JPH1040497A - Mobile operation management system - Google Patents

Abstract

(57) [Summary] [Problem] To appropriately and efficiently manage the operation of a moving body moving along a predetermined route. SOLUTION: The operation status of a plurality of carts is determined in a base station 1 by using radio waves from GPS satellites in a predetermined large area.
In the case of management by the base station A, the base station 1A inputs correction value data of the position based on the radio wave from the GPS satellite, stores the exit information of a plurality of carts for each small area that divides a predetermined large area, and stores A polling message containing correction value data and delivery information is sent to the cart, and in each cart,
Input position data based on radio waves from GPS satellites, return a response message containing position data, receive a polling message from a base station and a response message from a cart running ahead, and input the position data Is corrected based on the correction value data in the received polling message, and the position of the cart operating forward based on the delivery information in the polling message, the position data in the response message and the corrected position data Is determined.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for managing the operation of a moving body moving along a predetermined route using radio waves from GPS satellites, and more particularly, to a golf cart, bus, train, The present invention relates to a mobile operation management system for managing operations of ships, airplanes, and the like.

[0002]

2. Description of the Related Art Conventionally, for example, a polling system using a frequency band that has been certified or designated in advance has been mainly used in a mobile operation management system for a golf cart (hereinafter referred to as a cart). This polling method performs polling in a management room, collects the operation status of each vehicle that is a moving body, and the receiver of the base station device receives a signal indicating the operation status and records it in a storage device. , Displays on the monitor screen, indicating that the cart is late for a cart that is late, and displays permission to drive in the event of a blind hole or fog, and in the case of an emergency, the information for all carts It is a system that provides.

In this polling method, data of each cart is sequentially collected in sequence. For example, it takes about 30 seconds to 1 minute to collect information of nearly 60 carts.

According to this mobile operation management system, carts (vehicles) are displayed side by side in the order of golf play by displaying based on time information and the like in the vehicle data after receiving vehicle data of all carts. Things.

[0005]

However, in the mobile operation management system according to the conventional example described above, for example, if it takes one minute to collect data, a cart having a positional information delay of up to one minute at the base station apparatus is used. When the cart is running at a speed of 10 km / h, a delay of about 160 m occurs as an error. If the cart can freely run and stop, it is impossible for the base station device to remove the above-described error.

[0006] This error causes a delay in the instruction to the cart. For example, in the case of a cart that has a delay in position information, the display position is a position where the cart has already passed, and is located behind the current traveling position, so there is no instruction from the base station apparatus according to the display position. Even so, the instruction has no meaning for the current traveling position. In such a case, due to the delay in the instruction, the driver must wait more than necessary for an instruction to permit driving at a blind hole or at a tee ground where visibility is not effective when fog occurs. In other words, in the mobile operation management system to which the polling method is applied, there is a drawback that the play is interrupted from the judgment of the system even if the system can be driven and a delay is caused.

For the purpose of resolving the above drawbacks, there is also a system in which a sensor for detecting each cart is used in combination, and the distance between carts is determined by the sensor. In this case, however, a large-scale system configuration in which the sensor is provided is used. Equipment is required, and the equipment cost is also high, which makes it impractical.In addition, when driving on a course where sensors are not installed due to danger avoidance or trouble, the cart is missing. For this reason, there is a concern that a system that operates based on information from the sensor cannot operate normally due to abnormality detection or the like.

An object of the present invention is to provide a moving object operation management system for appropriately and efficiently managing the operation of a moving object moving along a predetermined route in order to solve the above-mentioned problems of the conventional example. Aim.

[0009]

According to the first aspect of the present invention, there is provided a mobile operation management system for controlling the operation status of a plurality of mobile units at a base station using radio waves from GPS satellites in a predetermined large area. A mobile operation management system for managing, wherein the base station includes: correction value input means for inputting correction value data of a position based on a radio wave from the GPS satellite; and individual small areas obtained by dividing the predetermined large area. Separately, a leaving information storage means for storing the leaving information of the plurality of moving objects,
Transmitting means for transmitting a message including the correction value data input by the correction value input means and the retrieval information stored by the retrieval information storage means to each of the moving bodies; The body includes: position input means for inputting position data based on radio waves from the GPS satellites; reply means for returning its own message including the position data; and a message returned from each mobile by the reply means. Receiving means for receiving the message, correction means for correcting the position data input by the position input means based on correction value data in the message received by the receiving means, and a message received by the receiving means. Based on the delivery information and the position data in the sentence, and the position data corrected by the correction means, the own position and the position of the moving body traveling around the vehicle are determined, and the next operation of the own vehicle is performed. Determining means for determining a row.

[0010] According to the above arrangement, in the base station, the correction value input means inputs the correction value data of the position based on the radio wave from the GPS satellite, and the retrieval information storage means stores the individual small area divided into a predetermined large area. Store information of a plurality of mobile units for each area is stored, and the transmitting unit transmits a message including correction value data input by the correction value input unit and the store information stored by the store information storage unit for each mobile unit. In each mobile unit, the position input means inputs position data based on radio waves from GPS satellites, the reply means returns its own message including the position data, and the reception means returns each message by the reply means. Receiving the message returned from the body, the correcting means corrects the position data input by the position input means based on the correction value data in the message received by the receiving means, and the determining means receives the message. Based on the delivery information and the position data in the message received by the step, and the position data corrected by the correction unit, the own position and the position of the moving body traveling around are determined. The operation of is determined.

