Golf cart operation management system

Abstract

To provide a new and unprecedented golf cart operation management system. [Solution] The golf course is divided into multiple areas, and multiple operation patterns consisting of a combination of each area and a driving mode are stored in each golf cart 2, 2, .... Weather information is sent from a terminal device 3 to each golf cart 2, 2, ..., and the operation pattern according to the weather is used to control the driving state while automatically switching the driving mode for each area. In this way, by setting the driving mode for each area according to the usage pattern required by the golf course operator, it is possible to operate the golf carts 2, 2, ... in the usage pattern required by the golf course operator.

Description

[Technical Field]

[0001] The present invention relates to a golf cart operation management system. In particular, the present invention relates to an improved operation management system for golf carts that can switch between manual and automatic driving. Note that, in this specification, the fairway and rough on a golf course are collectively referred to as "fairway." Therefore, in this specification, "fairway driving" is a concept that includes both driving a golf cart on the fairway and driving a golf cart on the rough. [Background technology]

[0002] Conventionally, golf carts used on golf courses generally include those that are manually driven (driven by the driver) and those that are automatically driven (driving along the cart path while an AGV sensor detects low-frequency current in a cable buried in the cart path; hereinafter, this may be referred to as electromagnetic induction driving), as disclosed in Patent Document 1 and Patent Document 2. Patent Document 2 also discloses an automatic driving method in which the cart leaves the cart path and drives while using GPS or the like to recognize its position on the fairway (the golf cart driving area, including the fairway). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-268086 [Patent Document 2] Japanese Patent Publication No. 2023-140652 Summary of the Invention [Problem to be solved by the invention]

[0004] When using a golf cart, the manner in which the golf course operator requests the use of the golf cart may differ from the manner in which the golfer requests it. For example, a golfer may request that he or she shorten the walking distance by driving the golf cart closer to the ball on the fairway. However, the golf course operator may be concerned that driving a golf cart onto the fairway when the grass is in poor condition (such as when it is raining or if it rained the day before) may damage the grass, and may request that golf carts be prohibited from driving onto the fairway in such situations (a request that goes against the golfer's request). Furthermore, while some golfers would like to manually drive in all areas (or sections: hereafter the combined concept of "area" and "section" will be referred to as "area") within a golf course, golf course operators would like to prohibit manual driving in areas where manual driving of golf carts could pose a risk (for example, manual driving around dangerous successive S-shaped curves connecting each hole or joint areas with large corners could cause the golf cart to deviate from the cart path and result in an accident such as falling, tipping over or colliding).

[0005] The manner in which the golf cart is used as required by the golf course operator and as required by the golfer is not limited to the above.

[0006] Until now, no system has been proposed for managing the operation of golf carts that takes into account the fact that the usage patterns of golf carts required by golf course operators differ from the usage patterns required by golfers.

[0007] The present invention has been made in view of the above points, and its object is to provide a new golf cart operation management system that has never been seen before. [Means for solving the problem]

[0008] The solution of the present invention for achieving the above object is to provide a plurality of golf carts configured to be switchable between manual driving and automatic driving. and a driving management device that can communicate with each of the plurality of golf carts and can be operated by a golf course manager. The golf cart operation management system is based on the premise that the golf cart operation management system is implemented in each of the multiple areas divided within the golf course. an operation pattern storage unit that stores a plurality of operation patterns each having a different combination of each of the areas and the driving mode, the operation pattern storage unit storing a plurality of operation patterns each having a different combination of each of the areas and the driving mode; an operation pattern extraction unit that extracts one operation pattern from the plurality of operation patterns; and the one operation pattern extracted by the operation pattern extraction unit. and a control unit that automatically switches the driving mode for each of the areas and controls the driving state of the golf cart in each of the areas. The operation management device includes a transmission unit that transmits, in response to an operation by the operator, information for extracting one operation pattern according to a request from the operator to the operation pattern extraction unit. It is characterized by:

[0009] Golf cart operation management system Mu and The system on the golf cart and the system outside the golf cart can communicate with each other. Structure be built In this case, the operation pattern extraction unit is one Extracting operation patterns For information on for example Provided by communication from a system outside the golf cart to the golf cart do. in this case, Extracting operation patterns This makes it possible to simultaneously transmit information to multiple golf carts.

[0010] By using the above-mentioned specific features, the driving mode for each area is automatically switched and the driving state of the golf cart in each area is controlled. By setting the driving mode for each area according to the usage pattern required by the golf course operator, it becomes possible to operate the golf cart in the usage pattern required by the golf course operator.

[0012] When information for extracting operation patterns is provided to a golf cart by communication from a system external to the golf cart, When managing the operation of multiple golf carts (managing the operation status of each area), a driving pattern (for example, a pattern in which each hole is manually driven on a sunny day and the joints are automatically driven) including information (for example, manual mode, etc.) for selecting the driving mode (selecting allocation information) for each area is created. extractionThe information is transmitted from the transmitter of the operation management device to each golf cart. When each golf cart receives this information and travels within the golf course, the travel mode assigned to each area is automatically switched according to the selected information, and the travel condition in each area is controlled.

[0013] For example, if a sunny weather operation pattern is selected in which golf carts are manually driven within each hole and the joints are automatically driven, when the golf carts move from an area within the hole where manual driving is selected (e.g., an area where there is no risk of manual driving) to an area where automatic driving of the joints is selected (e.g., an area where there is a risk of manual driving), manual driving will stop and the golf carts will automatically switch to automatic driving. Also, by differentiating the information (operation pattern consisting of multiple driving modes) sent to each golf cart on sunny days when fairway driving is possible and on rainy days or when it has rained the previous day when fairway driving is not possible, it is possible to create an operation pattern that allows golf carts to drive onto the fairways on sunny days, or an operation pattern that prohibits golf carts from driving onto the fairways on rainy days or when it has rained the previous day, in consideration of damage to the grass.

