JPS63263163A - Self-propelling golf cart - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a self-propelled golf cart that travels within a golf course by comparing a preset travel route with a detected current position.

[Prior art]

In recent years, attempts have been made to introduce unmanned or self-propelled golf carts to transport players' golf clubs and the like at golf courses.

Conventional golf carts of this type include, for example, the mole rail system in which mole rails are built parallel to the golf course and the carts run on these rails, and the mole rail system in which the mole rails are built parallel to the golf course and the carts run on these rails, and the mole rail system that runs on guide lines buried at a depth of about 2 to 5 cm in the ground with a frequency of about 3 to 1 QKHz. An electromagnetic induction method has been put into practical use, in which an alternating current is passed through the golf cart, and the alternating current is detected by a pickup coil to guide the golf cart along the guide line.

However, both methods require the installation of rails and guide lines. Therefore, (1) the driving path of the golf cart is limited, and a large amount of cost is required to change the driving path of the golf cart later. (2
) Installing rails in the fairway hinders play and detracts from its aesthetic appearance. (3) Since it is undesirable for the running route to be constant from the viewpoint of turf management, etc., rails and guide tracks must be installed at the edges of the golf course, so players who play within the fairway cannot use the golf club. There are problems such as inconvenience when taking the golf cart out of the golf cart.

Furthermore, although it is technically possible to create a golf cart that chases the player using guided radio waves, it is not practical on a golf course with many obstacles because it runs straight toward the player.

[Purpose of the invention]

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a self-propelled golf cart that can run on any preset course within a golf course without installing rails or guideways. With the goal.

[Structure of the invention]

To achieve the above object, the self-propelled golf cart of the present invention has a driving wheel driven by a prime mover and a direction wheel driven by a direction control device, which are arranged at different predetermined positions and have different frequencies. a receiving antenna that detects the incident direction of radio waves from a plurality of transmitting antennas that transmit radio waves; a coordinate storage means that stores the position of the transmitting antenna and a set travel route manually set in advance; a calculating means for calculating the current position from the arrangement position of the transmitting antenna; a running route determining means for determining whether the calculated current position is on the set running route;
a correction calculating means for calculating a direction to return to the set traveling route when the running route determining means obtains a negative result; a course calculation means for calculating the direction to be taken; a direction control means for controlling the direction wheels based on the calculation results of the correction means and the course calculation means; and an end point determination unit for determining whether or not the end point of the set traveling route has been reached. and a stopping means for stopping the prime mover when the end point determining means determines that the motor is at the end point.

In other words, to specify a certain position on the coordinates by surveying from that position, the angle extending from that position to two fixed points is
It takes advantage of what can be done by surveying at least two other said angles.

Then, radio waves of different frequencies are transmitted from multiple transmitting antennas placed at different known positions, and the receiving antenna mounted on the self-propelled golf cart that receives these radio waves has a directional pattern like a Yagi antenna. This can be achieved by using a receiving device that automatically locates the direction in which the maximum received radio wave strength can be obtained using a radio antenna.

To locate the self-propelled golf cart of the present invention, X-
It is most practical to specify it as the Y coordinate, and the position can be calculated by a microcomputer (hereinafter referred to as microcomputer) from the direction of the received radio wave and the position of the transmitting antenna.

Therefore, the set travel route for the self-propelled golf cart is also stored numerically in the memory device of the microcomputer, and is calculated by the microcomputer using a known formula to automatically guide the self-propelled golf cart from the starting position to the goal. be able to.

As a means for inputting a set course into the microcomputer, for example, a predetermined card on which the layout of the course is printed for each hole is written with a line drawing of the set travel route to be run, and an external input device or a self-input device is used. A method of inputting from an input device equipped on a running golf cart, a method of displaying the course on a cathode ray tube and inputting the course by writing it on the cathode ray tube using a keyboard or other input means, and a method of numerically inputting the angular coordinates of the set running route. This can be done by any appropriate means such as a method.

The self-propelled golf cart of the present invention normally runs unmanned, but this does not preclude the use of a person on board who is not involved in driving other than starting, stopping and speed control.

The golf cart of the present invention can run all the holes by itself, but since the actual course has narrow passages and stairs, a program is executed for each hole, and the golf cart moves from the end point near each green to the next one. It would be practical to operate manually up to the starting position of the hole. In addition, control of stopping/starting and speed at the start and during play,
It is sufficient to use remote control means such as those used in radio control means widely used in model planes and the like.

〔Example〕

Hereinafter, the present invention will be described by way of an example with reference to the drawings.

Fig. 1 is an overall configuration diagram showing the self-propelled golf cart and peripheral devices of this embodiment, Fig. 2 is an external view of the self-propelled golf cart of Fig. 1, and Fig. 3 is the self-propelled golf cart of Fig. 2. FIG. 4 is a diagram showing an example of the display of the cathode ray tube shown in FIG. 2, and FIG. 5 is an explanatory diagram showing the method of controlling the self-propelled golf cart of this embodiment. .