Therefore, each mobile unit corrects its own position and corrects its own position based on the delivery information of the mobile unit sent from the base station and the position data returned from each mobile unit that can be received directly and reliably. Since the position and the position of the surrounding moving object are determined, each moving object can always easily grasp the position of the moving object operating around,
Even without instructions from the base station, it becomes possible for each mobile body to make operational decisions safely.

According to a second aspect of the present invention, there is provided a mobile operation management system for managing the operation states of a plurality of mobiles by using radio waves from GPS satellites in a predetermined large area. In the management system, the base station includes a correction value input unit that inputs correction value data of a position based on a radio wave from the GPS satellite, and the plurality of mobile stations for each small area that divides the predetermined large area. A delivery information storage unit for storing delivery information of a body, and a message including, for each mobile object, correction value data input by the correction value input unit and delivery information stored by the delivery information storage unit. Transmitting means for transmitting position data based on radio waves from the GPS satellites, and each mobile unit returns its own message including the position data. Reply means, receiving means for directly receiving the reply message from the other reply means of each of the moving objects, and the position based on correction value data in the message received by the receiving means. Correction means for correcting the position data input by the input means, and the self-position based on the delivery information and the position data in the message received by the reception means, and the position data corrected by the correction means And a determination means for determining the position of a moving body traveling around the vehicle and determining the next operation of the vehicle.

In the mobile operation management system according to the second aspect of the present invention, the receiving means of each mobile unit directly receives a message to be returned to the base station from the return means of another mobile unit. Therefore, the time from when the information of all the mobile units is collected to when the action instruction message of the mobile unit transmitted via the transmitting unit of the base station is received is reduced.

According to a third aspect of the present invention, in the mobile operation management system according to the first aspect of the present invention, the determination unit includes a predetermined area corresponding to the current operation position based on the position data corrected by the correction unit. In the small area, and based on the information on the determined small area, the delivery information, and the position data in the message received from the moving body traveling around received by the receiving means, It is characterized in that it determines the position and the position of the moving body that travels around it, and also determines its own next operation, and makes a decision on the operation on each mobile body side without instructions from the base station. It is possible.

According to a fourth aspect of the present invention, in the mobile operation management system according to the fourth aspect of the invention, the determination unit determines a small area in the predetermined area corresponding to the current operation position based on the position data corrected by the correction unit. Determined, based on the determined information of the small area, the leaving information, and the position data in the reply message from each of the other mobile units directly received by the receiving means, the position of the own vehicle and the surrounding area. It is characterized in that it determines the position of the moving body that operates the vehicle, and also determines its own next operation.

In the mobile operation management system according to the present invention, when the receiving means of each mobile unit directly receives a message to be returned to the base station from the return means of another mobile unit. The determination means determines the own position and the position of the moving body traveling around the vehicle based on the position data and the like in the reply message, and also determines the next operation of the own device. The time required to receive the mobile action instruction message transmitted via the means is reduced, and the determination can be made at an accurate position.

According to a fifth aspect of the present invention, in the moving body operation management system according to the second or third aspect, the reply unit includes the information on the current operation position of each moving body determined by the determining unit. It is characterized in that the base station further comprises changing means for changing the delivery information based on the information of the small area of each mobile unit returned by the reply means. When the station checks the small area that is the current operation position of each mobile unit, it is possible to establish the latest dispatch information in real time,
Along with this, it is possible for each mobile body to acquire the latest retrieval information.

The invention according to claim 6 is characterized in that the transmitting means uses a polling method. In this case, the position correction in the adoption of GPS can reduce the position error of each mobile unit, but on the other hand, the polling method The transmission of information from the base station to each mobile unit may cause a time loss, but the operation of each mobile unit can be determined based on the position of the surrounding mobile units. Is possible.

According to a seventh aspect of the present invention, in the moving body operation management system according to the first or second aspect, each moving body has a display means for displaying a message based on the position determined by the determining means. It is characterized by
The visualization by this display makes it possible to assist in determining how each moving body should operate in the future.

[0020]

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a block diagram showing the internal configuration of a base station of a mobile operation management system according to the present invention. In FIG. 1, reference numeral 1A denotes a base station.

The base station 1A includes, for example, a control device 1
0, D (Differential) GPS antenna 1
1, display device 14, radio device 21, and radio device antenna 2
2 is provided.

The DGPS antenna 11 has three GPs, for example.
The radio signal (positioning signal) received from the S satellite and received,
The radio signal is a unit that supplies the DGPS control unit 12 described later, and the display device 14 is a unit that performs display such as displaying the operation status of each cart 1B on the golf course under the control of the control unit 15.

The control device 10 includes a DGPS control unit 12, an operation key group 13, a control unit 15, a modem unit 16, and a switch 1.
7, a speaker 18, a microphone 19, and a buzzer 20. In the control device 10, the DGPS control unit 12 determines a known position of the base station 1 </ b> A and a GP based on a radio signal (positioning signal) supplied from the DGPS antenna 11.
The correction value data (correction data) of the pseudo distance (Pseudorange) from the S satellite is obtained. This correction value data is stored in each cart 1B... In SA (Selective Availability).
ty) This is data for eliminating errors, clock errors, orbit errors, and atmospheric errors. Each of the carts 1B... uses a polling message 300 (see FIG. 3) described later to base station 1A.
Sent from When each of the carts 1B receives the correction value data, the carts 1B themselves generate G based on the correction value data.
It is possible to improve the pseudo distance from the GPS satellite based on the radio wave received from the PS satellite. By using this correction value data, each cart 1B has a positional accuracy of about 5 m.
It can be:

The operation key group 13 includes various keys related to operation management.