[0014] In this way, by transmitting information from the operation management device to each golf cart simultaneously to select one operation pattern or one allocation information, information can be provided to each golf cart more easily and quickly than if information for selecting a specific operation pattern or a driving mode for each area were to be input individually for each golf cart.

[0015] In addition, the allocation information can set multiple selectable driving modes for each area, such as a manual mode in which the golfer drives manually, an AGV-type automatic driving mode in which the cart operates using electromagnetic guidance automatic driving, a new sensor fusion type cart path automatic driving mode in which the cart operates on the cart path automatically using new sensors such as GPS, cameras, and LIDAR, and a new sensor fusion type fairway automatic driving mode in which the cart operates on the fairway automatically using new sensors such as GPS, cameras, and LIDAR.

[0016] By selecting one of these multiple driving modes and individually assigning it to each area, the golf cart usage patterns desired by the golf course operator can be greatly expanded.

[0018] When installing (including modifying or changing) golf carts and golf cart operation management systems at each golf course, multiple operation patterns suitable for each golf course can be preset by defining areas and assigning different driving modes to each area. In this way, for example, a golf course operator or the like can operate the operation management device and send instructions (information) to each golf cart to select a specific operation pattern from multiple pre-defined operation patterns, thereby selecting a driving pattern for each area for each golf cart. In other words, when operating the operation management device, the golf course operator or the like does not need to assign a driving mode for each area and send it to each golf cart, which greatly simplifies the process of sending information to each golf cart. For example, if golf carts are programmed with "fairway manual" as the operation pattern for sunny weather and "cart path fully automatic" as the operation pattern for rainy weather, the operation pattern selected for each golf cart can be tailored to the weather simply by sending instructions (information) to each golf cart to select a driving pattern.

[0019] The operation pattern memory unit stores operation patterns consisting of combinations of each of a plurality of areas partitioned within the golf course with driving modes, including sunny weather operation patterns and rainy weather operation patterns in which the combinations of each of the areas with the driving modes are different from each other, and the operation management device, in response to operation by the operator, transmits information to the operation pattern extraction unit via the transmission unit to extract one of the sunny weather operation patterns and the rainy weather operation patterns in accordance with the operator's request, and the operation pattern extraction unit extracts one of the sunny weather operation patterns and the rainy weather operation patterns in accordance with the information transmitted from the transmission unit, and the control unit controls the driving state of the golf cart in each of the areas by automatically switching the driving mode for each of the areas in accordance with the one operation pattern extracted by the operation pattern extraction unit.

[0020] The operation pattern storage unit, the operation pattern extraction unit, and the control unit are each provided in the golf cart. [Effects of the Invention]

[0021] In the present invention, the information on the driving modes assigned to each of the plurality of areas divided in the golf course is Operation pattern Remember that, and Extracting operation patterns By doing so, the driving state of the golf carts in each area is controlled while automatically switching to the driving mode assigned to each area. This allows the golf course operator to set the driving mode for each area to match the characteristics of the golf course and the requirements of the customers (golfers) of each golf course, and to suit the usage pattern that meets the requirements of each golf course, making it possible to meet the demands of both customer (golfer) satisfaction, safety, and security, and improved efficiency and productivity in golf course management. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a diagram showing a schematic configuration of a golf cart operation management system according to an embodiment; [Figure 2] 1 is a block diagram showing a schematic configuration of a control system of a golf cart used in a golf cart operation management system according to an embodiment. [Figure 3] 1 is a block diagram showing a schematic configuration of a terminal device used in a golf cart operation management system according to an embodiment. [Figure 4] 1 is a diagram showing a part of a golf course to which a golf cart operation management system according to an embodiment is applied; [Figure 5] 1 is a diagram for explaining each area partitioned in a range from the cart storehouse to the periphery of the first hole in a golf course to which a golf cart operation management system according to an embodiment is applied. DETAILED DESCRIPTION OF THE INVENTION

[0023] An embodiment of the present invention will be described below with reference to the drawings. This embodiment will be described by taking as an example a case where a golf cart operation management system is constructed using a plurality of golf carts and an operation management device (a terminal device or a system management device, described below) capable of communicating with the golf carts. Note that the golf cart operation management system according to the present invention may be constructed for each of a plurality of golf carts (an operation management device is not required). Also, this embodiment will describe a case where the present invention is applied as a system for managing the operation of a plurality of electric golf carts. Note that the present invention is not limited to a system for managing the operation of a plurality of electric golf carts, but can also be applied to a system for managing the operation of a plurality of engine-driven golf carts, or a system for managing the operation of each golf cart at a golf course where electric golf carts and engine-driven golf carts are mixed.

[0024] FIG. 1 is a diagram showing the schematic configuration of a golf cart traffic management system 1 according to this embodiment. As shown in FIG. 1, the golf cart traffic management system 1 according to this embodiment includes multiple golf carts 2, 2, ..., a terminal device (e.g., a personal computer) 3 owned by the operator of the golf course, and a system management device 4 owned by the system manufacturer that provides the golf cart traffic management system 1 and the golf carts 2, 2, .... In this embodiment, at least one of the terminal device 3 and the system management device 4 corresponds to the traffic management device of the present invention. Note that while FIG. 1 shows only four golf carts 2, 2, ..., an actual golf course will have several dozen golf carts 2, 2, .... Communication is possible between the golf carts 2, 2, ..., the terminal device 3, and the system management device 4 using a predetermined communication network 5. Examples of this communication network 5 include a mobile phone network with multiple base stations, the Internet, and a dedicated communication network. 1, the golf cart operation management system 1 may be configured with a plurality of golf carts 2, 2, ... and a terminal device 3 (a configuration that does not include the system management device 4), or may be configured with a plurality of golf carts 2, 2, ... and a system management device 4 (a configuration that does not include the terminal device 3). Furthermore, as mentioned above, the golf cart operation management system 1 may be constructed in each of the plurality of golf carts 2, 2, ... (without requiring an operation management device).

