JPH04317673A - Automatic tee-up device for training golf - Google Patents

Abstract

PURPOSE:To automatically tee up the golf ball to a designated height by the computer control. CONSTITUTION:When it is detected by a ball sensor that there is no ball on a tee 14, an electrically-driven motor 21 is actuated, a crank 25, a lever 26 and a connecting member 32 are operated and the tee 14 descend. Simultaneously, an arm 24 also rotates, a claw part 24b of the arm 24 carries a golf ball placed on a first rail 15 to a second rail 16, and the golf ball is placed on the tee 14. When the tee 14 ascends and a slot 34a of a sensor plate 34 comes to a position opposed to a first position sensor 35, whenever a detecting signal by a second position sensor 36 is generated, the present position Nsc is counted up, and when a coincidence of the present position Nsc and a selected target position Tsc is detected, the motor 21 is inverted by a minute time in order to correct a stop position, and thereafter, stopped.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tee-up device for golf practice that automatically tees up a golf ball at a golf practice range or the like.

0002

[Prior Art] Conventionally, this type of device has been used, for example, in the U.S. Pat.
As shown in Japanese Patent No. 53772, there is a lever that is connected to a tee at one end and swings with the other end as a fulcrum, and one end that is engaged with the intermediate part of the lever so that it can be displaced in the axial direction of the lever. and a crank connected at the other end to the rotating shaft of the first electric motor, the golf ball is automatically teed up by moving the tee up and down in accordance with the rotation of the first electric motor, and The fulcrum provided at the other end of the lever is connected to the second
The height at which the golf ball is teed up is adjusted by displacing the lever in the axial direction using an electric motor to change the lifting distance of the one end of the lever.

[0003] In addition, another device of this type, as shown in, for example, Japanese Patent Application Laid-open No. 1-250277, has a belt wound around a pair of pulleys provided above and below and a rotating shaft of a pulse motor. The tee is fixed to a belt between a pair of pulleys via an arm, and the tee is moved up and down by rotating a pulse motor. In this case, when the user selects the height of the tee, the pulse motor is rotated by the number of pulses corresponding to the selected height from the state where the tee is at its lowest point, and the tee is raised according to the same rotation. This allows the golf ball to be teed up to a desired height.

0004

However, the former conventional device described above has a first electric motor for teeing up the golf ball and a second electric motor for adjusting the teeing height. Since it requires a motor,
There are problems in that the overall size of the device increases and the manufacturing cost of the device increases.

[0005] Furthermore, in the latter conventional device,
The tee is set at a desired height by controlling the number of drive pulses to the pulse motor, so if the pulse motor goes out of step, there is a problem that the golf ball cannot be set at the desired height, and at the same time, the pulse motor itself There is also the problem that the manufacturing cost of the entire device increases due to the high cost.

The present invention has been made to solve the above problem, and its purpose is to detect the rotational position of an electric motor using a sensor, feed back the detection result to control the rotation of the motor, and to control the rotation of the electric motor. To provide a small and low-cost automatic tee-up device for golf practice that can tee up a golf ball and adjust the height of the same tee-up with a single electric motor without using a motor.

[0007]

[Means for Solving the Problem] In order to achieve the above object, the structural features of the invention according to claim 1 are as follows: A conversion mechanism that converts rotational motion into vertical motion of the tee, a supply mechanism that supplies golf balls to the tee when the tee is in a lowered state, and an electric control device that electrically controls rotation of the electric motor. An automatic tee-up device for golf practice comprising: a ball sensor that detects the presence or absence of a golf ball on the tee; and a rotational position detection means that detects the rotational position of a rotating shaft of the electric motor. A designating means for designating the height of the tee, connected to the ball sensor, the rotational position detecting means, and the designating means, and configured to control the rotation of the electric motor when the golf ball is not detected on the tee by the ball sensor. rotation control for starting and stopping the rotation of the motor when the rotational position of the rotational shaft of the motor detected by the rotational position detection means becomes equal to the rotational position corresponding to the height specified by the specification means; It is composed of means and means.

Further, a structural feature of the invention according to claim 2 is that the designation means of the invention according to claim 1 is constituted by selection operation means for selecting any one of a plurality of different heights. and a first position sensor for detecting a state in which the rotational position of the rotational shaft of the electric motor is within a predetermined range corresponding to the range of the height of the tee selectable by the selection operation means. and a second position sensor that detects a state in which the rotational position of the rotational shaft of the electric motor is within a predetermined range and is at one of the rotational positions corresponding to a plurality of different heights selected by the selection operation means. and a storage means for storing data representing the height selected by the selection operation means, and for starting rotation of the electric motor when a golf ball is not detected on the tee by the ball sensor. a start means, a recognition means for recognizing that the rotational position of the rotating shaft of the electric motor falls within a predetermined range in response to detection by the first position sensor, and detection by the second position sensor in a state of recognition by the recognition means. A counting means for counting the number of times compares the count value by the counting means with the height data stored in the storage means, and determines that the rotational position of the rotating shaft of the electric motor corresponds to the selected height. and a stop means that stops the rotation of the electric motor when they match.

Further, the structural feature of the invention according to claim 3 is that the designating means and the rotational position detecting means of the invention according to claim 1 are configured in the same manner as the invention according to claim 2,
and a storage process in which the rotation control means of the invention according to claim 1 is configured by a computer, and the computer stores data representing the height selected by the selection operation means;
A start process for starting the rotation of the electric motor when a golf ball is not detected on the tee by the ball sensor, and a process for determining that the rotational position of the rotational shaft of the electric motor is within a predetermined range in response to detection by the first position sensor. A recognition process is performed to recognize the electric motor. A series of processes including a stop process of stopping the rotation of the electric motor when the rotation position of the rotation shaft matches the rotation position corresponding to the selected height are repeatedly executed.

[0010]Furthermore, the structural feature of the invention according to claim 4 is that the electric motor of the invention according to claim 1 is configured to be capable of forward and reverse rotation, and that the rotation control means of the invention is rotated by a ball sensor. a starting means for starting the rotation of the electric motor when a golf ball is not detected above; and a rotational position detecting means for detecting that the rotational position of the rotating shaft of the electric motor is at a rotational position corresponding to a height specified by the specifying means. The present invention is comprised of a reversing stop means which, when detected, reverses the motor for a minute period and then stops the motor.

Further, a structural feature of the invention according to claim 5 is that the conversion mechanism according to claim 1 is connected to the tee at one end and rotatably supported by the main body at the other end. a lever that raises and lowers the tee by swinging with the other end as a fulcrum; one end engages an intermediate portion of the lever so as to be displaceable in the axial direction of the lever; the other end rotates the electric motor; It consists of a crank connected to the shaft.

Furthermore, a structural feature of the invention according to claim 6 is that the supply mechanism according to claim 1 is connected to the rotating shaft of the electric motor and interlocked with the rotation of the rotating shaft. be.

[0013]

In the invention according to claim 1 configured as described above, when the ball sensor detects that there is no golf ball on the tee, the rotation control means starts the rotation of the electric motor. . This rotational movement of the electric motor is converted into vertical movement by a conversion mechanism, and the tee moves up and down. On the other hand, since the supply mechanism supplies the golf ball onto the tee via the ball supply path while the tee is in the lowered state, the tee rises with the golf ball placed thereon. Then, when the rotational position of the rotation shaft of the motor detected by the rotational position detection means becomes equal to the rotational position corresponding to the height specified by the specification means, the rotation control means stops the rotation of the motor. , the golf ball is automatically teed up to the specified height. As described above, according to the invention according to claim 1, the golf ball can be automatically moved to the height specified by the specifying means by using a single ordinary electric motor without using a special electric motor. Therefore, the automatic tee-up device for golf practice according to the invention can be manufactured in a small size and at low cost.

