JP3054488B2 - Riding golf cart - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a riding golf cart which can be steered automatically and manually.

[0002]

2. Description of the Related Art In recent years, there have been proposed various automatic traveling golf carts not only for carrying golf bags but also for players to ride on. In addition to running automatically while stopping at each position, remote control or manual steering is also possible.

[0003]

By the way, in the case of such a riding type golf cart, if a person performs a remote control while a person is riding during automatic driving, the person riding the golf cart suddenly runs, or There is a danger of losing posture, falling or falling due to stopping, and if there is an obstacle on the running path during automatic driving, if the occupant is not paying attention, it will collide with this, and May cause a fall or fall.
In addition, there is another inconvenience that, for example, if a occupant gets off the vehicle carelessly or falls down during driving, only the golf cart runs without permission.

The present invention has been made in view of the above circumstances, and an object of the present invention is to prevent a danger caused by unexpected running or stopping when a person is in a vehicle, and to prevent a person from getting off or falling down. An object of the present invention is to provide a riding-type golf cart in which the inconvenience that the golf cart runs without permission when the golf cart is separated from the golf cart is eliminated.

[0005]

A riding type golf cart according to a first aspect of the present invention detects a driving source for traveling and a guiding means provided along a traveling path, and automatically or manually detects the driving source along the traveling path. Steering means operated in the, in a riding type golf cart comprising a drive unit for driving and controlling the driving means and a driving unit, a means for remotely controlling the driving source for driving through the control unit, A control means for detecting whether or not a person is on board; the control unit includes a sensor for receiving a command signal from the remote control means; When a ride is detected, a command signal detected by the sensor is not accepted.

A riding type golf cart according to a second aspect of the present invention
A driving source for traveling, a guiding unit provided along a traveling path, and a steering unit automatically or manually operated to travel along the driving source; and a drive control unit for controlling the driving source and the steering unit. A riding type golf cart provided with a control unit for performing the operation, comprising: a person riding detecting means for detecting whether or not a person is riding; and an obstacle detecting means for detecting an obstacle present on a traveling path, At the time of steering, the control unit activates an alarm when the obstacle detection means detects an obstacle when the person riding detection means detects a person's riding, and reduces the traveling speed. It is characterized in that the driving source for traveling is controlled.

A riding type golf cart according to a third aspect of the present invention is
A driving source for traveling, a guiding unit provided along a traveling path, and a steering unit automatically or manually operated to travel along the driving source; and a drive control unit for controlling the driving source and the steering unit. A driving type golf cart having a weight sensor for detecting the weight of a person's boarding position before and during traveling, and wherein the control unit includes the weight sensor before traveling and during traveling. When the difference between the output signals exceeds a predetermined set value, the driving source is controlled to reduce the traveling speed.

[0008]

According to the first aspect of the present invention, when a person is in a vehicle, remote operation is not accepted, thereby preventing the risk of accidental running or stopping unintentionally by the person in the vehicle. I can do it.

According to the second aspect of the present invention, when an obstacle is found on the traveling road while a person is on the vehicle, a warning can be issued to alert the on-board person to an unexpected. The danger of falling and falling due to deceleration can be prevented.

According to the third aspect of the present invention, when a person on board gets out of care during automatic or manual steering and falls down, the speed is automatically reduced and only the golf cart travels on its own. This can prevent the danger of doing so.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be specifically described below with reference to the drawings showing the embodiments. FIG. 1 is a perspective view of a riding type golf cart according to the present invention, and FIG. 2 is a schematic side view showing a state in which a person is riding on the same, and 10 in the figure is a vehicle body. The vehicle body 10 includes front wheels 1L, 1R and rear wheels 2L, 2R, which are steering wheels, a seat 3 between the front and rear wheels, a window 4 at the front of the seat 3, and a hood 5 at the top. It is. A steering wheel 6 serving as a steering wheel is provided at a front portion of the seat 3, an accelerator 7 is provided at the step, and a loading platform 8 on which a golf bag G or the like is placed is provided at the rear of the seat 3.

