JP3021267B2 - How to adjust the position of the mobile cart in the field - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position correcting method for a moving cart in a field for correcting a current position detected by a position detecting section.

[0002]

2. Description of the Related Art Conventionally, golf courses are provided with a golf cart having a function of displaying a map of each hole for the convenience of players and the like.
Drive along the cart road at the end of the hall so that it does not disturb the competition, the current position is detected by the position detector, the current position and various information detected with the management center are transmitted and received by the transceiver, and further stored. The guide map is displayed on the display unit based on the guide map data of each hole stored in advance in the unit, and the current position of the own cart detected by the position detecting unit and the golf cart before and after being transmitted from the management center. Is displayed on the guide map.

[0003] By the way, various methods for detecting the current position are considered. For example, a plurality of GPs are detected by a GPS receiver.
The time signal radio wave from the S satellite is received and the current position (latitude,
Longitude), and the current position of your cart using a vehicle speed sensor and a direction sensor.
When the radio wave cannot be received or due to a detection error of the vehicle speed sensor, etc., a slight deviation occurs between the detected current position and the actual position, and it is necessary to correct this deviation.
Conventionally, for example, a coded mark of ferrite or the like is embedded in a cart road, and at this time, code contents indicating a set position of each mark are assigned in advance, and a code sensor of the mark is provided by a reading sensor provided on a golf cart during traveling. It is considered that the position of the mark is determined from the code content of the read mark, and the current position of the cart is replaced with the position of the mark to make correction.

[0004] At this time, each mark is installed at a fixed distance, and when it is determined by a distance sensor provided on the golf cart that the vehicle has traveled a distance corresponding to the mark installation interval, the code content of the mark is read by the reading sensor. Reading is performed.

[0005]

However, when synchronizing the distance sensor and the reading sensor in this way, a synchronization error occurs due to a detection error of the distance sensor, a pitch error at the time of setting a mark, and the like. A reading error may occur.

SUMMARY OF THE INVENTION The present invention has been made in consideration of the above problems, and has as its object to prevent out-of-synchronization and prevent a reading error of a mark by a reading sensor.

[0007]

According to a method of correcting the position of a moving cart in a field according to the present invention, the vehicle travels on a cart provided in a field and displays a guide map based on guide map data stored in a storage unit. In addition, the in-field moving cart that displays the current position detected by the position detection unit on the guide map, wherein a reading start mark and at least one correction mark whose bit contents are inverted at a phase of 180 ° are provided. It is installed within a predetermined distance range on the first row of the cart path, and the same number of the correction marks as the marks of the first row are placed on a second row parallel to the first row. wherein the first row is placed in parallel with each of the mark, the the correction code by the combination of the bit contents of the respective correction mark forming position correction means by respective marks A plurality of the position correction means having different correction codes are provided on the cart road, and the positions of the marks on the first row and the second row of the respective position correction means are indicated. A first and a second reading sensor for reading a bit content and outputting a signal corresponding to the bit content are provided on the in-field moving cart, and the second reading sensor is connected to the first reading sensor. The output signal of the first reading sensor is inverted and the output signal of the second reading sensor is inverted when the in-field moving cart travels while the output signal of the second reading sensor is inverted. At each time, the content of the output signal of the second reading sensor and the content of the output signal of the first reading sensor are held by the position detection unit, and the content of the held output signal is held. Based on the correction codes based, it is characterized by correcting the current position of the cart moving within said field.

[0008]

In the present invention, each sensor on the first row is read by the first reading sensor as the mobile cart moves in the field, and each sensor on the second row is read by the second reading sensor. Is read, and when the output signal of the first reading sensor is inverted, the content of the output signal of the second reading sensor is held by the position detection unit, and when the output signal of the second reading sensor is inverted. The content of the output signal of the first reading sensor is held by the position detecting unit, and reading from the reading start mark to the last correction mark of the position correcting means is performed in this manner, and the reading is performed based on the correction code of the position correcting means. The current position of the cart is corrected to the position.

[0009]

FIG. 1 is a flowchart for explaining the operation of an embodiment in which the present invention is applied to a golf cart, FIG. 2 is a block diagram of a golf cart to which the present invention is applied, and FIG.