The control unit 15 includes a ROM, a RAM, and a CP.
U, and the CPU performs operations related to operation management
Control is performed according to various programs stored in the OM. The control unit 15 transmits and receives the polling message 300 shown in FIG. 3 by the polling method and receives the response message 400 shown in FIG. 4, a transmitting / receiving operation, a display operation of the display device 14, and an operation of the operation key group 13. Accompanying operation, each cart 1B ...
It controls the switching operation of voice input / output during wireless communication with the device.

The modem unit 16 is a unit for modulating and demodulating the transmission data constituting the polling message 300 and the reception data constituting the response message 400, respectively. According to the control, the circuit is switched to the modem unit 16 when transmitting and receiving a message, and is switched to the microphone 19 when an alarm is sounded.

The speaker 18 generates and outputs sound based on the sound signal input via the radio 21 when a sound signal (call signal) is received from each of the carts 1B.
The microphone 19 captures the voice of the operator on the base station 1A side, generates a voice signal, and
Output to 1.

At the time of reception, the radio device 21 takes in the radio wave captured by the radio device antenna 22 and talks (each cart 1B).
..) Or directly to the speaker 18, or if the response data 400 is received data, the switch 17 and the modem unit 1
6 to the control unit 15 and at the time of transmission,
The transmission data of the polling message 300 created by the control unit 15 is captured via the switch 17 and output to the radio antenna 22, and the audio signal from the microphone 19 is captured via the switch 17 and output to the radio antenna 22. Unit. The radio antenna 22 is connected to each cart 1B.
Signal transmitted from ... (response message 400, voice signal, etc.)
And output it to the wireless device 21 or vice versa.
Are units that take in polling messages 300, voice signals, and the like corresponding to time slots from the wireless device 21 and transmit them.

FIG. 2 is a block diagram showing the internal structure of the cart of the mobile operation management system according to the present invention. In FIG. 2, reference numeral 1B denotes a cart.

The cart 1B includes, for example, a control device 3
0, GPS antenna 31, operation box 40, radio 3
8. A radio antenna 39 is provided.

The GPS antenna 31 has, for example, three GPS
This is a unit that receives a radio signal (positioning signal) from a satellite and supplies the radio signal to a GPS control unit 32 described later.

The control unit 30 includes a GPS control unit 32, an operation key group 33, a control unit 34, a modem unit 36, a switch 3
5,37 are included. In this control device 30,
The GPS control unit 32 fetches a radio signal supplied from the GPS antenna 31, decodes the radio signal, generates information such as the current position, speed, and moving direction of the own cart, and supplies the information to the control unit 34. In particular, when the correction value data stored in the polling message 300 received by the control unit 34 described below is input, the GPS control unit communicates with the GPS satellite based on the radio wave received from the GPS satellite based on the correction value data. The pseudo distance is corrected and supplied to the control unit 34. Note that this correction value data is not limited, but R
It can be transmitted in TCM-104 format. The operation key group 33 includes various keys related to operation.

The control unit 34 includes a ROM, a RAM, and a CP.
U, and the CPU performs RO operation on the operation.
Control is performed according to various programs stored in M (for example, programs according to flowcharts shown in FIGS. 5 to 13). The control unit 34 uses a polling method as shown in FIG.
The transmission / reception operation of receiving the polling message 300 shown in FIG. 4 and transmitting the response message 400 shown in FIG. 4, the display operation of the display 41, the operation accompanying the operation of the operation key group 33, the base station 1A
It controls the switching operation of voice input / output during wireless communication with the device.

The modem section 36 is a unit for demodulating and modulating the reception data constituting the polling message 300 and the transmission data constituting the response message 400, respectively. The switch 35 is turned on / off under the control of the control section 34. Switching is performed, and the switching target is the speaker 44, which is cut off during the microphone press. Switch 3
Reference numeral 7 denotes a circuit that switches to the modem unit 36 when transmitting and receiving a message and switches to the microphone 43 when talking, according to the control of the control unit 34 and the wireless device 38.

The operation box 40 includes a display 41, an operation unit 42, a microphone 43, a speaker 44, and a buzzer 45. In this operation box 40, the display 4
1 is a unit for displaying operation messages and the like.
The operation unit 42 includes buttons and the like for setting the operation status of the cart 1B (rest, emergency, voice request, running disabled, etc.). The microphone 43 takes in the voice of the player on the cart 1B side, generates a voice signal, and outputs the voice signal to the wireless device 38 via the switch 37. The speaker 44 generates and outputs sound based on the sound signal input via the wireless device 38 and the switch 35 when a sound signal (call signal) is received from the base station 1A. The buzzer 45 issues a sound such as an alarm as appropriate under the control of the control unit 34.

