JPS59209366A - Induction type golf cart - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of Industrial Application The present invention relates to a guided golf cart that runs guided along a guide line buried in the road surface.

(B) Prior art An alternating current is passed through a single wooden induction wire buried in the road surface, and the alternating magnetic field generated by this is detected by two detection filters installed at equal intervals on the left and right sides of the center line of the cart body. The induced electromotive force generated in each detection coil is compared by a deviation detector via an amplifier, and the difference in induced electromotive force is used to control the angle control motor of the caster relative to the cart body. A guided golf cart has already been proposed (Japanese Utility Model Publication No. 55-8005), in which the direction of the casters is controlled and the cart body is guided to move along a guide line.

However, with this conventional device, if the guide line is straight, the golf cart will be guided along the guide line even at high speeds, but if the guide line is significantly curved, the golf cart will be guided at high speeds. If this happens, the cart will deviate from the guide line and will not be able to travel along the guide line. The cart body is provided with a cam that rotates according to the rotation of the angle control motor of the casters and a microswitch that is opened and closed by the cam, so that the direction of the casters is aligned with the direction of the cart body at the curved part of the guide wire. It has been previously proposed to switch the running speed of the cart to a low speed by closing a microswitch when the cart deviates by more than a certain angle from the straight direction (Utility Model Publication No. 52-11353).
.

Therefore, it is possible to combine these conventional devices, but
In the case of this combination, a detection coil for detecting the alternating magnetic field from the guide wire, and an angle detection means using a cam and a microswitch for detecting that the caster direction deviates by more than a certain angle from the straight direction of the cart body. must be provided separately, which has the disadvantage of increasing the number of parts and complicating the configuration.

(c) Purpose of the Invention The present invention has been developed in view of the above points, and by sensing the angle of the caster with respect to the cart body using two detection coils that detect the alternating magnetic field from the guide wire, It is an object of the present invention to reduce the number of parts of a detection means and to simplify its configuration.

(D) Structure of the Invention In order to achieve the above object, the induction type golf cart according to the present invention uses two detectors installed on the caster frame of the cart to generate an alternating magnetic field by passing an alternating current through an induction wire buried in the road surface. A golf cart that detects coils located on both sides of the guide wire, controls an angle control motor of the caster relative to the cart body based on the detected output deviation, and guides the cart body along the guide wire, the golf cart comprising: An oscillator that oscillates at a frequency different from the AC frequency of the guide wire is provided at the center of the cart body, and the output of this oscillator is sensed by the two detection coils, and the cart body is driven based on the detected output deviation. It is characterized by controlling a motor.

(e) Example An example of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view of a golf cart. In this drawing, (
1) is the main body of the cart, with the main body frame (2) made of pipes as the main support, driving wheels (rear wheels) (3) (3) are provided on both rear sides, and 3- a cover (4) between the wheels; ) is equipped with a drive motor that drives the wheels and a lead-acid battery that serves as its power source. The main frame (2) is a golf bag mounting part (5)
It has a butter case (6〉), etc., and a cart body (1
) is provided with a mounting stay (8) for the caster part (7), and the caster (front wheel) (9) is provided on the underside of this stay.
An angle control motor (10) is attached to the cart body (1), and a first pulley (11) is attached to the motor shaft.
In addition, the caster frame (which is attached to the mounting stay (8)
12), a second pulley (13) is installed on the upper surface of the mounting stay, and a timing belt (14) is installed between both pulleys.
are connected. The caster part has a mounting stay (8
) That is, it is rotatably attached to the cart body (1),
The main elements are a caster frame (12) and casters (9). The caster frame (12) has a T-shaped support plate (
15) is attached, and a pair of detection coils (16) (1
7) is installed. This pair of detection coils = 4- detects the alternating magnetic field emitted from the guide wire (18) buried in the road surface, and the deviation of the detection output causes the caster (9) to move relative to the cart body (1). It controls the angle control motor (10). In addition, in Figure 1 (1
9) is a manual control switch, and (20) is a manual brake, which are used when manually operating the golf cart.

FIG. 2 is a partially enlarged cross-sectional view of the front part of the golf cart, and there is a guide wire (18) in the center of the lower surface of the front end of the mounting stay (8).
An oscillation coil (21) connected to an oscillator that oscillates at a frequency different from the AC frequency of
) (17), and based on this sensed output deviation, the drive motor of the cart body (1) can be controlled.
In the figure (22) is a bearing.

Next, FIG. 3 is a partial electrical circuit diagram of the golf cart.

