to each other by two flat rubber belts 91, and are mounted on both sides of the vehicle body 1 in a distributed manner. The two flat rubber belts 91
As shown in FIG. 14, the foot cover 7 around the center pole 6 is sandwiched between the front cover and the upper surface of the vehicle body cover 2 at the front and rear, and the lower end of each weight 90 is provided with a hook for hooking. Each hook is hooked to the lower edge of the vehicle body cover 2 and fixed in a slightly extended state.

The weight 90 is made of lead or a casting.
The surface in contact with the vehicle body cover 2 is formed into a curved surface that is in close contact with the surface of the vehicle body cover 2, and is provided with a non-slip and a vehicle body cover 2.
The inner surface is covered with a rubber or plastic sheet or the like to prevent damage to the surface, and the outer surface is formed in a smooth streamline so that the dog leash is not caught.
By selecting the weight of the pair of weights according to the size and the pulling force of the dog to walk, the dog leading vehicle W can be knocked down or dragged by the power of the dog when walking any dog. It can be used safely without doing.

Next, an example in which a luggage-carrying basket is mounted on the dog leading vehicle according to the present invention will be described with reference to FIGS. FIG. 15 is a front view showing a state in which a luggage-carrying basket is attached to the dog leading car, and FIG. 16 is a side view.

In this example, the luggage transport basket 100 is
Is mounted on the upper part of the vehicle so as to straddle a disk-shaped head and a pair of receiver support bars 25 s and 26 s extending right and left from the disk-shaped head. It is formed in a shape, and a non-slip made of rubber or the like is attached to a surface that comes into contact with the vehicle body cover 2 to prevent the surface of the vehicle body cover 2 from being damaged. Each leg 101 may be further pulled down and fixed below the vehicle body 1 by a flat rubber cord with a hook or the like. By attaching the luggage transport basket 100 in this manner, the dog leading car W can be used not only for leading a dog to walk, but also for transporting shopping and the like.

[0080]

As described above, if a dog is connected to the dog leading vehicle via a dog leash or a dog string and used,
The dog can be guided by the dog without endurance, and the owner can walk the dog at a certain distance without intervening the dog leash or the dog string. For this reason, it is possible to prevent the dog from suddenly ramping up when surprised by things, running out of control by shaking off the dog chain from the owner's hand, and preventing a person from being excitedly attacking a person.

The dog leading vehicle according to the present invention can be provided at a low cost by simplifying the structure and the electric control system by employing the front wheel steering / rear wheel drive system. And
An inductive signal transmitted from a transmitter carried by the preceding owner is received by a pair of receivers arranged at symmetrical positions on both sides of the vehicle, and the direction of the preceding transmitter is determined by the strength and difference of the received signal. By detecting the distance and adjusting the front wheel steering and rear wheel drive speeds, it is possible to constantly track in the direction of the transmitter at substantially the same speed as its moving speed.

Further, in order to avoid obstacles on narrow roads, bridges and roads, this dog-leading vehicle is switched to manual-steering with the handwheel pulled out of the vehicle body, and is manually driven by power. Driving can be easily realized. In addition,
By mounting a luggage loading basket suitable for the unevenness of the dog leading vehicle body of the present invention, it can be used as a power carrier for carrying shopping or the like from a nearby supermarket to home.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a state in which a dog is taking a walk using an automatic tracking dog dog leading vehicle according to the present invention.

FIG. 2 is a perspective view showing the internal configuration of the dog leading vehicle in FIG.

FIG. 3 is a side view of the same.

FIG. 4 is a plan view of the same.

FIG. 5 is a perspective view clearly showing a steering mechanism in the dog leading vehicle shown in FIGS. 2 to 4;

FIG. 6 is a side view of the same.

FIG. 7 is a front view of the same.

FIG. 8 is a diagram for explaining a steering principle in a dog leading vehicle according to the present invention.

FIG. 9 is a block circuit diagram showing a simple circuit configuration of a transmitter carried by a preceding person in FIG.