[0012] Figure 3 is a block diagram showing the automatic travel control system, the center portion of the axle 1s connecting the front wheels 1L, 1R is provided steering motor M _1, also the front center of the vehicle body 10 frame 10a left, inductive right sensor 11L, 11R and the guiding line sensor 11h is installed, an electromagnetic brake 12, a drum brake 13, the encoder 14 and the traveling motor M ₂ provided on the axle 2s connecting the rear wheels 2L, 2R further Have been.

[0013] 20 denotes a controller constituted by a microcomputer, a fixed point for the magnetic sensor 21, the steering motor M ₁ of the current sensor 22, the induction line position shift sensor 23, the guiding line level sensor 24, breaker 25, of the battery operation switch for setting the voltage sensor 26, the command signal sensor 27 of the remote controller remotely obstacle sensor 28, a human riding sensor 29, speed sensor 30, current sensor 31 of the driving motor M _2, the collision sensor 32 and various traveling modes such as A signal from the motor 33 is taken in, a steering motor M _{1 is} passed through a steering motor output control unit 41, an electromagnetic brake 12 is passed through an electromagnetic brake drive control unit 42, and a traveling motor M is passed through a traveling motor output control unit 43. ₂ and the alarm buzzer 44 are controlled.

The guide sensors 11L and 11R detect a magnetic field formed by a guide wire (not shown) buried in the ground, and the detection signal is taken into a guide wire displacement sensor 23. The guide line position deviation sensor 23 does not output a control signal when the two detection signals are equal, and outputs a difference signal to the control unit 20 when there is a difference between the two detection signals, and eliminates the difference. to control signal to the steering motor M ₁ from the steering motor output control unit 41 is adapted to be outputted.

The induction sensor 11h detects a magnetic field formed by the same induction line, and the detection signal is output from the induction line level sensor 24.
It is taken in. The guide line level sensor 24 detects the presence or absence of a guide line, in other words, whether or not the vehicle body is located in a guide line shape, and outputs this to the control unit 20. The fixed point magnetic sensor 21 detects the magnetism of a magnet embedded at a position where the golf cart should be stopped, and outputs this to the control unit 20. Current sensor 22 outputs the detected drive current of the steering motor M ₁ to the controller 22. The remote control command signal sensor 27 is always kept in a standby state, and when a remote control command signal, for example, a signal such as running or stopping, is detected, the detection signal is sent to the control unit.
Output to 20. The obstacle sensor 28 is provided at a front portion of the vehicle body 10, detects an obstacle on the traveling path, and outputs a detection signal to the control unit 20. The occupant sensor 29 is constituted by a pressure sensor or the like, and is installed below the seat 3. When a occupant is in the vehicle, the sensor outputs a detection signal to the control unit 20. The place where the occupant sensor 29 is installed is not limited to below the seat 3 but may be installed at a step or the like.

The speed sensor 30 is connected to the encoder 14, converts a signal from the encoder 14 into a speed, and
Output to 20. Power sensor 31 is arranged to output this by detecting the driving power of the driving motor M ₂ to control unit 20. The collision sensor 32 is attached to a front portion of the vehicle body 10, for example, a bumper, and outputs a detection signal to the control unit 20 when detecting a predetermined pressure. The operation switch 33 includes switches for selecting a traveling mode such as automatic steering and manual steering, in addition to switches for selecting various traveling speeds.

Next, the operation of the riding type golf cart according to the present invention as described above will be described with reference to the flowcharts shown in FIGS. (Control by Remote Control) In FIG. 4, when the golf cart is stopped, when a player or the like outputs a travel signal to the golf cart by remote control, the remote control signal sensor 27 in the golf cart receives the signal (step S).
1) This is output to the control unit 20. The control unit 20 fetches the signal of the person entry sensor 29 and determines whether or not a person is on the golf cart (step S2).