[0025] -Outline of golf cart configuration- The golf carts 2, 2, ... used in the golf cart operation management system 1 according to this embodiment will be described. The golf carts 2, 2, ... shown in FIG. 1 have the same configuration. The following description will be given using one golf cart 2 as an example. FIG. 2 is a block diagram showing the schematic configuration of the control system of the golf cart 2 used in the golf cart operation management system 1 according to this embodiment. FIG. 2 mainly shows the configuration of the portion of the control system of the golf cart 2 that is related to the golf cart operation management system 1.

[0026] As shown in FIG. 1, the golf cart 2 has a body 21, a pair of front wheels 22a, and a pair of rear wheels 22b. The body 21 includes a lower body 21a, pillars 21b, and a roof 21c. The pillars 21b are provided to extend upward from the four corners of the lower body 21a, and the roof 21c is attached to the upper ends of the pillars 21b. The pair of front wheels 22a and the pair of rear wheels 22b are rotatably mounted at the front and rear ends, respectively, of the lower body 21a to support the body 21. The golf cart 2 according to this embodiment employs a four-wheel independent suspension system to improve ride comfort.

[0027] A front seat 21d is provided in the approximate center of the lower body 21a, and a rear seat 21e is provided in the rear of the lower body 21a. This allows for a configuration that can accommodate four to five passengers. The golf cart 2 is not limited to this configuration; it may be configured with only the front seat 21d and accommodate only two passengers. Note that the golf cart 2 described in this embodiment has specific specifications, and various golf carts 2, such as those with or without various equipment, those equipped with only standard equipment, and those equipped with various options, are applicable to the present invention. Note that each seat 21d, 21e has a built-in seat heater to ensure comfort in winter. A steering wheel 21f is provided in front of the front seat 21d. During manual driving (for example, when driving on a fairway in fairway manual mode or full manual mode, as described below), the passenger seated in the front seat 21d operates the steering wheel 21f to steer the front wheels 22a. A carrier 21g for placing a golf bag or the like is provided at the rear end of the lower body 21a.

[0028] As shown in FIG. 2, the golf cart 2 primarily includes a control device 23, a battery 24a, a drive motor 24b, a brake device 24c, a steering device 24d, an accelerator pedal 25a, a brake pedal 25b, and the steering wheel 21f. The golf cart 2 also includes sensing devices such as a GPS module 26a, a camera 26b, a LiDAR 26c, and an AGV sensor 26d. It is not necessary to include all of these sensing devices; they may be selectively installed as needed. Instead of or in addition to these sensing devices, a sonar or target sensor (a sensing device when using known target line painting technology) may also be included. The golf cart 2 also includes a communication device 27 for communicating with the terminal device 3 and the system management device 4 via the communication network 5. Each of these devices will be described below.

[0029] The control device 23 controls the operation of each part of the golf cart 2. The control device 23 is a generally known ECU (Electronic Control Unit), and includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and backup RAM, etc. Details of the control device 23 will be described later.

[0030] A lithium ion battery is used as the battery 24a, but it is not limited to this and a lead battery, a nickel-metal hydride battery, a nickel-cadmium battery, or the like can also be used.

[0031] The drive motor 24b is connected to the drive shaft of the rear wheel 22b via a transmission. When the drive motor 24b is activated, its rotational force is transmitted to the rear wheel 22b via the transmission and the drive shaft, thereby rotating the rear wheel 22b. During manual driving (for example, when driving on a fairway in fairway manual mode or in full manual mode, as described below), the drive motor 24b is activated by the driver's depression of the accelerator pedal 25a. The output torque of the drive motor 24b increases as the accelerator pedal 25a is depressed more. During automatic driving (for example, when driving on a cart path in cart path full auto mode or when driving on a fairway in fairway auto mode, as described below), the output torque of the drive motor 24b is automatically controlled depending on whether a starting condition or an acceleration condition is met.

[0032] A brake device 24c is provided on each of the front wheels 22a and the rear wheels 22b. The brake device 24c is configured, for example, as a disc brake device or a regenerative brake device. During manual driving, the brake device 24c is activated by the driver's depression of the brake pedal 25b, and applies braking force to each of the front wheels 22a and the rear wheels 22b. During autonomous driving, the brake device 24c is activated when a braking condition is met, and automatically applies braking force to each of the front wheels 22a and the rear wheels 22b, or to the rear wheels 22b. Furthermore, during braking of the golf cart 2, the drive motor 24b is driven, and the drive motor 24b functions as a generator and an electric brake (regenerative brake), converting the rotational force of the rear wheels 22b into electric power and simultaneously exerting braking force. This electric power (regenerative power) is supplied to the battery 24a, and the battery 24a is charged.

[0033] The steering device 24d is connected to the front wheels 22a of the golf cart 2 and steers the front wheels 22a. During manual driving, the steering device 24d operates in response to operation of the steering wheel 21f by the driver to steer the front wheels 22a. During automatic driving, the steering device 24d operates when a steering condition is met to automatically steer the front wheels 22a. In this manner, a steering clutch is employed in this embodiment as a configuration for switching between steering linked to operation of the steering wheel 21f and automatic steering by the steering device 24d. That is, during manual driving, the steering clutch is engaged and the steering device 24d operates in response to operation of the steering wheel 21f by the driver, whereas during automatic driving, the steering clutch is released and the front wheels 22a are automatically steered by the steering device 24d.

