JPH04132575A - Automatic drive system cart - Google Patents

Abstract

PURPOSE:To drive a cart while holding a distance from a given leader and detecting the direction of one's movement by stopping a drive means according to a stopping signal from a starting and stopping means, controlling a steering means according to a value detected by a direction detecting means and stopping the drive means when the distance measured by a distance measuring means is smaller than a given value. CONSTITUTION:A control section 10 stops a cart 1 through a drive means 24 on the basis of a stopping signal from a starting and stopping means 20. Also, a signal from a distance measuring means 21, i.e., a distance between a leader and the cart 1 is compared with a given value by the control section 10 and when the value is small, i.e., the cart 1 excessively approaches the inductor, the cart 1 is stopped through the drive means 24. Also, the control section 10 controls a steering means 23 according to a signal from a direction detecting means 22 so that the cart 1 moves in the direction where the leader moves. Thus, the operation of the cart is simplified without troublesome manual operation for movably pushing the cart.

Description

[Detailed description of the invention] [Industrial explanation] The present invention relates to self-driving carts.

[Prior art] Carts are used to transport golf bags at golf courses, to take ordered products from shelves at merchandise stores, to transport shopping at supermarkets, and to collect dust, etc. used. Most of these carts are so-called manual type and are moved by pushing them by hand. However, some carts used on golf courses, for example, are configured as electric vehicles, or rails are attached to specific routes and the carts are connected to the rails for golf courses. Carrying bags.

[Problems to be Solved by the Invention] The problems of the above-mentioned cart will be described by taking as an example the case where it is used at a golf course. - It is hard work for the caddy to push a manual cart by hand, and it is also undesirable for the player to do this because it affects the play. Furthermore, electric vehicles are expensive because they must be designed so that people can ride them. Similarly, guiding carts on rails also requires high equipment costs.

These problems similarly arise when used in other fields.

Therefore, the present invention provides a cart that solves this problem.

[Means for Solving the Problems] The self-driving cart of the present invention includes: a means for starting and stopping a cart; a driving means for moving the cart; a steering means for changing the direction of movement of the cart; a guide; and the cart. a distance measuring means for measuring the distance of the guiding body; a direction detecting means for searching the moving direction of the guide; a starting signal from the starting/stopping means to start the driving means; and a stop signal from the starting/stopping means to start the driving means. a control unit that stops the means, controls the steering means based on the value detected by the direction detecting means, and stops the driving means when the distance measured by the distance measuring means is smaller than a predetermined value; It is a thing to have.

[Operation: The cart with the above configuration tracks the guided object and moves automatically. That is, the cart is moved via the drive means by providing an activation signal by the cart activation/deactivation means. However, if the distance measured by the distance measuring means that measures the distance between the guide and the cart is smaller than a predetermined value, the cart is stopped by the driving means, and the cart is stopped by the driving means, and the direction detecting means searches for the moving direction of the guide. is steered by the steering means in the direction of movement of the guide. That is, the cart moves while maintaining a predetermined distance from the guide and detecting the direction in which the guide, such as a person, is moving.

[Example] An embodiment of the present invention will be described with reference to the drawings.

In this embodiment, a cart for transporting golf bags used at a golf course will be described. Figure 1 shows golf bag 3
1 shows a front view of a cart 1 with a frame 2 placed on the cart frame 2. Although the cart 1 may be a three-wheeled vehicle, it is a four-wheeled vehicle in this embodiment. The cart frame 2 is formed into a box shape made of wood, synthetic resin, etc., and a pair of front wheels 5 and a rear wheel 7 larger than the front wheels 5 are attached to the sides. Further, as the driving means 24 for moving the cart 1, a method in which the driving wheels (front wheels 5 or rear wheels 7) are directly rotated by a gasoline engine, an electric motor, etc.;
Alternatively, a method using a clutch may be used, but in this example, a method is adopted in which a battery 52 is mounted and an electric motor 53 directly drives the drive wheels (rear wheels 7). That is, the cart 1 can be started and stopped by turning off the power of the battery 52 using a signal from the starting and stopping means 20. Moreover, the pulse motor 54
Steering means 2 for changing the direction of the front wheels 5 or rear wheels 7 via etc.
2 and a control device 11 are installed within the cart frame 2. Figure 2 shows the plane of Figure 1, and Figure 3 shows the front wheel 5.
It is a side view seen from the side, and a semicircular mounting table 9 is fixed to the upper part of the cart frame 2 so as to prevent the golf bag 3 from falling off.

Further, on the front part of the cart frame 2, there is a transmitter 41 that emits radio waves, which constitutes the receiver 20b1 of the start/stop means 20, the distance measuring means 21, and the direction detecting means 22, which will be described in detail later. A receiver 42 receives the radio waves returned from
are attached to each.

Next, control of the cart 1 will be explained with reference to a block diagram of the control device 11 shown in FIG.

