201105386 六、發明說明： 【發明所屬之技術領域】 本發明是有關於-種高爾夫球車控制系統，特別是指 -種包含-個可以自動跟隨使用者移動的電動式高爾夫球 車的控制系統。 【先前技術】 -般民眾打高爾夫料，會使用球衫裝球桿、衣物 等用 仁是同爾夫球場非常廣大而且有各種坡度地型 ，使用者不方便自己猜著球袋移動，因此球場會提供高爾 夫球車供球袋放置並運輸球袋，並派遣專人跟隨使用者以 f匕推動該球車。但疋雇請專人推動球車使得高爾夫球場 要1卜配置人力’而且兩爾夫球場的地形高低起伏，部 t坡段坡度較大’造成人員需耗費極大力氣才能推動球車 行進。 &有鑑於向爾夫球車的移動性需求，於是本案發明人研 發出一種電動式並且可以自動偵測使用者位置，並自動跟 隨使用者移動的高爾夫球車，如此可以節省人力，而且提 升尚爾夫球車的使用便利性。 【發明内容】 此本發明之目的，即在提供一種可以自動跟隨使 用者移動的高爾夫球車控制系統。 ;疋本發明尚爾夫球車控制系統，包含：一供使用 者攜帶的遙批哭 位置。 器，及一與該遙控器無線通訊並追蹤遙控器 而可自動跟隨行進的高爾夫球車。所述遙控器包括： 201105386 座體 設置在該座體中的第一通訊單元，及一第一微 處理單元，該第一微處理單元電連接該第一通訊單元，並 控制該第一通訊單元發射訊號給該高爾夫球車。 該高爾夫球車包括一車體單元、—設置在該車體單元 上的控制裝置，以及-電連接該控制裝置並可受驅動以帶 動該車體單元移動的馬達單元。其中，該控制裝置包括·· 二個第二it訊單元，及—第二微處理單元。該等第二通訊 早:彼此間隔地設置於該車體單元上，並且接收該第一通 訊：兀發出的訊號。該第二微處理單元電連接該等第二通 5單7L以及該馬達單兀，該第二微處理單元比201105386 VI. Description of the Invention: [Technical Field] The present invention relates to a golf cart control system, and more particularly to a control system including an electric golf cart that can automatically follow a user's movement. [Prior Art] - People use golf balls, golf clubs, clothes, etc. It is a very large golf course with a variety of slopes. It is not convenient for users to guess the movement of the bag. A golf cart is provided for the bag to be placed and transported, and a special person is dispatched to follow the user to push the cart. However, it is necessary to hire a special person to push the cart to make the golf course a manpower and the terrain of the Erfu Stadium is ups and downs, and the slope of the section is large, which makes it necessary for the personnel to take great effort to push the cart. & In view of the mobility requirements of the golf cart, the inventor of the present invention developed an electric golf cart that can automatically detect the position of the user and automatically follow the user's movement, thus saving manpower and improving The convenience of the use of the Schalf golf cart. SUMMARY OF THE INVENTION It is an object of the present invention to provide a golf cart control system that can automatically follow the movement of a user. The invention of the present invention is a control system for the golf ball, comprising: a remote crying position for the user to carry. And a golf cart that wirelessly communicates with the remote control and tracks the remote control to automatically follow the marching golf cart. The remote controller includes: a first communication unit disposed in the base of the 201105386, and a first micro processing unit electrically connected to the first communication unit and controlling the first communication unit Send a signal to the golf cart. The golf cart includes a body unit, a control unit disposed on the body unit, and a motor unit electrically coupled to the control unit and drivable to drive the body unit to move. Wherein, the control device comprises: two second information units, and a second micro processing unit. The second communications are early: they are disposed on the body unit at intervals, and receive the first communication: a signal sent by the user. The second micro processing unit is electrically connected to the second pass 5L and the motor unit, and the second micro processing unit is