When receiving, the radio device 38 takes in the radio wave captured by the radio device antenna 39 and talks (base station 1A).
If so, the power is supplied to the speaker 44 via the switch 35,
Switch 3 if the received data is a polling message 300
7. While supplying to the control unit 34 via the modem unit 36, at the time of transmission, it takes in the audio signal from the microphone 43 via the switch 37 and outputs it to the radio antenna 39, and the response generated by the control unit 34 This unit captures transmission data of the message 400 via the modem unit 36 and the switch 37 and outputs the data to the radio antenna 39. The radio antenna 39 captures a signal (polling message 300, voice signal, etc.) transmitted from the base station 1A, and
And a conversely, a response message 400, a voice signal, and the like are fetched from the wireless device 38 and transmitted.

FIG. 3 is a diagram showing an example of a polling message according to the present embodiment. In FIG. 3, reference numeral 300 denotes a polling message. The polling message 300 includes identification information (ID), a group number during polling (group N).
o. ), A car number flag 1 indicating the car number at the start in the morning and the order of delivery, a car number flag 2 indicating the car number at the start of the afternoon and the order of delivery, an area indicating the reception number and the group number responding, and correction. Contains value data.

FIG. 4 is a diagram showing an example of a response message according to the present embodiment. In FIG. 4, reference numeral 400 denotes a response message. The response message 400 includes a vehicle number indicating a fixed value in the dip switch setting, a response slot (order changed by group polling), a cart situation (rest, emergency, voice request, running impossible, etc.), a cart situation. (Differential mode, large error, etc.), longitude, latitude, speed and azimuth based on the GPS output data, and leaving time (for example, the time when entering the area k, which is maintained until the end. However, the polling response restarting operation was performed. In this case, the time is used), the current time indicating the latest time at the time of response, and the hole number indicating the current hole number determined by passing through the area for each cart. It is included.

Next, the operation will be described. 5 to 1
Reference numeral 3 is a flowchart for explaining the operation of the cart 1B. The entire control is executed by the control unit 34, and each operation is performed by each unit.

First, in step S1, the presence or absence of an interrupt is determined. If there is an interrupt, the process proceeds to step S2, and if not, the process proceeds to step S3.

When the processing shifts to the interruption processing of step S2, the operation according to the flowchart shown in FIG. 11 is started. In this interrupt processing, it is determined in step S21 whether or not polling from the base station 1A has been performed, that is, whether or not polling data corresponding to the received data of the polling message 300 has been received. Here, the polling message 30
From the group number (group number) in 0, it can be determined whether or not there is a polling to the cart 1B. If the result of the determination is that polling data has been received, the process proceeds to step S22, and the operation according to the flowchart shown in FIG. 13 is started. In this polling data reception (see FIG. 13), the group number (group No.) is read from the polling data (polling message 300) received in step S221 to determine whether or not the own cart 1B corresponds to the polling target group. Is determined.
As a result of the determination, if the own cart 1B is the target group, the process proceeds to step S222, where a response message 400 of the own cart 1B is created, and the response message 400 is used as transmission data.
Send to Next, in step S223, the data of the cart running in front is confirmed from the position data such as the latitude and longitude in the response message 400 included in the received transmission data of the cart running in front, and the following step S2
At 24, the polling message 300 is stored in the RAM.

Then, in step S225, the necessity of the display and the alarm is determined.
At 26, the display and alarm flags are set,
The process shifts to the next step S227. Step S2
At 27, a process of setting the correction value data included in the polling message 300 in the GPS control unit 32 is executed.
Thereafter, the process returns to step S3 in FIG.

When a result of the determination that no polling data has been received is obtained in step S21, the process proceeds to step S23, where it is determined whether a radio signal (GPS data) has been received from a GPS satellite. . If the result of this determination is that GPS data has been received, the process moves to step S24 and executes the operation according to the flowchart shown in FIG. In the GPS data receiving process (see FIG. 12), a process of storing the GPS data in the RAM of the control unit 34 (not shown) is performed in step S241, and thereafter, the process is performed in step S241 of FIG.
Return to 3. On the other hand, if no GPS data has been received, the process returns to step S3 in FIG.

In step S3, an operation check is performed (see FIG. 6). First, after the operation content is checked in step S31, the presence or absence of an operation of the operation key group 33 or the operation unit 42 is determined in the following step S32. If there is an operation, the process proceeds to step S33, an operation flag (RAM) corresponding to the operation is set, and the other process is executed if necessary.

Next, in step S34, the necessity of display and alarm is determined. If so, the display and alarm flag are set in step S35, and the process proceeds to the next step S36. In this step S36, transmission data (including the response message 400) is created from the set of operation flags in response to a situation where the situation of the own cart is urgent, running is impossible, etc. You. Thereafter, the process returns to step S4 in FIG.

In step S4, an area is determined (see FIG. 7). First, in step S41, a process of correcting the GPS data based on the already obtained correction value data to obtain accurate position data is executed. Then, from the map data (stored in the ROM) of the golf course stored in advance based on the position data obtained in this way, which of the areas a to u is operated by the cart 1B is determined. Is determined and confirmed.

