JPH06105938A - Guiding type follow-up system gold cart - Google Patents

Abstract

PURPOSE:To provide a single person golf cart which can execute a follow-up run, while holding a prescribed drawing distance from the rear of a guiding person. CONSTITUTION:To the tip part of this cart 1, a lead wire 8 for transmitting running information, a drawing-out quantity detecting sensor part and a moving angle detecting sensor part 7 are fixed, and to a main body frame 2, a control circuit part 13 and a driving motor 4 are attached, and to a rotary shaft, a caster type 6 is fixed in the rear of driving wheels 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inductive follow-up golf cart for one person traveling on a golf course based on guided walk by a golfer or a caddy.

[0002]

2. Description of the Related Art In recent years, due to a shortage of caddies in golf courses, caddy bags are transported by manual, electric, underground buried induction, and wireless induction methods due to rising labor costs and aging. Many golf carts have been used.

Conventionally, however, golf carts have been basically based on a group of four, so one golf cart has to move for four players. Under the recent golf boom, Delay in competition time is becoming a problem.

[0004]

[Problems to be Solved by the Invention] Originally, golf is an individual sport in which a group of four players compete while enjoying nature. The competition method is repeated from the tee shot to the start of the cup, and it is an uncompromising competition in which enjoying the natural scenery while hitting the ball leads to satisfaction.

However, the recent rapid increase in the number of players of all ages is a symbol of modern sports, and the creation of a golf course, which seems to spur it, has also been rapidly promoted, causing the shortage of caddies. Therefore, what the player is most concerned about during the competition is the progress time. Even though it is a place where stress is released while enjoying nature, the phenomenon of listening to the story that stress has accumulated due to the delay in the progress time occurs.

According to the rules, the ball must be hit in order from the ball in front of the course, and when using a single cart as a group of four people, it is a wasteful time that the athlete will accompany the course. When you hit a ball, your concentration will be impaired and you will become a mental burden. Also, many golf carts
Driving requires skill and is dangerous when a general player controls the competition.

An object of the present invention is to solve the above problems and to easily maneuver one athlete regardless of age or sex, and to allow each athlete to quickly move to a hit ball position. To provide a golf cart.

[0008]

[Means for Solving the Problems] A guider moves while pulling a guide lead wire attached to the tip of the cart. At the time of starting the movement, this cart is in a stopped state, and only the lead wire is pulled out by the movement of the guider.

The lead-out amount of the lead wire is constantly monitored by a lead-out amount detecting sensor which is interlocked with the lead-out amount.
The driving of the cart is started when the threshold value set in advance is exceeded. In driving, the motor is driven so that the lead wire pullout amount is always constant, that is, the distance between the guider and the cart is constant.

When the guider changes the direction to the left or right, the moving angle detection sensor detects this and changes the drive amount of the left and right drive wheels according to the detected amount to change the moving direction of the cart. . However, the change in the drive amount for the left and right drive wheels causes a delay in time according to the lead wire pullout amount because the cart moves along the trajectory of the guider.

The guider repeatedly moves and stops. In accordance with this, a threshold value is set for the lead wire withdrawal amount to control the start and stop of the cart. When the amount of withdrawal exceeds the threshold value, the cart starts and follows the moving speed according to the amount of withdrawal. When the mover stops, the amount of withdrawal decreases beyond the threshold and the cart stops when it detects this.

As described above, the cart always follows the guider so as to keep the lead wire pullout amount at a constant value while always having a time delay.

The right-and-left direction change is controlled in consideration of the lead wire lead amount. That is, when the guider avoids an obstacle and makes a detour, a position where the guider has changed the moving direction is obtained from the amount of lead wire pulled out, and the cart moves so as to follow the trajectory of the guider. If such a control is not performed and the target is captured only with respect to the lead wire withdrawal amount, the cart collides with an obstacle.

According to the following tracking system as described above, the cart always follows the guider while keeping a constant distance. Also, in places where it is not possible to move the cart,
Manual operation is also possible.

[0015]

The guide-type follow-up type golf cart device configured as described above is capable of following the predetermined route of each guider in accordance with the towing speed, and enables the running motion of the predetermined route in accordance with the walking speed. Then, when the guide pulls out the lead wire, it follows the running from behind, and when the lead wire is loosened or released, it stops at a certain distance.

As a result, each of the guides quickly moves to the hitting point, takes out the club on the cart, moves in sequence by hitting the hitting ball, and manually moves in a narrow cart path such as a hangar or a pond. Move by operation.

[0017]

EXAMPLES Examples will be described with reference to the drawings.
FIG. 1 is a side view showing an embodiment, and FIG. 2 is a plan view showing the embodiment. In this cart, a main body frame 2 made of a pipe is used as a supporting main material, drive wheels 3 are attached to both front sides, and a drive motor 4 for driving both wheels and a battery 5 as a power source are mounted therebetween. The cart 1 is provided with caster tires 6 behind the caddy bag mounting portion.