等第二通訊單元接收到來自今笛一H 伐叹幻木自忒第一通訊單元的訊號強度， 進而得到該高爾夫球車與該遙控器之距離， 單元帶動該高ϋ夫球車朝該遙控器行進。 馬達 【實施方式】 、有關本發明之前述及其他技術内容、特點與功效，在 乂下配D參考圖式之__個較佳實施例的詳細說明中，將 清楚的呈現。 ’ 4閱圖1、2’本發明高爾夫球車控制系統包含： 可供使用者隨身攜㈣遙控器卜以及-與該遙控H ^線 :訊並可自動追縱該遙控器"立置而跟隨行進的高爾= 2。本發明遙控器1與高爾夫球車.2皆配置有Zigbee遙 測系統，並以射頻（RF)訊號作為通訊訊號。 由於該遙控器i供使用者隨㈣帶， 控器1位置即代差祛田水以， 乃甲的遙 P代表使用者的位置。該遙控 4 201105386 11 ’ v刀別文裝於該座體u中的一個第一通訊單元12、一個 電連接該第—通訊單元12的第-微處理單it 13、-嵌裝外 露於座體U表面並電連接該第-微處理單元13的按鍵單元 14、一電連接該第—微處理單元13的警告件15，及一設置 ^座體11中的第_電池單元16，該第一電池單元16包 括至少:個電池，並提供該遙控器1電力，本實施例之第 電池單元16為一個3.6V的鋰電池。 s第通訊單元12採用Zigbee通訊技術，並可受該第 I微處^單元13控制而發出訊號給該高爾夫球車2,該第 =Λ :兀12亦可接收該高爾夫球車2傳送而來之訊號。 該按鍵早70 14具有—用於啟動或關閉該高爾夫球車2的電 源鍵141、數個方向鍵142、一切換鍵143、一自動跟隨鍵 144，以及一自動導航鍵145，該等按鍵购45是可被按 壓而分別驅使該第-微處理單元13產生—控制訊號，並透 過該第-通訊單元12而傳送給該高爾夫球車2， 應的指令》 其中，該切換鍵⑷控制該高爾夫球車2切換於三種 不同作動模式’分別為「待機模式」、「手動模式」及「自 動杈式」，每當該切㈣143被按屋—次，該高爾夫球車2 就會從其中一個模式切換到另—個模式。而該自動模式又 可區分為-個「自動跟隨模式」，以及—個「自動導航模式 ^按麼該自動跟隨鍵144會使該遙控器丄發出訊號而控制 該兩爾夫球車2處於該自動跟隨模式；類似地，該自動導 航鍵145控制該高爾夫球車2切換成自動導航模式。上述 201105386 各種模式之意義，容後說明。 該高爾夫球車2包括—個可被驅動行進的車體單元η 、-設置在該車體單元21中的控制裝置22、一電連接該控 制裝置22並可受驅動以帶動該車體單元21行進的馬達： 元23，以及-設置在車體單元21上並提供該控制裝置η 與，達單元23電力的第二電池單元24,本實施例之第二電 池單元24為一個12V的鉛酸電池。 該車體單元21包括一個由數支桿件等結構體組成的車 架川、一設置在該車架211底部以承載—圖未示出之高目籲 夫球袋的底座212、安裝於車架211底部的一前輪213與二 後輪2U’以及二個上下設置並用於夾固球袋的固定機構 215。該馬達單元23包括一驅動該車體單元21行進且圖未 示的驅動馬達’以及—驅動該車體單元21轉向且圖未示的 轉向馬達，所述驅動馬達及轉向馬達都用於驅動該前輪213 ’由於該馬達單元23及前述車體單元2ι非本發明之改良 重點’故不再詳細說明。 該控制裝置22包括一第二微處理單元221，以及電連籲 接該第二微處理單元221的二個第二通訊單元222,以及一 防撞偵測單元223。其中，該等第二通訊單元222對稱地設 置在該車體單凡21之左右兩側，並與該遙控器i之第—通 訊單元12作RF無線通訊。 參閱圖1、2、3，當該南爾夫球車2位於該自動模式時 ’該等第二通訊單元222同時接收該第一通訊單元12發送 的RF訊號，再將接收到的訊號傳送到該第二微處理單元- 6 201105386 221 ’該第二微處理單A 221中的m擎根據無線網路中 的接收信號強度指示值（RSSI)，並比對所述二個第二通訊單 元222接收到的信號強度之差異，計算該遙控器i的方位 ，以及該遙控器丨與該高爾夫球車2的距離。所述遙控器1 與該高爾夫球車2之通訊距離，最大為1〇〇公尺左右。 舉例說明：當該遙控器i位於圖3之A位置時，該等 二個第二通訊單元222接收到的RF訊號強度相同，表示該 遙控器1位於該高爾夫球車2之正前方；當遙控器ι位於 圖3之B位置時，右側的第二通訊單元222接收到的狀訊 號強度較強，表示該遙控器！鄰近該高爾夫球車2的右侧 ;反之，該遙控器1位於C位置時，左側的第二通訊單元 222接收到的RF訊號強度較強。 當該遙控器1位於該高爾夫球車2的正前方，例如A 位置’該第二微處理單元221透過該馬達單元2 體單元21直向前谁.木兮、老仏 呢切為卑 罝心進’虽該遙控器1位於該高爾夫球車2的 :别方，例如…位置’該第二微處理單元 則輪213轉向後再前進’以朝該遙控器！之方位行進二 行進過程中，該第-微虛 _ 丁逛在 s 微處理早凡221 _的定位引擎持續依 第一通訊單元222接收到的 遙控器ι盥古溫f ^ "r异該 的行進及停爾夫球車2的距離，以決定該高爾夫球車2 該防撞偵測單元223侦 或是其周圍是否有障_ $ ^夫球車2之行進路徑 趙立…… 該防撞谓測單元223可以利用 ^ '心紅外線偵測等方式’計算分析該障礙物之距 201105386 離。 參閱圖1、2、4 ’以下說明本發明之作動流程： 進仃步驟31 :按下該電源鍵141開機之後，該高 球皁2之笛―m疮 π _ <弟一微處理單元221發出指令，透過電路與馬達 3控制該削輪213轉向歸位，使前輪213回到正向位 置。 收指:行步驟32:該高爾夫球車2進入待機狀態並等待接 球車進行步驟33 :當使用者按下該切換鍵143，該高爾夫 2接收到指令並執行相應動作；如果使用者未按壓任 二:鍵，該高爾夫球車2就繼續處於該待機狀態。而該高 球車2接收指命後，可以在該「待機模式」、「手動模 自動模式」之間轉換’當位於手動模式時，使用 、艮、㈣等方向鍵142，控制該高爾夫球車2前進、後 二左轉、右轉等移動行程；當位於該自動模式時，使用 /選擇㈣該自動跟隨鍵144或自動導 仃不同的跟隨功能。 取 動跟Μ、5,以下先說明該高爾夫球車2位於該自 勒跟紋模式之作動流程： 取得二驟41、42，該第二微處理單元221解讀rssi， _置’並計算^夫球車2與該遙控器1 值(:第實：㈣ 如果是，進行步Π5公尺）··如果否’繼續執行步驟41，· 驟43,該高爾夫球車2自動行進，並隨時- 201105386 修正前輪213之行進方向，純料方向行進。在行進過 該防㈣測單元223隨時執行步輝44，制行進路 線上疋否有障礙物，判斷結果在以τ分為兩大點敛述·· ^有障礙物時：進行步驟45，該防撞摘測單元如進 i :Γ，並傳送運算結果至該第二微處理單元221，該 物ηΓΓ70 221進行步驟46，判斯是否能夠間避障礙 球車2朝 閃避，即發出一個避障指令驅動該高爾夫 球車2朝可以閃避障礙物 夭 續執行步驟化⑽如果益法閃避移動進麵閃避之後，繼 侃各 冈避.進行步驟47，該筮_ ρ處理車元22丨控制該車體單元21停 _ 二通訊單元222朝該遙控器1發出 並控制該苐 通訊輩开1?拉個§告訊號，該第一 通訊早兀12接收肋警告訊號並傳送㈣第 13，該第一微處理單元13進而發出於八 處理早兀 產生警告仙以提醒使㈣，所述警牛15 出聲響的蜂鳴器。 例如一個可發 ⑺沒有障礙物時：該高爾夫球車2 订進，並隨時執行步驟48偵測該 、&用者方向 的距離是否小於-第二預定值（本實& 2與遙控器1 果是，如步驟49,該高爾夫料2自]動為/公尺）：㈣如 後，該控制裝置22繼續執行步驟41及後〒；^而且在停止 如果否’該高爾夫球車2持續進行步驟43^、=驟’⑽ 。 及後、，，貝相關動作 參閱圖卜2、6,接著說日㈣高 導航模式之作動流程：首先執行 表車2位於該自動 ，取得遙控器1的 201105386 位置並計算距離，接箸執行步驟52，該 修正前輪213之行進方向 球車2隨時 朝使用者方向行進， 在行進過程中，該防撞偵測單元223隨時執行步驟门5^ 障礙物，以及執行後續步驟Μ、％，其 作與前述相同，在此不再說明。 、、'。