Furthermore, in the invention according to claim 2 configured as described above, after the starting means starts rotating the electric motor, the rotational position of the rotating shaft of the electric motor corresponds to the range of selectable tee heights. the recognition means detects this state in cooperation with the first position sensor;
Thereafter, the counting means counts the number of times of detection by the second position sensor, and the stopping means displays the count value by the counting means and the height of the tee selected by the selection operation means and stored in the storage means. The height data are compared with each other, and when the rotational position of the rotational shaft of the electric motor matches the rotational position corresponding to the selected height, the rotation of the electric motor is stopped. As a result, the claim 2
According to the invention, even if the number of possible tee heights to be selected increases, there is no need for a large number of position sensors corresponding to each height, and only two position sensors are required to handle a large number of types of tees. Since the height of the tee can be set, in addition to the effects of the invention according to claim 1, the number of sensors for setting the height of the tee can be reduced.

Further, in the invention according to claim 3 configured as described above, the rotation control means is configured by a computer, and the computer performs a series of operations including storage processing, start processing, recognition processing, counting processing, and stop processing. The height of the tee is set in the same manner as in the case of the invention according to claim 2 by repeatedly performing the process. In this case, there is no need to perform count processing and stop processing before the recognition processing recognizes that the rotational position of the rotating shaft of the electric motor is within a predetermined range. Other processing can be performed instead of processing. As a result, according to the invention according to claim 3, in addition to the effects of the invention according to claim 2, many processes other than the above-mentioned storage processing, start processing, recognition processing, counting processing, and stop processing can be performed. This will allow you to use the computer more effectively.

Further, in the invention according to claim 4 configured as described above, after the starting means starts rotating the electric motor, the rotational position of the rotating shaft of the electric motor corresponds to the height specified by the specifying means. When the electric motor reaches the rotational position, the reversal stop means cooperates with the rotational position detection means to reverse the motor for a minute period of time and then stops the motor. This compensates for the delay in stopping the motor due to inertia when the electric motor stops. Ru. As a result, according to the invention according to claim 4, the height of the tee is accurately set to the selected height, and delicate height adjustment of the tee can be performed.

Further, in the invention according to claim 5 configured as described above, the crank is rotated by the rotation of the electric motor, and the lever swings in accordance with the rotation of the crank, so that the tee moves up and down. In this way, according to the invention according to claim 5, as described above, when the tee is raised and lowered according to the rotation of the electric motor, the rotation of the electric motor is transmitted to the lever via the crank. The amount of rotation of the motor is transmitted to the tee with high precision, making it possible to set the height of the tee with good accuracy and making delicate height adjustments of the tee.

Furthermore, in the invention according to claim 6 configured as described above, the supply mechanism is connected to the rotating shaft of the electric motor, and the golf ball is supplied to the tee in conjunction with the rotation of the rotating shaft. Therefore, the elevating and lowering of the tee and the supply of golf balls can be synchronized with a simple configuration.

[0019]

[Embodiment] An embodiment of the present invention will be explained below with reference to the drawings. Fig. 1 shows an automatic tee-up device for golf practice according to the embodiment viewed from the front, and Fig. 2 shows the same device. 3 shows the device viewed from the side.

This automatic tee-up device for golf practice includes two side plates 11 and 12 arranged in parallel with a width that allows a golf ball to pass through, and a tip wall 12a formed by bending the tip of the side plate 12. The main body houses a tee 14 fixed on a cylindrical base 13 at its distal end. On the inner surfaces of the side plates 11 and 12 are first and second rails 15 that form a supply path for golf balls.
, 16 are provided. The tip of the first rail 15 is L.
A pair of elongated members 15a formed by bending upward into a letter shape,
15b, and each member 15a, 15b has a side plate 11,
12 from the rear to the center, and is fixed to the side plates 11 and 12 at each outer end while being inclined so as to be lower at the tip side, and a gap is provided at each inner end. The second rail 16 also consists of a pair of elongated members 16a, 16b, each member 16a, 16b extending from a position above the first rail 15 and a predetermined distance from its tip to in front of the tee 14, It is fixed to the side plates 11 and 12 at each outer end while being inclined so as to be lower at the tip side, and a gap is provided at each inner end.

A ball sensor 18 fixed to a bracket 17 is provided at the top of the outer surface of the side plate 11 on the tip side. The ball sensor 18 emits infrared rays, ultrasonic waves, etc. toward a teed-up golf ball, detects the presence or absence of a golf ball based on reflected waves, and outputs a detection signal.

[0022] Also, at the lower center of the outer surface of the side plate 11,
An electric motor 21 capable of forward and reverse rotation is fixed, and a rotating shaft 21a of the motor 21 passes through the side plates 11 and 12 and protrudes to the outside of the same side plate 12, and a bracket 22 is fixed to the side plate 12 at an intermediate portion thereof. It is rotatably supported by a bearing 23 assembled to. An arm 24 is fixed between the side plates 11 and 12 on the outer periphery of the rotating shaft 21a. The arm 24 includes a disk portion 24a coaxially fixed to the rotating shaft 21a and a claw portion 24b protruding from the outer peripheral end of the disk portion 24a. The golf ball is pushed up by the claw portion 24b and transported onto the rear end of the second rail 16. The position of the claw portion 24b is set so that the golf ball is transported when the tee 14 is lowered.

One end of a crank 25 is fixed to the tip of the rotating shaft 21a, and the other end 25a of the crank 25 is slidably engaged with a long hole 26a formed along the axial direction in the center of the lever 26. are doing. The lever 26 swings with its rear end as a fulcrum by the rotation of the crank 25, and a pin 27 constituting the fulcrum is slidably engaged in a long hole 26b provided in the rear end. This pin 27 is fixed to a bracket 28 connected to the side plate 12. An end member 31 is fixed to the tip of the lever 26, and the end member 31 is connected to the base 13 of the tee 14 via a connecting member 32. A sleeve 32a is provided at the center of the connecting member 32, and the sleeve 32a is assembled onto the outer circumference of the cylindrical pole 33 so as to be displaceable in the axial direction. A pin 32b is integrally formed on this sleeve 32a, and the pin 32a is connected to a circular hole 31 provided in the end member 31.
It rotatably invades a. Further, a connecting plate 32c protrudes from the opposite side of the sleeve 32a, and the connecting plate 32c enters the main body through a slit 12b provided in the side plate 12, and the base 13 is fixed to the tip side thereof. There is.

A disk-shaped sensor plate 34 is fixed to the rotating shaft 21a of the electric motor 21 between the side plate 12 and the crank 25 for detecting the rotational position of the rotating shaft 21a. This sensor plate 34 is made of a light-shielding member, and as shown in FIG. 4, an arc-shaped elongated hole 34a is formed in the inner peripheral portion thereof, and a circular arc-shaped elongated hole 34a is formed on the circumference substantially opposite to the elongated hole 34a. Five notches 34b to 34f are formed. First and second position sensors 35 and 36 are provided on the outer periphery of the sensor plate 34 at substantially opposing positions. Each is supported. The first and second position sensors 35 and 36 each have a light-emitting element and a light-receiving element facing each other with the sensor plate 34 in between. The rotational position of the rotating shaft 21a of the electric motor 21 is detected based on the presence or absence of the passing of the light, and a detection signal is output.

Next, an electric control device for controlling the rotation of the electric motor 21 as described above will be explained. As shown in FIG. 5, this electric control device includes the ball sensor 1 described above.
8, the first and second position sensors 35 and 36, as well as a card reader 41, a rise switch 42, and a fall switch 43 are provided. The card reader 41 is a device that reads recorded data on a magnetic tape attached to a user card provided by a golf driving range, and the reading determines the operation of the automatic tee-up device of this embodiment. Rise switch 42
The lowering switch 43 is a self-resetting switch that adjusts the tee-up height according to the user's preference, and is provided on an operation panel (not shown) together with the card reader 41.