Reference numeral 7 denotes a pull-out amount detecting sensor portion and a moving angle detecting sensor portion, and as shown in FIG. 3, a lead wire 8, a spring 9, a housing portion 10, a rotary encoder 11 and 1.
Equipped with 2. A control circuit unit 13 is a central processing unit unit 14 for processing information from 7 as shown in the block diagram of FIG. Reference numeral 11 denotes a lead wire pullout amount detection unit,
12 is a movement angle detection unit, 17 is a collision detection unit, 18 and 19
Is a left and right motor drive unit, 20 and 21 are left and right wheel rotation detection units, 22 is a status display unit, and 23 is an emergency stop switch.

Next, the operation of this apparatus will be described with reference to FIGS. The tracking of the cart starts when the guider walks on the lead wire 8. The rotary encoder 11 detects the lead wire withdrawal amount, that is, the guider's moving amount, and the rotary encoder 12 detects the moving angle, that is, the guider's moving direction. The detection amount is the lead wire pullout amount detection unit 15 movement angle detection unit 16
Is converted into a digital value and input to 14 central processing units. The central processing unit 14 determines the drive amount of the drive wheels 3 based on the movement amount and the change amount thereof. Further, based on the movement angle, the drive amount on the left and right is varied with respect to the drive amount determined previously, and the final drive amount is determined.

Then, the determined driving amount is sent to the left and right motor driving units 18 and 19 and follows the moving direction of the guider by driving the wheels. In addition, the drive wheel 3 is used to confirm whether the rotation amount matches the drive amount.
The left and right wheel rotation detectors 20 and 21 detect the rotation amount of
Give feedback to 14. This avoids an abnormal state such as burnout when the wheels are locked for some reason.

Then, collision with an obstacle caused by the fact that the guide and the moving path of the cart 1 are not exactly the same,
The collision detection unit 17 is for unconditionally and forcibly stopping the cart 1 when a collision with a guider due to some cause or a collision with a player other than the guider occurs.

When a guide or other person discovers some abnormality during the competition and wants to stop the cart 1 urgently, the emergency stop switch 23 is used to stop the cart 1. Reference numeral 22 indicates the status of the cart 1, for example, a battery status, a display indicating that the cart is moving, etc., and confirms safety for the following guider.

[0029]

As described above, according to the present invention, the player can guide and follow the caddy bag so that the caddy bag can be surely automatically run. Therefore, it is possible to eliminate the number and burden of carrying the caddy bag and misidentification of the club. Since it is possible to quickly move to the shot position and take out the necessary club, it is possible to keep a certain rhythm of the player and to smoothly advance the game. Moreover, according to the present invention, it is possible to easily solve the problem that golf is enjoyable and the lack of caddies due to the safety of manipulating everyone.

[Brief description of drawings]

FIG. 1 is a plan view of an inductive tracking golf cart.

FIG. 2 is a side view of a guided tracking golf cart.

FIG. 3 is a vertical cross-sectional view of a pullout amount detection sensor unit and a movement angle detection sensor unit.

FIG. 4 is a block diagram of a control circuit unit.

[Explanation of symbols]

1 cart 2 main frame 3 drive wheel 4 drive motor 5 battery 6 caster tire 7 pullout amount detection sensor unit and movement angle detection sensor unit 8 lead wire 9 spring 10 storage unit 11 and 12 rotary encoder 13 control circuit unit 14 central processing unit Part 15 Lead wire pullout amount detection unit 16 Moving angle detection unit 17 Collision detection unit 18, 19 Motor drive unit 20, 21 Rotation amount detection unit 22 Status display unit 23 Emergency stop switch

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takafumi Noguchi 2-32-1, Dairakushi Nishi, Kushiro City Kushiro National College of Technology

Claims (6)

[Claims] 1. The walking speed of the guider, the speed is adjusted depending on the tension of the lead wire (8) for guiding and pulling, and if the guide walking is straight, only straight ahead, if the guide walking to the right, turn right,
A control circuit unit (13) and a motor drive unit (18) (1) that control to turn left if guided walking to the left and stop if loosened.
An inductive follow-up type golf cart device combining 9). 2. The guide according to claim 1, as a means for pulling by the guide, in a stationary state, the lead wire (8) is wound around the storage section (10) by the spring (9) and pulled out by the guide. By this, the device is sent out from the storage unit (10), and a constant tension is always applied so that the spring is rewound into the storage unit (10) by the spring (9) when the guider releases the hand or slows the speed. 3. The guide type golf cart according to claim 1, wherein as a means for detecting the guide speed, a rotation amount detecting means (11) that rotates in conjunction with the winding mechanism of the storage section (10) according to claim 2. ) Detects the amount of rotation,
A device that calculates the change over time of the amount of rotation and detects and follows the speed, that is, the moving speed of the guider. 4. The guide-type follow-up type golf cart device according to claim 1, wherein the entire storage section (10) of claim 2 rotates left and right in accordance with the moving direction of the guider as means for detecting the moving direction of the guider. A device for detecting the amount of rotation by the amount-of-rotation detecting means (12) that is interlocked with the rotation axis. 5. As a means for calculating a command to the drive device based on the information of claims 3 and 4, the drive speed of the device and the drive speed of the device so that the device moves according to the moving speed and direction of the guider. A device that calculates and determines the direction. 6. A motor drive unit (18) (19) that supplies a current or voltage proportional to the calculated speed and direction as means for controlling the drive device based on the command device according to claim 5.
Device to give to.