First, explanation will be given starting from FIG. In the figure, fixed points A, B,
C shows the installation position of the transmitting antenna provided in the golf course indicated by X-Y coordinates. Each of these transmitting antennas always transmits radio waves of mutually different frequencies. A cart 3 equipped with a drive wheel 1 and a direction wheel 2 is provided with a directional receiving antenna (not shown), which receives the radio waves and determines the direction from the current position P to point A and point B. The angle θ2 between the point θH1B and the 0 point is constantly measured. This angle θ8. θ2 and positions A and B.

From the coordinates of C, X-
The current position P can be found on the Y coordinate.

If the current position P obtained above is off the set traveling route 4 as shown in FIG.
When the set travel path 4 is on the left side from the direction of travel, the front wheel (direction wheel) 2 is rotated counterclockwise at a certain angle γ, for example 10
When the cart 1 is guided into the set travel path 4 by rotating it several times, and conversely, when the cart 1 is on the right side of the travel direction of the set travel path 4,
Rotate the direction wheel 2 clockwise by the same angle as above, for example, 10 degrees to correct it. The angle to correct the direction of this wheel is
It is also possible to change it depending on the size of the correction width.

If the current position P is on the set travel route 4, for example on point L, find the angle α between the tangent T of the set travel route 4 at this point and the straight line V parallel to the X axis, and The direction wheel 2 is controlled to match the direction. The direction control at this time also changes the direction of the wheels in the same way as above.

The end point is determined by, for example, when the golf cart 3 reaches point Qn, it detects that the next coordinate indicating the direction of travel has not been input, determines that it has reached the end point, and stops. can be detected.

Further, the traveling speed of the golf cart 3 can be set as appropriate by the player's instructions, such as being variable in three levels, for example, slow, normal walking speed, and trotting speed. Furthermore, the origin of the X-Y coordinates can be set at any position within the golf course.

Next, this embodiment will be described in detail with reference to FIGS. 1 to 4. In FIG. 2, a self-propelled golf cart 3 having a drive wheel 1 and a direction wheel 2 forming a front wheel includes a rack 5 that supports a golf bank (not shown), a handle 6 for manual movement, a main switch, a reset switch, and settings. It is equipped with an operation section 7 provided with operation switches such as operation switches for inputting travel route data, and a cathode ray tube 8 that displays the current position and set travel route.

Inside the cart 3, as shown in FIG.
1. A traveling motor 12 with a brake for the driving wheels 1, a speed reduction device 11' that decelerates the rotation of the motor, a control device 13 that controls the motors 10 and 12 for the two motors, a battery 14, and a fixed point shown in FIG. It is equipped with a directional antenna 15 that detects directions A, B, and C, and a radio wave receiving antenna 16 that instructs start, stop, and speed changes.

In order to detect the direction in which the directional antenna 15 faces, a brush 16 interlocked with the antenna 15 slides on a resistor 17 to detect the direction based on a change in resistance.

The control device 13 has a configuration as shown in the block diagram of FIG. That is, the radio waves from the position information transmitter 20, which transmits radio waves of three types of frequencies f^ and f8°fc from the fixed points A, B, and C, respectively, are composed of the brush 16, the resistor 17, etc. Each frequency fA, fp, fc is determined by the voltage detected by the potentiometer.

The position information receiver 21 detects the direction in which each antenna 15 faces, and the information is provided to the microcomputer 22 provided in the control device 3.

The frequencies of the radio waves transmitted from each of the fixed points A, B, and C are as follows:
This can be carried out by allocating appropriate frequencies in the microwave band, for example from 500 to 900 Ml1z, and transmitting each with a constant power, for example 1 Watt.

The microcomputer 7 detects the current position from the radio wave direction signal given from the position information transmitter 20, the coordinates of the fixed points A, B, and C inputted in advance in a storage means (not shown), and the set traveling route 4, and starts the set traveling route. The deviation from the road 4 is calculated, the driving direction is corrected or the traveling direction is calculated, and the result is given to the steering control unit 23.The current position signal is based on the course map information of the hole that has been input in advance to the storage device. This information is sent to a graphics processing device 24 provided in the control device 13, and the current position P is displayed on the cathode ray tube 8 using a course map and the locus of a cursor moving on the map, showing the actual driving route as a dotted line.

Figure 4 shows the course layout, ie, the green 30, hole 31, bunker 32, fairway 33, teeing ground 34, etc., and the hole from each position on the course. 3
The set travel route 4, its starting point S and end point Q, the actual travel route 35, and the current position P are displayed together with the play information such as the distance to 1. Note that these display contents and display methods can be changed as appropriate.

Running signals for starting, stopping, changing speed, etc. of the self-propelled golf cart 3 of this embodiment are performed by a wireless remote control unit 25 carried by a player (not shown). A remote control receiver 26 receives the radio waves from the remote control operation section 25 and provides a corresponding travel signal to the microcomputer 22. Based on this signal, the microcomputer 22 provides a signal for controlling the motor 12 to the travel control unit 27.