果與執行動 該自動導航模式與前述自動跟隨模式不同 7驟57’當該高爾夫球車2與該遙控器丨之距離小於I 第三預定值時，該高爾夫球車2如步驟％ 而 不再隨著與該遙控器1之距離改變而移動，除非使用=Waiting for the second communication unit to receive the signal strength from the first communication unit of the whistle, and then obtaining the distance between the golf cart and the remote controller, the unit drives the high-velocity cart to the remote control The device travels. [Embodiment] The foregoing and other technical contents, features and effects of the present invention will be apparent from the detailed description of the preferred embodiment of the present invention. 4, Figure 1, 2' The golf cart control system of the present invention comprises: a user can carry (4) a remote control device and - with the remote control H ^ line: and can automatically track the remote controller " Follow the march of Gore = 2. Both the remote controller 1 and the golf cart 2 of the present invention are equipped with a Zigbee telemetry system and use radio frequency (RF) signals as communication signals. Since the remote controller i is provided by the user with the (4) belt, the position of the controller 1 is the difference between the field and the water, and the remote P of the armor represents the position of the user. The remote control 4 201105386 11 'V cutters a first communication unit 12 mounted in the body u, a first micro-processing unit 13 electrically connected to the first communication unit 12, the embedded device is exposed to the body The U surface is electrically connected to the button unit 14 of the first micro processing unit 13, a warning member 15 electrically connected to the first micro processing unit 13, and a first battery unit 16 in the mounting body 11, the first The battery unit 16 includes at least one battery and provides power to the remote controller 1. The battery unit 16 of the embodiment is a 3.6V lithium battery. The communication unit 12 adopts Zigbee communication technology, and can be controlled by the first micro unit 14 to send a signal to the golf cart 2, and the first Λ: 兀12 can also receive the golf cart 2 Signal. The button 70 14 has a power button 141 for turning on or off the golf cart 2, a plurality of direction keys 142, a switch button 143, an automatic follow button 144, and an automatic navigation button 145. 45 is a command that can be pressed to drive the first micro processing unit 13 to generate a control signal and transmitted to the golf cart 2 through the first communication unit 12, wherein the switching key (4) controls the golf The cart 2 switches to three different modes of operation - "standby mode", "manual mode" and "automatic mode". Whenever the cut (four) 143 is pressed, the golf cart 2 will go from one mode. Switch to another mode. The automatic mode can be further divided into an "automatic follow mode", and an "automatic navigation mode ^", the automatic follow key 144 causes the remote controller to emit a signal to control the two golf carts 2 to be in the The automatic following mode; similarly, the automatic navigation key 145 controls the golf cart 2 to switch to the automatic navigation mode. The meaning of the various modes of the above-mentioned 201105386 is described later. The golf cart 2 includes a body that can be driven to travel. The unit η, a control device 