These ball sensors 18, the first and second
The position sensors 35 and 36, the card reader 41, and the up and down switches 42 and 43 are connected to an input interface 44a of a microcomputer 44. This microcomputer 44 has the input interface 4
In addition to 4a, ROM44b, CPU44c, RAM44
d, a timer 44e, and an output interface 44f, and these circuits 44a to 44f are commonly connected by a bus 44g. ROM44b is shown in Figures 6 to 17.
``Main program'' corresponding to the flowchart, ``
The CPU 44c stores the "timer interrupt program" and its subprograms, and the CPU 44c continues to execute the "main program" after turning on the power switch (not shown), and also executes the "main program" upon arrival of an interrupt signal from the timer 44e. It executes a "timer interrupt program" with an interrupt. The RAM 44d temporarily stores variables and flags necessary for executing the program, and the timer 44e controls the CPU 4 every 2.5 ms.
It outputs an interrupt signal to 4c.

The output interface 44f outputs signals to an external circuit, and a drive circuit 45, a display 46, and other controlled circuits 47 are connected to the output interface 44f. The drive circuit 45 supplies a drive current to the electric motor 21 to rotate the motor 21 in forward and reverse directions. The display 46 visually informs the user of the abnormality of the automatic tee-up device of this embodiment when the device is abnormal. The other controlled circuits 47 are for processing such as payment at the golf driving range.

Next, the operation of this embodiment configured as described above will be explained. When the power switch (not shown) is turned on, the CPU 44c starts the "main program" shown in FIG.
F, motor stop flag MS, new first sensor detection value NR,
Initialize various variables and flags such as the old first sensor detection value OR, adjustment range flag IF, adjustment range detection flag NF, adjustment range exit flag GF, unknown position flag PF, origin movement flag SF, ascent flag UF, and descent flag DF. Set to value.

In this case, the current position NSC and the operating time t
is set to "0" and the target position TSC is set to "1".
is set to The current position NSC and target position TSC are
It represents the current height of the tee 14 and the target height of the tee 14, respectively, and these heights are usually 5 from "1" to "5".
It is expressed in stages, and the lower limit and upper limit at the time of abnormality are respectively expressed as "0" and "6". The operating time t represents the time during which the electric motor 21 is operating.

Furthermore, the operation flag MF is set to "0" and the motor stop flag MS is set to "1". The operation flag MF indicates whether or not the automatic tee-up device of this embodiment is in operation, and "1" indicates that it is operating, and "0" indicates that it is not operating. represent. Motor stop flag MS indicates electric motor 2
1 indicates whether it is running or stopped, and "0"
” indicates that it is in operation, and “1” indicates that it is stopped.

Furthermore, the new first sensor detection value NR, old first sensor detection value OR, and adjustment range flag IF are each "1".
”, and the adjustment range detection flag NF and adjustment range escape flag GF are each set to “0”. The new first sensor detection value NR and the old first sensor detection value OR are the first position sensor 35 This represents the current and previous detected values ("1" when the elongated hole 34a of the sensor plate 34 is at the position corresponding to the first position sensor 35, and "0" otherwise). Adjustment range flag IF
"1" indicates that the elongated hole 34a of the sensor plate 34 is located at a position corresponding to the first position sensor 35, and "0" indicates other states. When the adjustment range detection flag NF is set to "1", the rotation of the sensor plate 34 causes the long hole 34a of the sensor plate 34 to be connected to the first position sensor 3.
5 indicates that it has just entered the detection area, and “0”
” indicates other conditions.Adjustment range escape flag G
F indicates that "1" indicates that the elongated hole 34a of the sensor plate 34 has just moved out of the detection area of the first position sensor 35 due to rotation of the sensor plate 34, and "0" indicates other states. represent.

Unknown position flag PF, origin movement flag SF
, the rising flag UF and the falling flag DF are each "0".
".The position unknown flag PF is set to "1" to indicate that the rotational position of the rotating shaft 21a of the electric motor 21 is unknown, and to "0" to indicate other states.The origin movement flag SF is , "1" indicates that the rotating shaft 21a of the electric motor 21 is returning to the origin when the rotational position is unknown, and "0" indicates other states.Both the rising flag UF and the descending flag DF are It is used when adjusting the tee-up height by operating the rise and fall switches 42 and 43, and "1" indicates that the tee 14 is rising and falling, respectively, and "0" indicates other states. respectively.

After the initial setting process in step 102, C
The PU 44c begins to repeatedly execute the circular process consisting of steps 104 to 110. In step 104, it is determined whether or not a user card is inserted into the card reader 41. If the card is not inserted, the program proceeds to step 110 based on the "NO" determination in step 104. You can proceed. In step 110, in cooperation with other controlled circuits 47, other processing not directly related to the tee-up of the present invention, such as settlement, is executed on the condition that the adjustment range flag IF is "0". Ru.

[0034] When the user card is inserted into the card reader 41, the CPU 44c outputs "YE" in step 104.
S'', and the processes of the ``height selection routine'' in step 106 and the ``motor operation control routine'' in step 108 are started. As shown in detail in FIG. 7, the execution of the "height selection routine" starts at step 200, and at steps 202 and 208 it is detected whether or not the rise and fall switches 42 and 43 have been operated. be done. The case where these rise and fall switches 42 and 43 are operated will be described later, but first both switches 42 and 43 are operated.
The explanation will be continued regarding the case where 43 is not operated. In this case, the determinations in steps 202 and 208 are both "NO", and the execution of the routine ends in step 214.

Execution of the "motor operation control routine" begins at step 30, as shown in detail in FIGS. 8-10.
0, and in step 302 it is determined whether the operation flag MF is "1". In this case, the activation flag MF
has been set to "0" by the initial setting process, so the determination in step 302 is "NO", and the program proceeds to step 304, where the detection signal from the ball sensor 18 is detected. The information is read and the presence or absence of a golf ball on the tee 14 is determined. Initially, since there is no golf ball on the tee 14, the determination in step 304 is "NO", and in step 306, a control signal for normal rotation of the electric motor 21 is output to the drive circuit 45. The drive circuit 45 supplies a drive current to the electric motor 21 based on this control signal, and the motor 21 starts to rotate in the direction of the arrow (see FIGS. 1 and 4). After driving this electric motor 21, the CPU 44
c is the motor stop flag M in steps 308 to 312.
S, operation flag MF and operation time t are “0”, “1”,
Each is set to "0", and the execution of the "motor operation control routine" is ended in step 314.

Then, the circulation process consisting of steps 104 to 110 of the "main program" in FIG. 6 is executed again, and the "motor operation control routine" is executed again at step 108 of the circulation process. This time, the operation flag MF, motor stop flag MS, and operation time t are set to "1", "0", and "1", respectively, by the above-mentioned processing, and the origin movement flag SF, ascent and descent flags UF, Since DF has been set to "0" by the above-mentioned initial setting process, "YES" is determined in step 302, and "NO" is determined in steps 316 to 320.
At step 314, the execution of the "motor operation control routine" ends. Then, the above-described process continues to be repeatedly executed for a while. On the other hand, the timer 44e generates an interrupt signal every 2.5 ms, and the CPU 44c interrupts and executes the "timer interrupt program" shown in FIG. 11 every time this interrupt signal arrives.

Execution of this "timer interrupt program" starts at step 400, and at step 401 it is determined whether the motor stop flag MS is "1". If the motor stop flag MS is "1", based on the "YES" determination in step 401, the execution of this program is terminated in step 412, and the "main program" is executed again. However, in this case, since the motor stop flag MS is set to "0" at the same time as the forward rotation control of the electric motor 21 described above, the determination in step 401 is "NO", and after the processing in steps 402 to 410, the motor stop flag MS is set to "0". , the execution of the same program ends in step 412, and the "main program" is executed again. In steps 402 and 404, an "adjustment range detection routine" and a "position count routine" are executed, but since the processing of each of these routines is not directly related to the rotation control of the electric motor 21 at this stage, the routine is A detailed explanation will be given later. Further, in step 406, a "motor stop control routine" is executed. As shown in detail in FIG. 16, execution of the routine starts at step 700, and steps 702-
At 706, the origin movement flag SF, ascent and descent flags UF and DF are both set to "0" by the above-mentioned initial setting process.
”, the determination is “NO” in each case. Next, in step 708, it is determined "NO", that is, there is no golf ball on the tee 14, based on the detection signal from the ball sensor 18, and in step 714, the execution of the "motor stop control routine" ends. .

