JP2006204331A - Stop control system of electromagnetic guiding golf cart - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide the stop control system of electromagnetic guiding golf carts capable of safely parking themselves with distance between carts shorten even though the power of the golf cart parked forward is already turned off in a cart warehouse. <P>SOLUTION: The golf cart 30 equipped with a rear end collision preventing unit 27 having a transmitter 25 and a receiver 26, and an obstacle detecting unit 44 is used. Further, the cart runs at low speed, the operation of the rear end collision preventing unit 27 is stopped, and the cart is stopped after continuing to run until the obstacle is detected in front of the cart only by the obstacle detecting unit 44 when the golf cart 30 enters the cart warehouse. Furthermore, a detecting distance of the obstacle detecting unit 44 is shorten compared to the case in which the cart runs at a natural speed in the case the cart enter the cart warehouse. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a stop control system for an electromagnetic induction golf cart that travels while performing automatic steering along a guide line laid along a travel path.

  2. Description of the Related Art Conventionally, an electromagnetic induction type golf cart is known as a vehicle that automatically conveys a golf bag or the like in a golf course. In the golf course, a guide wire is laid so that the travel path becomes one loop in units of 9 holes. These electromagnetic induction golf carts detect a magnetic field generated by flowing a low-frequency alternating current through the guide wire using a coil or the like installed in the vehicle, and automatically run along the guide wire. To do.

  A plurality of electromagnetic induction golf carts are always running automatically on a running path in a golf course. Therefore, in order to avoid collision between electromagnetic induction golf carts, a transmitter 25, for example, an electromagnetic transmitter 25 is provided at the rear of the vehicle, and an electromagnetic wave receiver 26 is provided at the front of the vehicle ( FIG. 1). Further, the rear-end collision prevention device 27 that can receive the signal from the transmitter 25 of the golf cart traveling in front of the traveling path by the receiver 26 of the subsequent golf cart and safely stop the subsequent golf cart is provided. It has been. These rear-end collision prevention devices 27 prevent rear-end collision between golf carts. When the power supply of the golf cart is turned off, the power supply of the rear-end collision prevention device 27 is also turned off, and the transmission of electromagnetic waves from the transmitter 25 is naturally stopped. Therefore, in such a case, a subsequent golf cart may make a rear-end collision.

  In many golf courses that employ these electromagnetic induction golf carts, a system is provided with a system in which guide wires are laid in the cart warehouse and automatic collocation is possible. In such a case, usually, the function of the rear-end collision prevention device of the golf cart causes the subsequent golf cart to park at an interval longer than necessary. And as the stop interval of each golf cart increases, the number of golf carts that can be automatically parked in the cart warehouse naturally decreases.

  As a means to increase the number of golf carts that can be automatically parked in the cart warehouse, a separate caddy master room controller is provided, and when an electromagnetic induction golf cart enters the designated area There has been proposed a technique for controlling the stop interval of the subsequent golf cart so that it does not extend more than necessary (see, for example, Patent Document 1).

  In addition, when a golf cart automatically enters a cart warehouse, a proposal has been made to shorten the detection distance of the subsequent collision preventing device of the golf cart by reducing the output of the transmitter of the trailing collision preventing device to a predetermined level. (For example, refer to Patent Document 2).

JP 2002-325872 A JP 2002-73173 A

  However, the method disclosed in Patent Document 1 requires a separate caddy master room controller, so that there is a problem that a large facility is required and a large facility cost is required.

  Moreover, in the method of patent document 2, when the power supply of a front golf cart is turned off in a cart warehouse, since an electromagnetic wave is not transmitted, a subsequent golf cart will collide. Therefore, there is a problem that the power of the preceding golf cart cannot be turned off until the parking of one lane in the cart warehouse is completed.

  That is, depending on the golf course, the caddy in charge of each golf cart is determined. After the golf cart is received, the power is turned off, the battery is charged, the work of the day is completed, and the user can go home. However, conventionally, there has been a problem that charging cannot be performed by turning off the power until the golf carts of all lanes of the cart warehouse have completed parking.