10 is a block circuit diagram showing a circuit configuration of a pair of receivers disposed at symmetrical positions on both left and right sides of the vehicle body of the dog leading vehicle shown in FIGS. 2 to 4. FIG.

FIG. 11 is a power supply circuit diagram showing a power supply path of a dog leading vehicle according to the present invention.

12 is a block circuit diagram showing a circuit configuration of a motor control unit provided in the control box 38 shown in FIG.

FIG. 13 is a front view showing a state in which a weight for adjusting vehicle weight is mounted on the dog leading vehicle according to the present invention.

FIG. 14 is a side view of the same.

FIG. 15 is a front view showing a state in which a basket for carrying luggage is mounted on the dog leading vehicle according to the present invention.

FIG. 16 is a side view of the same.

[Explanation of symbols]

 H: Leader W: Guide dog car D: Dog 1: Car body 2: Body cover 5: Disc-shaped head 6: Center pole 7: Foot cover 8: Dog leash anchoring ring 9: Dog leash (dog string) 10: Shock absorber Pamper 11: Headlight 12: Reflective taillight 13: Hand-operated handle 14a: Switch for starting 14b: Switch for stopping 15: Handlebar 16a, 16b: Rear wheel 17: Drive motor 21: Steering mechanism 22: Swing motor ( Step motor) 24: Ring type switch 25, 26: Receiver 27: Front wheel 28: Battery 30: Transmitter 38: Control box 40: Motor control circuit 43a, 43b: Detection circuit 48: Differential amplifier 49, 53: Buffer amplifier 50: Stepping motor drive control circuit 52: Addition amplifier 54: DC motor drive control circuit 55: Tach generator 56: Proximity control circuit 57: Remote control circuit 58: Acceleration / deceleration stop circuit 70: Power supply circuit 75: Circuit breaker 71: Power switch button 72, 73: Switch 74: Solenoid 76: Micro switch 80: Power supply board 81 : Output line 82: low battery voltage display circuit 90: weight 91: flat rubber belt 92: hook for hook 100: basket for carrying luggage 101: leg

────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] December 12, 1996

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claim 7

[Correction method] Change

[Correction contents]

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0003

[Correction method] Change

[Correction contents]

[0003] When a dog is kept, it is necessary to take the dog for a walk every morning and evening, which will also help maintain the health of the owner. However, the strength of the dog grows as it grows up, and when a woman or the elderly walks, the dog's walking speed and moving direction are held by holding the dog leash and the dog string directly. It becomes physically difficult to control.

[Procedure amendment 3]

[Document name to be amended] Statement

[Correction target item name] 0004

[Correction method] Change

[Correction contents]

[0004] In addition, during a walk, the dog is surprised at something unusual and runs away, or the child or the owner himself is bitten by the dog.
The number of cases of being killed and severely wounded is increasing. However, at present, there is no effective walk assisting means that can safely walk the dog without such labor and danger.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0005

[Correction method] Change

[Correction contents]

On the other hand, at a golf course or the like, a radio signal from a transmitter carried by a golfer is already received by a receiver installed on a golf bag carrier, and the golf bag is transported in the moving direction of the transmitter. Something like tracking a car has also been proposed and is being tried.

[Procedure amendment 5]

[Document name to be amended] Statement

[Correction target item name] 0009

[Correction method] Change

[Correction contents]

That is, a pair of receiving bodies which are provided at intervals at symmetrical positions on both sides of a vehicle body having rear wheels for vehicle traveling and front wheels for steering, and receive the guidance signal, respectively. , A driving motor for driving the rear wheels, a steering mechanism including a steering motor for steering the front wheels, a power supply battery for supplying power to the driving motor and the steering motor, and the pair of receivers Based on the strength and difference of the guidance signals received respectively, the position and moving direction of the preceding transmitter are detected, and the start, stop or acceleration / deceleration of the drive motor for traveling is automatically controlled according to the detected position, A motor control means for automatically controlling a steering motor for steering in accordance with the moving direction; and a dog leash or one end of a dog leash having one end connected to a dog collar, and the other end of the dog leash fixed to the vehicle body. And a rotatable ring because.