[0034] The accelerator pedal 25a and the brake pedal 25b are provided in front of the front seat 21d and are depressed by a driver seated in the front seat 21d. The depression amount of the accelerator pedal 25a is detected by an accelerator opening sensor. During manual driving, the drive motor 24b is activated in accordance with the detection value of this accelerator opening sensor. The depression amount of the brake pedal 25b is detected by a brake pedal sensor. During manual driving, the brake device 24c is activated in accordance with the detection value of this brake pedal sensor.

[0035] As described above, the steering wheel 21f is provided in front of the front seat 21d and is turned by the driver seated in the front seat 21d. During manual driving, the steering clutch is engaged as described above, and the front wheels 22a are steered according to the amount of operation of the steering wheel 21f.

[0036] The GPS module 26a receives GPS signals transmitted from three or more (preferably four or more) satellites above the golf cart 2 and determines the position of the golf cart 2. The position information of the golf cart 2 determined by this GPS module 26a is output to the control device 23.

[0037] The camera 26b captures images of the surroundings of the golf cart 2. The camera 26b is, for example, a stereo camera or a monocular camera, and may be a digital camera having an imaging element such as a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charge Coupled Device). The image information of the surroundings captured by the camera 26b is output to the control device 23.

[0038] The LiDAR 26c is an active sensor that uses light to detect objects around the golf cart 2, and detects objects by emitting detection light around the golf cart 2 and receiving light reflected by objects around the golf cart 2. Information about the objects detected by the LiDAR 26c (such as the size of the object and the distance to the object) is output to the control device 23.

[0039] The AGV sensor 26d detects low-frequency currents in cables buried in cart paths, etc. (such as cart paths, the area between the front of the clubhouse and the hole, and the area between the front of the clubhouse and the cart warehouse, which will be described later), and acquires information for electromagnetically guiding the golf cart 2 along the cart paths, etc. In other words, electromagnetic induction wires (not shown) for guiding the golf cart 2 are buried in the cart paths, etc., and these electromagnetic induction wires are magnetically detected by the AGV sensor 26d, and a detection signal is output from the AGV sensor 26d to the control device 23. When traveling on the cart paths, etc. during automatic traveling, the control device 23 controls the steering device 24d based on the detection signal from the AGV sensor 26d. This enables the golf cart 2 to travel without deviating from the cart paths, etc. Note that the concept of automatic traveling in the golf cart operation management system 1 includes both the electromagnetically guiding traveling described above and automatic traveling based on information from the GPS module 26a, the camera 26b, etc. (automatic traveling not only on cart paths but also in other areas).

[0040] In order to avoid damage to the sensing devices such as the aforementioned GPS module 26a, camera 26b, LiDAR 26c, and AGV sensor 26d due to contact with the ground while driving on the fairway, it is preferable to install them in a position where the risk of damage, dirt, or other problems occurring to the vehicle body 21 is low, provided that each sensing device is positioned so that it can function effectively.

[0041] The communication device 27 communicates with the terminal device 3 and the system management device 4 via the communication network 5 to send and receive various types of information. The various types of information received by the communication device 27 are output to the control device 23.

[0042] -Terminal device configuration- Next, a description will be given of the terminal device 3 owned by the operator of the golf course. This terminal device 3 is installed, for example, in the master room of the golf course.

[0043] 3 is a block diagram showing a schematic configuration of the terminal device 3 used in the golf cart operation management system 1 according to this embodiment. The terminal device 3 is configured as a general personal computer. The terminal device 3 may also be a tablet, smartphone, dedicated device, etc.

[0044] As shown in FIG. 3, the terminal device 3 includes, as its functional units, an input unit 31, a master information storage unit 32, a master information change unit 33, a transmission information selection unit 34, and a transmission unit 35.

[0045] The input unit 31 acquires information from a keyboard, a pointing device, a communication network, etc., which are input by the golf course manager.

[0046] The information acquired by this input unit 31 includes operation pattern information (described later, for example, information collected from a golf cart 2 (one golf cart 2 that travels within the golf course and acquires various information when the system is introduced) when the system is introduced, described later). This information is stored as master information in the master information storage unit 32. This master information is sent to each golf cart 2 (for example, when the system is introduced), and is then stored in an operation pattern storage unit 23a (described later) in each golf cart 2 (details of the operation pattern information stored in the golf cart 2 will be described later).

[0047] Further, the information acquired by the input unit 31 also includes information for changing various pieces of information stored in the master information storage unit 32. When this information is acquired, the master information (information stored in the master information storage unit 32) is rewritten by the master information change unit 33. Circumstances in which this master information is changed include, for example, when the grass on some holes is undergoing care and golf carts 2 are not allowed to enter those grassy areas, when some cart paths are under repair and cannot be used, when the settings of hazard areas within the course need to be changed, or when the settings of the travel speed of golf carts 2 in each area need to be changed, and so on. In these cases, the master information is changed by inputting information from a keyboard, pointing device, or the like operated by the golf course operator.

[0048] Further, the information acquired by the input unit 31 also includes status information received from each golf cart 2, 2, . . . via the communication network 5.

[0049] The transmission information selection unit 34 is a functional unit that selects information for selecting an operation pattern for each golf cart 2, 2, ... (for example, information for selecting an operation pattern for rainy weather, etc.) In other words, it selects information corresponding to information input by the golf course operator through an input operation as transmission information and outputs it to the transmission unit 35.

[0050] The transmitting unit 35 has a function of transmitting information from the master information storage unit 32 and the transmission information selection unit 34 to each of the golf carts 2. Specifically, it has a function of transmitting to each of the golf carts 2, 2, ... the master information that was collected from the golf carts 2 at the time of system installation and stored in the master information storage unit 32, transmitting to each of the golf carts 2, 2, ... the master information that was changed in the master information change unit 33, and transmitting to each of the golf carts 2, 2, ... the information selected in the transmission information selection unit 34 as information for selecting an operation pattern for each of the golf carts 2, 2, ... (for example, information for selecting an operation pattern for rainy weather, etc.)