Returning to the explanation of the "timer interrupt program" in FIG. 11, after the "motor stop control routine" in step 406, the adjustment range escape flag GF and adjustment range detection flag NF are set to "0" in step 408. ”
is cleared to "1" at step 410 for the operating time t.
is added, and the execution of the program ends at step 412. In this way, immediately after the electric motor 21 starts rotating, no substantial processing is performed in the "timer interrupt control program," but the operating time t increases by "1" each time the program is executed.

On the other hand, as the electric motor 21 starts to rotate forward,
The crank 25 rotates in the direction of the arrow in FIG. 1, the lever 26 swings about the pin 27, and the end member 31 descends from the position shown. As the end member 31 descends, the sleeve 32a of the connecting member 32 descends on the outer periphery of the pole 33 while the pin 32b rotates, and the tee 14 also descends. Also, due to the forward rotation of this electric motor 21, the arm 2
4 also rotates in the same direction, and when the claw portion 24b of the arm 24 also rotates from the illustrated position and reaches the position of the tip of the first rail 15, the claw portion 24b is moved to the first ball by a ball throwing device (not shown).
A golf ball that has been sent onto the rail 15 and is stationary on the L-shaped tip of the rail 15 is scooped up, and the ball is transported onto the rear end of the second rail 16 as the arm 24 rotates. do. The transported golf ball rolls toward the tip on the second rail 16 and comes into contact with the tip wall 12a. At this time, the upper surface of the tee 14 has been lowered to a height above the tip of the second rail 16, and the golf ball is placed on the tee 14.

Since the electric motor 21 continues to rotate in the normal direction, the crank 25 also rotates in the same direction, and the lever 26 swings downward, so that the tee further descends. In this state, the presence of golf balls is confirmed by a sensor (not shown), and the number of supplied golf balls is counted.
The same count value is used for the above-mentioned settlement process. Furthermore, as the electric motor 21 continues to rotate normally, the lever 26 begins to swing upward, and the tee 14 also begins to rise. Then, when the tee 14 begins to protrude from the reference surface, the long hole 34a of the sensor plate 34 comes to face the first position sensor 35.

In this state, when the above-mentioned "timer interrupt program" (FIG. 11) is executed, the "adjustment range detection routine" in step 402 of the program detects that the sensor plate 34 has rotated to the adjustment range. Detected. That is, step 50 of the same routine (FIG. 12)
At step 2, the detection signal from the first position sensor 35 is read, and the new first sensor detection value NR is set to "1". On the other hand, in this case, when the same routine was executed last time, this new first sensor detection value NR is set to "0", and the old first sensor detection value OR is updated to "0" by the process of step 512. Therefore, the current old first sensor detection value OR is “0”.
As a result, the determination in step 508 is "YES", and the adjustment range detection flag NF is set to "1" in step 510.

Next, the “position count routine” (FIG. 13)
) is executed, in this case, both the origin movement flag SF and the descent flag DF are set to "0", so the determination is "NO" in both steps 604 and 606,
The program continues to step 614 (FIG. 14). In step 614, the determination is "YES" based on the adjustment range detection flag NF set to "1", and in step 636 the current position Nsc is set to "0", and in step 638 Adjustment range flag I
F is set to "1", and after the process of step 628, the execution of the routine ends in step 630.

Next, when the "motor stop control routine" (FIG. 16) is executed, after steps 702 to 706 are processed, "Y
ES'', that is, it is determined that the golf ball is present on the tee 14, and in step 710 it is determined whether the current position Nsc and the target position Tsc are equal. Now, the current position Nsc is set to "0" and the target position Tsc is set to "1" by the above-mentioned initial setting process, so the determination in step 710 is "NO" and step At 714, execution of the routine ends.

After this "motor stop control routine" is completed, the adjustment range exit flag GF and adjustment range detection flag NF are cleared to "0" in steps 408 and 410 of the "timer interrupt program" (FIG. 11), and the adjustment range detection flag NF is cleared to "0". , in step 410, "1" is added to the operating time t as described above.

When the "timer interrupt program" (FIG. 11) is executed again, at steps 604, 606, 614, and 616 of the "position count routine" (FIGS. 13 and 14) in the same program, " The determination is "NO" based on the flags SF, DF, NF, and GF which are set to "0", and the determination is "YES" at step 618 based on the adjustment range flag IF which is set to "1". Then, the processes of steps 620 to 630 are executed. In step 620, the detection signal from the second position sensor 36 is input, and the new second sensor detection value NS is set to the same detection signal value. In this case, if the notch 34b of the sensor plate 34 has not yet reached the position of the second position sensor 36, the detection signal represents "0", so the new second sensor detection value NS is also "0". is set to Then, in step 622, "NO", that is, the new second
It is determined that the sensor detection value NS is not "1", the old second sensor detection value OS is updated with this new second sensor detection value NS in step 628, and the "position count routine" is executed in step 630. finish.

On the other hand, the rotation of the sensor plate 34 progresses,
When the notch 34b reaches the position of the second position sensor 36, the detection signal from the second position sensor 36 comes to represent "1", so the new second sensor detection value NS is also set to "1". . Therefore, in the next step 622,
“YES”, that is, it is determined that the new second sensor detection value NS is “1” and the old second sensor detection value OS is “0”, and the current position is set to “0” in step 624. Based on Nsc, the determination is "NO", and in step 626, "1" is added to the current position Nsc, so that the same position Nsc becomes "1". As a result, in the next "motor stop control routine" (FIG. 16), after determining "NO" in steps 702 to 706 and "YES" in step 708, in step 710, the current position Nsc and the target position are Tsc is again compared. In this case, as described above, if the target position Tsc is maintained at the initial setting "1", then step 71
Based on the “YES” determination in step 712
``Motor reversal stop routine'' is executed.

Further, by adjusting the tee-up height, which will be described later, the target position Tsc can be set to a value other than "1", that is, "2".
If the value is set to one of the values from 5 to 5, the determination at step 710 (FIG. 16) is "NO", and the "motor stop control routine" is executed at step 714.
execution ends. In this case, the sensor plate 34
Each time the notches 34c to 34f of
), the current position N
sc is counted up. And this current position N
When sc matches the target position Tsc, as mentioned above, "
Step 710 of “Motor Stop Control Routine” (FIG. 16)
``YES'' is determined in step 712, and a ``motor reversal stop routine'' is executed in step 712.

As shown in detail in FIG. 17, the execution of this "motor reversal stop routine" starts at step 800, and at step 802, the descending flag DF and the unknown position flag, which are initially set to "0", are Based on PF “N
"O", a control signal for reversing the electric motor 21 is output to the drive circuit 45 for 10 μs in step 804, and a control signal for stopping the motor 21 is output to the drive circuit 45 in step 808. Output. As a result, the drive circuit 45 responds to this control signal by supplying a drive current to the electric motor 21 for 10 μs to drive the electric motor 21 in the reverse direction.
It reverses for only μs and then stops. in this way,
The reason why the electric motor 21 is stopped after being reversed is that when stopping the motor 21, the rotating shaft 21a will stop beyond the position where it should stop due to inertia. This is to correct. Therefore, the time of 10 μs is determined by the performance of the electric motor 21, the load on the motor 21, etc.

As a result of such control, if the target position Tsc is set to "1" to "5", the notches 34b to 3
4f passes the second position sensor 36, the electric motor 21 is controlled to stop, and the crank 25 moves to the rotational position P11~
At the same time as stopping at P15 (FIGS. 1 and 4), the lever 26 stops at rotational positions P21 to P25 (FIG. 1), and the height of the tee 14 is set to positions P31 to P35 (FIG. 1), respectively.