[Procedure amendment 6]

[Document name to be amended] Statement

[Correction target item name] 0010

[Correction method] Change

[Correction contents]

[0010] Then, the guide signal from the transmitter carried by the preceding person is received in a predetermined reception area by the pair of receivers, and while detecting the position and the moving direction of the transmitter, the guide signal is converted to the guide signal. follow and traveling is an automatic tracking type飼犬leading vehicle the walk dog can leading through the dog-chain or dog leash.

[Procedure amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0011

[Correction method] Change

[Correction contents]

Further, it is preferable to provide a hand-operated handle which can be stored and pulled out and has at least a switch for starting and stopping a driving motor for traveling, on the body of the automatic tracking type dog dog leading vehicle. Then, on narrow roads or on roads with obstacles, it is possible to pull out the push handle and operate the vehicle by manual steering .

[Procedure amendment 8]

[Document name to be amended] Statement

[Correction target item name] 0017

[Correction method] Change

[Correction contents]

(A) When the power of the transmitter is turned off, (b)
(C) when the vehicle body starts to run out of the preset reception area of the guidance signal from the transmitter by the receiver, or is too close to or too far from the position of the transmitter; When the bumper provided at the tip of the vehicle body collides with an animal or an object, (d) when a load exceeding a set limit is applied to the traveling drive motor during an uphill climb, etc., (e) during a downhill downhill, etc. When the driving motor starts to rotate at a speed higher than the set limit, or (f) When any trouble occurs in the transmitter or the dog leading vehicle,

[Procedure amendment 9]

[Document name to be amended] Statement

[Correction target item name] 0020

[Correction method] Change

[Correction contents]

Since the dog leash anchoring ring 8 is fitted on the center pole 6 so as to be mounted on the conical foot cover 7, the dog can be rotated very smoothly. In this state, it is possible to freely move around the leading vehicle W to some extent. The vehicle body 1 of this飼犬leading wheel W is, or entangled dog chain 9 is also moving around飼犬D is at its periphery, so as not to maki-inclusive and caught to the wheel occurs,
Simple curved body cover 2 without protrusions on its surface
Covered with.

[Procedure amendment 10]

[Document name to be amended] Statement

[Correction target item name] 0022

[Correction method] Change

[Correction contents]

Then, the dog leading vehicle W transmits an induction signal from the transmitter 30 carried by the preceding person H to the pair of receivers 2.
5 and 56, the signal is received within a predetermined reception area,
While detecting the position of 0 and the moving direction, the vehicle runs following the guidance signal, and leads the walk of the dog D via the dog chain (or dog string) 9 . It can be used in parks and on roads.

[Procedure amendment 11]

[Document name to be amended] Statement

[Correction target item name] 0024

[Correction method] Change

[Correction contents]

The position and the moving direction of the transmitter are detected based on the strength and difference of the induction signals from the transmitter 30 which are separately received by the receivers 25 and 26 arranged on the left and right sides of the vehicle body 1 one by one. Then, in accordance with the position and the moving direction, the rear-wheel drive motor and the front-wheel steering motor are automatically controlled to always follow the preceding person's walking with a substantially constant distance behind the preceding person. I am trying to do it. That is, the leading dog W automatically travels within a certain speed range that substantially matches the walking speed of the preceding person H.

[Procedure amendment 12]

[Document name to be amended] Statement

[Correction target item name] 0026

[Correction method] Change

[Correction contents]

As shown in these figures, the body 1 of the dog leading vehicle W has a curved body cover 2 having no projection.
Covered with. A front lid 3 for maintenance and inspection and a rear lid 4 for opening and closing the control box are hinged on the vehicle body 1 by hinges 3b and 4b (see FIG. 3) on the upper surface of the body cover 2, respectively. It is fixed to the vehicle body 1 by 4a, and is opened by removing its set screws 3a and 4a. The front cover 3 includes a steering mechanism 21 including a battery 28 and a steering motor 22 for steering the front wheels.
It is used when performing maintenance inspections and the like, and when attaching / detaching the weight for adjusting the vehicle weight (not shown) to the inside of the vehicle body cover 2,
The rear cover 4 is used at the time of maintenance and inspection of the control box 38 (FIG. 3), the driving motor 17 and the like.

