JP2001039279A - Golf cart - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stop golf carts stably and reliably by preventing dispersion of their braking force from one preset level. SOLUTION: When a factor in decelerating a golf cart appears, the deceleration X of the cart is determined depending on the travel speed thereof, and a duty value Y of pulse width modulation(PWM) control in dependence on the deceleration X is selected from table data. The current value I that flows in the brake motor during the PWM control of the duty value Y is measured and read in to a microcomputer where it is compared with a target current value Z selected from the table data in dependence on the duty value Y. If the comparison between the measured and target current values I and Z reveals that the measured current value I exceeds the target current value Z, the duty value Y is lowered for correction. If the comparison shows, on the other, that the measured current value I is less than the target current value Z, the duty value Y is raised for correction. A later decision that the cart has been decelerated ends the control.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a golf cart stopped by a brake motor.

[0002]

2. Description of the Related Art Various types of golf carts have been conventionally provided for golf courses. For example, a hand-held type using a caddy, a non-riding type or a riding type using an electric motor or an engine as a driving force are frequently used.

FIG. 1 shows four to five persons developed by the present applicant.
1 shows an external view of a passenger-type engine-type riding golf cart. This riding golf cart is of an engine-driven type having a guide / manual switching means, and is designed to allow a person to ride on each of the front and rear sides. A golf bag can be loaded at the rear, and a roof for sunshade and rain can be installed at the top.

The control system of the riding golf cart generally includes a microcomputer of a control box, an operation unit, a steering unit, a sensor unit, a power supply unit, an engine unit, a parking unit, and a main brake unit.

To automatically steer a riding golf cart having such a configuration, an automatic steering mode is set by setting an automatic operation switching lever to "automatic". At that time, an induced current flowing in a loop line buried along the cart path (travel path) is detected, a magnet is read, and the vehicle travels on the cart path while performing automatic control, automatic increase / decrease, and automatic stop. Then, the user can start and stop at an arbitrary place using the remote control or the start / stop button. In addition, when a danger is detected by various safety devices, an emergency stop is performed.

Next, when performing the manual operation, when the automatic operation switching lever is set to "manual", a manual driving mode is set, and
As with a normal passenger cart, the player can operate forward and backward by operating the steering wheel (steering wheel) and operating the accelerator and brakes.

[0007] In this riding golf cart, when a manual driving is performed, the player himself operates the main brake by depressing a brake pedal.
Stop the golf cart. When automatic steering is performed, the brake motor is energized to automatically stop the vehicle by operating a remote controller or upon detecting a stop position set in advance on the course.

[0008]

Normally, when controlling a brake motor, the voltage applied to the motor is controlled by pulse width modulation (hereinafter referred to as PWM control), and the duty ratio is increased or decreased to reduce the braking force. It is moderate.
When the brake motor is controlled by the applied voltage, the braking force obtained by the brake motor depends on the differences in the assembly of the brake system consisting of shoes, wires, hydraulic system bubbles, etc. for each golf cart, and the wear of the brake shoes However, even when the golf carts are operated at the same duty, the amount of current flowing differs, and a difference occurs in the braking force depending on the golf cart.

[0009] At this time, if the braking force of the golf cart is too weak, the stopping distance is extended due to the variation in the load and the vehicle cannot be stopped at a predetermined position. In the worst case, the golf cart may collide with the front cart. Also, if the braking force is too strong, problems such as a sudden stop feeling, a slippage due to the locking of tires, and a deterioration in ride comfort have occurred.

Accordingly, the present invention provides a golf cart which can be automatically steered and which is stopped by a brake motor, in which the brake motor current is corrected in accordance with the brake system configuration of each golf cart so that the brake torque of the motor is constant. It is an object of the present invention to provide a golf cart that can be controlled to be stable and can be stopped stably.

[0011]

According to a first aspect of the present invention, there is provided a golf cart capable of automatic steering along a predetermined traveling path and stopping by a brake motor. In the cart, the brake motor current is corrected according to the brake system configuration of each golf cart to adjust the brake operation amount.

In this manner, the brake motor current is corrected in accordance with the brake system configuration of each golf cart, and the brake torque of the motor is controlled to be constant, so that the golf cart can be stopped stably and reliably.