The start/stop means 20 is a push button type or the like, and basically starts the cart 1 via the control unit 10 with a start signal and stops it with an opposite stop signal. This start/stop means 20 may be attached to the side of the cart 1, or may be of a wireless type. In this example, since it is a wireless system, a signal can be emitted by a guide (for example, a caddy or a player when used as a golf cart) without going to the side of the cart 1. In the case of this wireless type, the start/stop means 20 is comprised of a transmitter 20a that issues a signal to stop starting and a receiver 20b attached to the front surface of the cart l. The distance measuring means 21 measures the distance between the guide and the cart 1, and the value measured by the distance measuring means 21 is input to the control section 10. The distance measuring means 21
An example of the configuration will be explained with reference to FIG. Distance measuring means 2
1 is composed of a transmitter 41 that emits radio waves, a receiver 42 that receives the radio waves that are reflected back from a dielectric, and a control calculation section 40.
The time taken for the radio waves emitted from the receiver to return to the receiver 42 is measured, the distance is calculated, and the distance is output to the control unit 10. The direction detection means 22 detects the moving direction of the guide and outputs the signal to the control section 10. That is, the direction detection means 22
The radio waves emitted by the transmitter 41 shown in FIG. Output.

The control unit 10 stops the cart 1 via the drive means 24 based on a stop signal from the start/stop means 20. Further, the signal from the distance measuring means 21, that is, the distance between the guide and the cart 1, is compared with a value given in advance by the control unit 10, and when the value is small, that is, when the cart 1 is too close to the guide, the drive means Cart 1 is stopped via 24. Further, the control section 10 controls the steering means 23 based on the signal from the direction detection means 22, and controls the cart 1 to move in the moving direction of the guide.

Next, a specific method of using the cart having the above configuration will be explained.

Cart 1 is operated by the player himself rather than the caddy,
The case of guidance will be explained. Since the activation/stopping means 20 is of a wireless type, the player himself/herself holds the transmitter 20a and operates it. That is, when the player finishes playing and moves the cart 1, the player comes close to the front of the cart 1 and issues an activation signal from the transmitter 20a to the receiver 20b attached to the cart 1. In principle, the cart 1 moves toward the player under the control of the control unit 10 in response to the activation signal, but does not move when the distance measured by the distance measuring means 21 is smaller than a predetermined value (distance). Therefore, the cart 1 moves while maintaining a predetermined distance from the player. At the same time, the direction in which the player moves is detected by the direction detection means 22, and the steering means 23 controls the control unit 10 based on the signal from the direction detection means 22.
is controlled via the player and moves in the direction of movement of the player.

That is, the cart 1 moves behind the player while maintaining a constant distance. When the player approaches the next place to hit, a stop signal is given to the start/stop means 2o. This stop signal causes the cart 1 to stop, and the player can leave the cart 1 and go to hit a golf ball.

As described above, since the cart can be easily guided by the player, there is no need for a caddy, and there is no burden on the player himself, so the impact on play is minimal.

Although the cart has been described above as being used to transport golf bags at a golf course, it can be used in a variety of other locations. For example, it can be used in a variety of fields, such as transporting groceries when shopping at a supermarket, at a distribution center where various ordered items are taken from shelves and shipped to customers, and even as a transporter when collecting dust etc. . When the self-driving cart of the present invention is used in these cases, there is no need to manually push the cart itself, and it can be manufactured at a lower cost and is easier to operate than an electric cart that can be ridden by literary figures.

[Effects of the Invention] According to the self-driving cart of the present invention, there is no hassle of moving the cart by hand, and the operation is simple. for example,
When used with a golf cart, there is no need for a caddy and the player can operate the golf cart without being affected by the player's play.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, in which FIG. 1 is a front view of a cart carrying a golf bag, FIG. 2 is a plan view of FIG. 1, and FIG.
4 is a block diagram of the control device, and FIG. 5 is a block diagram showing an example of the configuration of distance measuring means and direction detecting means. 1... Cart 2... Cart frame 3.
...Golf bag 10...Control unit 20...Starting/stopping means 21...Distance measuring means 20a...
Receiver 22 of start/stop means...direction detection means 24...driving means 41...transmitter 23...steering means 40...control calculation unit 42...receiver

Claims (1)

[Scope of Claims] A means for starting and stopping a cart, a driving means for moving the cart, a steering means for changing the direction of movement of the cart, a distance measuring means for measuring the distance between a guide and the cart, and the guide. direction detecting means for searching the moving direction of the vehicle; and a direction detecting means for starting the driving means with a starting signal from the starting/stopping means, stopping the driving means with a stop signal from the starting/stopping means, and detecting the movement direction by the direction detecting means. A control section that controls the steering means based on a value and stops the driving means when the distance measured by the distance measuring means is smaller than a predetermined value.