[Procedure amendment 13]

[Document name to be amended] Statement

[Correction target item name] 0028

[Correction method] Change

[Correction contents]

The exposed portion of the center pole 6 between the disc-shaped head 5 and the upper surface of the vehicle body cover 2 is covered with a conical foot cover 7 at the lower portion, and a dog leash (or dog string) 9 is anchored thereon. A dog leash anchoring ring (hereinafter simply referred to as “ring”) 8 is rotatably fitted. When the ring 8 is pulled in one direction by the dog leash 9 with a strong force and slightly tilted in either direction, the center pole 6 is provided with a ring type switch 24 (see FIG. Touch 3) to turn it on. As a result, a power supply path of a power supply circuit to be described later is cut off, and the driving motor 17 for driving the leading dog W of the dog stops to stop the vehicle in an emergency.

[Procedure amendment 14]

[Document name to be amended] Statement

[Correction target item name] 0032

[Correction method] Change

[Correction contents]

The driving motor 17 for driving the vehicle is a DC motor driven by a DC power supply of a battery 28, and is automatically controlled by a motor control circuit described later, or is started / stopped by the switches 14a and 14b described above. The shaft rotation of the motor 17 is transmitted to a rear wheel drive pulley 19 via a counter pulley 18 by a belt transmission mechanism, and simultaneously rotates an axle 20 and both rear wheels 16a and 16b with tires, which are integrated with the pulley 19. Run the vehicle. The rear wheel 16 of the rotational driving force of the motor 17
For transmission to a and 16b, a chain transmission mechanism, a gear transmission mechanism, or the like may be used instead of the belt transmission mechanism.

[Procedure amendment 15]

[Document name to be amended] Statement

[Correction target item name] 0034

[Correction method] Change

[Correction contents]

The steering of the front wheels 27 is performed by the steering motor 22. In this example, as the steering motor 22, a stepping motor that rotates stepwise by a forward / reverse rotation signal and a drive pulse signal from a motor control unit described later is used. In order to transmit the forward / reverse rotation of the steering motor 22 to the front wheels 27, the motor pulley 22a attached to the rotation shaft and the front wheels 27
Steering pulley 27 attached to vertical rotation shaft 27b
and a steering mechanism 21 having a timing belt 23 stretched between the steering mechanism 21 and a.

[Procedure amendment 16]

[Document name to be amended] Statement

[Correction target item name] 0035

[Correction method] Change

[Correction contents]

FIG. 5 is a perspective view clearly showing the steering mechanism 21, FIG. 6 is a side view thereof, and FIG. 7 is a front view thereof. As shown in these figures, the rotating shaft 22b of the steering motor 22 is fitted to the intermediate support plate 29b so as to penetrate the intermediate support plate 29b and rotate smoothly with the upper support plate 29a. Bearing 2
2c.

[Procedure amendment 17]

[Document name to be amended] Statement

[Correction target item name] 0037

[Correction method] Change

[Correction contents]

According to the steering mechanism 21, when a forward / reverse rotation command and a rotation degree (rotation angle) command based on a driving pulse signal are issued to the steering motor 22 from a motor control unit described later, the steering 22
Is the angle corresponding to the number of drive pulses to the right or left of the rotating shaft 22b.
Only rotated, the rotation is through the timing belt 23 and the steering pulley 27a from the motor pulley 22a, is transmitted to the vertical shaft 27b and the fork 27c caster type tyred front wheels 27, so to be able to steer the front wheels 27 I have.

