JPS5915201Y2 - remote control cart - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to remote controlled carts, such as mole rail golf carts.

FIG. 1 is a perspective view showing an example of the cart of the present invention, and shows a mole rail type golf cart that runs in one direction on a mole rail constructed along a golf course of a golf course.

In the figure, 1 is a mole rail provided along the course of a golf course, 2 is a golf cart that runs on this rail, and is configured to self-propel in one direction by a battery mounted on the cart 2. Where is it?

Reference numeral 3 denotes a back holder provided at an angle on the front side of the golf cart 2, 4 a putter case attached to the back holder 3, 5 an umbrella also detachably provided on the back holder 3, and 6, 6 A stopper that also serves as a shock absorber is installed in front of the golf cart 2; 7 is an accessory case provided on the top surface of the golf cart 2; 8 is an operating lever that is installed approximately perpendicularly to the golf cart 2; The golf cart 2 is automatically started and stopped by the operation.

Reference numeral 9 designates a changeover switch for switching whether the cart 2 is run manually or by remote control using radio waves, sound waves, light, etc., and 10 is an antenna for receiving control signals during remote control.

Reference numeral 11 denotes an ultrasonic receiver attached to the front of the golf cart 2, which consists of an ultrasonic microphone, and is used to receive ultrasonic waves emitted from an ultrasonic transmitter installed at the rear of another cart preceding the cart 2. When the ultrasonic wave from the preceding cart is received by this receiver 11, the cart 2 decelerates or stops depending on the intensity of the ultrasonic wave.

Next, the operation control circuit of the cart of the present invention will be explained.

FIG. 2 shows a motor drive circuit, and reference numeral 20 denotes a battery mounted on the cart 2, which normally has a voltage of 12V.

M19M2 is a cart drive motor with the same characteristics and a battery of 20
The configuration is such that they are switched and connected in series or in parallel.

R8-1 is a start/stop relay contact for motor M1. M
2 is connected to the battery 20 side or to the braking resistor 21 side.

R8-2 is a speed control relay contact that switches between connecting the motor M19M2 in series with the battery 20 or connecting it in parallel. Immediately after the cart 2 is started or when running at low speed, the motor M19M2 is connected in series and at high speed. When running, they are connected in parallel.

BC is a brake coil that is energized when applying a brake to the cart 2, and is connected to the battery 20 via a stop transistor TR-3 that is turned on in response to the arrival of a stop signal (described later).

Figure 3 shows the two relay contacts R8-1 shown in Figure 2.
, R8-2 and the operation of the stop transistor TR3.

In the figure, 30 is a remote control unit used to remotely control the golf cart 2, which transmits signals by combining a transmitter 31 carried by the golfer or caddy and a receiver 32 mounted on the cart 2. When a remote control signal is obtained from the machine 31, the final stage transistor 33 of the remote control unit 30 is turned on.

34 is the first N of two people connected to this transistor 33.
Since both inputs of the AND gate are used in a short-circuit connection, it essentially functions as a negative circuit.

Hereinafter, unless otherwise noted, this NAND gate will be used as a negative circuit.

35 is a first delay circuit connected to the first NAND gate 34, and is separated from the resistor R1 and the capacitor G.

36 is a second NAND gate connected to this delay circuit 35, and its gate output is connected to resistors R2 and R3 and capacitor C.
2 diode D1 is applied to the second delay circuit 37.

This second NAND gate 36 and second delay circuit 37
constitutes a pulse generation circuit which is one of the main parts of the present invention.

38 is a third NAND connected to this second delay circuit 37
gate, the output of which constitutes one input of the fourth NAND gate 39 and is connected to the fifth NAND gate via diode D2.
It is connected to one input of the NAND gate 40.

The gate output of this fifth NAND40 is connected to the diode D3.
is connected to the sixth NAND gate 41 via the
It is connected to the base of the stop transistor TR-1 and the seventh NAND gate 42.

