KR101512795B1 - Apparatus and Method of Decelerating Golf Cart at Conering under the Automatic Driving Mode - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a cornering decelerator and a deceleration method for a golf cart in an automatic operation mode, and more particularly, To a cornering decelerator and a deceleration method of a golf cart in an operation mode.
According to the present invention, when the golf cart enters the corner, the speed of the golf cart is reduced. Thus, the passengers' deviation due to inertia at the corner and the sudden stop due to derailment of the golf cart are prevented.

Description

Technical Field [0001] The present invention relates to a cornering decelerating apparatus and a decelerating method for a golf cart traveling in an automatic driving mode,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a cornering decelerator and a deceleration method for a golf cart in an automatic operation mode, and more particularly, To a cornering decelerator and a deceleration method of a golf cart in an operation mode.

A golf cart is a car used in a golf course. It is a car that allows a golf player to ride and carry a golf club. A golf cart is an essential means of moving a golf course, allowing easy and quick movement of the golf player and golf equipment in a wide range of golf courses.

The driving mode of the golf cart includes a manual driving mode and an automatic driving mode. The manual operation mode is a mode in which the driver of the golf cart operates the steering wheel, the excel, and the brake to control the running of the golf cart himself. The automatic operation mode is a mode for controlling the self-driving by various control devices mounted on the golf cart regardless of the operation of the driver of the golf cart. In order for a golf cart to run in the automatic operation mode, an induction coil must be buried under the cart road.

In addition, a magnet such as a magnet is embedded in the ground under the induction coil before entering the corner section or the corner section, and the golfer recognizes and decelerates that the golf cart enters the corner section by sensing the magnet, A method of preventing derailment of a golf cart is being used.

When the golf cart travels at the same speed in the corner section under the automatic operation mode of the golf cart, the ride feeling is lowered due to the sudden turning. Also, if the magnet is not recognized due to an error of the sensor recognizing the magnet, the golf cart may derail from the cart road due to a sudden turn.

Therefore, there is a demand for a technique for preventing problems caused by inertia or unrecognized magnetism errors during a sudden turn under an automatic operation mode of a golf cart.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a cornering decelerator and a deceleration method of a golf cart in an automatic operation mode for preventing passengers from leaning and derailment of a cart road by reducing the speed of the golf cart when the golf cart enters the cornering .

According to an aspect of the present invention, there is provided a cornering decelerator for a golf cart that travels in an automatic operation mode according to the present invention includes an induction sensor unit for sensing an induction coil embedded in a basement of a cart road, A steering control section for analyzing the sensed voltage to generate a steering control signal for controlling the steering of the golf cart so that the golf cart runs along the induction coil; A steering unit including a steering motor for changing the steering angle of the golf cart in accordance with the steering control signal; A current sensor for sensing a steering current output from the steering motor; And a speed control unit for deciding an instant when the change amount of the sensed voltage is equal to or greater than the first reference value and the steering current is maintained for a predetermined time or more for a predetermined time as a corner point and decelerating the driving speed of the golf cart when a corner point is detected .

Preferably, the induction sensor unit includes a pair of induction sensors disposed at left and right spaced apart from each other at a predetermined interval, and the steering control unit controls the steering control unit such that the deviation of each sensing voltage generated by the pair of induction sensors is eliminated, Can be generated.

Preferably, the speed control unit may determine the deceleration rate of the golf cart differently according to the magnitude of the steering current.

Preferably, the speed control unit may control to return the running speed of the golf cart to the running speed before deceleration if the steering current falls below the second reference value after the corner point is detected.

According to another aspect of the present invention, there is provided a cornering deceleration method for a golf cart traveling in an automatic operation mode, the method comprising: generating a sensing voltage by sensing an induction coil embedded in a ground of a cart road; Analyzing the sensed voltage to control steering of the golf cart such that the golf cart travels along the induction coil; Operating the steering motor in accordance with the steering control signal to change the steering angle of the golf cart; Sensing a steering current output from the steering motor; Determining a moment when the amount of change of the sensing voltage is equal to or greater than a first reference value and the steering current is maintained equal to or greater than a second reference value for a predetermined time as a corner point; And decelerating the traveling speed of the golf cart when a corner point is detected.