[Procedure amendment 18]

[Document name to be amended] Statement

[Correction target item name] 0051

[Correction method] Change

[Correction contents]

[0051] Sole from the battery 28 of the power supply circuit 70
The micro switch 76 which is turned on when an object collides with the shock absorbing bumper 10 provided at the tip of the vehicle body 1 and the dog chain anchoring ring 8 inserted in the center pole 6 at the center of the vehicle 1 Turns ON when the dog is pulled by a strong force due to a dog's insult or runaway.
And a ring-type switch 24 surrounding the switch is inserted in parallel.

[Procedure amendment 19]

[Document name to be amended] Statement

[Correction target item name] 0052

[Correction method] Change

[Correction contents]

Therefore, when the pair of switches 72 and 73 of the circuit breaker 75 are turned on to supply power to the power supply panel 80, either the micro switch 76 or the ring type switch 24 is operated and turned on. When it comes to solenoids
To energize and excite 74 , switches 72 and 73
It becomes FF, and the power supply to the power supply panel 80 is cut off.
As a result, the vehicle comes to an emergency stop.

[Procedure amendment 20]

[Document name to be amended] Statement

[Correction target item name] 0054

[Correction method] Change

[Correction contents]

The power output from the power supply circuit 70 is
The power is supplied to the power supply panel 80 through the conductors 78 and 79, where various power sources having different voltages are prepared. The receivers 25 and 26 and the driving motor 1 are provided through a plurality of output lines 81.
7 and a motor control unit 40 that drives and controls the steering motor 22. Reference numeral 82 denotes a low battery voltage display circuit , which detects when the amount of stored power in the battery 28 is reduced and its output voltage is reduced to require charging, and turns on the display lamp 83. Warning.

[Procedure amendment 21]

[Document name to be amended] Statement

[Correction target item name] 0055

[Correction method] Change

[Correction contents]

Since the vehicle body 1 is light in weight and travels on a generally flat road at a low speed equivalent to the walking speed, both the driving motor 17 and the steering motor 22 may be small motors, and the power consumption is small. Battery 2
8 is sufficient for a 12V type motorbike battery . However, when a 24V power supply is required depending on the type of the mounted motor, two 12V type batteries can be connected in series and used. Chargers for this type of battery are commercially available at low prices and can be easily charged at home.

[Procedure amendment 22]

[Document name to be amended] Statement

[Correction target item name] 0063

[Correction method] Change

[Correction contents]

In order for the dog leading vehicle W to follow the average walking speed of the preceding person H walking with the transmitter 30 shown in FIG. 1, the tachogenerator 55 is generated at the running speed. a voltage corresponding to the voltage Vf of the resistor 56 and is generated by the voltage dividing circuit by the variable resistor 57, is set to the DC motor drive control circuit 54 it as a standard speed voltage V _0. As a result, the voltage signal Vd input from the buffer amplifier 53 becomes the reference voltage V
If the value matches x, the tachogenerator 55 is generated.
Voltage Vf that is consistent with the standard speed voltage V ₀ (Vf = V
_The rotation of the DC motor 17 is controlled by adjusting the value of the current flowing through the DC motor 17 so that the rotation becomes _zero .

[Procedure amendment 23]

[Document name to be amended] Statement

[Correction target item name] 0065

[Correction method] Change

[Correction contents]

When the distance becomes shorter than 2 meters (when the leading dog W approaches the preceding person H), the input voltage signal Vd becomes larger than the reference voltage Vx.
By subtracting the difference from the previously set standard speed voltage V ₀ , the target rotation speed of the DC motor 17 is reduced,
The running speed of the dog leading vehicle W can be reduced.

[Procedure amendment 24]

[Document name to be amended] Statement

[Correction target item name] 0066

[Correction method] Change

[Correction contents]

Conversely, when the distance is longer than 2 meters (the leading dog W moves away from the preceding person H), the input voltage signal Vd becomes smaller than the reference voltage Vx, so that the difference is set earlier by the difference. By adding to the standard speed voltage V ₀ thus set, the target rotation speed of the DC motor 17 can be increased, and the running speed of the dog leading vehicle W can be accelerated.

