JPH02255902A - Guiding method for travel of carrier - Google Patents

Abstract

PURPOSE:To attain the guidance of a carrier in order to prevent the travel of the carrier on the same route and to effectively prevent the damage of the lawn and the ground by burying a magnetic substance under the ground surface and forming a marker line in the carrier traveling direction so as to travel the carrier while sensing these magnetic substance and the marker line. CONSTITUTION:A carrier 3 starts its travel with the start signal of a remote controlled oscillator 9 of a player. When a magnetic sensor 5 or 5' senses a marker line 2, the carrier 3 travels in an S-shape or zigzag with the automatic steering angle control of a steering controller 8. When the carrier 3 travels at the single side of the line 2, for example, the sensor 5 senses the line 2 and the carrier 3 is turned to the right at a point 51 and then to the left at a point 52. When the carrier 3 crosses the line 2, the carrier 3 is turned to the right at a point 53 which is sensed by the sensor 5 when a prescribed time passed after the carrier 3 passed through the point 51. Then the carrier 3 is turned to the left at a point 53' which is sensed by the sensor 5' after the carrier 3 passed through a point 51'. As a result, the carrier 3 is automatically traveled in an S shape or zigzag in its traveling direction at either one of both sides of the line 2 by repeating said operations.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a method of guiding an automatic guided vehicle running on a golf course.

<Conventional technology> Conventionally, automated guided vehicles (hereinafter simply referred to as guided vehicles) at golf courses have been so-called electromagnetic guided vehicles that are guided by guide cables buried under the surface of a dedicated paved road, or The rails that had been laid, and the rail carriers that were running on the ground.

<Problem to be solved by the invention> An electromagnetic induction vehicle detects the magnetic field generated by passing current through a guide cable buried under the road surface, amplifies the induced voltage difference between two coils, and operates a steering motor. The vehicle is controlled and guided to run directly above the buried cable, and travels along a fixed fixed route provided on the side of the fairway.

Moreover, it goes without saying that a rail-type rail vehicle is one in which rails are installed on a lawn and the vehicle runs on the rails.

However, these conventional transport vehicles cannot travel on any route other than the same fixed route, and in addition to the paved roads and laid rails being obstacles to play, especially when the latter transport vehicles are running, There were problems such as damage to the equipment, and countermeasures for these problems were long awaited.

The present invention was created in view of the problems mentioned in 1.
The objective is to provide a method for guiding the traveling of a conveyance vehicle, which prevents vehicles from traveling on the same route within the fairway of a golf course and effectively prevents damage to the lawn and ground.

Means for Solving the Problem> For this reason, the present invention buries a magnetic material under the ground surface to form a single marker line in the direction of travel, magnetically senses the marker line, and detects the progress. This is a guided vehicle traveling guidance method whose basic feature is to cause the guided vehicle to travel in an 8-figure or zigzag pattern.

<Embodiment> FIGS. 1 and 2 show an embodiment in which the present invention is used in a golf course.

In this example, below the ground surface within the course of the golf course,
The magnetic material (1) is buried at an appropriate depth to form a single marker line (2) in the traveling direction of the carrier (3). The marker line (2) is provided so as to draw an appropriate curve depending on the various topography of each hole.

In addition, on the marker line (2) near the start point (not shown) of the hole, a stop mark (see Fig. (not shown) will be buried.

As shown in FIG. 3, the transport vehicle (3) is equipped with a remote control receiver (4) so that it can be started and stopped using a remote control. Steering magnetic sensors (5) (5') are provided as magnetic sensing means on the left and right sides of the main body head of the transport vehicle (3), and a stopping magnetic sensor (6) is provided for sensing the stop mark.
) is installed near it. In addition, as shown in Fig. 4, there is a travel control device (7) that controls acceleration, low speed, starting, stopping, etc. by remote control operation, and a travel control device (7) that controls the figure 8 or zigzag travel of the transport vehicle (3). It is equipped with a palm-held steering control device (8). The method of controlling the figure 8 or zigzag type by the steering control device (8) is to control the figure 8 or zigzag type driving on only one side of the marker line (2) as shown in FIG. Marker line (2) as shown in
), there is control for running in a figure 8 or zigzag pattern. Specifically, the former control changes the steering angle to the opposite direction at the point where the steering magnetic sensor (5) (5') of the guided vehicle (3) senses the marker line (2), and a few seconds later, the steering angle is changed to the opposite direction. The steering angle is again changed to the opposite direction, and the latter control is to change the steering angle to the opposite direction several seconds after the steering magnetic sensors (5) (5') sense the marker line (2). be.