Note that the output of this fifth NAND gate 40 is connected to a resistor R4,
A third delay circuit 43 consisting of R5 and a capacitor C3
and the start switch 5W-1 are connected.

The output of the sixth NAND gate 41 is the fifth NAND gate.
Connected to one input of the gate 40 and connected to resistors R6 and Ro
, and a capacitor C4, constitutes the other power of the fourth NAND gate 39, and a stop switch 5w-2 is connected to the gate output of this fourth NAND gate 39. is connected.

Note that the fourth delay circuit 44 connected in a ring via the fourth delay circuit
NAND gate 39, 5th NAND gate 40, 6th N
The AND gate 41 constitutes an operation detection circuit which is the main part of the present invention.

Further, a start/stop relay coil RC-1 is connected to the collector of the start/stop transistor TR-1, and the collector is connected to an eighth delay circuit 45 via a fifth delay circuit 45 consisting of a resistor R7 and a capacitor C5. NAND gate 46
As a result, this gate 46 output is connected to the speed control relay coil R.
It is connected to the base of the speed control transistor TR-2 that drives C-2.

Further, the output of the seventh NAND gate 42 is applied to the stop transistor TR-3 which drives the brake coil BC described in FIG.

47 is a ninth NAND gate connected to the contact 5W-3 of the changeover switch 9 for switching between remote control of the cart 2 and manual control using the operating lever 8; and the other input of the fifth NAND gate 40 through the diode D5.
AND gate 42 and the eighth N via diode D6.
It is connected to AND gate 46.

50 is an ultrasonic receiver 51 attached to the front of the cart 2;
This ultrasonic rear-end collision prevention device is based on a combination with an ultrasonic transmitter 52 attached to the rear of the preceding cart.The collector of the final stage transistor 53 is connected to the first QNAND gate 54, and the 8NAN
It leads to D Gate 46.

This first ONAND gate 54 is connected to a sixth delay circuit 55 consisting of a resistor R8 and a capacitor C6, and an eleventh
through the gate 56 and the diode D8.
It is connected to the other input of AND gate 40.

The transmitter 52 of this ultrasonic rear-end collision prevention device 50 is a signal with two levels of strength and weakness as shown in FIG. has been done.

Therefore, when the receiver 51 approaches the leading cart, it receives only a strong level signal and shows an intermittent wave reception situation as shown in the first half of the opening in Figure 4, and the distance between the leading cart and the leading cart decreases, creating the risk of a rear-end collision. When the distance is reached, the receiver 51 also receives a weak level signal, resulting in a continuous reception signal shown in the second half of FIG. 4.

Therefore, the level at the collector of transistor 53 exhibits the waveform shown in FIG. 4 depending on the relative distance of the cart.

Next, the operation of the above configuration will be explained.

First, consider the case where the changeover switch 5w-3 is in the open state.

Since the input of the ninth NAND gate 47 is at the "H" level, its output is at the "L" level, and this "L" is applied to the other input of the fifth NAND gate 40 via the diode D4.

Therefore, the output of this gate 40 becomes "H", and since the base potential of the start/stop transistor TR-1 is high, it is not conductive, so no current flows through the start/stop relay coil RC-1, and its contact R5-1 is on the braking resistance 21 side, and the cart 2 does not run.

In this state, even if a remote control signal is obtained from the remote control section 30 and one input of the fifth NAND gate 40 becomes "H", the output of the gate 40 remains "■" and does not change. No current flows through RC-1.

Further, the "L" output of the ninth NAND gate 47 is connected to the diode D5. 7th and 8th NAND gate 4 via D6
2°46 input, stop transistor TR-3
In addition, the speed control transistor TR-2 is turned off, no current flows through the brake coil BC, the brake is in an open state, and therefore the cart 2 itself can be moved by pushing it by hand.

When the cart 2 is loaded with golf bags and it is difficult to push the cart by hand, tilt the control lever 8 forward and press the start switch 5.
When W-1 is turned on, the start/stop transistor TR-1
turns on, and current flows through the start/stop relay coil RC-1.