The golf cart according to claim 2 of the present invention is
In a golf cart capable of automatic steering along a predetermined traveling path and stopped by a brake motor, a brake motor current is corrected according to a brake system configuration of each golf cart to adjust a brake operation amount. As described above, the brake motor current is corrected by storing a control amount corresponding to the deceleration of the golf cart in table data in advance and comparing a target current value based on the control amount with an actual current value. It was configured to do so.

In this manner, the control amount corresponding to the deceleration of the golf cart is stored in the table data in advance, and the target current value based on the control amount and the actual current value are compared to thereby form a brake system configuration for each golf cart. In response to the,
The golf cart can be reliably stopped at every moment along the deceleration characteristics.

A golf cart according to a third aspect of the present invention comprises:
In a golf cart capable of automatic steering along a predetermined traveling path and stopped by a brake motor, a brake motor current is corrected according to a brake system configuration of each golf cart to adjust a brake operation amount. In this way, the brake motor current is corrected by storing a control amount corresponding to the deceleration of the golf cart in table data in advance, and comparing a target current value and an actual current value based on the control amount in a fixed cycle. It was configured to do so.

In this way, the control amount corresponding to the deceleration of the golf cart is stored in the table data in advance, and the target current value based on the control amount and the actual current value are compared at a fixed cycle, so that each golf cart has According to the brake system configuration, the golf cart can be reliably stopped along the deceleration characteristics while simplifying the control.

A golf cart according to a fourth aspect of the present invention is
In a golf cart capable of automatic steering along a predetermined traveling path and stopped by a brake motor, a brake motor current is corrected according to a brake system configuration of each golf cart to adjust a brake operation amount. In this way, the brake motor current is corrected by measuring a correction amount of the braking force in advance by initial processing when the power to the brake motor is turned on, and based on the correction amount, the deceleration of the golf cart stored in the table data. The control amount corresponding to the above is modified to perform the control.

In this way, the correction amount of the braking force is measured in advance by the initial processing when the power to the brake motor is turned on, and the control amount corresponding to the deceleration of the golf cart stored in the table data is corrected based on the correction amount. By performing the control as the target value, the golf cart can be reliably stopped with a simple open loop.

A golf cart according to a fifth aspect of the present invention is
The control or correction of the brake motor current according to any one of claims 1 to 4 is performed by pulse width modulation (PWM) control.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention is applied to a golf cart having a braking means by a brake motor. Here, an example of application to an engine-type riding golf cart in which automatic steering and manual driving can be selected. 2 and 3 are control system diagrams of FIG.

FIG. 2 and FIG. 3 are divided into left and right parts around the microcomputer 2 of the control box 1, and the combination of the two figures is the entire control system diagram. The control system roughly includes the microcomputer 2 of the control box 1, the operation unit 3, the steering unit 4, the sensor unit 5, the power supply unit 6, the engine unit 7, the parking unit 8, and the main brake unit 9.
Consists of

The main brake unit 9 includes a drum brake 9
1, the drum brake 91 can be manually operated by a brake pedal 92, and the command signal of the microcomputer 2 is supplied to a main brake motor 94 via a main brake driver 93, so that the drum brake 91 is operated. The braking force can be adjusted by loosening. The final stop of the golf cart is performed by a separately provided parking brake 81.

An encoder 82 is connected to the rear wheel of the golf cart. As the encoder 82, for example, 2
The speed of the cart is detected based on the number of pulses generated when the teeth of the rotating body disposed opposite to the slit between the two sensors, and which of the two sensors generates the pulse first is monitored. Thereby, the traveling direction of the cart is detected.

The control system of the steering unit 4 includes an induction sensor, a torque sensor linked to the steering wheel, and a steering motor. Although not shown, a left / right operation in response to left or right rotation of the steering wheel. Means for detecting a steering operation amount such as a detection switch or a volume is provided.

In the case of manually driving the riding golf cart having such a configuration, when the automatic driving switching lever is set to "manual", a manual driving mode is set, and the steering wheel is operated in the same manner as a normal riding golf cart. As a result, means for detecting a steering operation amount such as a switch or a volume in response to the left or right rotation of the steering wheel is operated, and the steering motor is rotated to the left via the microcomputer 2. Then, by operating the steering wheel (steering) and operating the accelerator and the brake, the player can perform forward and backward driving by the operation of the player himself.

Next, in the case of automatic steering, when the automatic operation switching lever is set to "automatic", the automatic steering mode is set. At that time, the induction current flowing through the loop line buried along the cart path (running path) is detected as an induction signal by the left and right induction sensors, amplified, detected, and then passed through a differential amplifier to obtain a differential output. Then, it is analog-input to the microcomputer 2.