[0051] -Golf cart control device- As shown in FIG. 2, the control device 23 of the golf cart 2 includes, as its functional units, a driving pattern storage unit (referred to as a storage unit in the present invention) 23a, a receiving unit 23b, a driving pattern extraction unit 23c, a driving mode switching unit 23d, a control command signal generation unit 23e, and an output unit 23f. Generally, these functions are implemented by an ACU ( A utonomous C Control U nit), and VCU ( V vehicle C Control U unit) and the MCU ( M otor C Control U However, the implementation is not limited to this.

[0052] The operation pattern storage unit 23a stores a plurality of operation patterns, each of which is configured by assigning a driving mode to a plurality of areas within a golf course that have been pre-divided. In other words, the operation pattern storage unit 23a stores a plurality of operation patterns that have been arbitrarily created in advance. Specifically, the plurality of areas within a golf course that have been pre-divided include holes, joint areas (roads connecting each hole), the area between the front of the clubhouse and the hole, the area between the front of the clubhouse and the cart shed, and the area inside the cart shed. Holes are also divided into a plurality of areas, such as fairways and cart paths (cart paths laid along the side of the hole from the tee to the green).

[0053] Figure 4 is a diagram showing a portion of a golf course to which the golf cart operation management system 1 is applied. Fig. 4 shows only the first hole H1, the second hole H2, the third hole H3, the fourth hole H4, and the ninth hole H9 as the holes of the golf course. Also shown are the joint areas J1 connecting the first hole H1 and the second hole H2, the joint area J2 connecting the second hole H2 and the third hole H3, and the joint area J3 connecting the third hole H3 and the fourth hole H4. Fig. 4 also shows the clubhouse CH and the cart storage CS.

[0054] FIG. 5 is a diagram illustrating the various areas defined in the area from the cart shed CS to the area around the first hole H1 in a golf course to which the golf cart operation management system 1 is applied. In FIG. 5, each area is indicated by a dashed line. As shown in FIG. 5, the predefined areas within the golf course include an area HA within the first hole H1, a joint area JA, an area A1 between the front of the clubhouse CH and the first hole H1, an area A2 between the front of the clubhouse CH and the cart shed CS, and an area A3 within the cart shed CS. The area HA within the first hole H1 is also defined into multiple areas, such as a fairway FW and a cart path CP. While FIG. 5 shows the areas defined within the first hole H1, similar areas are defined on the other holes as well. It should be noted that, in the present invention, not all of these areas are necessarily required to define the golf course; areas may be defined as needed. Other areas may be defined instead of or in addition to these areas.

[0055] Here, we will explain the operation of setting an operation pattern when introducing the golf cart operation management system 1 of the present invention to a golf course. First, using one golf cart 2, while linking with GPS position information, actually drive the cart path CP of the golf course, etc., to identify and store the driving areas and sections. Then, a driving mode is assigned to each driving area and section, and an operation pattern (usually two types: OK / NOT for fairway entry) is set by combining these modes. The master information created in this way is uploaded to the terminal device 3 and stored in the master information storage unit 32, and the master information is also transmitted simultaneously to the other golf carts 2, 2, ..., where it is downloaded by each golf cart 2, 2, ... and stored in the operation pattern storage unit 23a. The method of identifying and storing the driving area / division is not limited to the above, but may include identifying the boundaries of the area / division by recognizing signs using a camera, or identifying the boundaries by using information on whether or not electromagnetic induction lines are detected.

[0056] Next, a specific example of an operation pattern in which a driving mode is assigned to each of the pre-defined areas will be described.

[0057] Typical examples of driving modes defined for each operation pattern include cart path full auto mode, fairway auto mode, fairway manual mode, and full manual mode, and one of these driving modes is selected and assigned individually to each area to generate an operation pattern. In other words, each operation pattern is stored in the operation pattern storage unit 23a of the golf cart 2 as information in which a driving mode is assigned to each of multiple areas within the golf course.

[0058] Below, an overview of each driving mode will be explained.

[0059] The cart path full auto mode is a mode in which a driving route is set on the cart path CP and paved areas within each pre-defined area, and the cart automatically drives (manual driving is prohibited), preventing driving outside of the driving route. This cart path full auto mode is a driving mode designed to protect the grass if it rained the previous day or if it rains early in the morning of the day. In addition, when driving on the cart path CP in this cart path full auto mode, the golf cart 2 starts and stops according to the operation of switches (start switch and stop switch) equipped on the golf cart 2 or the operation of a remote control carried by the golfer.

[0060] The fairway auto mode is a mode in which the golf cart 2 automatically travels along a predetermined route set on each predefined area of ​​the fairway FW. In this fairway auto mode, the destination of the golf cart 2 (the golf cart 2's stopping position) when automatically traveling along the fairway FW can be the point where the fairway travel ends (the cart path CP or the entry point into the joint area JA) or the position of the golfer or caddie holding the remote control on a predetermined route (a position a predetermined distance before the remote control's position). Alternatively, any location can be set as the destination by operating the remote control. In this fairway auto mode, it is preferable to travel along the center of the fairway FW to facilitate GPS signal reception by the GPS module 26a. That is, if trees TR are planted on the sides of the fairway FW as shown in FIG. 5, it is expected that GPS signals will be difficult to receive around the trees TR even on the fairway FW. Therefore, it is preferable to travel along the center of the fairway FW. However, if multiple golf carts 2, 2, ... are driven continuously along the same route in the center of the fairway FW, there is a concern that the grass on that route may be damaged, so it is preferable that each golf cart 2, 2, ... is driven while slightly shifting its route. As mentioned above, even on the fairway FW, there are areas where it is difficult to receive GPS signals, and this differs from golf course to golf course and from hole to hole, so it is preferable to set in advance the areas that are considered to be fairway FW, taking into account the existence of areas where it is difficult to receive GPS signals. Also, in anticipation of areas where it is difficult to receive GPS signals or when the signal is interrupted, it is preferable to use cameras, LIDAR, IMU ( I nertial M assurance U It is preferable to integrate technologies such as an inertial measurement unit (IT) to create a system that does not rely solely on GPS. Even in this fairway auto mode, the golf cart 2 starts and stops when traveling on the cart path CP according to the operation of switches (start switch and stop switch) equipped on the golf cart 2 or the operation of a remote control carried by the golfer.