That is, the stopping means of the present invention in this embodiment is constituted by a travel control unit 2.7 controlled by a microcomputer 22, and is configured to run and stop in accordance with the player's instruction, and to reach the end point of the set travel route 4 and not reset again. It is configured to perform both control and stopping without running.

In order to make the self-propelled golf cart 3 of this embodiment self-propelled, a golf player (not shown) first moves the self-propelled golf cart 3 while watching the cathode ray tube 8 so that the current position P coincides with the starting position S. Operate a reset switch (not shown). If desired, the reset switch and the remote control operation section 2 may be
5 may be operated to make it run on its own and guide it to a set course.

Next, the golf player (not shown) who has finished his shot from the teeing ground 34 operates the remote controller 25 to send out a start command.

The operation of the microcomputer 22 at this time will be explained with reference to the flowchart shown in FIG. Note that this flowchart explains operations during play and does not show operations for inputting a set travel route.

When the reset switch is turned on and the program for the course is executed, in step 1 a driving map consisting of the golf course layout and the set driving route input into the storage device in advance is provided to the graphics processing device, and in step 2, A,
Frequencies fA, fB, f(H
The current position of the cart 3 is calculated from the position information from the position information receiver 21, and the result is given to the graphic processing device 24 in step 3 and displayed as a cursor position on the Brownian screen. - Next, in step 4, it is determined whether or not the set travel route information and the current position information match, and if a positive result is obtained, in step 5, the traveling direction of the set travel route at the current position is calculated. In step 6, the result is given to the steering control unit 23 as a signal instructing the direction of travel, and the process moves to step 7.

If a negative result is obtained in step 4 above, the program moves to step 8, and calculates a correction value for the orientation of the direction wheel 2 to correct the position of the cart 3 to the set traveling route 4, and then steps as described above. 6, the result is given to the steering control unit 23.

In step 7, it is determined whether the current position P has reached the end point Q, and if a negative result is obtained, the process returns to step 2 and the same operations as above are repeated, and the above operations are repeated until a positive result is obtained in step 7. repeat. If a positive result is obtained in step 7, a stop signal for stopping the motor 12 is given to the travel control unit 27 in step 9, and the program for the hole in question is ended.

The self-propelled golf cart of the present invention is preferably equipped with a device that detects when it hits an obstacle and is no longer able to travel, and provides an alarm.

〔Effect of the invention〕

As explained above, the self-propelled golf cart of the present invention has a current position obtained by a receiving antenna that detects the direction of incidence of radio waves from a plurality of transmitting antennas that are placed at different fixed points and transmit radio waves of different frequencies. The golf ball is configured to detect the direction in which it should proceed based on the information and a set travel route input and stored in advance, and to stop traveling when it is determined that it has reached the end point of the set travel route. The vehicle can be run on any preset travel path, such as the center of the fairway, without installing rails or guidance tracks in the venue.

Therefore, there is no need for the golf cart to run on a certain course and damage it, and there is no need to install rails or the like to guide the course, so there are various advantages such as reduced construction and maintenance costs.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an outline of the circuit for driving the self-propelled golf cart of this embodiment, FIG. 2 is an external view of the self-propelled golf cart of FIG. 1, and FIG. 3 is the self-propelled golf cart of FIG. 2. An internal perspective view of the cart, FIG. 4 is a diagram showing an example of the image displayed on the cathode ray tube shown in FIG. 2, FIG. 5 is an explanatory diagram showing the position detection method of the present invention, and FIG. FIG. 2 is a flowchart showing the control operation of the central processing unit of FIG. DESCRIPTION OF SYMBOLS 1... Driving wheel, 2... Direction wheel, 3... Self-propelled golf cart, 12... Motor with brake (prime mover), 13.
...Control device, 15...Directional antenna, 22...
My tips, 23... Steering control unit (direction control means), 27... Traveling control unit (stopping means)
.

Claims (1)

[Claims] Detects the direction of incidence of radio waves from a driving wheel driven by a prime mover, a direction wheel driven by a direction control device, and a plurality of transmitting antennas that are placed at different predetermined positions and transmit radio waves of different frequencies. a receiving antenna; a coordinate storage means for storing the position of the transmitting antenna and a set travel route input in advance; a calculating means for calculating the current position from the incident direction of each of the radio waves and the arrangement position of the transmitting antenna; a travel route determining means for determining whether or not the current position is on the set travel route; a correction calculation means for calculating a direction to return to the set travel route when a negative result is obtained by the travel route determining means; a course calculation means for calculating the direction in which the travel route should proceed along the set travel route when a positive result is obtained by the travel route determination means; and a direction control for controlling the direction wheels based on the calculation results of the correction means and the course calculation means. means, end point determining means for determining whether or not the end point of the set traveling route has been reached, and stopping means for stopping the prime mover when the end point determining means determines that the end point has been reached. A self-propelled golf cart featuring