According to the present invention, when the golf cart enters the corner, the speed of the golf cart is reduced. Thus, the passengers' deviation due to inertia at the corner and the sudden stop due to derailment of the golf cart are prevented.

1 is a block diagram showing a cornering decelerator of a golf cart traveling in an automatic operation mode according to the present invention.
2 is a view illustrating an induction sensor unit;
3 is a diagram illustrating a change amount of a sensing voltage and a first reference value.
4 is a diagram illustrating a current amount of a steering current and a second reference value.
5 is a timing chart illustrating speed control of a golf cart according to a change amount of a sensing voltage and a current amount of a steering current;
6 is a diagram illustrating a deceleration rate according to a change amount of a sensing voltage;
7 is a diagram illustrating a deceleration rate according to a current amount of a steering current;
8 is a flowchart illustrating a cornering deceleration method of a golf cart traveling in an automatic operation mode according to the present invention.

The present invention is capable of various modifications and various forms, and specific embodiments are illustrated in the drawings and described in detail in the text. It should be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprising" or "having ", and the like, are intended to specify the presence of stated features, integers, steps, operations, elements, parts, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted as ideal or overly formal in meaning unless explicitly defined in the present application Do not.

The driving mode of the golf cart includes a manual driving mode and an automatic driving mode. The manual operation mode is a mode in which the driver of the golf cart operates the steering wheel, the excel, and the brake to control the running of the golf cart himself. The automatic operation mode is a mode for controlling the self-driving by various control devices mounted on the golf cart regardless of the operation of the driver of the golf cart. In order for a golf cart to run in the automatic operation mode, an induction coil must be buried under the cart road.

The induction coil is a coil embedded in the underground of a cart road constructed to run a golf cart on a golf course. The golf cart is controlled to sense the induction coil and travel along the induction coil, which prevents the golf cart from traveling on the cart road under the automatic operation mode due to the presence of the induction coil. These induction coils are laid in a row in the middle basement of the cart road.

The present invention relates to a cornering deceleration device and a deceleration method for a golf cart in an automatic operation mode, and is intended to prevent a buckling due to inertia and a road derailment by reducing a speed of a golf cart when a golf cart enters a cornering.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

1 is a block diagram showing a cornering decelerator of a golf cart traveling in an automatic operation mode according to the present invention.

1, a cornering decelerator 100 of a golf cart traveling in an automatic driving mode according to the present invention includes an induction sensor unit 110, a steering control unit 120, a steering unit 130, a current sensor 140, And a speed control unit 150. [

The induction sensor unit 110 includes a plurality of induction sensors and senses an induction coil embedded in the underground of the cart road to generate a sensing voltage.

2 is a diagram illustrating the induction sensor unit 110. As shown in FIG.

The induction sensor unit 110 includes a pair of induction sensors 111_L and 111_R and a guide arm 112 for supporting the induction sensors 111_L and 111_R, And may further include one induction sensor 111_C at the center.

Each of the induction sensors 111_L, 111_R, and 111_C senses the induction coil 10 buried in the cart road to generate a sensed voltage. The sensed voltage is applied to a change in distance between the induction coil and the induction sensors 111_L, 111_R, Changes. As will be described later, the steering control unit 120 analyzes the sensing voltage generated by the induction sensors 111_L, 111_R, and 111_C, and controls the steering angle of the golf cart so that the golf cart travels along the induction coil 10. [

The guide arm 112 is a T-shaped arm, and guide sensors 111_L, 111_R, and 111_C are mounted on the arm located at the front portion of the golf cart in the guide arm 112. When the golf cart wheel is steered, the guide arm 112 also rotates at the same angle as the steering angle of the golf cart wheels, so that the arm located at the front portion of the guide arm 112 always maintains a vertical position with respect to the golf cart wheels.