[0050] Also, the above-mentioned "motor reversal stop routine" (
After the processing in step 808 in FIG. 17), the motor stop flag MS is set to "1" in step 810, and the operating time t is cleared to "0" in step 812. As a result, when the "motor operation control routine" is executed in step 108 of the "main program" (FIG. 6), "YES" is selected in step 302 of FIG. 8, as described above.
That is, it is determined that the operation flag MF is "1", and in step 316 it is determined that "NO", that is, the origin movement flag SF is determined to be "1".
, both the rising flag UF and falling flag DF are "1"
In step 318, it is determined as "YES" based on the motor stop flag MS set to "1", and in step 326, the operation flag MF is set to "0".
is cleared, and execution of the routine ends at step 314.

Next, when the "motor operation control routine" is executed, in step 302 "N
In other words, it is determined that the operation flag MF is not "1", and in step 304 it is determined whether or not there is a golf ball on the tee 14 based on the detection signal from the ball sensor 18. In this case, if the practitioner has not yet hit the golf ball that has been teed up, there is a golf ball on the tee 14, so select "YES" in step 304.
9, the program proceeds to step 328 in FIG. 9, where the current position Nsc and the target position Tsc are compared. However, in this case, since the electric motor 21 is controlled to stop when both positions Nsc and Tsc become equal as described above, the determination in step 328 is "YES", and the same routine is executed in step 330. ends. From then on, in the same routine, steps 302 and 302 are performed until the practitioner hits the golf ball.
Processes 304, 328, and 330 are repeatedly executed. Also, every 2.5ms, the "timer interrupt program"
Even if (Fig. 11) is executed, the motor stop flag MS is "
1”, so in step 401 “
Based on the determination of ``YES'', the processing of steps 402 to 410 is not executed, and the execution of the program ends at step 412.

In this state, when the practitioner hits the golf ball on the tee 14, the "main program" (Fig. 6
) Step 3 of "Motor operation control routine" (Fig. 8)
04, it is determined that there is no golf ball on the tee 14, and the processing from step 306 onwards is executed. This process is as described above, and a new golf ball is automatically teed up as described above.

The above explanation of the operation is for the case where the golf ball is normally teed up.
The operation when the rotational position of the sensor plate 34 is not normally detected based on the detection signal from the position sensor 36 and the ball is not normally teed up will be described.

In this case, since the sensor plate 34 continues to rotate normally, the elongated hole 34a of the plate 34 escapes from the position of the first position sensor 35. This escape is detected in the "adjustment range detection routine" at step 402 of the "timer interrupt program" (FIG. 11). That is, in step 502 of the same routine (FIG. 12), the first position sensor 3
The new detection signal read from No. 5 represents "0", and the new first sensor detection value NR is set to "0". On the other hand, since the old first sensor detection value OR updated during the previous execution of the same routine is "1", it is determined as "YES" in step 504, and the adjustment range escape flag GF is set as "1" in step 506. ” is set.

[0055] Then, the "position count routine" (Fig. 1
3 to FIG. 15) are executed, steps 604 and 606
At , both the origin movement flag SF and the descent flag DF are set to "
0”, respectively, “NO”
The program then proceeds to step 614 (FIG. 14).
You can proceed to the following. In this case, the adjustment range exit flag GF
is set to "1", so in step 616 "
YES”, and the current position Ns is determined in step 632.
c is set to "6" and the adjustment range flag IF is set to "0" at step 634.

Next, the "motor stop control routine" (Fig. 1
6) is executed, step 70 is performed in the same manner as described above.
After processing steps 2 to 708, the current position Ns is determined in step 710.
It is determined whether c and the target position Tsc are equal. In this case, since the rotational position of the sensor plate 34 is not normally detected based on the detection signal from the second position sensor 36, the current position Nsc and the target position Tsc are not equal, and the answer in step 710 is "NO". It is determined that this is the case, and the execution of the routine ends in step 714. and,
Step 4 of “Timer interrupt program” (Figure 11)
After both the adjustment range escape flag GF and adjustment range detection flag NF are cleared to "0" in step 08, step 410
``1'' is added to the operating time t. In this way, the actuation time t increases by "1" every 2.5 ms.

[0057] Once again, the "main program" (Figure 6)
"Motor operation control routine" in step 108 (Fig. 8
) is executed, in this case, the operation flag MF is “1”
At the same time, the origin movement flag SF, ascent flag UF, descent flag DF, and motor stop flag MS are all set to "0". Together, “NO”
”, and in step 320 it is determined whether the operating time t is greater than or equal to a predetermined time value tmax. This predetermined time value tmax is set to a time during which the sensor plate 34 rotates slightly more than one revolution, and if the operating time t is less than the predetermined time value tmax, based on the determination of "NO" in step 320, Execution of this routine ends at step 314, and sensor plate 34 continues to rotate. On the other hand, when the operating time t becomes equal to or greater than the predetermined time value tmax, the determination in step 320 is ``YES'', and the ``motor reversal stop routine'' is executed in step 322. In this "motor reversal stop routine" (FIG. 17), as described above, the electric motor 21 is reversed for 10 μs and then stopped, and the motor stop flag MS is set to "1".
At the same time, the operating time t is cleared to "0". After this "motor reversal stop routine" is executed, the position unknown flag PF is set to "1" and the operation flag MF is cleared to "0" in step 324 (FIG. 8), and the execution of this routine is completed. finish.

[0058] Then, once again, the "main program"
(FIG. 6), when the "motor operation control routine" (FIG. 8) of step 108 is executed, in this case, the operation flag MF
is set to "0" and the golf ball is also on the tee 14, so in step 302 "NO" is set.
'', the determination in step 304 is ``YES'', and the program proceeds to step 328 in FIG. 9, where it is determined whether the current position Nsc and the target position Tsc are equal. Current position Nsc and target position Ts
Since c is not equal as described above, based on the "NO" determination in step 328, the program proceeds to steps 332 and subsequent steps. In this case, the position unknown flag P
Since F is set to "1", step 332
If the result is ``YES'', steps 334 to 346 are performed.
After the process is executed, the execution of this routine ends at step 330. In the processing of steps 334 to 346, the position unknown flag PF and the motor stop flag M
S is set to "0", the origin movement flag SF and the operation flag MF are set to "1", the target position Tsc and the operation time t are cleared to "0", and the control for reversing the electric motor 21 is performed. A signal is output to drive circuit 45. As a result, the electric motor 21 begins to rotate in reverse (in the opposite direction to the arrow in FIG. 1), and the sensor plate 34 also begins to rotate in the same direction.

Furthermore, in this state, when the "motor operation control routine" (FIG. 8) of step 108 of the "main program" (FIG. 6) is executed again, in this case, the operation flag MF and the home position movement flag SF are set. Since both are set to "1", both "Y" is set in steps 302 and 316.
ES", the program proceeds to step 3 in Figure 10.
Proceed to 62. In this state, the motor stop flag M
S is set to "0", and the origin movement flag S
Since F is set to "1", step 362,3
64, both are determined to be "YES", and step 366
until the operating time t becomes equal to or greater than the predetermined time value tmax.
The determination continues as "NO", and the execution of this routine ends at step 368. Since this state continues thereafter, step 3 is performed in this "motor operation control routine".
The processing consisting of 02, 316, 362-368 continues to be executed.