[0061] The fairway manual mode is a mode in which the golf cart can freely drive manually within each pre-demarcated area of ​​the fairway FW, excluding no-driving areas, hazard areas, etc. Furthermore, if the golf cart enters a cart path CP within that area, the mode is forced to switch to automatic driving and manual driving is not possible. This fairway manual mode is selected when driving onto the fairway FW is permitted on sunny days, etc., and when golfers want to enjoy manual driving on the fairway FW. Furthermore, this fairway manual mode is a driving mode that offers great benefits to golfers, as it allows the golf cart 2 to drive up close to the ball by manual driving, significantly shortening the distance the golfer has to walk.

[0062] The full manual mode is a mode in which all areas of the golf course, such as the pre-demarcated areas of the fairway FW, cart path CP, other paved areas, etc., are manual driving. This full manual mode is selected on sunny days, etc., when golfers are allowed to enter the fairway FW and enjoy manual driving, and is selected in areas where there are no dangerous areas in the pre-demarcated areas of the cart path CP or joint area JA.

[0063] In each of the driving modes described above, either manual driving or automatic driving is specified, focusing mainly on certain areas (fairway FW, cart path CP, joint area JA, etc.), but either manual driving or automatic driving may also be specified for each of the other areas (area A1 between in front of the clubhouse CH and hole 1 H1, area A2 between in front of the clubhouse CH and cart locker CS, and area A3 inside the cart locker).

[0064] In addition, in any of the driving modes described above, a safety support function can be added that controls the brake device 24c and steering device 24d based on information received from the camera 26b, LiDAR 26c, etc. (e.g., information on the presence or absence of an obstacle ahead). For example, in both the automatic driving mode and the manual driving mode, when an obstacle (such as a person, another golf cart 2, a golf course maintenance vehicle, or a tree) is present ahead of the golf cart 2 and the distance to the obstacle reaches or falls below a predetermined value, the brake device 24c is activated to apply braking force to each of the front wheels 22a and the rear wheels 22b, or to the rear wheels 22b (collision prevention function). Before activating the brake device 24c, a warning may be displayed on a monitor screen (e.g., a golf cart navigation screen) mounted on the golf cart 2, or a warning sound may be emitted to the occupant. Furthermore, if contact with the obstacle can be avoided by steering and changing the driving path by steering will not cause any problems, the steering device 24d is activated to steer the front wheels 22a. Other safety support functions may include not only a collision prevention function but also a tipping prevention function, a hazard area intrusion prevention function, etc. The tipping prevention function may include equipping the golf cart 2 with an angle sensor (a sensor that detects the tilt of the body 21), determining whether or not there is a possibility of tipping based on the detection signal from this angle sensor and the traveling speed of the golf cart 2, and automatically slowing down if there is a possibility of tipping. The hazard area intrusion prevention function may include slowing down or stopping the golf cart before areas such as tee grounds, greens, sand hazards, areas under grass maintenance, trees, cliffs, ponds, steep slopes, and extremely uneven surfaces.

[0065] Note that this safety support function does not necessarily need to be added to all driving modes. For example, the safety support function may be added to an automatic driving mode, and the safety support function may be selectable for a manual driving mode. For example, in the fairway manual mode, the safety support function is activated to prevent accidents such as collisions, falls, and trips during manual driving. In the full manual mode, the safety support function may be selectable for use. The safety support function may also be added to all holes, or may be added to long and middle holes and not to short holes.

[0066] In addition, in Cart Path Full Auto Mode and Fairway Auto Mode, the golfer can operate the remote control carried by him / her to start and stop the golf cart 2. In addition, by operating the switches (start switch and stop switch) equipped on the golf cart 2, the driver can "stop" and "start" at the location he / she intends.

[0067] In addition, in the cart path full auto mode and fairway auto mode, the vehicle is designed to have a function to follow the leading golf cart 2. This following function is a function that automatically stops the vehicle when the collision prevention sensor detects an obstacle (person, object, other golf cart) a certain distance ahead on the road during automatic driving, and then automatically starts again when the obstacle is removed.

[0068] Each driving mode is defined as described above, and examples of operation patterns that are generated by allocating a driving mode to each region include the following.

[0069] <Operation Pattern A> Operation pattern A is an operation pattern for when the weather and turf conditions are good and fairway driving is possible. In operation pattern A, for example, fairway auto mode is assigned as the driving mode for area HA (including both the fairway FW and cart path CP) within each hole, and cart path full auto mode is assigned as the driving mode for joint area JA. Additionally, while any driving mode can be assigned to area A1 between the front of the clubhouse CH and the hole, area A2 between the front of the clubhouse CH and the cart shed CS, and area A3 within the cart shed CS, in this embodiment, an automatic driving mode is assigned.

[0070] <Operation Pattern B> Operation pattern B is an operation pattern for when the weather and grass conditions are bad and driving on the fairway is not possible. In other words, operation pattern B is an operation pattern in which the golf cart 2 is prohibited from entering the fairway FW in order to protect the grass on the fairway FW.