The steering control unit 120 controls the steering angle of the golf cart wheels and analyzes the sensed voltages generated by the induction sensor unit 110 to control the steering of the golf cart so that the golf cart travels along the induction coil. And generates a control signal.

The steering control unit 120 analyzes the deviation of the sensing voltage generated by the left and right inductive sensors 111_L and 111_R and generates a steering control signal for changing the steering angle of the golf cart in a direction in which the deviation between the sensing voltages is eliminated.

The steering unit 130 includes a steering motor 131 that changes the steering angle of the golf cart according to the steering control signal. The steering unit 130 includes a steering shaft (not shown) and a steering gear box (not shown) connected to the steering motor 131. Since the steering shaft and the steering gear box are common in automobiles and golf carts, Omit it.

The rotation of the steering motor 131 is controlled in accordance with the steering control signal. A current sensor 140 is connected to an output end of the steering motor 131. The steering angle of the golf cart is changed by the steering motor 131. The current sensor 140 connected to the steering motor 131 senses the steering current outputted from the steering motor 131 to determine whether the steering angle is changed.

The speed controller 150 slows down the running speed of the golf cart when the golf cart enters a corner, thereby preventing a deviation due to inertia and a derailment of the road.

The speed control unit 150 includes a deceleration unit 151 for deciding the corner time when the golf cart enters the corner and decelerating the driving speed of the golf cart and a deceleration unit 151 for decelerating the driving speed of the golf cart when the golf cart comes out of the corner, And a normal returning unit 152 for controlling the returning to the speed.

The deceleration unit 151 of the speed control unit 150 determines whether the amount of change of the sensing voltage generated by the induction sensor unit 110 is equal to or greater than the first reference value and the steering current sensed by the current sensor 140 exceeds the second reference value When the corner point is detected, the running speed of the golf cart is decelerated.

The normal returning unit 152 of the speed control unit 150 controls the traveling speed of the golf cart to return to the traveling speed before deceleration when the steering current falls below the second reference value.

3 is a diagram illustrating a variation amount of the sensing voltage and a first reference value, and FIG. 4 is a diagram illustrating a current amount and a second reference value of the steering current.

The deceleration unit 151 of the speed control unit 150 compares the change amount of the sensing voltage with the first reference value to determine whether the change amount of the sensing voltage is equal to or greater than the first reference value.

The deceleration unit 151 of the speed control unit 150 compares the current amount of the steering current with the second reference value to determine whether or not the current amount of the steering current maintains the second reference value or more for a predetermined time.

When the golf cart enters the corner, the amount of change of the sensing voltage rapidly increases, and accordingly, a large amount of current flows into the steering motor 131, and the amount of current of the steering current also increases sharply. Since the steering angle of the golf cart must be maintained in the corner section, the change amount of the sensing voltage is equal to or greater than the first reference value and the current amount of the steering current also maintains the second reference value or more for a predetermined time. However, at a corner, the amount of current of the steering current exceeds the second reference value only for a very short time, and falls again below the second reference value.

The deceleration unit 151 of the speed control unit 150 determines that the moment when the change amount of the sensed voltage is equal to or greater than the first reference value and the steering current maintains the second current value equal to or greater than the second reference value for a predetermined time, Decelerate the driving speed.

On the other hand, the normal returning unit 152 of the speed control unit 150 determines whether or not the steering current falls below the second reference value after the corner point is detected, and when the steering current is less than the second reference value And controls the golf cart to return to the traveling speed before the deceleration when the golf cart is dropped.

5 is a timing chart illustrating the speed control of the golf cart according to the variation of the sensing voltage and the amount of the current of the steering current.

Referring to FIG. 5, the deceleration unit 151 of the speed control unit 150 determines a moment when the change amount of the sensed voltage is equal to or greater than the first reference value and the steering current maintains the second reference value or more for a predetermined time? . Here, the predetermined time? T may be set to various values according to the specification and driving speed of the golf cart.