When the long hole 34a of the sensor plate 34 passes through the first position sensor 35 and exits the adjustment range due to the reverse rotation of the sensor plate 34 (in the direction opposite to the arrow in FIGS. 1 and 4), a "timer interrupt" occurs. program” (Figure 11), the aforementioned “adjustment range detection routine” (Figure 12) is executed.
), the adjustment range escape flag GF is set to "1". Therefore, when the "position count routine" (FIG. 13) is executed next, a determination of "YES" is made in step 604 based on the origin movement flag SF set to "1", and then step 608 At step 610, it is determined that "YES", that is, the adjustment range escape flag GF is "1", and at step 610, the current position Nsc is set to "0", and at step 612, the execution of this routine ends. Also, when the "motor stop control routine" (FIG. 16) is executed next, the origin movement flag SF and the adjustment range exit flag G
Since both F are set to "1", step 702
, 716 are both determined as "YES", and step 71
8, a "motor reversal stop routine" is executed.

[0061] This "motor reversal stop routine" (Fig. 17
), the origin movement flag SF is set to "1", so the electric motor 21 rotates forward for 10 μs by the processing in steps 802, 806, and 808 (Figs.
810, 81).
By the process 2, the motor stop flag MS is set to "1" and the operating time t is cleared to "0". After that, in step 720 (FIG. 16), the origin movement flag S
F is changed to "0". The lower end of the long hole 34a in FIGS. 1 and 4 of the sensor plate 34 is located at the first position sensor 3.
5, the crank 25 stops at the rotational position P10, and the lever 26 stops at the position 20, so the height of the tee 14 is set at the lowest position 30.

Meanwhile, in this state, the "main program"
When the "motor operation control routine" (FIG. 8) of step 108 in FIG. SF, the rising flag UF and the descending flag DF are set to "0", so the answer is "YES" at step 302 and "NO" at step 316.
”, the determination in step 318 is “YES”, the operation flag MF is changed to “0” in step 326, and the execution of this motor operation control routine is ended in step 314. Then, when the "motor operation control routine" is executed, the operation flag MF is "1", and the current position Nsc and the target position Tsc are equally set to "0", so the tee 14 Steps 302, 304, and 32 in FIGS. 8 and 9 until the golf ball above is hit.
8,330 processes are executed. Furthermore, when the golf ball is hit, the processes from step 306 onwards are executed.

On the other hand, if the tee 14 is not set at the lowest height position P30 even with such origin movement control, the operating time t is determined by the "timer interrupt program" (FIG. 11), as in the case described above. 2.5ms executed
It increases every time, and exceeds the predetermined time value tmax. In this case, step 30 of the "motor operation control routine" (FIGS. 8 to 10) of the "main program" (FIG. 6) mentioned above.
During the execution of steps 0, 302, 316, 362 to 368, the determination in step 366 is YES, and after abnormality processing is executed in step 370, the execution of the program ends in step 372. This termination means that the program will no longer be executed, and in this case, the program will not start running unless the power switch is turned on again. In addition, in the abnormality processing at step 370, an abnormality signal is supplied to the display 46, and the display 46 receives an abnormality signal.
6 notifies the user and owner of the automatic tee-up device of the abnormality of the device.

Next, a case will be described in which the height of the tee 14 is changed according to the user's preference. In this case, with the golf ball still placed on the tee 14, the user presses the up switch 42 or the down switch 43 one or more times until the tee 14 reaches the desired height.

When the rise switch 42 is pressed, C
The PU 44c detects the operation in the "height selection routine" of step 106 during execution of the "main program" (FIG. 6). In this "height selection routine" (FIG. 7), after starting in step 200, step 202
If the current position Nsc is less than 5, the target position Tsc is set to 1 in step 206.
' will be added. In addition, the operation of this rise switch 42,
The operation of the lowering switch 42, which will be described later, is performed by each switch 4.
When the switches 2 and 43 are released, it is detected in steps 202 and 208 that the switches 42 and 43 have been operated. Also,
If the current position Nsc is “5” or more, step 204
Since the determination is ``YES'' in step 214 and the execution of this routine ends in step 214, the height of the tee 14 is not changed in this case.

As described above, when the "motor operation control routine" (FIGS. 8 to 10) of the "main program" (FIG. 6) is executed with the target position Tsc changed, step 300 described above is executed. . . . 304, 328, 330, “NO” in step 328, that is, the current position Ns
It is determined that c is not equal to the target position Tsc, and the program proceeds to step 332. Unknown location flag P
Since F is set to "0", the determination in step 332 is "NO", and the current position N is determined in step 348.
sc and the target position Tsc are compared. In this case, since the target position Tsc has increased due to the operation in the raising step 42, the answer is "YES" in the step 348.
That is, it is determined that the current position Nsc is smaller than the target position Tsc, and steps 350 to 354, 344, and 346 are performed.
is executed, and the execution of this routine ends at step 330. These steps 350-354,
In the processing at 344 and 346, the rise flag UF and the operation flag MF are set to "1", the motor stop flag MS is set to "0", the operation time t is cleared to "0", and the electric motor 21 is A control signal for normal rotation is output to the drive circuit 45. Thereby, the drive circuit 45 rotates the electric motor 21 in the forward direction.

[0067] And again, the "main program"
(FIG. 6), when the "motor operation control routine" (FIG. 8) of step 108 is executed, in this case, the operation flag MF
Since both the flag UF and the rising flag UF are set to "1", the determinations at both steps 302 and 316 are "YES", and the program proceeds to step 362 (FIG. 10). In this case, both the motor stop flag MS and the home position movement flag SF are set to "0", so "YES" is determined in step 362, and "N" is determined in step 364.
“O” is determined, and “YES” is determined in step 374.
” That is, it is determined that the rising flag UF is “1”, and the program proceeds to step 376 and subsequent steps. now,
Since the current position Nsc is less than "5" and the operating time t is not long, "NO" is returned at both steps 376 and 378.
It is determined that this is the case, and the execution of this routine ends in step 368. In this state, in this "motor operation control routine", steps 300, 302,
The processing consisting of 316, 362, 364, 374 to 378, 368 continues to be executed.

On the other hand, in this state, when the "timer interrupt program" (FIG. 11) is executed and the "position count routine" is executed at step 404 of the same program, step 604 of the same routine (FIG. 13) is executed. "NO"
In other words, it is determined that the origin movement flag SF is not "1", and at the same time, it is determined "NO" in step 606, that is, it is determined that the descending flag DF is not "1", and the program proceeds to step 614 in FIG. In this case, the rotational position of the sensor plate 34 is always within the adjustment range,
In the "adjustment range detection routine" of the "timer interrupt program" (Fig. 11), the adjustment range detection flag NF and adjustment range escape flag GF are never set to "1", and the adjustment range flag IF is "1". Therefore, the determination at both steps 614 and 616 is "NO", the determination at step 618 is "YES", and the program proceeds to step 620 and subsequent steps.

As described above, the processing in steps 620 to 628 is performed in the notches 34b to 34f of the sensor plate 34.
When any one of them passes the position of the second position sensor 36, the current position Nsc is counted up by "1". As a result, the sensor plate 34 rotates with the rotation of the electric motor 21, and when the current position Nsc and the target position Tsc match, this coincidence is determined by the "motor Detected in "Stop Control Routine".

In the "motor stop control routine" (FIG. 16), in step 702, based on the origin movement flag SF being set to "0" and the rising flag UF being set to "1", "NO" is determined in step 704, "YES" is determined in step 704, and after the processing in step 722, "YES" is determined in step 724, that is, it is determined that the current position Nsc is equal to the target position Tsc, and step 726
, 728 are performed. In step 726, a "motor reversal stop routine" is executed, and then, in step 728, the rising flag UF is changed to "0".

[0071] This "motor reversal stop routine" (Fig. 17
), as mentioned above, the electric motor 21 is 10μ
The motor stops after being reversed by s, and the motor stop flag MS
is set to "1" and the operating time t is cleared to "0". As a result, the height of the tee 14 is set to the height set by the rise switch 42 (positions P31 to P35). Meanwhile, in this state, the "main program"
When the "motor operation control routine" (FIG. 8) of step 108 in FIG. is set to "0", so in step 302 "YES" and in step 31
The determination in step 6 is "NO", the determination in step 318 is "YES", and the operation flag MF is changed to "0" in step 326. As a result, the next time the "motor operation routine" is executed, "N
"O", and the processes from step 304 described above are executed.