If the area confirmed in step S41 is area e, the process proceeds to step S43 since it is a start area, and the start processing is executed as shown in FIG. In this start process (see FIG. 10), first, in step S431, (e) indicating the start area is set in the transmission data. In the following step S432, the vehicle number flag is confirmed from the received data of the polling message 300 already stored in the RAM, and in step S433, it is determined whether or not the own cart 1B is the first delivery. This determination is made in the k area. As a result, own cart 1B becomes 1
If the result of the determination is that the vehicle is to be retrieved, the process proceeds to step S434, where the stopped vehicle information (stopped vehicle number, stopped vehicle slot, stop area) is confirmed from the received data of the polling message 300, and In S435, the presence or absence of a stopped vehicle is determined from the stopped vehicle information. Then, when the determination result that there is no stopped vehicle is obtained, the process proceeds to step S438, a display and an alarm flag are set, and the process returns to step S44 in FIG. If it is determined in step S435 that there is a stopped vehicle, the process proceeds to step S4.
36, and based on the stopped car information, the stopped car and its own cart 1
The distance to B is calculated. In step S437,
If it is determined that the distance is short, the process returns to step S44 in FIG. 7 as it is, and if it is determined that the distance is long, the process proceeds to step S438 described above and returns to step S44 in FIG. . Note that the above step S4
If it is determined in step 33 that the cart 1B is not the first delivery, the process directly returns to step S44 in FIG.

If it is determined in step S44 of FIG. 7 that the position of the own cart is an area requiring display and an alarm, the process shifts to step S45 to set a display and an alarm flag. Further, step S
If it is determined in step 46 that the position of the cart 1B is in the safe area, a safety flag is set in the transmission data of the response message 400. If the position of the own cart is not in the display and alarm area or in the safety area, the process returns to step S5 in FIG. 5 without setting the flag corresponding to each area.

When the processing shifts to the driving determination in step S5 (see FIG. 5), the operation according to the flowchart shown in FIG. 8 is started. In this driving determination, first, it is determined in step S51 whether or not the area is a driving determination area. At that time, before starting the area data corresponding to the blind hole and the place where fog is generated
And then refer to this, check the setting / resetting of the safety area flag in the area determination in step S4, check the position of the stopped vehicle, and operate the own cart 1B already determined in step S4. It is possible to make a determination in comparison with the area.

For example, when the current area is a place where a blind hole or fog is generated, the safety area flag of the current area is reset, or there is a stopped vehicle in the current area, the process proceeds to step S52. Then, the distance between the own cart and the cart operating in front (immediately before) is calculated from its own position data and the position data of the previously registered previous cart, and in subsequent step S53, it is determined whether or not the distance is a safe distance. judge.

If the result of the determination that the distance is a safe distance is obtained in step S53, the driving permission can be given for safety. Therefore, the process proceeds to step S54, and the driving permission display flag is set in the RAM. I do.
On the other hand, if the determination result that the distance is not the safe distance is obtained, the driving permission cannot be given for safety.
The process proceeds to step S55, and if the instruction to display the distance between the own cart and the cart ahead is in yard by the operation of the operation key group 33 from the player, the yard display instruction flag is stored in the RAM in step S56. set. Thereafter, the process returns to step S6 in FIG. 5, but also returns to step S6 in FIG. 5 when there is no yard display instruction in step S55.

In step S51 described above,
When the determination result that the current area is not the driving determination area is obtained, the process proceeds to step S57,
It is determined whether or not the current area is a caution hall area. This caution hole is a determination of a hole area having a lower risk than the above-described driving determination area, and the distinction thereof can be set arbitrarily.

If the result of the determination in step S57 is that the area is a caution hole area, the process proceeds to step S58, sets a caution message display alarm flag, and then returns to step S6 in FIG. If a determination result indicating that the area is not the caution hole area is obtained, the process proceeds to step S59, for example, creating message data indicating "Please confirm safety ahead and drive in." It returns to step S6 of FIG.

Next, when the processing shifts to the display check of step S5 (see FIG. 5), the operation according to the flowchart shown in FIG. 9 is started. In this display check, first, in step S61, the presence or absence of a display instruction is determined. For this display instruction, an operation check (FIG. 6)
, Display and alarm flags in area determination (FIG. 7), driving permission display flag, yard display instruction flag, warning message display alarm flag and message display instruction in driving determination (FIG. 8), and start processing (FIG. 10). The determination can be made by referring to the display and alarm flag and the display and alarm flag in the polling data reception (FIG. 13).

If it is determined in step S61 that there is a display instruction, the process proceeds to step S61.
The process proceeds to 62, where the display 41 displays the content corresponding to the display instruction (for example, "Please play after confirming safety ahead") and proceed to step S63.

The process shifts to step S63 even if the result of determination in step S61 that there is no display instruction is obtained. In this step S63, an alarm instruction is determined, which includes a display and an alarm flag in the area determination (FIG. 7), a warning message display alarm flag in the driving determination (FIG. 8), and a display and alarm flag in the start processing (FIG. 10). , And the display and alarm flag in the polling data reception (FIG. 13).

If the result of the determination in step S63 is that there is an alarm instruction, the process proceeds to step S64, in which the buzzer 45 emits sound in accordance with the alarm instruction. Return to the accepting state.

Next, the operation will be described using a specific example. FIG. 14 is a diagram for explaining the operation status of the cart between the start hall and the next hall. In the figure, ,,
,,, Indicate carts, respectively, a, b, c,
d, e, f, g, h, i, j, k, l, m, n, o,
p, q, r, s, t, and u indicate areas of the golf course, respectively.

FIG. 15 is a diagram showing an example of a polling map according to the present embodiment, and FIG. 16 is a diagram showing an example of the progress of group map creation according to the present embodiment.
FIG. 7 is a diagram showing an example of the final stage of the group map shown in FIG. The group map shown in FIG. 17 is a group map that is finally completed and has been changed in the order in which carts are delivered. FIG. 18 is a timing chart of a transmission slot implemented based on the group map shown in FIG.