22 disposed in the vehicle body unit 21, a motor electrically connected to the control device 22 and operative to drive the vehicle body unit 21 to travel: a unit 23, and a vehicle body unit 21 The second battery unit 24 is provided with the control unit η and the power of the unit 23, and the second battery unit 24 of the embodiment is a 12V lead-acid battery. The body unit 21 includes a plurality of rods, etc. The frame body of the structure is arranged at the bottom of the frame 211 to carry a base 212 of a high-definition bag not shown, a front wheel 213 and a second rear wheel 2U' mounted on the bottom of the frame 211. And two on A fixing mechanism 215 is provided for clamping the bag. The motor unit 23 includes a driving motor that drives the vehicle body unit 21 and is not shown, and a steering motor that drives the body unit 21 to turn and is not shown. The drive motor and the steering motor are both used to drive the front wheel 213 'because the motor unit 23 and the body unit 2 ι are not the improvement of the present invention, and therefore will not be described in detail. The control device 22 includes a second microprocessor unit. 221, and the second communication unit 222 of the second micro processing unit 221 and the anti-collision detection unit 223, wherein the second communication unit 222 is symmetrically disposed on the vehicle body The left and right sides of 21, and RF communication with the first communication unit 12 of the remote controller i. Referring to Figures 1, 2, 3, when the Nanlf cart 2 is in the automatic mode, the second communication The unit 222 receives the RF signal sent by the first communication unit 12, and transmits the received signal to the second micro processing unit - 6 201105386 221 'The second micro-processing unit A 221 is based on the wireless network. Strong received signal a pointer value (RSSI), and comparing the difference in signal strengths received by the two second communication units 222, calculating an orientation of the remote controller i, and a distance between the remote controller and the golf cart 2. The communication distance between the remote controller 1 and the golf cart 2 is up to about 1 inch. For example: when the remote controller i is located at the A position of FIG. 3, the two second communication units 222 receive the same. The RF signal strength is the same, indicating that the remote controller 1 is located directly in front of the golf cart 2; when the remote controller ι is located at the B position of FIG. 3, the second communication unit 222 on the right side receives the strong signal intensity, indicating that The remote controller is adjacent to the right side of the golf cart 2; otherwise, when the remote controller 1 is in the C position, the RF signal received by the second communication unit 222 on the left side is strong. When the remote controller 1 is located directly in front of the golf cart 2, for example, the A position 'the second micro processing unit 221 passes through the motor unit 2 body unit 21 straight forward. The raft, the old man is cut to be mean Although the remote control 1 is located in the golf cart 2: other places, for example, the position of the second micro-processing unit, the wheel 213 turns and then advances to face