JP3369271B2 - Unmanned golf cart system - Google Patents

Description

Detailed Description of the Invention

[0001]

FIELD OF THE INVENTION This invention relates to unmanned golf cart systems.

[0002]

2. Description of the Related Art Golf carts are classified into a manual cart that is directly pulled by a caddy or a player and a self-propelled cart in which the cart itself has power. The self-propelled cart further moves only on a predetermined route. It is classified into a tracked type that can be done and a trackless type that can freely move outside a specific area where traveling is restricted. Currently, most golf courses employ a self-propelled golf cart that carries a golf club of one party (4 people) together. The self-propelled cart will be described below.

FIG. 15 is a diagram showing the operation of a tracked cart. As shown in this figure, the cart traveling route H4 is
Tea ground H1, fairway H2, green H3
It is set to connect each hole along. Further, this cart traveling route H4 is installed as a rail on the ground or is created by embedding a guide medium in the ground, and the cart can move only on this route.

FIG. 16 is a block diagram showing the structure of a tracked cart. A caddy or a player (hereinafter referred to as a cart operator) who operates the cart gives a movement instruction such as forward / backward / stop by the operation panel 7 or the remote controller 8 on the cart. The signal processing unit 9 recognizes this movement instruction and creates a control signal. The operation control unit 10 controls the power of a motor or the like according to this control signal. Further, a movement instruction given as a radio wave from the remote controller 8 is received by the remote controller receiver 12, and then the signal processing unit 9
Given to. The external sensor 12 detects an obstacle such as another cart, and when it detects the obstacle, the signal processing unit 9
A detection signal is sent to and the cart stops.

FIG. 17 is a diagram showing the structure of a trackless cart. The cart operator gives a movement instruction such as start / stop from the operation panel 7 and operates the direction steering bar 14 to adjust the movement direction of the cart. In addition, the operation control unit 10
Controls the power of the cart according to the movement instruction given from the operation panel 7.

[0006]

When a round is performed using the above-mentioned conventional self-propelled cart, the following problems occur.

First, since the moving route is determined in advance in the tracked cart, if the hit ball flies very far from the route, the player may carry a plurality of clubs himself / herself, You have to walk a long distance to exchange them. Also, if there is a route (rail) near the hit ball, it will interfere with the play.

Further, in the trackless cart, the movement of the cart is manually adjusted by the cart operator, which imposes a burden on the operator and, at the same time, the operator must always be on the cart when moving, and vice versa. The cart is left alone while the player is playing.

Further, whether it is a tracked type or a trackless type, 1
When players have different golf skill levels in one party, a good upper player must wait until a lower player such as a beginner catches up. For example, if the hitting ball of a lower player enters a forest or grass, while finding the ball and returning to normal play,
The cart is left in the vicinity of the lower players, the upper players have to waste time, and the playing time of the same party becomes long. Such an inefficient round affects not only the same party, but later parties as well.

When the party has a caddy, the above problems can be alleviated, but the load on the caddy is heavy. Also, the caddy is often taken care of by lower-ranked players, and during this time, other players have information such as the distance to the pin and the terrain of the hole (hereinafter referred to as course map information).
Will not be able to get.

The present invention has been made under such a background, and an object thereof is to reduce the burden of a cart operation of a caddy or a player and to perform an efficient round. Another object of the present invention is to provide a self-propelled golf cart system that allows a player to obtain accurate course map information even when there is no caddy.

[0012]

According to a first aspect of the present invention, there is provided a GPS receiver for positioning the current position by receiving radio waves from an artificial satellite, and remote control position information output from the GPS receiver. A cart operation remote controller having a transmitter for transmitting a GPS and a GPS for positioning the current position by receiving radio waves from an artificial satellite and outputting cart position information.
A receiver and a receiver for receiving the remote control position information,
On the basis of the remote control position information and the cart position information and a calculation means for calculating the distance and direction between the self-propelled golf carts and carts operation remote controller, before Symbol cart in accordance with the calculation result of the calculating means golf cart own Hashishiki you travel so as to follow the operation remote controller, Ri name comprises a said computing means, before the region are allowed to travel
Compare the current position of the golf cart,
Stop the golf cart when the end of the area is reached.
Is configured to let .

According to a second aspect of the present invention, in addition to the first aspect of the invention, a GPS receiver for positioning the current position and outputting position information, and a position correction device for calculating a correction amount of the position information. And a transmitter for transmitting the correction amount output from this position correction device, and provided with a master controller installed at a predetermined position in the golf course, by the correction amount transmitted from this master controller, remote controller position information and The cart position information is corrected.