First, the configuration of the golf cart will be described. As shown in FIG. 2, the golf cart G is transmitted by radio signals via a communication cable (not shown) embedded along the cart road and a plurality of relay stations, for example. A transmitting / receiving section 1 for communicating with a transmitting / receiving section of a management center (not shown); a position detecting section 2 for detecting a current position (latitude and longitude) and outputting a position detection signal to a control section described later; And an input unit 3 comprising an IC card storing map data and other data of each hole, a map of each hole based on the map data read out from the storage unit 4, and an own cart. In addition to the above, a display unit 5 composed of an LCD or the like for displaying the position of the golf cart before and after, necessary information, a message, etc., a distance sensor 6 for detecting a traveling distance, and various types of position correction means described later. First reading a click, a second reading sensor 7,8 is constituted by a control unit 9 for controlling the like of each part.

Next, the configuration of the position correcting means will be described with reference to FIG.

FIG. 3 is a plan view of the position correcting means provided on the cart road. The arrow direction indicates the traveling direction of the golf cart.
A read start mark S whose bit contents are inverted at a phase of 80 ° and two correction marks H1 and H2 are provided.
On the second row L2 of the cart path, the same number of marks as the respective marks on the first row L1 whose bit contents are inverted with a phase of 180 °, that is, three correction marks H3, H4, H5 are installed. Each mark on the first row L1 and each mark on the second row L2 are installed in parallel.

Then, as shown in FIG. 3, from the leading reading start mark S and the correction mark H3 to the final correction mark H
2 and H5 are arranged within a range of a predetermined distance T, and the bit content of each such mark is inverted 1
The mounting positions of the first reading sensor 7 and the second reading sensor 8 are shifted by a phase of 80 °.

Here, the hatched portion of each mark in FIG.
For example, the bit content "1" is made of a magnetic material such as ferrite, and the white background of each mark is a bit content "0" made of, for example, a non-magnetic material. 8 is constituted by a magnetic sensor or the like.

FIG. 3 shows a state in which the marks S, H1, H2 on the first row L1 and the marks H3, H4, H5 on the second row L2 are arranged at a slight interval. However, the marks S, H1,
The marks H3, H4, and H5 may be continuously provided while H2 is continuously provided.

Incidentally, such correction marks H1 to H1
By combining the bit contents of H5, for example, as shown in Table 1, 20 numbers from "0" to "19" can be represented, and if necessary, corrections provided in both columns L1 and L2, respectively. Increasing the number of marks allows more correction codes to be represented.

[0017]

[Table 1]

As described above, the position correcting means of the correction code corresponding to the numbers "0" to "19" is installed on the cart road,
As the golf cart travels, these position correction means are sequentially read by the reading sensors 7 and 8, and among the position data such as latitude and longitude set in advance corresponding to the contents of each correction code, the read correction code is used. The current position of the own cart is replaced with the corresponding position data, and the current position is corrected.

Next, a series of correction procedures will be described with reference to the flowchart of FIG.

First, the reading start mark S is read by the first reading sensor 7 at the phase advance position (step S1), and whether the bit content of the read reading start mark S becomes "1" is determined. Is determined (step S
2) If the determination result is NO, the process returns to step S1, and if the determination result is YES, the content of the output signal based on the result of reading the correction mark H3 by the second reading sensor 8 at that time is the 0th bit. Is stored and held by the position detection unit 2 and the distance sensor 6 is cleared (step S3).

Then, the reading of the correction mark H3 by the second reading sensor 8 is continuously performed (step S4).
It is determined whether or not the travel distance detected by the distance sensor 6 is equal to or longer than the predetermined distance T (step S5). If the determination result is YES, all the correction marks H1 are determined.
Although the reading of .about.H5 has not been completed, the vehicle travels the installation distance T of each mark, and after it is determined that the mark is abnormal and the stored correction code is cleared (step S6), the process returns to step S1.

On the other hand, if the decision result in the step S5 is NO, the bit content read by the second reading sensor 8 is "1".
Is determined from "0" or "0" to "1" (step S7). If the determination is NO, the process returns to step S4. If the determination is YES, the second process is performed.
The content of the output signal based on the result of reading of the correction mark H1 by the first reading sensor 7 is stored and held by the position detection unit 2 as the content of the first bit at the inversion timing of the output signal of the reading sensor 8 (step). S8).

Next, the reading of the correction mark H1 by the first reading sensor 7 is continuously performed (step S9),
It is determined whether or not the traveling distance detected by the distance sensor 6 has become equal to or longer than a predetermined distance T (step S10),
If the result of this determination is YES, all correction marks H
Even though the reading of 1 to H5 has not been completed, the vehicle travels the installation distance T of each mark, is determined to be abnormal, and the stored correction code is cleared (step S11).
It returns to step S1.