Next, the vehicle travels on a cart while performing automatic control, automatic increase / decrease, and automatic stop according to a command from the microcomputer 2. It is also possible to start and stop at an arbitrary place by operating the remote control or the start / stop button. Also, when a danger is detected by various safety devices such as a cart guard detecting means, the emergency stop is performed. In particular, in the case of the cart guard detecting means, since the stop operation is automatically performed, the vehicle is stopped while maintaining a certain distance from the preceding vehicle.

In the control of the brake motor, the voltage applied to the motor is controlled by PWM in accordance with a command from the microcomputer 2 and the duty ratio thereof is increased or decreased to increase or decrease the braking force of the brake. The braking force of the brake flows even if the brake motor is operated at the same duty due to the difference in the assembly of the brake system consisting of shoes, wires, hydraulic system bubbles, etc. for each golf cart, and the degree of wear of the brake shoes. The amount of current is different, and a difference occurs in the braking force depending on the golf cart.

Therefore, according to the present invention, in a state where the brake motor is locked at the time of assembling the brake system of the golf cart, the PWM duty value corresponding to an arbitrary deceleration and the current value at that time are detected and tabulated in advance. Next, when a brake is required when the user goes to an actual golf course, the duty ratio of the PWM corresponding to the required deceleration is corrected to a duty value, and the brake current is corrected to a target current. An appropriate golf cart braking force is obtained for each golf cart.

As shown in FIG. 4, an example of a PWM duty value corresponding to an arbitrary deceleration and a current value at that time are as follows, corresponding to decelerations X1, X2,. .., Yn, and a current amount corresponding to the duty value is set as a target current amount, and Z1, Z2,.
... Zn is obtained, converted into table data, stored, and stored in the microcomputer 2.

That is, when the brake motor is locked during assembly of the golf cart brake system, the deceleration X
A PWM duty value Y1 corresponding to 1 is set, and a current value Z1 at that time is detected and set as a target current value. Next, the PWM duty value Y2 corresponding to X2 is set as the deceleration, and the current value Z2 at that time is detected and set as the target current value.
This operation is performed sequentially, and the PWM corresponding to the deceleration Xn
Is set, the current value Zn at that time is detected, and the table data shown in FIG. 1 is created in advance as the target current value.

When the golf cart is automatically steered on the course, when a stop instruction signal source embedded in the traveling path is detected or when a stop command is issued by a remote control operation, the microcomputer 2 reduces the traveling speed at that time. A corresponding deceleration is determined, for example, a PWM duty value Y1 corresponding to the deceleration X1 is set, and the brake motor driver 93 is PWM-controlled with the duty value Y1. A smoothed current flowing through the brake motor 94 at that time is detected as an actual current value I1 and read into the microcomputer 2.

The microcomputer 2 reads out the target current value Z1 corresponding to the deceleration X1 from the table data in FIG. 1 in accordance with the deceleration characteristics corresponding to the traveling speed of the golf cart, and reads the difference between the target current value and the actual current value ( Z1-I1), and based on the deviation, P is calculated so that the actual current value matches the target current value.
The duty value of the WM is corrected and controlled.

Similarly, when the actual current value of the brake motor 94 is equal to the target current amount Z2 corresponding to the deceleration X2,.
.. Yn of the PWM control are sequentially corrected so as to be Zn. As a result, it is possible to correct the difference in the braking force of each golf cart and to obtain an appropriate golf cart braking force. Subsequently, when the cart is completely stopped, the parking is completed by the parking brake.

At this time, as a method of correcting the duty value of the PWM control, every time the PWM control is performed to apply the brake, an actually measured value of the brake motor current is compared with a target current value of the table data in a fixed cycle. A method of correcting the duty value of the PWM control, a check of the brake force when the power of the brake motor is turned on, an initial process of calculating a deviation by applying a brake to some extent and comparing the measured value of the brake motor current with the table data, The correction amount is measured in advance. A method is adopted in which the duty value of the table data is corrected uniformly with this correction amount, and PWM control is performed using the corrected duty value when the braking force is output.

Here, the case where the control means of the brake motor is PWM control has been described, but it goes without saying that other known voltage control means and current control means of the motor can be applied.