[Procedure amendment 25]

[Document name to be amended] Statement

[Correction target item name]

[Correction method] Change

[Correction contents]

Voltage signal V output from summing amplifier 52
d is also input to the proximity control circuit 58 and the remote control circuit 59. Close stop circuit 58, when it exceeds the level corresponding to the approach limit the antecedents and vehicles voltage signal Vd is input is preset, and outputs a stop signal S _1. Far away
Stop circuit 59, when below a level corresponding to ToHanare limit the antecedents and vehicles voltage signal Vd is input preset (limit away), and outputs a stop signal S _2.

[Procedure amendment 26]

[Document name to be amended] Statement

[Correction target item name] 0069

[Correction method] Change

[Correction contents]

The voltage Vf generated by the tacho generator 55 is also input to the acceleration / deceleration stop circuit 60. As a result, the acceleration / deceleration stop circuit 60 determines that the voltage Vf corresponding to the rotation speed of the DC motor 17 generated by the tachogenerator 55 becomes abnormally high on a downhill or the like, or the motor MD on an uphill or the like.
Outputs a stop signal S ₃ is extraordinarily lower too much load on.

[Procedure amendment 27]

[Document name to be amended] Statement

[Correction target item name] 0071

[Correction method] Change

[Correction contents]

With this configuration, it is possible to determine whether or not the dog leading vehicle starts running out of the radio wave reception area set in advance from the transmitter or is too close to the position of the transmitter.
Or, when the vehicle is too far away, or when some trouble occurs on the transmitter or the vehicle side, or when the traveling drive motor 17 is overloaded on an uphill or downhill, the motor rotation speed accelerates beyond a set limit. When you start, you can stop the dog leading car for safety.

[Procedure amendment 28]

[Document name to be amended] Statement

[Correction target item name] 0081

[Correction method] Change

[Correction contents]

The dog leading vehicle according to the present invention can be provided at a low cost by simplifying the structure and the electric control system by employing the front wheel steering / rear wheel drive system. And
An inductive signal transmitted from a transmitter carried by the preceding owner is received by a pair of receivers disposed at symmetrical positions on both sides of the vehicle, and the direction and distance of the preceding transmitter are determined by the strength and difference of the received signals. , The steering speed of the front wheels and the drive speed of the rear wheels are adjusted, and the vehicle can always track in the direction of the transmitter at substantially the same speed as its moving speed.

[Procedure amendment 29]

[Document name to be amended] Statement

[Correction target item name]

[Correction method] Change

[Correction contents]

Further, in order to avoid obstacles on narrow roads, bridges, and roads, this dog leading vehicle is switched to manual steering by simply pulling out the push handle from the vehicle body, and is driven by power by manual steering. Can be easily realized. In addition,
If a luggage-loading basket conforming to the irregularities is mounted on the dog leading vehicle body of the present invention, it can be used as a power carrier for carrying shopping or the like from a nearby supermarket or the like to home.

[Procedure amendment 30]

[Document name to be amended] Statement

[Correction target item name] Explanation of sign

[Correction method] Change

[Correction contents]

[Description of Signs] H: Leader W: Guide dog car D: Dog 1: Car body 2: Body cover 5: Disc head 6: Center pole 7: Foot cover 8: Dog leash anchoring ring 9: Dog leash (dog leash) 10) Buffer bumper 11: Headlight 12: Reflective taillight 13: Hand-operated handle 14a: Switch for start 14b: Switch for stop 15: Handlebar 16a, 16b: Rear wheel 17: Driving drive motor 21: Steering mechanism 22 : Steering motor (stepping motor) 24: Ring type switch 25, 26: Receiver 27: Front wheel 28: Battery 30: Transmitter 38: Control box 40: Motor control unit 43a, 43b: Detection circuit 48: Differential amplifier 49, 53: buffer amplifier 50: stepping motor drive control circuit 52: addition amplifier 54: DC motor drive Control circuit 55: Tachometer 58: close stop circuit 59: ToHanare stop circuit 60: acceleration stop circuit 70: power source circuit 75: the circuit breaker 71: power switch button 72, 73: Switch 74: Solenoid 76: microswitch 80: Power supply panel 81: Output line 82: Low battery voltage display circuit 90: Weight 91: Flat rubber belt 92: Hook for hook 100: Luggage basket 101: Leg

[Procedure amendment 31]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG. 11

[Procedure amendment 32]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG.