the remote control! The direction of the second travel process, the first - imaginary _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ The distance traveled and the distance of the golf cart 2 to determine whether the golf cart 2 is detected by the collision detection unit 223 or whether there is a barrier around it _ $ ^ The driving path of the golf cart 2 Zhao Li... The collision pre-measurement unit 223 can calculate and analyze the obstacle distance 201105386 by means of ^ 'infrared detection or the like'. Referring to Figures 1, 2, and 4', the following is a description of the operation flow of the present invention: Step 31: After the power button 141 is pressed, the flute of the high-ball soap 2 is mu-π _ < Instructed to control the turning wheel 213 to be turned back by the circuit and the motor 3 to return the front wheel 213 to the forward position. Receiving: Step 32: The golf cart 2 enters the standby state and waits for the shuttle to proceed. Step 33: When the user presses the switch button 143, the golf 2 receives the command and performs the corresponding action; if the user does not press Any two: the button, the golf cart 2 continues to be in the standby state. After receiving the command, the golf cart 2 can switch between the "standby mode" and the "manual mode automatic mode". When in the manual mode, the direction key 142 is used, such as 艮, (4), to control the golf cart 2 Move forward, rear left turn, right turn, etc.; when in the automatic mode, use/select (4) the auto follow key 144 or automatically guide different follow functions. Take the Achilles tendon, 5, the following describes the action flow of the golf cart 2 in the self-feeling pattern: Obtain two steps 41, 42, the second micro-processing unit 221 interprets rssi, _ set 'and calculate ^ Fu The cart 2 and the remote controller 1 value (: the real: (four) If yes, step 5 meters) · If no 'continue to perform step 41, · step 43, the golf cart 2 automatically travels, and at any time - 201105386 The traveling direction of the front wheel 213 is corrected, and the direction of the pure material travels. When the travel prevention (four) measurement unit 223 travels, the step illuminator 44 is executed at any time, and there is an obstacle on the travel route, and the judgment result is condensed into two points with τ. When there is an obstacle: Step 45 is performed. The collision avoidance measuring unit enters i:Γ, and transmits the operation result to the second micro processing unit 221, and the object ηΓΓ70 221 performs step 46 to determine whether the obstacle can be evaded by the obstacle cart 2, that is, an obstacle avoidance is issued. The command drives the golf cart 2 to perform the step by step (10). If the evasive movement moves into the surface, the following steps are performed. The step 47 ρ processing unit 22 controls the vehicle. The body unit 21 stops _ two communication unit 222 sends and controls the 苐 苐 辈 ? ? ? 