  The present invention has been made in view of the above-described problems, and a golf cart that travels while automatically steering on a guide line laid along a traveling path can be used without installing a special device in the cart warehouse. In addition, even when the power of the golf cart parked in front is already turned off, it is possible to park in a state where the distance between the vehicles is reduced without causing the subsequent golf cart to collide. An object of the present invention is to provide a stop control system for an electromagnetic induction golf cart.

  The electromagnetic induction type golf cart stop control method according to the present invention is such that when the golf cart is in a mode of entering a specific area, for example, a cart warehouse, the golf cart is driven at a low speed and the receiver of the rear-end collision prevention device is Even if the electromagnetic wave from the transmitter of the preceding golf cart is received, the setting is made so as not to stop. Furthermore, when warehousing, the vehicle is parked in a state where the distance between the vehicle and the front golf cart is reduced by switching the detection distance from the obstacle detection device short.

  That is, the invention according to claim 1 is a stop control of an electromagnetic induction golf cart including a rear-end collision prevention device including a transmitter and a receiver for preventing rear-end collision with a preceding vehicle, and an obstacle detection device. In the system, when the electromagnetic induction golf cart enters the cart warehouse, it travels at a low speed, stops the operation of the rear-end collision prevention device, and an obstacle is detected forward by the obstacle detection device. It is characterized by stopping after continuing to travel.

  The invention of claim 2 is characterized in that, in the invention of claim 1, when entering the cart warehouse, the detection distance of the obstacle detection device is shortened.

  If the electromagnetic induction type golf cart stop control method according to the present invention is used, it is not necessary to install a special device in the golf cart main body or the cart warehouse, so that the cost can be reduced. In addition, regardless of whether the golf cart that has been parked first is turned on or off, the cart can be automatically parked in a state where the distance between the vehicles is reduced.

  Embodiments of the present invention will be described below with reference to the drawings.

1. Configuration of Electromagnetic Induction Golf Cart FIG. 1 is a block diagram showing the configuration of an electromagnetic induction golf cart showing an embodiment of the present invention.
FIG. 2 is an external view of the golf cart as viewed from the side. As shown in FIG. 1, this golf cart 30 can automatically steer the front wheels 2c and 2d by operating the steering mechanism 5 by the rotation of the steering motor 1 disposed at the front center of the vehicle body. . An arm 3 is mounted in front of the steering mechanism 5, and the arm 3 can move left and right in conjunction with the front wheels 2c and 2d.

  On the left and right sides of the arm 3, for example, a pair of induction sensors 4a and 4b using coils are provided. The magnetic field generated above the guide wire 6 by passing a low-frequency alternating current through the guide wire 6 laid on the travel path is detected by the guide wire sensors 4a and 4b, and the travel control is performed based on the detected guide signal. The steering motor 1 is driven through the unit 7 and the steering motor driver 17 to automatically steer the vehicle body.

  The traveling control unit 7 controls the traveling speed of the golf cart during automatic traveling. That is, a speed command that is a target speed set in the travel control unit 7 according to the area of the travel path is output from the travel control unit 7 to the drive motor driver 8 to rotate the drive motor 9 and transmit the transmission 10 The vehicle travels by rotating the rear wheels 2a and 2b via the wheel. When the vehicle is traveling, the electromagnetic brake is attached by energizing the electromagnetic clutch brake 11 attached to the rotating shaft of the drive motor 9 so that the electromagnetic brake is released.

  When the golf cart 30 automatically stops, the brake is applied to the drive motor 9 and at the same time, the hydraulic drum brakes 12a to 12d attached to the wheels 2a to 2d are operated for braking. That is, the traveling control unit 7 outputs a braking command to the brake motor driver 14, pressurizes the hydraulic cylinder 13 by the rotation of the brake motor 15, and operates the hydraulic drum brakes 12a to 12d to apply the braking. is there.

  After that, when the golf cart 30 is braked and the detection speed of the vehicle speed detector 16 that detects the rotation of the drive motor 9 becomes zero, the traveling control unit 7 closes the electromagnetic clutch brake 11 to thereby change the rear wheels 2a, 2b. Is locked and the golf cart is parked.