[0071] Specifically, in operation pattern B, for example, cart path full auto mode is assigned as the driving mode for cart path CP, and cart path full auto mode is also assigned as the driving mode for joint area JA. Furthermore, the driving modes for area A1 between the front of clubhouse CH and the hole, area A2 between the front of clubhouse CH and cart warehouse CS, and area A3 inside cart warehouse CS can be assigned arbitrarily, but in this embodiment, an automatic driving mode is assigned.

[0072] <Operation Pattern C> Another example of an operation pattern is operation pattern C below. Like operation pattern A, operation pattern C is an operation pattern for when the weather and turf conditions are good and fairway driving is possible. In operation pattern C, for example, fairway manual mode is assigned as the driving mode for area HA (including both the fairway FW and cart path CP) within each hole, and cart path full auto mode is assigned as the driving mode for joint area JA. Furthermore, the driving modes for area A1 between the front of the clubhouse CH and the hole, area A2 between the front of the clubhouse CH and the cart shed CS, and area A3 within the cart shed CS can be assigned arbitrarily, but in this embodiment, an automatic driving mode is assigned.

[0073] In the operation patterns described above, the same driving mode is assigned to each hole, but different driving modes may be assigned to each hole. For example, fairway auto mode may be assigned to long and middle holes, while fairway manual mode or cart path full auto mode may be assigned to short holes.

[0074] The receiving unit 23b of the golf cart 2 receives information (information for selecting an operation pattern) transmitted from the transmitting unit 35 of the terminal device 3 via the communication device 27. The receiving unit 23b of the golf cart 2 can also receive other information, such as master information at the time of system installation, master information when the master information has been rewritten, and command information in response to any trouble that may have occurred (for example, power-off information, remote operation command information, etc.).

[0075] The operation pattern extraction unit 23c extracts operation pattern information corresponding to the information received by the receiving unit 23b (information input by the golf course operator, such as weather information) from each operation pattern stored in the operation pattern storage unit 32. For example, when the receiving unit 23b acquires information for extracting operation pattern A (such as information on a pattern in which manual driving is performed within each hole on a fine day and automatic driving is performed at joint sections), the operation pattern extraction unit 23c extracts operation pattern A from each operation pattern stored in the operation pattern storage unit 32, and defines the driving modes assigned to each area in this operation pattern A as the driving modes of each golf cart 2, 2, ...

[0076] The driving mode switching unit 23d recognizes the driving mode corresponding to the area in which the golf cart 2 is currently traveling based on the information received by the receiving unit 23b, and if the current driving mode of the golf cart 2 differs from the driving mode based on the received information, it outputs a signal to automatically switch to the driving mode corresponding to the received information.

[0077] The control command signal generator 23e generates command signals to be output to the drive motor 24b, the brake device 24c, and the steering device 24d based on the signal from the driving mode switcher 23d. Specifically, if the driving mode corresponding to the current driving area is a mode for performing automatic driving, the control command signal generator 23e generates command signals for performing automatic driving, whereas if the driving mode corresponding to the current driving area is a mode for performing manual driving, the control command signal generator 23e generates command signals corresponding to the operation amounts of the accelerator pedal 25a, the brake pedal 25b, and the steering wheel 21f.

[0078] The output unit 23f receives the control command signal output by the control command signal generation unit 23e and outputs the control command signal to the drive motor 24b, the brake device 24c, and the steering device 24d, respectively. As a result, the drive motor 24b is activated to start and run the golf cart 2, the brake device 24c is activated to apply braking force, and the steering device 24d is activated to steer the front wheels 22a.

[0079] Through the above operations, one of a plurality of driving modes is selected for each area divided within the golf course, so that the operation pattern extraction unit 23c constitutes the selection unit of the present invention, and the driving mode switching unit 23d and the control command signal generation unit 23e constitute the control unit of the present invention.

[0080] -Operation example- Next, an example of operation of the golf cart operation management system 1 configured as described above will be described. Here, to facilitate understanding of the invention, an example of operation when fairway driving is possible and when fairway driving is not possible will be described. In other words, the case where an operation pattern when fairway driving is possible and an operation pattern when fairway driving is not possible will be described.

[0081] First, if fairway driving is possible, the golf course operator operates the terminal device 3 installed in the master room early in the morning (before the golf course opens) to select a driving pattern that allows fairway driving, and the selected driving pattern information is transmitted from the transmitter 35 to all golf carts 2, 2, .... Then, in the golf carts 2, 2, ... that receive this information, the driving pattern extraction unit 23c extracts a driving pattern suitable for fairway driving from the driving patterns stored in the driving pattern storage unit 23a in accordance with the selected information. Then, in accordance with the operation of the driving mode switching unit 23d and the control command signal generation unit 23e, driving is controlled by switching to a driving mode appropriate for each area. For example, if the aforementioned driving pattern A is selected, the driving mode for the area HA (including both the fairway FW and the cart path CP) within each hole is set to fairway auto mode, and the driving mode for the joint area JA is set to cart path full auto mode. When the driving mode is automatically switched in this way, the driver of the golf cart 2 must be notified of this. For this reason, the current driving mode is displayed on a monitor screen mounted on the golf cart 2. The display content on this monitor screen may be set to indicate whether the vehicle is currently in manual driving or automatic driving, or may be set to indicate which of the above-mentioned driving modes (cart path full automatic mode, fairway automatic mode, fairway manual mode, and full manual mode) the vehicle is in. In this case, since it is expected that the driver may not understand the contents of each driving mode, it is preferable to display on the monitor screen the areas in which manual driving is possible and the areas in which automatic driving is performed in the current driving mode to encourage the driver's understanding.