When the corner point is detected, the deceleration section 151 of the speed control section 150 decelerates the running speed of the golf cart during the deceleration section.

Then, the normal returning unit 152 of the speed control unit 150 determines whether or not the steering current falls below the second reference value after the corner point is detected. When a moment when the steering current falls below the second reference value is detected, the normal returning unit 152 returns the running speed of the golf cart to the running speed before deceleration, thereby causing the golf cart to run normally.

Meanwhile, the deceleration unit 151 of the speed control unit 150 may determine the deceleration rate of the golf cart differently according to the change amount of the sensing voltage or the amount of the current of the steering current.

FIGS. 6 and 7 are views showing the deceleration rate according to the change amount of the sensing voltage and the deceleration rate according to the current amount of the steering current, respectively.

FIG. 6 illustrates the arrangement of the induction sensors 111_L, 111_R, and 111_C at the time of corner entry and the positional change of the induction coil 10. In Fig. 6, the positional change of the induction coil 10 according to the rotation angle of the corner is illustrated by a dotted line. That is, when the golf cart running straight runs into the corner, the golf cart can not rotate the curved line, and therefore the induction coil 10 is located on the left side or the right side, away from the center.

When the angle of rotation of the corner is large, the induction coil 10 moves to the left or right end of the golf cart. When the angle of rotation of the corner is small, the induction coil 10 moves close to the center. It is preferable that the deceleration rate is made small in the corner where the rotation angle is small and the deceleration rate is made large in the high corner period in which the rotation angle is large.

Accordingly, the deceleration unit 151 of the speed control unit 150 may classify the amount of change in the sensed voltage into several intervals according to their magnitudes, and determine the deceleration rate differently for each interval. The deceleration rate is determined to be small in the first deceleration mode (speed mode 1) in which the rotation angle is small and the deceleration rate is determined to be large in the third deceleration mode (speed mode 3) in which the rotation angle is large. Since the sensing voltage is determined according to the distance between the induction sensors 111_L, 111_R, and 111_C and the induction coil, the duration of each deceleration mode can be determined according to the distance from the center to the induction coil 10.

Meanwhile, the deceleration unit 151 of the speed control unit 150 may classify the current amount of the steering current into various intervals (speed modes 1 to 3) according to their sizes, and differently determine the deceleration rates of the golf carts have.

7 illustrates a process in which the deceleration unit 151 of the speed control unit 150 determines the deceleration rate differently according to the amount of current of the steering current. The fact that the amount of current of the steering current is small means that the rotation angle of the corner is small, so that it is preferable to increase the deceleration rate as the amount of current of the steering current is larger.

7, the deceleration unit 151 of the speed controller 150 determines the deceleration rate to be small in the first deceleration mode (speed mode 1) having a small rotation angle, and decelerates the third deceleration mode (speed mode 3 ), The deceleration rate is largely determined.

6 and 7, the number of segments and the deceleration rate of each deceleration mode are not limited to the drawings, and may be set in various ways according to the characteristics of a golf cart or a golf course.

Hereinafter, a cornering deceleration method of a golf cart traveling in an automatic operation mode according to the present invention will be described. The cornering deceleration method of the golf cart traveling in the automatic operation mode according to the present invention is performed by the cornering decelerator of the golf cart traveling in the automatic operation mode according to the present invention and is essentially the same as each other, The description will be omitted.

8 is a flowchart illustrating a cornering deceleration method of a golf cart traveling in an automatic operation mode according to the present invention.

First, the induction sensor unit 110 senses an induction coil embedded in the underground of the cart road and generates a sensed voltage (S10).

The steering control unit 120 analyzes the generated sensed voltage and generates a steering control signal for controlling the steering of the golf cart so that the golf cart follows the induction coil (S20).

The steering unit 130 operates the steering motor 131 in accordance with the steering control signal to change the steering angle of the golf cart (S30).

The current sensor 140 senses the steering current output from the steering motor (S40).

The deceleration unit 151 of the speed control unit 150 determines whether the change amount of the sensing voltage is equal to or greater than the first reference value (S50).