Accordingly, the relay contacts R8-1 are switched to the battery 20 side, and the motor M19M2 connected in series is energized to run the cart at a low speed.

In this state, when the operating lever 8 is stopped tilting forward and returned to its original position, the starting switch 5W-1 is turned OFF, and the transistor TR
-1 is also OFF, current no longer flows to relay coil RC-1, and motor M1. M2 stops.

Therefore, when the start switch 5W-1 is turned on with the changeover switch 5w-3 open, the switch 5W-1
The cart 2 can be run at low speed only while the switch is turned on, which is very useful when storing the cart.

Next, the case where the changeover switch 5W-3 is turned on will be explained.

In this state, tilt the operating lever 8 forward and start switch 5w.
-1 turns on, the start/stop transistor TR-1 turns on, current flows through the start/stop relay coil RC-1, the relay contact R8-1 switches to the battery 20 side, and the motor M19M2 connected in series Cart 2 is energized
starts driving at low speed.

When this starting switch 5W-1 is ON, the 5th NAND
The input of the gate 41 is "L" and its output is "H", so one input of the fifth NAND gate 40 is "H".

When the signal from the ultrasonic collision prevention device 50 is not received, the first
1 The output of the NAND gate 56 is “H”, the 9th NAND
The output of the gate 47 is also “H”, and the output of the fourth NAND gate 3 is also “H”.
Since one input of 9 is "L", its output is always "H".

Therefore, since both of the outputs of the fifth NAND gate 40 are "H", its output becomes "L", and the start switch 5W-1
Even if the 6th NA is returned to OFF, the 6th NA
Since the input side of the ND gate 41 is held at "L", the cart 2 continues to run at low speed.

On the other hand, if the start/stop transistor TR-1 turns on, the fifth
Charging of the capacitor C5 of the delay circuit 45 is started via the resistor R7.

The charging time T1 for this capacitor C5 is determined by T1=R7×C5, but after this time T1, the 8th NA
The input of the ND gate 46 becomes "H", and its output becomes "L"
Therefore, the speed control transistor TR-2 is energized ONL and the speed control relay coil RC-2 is energized.

As a result, the relay contact R8-2 switches to the parallel side and 1
．． Motor M1. M2' rotates in parallel and the car 12 enters a constant speed running state.

As described above, when the start switch 5W-1 is turned on with the changeover switch 5W-3 turned on, the cart 2 starts running, and even if the start switch 5W-1 is turned off, the fifth and fifth A start-up compensation method is adopted in which the NAND gates 40 and 41 of No. 6 are held in the ON state to continue the running state, and after a certain period of time has passed, the motor connection state is switched.

Consider a case where the cart 2 continues to travel with the changeover switch 5W-3 in the ON state, and the operating lever 8 is tilted backward and the stop switch 5W-2 is turned ON.

When the stop switch 5W-2 is turned on, the other input of the fifth NAND gate 40 is set to "L", so its output is "
H” and the start/stop transistor TR-1 turns off.
L, start/stop relay contact R8-1 switches to the braking resistor 21 side, and motor Ml.

M2 operates as a dynamic brake, and a dynamic braking force acts on the cart 2.

On the other hand, when the output of the fifth NAND gate 40 becomes "H", the capacitor C3 of the third delay circuit 43 is connected to the resistor R4.
, R5, and when the time T2 shown by the formula (R4+R5)×C3=T2 has elapsed, the input of the seventh NAND gate 42 becomes “H” and the stop transistor TR
-3 is ONj, the brake coil BC is energized, and the electromagnetic brake is applied to the cart 2.

The operation of the stop switch 5W-2 is released, and the 5th NAND
When the output of the gate 40 becomes "L", the output of the seventh NAND gate 42 immediately becomes "H", and the electromagnetic brake is released.