In FIG. 18, when the base station starts up,
Polling is started according to the polling message 300 shown in FIG. 3 according to the polling map shown in FIG. At the club house, the power of the equipment mounted on each cart is turned on. From this time, a response to the polling is made according to the initially set fixed vehicle number (the cart in FIG. 14). In the response message 400 shown in FIG. 4, the longitude in the response message 400,
The latitude is the correction value data (Cor) in the polling message 300.
In this case, the accuracy is reduced to about 5 m or less in the stopped state by the “reaction data”.

Before the start, it is assumed that the player is informed of the start order and the number of the riding cart (-in FIG. 14). Usually, a golf bag is loaded in advance.

It is assumed that areas a to u are registered in advance together with base station 1A, cart 1B,... Areas a to u can be separated by calculation based on latitude and longitude. Further, the cart 1B can accurately determine which of the areas a to u the user is in by using GPS satellites and by DGPS.

Each cart started under the above conditions
Enters areas a to e shown in FIG. 14 and waits for an order. Each cart in area e
, And the response message 400 indicating that the user has entered the area e.
The response to the base station is completed by setting a flag inside and responding to the polling.

In the kart, since the order in which the kart is notified in advance is the head, play can be started without being restricted.

The cart located in the area e confirms the vehicle number flag 1 in the polling message 300. Now, when the cart enters the area k, the cart sets flags e and k to inform the base station that the cart has entered the secure area. In the next polling message 300, the base station 1A sets the vehicle number flag 1
"" Is the first delivery.

The carts,... Are displayed by permitting the second start. However, it is possible to determine the situation, such as when the hole cannot be determined due to a blind hole or the occurrence of fog.

When the player is informed of the start order and the number of the cart to be boarded, the cart whose order is known in advance is permitted the second start and starts. At this time, since the car number flag 1 continues until the cart enters the area k, no data is dropped. Also, when the cart enters the area k, the cart becomes the second issue,
The cart knows that he is in front of the cart.

When there is the next polling message 300, the cart is set to "3-1" as shown in the polling message 300 of FIG. 3, and the cart is slotted in the cart as shown in FIG. Is assigned, and the cart moves to “2-2” (see FIG. 17). Here, a maximum of five displays are displayed, and no data is dropped. When the number exceeds five, old data is deleted.

Subsequently, in order to avoid batting, the cart is controlled so as not to respond at the next polling that has been moved. This is a one-time implementation. Similarly, when the cart enters the area k, the display of the area e permits the third start, and the cart whose order is known starts. As described above, when the cart whose order is known in advance starts with the third permission display, when the cart enters the area k, it is known that the cart is the cart in front of the user.

By repeating the above, a group map is finally completed as shown in FIG. This is because the system cannot receive the data of the cart in front of the own cart in the same group,
The previous cart will always be in the next poll that your cart responds to.

If polling is performed according to the completed group map (see FIGS. 18 (1) to 18 (6)), for example, even if the second hole is blind and the line of sight is not effective, the position of the previous cart and the position of the own cart can be determined. Judge the distance from the position,
Play can begin at the player's own discretion. Players promise to walk ahead of the cart. In addition, it is also possible to set a minimum safe distance and automatically determine the device.

Since all the courses are divided into areas, for example, if progressing to areas k, n, r and t, it is possible to determine for each cart that the car is currently on the tee of the second hole. You have to judge whether this is on the green of the 1st hole or the tee of the 2nd hole, and you can make a judgment such as "Blind hole. Hit left." Also, when judging the delay at the base station, it is effective when it is difficult to judge the number of the hole at the moment just by displaying the base station.

As an exception, in the event that an abnormal situation such as inability to run occurs in any of the playing carts or the like, the spare cart is used to perform an operation that is installed in each cart and has a structure that is not easily operated. Is also good. The cart that performed this operation does not transmit data until the following conditions. Further, when the base station receives the signal of the cart unable to travel, the polling message 30 shows the stop car number (A), the stop car slot (B), and the stop area (C) as shown in FIG.
Put it in 0 so that nearby carts can understand the situation. The spare cart that performed the previous operation travels toward the stop area (C) and stops at the slot in the response message 400 by performing the polling response restart operation when entering the stop area (C). Set the car number and start polling response. Polling message 300 shown in FIG.
Group no. By knowing the slot of the own cart, the structure of the front cart can be easily grasped, so that the spare cart can grasp the number of the previous cart.

In the polling message 300, the stop car number (A), the stop car slot (B), and the stop area (C) are displayed for up to five cars, so that a plurality of cars can be handled. However, although a possibility is low, when a plurality of stopped vehicles occur in the same area, it is set individually and handled.

As described above, according to the present embodiment, each cart 1B... Corrects its own position and outputs the order of delivery from the base station 1A and the response message transmitted by the cart running ahead. Since the position of the cart in front is determined on the basis of 400, the position of the cart 1B running ahead can be easily grasped at each cart 1B... Without any instruction from the base station 1A. However, it becomes possible for each cart 1B... To safely make operational decisions. As a result, the player can proceed with the play at his own discretion, so that the delay in the determination of the driving permission for the progress of the play can be minimized, and at the same time, the psychological allowance of the player is created, and There is a merit that the fun is not reduced.