拉 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , The micro-processing unit 13 is in turn issued a buzzer that sounds a warning to cause (4) that the police cow 15 sounds. For example, if one can send (7) without obstacles: the golf cart 2 is set in, and at any time, step 48 is performed to detect whether the distance in the direction of the user is less than - the second predetermined value (this real & 2 with the remote controller) 1 If yes, as in step 49, the golf material 2 is from /4): (4) If, after that, the control device 22 continues to perform step 41 and after; ^ and if stopped, no 'the golf cart 2 continues Go to step 43^, =step '(10). After that, refer to Figure 2, 6, and then the daily (four) high navigation mode operation flow: first, the watch car 2 is located in the automatic, obtain the position of the remote control 1 201105386 and calculate the distance, and then perform the steps 52. The direction of the front wheel 213 corrects the cart 2 to travel toward the user at any time. During the running, the collision detecting unit 223 executes the step door 5^ at any time, and performs subsequent steps Μ, %, The same as the foregoing, it will not be described here. ,, '. If the automatic navigation mode is different from the foregoing automatic following mode, the step 57' when the distance between the golf cart 2 and the remote controller is less than the third predetermined value, the golf cart 2 is no longer in step %. Moves as the distance from the remote control 1 changes, unless using =
施航鍵145’以再度執行—次自動導航功能。本實 施例之弟三預定值為3公 I 實施時，不以相同為限制。第4定值相同，但 I之’在自動跟隨模式’當該高爾夫球車2與 之距離大於該第—預定值，該高爾夫球車2就開始 移動，直到距離小於該第二預定值就停止’在此過程中， ^果使用者又再度移動而遠離該高爾夫球車2，該高爾夫球 2會隨時跟隨。而自動導航模式只_ —次該遙控器1 的位置:並在高爾夫球車2移動到與該遙控器i的位置小 。第—預疋值即停止’該高爾夫球車不會再因為使用者 移動而跟著移動，此模式適合使用者在一小範園内移動， 而且不需要該高爾夫球車2緊密跟隨的時候使用。 ,得提的是，當該高爾夫球車2靜止不動超過分 鐘後’就啟動省電模式而自動關機。此外，藉由二個左右 間隔的第二*ig **IJ _ 一訊早元222接收到的訊號強度有所不同，比 10 201105386 較此強度差並分㈣算，可⑽為精準地估㈣遙控器！ 之位置。當‘然’如果設置三個第二通訊單元222，藉由三點 偵測可得到更精確之位置。 -综上所述，藉“遙控^配合控制裝置22、馬達單 元23等構件，使該高爾夫球車2為電動式控制，並且可自 動谓測使用者距離而自動跟隨行進，而且本發明運用 Zigbee RF設備中内嵌的定㈣擎技術，運算出該高爾夫球 車2與使用者的距離與方位角度，再依使用者的設定作出 相對應的功能，由力Zigbee發展技術成熟，所以在通訊使 用上相當方便。因此本發明提供—種電動辅助、人性化的 高爾夫球車控編’同時可以減少高爾夫球場的人力配 置’確實達到本發明之目的。 惟以上所述者，僅為本發明之較佳實施例而已，當不 能以此限定本發明實施之範圍，即大凡依本發明中請專利 範圍及發明說明内容所作之簡單的等效變化與修飾，皆仍 屬本發明專利涵蓋之範圍内。 【圖式簡單說明】 圖1疋一立體分解圖，顯示本發明高爾夫球車控制系 統之一較佳實施例； 圖2是該較佳實施例之一高爾夫球車與一遙控器的功 能方塊圖； 圖3是一示意圖，顯示該遙控器位於該高爾夫球車前 方三個不同的位置，同時顯示該高爾夫球車接收到該遙控 器之訊號強度； 201105386 圖4是該遙控器控制該高爾夫球車的流程圖； 圖5是該高爾夫球車位於一自動跟隨模式的動作流程 圖；及 圖6是該高爾夫球車位於一自動導航模式的動作流程 圖。The navigation key 145' is used to perform the secondary automatic navigation function again. The third predetermined value of the third embodiment of the present embodiment is not limited to the same when implemented. The fourth setting is the same, but the 'in the automatic following mode'. When the golf cart 2 is at a distance greater than the first predetermined value, the golf cart 2 starts to move until the distance is less than the second predetermined value. In the process, the user moves again away from the golf cart 2, and the golf ball 2 will follow at any time. The automatic navigation mode only _ times the position of the remote controller 1 and moves the golf cart 2 to a position small with the remote controller i. The first pre-depreciation is stopped. The golf cart will no longer follow the movement of the user. This mode is suitable for the user to move in a small park and does not need to be used when the golf cart 2 is closely following. It is to be noted that when the golf cart 2 is stationary for more than a minute, the power saving mode is activated and the power is automatically