When the control unit 20 determines that no person is on the golf cart, it determines whether the signal is a signal input through the remote control signal sensor 27, for example, a start signal.
(Step S4), and outputs a drive control signal to the traction motor output control unit 43 when a start signal, drives the traction motor M ₂ starts traveling. When the signal is not a start signal, the signal remains stopped. (Step S6)

On the other hand, when the control unit 20 determines that a person is on the golf cart, the remote control signal sensor
The signal input through 27 is ignored without being accepted (step S3), and the process returns to step S1. Thus, when a golf cart is occupied by a person, by ignoring the command signal by remote control, it is possible to prevent a danger of falling down due to unexpected running or stopping.

After the start of traveling, the encoder 14, the speed sensor 30
The traveling speed is taken into the control unit 20 through, and a predetermined traveling speed is maintained. During traveling, the signals of the left and right guidance sensors 11L and 11R are taken into the guidance line displacement sensor 23, and a control signal is output to the steering motor output control unit 41 so that the difference signal becomes zero,
To perform driving by driving the steering motor M _1.

(Control when an obstacle is present on the traveling road) In FIG. 5, a stop signal is input (step S11),
In a state where the golf card is stopped, it is determined whether or not a command signal by remote operation or a start signal by a push button switch has been input (step S12) .If the start signal has not been input, the process returns to step S11. in the case where the start signal is inputted starts the control traveling along the traveling motor M ₂ through traveling motor output control unit 43 from the control unit 20.

While the vehicle is running, the detection signal of the obstacle sensor 28 is taken into the control unit 20. If there is no obstacle, the flow proceeds to step S13.
Then, when it is detected that an obstacle is present in the traveling path, the detection signal of the human occupancy sensor 29 is taken in, and it is determined whether or not a human is occupying (step S13). Human stops the running motor M ₂ is through the traveling motor output control unit 43 immediately returns to step S11 when not riding, also operates the electromagnetic brake 12 through the electromagnetic brake driving unit 42 at the same time.

On the other hand, when no one is in the vehicle, a warning signal is output from the control unit 20 to activate the warning buzzer 44 (
Step S16), and subsequently to decelerate the running motor M ₂ via the motor output control unit 43. This makes it possible for the occupant to notice the presence of an obstacle, to prevent the person from falling down due to an unexpected stop, and to prevent the person from falling down.
Operation will be prompted.

(Control when a person gets off or falls down while running) In the flowchart shown in FIG. 6, when a person gets on while the golf cart is stopped and performs manual running, the start switch is turned on. The rear accelerator 7 is depressed (step S21), and traveling starts (step S22). The brake pedal 9 is depressed at a required position (step S23) and stopped (step S24).

On the other hand, in the case of automatic running, it is determined by the level sensor 11h shown in FIG. 3 whether or not the golf cart is located on the guide line (step S25). Switch and drive the golf cart to the guide line. If it is located on the guide line, the start switch is turned on (step S26). The detection signal from the human riding sensor 29 to the control unit 20 captures, stores seat weight g ₁ as initial data (step S27), drives the driving motor M ₂ through traveling motor output control unit 43, the automatic travel Start (step S28).

[0026] captures the detection signals from the traveling people ride sensor 29 to the control unit 20 detects the seat weight g ₂ (step S2
9), the seat weight g ₂ is the seat weight g ₁ + α> g _{2 at the} start of traveling
> G ₁ -α (step
S30). α is set to a value that enables discrimination between when a person gets on and when a person gets off without being affected by changes in the posture of a person on board and changes in the running state of the golf cart. When the seat weight g ₂ is changed beyond the range of the above, it is determined whether the change has predetermined time (several seconds) has elapsed (Step S31), traveling motor output control when a predetermined time has elapsed decelerates the running motor M ₂ through section 43 to stop slowly (step S32).

With this control, if a person on board falls off the golf cart or gets off intentionally, the golf cart also stops near the golf cart, which is convenient for getting on again. In addition to being able to prevent danger in the event of a fall, it is also possible to prevent danger caused by an unmanned golf cart running as it is.