Further, by dividing the entire course into small areas a to u, it is possible to easily determine the area and know the hall number where the own cart is located. In this case, the movement status of each cart 1B, including the areas a to u and the halls, is collected as cart locus information. From the collected data, each month, every day, every day of the week, and every time zone, If graphed, the graph can be used as an index for predicting where on the course and how much traffic will be congested.

Further, since the area of the current operation position is transmitted from each cart 1B to the base station 1A and the base station 1A changes the order of delivery, the base station 1A side operates the current operation position of each cart 1B. Can be established in real time at the time when the area is confirmed, and accordingly, the latest delivery order can be acquired also in each of the carts 1B.

Further, since the polling method is adopted, in this case, the position error (within 5 m) of each cart 1B... Can be reduced by the position correction in the adoption of DGPS, but on the other hand, from the base station 1A to each cart 1B. Although a time loss (for example, 30 seconds to 1 minute) occurs in information transmission, the operation of the own cart 1B can be determined at the timing when the cart position ahead is received, so that trouble such as operation delay can be minimized. It is possible.

In the base station 1A, each cart 1B.
Is displayed based on the determination position of the cart ahead of the vehicle, so that the visualization by this display can assist in determining how each cart 1B should operate in the future.

If the minimum safe distance is registered in advance so as to support the beginner, the start of play can be determined on the cart side, and the beginner can be a beginner without being puzzled by the determination. Also, according to the instructions of the cart, the play can be advanced with a minimum of delay. Also, if you register the course status and precautions in advance,
It is possible to build a full-scale caddyless system.

According to the above, the user can carry out a smooth business, and a great effect can be obtained in terms of safety, service, and reliability of the system.

In the present embodiment, each cart 1B determines the forward cart position based on the order of delivery from the base station 1A and the response message 400 transmitted by the cart running ahead. However, the present invention is not limited to this example. Each cart 1B may determine the surrounding cart positions based on the response message 400 transmitted by another cart 1B.

In the present embodiment, a plurality of carts 1
The case where the operation status of B is managed on the base station 1A side has been described. However, the present invention is not limited to this example, and the operation status of each cart 1B may be managed for each individual cart 1B. In this case, The operation management of each cart 1B is appropriately and efficiently performed.

That is, in the case of the polling method, after the base station 1A collects the response messages 400 of all the carts 1B, the base station 1A prompts an instruction to be taken for each cart 1B. Individual cart 1B
Is the location where the response message 400 was returned and the base station 1A.
From the position where the instruction is received from the user, which hinders further minimizing the trouble such as operation delay.

Then, the response message 400 to be transmitted to the base station 1A side is directly taken in by the other carts 1B, so that each cart 1B immediately corrects its own position, for example, while checking the cart position ahead. Can be determined.
As a result, the correct position is grasped, and the correct action can be determined.

Further, in each of the above embodiments, the present invention has been described for the case where the operation management of the cart 1B is performed. However, the present invention is not limited to this example, and it is possible to move along a predetermined route.
For example, the present invention is applicable to operation management of buses, trains, ships, airplanes, and the like.

[0088]

As described above, according to the first aspect of the present invention, each mobile unit can directly and reliably receive the delivery information of the mobile unit sent from the base station while correcting its own position. Based on the position data returned from the moving body and determine the position of the self and the position of the moving body that travels around, as well as to determine the next operation of the self,
Each mobile can always easily grasp the position of the mobile operating in front, and each mobile can safely make operational decisions without instructions from the base station There is an effect that a mobile operation management system can be obtained.

According to the second aspect of the present invention, the receiving means of each mobile unit directly receives the message to be returned to the base station from the reply unit of the other mobile unit. It is possible to reduce the time until the mobile action instruction message transmitted via the transmission unit is received.

According to the third aspect of the present invention, a small area in a predetermined area corresponding to the current operation position is determined based on the corrected position data, and the information of the determined small area and the delivery information are determined. When the own position and the position of the moving body traveling around are determined based on the received position data of the moving body traveling around, the decision on the operation at each moving body side without an instruction from the base station is made. It is possible to do.

According to the fourth aspect of the present invention, when the receiving means of each mobile unit directly receives a message to be returned to the base station from the return means of the other mobile unit, the determining means sets the message. Based on the position data and the like in the reply message, it determines its own position and the position of the moving body that travels around it, and determines its own next operation. It is possible to reduce the time until the transmitted action instruction message of the moving object is received. Also, at this time, since the exact positions of both moving bodies at the same time are grasped, it is possible to correctly determine their own actions.

According to the fifth aspect of the present invention, each mobile unit informs the base station of the small area which is the current operation position and changes the delivery information to the base station. When the small area which is the current operation position is confirmed, it is possible to establish the latest dispatch information in real time, and accordingly, each mobile body can also acquire the latest dispatch information.

According to the sixth aspect of the present invention, since the polling method is employed, in this case, the position error of each mobile body can be reduced by the position correction in the adoption of DGPS, but the base station employing the polling method is used. There is a time loss in transmitting information from the mobile to each mobile, but since each mobile can determine the operation from the position of the mobile in front, it is possible to minimize obstacles such as operation delay of the mobile, etc. is there.

According to the seventh aspect of the present invention, a message based on the determined position of each mobile unit is displayed at the base station, so how each mobile unit should operate in the future by visualizing the display. It is possible to support the judgment of.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an example of an internal configuration of a base station of a mobile operation management system according to the present invention.