In addition, when stopping the cart 2, in addition to turning on the stop switch 5W-2 by tilting the operating lever 8 backward, you also turn off the changeover switch 5W-3 and set the output of the 9th NAND gate 47 to "L". Also, even if a signal from the ultrasonic collision prevention device 50 is obtained and the output of the eleventh NAND gate 56 becomes "L", the cart 2 can be stopped in exactly the same way.

Next, a case where the cart 2 is remotely controlled by the remote control unit 30 will be described.

In the case of remote control, the changeover switch 5W-3 must be set to the ON state.

When the transmitter 31 is operated to issue a control signal, and the receiver 32 mounted on the cart 2 receives the control signal and turns on the final stage transistor 33, the first NAND gate 34
The 0 input becomes "L", and the output of the gate 34 becomes "H".

The "H" output of this gate 34 connects the input of the second NAND gate 36 with a delay time T3 determined by the resistor R1 and capacitor C1 of the first delay circuit 35, that is, T3=R1×C. H"
Make it.

If the signal has a time shorter than the delay time T3, the signal is regarded as an error signal and is not transmitted to the subsequent stage, thus having a function of preventing malfunction.

The input of the second NAND gate 36 is controlled by a remote control signal.
When it becomes “H”, its output becomes “L” and the delay circuit 3
The combined resistance of resistors R2 and R2 forming the delay circuit 37 is R2×R3/(R2+R3
), and the input of the third NAND gate 38 is set to "L" only during the charging time constant T4, that is,
As a result, a pulse with a pulse width P is generated.

This pulse can be obtained by setting the output of the gate 38 to "H" for the time T4, and that "H" is the 5th N.
It is applied to one input of AND gate 40.

On the other hand, considering the state immediately before the arrival of the remote control signal from the remote control unit 30, the fourth NAND gate 39, the fifth NA
When the operation detection circuit detected by the ND gate 40 and the sixth NAND gate 41 detects that the motor drive circuit is inactive, that is, the car 12 is stopped, the input of the sixth NAND gate 41 is "H". , since the output is “L”,
The capacitor C4 of the fourth delay circuit 44 is in an uncharged state,
The other input of the fourth NAND gate 39 is "L".

Therefore, if the remote control signal arrives while the motion detection circuit is detecting the stoppage of the cart 2, the 4th NAN
One input of the D gate 39 is “H” and the other input is “H”.
Since the output is “L”, the output is “H”, that is, the 5th NAN
Both inputs of the D gate 40 become “H”, and its output becomes “
At "L", the start/stop transistor TR-1 is turned on and the cart 2 starts running in the same manner as described above.

On the other hand, since the output of the fifth NAND gate 40 becomes "L", the output of the fifth NAND gate 41 becomes "H", and one input of the fifth NAND gate 40 becomes "H". The output of the transistor TR-1 is held at "L", and naturally the transistor TR-1 continues to be in the ON state.

Meanwhile, in this way, the 6th NAN
When the output of the D gate 41 becomes "H", the other input of the fourth NAND gate 39 is connected to the resistor R6 of the fourth delay circuit.
Delay time T5 determined by Ro and capacitor C4,
That is, it changes from "L" to "H" after passing through.

This delay time T5 is set to be larger than the pulse width P when the remote control signal is received.

Therefore, after this delay time T5 has elapsed, the fourth NAND gate 3
The other input of the gate 39 changes from "L" to "H", but at that point, the "H" due to the arrival of the remote control signal has disappeared from the one input of the same gate 39, and it returns to "L". Therefore, the output of the fourth NAND gate 39 remains at "H", and the holding operation by the fifth NAND gate 40 continues.

Next, when the remote control signal is sent again, the output of the third NAND gate 38 becomes "H" for the time T4 as in the case described above, and the other input of the fourth NAND gate 39 indicates that the capacitor C4 is not charged. When the operation is completed, it is "H" and this "H" is stored in the operation detection circuit, so when one input of the gate 39 also becomes "H", the output of this gate 39 becomes "L", and the operation detection circuit stores this "H". The other human power of the 5NAND gate 40 is set to "L", its output is set to "H", the start/stop transistor TR-1 is turned off, the power supply to the start/stop relay coil RC1 is cut off, and the cart 2 is stopped.