[0072] Also, due to some abnormality, the current position Nsc set in the "position count routine" is "6".
If this happens, step 722 (FIG. 1
Based on the “YES” determination in step 6), step 72
By the process of 6,728, the electric motor 21 is controlled to stop. Furthermore, a series of processes similar to steps 722, 726, and 728 are also provided in steps 376, 386, and 382 (FIG. 10) of the "motor operation control routine", and in this case as well, the current position Nsc is "6'', the electric motor 21 is controlled to stop. Furthermore, in this case, the operation flag MF is also changed to "0" in step 384.

Furthermore, when the height of the tee 14 is being raised, the current position Nsc is lower than the target position T.
If the current position Nsc does not become equal to "sc" or the current position Nsc becomes "6", the operating time t increases. In this case, step 378 of the "Motor Operation Routine" (Fig.
), ``YES'', that is, the operating time t is set to the predetermined time value tm.
ax or more, the position unknown flag PF is set to "1" in step 380, the electric motor 21 is controlled to stop in step 382, and the operation flag MF is changed to "0" in step 384. The execution of this routine in step 368 then ends. As a result, in this case, the origin movement control described above is performed and the tee 14 is set at the lowest height position P30.

On the other hand, when the lowering switch 43 is pressed, a determination of "YES" is made in step 208 of the above-mentioned "height selection routine" (FIG. 7), and the current position Nsc
is greater than "1", "1" is subtracted from the target position Tsc in step 212. Also, the current position Nsc
is "1" or less, "YES" in step 210.
Since it is determined that this is the case and the execution of this routine ends in step 214, the height of the tee 14 is not changed in this case. As mentioned above, the "motor operation control routine" (Figs. 8 to 10) is performed with the target position Tsc subtracted.
) is executed, step 32 is executed, as in the previous case.
8 and 332 (FIG. 9), the determination is "NO" and the program proceeds to step 348. In this case, since the target position Tsc has decreased due to the operation of the lowering switch 43, the answer in step 348 is "NO".
That is, it is determined that the current position Nsc is not smaller than the target position Tsc, and the lowering flag DF and the operation flag MF are set to "1" in steps 356 and 346, and the motor stop flag MS is set to "0" in step 360. The operating time t is cleared to "0" in step 344, and a control signal for reversing the electric motor 21 is output to the drive circuit 45 in step 358. This results in
Drive circuit 45 rotates electric motor 21 in reverse.

When the "motor operation control routine" (FIG. 8) is executed again, in this case, both the operation flag MF and the descending flag DF are set to "1", and the motor stop flags MS and Origin movement flag SF
are both set to "0", so step 302,
316 (FIG. 8), both are determined as "YES", step 362 (FIG. 10) is determined as "YES", step 364 is determined as "NO", and the program proceeds to step 374.
You can proceed to Then, in step 374, it is determined "NO", that is, the rise flag UF is not "1", so in this state, steps 300, 302, 316, 362, 3
The processing consisting of 64, 374, 388, 378, and 368 continues to be executed.

On the other hand, in this state, when the "timer interrupt program" (FIG. 11) is executed and the "position count routine" (FIG. 13) is executed at step 404 of the same program, in this case, Descending flag DF is “1”
, the processing from step 640 onward in FIG. 15 is executed. In this case as well, in the "adjustment range detection routine" (FIG. 12), the adjustment range detection flag NF and adjustment range escape flag GF are never set to "1", and the adjustment position flag IF is not set to "1". ”, so in steps 640 and 642 both “NO” is maintained.
" and "YES" in step 644.
It is determined that, through the processing of steps 646 to 654,
When any of the notches 34b to 34f of the sensor plate 34 passes the position of the second position sensor 36, the current position Nsc is counted down by "1".

As a result, the sensor plate 34 rotates as the electric motor 21 rotates, and when the current position Nsc and the target position Tsc match, the process proceeds to step 732 of the "motor stop control routine" (FIG. 16). "YES", that is, it is determined that the current position Nsc is equal to the target position Tsc, and after the "motor reversal stop routine" is executed in step 734, the descending flag DF is set in step 736.
In this "motor reversal stop routine", the descending flag DF is set to "1", so the electric motor 21 is changed to "0" for only 10 μs by the processing of steps 802, 806, and 808 (FIG. 17). Stops after rotating forward. Also in this case, the motor stop flag MS is set to "1" and the operating time t is cleared to "0". As a result, the height of the tee 14 is set to the height set by the lowering switch 43 (positions P31 to P35). On the other hand, in this state, when the "motor operation control routine" (FIG. 8) of step 108 of the "main program" (FIG. 6) is executed again, the operation flag MF is set to "0" at step 326. Then,
When the "motor operation routine" is executed, a "NO" determination is made in step 302, and the processes from step 304 described above are executed.

[0078] Also, due to some abnormality, the current position Nsc set in the "position count routine" is "0".
, step 730 (FIG. 16)
Based on the “YES” determination in step 734,
Through the process 735, the electric motor 21 is controlled to stop. Furthermore, a series of processes similar to steps 730, 734, and 736 are also provided in steps 388, 390, and 382 of the "motor operation control routine" (FIG. 10).
Also in this case, if the current position Nsc becomes "0", the electric motor 21 is controlled to stop.

Furthermore, when the height of the tee 14 is lowered, the current position Nsc is lower than the target position T, as described above.
If Nsc does not become equal to Nsc or the current position Nsc does not become "0", the operating time t increases. Also in this case, when the rotational position of the sensor plate 34 falls within the adjustment range due to the rotation of the sensor plate 34,
By executing the "adjustment range detection routine" (Fig. 12), the adjustment range detection flag NF is set to "1", and steps 640, 658, 660 of the "position count routine" (Fig. 1
Through the process 5), the current position Nsc is set to "6" and the adjustment range flag IF is set to "1". Furthermore, when the rotational position of the sensor plate 34 is outside the adjustment range, the adjustment range escape flag GF is set to "1" by executing the "adjustment range detection routine" (FIG. 12).
Steps 642, 662 of the "position count routine",
664 (FIG. 15), the current position Nsc is set to "0".
” and the adjustment range flag IF is set to “0”. Further, when the electric motor 21 continues to rotate and the operating time t becomes equal to or greater than the predetermined time value tmax, the answer is "YES" in step 378 (FIG. 10) of the "motor operating routine".
”, and in step 380 the position unknown flag PF is set.
is set to "1". As a result, the origin movement control described above is performed, and the tee 14 is set at the lowest height position P30.

As described above, in the above embodiment, when the ball sensor 18 detects that there is no golf ball on the tee 14, the "motor operation control routine" (FIGS. 8 to 10) is executed. by electric motor 21
is started, and the rotational movement of the motor 21 is caused by the crank 25,
The lever 26 and the connecting member 32 convert the movement into an up-and-down movement, and the tee 14 descends. On the other hand, when the tee 14 is lowered, the arm 24 also rotates as the electric motor 21 rotates, and the claw portion 24b of the arm 24 transports the golf ball on the first rail 15 to the second rail 16. Two rails 16 feed golf balls onto the tee 14. Then, the current position Nsc of the tee 14 is detected through the processes of the "adjustment range detection routine" (FIG. 12) and the "position count routine" (FIGS. 13 to 15), and the "motor stop control routine" (FIG. 16) is performed. Target position Ts by execution
Based on the comparison between c and the current position Nsc, the tee 14 is set to the target position Tsc. In this case, the target position Ts
c is set to a height desired by the user by executing a "height selection routine" (FIG. 7) based on the operation of the up switch 42 or the down switch 43. Therefore, according to the above embodiment, it is possible to automatically tee up a golf ball to an arbitrary height by using only the single electric motor 21, and the automatic teeing up device for golf practice can be made small and low cost. Can be manufactured at low cost.