[Procedure amendment 33]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG. 13

[Procedure amendment 34]

[Document name to be amended] Drawing

[Correction target item name] FIG.

[Correction method] Change

[Correction contents]

FIG.

Claims (7)

[Claims] An auto-tracking dog-leading vehicle which can move following a guidance signal transmitted from a transmitter carried by a preceding person, comprising a rear wheel for driving the vehicle and a front wheel for steering. A pair of receivers which are provided at intervals at symmetrical positions on both sides of the vehicle body and receive the guidance signal, a driving motor for driving the rear wheels, and a steering wheel for steering the front wheels A steering mechanism including a motor; a power supply battery for supplying power to the traveling drive motor and the steering motor; and a position of a preceding transmitter based on a strength and a difference between the guide signals received by the pair of receivers. And the moving direction is detected, and the start, stop or acceleration / deceleration of the driving motor for driving is automatically controlled in accordance with the detected position. A motor control means for automatically controlling a motor, and a rotatable ring for anchoring the other end of a dog leash or a dog string having one end attached to a dog collar to the vehicle body, and a transmission carried by the preceding person. The guidance signal from the machine
Received within a predetermined reception area by a pair of receivers, travel while following the guidance signal while detecting the position and movement direction of the transmitter, and walk the domestic dog through the dog chain or dog string. A self-tracking dog-leading vehicle characterized by leading the way. 2. The self-tracking dog-leading vehicle according to claim 1, further comprising a hand-operated handle that can be housed in and pulled out of the vehicle body and has at least a switch for starting and stopping the driving motor for traveling. Characterized auto-tracking dog dog leading car. 3. An automatic tracking type dog dog leading vehicle according to claim 1, further comprising means for variably setting a standard value of a traveling speed of the vehicle body by driving the driving motor. A trailing dog dog car. 4. A self-tracking dog leading vehicle according to any one of claims 1 to 3, wherein the car carrier has a shape adapted to the shape of the surface of the vehicle body, and is provided with a removable luggage basket on the vehicle body. A self-tracking dog-leading vehicle, which is provided. 5. The self-tracking dog leading vehicle according to any one of claims 1 to 4, wherein the body of the self-tracking dog according to the difference in the physique and the indexing power of the dog moored via a dog leash or a dog leash. An auto-tracking dog-leading vehicle, wherein weights of various weights are provided on the vehicle body so that the weights can be changed. 6. A self-tracking dog leading vehicle according to claim 1, wherein a rotatable ring for anchoring the other end of the dog leash or dog string to the vehicle body is provided on the vehicle body. When a member to be held receives a pulling force exceeding a preset value, the self-tracking type dog leading vehicle is provided with a means for detecting the force and stopping the traveling drive motor and urgently stopping the vehicle. . 7. The self-tracking dog leading vehicle according to any one of claims 1 to 6, wherein the following (a) to (f):
The automatic tracking type dog dog leading vehicle provided with means for detecting the detection at any one of the times and stopping the traveling drive motor to make an emergency stop. (A) when the power of the transmitter is turned off, (b) the vehicle body starts traveling outside a preset receivable area of the guide signal from the transmitter by the receiver, or the vehicle transmits the guide signal. (C) when the bumper provided at the tip of the vehicle body collides with an animal or an object, (d) when climbing uphill, etc. When the above load is applied to the drive motor for traveling, (e) when the drive motor for traveling starts to rotate at a speed higher than a set limit during downhill descent, etc., (f) a transmitter or a dog leading When something goes wrong with a car,