This stopping operation of the cart 2 is the same as the case where the operation lever 8 is tilted backward, so a description thereof will be omitted.

Note that when the output of the fifth NAND gate 40 becomes "H", the output of the sixth NAND gate 41 is inverted and becomes "L", and the charge stored in the capacitor C4 of the fourth delay circuit 44 becomes T5'= It is discharged after a discharge time of R6×C4, but the delay time due to this discharge time T5' is also set larger than the pulse width P when the remote control signal is received, and the delay time T5' corresponding to this discharge time is set. After , the other input of the fourth NAND gate 39 becomes "L", so the output of the gate 39 becomes "H" and the other input of the fifth NAND gate 40 becomes "L".
H”.

However, at this time, since one input of the fifth NAND gate 40 has already returned to "L", the output of the gate 40 maintains the "H" state.

In this way, the delay time T5 due to the fourth delay circuit. T5'
is set larger than the pulse width P when the remote control signal arrives, so after receiving the remote control signal and changing the state of the cart according to that signal, the operation detection circuit will not be able to maintain that state. At the time of completion, the remote control signal has already disappeared, and there is no risk that the same remote control signal will change the state of the motion detection circuit again.

As described above, the remote control of the cart 2 can start and stop the cart 2 with one type of control signal depending on the operation of the motion detection circuit.

That is, when a remote control signal is obtained for a stopped cart,
The cart starts running, and conversely, when a signal is received by the running cart, the cart stops.

Of course, it is also possible to stop the cart 2 sent by the remote control signal by operating the control lever 8, and conversely, it is also possible to stop the cart 2 which has been started by operating the control lever 8 by using the remote control signal. It can also be stopped.

Next, the function of the ultrasonic collision prevention device 50 will be explained.

As explained based on FIG. 4, the transmitter 52 attached to the rear of the preceding cart emits a two-level signal of high and low intensity, so when another cart approaches a stopped cart, that cart's Receiver 51 first receives only strong signals.

Therefore, the pulse shown in FIG. 4 is first obtained at the collector of the final stage transistor 53, and as the cart approaches further, a weak signal is also received and a continuous signal of "L" level is obtained.

The operation of this ultrasonic rear-end collision prevention device 50 in response to a received signal will be described next.

When receiving this pulse reception signal, the first pulse width t1 is
Since the input of the Q NAND gate 54 is set to "L", its output becomes "H", and the capacitor C6 of the sixth delay circuit 55 is charged after the time given by the formula T6=R8×06. However, if the relationship T6>tl is established between the reception pulse width t1 and this charging time T6, this capacitor C6 will not be completely charged, and moreover, the output of the first ONAND gate 54 will be When the voltage becomes "L", the charge in the capacitor C6 is discharged by a rapid discharge circuit provided in parallel with the resistor R8.

Therefore, at this time, the output of the sixth delay circuit 55 does not become "H", the output of the eleventh NAND gate 56 does not become "L", and the cart 2 cannot be stopped when receiving this pulse signal.

When the cart further approaches the preceding cart from this state, the input of the first QNAND gate 54 becomes a continuous "L" signal, the capacitor C6 of the sixth delay circuit 55 is charged, and the input of the eleventh NAND gate 56 becomes "H". ”, its output becomes “L” and the fifth NAND gate 40
Start/stop relay coil R by setting the other human power to “L”
The power supply to C-1 is cut off and the cart 2 is stopped to prevent a rear-end collision.

On the other hand, when the receiver 51 of the ultrasonic collision prevention device 50 receives a pulse signal with a pulse width t1, the "L" level signal discharges the charge of the capacitor C5 of the fifth delay circuit 45 via the diode D7. , the input of the eighth NAND gate 46 is set to "L".

