JPH0822325A - Mobile control system - Google Patents

Abstract

PURPOSE:To simplify the constitution, suppress the cost and construction quantity, and make the moving body travel by itself even in the case of a power failure by guiding the travel of the moving body according to control information of a detected control information holder. CONSTITUTION:The control information holder 10 which has the N poles and S poles of plural permanent magnets arrayed and is given the control information consisting of guide information and position information is embedded under the guide body of, for example, a golf cart as the moving body. For example, when 12 permanent magnets which are five permanent magnets 10a-10e for the guide information and 7 permanent magnets 10f-101 for the position information are arrayed in 'NNNNSNNNNNNS' constitution, the guide information is represented as '00001' and the position information is represented as '0000001'. When the moving body passes over the control information holder 10 embedded in a guide path, an information detecting means detects the control information of the control information holder 10 and the travel of the moving body is guided according to the control information.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guidance control device for a moving body, and is particularly suitable for application to dynamic management of a golf cart on a golf course.

[0002]

2. Description of the Related Art FIG. 7 is an explanatory view showing a conventional golf course cart management system disclosed in, for example, JP-A-4-305710. In FIG. 7, 1 is a golf cart,
2 is a cart path of the golf cart 1, 3 is a fixed point at which the golf cart 1 detects its position and stops, 4 is the golf cart 1
Points 5 for receiving the cart position information from the golf cart 1 are used to guide the running of the golf cart 1 and a central processing unit 6 and a point 4 described later.
An induction loop line for a communication transmission line between the central processing unit 6 and the central processing unit 6,
Displays the stop positions of all golf carts on the course and their cart numbers, and the two points set for each hole on the course are taken as a closed section so that one cart occupies one closed section. 1 shows a central processing unit for ensuring safety on each course by issuing a command to each golf cart 1 to proceed or wait.

[0003]

In the conventional golf course cart management system as described above, it is necessary to extend the guidance loop line 5 for guiding the golf cart 1 over the entire course of the vast golf course. And again, golf cart 1
In addition to the guide loop line 5 of No. 3, it is necessary to dispose the fixed point element 3 and the point element 4 for detecting the position of the golf cart 1.
A great deal of cost and construction are involved in building the system. Further, at the time of power failure, it becomes impossible to conduct electricity to the induction loop wire 5, and the golf cart 1 cannot proceed to play.

Further, although the central processing unit 6 can collectively manage the golf cart 1, it can be used between the caddy master room and the caddy, or between the caddy and the caddy in the event of a player's emergency or something left behind in the front hole. There was a problem that there was no means of contact.

The present invention has been made in order to solve the above-mentioned problems, and by performing the guidance control and the position detection of the moving body in an integrated manner, it is possible to reduce the cost and the amount of work, and also the power failure. It is an object of the present invention to provide a guidance control device for a mobile body, which allows the mobile body to be self-propelled at any time.

[0006]

According to a first aspect of the present invention, there is provided a guidance control device for a mobile body, which holds control information in which a plurality of permanent magnets are arranged under a guidance path of the mobile body to hold control information. While burying the body, the moving body is provided with information detecting means for detecting the control information of the control information holding body, and guides the traveling of the moving body according to the detected control information.

According to another aspect of the present invention, there is provided a moving body guidance control device, wherein the control information holding body holds guiding information to the moving body according to a pole arrangement configuration of a plurality of permanent magnets. It is a feature.

Further, the moving body guidance control apparatus according to a third aspect of the present invention is characterized in that the control information holding body holds the position information according to the pole arrangement of a plurality of permanent magnets. Is.

Further, the moving body guidance control apparatus according to a fourth aspect of the present invention, as the information detecting means, detects a coil through which a current flows and a direction of the current flowing through the coil based on detection of the magnetic field of the permanent magnet. And a detector.

[0010] According to a fifth aspect of the present invention, there is provided a moving body guidance control device, wherein a plurality of the information detecting means are arranged corresponding to the plurality of permanent magnets.

A mobile unit guidance control apparatus according to a sixth aspect of the present invention is characterized by comprising a transmitting / receiving device for transmitting data to the mobile unit.

Furthermore, the moving body guidance control apparatus according to a seventh aspect of the present invention is characterized by comprising a calling means for making a call to the moving body.

[0013]

In the guide control device for a moving body according to claim 1 of the present invention, when the moving body passes over the control information holding body buried under the guideway, the information detecting means detects the control information holding body. By detecting the control information and guiding the traveling of the moving body according to the control information, it is possible to reduce the cost and the construction amount with a simple configuration, and it is possible to make the moving body self-propelled even in the case of power failure. .