Further, in detecting the current position Nsc, a part of the long hole 34a of the sensor plate 34 comes to a position facing the first position sensor 35 by executing the "adjustment range detection routine" (FIG. 12). It is detected that the height of the tee 14 falls within a predetermined range on the condition that the height of the tee 14 is within a predetermined range.
~ Figure 15), the notches 34b ~ 3 of the sensor plate 34
Each time the second position sensor 36 of 4f arrives, the current position Nsc is counted up. This makes it possible to set many types of tee heights without using many sensors. Then, before it is detected that the tee 14 has come within a predetermined range, there is no need to execute the process of counting up the current position Nsc.
During this time, 44c can take sufficient time to perform other processing such as settlement at step 110 of the "main program" (FIG. 6).

Furthermore, according to the above, when stopping the electric motor 21 in the "motor stop control routine" (FIG. 16), regardless of whether the motor 21 is rotating forward or reverse, Since the motor 21 is reversed for a minute period and then stopped, a delay in stopping due to inertia when the electric motor 21 is stopped is corrected.

In the above embodiment, an example was explained in which the electric control device according to the present invention is applied to a tee-up device that raises and lowers a tee by swinging a lever, but the electric control device according to the present invention The present invention can also be applied to a tee-up device of the type that converts the rotational motion of an electric motor into vertical motion of a tee without relying on swinging of a lever. That is, by winding the belt using a pulley, a part where the belt moves up and down is formed, and a tee is fixed to this part that moves up and down, and the belt is driven by an electric motor to create a tee. Tee-up device of the type that lifts and lowers (for example, see Japanese Patent Application Laid-Open No. 1-250277 cited in the "Prior Art" section above)
The electric control device according to the present invention can also be applied to. Also,
The electric power according to the present invention can also be used in a tee-up device of a type in which a ball nut is assembled on a screw shaft and a tee is fixed to the nut, and the screw shaft is rotated by an electric motor to raise and lower the tee. Control device can be applied. In these cases as well, the electric control device may detect the rotation of the rotating shaft of the electric motor and control the rotation of the motor.

[Brief explanation of the drawing]

FIG. 1 is a front view of an automatic tee-up device according to an embodiment of the present invention.

FIG. 2 is a plan view of the device.

FIG. 3 is a side view of the device.

FIG. 4 is a front view of the sensor plate of FIG. 1.

FIG. 5 is a block diagram of an electrical control device for the device.

6 is a flowchart corresponding to the "main program" executed by the microcomputer in FIG. 5. FIG.

7 is a flowchart corresponding to the "height selection routine" of FIG. 6. FIG.

8 is a flowchart corresponding to a part of the "motor operation control routine" of FIG. 6. FIG.

FIG. 9 is a flowchart corresponding to a part of the "motor operation control routine".

FIG. 10 is a flowchart corresponding to a part of the "motor operation control routine".

FIG. 11 is a flowchart corresponding to a "timer interrupt program" executed by the microcomputer in FIG. 5;

FIG. 12 is a flowchart corresponding to the "adjustment range detection routine" of FIG. 11;

FIG. 13 is a flowchart corresponding to a part of the “position count routine” in FIG. 11;

FIG. 14 is a flowchart corresponding to a part of the "position count routine".

FIG. 15 is a flowchart corresponding to a part of the "position count routine".

16 is a flowchart corresponding to the "motor stop control routine" of FIG. 11. FIG.

17 is a flowchart corresponding to the "motor reversal stop routine" of FIGS. 8, 10, and 16. FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 11, 12... Side plate, 14... Tee, 15, 16... Rail, 18... Ball sensor, 21... Electric motor, 24... Arm, 24a... Claw part, 25... Crank, 26... Lever, 3
2... Connection member, 34... Sensor plate, 34b to 34f
... Notch, 35... First position sensor, 36... Second position sensor, 42... Up switch, 43... Down switch, 44...
microcomputer.

Claims (6)

[Claims] [Claim 1] A tee provided in the main body so as to be freely raised and lowered;
an electric motor; a conversion mechanism that converts the rotational movement of the electric motor into vertical movement of the tee; a supply mechanism that supplies golf balls to the tee when the tee is in a lowered state; an automatic tee-up device for golf practice comprising: an electric control device for controlling the electric control device; a ball sensor for detecting the presence or absence of a golf ball on the tee; a rotational position detecting means for detecting, a specifying means for specifying the height of the tee, the ball sensor,
is connected to the rotational position detection means and the specification means, and starts rotation of the electric motor when the ball sensor does not detect a golf ball on the tee; An automatic tee-up for golf practice, comprising a rotation control means for stopping the rotation of the motor when the rotation position of the rotation shaft becomes equal to the rotation position corresponding to the height specified by the specification means. Device. 2. The specifying means includes a selection operation means for selecting one of a plurality of different heights, and the rotational position detecting means is configured such that the rotational position of the rotating shaft of the electric motor is set to the selected height. a first position sensor for detecting a state within a predetermined range corresponding to a height range of the tee that can be selected by an operating means; and a second position sensor that detects a state at one of the rotational positions corresponding to a plurality of different heights selected by the operating means,
The rotation control means includes a storage means for storing data representing the height selected by the selection operation means, and a start means for starting rotation of the electric motor when a golf ball is not detected on the tee by the ball sensor. and,
recognition means for recognizing that the rotational position of the rotating shaft of the electric motor falls within the predetermined range in response to detection by the first position sensor; a counting means for counting the number of detections, and comparing the count value by the counting means with the height data stored in the storage means, so that the rotational position of the rotating shaft of the electric motor corresponds to the selected height. 2. The automatic tee-up device for golf practice according to claim 1, further comprising a stop means for stopping the rotation of the electric motor when the rotation position coincides with the rotation position. 3. The designation means comprises a selection operation means for selecting one of a plurality of different heights, and the rotational position detection means is configured such that the rotational position of the rotational shaft of the electric motor is set at the selected height. a first position sensor for detecting a state within a predetermined range corresponding to a height range of the tee that can be selected by an operating means; and a second position sensor that detects a state at one of the rotational positions corresponding to a plurality of different heights selected by the operating means,
The rotation control means is configured by a computer, and the computer performs a storage process for storing data representing the height selected by the selection operation means, and when a golf ball is not detected on the tee by the ball sensor. a start process for starting rotation of the electric motor; a recognition process for recognizing that the rotational position of the rotating shaft of the electric motor falls within the predetermined range in response to detection by the first position sensor; and the recognition process. a counting process that counts the number of detections by the second position sensor in the recognition state, and a count value from the counting process and the height data stored by the storage process are compared to determine the rotation axis of the electric motor. Claim 1 characterized in that a series of processes consisting of a stop process of stopping the rotation of the electric motor when the rotation position matches the rotation position corresponding to the selected height is repeatedly executed. The automatic tee-up device for golf practice described in . 4. The electric motor is configured to be capable of forward and reverse rotation, and the rotation control means includes a starting means for starting the rotation of the electric motor when no golf ball is detected on the tee by the ball sensor; When the rotational position detecting means detects that the rotational position of the rotating shaft of the electric motor is at a rotational position corresponding to the height specified by the specifying means, the motor is reversed for a minute time and then stopped. 2. The automatic tee-up device for golf practice according to claim 1, further comprising a stop means. 5. The conversion mechanism according to claim 1, wherein one end connects the tee, the other end is rotatably supported by the main body, and the tee is pivoted about the other end as a fulcrum. and a crank that engages an intermediate portion of the lever at one end so as to be displaceable in the axial direction of the lever, and whose other end is connected to the rotating shaft of the electric motor. An automatic tee-up device for golf practice. 6. An automatic tee-up device for golf practice, characterized in that the supply mechanism according to claim 1 is connected to the rotating shaft of the electric motor so as to be interlocked with the rotation of the rotating shaft.