In this drawing, an alternating magnetic field from the guide wire (18);
The alternating magnetic field from the oscillation coil (21) that can be connected to the oscillator (23) is detected and sensed as a superimposed frequency of both alternating magnetic fields by a pair of detection coils (16) (17).The output of each detection coil is is amplified by amplifiers (24) and (25), and discriminated into two types of frequencies by frequency discriminators (26 and 27).
) can be compared with each other in a differential amplifier (28), and the comparison deviation signal is used to control the drive circuit (29) of the angle control motor (10) of the caster (9) to control this motor. , the casters (9) are controlled to run on the guide line (18).

The frequency components from the oscillation coil (21), which is the other frequency, are compared with each other in a differential amplifier (30), and the comparison deviation signal controls the chopper circuit (31) and is then transmitted via the transistor switch (32). drive motor (33)
The drive motor (33) is controlled by controlling the field current of the shunt coil (34) in the drive motor (33) to control the running speed of the golf cart.When the comparison output deviation signal from the differential amplifier (30) exceeds the set level Sometimes this state is measured using a comparator (35
), the electromagnetic brake (36) is activated to suddenly stop the golf cart. The drive motor (33) has a shunt coil (34), a series coil (37), and an armature (38), and is equipped with a resistor (39) and a switch (4o) for changing the traveling speed on a straight road. Prepared. Furthermore, the third
Everything shown in the figure is mounted on the golf cart except for the guide line (18).

FIG. 4 is a schematic diagram for explaining the operation of the golf cart. When the golf cart is in position A, that is, in a position where the guiding wire (18) is straight, a pair of alternating magnetic fields from the guiding wire (18) are generated. Since the detection outputs from the detection coils (16) and (17) are the same, the angle control motor (1o) does not operate and the caster (9) runs on the guide wire (18). ) Since the sensing outputs of the pair of detection coils (16) and (17) of the alternating magnetic field from ) are also the same,
The chopper circuit (31) is in a state of 100% duty, and the golf cart runs at high speed.

On the other hand, the golf cart is at position B, that is, the guide line (18
) is in a curved position, the guiding wire (18) is located on the right side with respect to the traveling direction (P) of the caster (9), so the induced electromotive force of the detection coil (16) located on the right side is The angle control motor (10) operates to direct the caster (9) more to the right and follow the guide wire (18).At this time, the oscillation Since the coil (21) is located on the left side with respect to the caster traveling direction (P), the left detection coil (
17) is larger than the output of the right detection coil (16>), the duty of the chopper circuit (31) becomes smaller than 100%, and the drive motor (33) is decelerated.In this way, at the B position, the caster ( Since the angle control motor (10) and the drive motor (33) of 9) are controlled simultaneously, the ability of the golf cart to follow the guide line (18) is improved.

(f) Effects of the Invention As described above, the induction type golf cart according to the present invention applies an alternating magnetic field by passing an alternating current to the induction wire buried in the road surface, and the two detection filters provided on the caster frame of the cart are used to generate an alternating magnetic field. The golf cart detects the position at both ends of the line and controls the angle control motor of the caster with respect to the cart body based on the detected output deviation to guide the cart body along the guide line, the golf cart comprising: frequency 8
- an oscillator that oscillates at a frequency different from that of the cart body is provided at the center of the cart body, the output of this oscillator is sensed by the two detection filters, and the drive motor of the cart body is controlled based on the detected output deviation; Because of the characteristics, the AC frequency from the induction wire and the oscillation frequency from the oscillator can be detected and sensed by the common pair of detection coils, and the number of components of these detection means is reduced compared to the conventional device. It is possible to simplify the configuration and reduce the number of times compared to .

[Brief explanation of drawings]

The drawings show one embodiment of the present invention; FIG. 1 is a perspective view of a golf cart, FIG. 2 is a partially enlarged sectional view of the front part of the golf cart, FIG. 3 is a partial electrical circuit diagram of the golf cart, and FIG. 4
The figure is a schematic diagram for explaining the operation of the golf cart. (18)...Induction il&, (12)-=caster frame, (16)(17)...Detection coil, (9)...
・Casters, (10)...Angle control motor, (1)・
... Cart body, (23) ... Oscillator, (33) ...
・Drive motor.

Claims (1)

[Claims] (1) The alternating magnetic field caused by passing an alternating current through a guide wire buried in the road surface is detected by two detection coils installed on the cart's caster frame located on both sides of the guide wire, and the detected output deviation is , a golf cart for guiding the cart body along a guide line by controlling an angle control motor of a caster with respect to a cart body, wherein an oscillator that oscillates at a frequency different from the AC frequency of the guide line is located at the center of the cart body. and detect this oscillator output with the two detection coils, and based on the detected output deviation,
An induction golf cart characterized in that a drive motor of the cart body is controlled.