According to a third aspect of the present invention, the cart operation remote controller according to the first or second aspect of the present invention has a course map memory in which a course layout, pin positions, and altitudes are stored, a calculation means, and a display. Equipment and
The calculating means calculates the distance between the cart operation remote controller and the pin and the height difference, and displays it on the display device.

According to a fourth aspect of the present invention, the self-propelled golf cart according to the first or second aspect of the present invention is provided with a course map memory storing a course layout, pin positions and altitudes and a display device. The calculating means of the self-propelled golf cart calculates the distance and height difference between the cart operation remote controller and the pin and displays the distance on the display device.

According to a fifth aspect of the present invention, a GPS receiver for positioning the current position by receiving radio waves from an artificial satellite and outputting cart position information, a course layout,
A course map memory that stores pin positions and altitudes, a display device that displays the course layout, a touch sensor and an electronic pen provided on the display device, and a position designated by the electronic pen and the cart position. And a self-propelled golf cart that travels toward a position designated by the electronic pen according to a calculation result of the calculation unit. To do.

According to a sixth aspect of the present invention, in addition to the fifth aspect of the invention, a GP that measures the current position and outputs position information.
A master controller that has an S receiver, a position correction device that calculates the correction amount of the position information, and a transmitter that transmits the correction amount output from the position correction device, and is installed at a predetermined position in a golf course. The cart position information is corrected by the correction amount transmitted from the master controller.

According to a seventh aspect of the invention, the display device according to the fifth or sixth aspect, and the touch sensor and the electronic pen provided on the display device are detachable.

According to an eighth aspect of the present invention, in addition to the first to seventh aspects of the present invention, an angle sensor for detecting the rotation angle of the self-propelled golf cart with respect to the reference direction is provided.

[0020]

According to the first aspect of the invention, the calculating means of the self-propelled golf cart calculates the moving direction and the distance based on the cart position information and the remote controller position information. The effect that the remote controller can be automatically moved is obtained.

According to the second aspect of the present invention, the GPS position information of the cart operation remote controller and the GPS of the self-propelled golf cart are corrected by the respective calculation means according to the correction amount sent from the master controller. It is possible to obtain the effect that the golf cart can move based on accurate position information.

According to the third aspect of the present invention, the calculation means of the cart operation remote controller calculates the distance between the two points and the height difference from the remote controller position information and the pin position stored in the course map memory to calculate the cart. Since they are displayed on the display device of the operation remote controller, the player can obtain accurate course map information.

According to the invention of claim 4, the calculating means of the self-propelled golf cart calculates the distance between two points and the height difference from the cart position information and the pin position stored in the course map memory. Since they are displayed on the display device of the self-propelled golf cart, the player can obtain accurate course map information.

According to the fifth aspect of the invention, in the display device displaying the hole layout, the position of the moving destination can be designated by the touch sensor on the device and the attached electronic pen. The calculation means calculates the moving direction and the distance based on the position of the moving destination and the cart position information. Therefore, it is possible to directly specify the destination position on the golf cart.

According to the sixth aspect of the present invention, the correcting means of the self-propelled golf cart corrects the cart position information by the correction amount sent from the master controller, and the calculating means corrects the accurate position information. And the moving direction and the distance are calculated based on the position of the moving destination specified on the display device. Therefore, it is possible to obtain the effect that the golf cart can move to the position of the movement destination specified based on the accurate position information.

According to the seventh aspect of the invention, the display device of the self-propelled golf cart, the touch sensor and the electronic pen provided on the display device are detachable.

According to the eighth aspect of the present invention, the angle sensor provided in the self-propelled golf cart detects the rotation angle of the cart with respect to the reference direction.

[0028]

【Example】

<First Embodiment> FIG. 1 is an explanatory view of an unmanned golf cart system according to a first embodiment of the present invention. In this figure, reference numeral 16 is an artificial satellite for GPS (Global Positioning System), which generates a radio wave used for positioning. By receiving this radio wave, the position of the receiving point on the earth (latitude,
Longitude) can be measured. In addition, 17 is a main controller installed in the clubhouse, 18 is a self-propelled unmanned golf cart (hereinafter abbreviated as unmanned cart), 19
Is the cart operation remote control that the cart operator 20 has (hereinafter,
Abbreviated as remote control). These have a function of sequentially positioning each position based on the radio waves from the artificial satellites 16, and the unmanned cart 18 automatically follows the remote controller 19 based on these position information and course map information described later. . Hereinafter, each element of the system will be described.