  Note that a plurality of electromagnetic induction golf carts 30 are always running automatically on the running road in the golf course. Therefore, in order to avoid a collision between the golf carts 30, the rear part of the vehicle is provided with a transmitter 25, for example, an electromagnetic wave type transmitter, and the front part of the vehicle is provided with a receiver 26. Then, the electromagnetic wave signal transmitted from the transmitter 25 of the golf cart traveling in front of the traveling path is received by the receiver 26 of the subsequent golf cart. Further, a rear-end collision prevention device 27 for stopping the subsequent golf cart 30 is provided by a signal from the receiver 26, and the above-described stop control is performed by processing from the traveling control unit 7 with the stop command.

  The rear-end collision prevention device 27 described above prevents rear-end collision with the golf cart, but includes an obstacle detection device 31 in order to avoid rear-end collision with front obstacles other than the golf cart. . As the obstacle detection device 31, for example, there is an ultrasonic method, ultrasonic waves are transmitted forward, the distance to the obstacle is measured by the arrival time of the reflected wave reflected back to the obstacle, and set in advance. When the distance is less than the distance, a stop command is issued to the golf cart 30, and the golf cart 30 is stopped to prevent a rear-end collision with an obstacle such as a golfer.

  In some golf courses, the golf cart 30 may be driven at a high speed or vice versa. Therefore, the speed of the golf cart 30 can be finely controlled by detecting the polarity of a magnet (not shown) embedded in the traveling path 6 in advance. That is, the magnet detector 20 detects the polarity of the magnet embedded in the travel path 6 and the travel speed is controlled via the travel control unit 7.

  Further, various golf cart control commands can be set by combining the detected polarities of a plurality of magnets. Therefore, when pulling the guide wire into the cart warehouse, a plurality of magnets are embedded in the traveling path 6 at the entrance of the warehouse with a predetermined polarity, and the magnet detector 20 is used to store a specific area, that is, the cart warehouse at the time of the current warehouse. Can be detected.

2. FIG. 3 is a flowchart showing a stop control method according to the present invention, and FIG. 4 shows a stop state of the vehicle when the stop control method according to the present invention is used. FIG. When the present invention is used, the following golf cart makes a rear-end collision without installing a special device in the cart warehouse and even when the power of the golf cart parked ahead is already turned off. Without any problem, parking can be performed in a state where the inter-vehicle distance is reduced (FIG. 4 (2)).

  The electromagnetic induction golf cart stop control method according to the present invention will be described below in detail with reference to the flowchart of FIG.

  In step 10, the traveling control unit 7 of the golf cart 30 determines whether or not a mode for entering a specific area, for example, a cart warehouse, has been entered based on a signal from the magnet detector 20. That is, when the golf cart 30 enters the cart warehouse, the process goes to Step 20, and when the golf cart 30 is not in the specific area, for example, the process goes to Step 70 in the golf course.

  In step 20, the traveling control unit 7 of the golf cart 30 issues a deceleration traveling command for traveling at a low speed in the specific area, for example, a traveling command at 2 km / h. That is, the golf cart 30 decelerates in the cart warehouse and travels at a low speed.

  In step 30, the operation of the rear-end collision prevention device 27 is stopped. Thus, even when a signal from the receiver 26 is input to the rear-end collision prevention device 27, the golf cart 30 does not stop. Then, as described above, it is possible to avoid stopping by widening the distance from the previously stopped golf cart 30.

  In step 40, the golf cart that has previously stopped forward by setting the detection distance of the obstacle detection device 31, for example, the detection distance of the distance sensor using the ultrasonic method, to a short distance (for example, 50 cm). Set the stop interval with 30. That is, since the detection distance of the obstacle detection device 31 is set to a short distance, the obstacle can be stopped in a state where the distance from the golf cart 30 that has been stopped first is narrowed.

  In step 50, until the obstacle detecting device 31 detects an obstacle, for example, the golf cart 30 that has already stopped in front, the vehicle continues to run at a low speed, and if an obstacle is detected, the process goes to step 60. That is, since the detection distance of the obstacle detection device 31 is set to a short distance in step 40, the vehicle can be driven at a low speed until the distance to the golf cart 30 ahead is narrower than usual. (FIG. 4 (2)).