turned off. In addition, the signal strengths received by the two left and right second *ig **IJ _ one early 222 are different, compared with 10 201105386, the intensity difference is divided into four (4), and (10) is accurately estimated (4) remote control! The location. When three second communication units 222 are set up, a more accurate position can be obtained by three-point detection. - In summary, the golf cart 2 is electrically controlled by means of "remote control", such as the control device 22, the motor unit 23, and the like, and automatically follows the user distance to automatically follow the travel, and the present invention uses Zigbee The fixed (four) engine technology embedded in the RF device calculates the distance and azimuth angle between the golf cart 2 and the user, and then performs corresponding functions according to the user's settings. The development technology of Zigbee is mature, so it is used in communication. It is quite convenient. Therefore, the present invention provides a power-assisted, user-friendly golf cart control and can reduce the manpower configuration of the golf course to achieve the object of the present invention. However, the above is only the comparison of the present invention. The present invention is not intended to limit the scope of the invention, and the equivalent equivalents and modifications of the scope of the invention and the scope of the invention are still within the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is an exploded perspective view showing a preferred embodiment of the golf cart control system of the present invention; A functional block diagram of a golf cart and a remote controller in a preferred embodiment; FIG. 3 is a schematic view showing the remote controller in three different positions in front of the golf cart, and simultaneously displaying that the golf cart receives the remote control Figure 4 is a flow chart of the remote control for controlling the golf cart; Figure 5 is a flow chart of the action of the golf cart in an automatic following mode; and Figure 6 is the automatic navigation of the golf cart The action flow chart of the mode.
12 201105386 【主要元件符號說明】 1…… •…遙控器 211 ·· …車架 11 .··· •…座體 212 ···· …底座 12•… —第 通訊卓元 213 ·· …箣輪 13…… •…第一微處理單元 214 ···· …後輪 14 …·按鍵單元 215 ···· …固疋機構 141… •…電源鍵 22…… …控制裝置 142… •…方向鍵 221 ···· …第二微處理單元 143 ··. •…切換鍵 222 ·· …第二通訊.單元 144… …·自動跟隨鍵 223 ···· …防撞偵測單元 145… •…自動導航鍵 23…… …馬達單元 15…… •…警告件 24…… …第二電池單元 16…… .…第一電池單元 31-33· …步騾 2 ....... ----1¾爾夫球車 41-49- …步騾 21…… .…車體單元 51-58· …步驟 1312 201105386 [Description of main component symbols] 1... •...Remote control 211 ···Frame 11 ···· •... Seat 212 ·····Base 12•... —Communication Zhuoyuan 213 ·· ...箣Wheel 13... •...first micro processing unit 214 ·····rear wheel 14 ...·button unit 215 ····· solid state mechanism 141... •...power button 22...control device 142... Key 221 ····...Second micro processing unit 143 ···•...Switch key 222 ···Second communication. Unit 144...··Automatic follow key 223 ····... Collision detection unit 145... ...automatic navigation key 23 ... ... motor unit 15 ... • ... warning member 24 ... ... second battery unit 16 ... .... first battery unit 31-33 · step 骡 2 .... ---13⁄4 尔尔夫车车41-49- ...step 骡 21...... .... body unit 51-58· ...Step 13