FIG. 2 is a block diagram showing the configuration of the main controller 17. In this figure, 22 is GP
The S receiver receives radio waves from the artificial satellite 15 and measures the position of the main controller 17. A position correction device 23 compares the positioning data output from the GPS receiver 22 with preset accurate position data of the same position, and creates GPS correction data which is the error. A correction signal transmitter 24 wirelessly transmits the above-mentioned correction data to the unmanned cart 18 and the remote controller 19.

FIG. 3 is a block diagram showing the configuration of the remote controller 19. In this figure, the GPS receiver 22 sequentially measures the current position of the remote controller 19 and outputs the remote controller position data as a result to the position calculation processing device 28. A correction signal receiver 25 receives the correction data sent from the main controller 17 and outputs the correction data to the position calculation processing device 28. Reference numeral 26 denotes a position transmitter / receiver, which wirelessly transmits remote controller position data, which will be described later, to the unmanned cart 18, receives course map information sent from the unmanned cart 18, and outputs it to the position calculation processing device 28.

The position calculation processing device 28 corrects the remote controller position data with the correction data, thereby correcting the remote controller 19 data.
The accurate position of the present position of the vehicle is calculated, and the result is transmitted to the unmanned cart by the position transceiver 26. Also, the remote control position data and the course map information sent from the unmanned cart 18 are used to calculate the distance between the current position of the remote control and the position of the pin on the green and the height difference which is the difference in elevation between the two points. The result is displayed on the display device 27.

FIG. 4 is a block diagram showing the structure of the unmanned cart 18. In the figure, reference numerals 22, 25, and 26 respectively denote a GPS receiver, a correction signal receiver, and a position transmitter / receiver having the same configuration as that of the remote controller 19 (FIG. 3). GPS
The receiver 22 measures the current position of the unmanned cart 18 and outputs the positioning data to the arithmetic and control unit 29. The correction signal receiver 25 also receives the correction data sent from the main controller 17 and outputs it to the arithmetic and control unit 29. Further, the position transceiver 26 receives remote controller position data transmitted from the remote controller 19, outputs the remote controller position data to the arithmetic and control unit 29, and transmits the course map information to the remote controller 19. The arithmetic and control unit 29 includes a central processing unit (CPU), R
It is configured to have an OM, a RAM, etc., and its operation will be described in detail later.

Reference numeral 30 is a course map memory, which is stored in advance.
Course map information such as the layout of each hole, the position of the pin on the green, the altitude information, and the area where the cart is allowed to travel (hereinafter referred to as the movable area) is stored.
FIG. 5 is a diagram showing an example of the movable area. In this figure, R is a movable area, H1 is a tee ground, H2 is a fairway, and H3 is a green.

Reference numeral 31 in FIG. 4 is a position display device made of liquid crystal or the like for displaying a hole layout or the like. FIG. 6 is a diagram showing an example of this display. In this figure, H4 is OB
The line H5 is the current position of the unmanned cart 18, H6 is the pin position on the green, and the current position H5 is indicated by blinking. Further, H7 and H8 indicate the distance and the height difference between the current position H5 and the pin position H6 of the unmanned cart 18, respectively.

Reference numeral 32 in FIG. 4 is an obstacle sensor of infrared type or ultrasonic type, which is attached to the tip of the unmanned cart 18 and detects an obstacle in the traveling direction and outputs a detection signal to the arithmetic and control unit 29. Reference numeral 33 denotes an angle sensor that detects a tilt angle with respect to the reference direction (a tilt angle in a horizontal plane), and sequentially outputs angle data indicating the current tilt angle to the arithmetic and control unit 29.

Next, the operation of the unmanned cart 18 having the above structure will be described. The arithmetic and control unit 29 reads the cart position data output from the GPS receiver 22 and the correction data output from the correction signal receiver 25 every time a certain time has elapsed, and corrects the cart position data with the correction data. The accurate current position of the unmanned cart 18 is calculated. Next, the corrected cart position data and position transmitter / receiver 2
The distance and direction from the unmanned cart 18 to the remote controller 19 are calculated from the corrected remote controller position data supplied from 6. Based on the calculation result and the angle data output from the angle sensor 33, a traveling control device (not shown) is driven to move the unmanned cart 18 toward the remote controller 19. The traveling is stopped when the distance between the two reaches a certain value.

Further, the arithmetic and control unit 29 reads out the hole layout and the like from the course map memory 30, calculates the distance and the height difference between the current position of the unmanned cart 18 and the pin on the green based on the read data, and The result is displayed on the display device 31 together with the hole layout (see FIG. 6). Further, the cart movable area is read from the memory 30, and the read area is constantly compared with the current position of the unmanned cart 18. Then, when the unmanned cart 18 reaches the end of the cart movable area, the unmanned cart 18 is stopped. Further, when the arithmetic and control unit 29 receives a detection signal indicating an obstacle from the obstacle sensor 32, the unmanned cart 1
Decelerate 8 and bypass obstacles.