According to a second aspect of the present invention, there is provided a control device for a moving body, wherein the control information holding body holds guiding information to the moving body according to a pole arrangement configuration of a plurality of permanent magnets. As a result, the control information holding body can hold the guidance information of the moving body, and the moving body can be made to run on its own even during a power failure.

Further, in the moving body guidance control apparatus according to a third aspect of the present invention, the control information holding body is configured to hold position information according to a pole arrangement configuration of a plurality of permanent magnets, whereby the control information is controlled. It is possible to hold the position information as well as the guidance information of the moving body in the holding body in the same manner, the guidance control of the moving body and the position detection are integrated, and it is possible to suppress the cost and the construction amount, Allows mobiles to run on their own even during a power outage.

Further, in the induction control device for a moving body according to a fourth aspect, as the information detecting means, a coil through which a current flows and a direction of the current flowing through the coil are detected based on the detection of the magnetic field of the permanent magnet. The control information according to the pole arrangement can be detected.

Further, in the moving body guidance control apparatus according to the present invention, since the information detecting means is arranged in a plurality corresponding to the arrangement of the plurality of permanent magnets, the control information according to the pole arrangement is obtained. Make it instantly detectable.

Further, in the mobile unit guidance control apparatus according to the sixth aspect of the present invention, since the transmission / reception unit for transmitting data to the mobile unit is provided, the position information of the mobile unit is sent to the central monitoring command unit. It is possible to manage the location of a mobile unit.

Further, in the mobile unit guidance control apparatus according to the present invention, the mobile unit is provided with a call means for making a call, thereby enabling a call between the mobile units and to a specific place. .

[0020]

【Example】

Example 1. Hereinafter, the present invention will be described based on illustrated embodiments. FIG. 1 is an explanatory diagram showing the configuration of a control information holding body used in the guidance control device for a moving body according to the first embodiment.
In FIG. 1, reference numeral 10 denotes a control information holding body in which N and S poles of a plurality of permanent magnets are arranged as shown in the drawing to hold control information consisting of guidance information and position information.
0 is buried under the guideway of, for example, a golf cart as a moving body.

Here, the control information of the control information holder 10 has a bit of 0 and 1 for a plurality of permanent magnets arranged in parallel by setting the N pole of the permanent magnet to 0 and the S pole to 1, for example. It can be represented by a pattern, and the amount of information can be increased by increasing the number of permanent magnets. Figure 1
As shown in FIG. 5, five permanent magnets 10a are used for guiding information.
-10e and seven permanent magnets 10f-1 for position information
Twelve permanent magnets of 0l are "NNNNSNNNNN
When it is arranged like "NNS", the guidance information is "0.
It can be represented by a binary number display of "0001" and the position information is "0000001".

FIG. 2 is a block diagram showing an information detecting device provided on the facing surface of a guideway of a moving body such as a golf cart for detecting the control information of the control information holding body 10.
In FIG. 2, reference numeral 20 denotes an information detection device. The information detection device includes a coil 21 through which a current flows based on the detection of the magnetic field of a permanent magnet that constitutes the control information holder 10, and a direction of the current flowing through the coil 21. Current detector 22 for detecting
And the CPU 23, the poles of the permanent magnets arranged according to the direction of the current can be specified.

2A and 2B show the case where the poles of the respectively arranged permanent magnets are the N pole and the S pole, and the directions of the detected currents are opposite. Further, in FIG. 2C, the control information corresponding to the number of arrayed permanent magnets can be sequentially decoded by the pair of the coil 21 and the current detector 22 as the cart advances. .

Next, FIG. 3 is a conceptual diagram showing a management / contact system of a golf cart as a moving body. In FIG. 3, 7 is a central monitoring command device provided in the caddy master room, 8 is a golf cart equipped with a golf cart control communication system, and 10 is a guidance control and position detection of a golf cart arranged in the course. With the control information holder, it is buried under the cart road such as green, midway on the fairway, uphill start point, downhill end point, traveling direction change point, etc., and guide information and position information of the cart corresponding to each buried point are stored. keeping.

Here, the control information holder 10 buried under the road of the cart is composed of twelve permanent magnets 10a to 10l as shown in FIG. Holds 32 types of guidance information depending on how stations and S stations are arranged,
Guidance information includes stop, right 90 ° turn, right 60 °
Turn, right 30 ° turn, forward, left 30 ° turn, left 60 ° turn, left 90 ° turn, uphill deceleration, acceleration, etc. In addition, the positional information of 128 places is held by the arrangement of the remaining 7 N stations and S stations. The number of magnets can be changed by increasing or decreasing the amount of information.