  In step 60, the traveling control unit 7 of the golf cart 30 issues a stop command, brakes the vehicle, and stops it safely. When the traveling speed becomes zero, the traveling control unit 7 closes the electromagnetic clutch brake 11 to lock the rear wheels 2a and 2b, and the golf cart is parked.

  In step 70, since it is determined that the golf cart 30 is not traveling in the specific area, the traveling control unit 7 issues a command to travel at the normal speed. In other words, it is because the vehicle travels at a normal speed inside the golf course outside the cart warehouse.

  In step 80, the traveling control unit 7 of the golf cart 30 determines whether or not a rear-end collision prevention signal from the rear-end collision prevention device 27 has been input. If the rear-end collision prevention signal is input, the process goes to step 60 to brake the vehicle and stop it safely. On the other hand, if the rear-end collision prevention signal is not input, the process goes to step 90.

  In step 90, the travel control unit 7 of the golf cart 30 determines that the golf cart 30 is traveling, and sets the detection distance of the obstacle detection device 31 to a normal distance (for example, 300 cm).

  In step 100, when the obstacle detection device 31 detects an obstacle in the travel path, such as a golf player, the process goes to step 60 to brake the vehicle and stop it safely (FIG. 4 ( 1)). On the other hand, if no obstacle is detected, the process loops to step 10 as it is. Thus, by using the rear-end collision prevention device 27 and the obstacle detection device 31 in combination, the golf cart 30 can be stopped more safely.

  As described above, when the stop control system according to the present invention is used, as shown in FIG. 4, when traveling at a normal speed, such as when traveling on a course of a golf course, the rear-end collision prevention device 27 and the obstacle detection device 31 are used. And can be safely stopped in a state where the stop interval is widened (FIG. 4 (1)). In addition, when entering the cart warehouse, regardless of the presence / absence of a signal from the rear-end collision prevention device 27, only the obstacle detection device 31 can be used to stop at a narrow stop interval that does not cause rear-end collision with the front golf cart (FIG. 4). (2)).

  The stop control system according to the present invention is used for a system that automatically parks in a cart warehouse at an appropriate stop interval at a low cost in a vehicle such as an electromagnetic induction golf cart that automatically travels along a guide line. Can do.

It is a block diagram which shows the structure of the electromagnetic induction type golf cart concerning this invention. It is a side view which shows the outline of a golf cart main body. It is a flowchart of the stop control system concerning this invention. It is the schematic which shows the stop state at the time of using the stop control system concerning this invention.

Explanation of symbols

1: steering motor, 2a-2d: wheels, 3: arm, 4a, 4b: induction sensor,
5: Steering mechanism, 6: Guide wire, 7: Travel controller, 8: Drive motor driver,
9: drive motor, 10: transmission, 11: electromagnetic clutch brake,
12a to 12d: drum brake, 13: hydraulic cylinder, 14: brake motor driver,
15: Brake motor, 16: Vehicle speed detector, 17: Steering motor driver,
18: Automatic / manual mode selection switch, 19: Operation panel, 20: Magnet detector,
21: Accelerator pedal, 22: Brake pedal, 23: Steering handle,
24: battery, 25: transmitter, 26: receiver, 27: rear-end collision prevention device,
28: Golf bag, 29: Loading platform, 30: Golf cart, 31: Roof,
32: Front cowl, 33: Front roof column, 34: Center roof column,
35: Rear frame support, 36: Front seat, 37: Backrest, 38: Rear seat,
39: Handrail, 40: Rear cowl, 41: Rear frame, 42: Rear bumper,
43: Rod, 44: Obstacle detection device

Claims (2)

An electromagnetic induction golf cart comprising: a rear collision prevention device including a transmitter and a receiver for preventing a rear collision with a preceding vehicle; and an electromagnetic induction golf cart stop control system including an obstacle detection device. When entering the cart warehouse, run at a low speed, stop the operation of the rear-end collision prevention device, and continue running until an obstacle is detected ahead by the obstacle detection device, and then stop. A stop control method for an electromagnetic induction golf cart. The electromagnetic induction golf cart stop control method according to claim 1, wherein when the cart is stored in the cart warehouse, a detection distance of the obstacle detection device is shortened.

Images