<Second Embodiment> FIG. 7 is an explanatory view of an unmanned golf cart system according to a second embodiment of the present invention.
9 is a block diagram showing the configuration of the remote controller 19 in FIG. 7, and FIG. 9 is a block diagram showing the configuration of the unmanned cart 18 in FIG. In these figures, FIG.
The same parts as those in FIG. 4 are designated by the same reference numerals.
The second embodiment differs from the first embodiment in that the main controller 17 of FIG. 1 is not provided, and the unmanned cart 18 and the remote controller 19 are not provided with the correction signal receiver 25 of FIGS. No position correction is performed to determine the current position. For this reason, the accuracy of the position information is lowered, but an operation substantially equivalent to that of the first embodiment can be performed.

<Third Embodiment> FIG. 10 is an explanatory view of an unmanned golf cart system according to a third embodiment of the present invention, FIG.
1 is a block diagram showing the configuration of the main controller 17 in FIG. 10, and FIG. 12 is a block diagram showing the configuration of the unmanned cart 18 in FIG. In these figures, the same parts as those of FIGS. 1, 2 and 4 are designated by the same reference numerals.

In FIG. 12, reference numeral 35 denotes a position display device, which can display course map information by images and characters (see FIG. 6), and can specify the moving destination of the unmanned cart 18 by pen input. Figure 13
It is a figure showing a mode that a destination is specified using this position display device 35. A touch sensor 36 is attached to the screen of the position display device 35, and the position (coordinates) in contact with the electronic pen 37 can be detected. Further, the position display device 35 has a function of displaying the layout of all holes shown in FIG. 14 as an example and enlarging / reducing so that the destination can be specified easily and accurately.

The third embodiment differs from the first embodiment in that it does not have the remote controller 19 shown in FIG. 1 and that the unmanned cart 18 does not have the position transceiver 26 shown in FIG. The position display device 35 is used instead of the remote controller 19.

The third embodiment may be used as in the second embodiment except that the master controller 16 is omitted. in this case,
Except for the correction signal receiver 19 in the unmanned cart 18, the GPS positioning data in the unmanned cart 18 is directly used as the cart position information.

The position display device 35 of the third embodiment may be removable.

Further, the angle sensor 33 may be removed from the unmanned cart 18 in the above three embodiments. In this case, the arithmetic and control unit 29 controls the moving direction by utilizing the change in the cart position data. Further, the display device 27 of the remote controller 19 may be removed if there is no need.

[0045]

According to the invention of claim 1, the self-propelled golf cart can automatically move to the cart operation remote controller.

According to the invention described in claim 2, in addition to the effect of claim 1, the effect that the golf cart can move based on more accurate position information is obtained.

According to the invention described in claim 3 or claim 4, the player can obtain accurate course map information.

According to the fifth aspect of the present invention, it is possible to directly specify the position of the moving destination on the golf cart.

According to the invention of claim 6, in addition to the effect of claim 5, the effect that the golf cart can move based on more accurate position information is obtained.

According to the invention described in claim 8, it is possible to obtain the effect that the golf cart can be moved on a more efficient track.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of an unmanned golf cart system according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a main controller of the embodiment.

FIG. 3 is a block diagram showing a configuration of a remote controller according to the same embodiment.

FIG. 4 is a block diagram showing a configuration of an unmanned cart of the same embodiment.

FIG. 5 is a diagram showing an example of a cart movable area.

FIG. 6 is a diagram showing a display example of course map information on a display device.

FIG. 7 is an explanatory diagram of an unmanned golf cart system according to a second embodiment of the present invention.

FIG. 8 is a block diagram showing a configuration of a remote controller according to the same embodiment.

FIG. 9 is a block diagram showing a configuration of an unmanned cart of the same embodiment.

FIG. 10 is an explanatory diagram of an unmanned golf cart system according to a third embodiment of the present invention.

FIG. 11 is a block diagram showing a configuration of a main controller of the embodiment.

FIG. 12 is a block diagram showing a configuration of an unmanned cart of the same embodiment.

FIG. 13 is a diagram showing a state of position input in the position display device of the embodiment.

FIG. 14 is a diagram showing an example in which a layout of all holes is displayed on the display device.

FIG. 15 is a diagram showing the operation of a tracked golf cart.

FIG. 16 is a block diagram showing a configuration of the golf cart.

FIG. 17 is a block diagram showing a configuration of a trackless golf cart.