By thus providing the guidance information and the position information by the pole arrangement configuration of the permanent magnets, the guidance and the position detection of the cart can be performed at the same time. Moreover, since the permanent magnet itself is small in terms of equipment and the underground magnet is used, the work can be done easily and the course can be changed easily. And
Since the control information holder 10 is composed of a permanent magnet, it can be used semipermanently, and since it is not necessary to pass an electric current, it can be used even during a power failure.

FIG. 4 is a block diagram showing the equipment mounted on the golf cart 8. The golf cart 8 stops on the control information holder 10 and the information detecting device 20 reads the control information from the magnetic field of the 12 permanent magnets to decode the control information and the position information. Based on the decoded guidance information, the golf cart drive device 11 moves the golf cart toward the next control information holder 10. Then, if the position information is included, the position information is transmitted to the central monitoring command device 7 by the on-vehicle transceiver 14 through the on-vehicle transceiver control device 12. If the position information is not included, the data transmission is not performed and the golf cart 1 is only moved. For example, start a golf cart 8 that is stopped,
If the guide information is stopped on the control information holder 10 and the guidance information is forward and the position information is the first point, the golf cart 8 starts the forward movement and, at the same time, notifies the central monitoring command device 7 of the position information of the first point. Data transmission.

FIG. 5 is a block diagram of the equipment within the central monitoring command device 7. In the central monitoring command device 7, the position information from the golf cart 8 is received by the transmitting / receiving device 16 and sent to the central monitoring command device CPU 18 through the transmitting / receiving device intelligent modem 17. Central monitoring command device CPU
18 is a display 1 based on transmission data of position information.
The position of the golf cart 7 is displayed on 9.

The call between the caddy master room and the caddy is performed by the selective call microphone 21 of the central monitoring command device 7,
This is performed with the selective calling microphone 15 provided in the golf cart. When calling a caddy from the caddy master room, the cart number individually assigned to the golf cart is selected and input using the number keys 21a shown in FIG. Send to each golf cart by. The golf cart that matches the own cart number lights the call lamp 13 and at the same time sounds the buzzer of the selective call microphone 15.
Then, it becomes possible to talk with the caddy master room.
A call from the caddy to the caddy master room can be easily made by calling the caddy master room call key 21c and pressing the call button 21e.

Although a call between caddies can be made by using the numeric keys 21a as described above, a call between caddies is often made by checking the caddies before and after the caddy because it often asks the caddies for confirmation of lost items and playing conditions. Should be easily called. When calling the front caddy, the Mae key 21b is pressed, and when calling the rear caddy, the Ushiro key 21d is pressed. After that, call key 21
By pressing e, you can easily talk with the front and rear caddies. Also, during play, you can immediately talk to the caddy master room and caddy, so you can immediately respond to emergencies and secure the safety of the player.

Embodiment 2 FIG. Although the first embodiment is applied to the guidance control, position detection and management of the golf cart,
By using the same configuration as that of the first embodiment, the training vehicle can be monitored and managed at the driving school. That is, the control information holder 10 is embedded in the course of the training room, and when the training vehicle passes over it, the position information is read and transmitted to the central monitoring command device 7. The central monitoring command device 7 can grasp the degree of congestion in the course and the number of road training vehicles outside the course. Further, the emergency call such as when there is an accident or the call of the specific training vehicle from the central monitoring command device 7 can be performed using the selective call microphone.

Example 3. Further, the same configuration as that of the first embodiment can be used to apply to the monitoring management of the unmanned automatic cleaning robot. Floors such as buildings and airfields are cleaned at night when there are no people. The control information holder 10 is embedded in the floor, and the cleaning robot has the same structure as that shown in FIG. The robot moves and cleans according to the information in the control information holder 10. Moreover, a checkpoint is provided, and data is transmitted to the central monitoring command device 7 at that point. The central monitoring command device 7 grasps the working status of the cleaning robot. From the central monitoring command device 7,
Remote control of the cleaning robot can be performed using data transmission.

Example 4. Further, by using the same configuration as that of the first embodiment, it is possible to monitor and manage the unmanned warehouse transport robot. The control information holder 10 is embedded in the floor of the warehouse, and the transport robot is equipped with the same configuration as that shown in FIG. The transport robot moves according to the control information holder 10. In this case, the movement route is instructed from the central monitoring command device 7 using data transmission. In other words, the central monitoring command device 7 teaches the transport robot a movement path of the control information holding body 10, such as straight ahead at points A and B, turning left at point C, and stopping at point D. The transport robot moves according to the instruction while detecting the position information of the control information holder 10. At the stop point, position information is data-transmitted to the central monitoring command device 7. Even if a plurality of transport robots exist in the warehouse, the central monitoring command device 7 grasps the position of each robot and gives an instruction of the movement route, so that the transport robot can be safely monitored and managed.