In particular, if a microcomputer whose memory stores a random number table in which numerical values of the steering angle of the guided vehicle are preset is used for the steering control device (8), the guided vehicle (3) can be controlled as shown in FIG. When traveling in a figure 8 or zigzag pattern, the steering angle changes freely, resulting in a character 8 or zigzag pattern running in a more random manner. Furthermore, as shown in FIG. 4, the carrier (3) is also provided with a potentiometer (12) that detects the actual steering angle and feeds the value back to the steering control device (8). Note that an encoder may be used as the feedback mechanism.

The operation of this embodiment as described above can be summarized as follows. The transport vehicle (3) starts moving when each player sends a start signal using a remote control transmitter (9) that they each have. Magnetic sensors (5) (5') for steering the conveyance vehicle (3)
) senses the marker line (2), the steering control device (8) of the transport vehicle (3) is activated, automatically controls the steering angle, and the transport vehicle travels in a figure 8 or zigzag pattern. It turns out. For example, a marker line (
2) In the case of control to run in a figure 8 or zigzag pattern on only one side, when the steering magnetic sensor (5) on the left side of the guided vehicle (3) senses the marker line (2), the guided vehicle (3) At the marker line detection point (51), steer to the right in the direction of travel at an angle of about 10 degrees, and at the point (52) about 5 seconds after the start, steer to the left at an angle of about 10'. become. In addition, in the case of control to cross the marker line (2) as shown in FIG. Point after about 5 seconds (53)
At this point, the vehicle was steered to the right side in the direction of travel at an angle of approximately 10°, and then the right steering magnetic sensor (5') was similarly detected at a point (53') approximately 5 seconds after passing the line detection point (51'). The vehicle will be steered to the left in the direction of travel. In either case of control, by repeating the above operations, the conveyance vehicle (3) can automatically travel in a figure 8 or zigzag pattern in the direction of travel.

Furthermore, if the steering control device (8) incorporates a microcomputer or the like that stores in memory a random number table in which steering angle values are set, the steering angle can be freely changed based on the random number table, and the guided vehicle In (3), as shown in FIG. 5, the vehicle runs in a more random 8-shape or zigzag pattern.

When stopping the transport vehicle (3), use the remote control transmitter (9)
All you have to do is operate. Furthermore, at the start point of the course, the stop magnetic sensor (6) of the transport vehicle (3) senses the buried stop mark (not shown), so no operation is required at the start of play. The transport vehicle (3) will not run on its own.

In addition, as an applied technology of this embodiment, the marker line (2)
By separately providing a mark for switching travel on the top and sensing this mark, it is possible to perform 8-character or zigzag travel as in this embodiment, and regular route travel such as tracing this along the marker line (2). A transport vehicle guidance method that can switch to automatic fishing is considered. By using this technology,
By automatically switching the driving mode, the fairway] second is the ground,
It is possible to run in a figure 8 or zigzag pattern to prevent damage to the lawn, and in places where it is necessary to move the conveyance vehicle as quickly as possible, such as a connecting road to the next pole, it is possible to run on a fixed route. Therefore, it is very beneficial.

<Effects of the Invention> As explained above, according to the present invention, the transport vehicle does not always travel on the same route, so even if the transport vehicle is frequently driven, damage to the ground and lawn is extremely small.

In addition, since there is no need for above-ground structures, it does not interfere with P1-NO and does not damage the scenery in any way.

Furthermore, the marker line can be formed by simply laying the buried body underground, which is inexpensive, and the conveyor vehicle can be continuously conveyed unmanned throughout the golf course, which helps reduce labor costs. The economic benefits of the golf course as a whole.
is also a person.

[Brief explanation of drawings]

Figure 1 is an explanatory diagram when the conveyance vehicle runs in a figure 8 or zigzag pattern on only one side of the marker line, and Figure 2 is an explanatory diagram when the conveyance vehicle crosses the marker line and travels in a figure 8 or zigzag pattern. 3 and 4 are schematic diagrams showing one embodiment of a guided vehicle used in the traveling method according to the present invention, and FIG. 5 shows a random number table in which the direction of the rudder of the guided vehicle is set in advance. FIG. 3 is an explanatory diagram showing 8-character or zigzag-type running when used in a vehicle. In the figure, (1) is a magnetic material, (2) is a marker line, and (3) is a magnetic material.
) is a transport vehicle, (4) is a remote control receiver, (5) C3'
) is a magnetic sensor for steering, (6) is a magnetic sensor for stopping,
(7) is a travel control device, (8) is a steering control device, (9)
is a remote control transmitter, (10) is a battery, and (11,) is a travel motor. (12) is a potentiometer, (51) (51') is a marker line sensing point, (52) (53) (53'
) indicate automatic control inflection points. Incidentally, the two-dot chain line indicates the travel route of the transport vehicle. Figure 1)"9 Figure

Claims (1)

[Claims] A magnetic material is buried under the ground surface to form a single marker line in the direction of travel, and the marker line is magnetically sensed.
A conveyance vehicle traveling guidance method characterized by causing the conveyance vehicle to travel in an S-shape or zigzag shape in the direction of travel.