If the decision result in the step S9 is NO, the bit content read by the first reading sensor 7 is "1".
Is determined from "0" or "0" to "1" (step S12). If the determination is NO, the process returns to step S9. If the determination is YES, the first reading is performed. At the timing of inversion of the output signal of the sensor 7, the second
The content of the output signal based on the result of reading the correction mark H4 by the reading sensor 8 is stored and held by the position detection unit 2 as the content of the second bit (step S13).

Then, the same processing as the processing from steps S4 to S13 is performed to read the last correction mark H5, and the first reading sensor 8 is inverted at the timing of inversion of the output signal of the second reading sensor 8. 7, the content of the output signal based on the result of reading the correction mark H2 is stored and held by the position detector 2 as the content of the third bit, and the second signal is inverted at the timing of inversion of the output signal of the first reading sensor 7.
The content of the output signal based on the result of reading the correction mark H5 by the reading sensor 8 is stored and held by the position detecting section 2 as the content of the fourth bit (step S14), and the content of the stored fourth bit to the zeroth bit is stored. Is read by the position detection unit 2 (step S1).
5), the current position detected by the position detection unit 2 is replaced with the read correction code, and the current position is corrected (step S16), and thereafter, the process returns to the start.

Therefore, reading is started by reading the reading start mark S by the first reading sensor 7, and the contents of the output signal of the other reading sensor are stored at the inversion timing of the output signals of both reading sensors 7, 8. , And holds the correction code of the position correction means, so that it is not affected by the change in the vehicle speed of the own cart or the mismatch between the distance sensor 6 and the installation interval of the position correction means, and the conventional synchronous shift occurs. Therefore, the correction code can be reliably read, the reading error of the mark can be prevented, and the current position of the cart can be accurately corrected.

Although the above embodiment has been described with reference to the case where the position correction means is constituted by one reading start mark S and five correction marks H1 to H5, three or seven or more correction marks are provided. Of course, an odd number may be provided.

Further, in the above embodiment, the case where the present invention is applied to a golf cart has been described. However, it is needless to say that the present invention can be applied to an in-field moving cart used in a specific field in a leisure land or a resort.

[0029]

As described above, according to the present invention, the first
The reading is started by reading the reading start mark by the reading sensor, and the content of the output signal of the other reading sensor is stored at the inversion of the output signal of both reading sensors.
By holding and reading the correction code of the position correction means, the correction code can be reliably read without occurrence of the synchronization shift unlike the related art, and the occurrence of a mark reading error can be prevented. The current position of the cart can be accurately corrected, and the reliability of the cart in the field can be improved.

[Brief description of the drawings]

FIG. 1 is a flowchart for explaining the operation of an embodiment of the present invention.

FIG. 2 is a block diagram of a golf cart applied to the present invention.

FIG. 3 is an operation explanatory diagram of the present invention.

[Explanation of symbols]

 2 Position detection unit 4 Storage unit 5 Display unit 9 Control unit 7, 8 First and second reading sensors S Reading start marks H1 to H5 Correction marks L1, L2 First and second columns

Claims (1)

(57) [Claims] The vehicle travels on a cart provided in a field, displays a guide map based on guide map data stored in a storage unit, and displays a current position detected by a position detection unit on the guide map. An in-field moving cart, wherein a reading start mark and at least one correction mark whose bit contents are inverted at a phase of 180 ° are set within a predetermined distance range on a first row of the cart path. ,
The same number of the correction marks as the marks in the first row are arranged in parallel on each of the marks in the first row on a second row parallel to the first row. Forming a position correcting means by each of the marks, indicating a position of the position correcting means by a correction code based on a combination of bit contents of each of the correction marks, and providing a plurality of the position correcting means having different correction codes on the cart road. A first and a second reading sensor for reading the bit content of each mark on the first column and the second column of the position correction means and outputting a signal corresponding to the bit content. The second reading sensor is provided on the in-field moving cart, and the second reading sensor is shifted from the first reading sensor by the phase of 180 ° in the delay direction, and the running of the in-field moving cart is performed. Sometimes, when the output signal of the first reading sensor is inverted and when the output signal of the second reading sensor is inverted, the contents of the output signals of the second reading sensor and the first reading sensor are respectively different. Wherein the current position of the in-field mobile cart is corrected based on the correction code based on the content of each of the stored output signals.