As a result, the output of the gate 46 becomes "H", turning off the speed control transistor TR-2, cutting off the power to the speed control relay coil RC-2, switching the motors M11M2 to series connection, and driving the cart 2 at a low speed. shall be.

At this time, by setting the pulse width t1 of the received pulse signal to be smaller than the delay time T1 of the fifth delay circuit 45, the vehicle continues to run at low speed while the ultrasonic pulse signal is being received. It's never going to be fast.

Therefore, according to this rear-end collision prevention device, when the distance to the preceding cart becomes small enough, the cart first switches from high-speed running to low-speed running, and when the distance approaches further and there is a risk of a rear-end collision, the cart switches from high-speed running to low-speed running. can be stopped,
Furthermore, if the preceding cart starts running and the distance increases while the cart is running at low speed, the cart automatically returns to high-speed running.

Incidentally, a capacitor 0 is inserted and connected between the input of the sixth NAND gate 41 and the power supply line, and this capacitor C7 is connected to the sixth NAND gate 41 depending on the stray capacitance between the wiring of the starting switch 5W-1 and the vehicle body ground. The input of the gate 41 momentarily becomes "L", one input of the fifth NAND gate 40 becomes "H", and the start/stop relay coil RC
-1 may be energized, and this is to prevent this malfunction.

As is clear from the above description, the present invention starts the cart by operating a start switch, stops the cart by using a stop switch, and when a running cart receives a remote control signal, the cart starts. The cart is stopped, and conversely, if a remote control signal is received while the cart is stopped, the cart is started and started, so the remote control unit can start and stop the cart based on a single signal. The configuration of the parts can be simplified, and the cart can be operated by both manual starting and stopping and remote control starting and stopping, and the operability can be significantly improved.

In addition, the present invention includes a pulse generation circuit that generates a pulse signal of a certain time width when receiving a remote control signal, two NAND gates, one negative circuit, and a pulse signal obtained when receiving the remote control signal. Since the cart is started and stopped by a motion detection circuit consisting of a delay circuit with a delay time longer than that of the signal, there is no risk of malfunction due to a single pulse signal, and stable running is possible. It can be controlled.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing an example of the electric car of the present invention, Fig. 2 is a motor drive circuit of the electric car, Fig. 3 is a control circuit of the electric car,
Figure 4 is a waveform diagram for explaining its operation, where 1 is a mole rail, 2 is a cart, 8 is an operating lever, 9 is a changeover switch, M is a motor, R8 is a relay contact, TR is a transistor, and BC is a brake coil. , 30 is a remote control unit, 34
．． 36.38.39°40, 41.42.46.47.
54.56 is a NAND gate, 35°37, 43.44
．． 45.55 is a delay circuit, 50 is an ultrasonic collision prevention device,
R represents a resistor, C represents a capacitor, and D represents a diode.

Claims (1)

[Scope of Claim for Utility Model Registration] In a remote-controlled cart whose running is controlled by an operation switch installed on the vehicle body and which is remotely controlled using means such as radio waves, sound waves, or light beams, A start switch that starts the cart manually, a stop switch that stops the cart manually, a motor drive circuit that uses transistors that are turned on and off by these switches, and a motor drive circuit that operates for a certain period of time when a remote control signal is received. A pulse generation circuit that generates a pulse signal of first and second ONAND gates that receive inputs; a NOT circuit that inverts the output of the first NAND gate; and a NOT circuit that inverts the output of the first NAND gate; a delay circuit that applies the signal to the other input of the second NAND gate, and the output of the second NAND gate is the other input of the first NAND gate, and the output of the negative circuit is applied to the other input of the first NAND gate.
The signal is applied to one input of the NAND gate, and in addition to the manual operation that starts and starts the cart by operating the start switch and stops the cart by operating the stop switch, it also receives a remote control signal. In this case, the pulse generation circuit generates a pulse signal, which works together with the motion detection circuit to start the cart when it is stopped, and to stop the cart when it is running. A remote-controlled cart that features a push-pull function.