Example 5. Further, by using the same configuration as that of the first embodiment, it is possible to manage the observation and monitoring of the amusement park. A structure similar to that shown in FIG. 4 is mounted on the tour car, and a voice guidance device is added. In addition, Example 1
As described above, the control information holder 10 is embedded along the path.
The ferris wheel travels on the course according to the control information of the control information holder 10. Then, when the position information required for the voice guidance is detected, the position guidance can be announced by broadcasting the voice guidance corresponding to the position from the voice guidance device.

[0035]

As described above, according to claim 1 of the present invention, when the moving body passes over the control information holding body embedded under the guideway, the information detecting means detects the control information holding body. By detecting the control information and guiding the traveling of the moving body in accordance with the control information, a configuration for guiding the moving body is provided.
As a simple structure, the cost and the amount of work can be reduced, and the moving body can be self-propelled even during a power failure.

According to a second aspect of the present invention, the control information holding body is configured to hold guiding information to the moving body according to the pole arrangement configuration of the plurality of permanent magnets. There is an effect that the guidance information of the moving body can be easily retained and the moving body can be self-propelled even in the case of a power failure.

According to a third aspect of the present invention, the control information holder is configured to hold position information according to the pole arrangement of a plurality of permanent magnets, thereby guiding the moving body to the control information holder. The position information as well as the information can be easily stored in the same way, and the guidance control and position detection of the moving body can be performed in an integrated manner to reduce the cost and the amount of work, and also to prevent the moving body from a power failure. The effect is that you can run.

According to claim 4, the information detecting means includes a coil through which a current flows based on the detection of the magnetic field of the permanent magnet, and a detector for detecting the direction of the current flowing through the coil. Thereby, there is an effect that the control information according to the pole arrangement can be easily detected.

According to a fifth aspect of the present invention, since the plurality of permanent magnets are arranged as the information detecting means in correspondence with the arrangement of the plurality of permanent magnets, control information corresponding to the pole arrangement can be instantly detected. There is an effect.

According to the sixth aspect of the present invention, the transmission / reception device for transmitting data to the moving body is provided, so that the position information of the moving body is sent to the central monitoring command device to manage the position of the moving body. The effect is that you can.

Further, according to claim 7, since the mobile unit is provided with the call means for making a call, it is possible to make a call between the mobile units and to a specific place. .

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a configuration of a control information holding body used in a guidance control device for a moving body according to the present invention.

FIG. 2 is a configuration diagram showing an information detection device provided on a facing surface of a guideway of a moving body such as a golf cart that detects control information of a control information holding body of FIG.

FIG. 3 is a conceptual diagram showing a management / contact system for a golf cart as a moving body according to the first embodiment of the present invention.

FIG. 4 is a configuration diagram showing a device mounted on the golf cart 8 of FIG.

5 is a configuration diagram showing devices in the central monitoring command device 7 of FIG.

FIG. 6 is a plan view showing the selective calling microphone 21 of FIG.

FIG. 7 is a configuration diagram showing a conventional golf course cart management system.

[Explanation of symbols]

7 Central Monitoring Command Device, 8 Golf Cart, 10 Control Information Holder, 10a to 10l Permanent Magnet, 20 Information Detecting Device, 11 Cart Driving Device, 12 Car Radio Controller, 14 Car Transmitter / Receiver, 15 Selective Call Microphone , 16 transceivers, 20 selective call microphones, 2
2 Mae key, 23 Caddy master room call key, 2
4 USHIRO key, 25 call key.

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Claims (7)

[Claims] 1. A control information holding body in which a plurality of permanent magnets are arranged and control information is embedded under a guide path of the moving body, and the control information of the control information holding body is provided in the moving body. A guidance control device for a moving body, comprising information detecting means for detecting, and guiding the traveling of the moving body in accordance with the detected control information. 2. The guidance control device for a moving body according to claim 1, wherein the control information holding body holds guidance information for the moving body according to a pole arrangement configuration of a plurality of permanent magnets. 3. The guidance control device for a moving body according to claim 1, wherein the control information holding body holds position information according to a pole arrangement configuration of a plurality of permanent magnets. 4. The information detecting means comprises a coil through which a current flows based on the detection of the magnetic field of the permanent magnet, and a detector for detecting the direction of the current flowing through the coil. 4. The guidance control device for a mobile body according to any one of 3 to 3. 5. The guidance control device for a moving body according to claim 1, wherein a plurality of the information detecting means are arranged corresponding to the arrangement of the plurality of permanent magnets. 6. The guidance control device for a mobile body according to claim 1, further comprising a transmission / reception device for transmitting data to the mobile body. 7. The guidance control device for a mobile body according to claim 1, further comprising a call means for making a call to the mobile body.