FIG. 2 is a block diagram showing an example of an internal configuration of a moving object of the moving object operation management system according to the present invention.

FIG. 3 is a diagram showing a format example of a polling message according to the present embodiment.

FIG. 4 is a diagram showing a format example of a response message according to the embodiment.

FIG. 5 is a flowchart illustrating a main operation on the moving body side according to the present embodiment.

FIG. 6 is a flowchart illustrating an operation check operation according to the present embodiment.

FIG. 7 is a flowchart illustrating an area determination operation according to the present embodiment.

FIG. 8 is a flowchart illustrating an operation of driving determination according to the present embodiment.

FIG. 9 is a flowchart illustrating an operation of a display check according to the present embodiment.

FIG. 10 is a flowchart illustrating a start process according to the present embodiment.

FIG. 11 is a flowchart illustrating an interrupt process according to the present embodiment.

FIG. 12 is a flowchart illustrating an operation of receiving GPS data according to the present embodiment.

FIG. 13 is a flowchart illustrating an operation of receiving polling data according to the present embodiment.

FIG. 14 is a diagram for explaining a running state of a cart between a start hall and a next hall.

FIG. 15 is a diagram showing an example of a polling map according to the present embodiment.

FIG. 16 is a diagram showing an example of the progress of group map creation according to the present embodiment.

FIG. 17 is a diagram illustrating an example of a final stage of the group map illustrated in FIG. 16;

18 is a timing chart of a transmission slot implemented based on the group map shown in FIG.

[Explanation of symbols]

 Reference Signs List 1A Base station 1B Cart (mobile) 10, 30 Control device 11 DGPS antenna 12 DGPS control unit 15, 34 Control unit 21, 38 Radio unit 22, 39 Radio unit antenna 32 GPS control unit 40 Operation box 42 Operation unit 41 Display 45 Buzzer

Continued on the front page (51) Int.Cl. ⁶ Identification code Agency reference number FI Technical indication location G01S 5/14 G01S 5/14 G05D 1/02 G05D 1/02 P H04B 7/26 H04B 7/26 EM

Claims (7)

[Claims] 1. A mobile operation management system in which a base station manages the operation status of a plurality of mobile units using radio waves from GPS satellites within a predetermined large area, wherein the base station comprises: Correction value input means for inputting correction value data of a position based on a radio wave from, and retrieval information storage means for storing retrieval information of the plurality of moving objects for each small area obtained by dividing the predetermined large area, Transmitting means for transmitting a message including the correction value data input by the correction value input means and the retrieval information stored by the retrieval information storage means to each of the moving bodies; Are position input means for inputting position data based on radio waves from the GPS satellites; reply means for returning own message including the position data; and Receiving means for receiving the received message, correcting means for correcting the position data input by the position input means based on correction value data in the message received by the receiving means, and receiving by the receiving means Based on the delivery information and the position data in the sent message, and the position data corrected by the correction means, the own position and the position of the moving body traveling around are determined, and the next operation And a determination means for performing determination of (i). 2. A mobile operation management system that manages the operation status of a plurality of mobile units by using radio waves from GPS satellites within a predetermined large area, wherein the base station includes: Correction value input means for inputting correction value data of a position based on a radio wave from a satellite, and exit information storage means for storing exit information of the plurality of mobile units for each small area obtained by dividing the predetermined large area, Transmitting means for transmitting a message including the correction value data input by the correction value input means and the retrieval information stored by the retrieval information storage means to each of the moving bodies; The body includes: position input means for inputting position data based on radio waves from the GPS satellites; reply means for returning its own message including the position data; and the other reply means for each of the moving bodies. Receiving means for directly receiving the reply message from, and correcting means for correcting the position data input by the position input means based on correction value data in the message received by the receiving means, Outgoing delivery information and position data in the message received by the receiving means, and, based on the position data corrected by the correction means, determine the position of the self and the position of the moving body running around, A mobile operation management system, comprising: a determination unit configured to determine a next operation of the vehicle. 3. The determination means determines a small area in the predetermined area corresponding to the current operation position based on the position data corrected by the correction means, and determines information on the determined small area and the information on the small area. Based on the delivery information and the position data in the message returned from the moving vehicle traveling around received by the receiving means, the position of the vehicle and the position of the moving vehicle traveling around are determined. The mobile operation management system according to claim 1, wherein the next operation is determined. 4. The determination means determines a small area in the predetermined area corresponding to the current operation position based on the position data corrected by the correction means, and determines information of the determined small area and the information of the small area. Based on the dispatch information and the position data in the reply message from each of the other mobile units directly received by the receiving unit, determine the position of the own vehicle and the position of the mobile vehicle operating around, The mobile operation management system according to claim 2, wherein the next operation is determined. 5. The return means, wherein each of the mobile units returns information on the current operation position determined by the determination means together with its own identification information to the base station, and the base station further comprises: 5. The mobile operation management system according to claim 1, further comprising a change unit that changes the outgoing information based on the information on the small area of each of the mobile units returned by the unit. 6. The mobile operation management system according to claim 5, wherein said transmission means and said reply means use a polling method. 7. The moving object operation management system according to claim 1, wherein each of the moving objects further includes a display unit that displays a message based on the position determined by the determining unit.