Next, the constant control of the motor brake torque according to the present invention will be described with reference to the flow of the control sequence shown in FIG. 5, taking duty control as an example. In FIG. 5, the deceleration X corresponding to the running speed of the cart is determined in step S1 by the start of the occurrence of a deceleration factor for stopping the golf cart in step S0.

In step S2, the duty value Y of the PWM control corresponding to the deceleration X is determined from the table data of FIG. Next, in step S3, the actually measured value I of the current flowing through the brake motor is detected by the PWM control based on the duty value Y and read into the microcomputer 2, and
Is compared with the target current value Z corresponding to the duty value Y of the table data.

Subsequently, at step S4, it is determined whether or not the measured current value I of the current is excessive than the target current value Z. If it is excessive, the current duty value Y is corrected so as to decrease at step S5. In the next step S8,
It is determined whether or not the cart has been decelerated. If the deceleration has not been completed, the process returns to step S3, and the operations from step S3 to step S8 are repeated. If the deceleration has been completed, the control ends in step 9.

If it is determined in step S4 that the measured current value I is not excessive than the target current value Z, step S6 is executed.
To determine if there is a shortage. If there is no shortage, that is, if the measured current value I of the current is equal to the target current value Z, it is immediately determined in step S8 whether the cart has been decelerated. If the deceleration has not been completed, the process returns to step S3, and the operations from step S3 to step S8 are repeated. If deceleration is completed,
At step 9, the control ends.

If it is determined in step S6 that the current duty value Y is insufficient, the flow proceeds to step S7.
And it is determined in the next step S8 whether or not the cart has been decelerated. If the deceleration has not been completed, the process returns to step S3,
The operation from step S3 to step S8 is repeated. If the deceleration has been completed, the control ends in step 9.

[0042]

As described above, the golf cart of the present invention corrects the brake motor current in accordance with the brake system configuration of each golf cart and controls the motor brake torque to be constant. It is possible to prevent a predetermined braking force from varying from golf cart to golf cart due to a difference in assembling of a brake system composed of shoes, wires, hydraulic system bubbles, etc. for each golf cart, and the degree of wear of the brake shoes. The cart can be stopped stably and reliably. Then, it is possible to prevent a sudden stop feeling caused by the difference in the braking force and the occurrence of slip noise due to the tire being locked.

[Brief description of the drawings]

FIG. 1 is an external view of a riding golf cart.

FIG. 2 is a control system diagram of a riding golf cart.

FIG. 3 is a control system diagram of a riding golf cart.

FIG. 4 is table data of deceleration, duty, and current amount.

FIG. 5 is an example of a control sequence.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Control box 2 Microcomputer 3 Operation part 4 Steering part 5 Sensor part 6 Power supply part 7 Engine part 8 Parking part 81 Parking brake 82 Encoder 9 Main brake part 91 Drum brake 92 Brake pedal 93 Brake motor driver 94 Brake motor

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Takeya Matsuya 2-5-5 Keihanhondori, Moriguchi-shi, Osaka Sanyo Electric Co., Ltd. (72) Tomohiro Yamada 2-chome Keihanhondori, Moriguchi-shi, Osaka 5-5 Sanyo Electric Co., Ltd. (72) Inventor Kazuhiro Matsuoka 2-5-5 Keihanhondori, Moriguchi-shi, Osaka F-term in Sanyo Electric Co., Ltd. 3D046 AA00 BB17 CC06 EE01 EE02 HH08 HH20 HH36 HH51 JJ16 JJ24 KK13

Claims (5)

[Claims] In a golf cart capable of automatic steering along a predetermined traveling path and stopped by a brake motor, a brake motor current is corrected by correcting a brake motor current according to a brake system configuration of each golf cart. A golf cart characterized in that the movement amount is adjusted. 2. The brake motor current is corrected by storing a control amount corresponding to the deceleration of the golf cart in table data in advance and comparing a target current value based on the control amount with an actual current value. The golf cart according to claim 1, wherein the golf cart is performed. 3. The golf cart according to claim 2, wherein the correction of the brake motor current is performed at regular intervals by comparing a target current value based on a control amount of table data with an actual current value. 4. The correction of the brake motor current is performed by initially measuring a correction amount of a braking force by an initial process when the power to the brake motor is turned on, and based on the correction amount, a golf cart stored in table data. 2. The golf cart according to claim 1, wherein a control amount corresponding to the deceleration is corrected. 5. The golf cart according to claim 1, wherein the control or correction of the brake motor current is performed by pulse width modulation (PWM) control.