[Explanation of symbols]

16 GPS satellite 17 Main controller 18 unmanned cart 19 remote control 20 Cart operator

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Issei Kitachi               Shinkoden, 100, Takegahana Town, Ise City, Mie Prefecture               Iki Seisakusho Co., Ltd.

Claims (8)

(57) [Claims] 1. A cart operation having: (a) a GPS receiver for positioning the current position by receiving radio waves from an artificial satellite; and a transmitter for transmitting remote controller position information output from the GPS receiver. A remote controller, (b) a GPS receiver for positioning the current position by receiving radio waves from an artificial satellite and outputting cart position information, a receiver for receiving the remote controller position information, the remote controller position information and the remote controller position information and a calculating means for calculating the distance and direction between the self-propelled golf cart and the cart operation remote controller on the basis of the cart position information, to follow before Symbol cart operated remote control in accordance with the calculation result of the calculating means Ri Na and and a golf cart own Hashishiki you travel to, the said calculating means, an area that is allowed to travel Golf
Compare the current position of the cart,
Stop the golf cart when it reaches the end of the area
An unmanned golf cart system configured in . 2. (a) A GPS receiver that measures the current position by receiving radio waves from an artificial satellite and outputs position information, a position correction device that calculates a correction amount of the position information, and this position A master controller that has a transmitter that transmits the correction amount output from the correction device, is installed at a predetermined position in the golf course, and (b) receives the radio waves from the artificial satellites to measure the current position. A GPS receiver, a receiver that receives the correction amount, a correction unit that corrects the remote control position information that is the output of the GPS receiver according to the correction amount, and a transmitter that transmits the corrected remote control position information. A remote controller for cart operation, (c) a GPS receiver for positioning the current position by receiving radio waves from an artificial satellite and outputting cart position information, a receiver for receiving the correction amount, Means for correcting the position information of the remote controller according to the correction amount, a receiver for receiving the corrected position information of the remote controller, and a cart operation remote controller and a self-propelled vehicle based on the corrected remote position information and the corrected cart position information. An unmanned golf cart system, comprising: a calculation means for calculating a distance and a direction to and from a self-propelled golf cart, and a self-propelled golf cart that travels according to a calculation result of the calculation means. 3. The cart operation remote controller includes a course map memory that stores a course layout, pin positions, and altitudes, a computing unit, and a display device, and the computing unit is a distance between the cart operation remote controller and the pins. The unmanned golf cart system according to claim 1 or 2, wherein a height difference, which is a difference in elevation between the two points, is calculated and the calculation result is displayed on the display device. 4. The self-propelled golf cart has a course map memory that stores a course layout, pin positions, and altitudes, and a display device, and the arithmetic means of the self-propelled golf cart is a self-propelled golf cart. The unmanned golf cart according to claim 1 or 2, wherein a distance between a pin and a pin and a height difference which is a difference in elevation between two points are calculated and the calculation result is displayed on the display device. system. 5. A GPS receiver for positioning the current position by receiving radio waves from an artificial satellite and outputting cart position information, a course map memory for storing course layout, pin position, and altitude, and the course. A display device for displaying the layout, a touch sensor and an electronic pen provided on the display device, and a calculation means for calculating a traveling direction and a distance based on the position instructed by the electronic pen and the cart position information are provided. An unmanned golf cart system, comprising: a self-propelled golf cart that travels toward a position designated by the electronic pen according to a calculation result of the calculation means. 6. (a) A GPS receiver for positioning the current position by receiving radio waves from an artificial satellite and outputting position information, a position correction device for calculating a correction amount of the position information, and this position A master controller that has a transmitter that transmits the correction amount output from the correction device, is installed at a predetermined position in the golf course, and (b) receives the radio waves from the artificial satellite to measure the current position. A GPS receiver that outputs cart position information, a receiver that receives the correction amount, a correction unit that corrects the cart position information according to the correction amount, and a course map memory that stores a course layout, a pin position, and an altitude. And a display device on which the course layout is displayed,
The display device includes a touch sensor and an electronic pen, and an operation unit that calculates a traveling direction and a distance based on the position instructed by the electronic pen and the corrected cart position information. An unmanned golf cart system comprising: a self-propelled golf cart that travels toward a position designated by the electronic pen in accordance with the calculation result of 1. 7. The unmanned golf cart system according to claim 5, wherein the display device, the touch sensor and the electronic pen provided on the display device are detachable. 8. The unmanned golf cart system according to claim 1, wherein the self-propelled golf cart has an angle sensor for detecting a rotation angle of the cart with respect to a reference direction.