[0028]

As described above, in the riding type golf cart according to the present invention, the control unit does not receive a command signal from the remote control means when the occupant detection means detects the occupancy of a person. In addition, it is possible to prevent a risk that the occupant falls down or falls due to unexpected running or stopping.

Further, in the riding type golf cart according to the present invention, in a state where the occupant detection means detects the occupation of a person, when the obstacle detection means detects an obstacle,
Even if the occupant is unaware of this, the alarm activates to alert the driver, preventing the occupant from falling down due to unexpected stoppage and falling down, and the brake operation. It is possible to do.

Further, in the riding type golf cart according to the present invention, when the weight of the riding position of the running person changes more than a certain value, the falling of the person or the intentional getting off is detected and the vicinity is detected. The vehicle stops gently, and it is easy to get on the vehicle again, and the safety for a fallen person can be improved.

[Brief description of the drawings]

FIG. 1 is a perspective view of a riding type golf cart according to the present invention.

FIG. 2 is a side view showing a state in which a person is riding on the riding type golf cart according to the present invention and the vehicle is being manually steered.

FIG. 3 is a block diagram showing a control system of the riding type golf cart according to the present invention.

FIG. 4 is a flowchart showing a remote control process.

FIG. 5 is a flowchart illustrating a control process when an obstacle is present on a traveling path during automatic steering.

FIG. 6 is a flowchart showing a control process when the seat weight changes by a certain amount or more during traveling.

[Explanation of symbols]

 1L, 1R Front wheel 2L, 2R Rear wheel 3 Seat 4 Window 5 Hood 6 Handle 7 Accelerator 8 Cargo bed 9 Brake pedal 10 Body 11L, 11R Induction sensor 11c Level sensor 12 Electromagnetic brake 13 Drum brake 14 Encoder 23 Induction line displacement sensor 24 Induction Line level sensor 25 Breaker 27 Remote operation command signal sensor 28 Obstacle sensor 29 Occupant sensor 30 Speed sensor 31 Current sensor 32 Collision sensor 41 Steering motor output control unit 42 Electromagnetic brake driving unit 43 Traveling motor output control unit 44 Alarm buzzer

Continuation of the front page (56) References JP-A-63-16311 (JP, A) JP-A-63-71433 (JP, A) JP-A-2-9304 (JP, A) , U) Real opening 60-141603 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05D 1/02 G05D 1/00

Claims (3)

(57) [Claims] 1. A driving source for traveling, a steering unit automatically or manually operated to detect a guiding means provided along a traveling path and travel along the driving source, and the driving source for driving and A riding type golf cart having a control unit for driving and controlling the direction unit, a means for remotely controlling the driving source for driving through the control unit, and a person boarding detecting means for detecting whether or not a person is on board; The control unit includes a sensor that receives a command signal from the remote control unit, and when the human occupant detection unit detects the occupancy of a person during automatic steering, the detection is performed by the sensor. A riding type golf cart characterized in that a command signal is not accepted. 2. A travel driving source, a steering means automatically or manually operated to detect guidance means provided along a traveling path, and travel along the traveling drive source. A riding type golf cart having a control unit for driving and controlling the directional means, a person riding detecting means for detecting whether or not a person is riding; an obstacle detecting means for detecting an obstacle present on the traveling path; Has a, at the time of automatic steering, the control unit operates the alarm when the obstacle detection means detects an obstacle, if the person entry detection means has detected the entry of a person,
A riding type golf cart wherein the driving source for driving is controlled so as to reduce the running speed. 3. A travel driving source, a steering means automatically or manually operated to detect guidance means provided along a traveling path, and travel along the traveling drive source. the riding-type golf cart and a control unit that controls driving the deflecting means includes a weight sensor for detecting the weight of the riding position of the person in the in-line run and before the start running, the control unit and before the start running when the difference between the weight sensor output signal in the run line exceeds a predetermined set value, the riding golf cart, characterized in that in order to decelerate the running speed it is so as to control the drive source.