If the change amount of the sensed voltage is equal to or greater than the first reference value, the deceleration unit 151 of the speed control unit 150 determines whether the steering current maintains the second reference value or more for a predetermined time (S60).

If the change amount of the detection voltage is less than the first reference value, the process returns to step S10.

If the steering current is maintained above the second reference value for a predetermined time, the deceleration unit 151 of the speed controller 150 determines that the moment is the corner point (S70) and decelerates the driving speed of the golf cart (S80).

Meanwhile, as described above, the deceleration unit 151 of the speed control unit 150 can determine the deceleration rate of the golf cart differently according to the change amount of the sensing voltage or the amount of the current of the steering current.

The normal returning unit 152 of the speed control unit 150 determines whether or not the steering current falls below the second reference value after the corner point is detected (S90).

When the steering current is lower than the second reference value after the corner point is detected, the normal returning unit 152 of the speed control unit 150 controls the driving speed of the golf cart to return to the traveling speed before deceleration (S100).

The method of the present invention can also be embodied as computer readable code on a computer readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and may be implemented in the form of a carrier wave (for example, transmission via the Internet) . The computer-readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention. Accordingly, the scope of protection of the present invention should be construed in accordance with the following claims, and all technical ideas within the scope of equivalents and equivalents thereof should be construed as being covered by the scope of the present invention.

110, an induction sensor unit 120,
130, a steering unit 140, a current sensor
150,

Claims (8)

An induction sensor unit for sensing an induction coil embedded in a basement of the cart road to generate a sensing voltage;
A steering control section for analyzing the sensed voltage to generate a steering control signal for controlling the steering of the golf cart so that the golf cart travels along the induction coil;
A steering unit including a steering motor for changing the steering angle of the golf cart according to the steering control signal;
A current sensor for sensing a steering current output from the steering motor; And
And a speed controller for deciding an instant when the amount of change of the sensing voltage is equal to or greater than a first reference value and the steering current is maintained for a predetermined time or more for a predetermined time as a corner point and decelerating a driving speed of the golf cart when a corner point is detected , A cornering decelerator of a golf cart traveling in an automatic operation mode. The method according to claim 1,
Wherein the induction sensor unit includes a pair of induction sensors spaced left and right at predetermined intervals,
Wherein the steering control unit generates the steering control signal so that a deviation of each sensing voltage generated by the pair of induction sensors is eliminated. The apparatus of claim 1, wherein the speed control unit
Wherein the deceleration rate of the golf cart is determined differently according to the magnitude of the steering current. The apparatus of claim 1,
The golf cart according to any one of claims 1 to 3, wherein the cornering deceleration of the golf cart traveling in the automatic operation mode is controlled so as to return to the traveling speed of the golf cart Device. Sensing the induction coil embedded in the underground of the cart road to generate a sensing voltage;
Analyzing the sensed voltage to generate a steering control signal to control the steering of the golf cart so that the golf cart travels along the induction coil;
Operating the steering motor in accordance with the steering control signal to change the steering angle of the golf cart;
Sensing a steering current output from the steering motor;
Determining a moment when the change amount of the sensed voltage is equal to or greater than a first reference value and the steering current maintains the second reference value or more for a predetermined time as a corner point; And
And when the corner point is detected, decelerating the running speed of the golf cart. 6. The method of claim 5, wherein controlling the steering of the golf cart comprises:
Wherein the steering control signal is generated so that a deviation of each sensing voltage generated by a pair of inductive sensors spaced left and right at a predetermined interval is eliminated. 6. The method of claim 5, wherein the step of slowing down the running speed of the golf cart
And determining the deceleration rate of the golf cart differently according to the magnitude of the steering current. ≪ Desc / Clms Page number 19 > 6. The method of claim 5,
Further comprising the step of controlling to return the driving speed of the golf cart to the driving speed before deceleration if the steering current drops below the second reference value after the corner point is detected A cornering deceleration method of a golf cart.

Images