[0082] On the other hand, if fairway driving is not permitted, the golf course operator operates the terminal device 3 early in the morning to select a driving pattern that does not permit fairway driving, and the selected driving pattern is transmitted from the transmitter 35 to all golf carts 2, 2, .... The golf carts 2, 2, ... then receive this information, and the driving pattern extractor 23c extracts a driving pattern that does not permit fairway driving from among the driving patterns stored in the driving pattern memory 23a. Then, the driving mode is controlled by switching to a driving mode appropriate for each area in accordance with the operation of the driving mode switching unit 23d and the control command signal generator 23e. For example, if the aforementioned driving pattern B is selected, the driving mode for area HA within each hole is set to cart path full-auto mode, and entry onto the fairway FW is prohibited. The driving mode for joint area JA is also set to cart path full-auto mode. In this case, the current driving mode is displayed on the monitor screen mounted on the golf cart 2.

[0083] -Effects of the embodiment- As described above, in this embodiment, when managing the operation of a plurality of golf carts 2, 2, ... (managing the operation of the driving conditions in each area), information for selecting a driving mode for each area is transmitted from the transmitter 35 of the terminal device 3 to each of the golf carts 2, 2, .... Furthermore, when each golf cart 2, 2, ... receives this information, it selects the driving mode assigned to each area in accordance with the received information when traveling within the golf course, and automatically switches between these driving modes to control the driving conditions in each area. Because the driving conditions of the golf carts 2, 2, ... in each area are controlled by automatically switching between driving modes in this manner, by setting the driving mode for each area according to the usage pattern required by the golf course operator, it is possible to operate the golf carts 2, 2, ... in the usage pattern required by the golf course operator (for example, a usage pattern that is contrary to the golfers' requests).

[0084] In this embodiment, multiple operation patterns, each with a different combination of area and driving mode, are stored in the operation pattern storage unit 23a, and any one of these operation patterns can be selected. Therefore, the golf course operator operates the terminal device 3 to transmit information for selecting a driving mode to each golf cart 2, 2, ..., and a driving pattern that aggregates the driving mode information for each area is selected for each golf cart 2, 2, .... In other words, when the golf course operator operates the terminal device 3, there is no need to assign a driving mode to each area and transmit it to each golf cart 2, 2, ..., which greatly simplifies the process of transmitting information to each golf cart 2, 2, .... As a result, the practicality of the golf cart operation management system 1 can be improved.

[0085] -Other embodiments- The present invention is not limited to the above-described embodiments, and all modifications and applications within the scope of the claims and equivalents thereto are possible.

[0086] For example, since the present invention uses the communication network 5 to enable communication between the terminal device 3 or the system management device 4 and each golf cart 2, 2, ..., this form of communication can also be used when performing maintenance on the golf carts 2, 2, ... or when upgrading software.

[0087] Furthermore, in the above embodiment, an example was described in which the golf cart operation management system 1 was constructed using a plurality of golf carts 2, 2, ... and an operation management device (terminal device 3 and system management device 4). The present invention is not limited to this, and as described above, the golf cart operation management system 1 may be constructed in each of the plurality of golf carts 2, 2, ... (an operation management device is not required). In this case, the information used by the operation pattern extraction unit 23c to extract an operation pattern is input directly to each golf cart 2, 2, .... Specifically, a terminal device may be connected to each golf cart 2, 2, ... to input information, or each golf cart 2, 2, ... may be provided with an operation unit for inputting information.

[0088] In the above embodiment, the operation pattern storage unit 23a, the operation pattern extraction unit 23c, the driving mode switching unit 23d, and the control command signal generation unit 23e are each provided in the golf cart 2. However, the present invention is not limited to this, and the operation pattern storage unit 23a and the operation pattern extraction unit 23c may be provided in the terminal device 3, or the operation pattern storage unit 23a, the operation pattern extraction unit 23c, the driving mode switching unit 23d, and the control command signal generation unit 23e may each be provided in the terminal device 3.

[0089] In the above embodiment, the selectable driving modes are exemplified as the fairway manual mode, the full manual mode, the cart path full auto mode, and the fairway auto mode. However, the present invention is not limited to this, and other modes may be applied instead of or in addition to these driving modes.

[0090] In the above embodiment, the operator of the golf course operates the terminal device 3 to transmit information for selecting an operation pattern (for example, information on a pattern in which each hole is manually driven on a fine day and joint sections are automatically driven) to each of the golf carts 2, 2, .... The present invention is not limited to this, and an administrator of the system manufacturer may operate the system management device 4 to transmit information for selecting an operation pattern to each of the golf carts 2, 2, .... Furthermore, both the terminal device 3 and the system management device 4 may transmit information for selecting an operation pattern to each of the golf carts 2, 2, .... In this case, it is preferable to determine in advance which of the information from the terminal device 3 and the information from the system management device 4 will be given priority.

[0091] Furthermore, the embodiments and other matters disclosed in this specification can also be understood as the technical ideas described in the following supplementary notes.

[0092] (Appendix 1) In a golf cart operation management system that manages the operation of multiple golf carts configured to be switchable between manual and automatic driving, a storage unit in which allocation information is stored for each of a plurality of areas partitioned within a golf course, the allocation information being configured to allocate a driving mode to each of the areas; a selection unit that selects one piece of allocation information for each area from the plurality of pieces of allocation information; a control unit that controls the driving state of the golf cart in each of the areas by automatically switching the driving mode for each of the areas in accordance with the allocation information selected by the selection unit.

[0093] (Appendix 2) In the golf cart operation management system described in Appendix 1, a driving management device capable of communicating with each of the plurality of golf carts; the operation management device includes a transmitter that transmits information for selecting one piece of allocation information for each of the areas to each of the golf carts; A golf cart operation management system characterized in that the memory unit, the selection unit, and the control unit are provided in each of the multiple golf carts, and the control unit controls the driving state of the golf carts in each of the areas by automatically switching the driving mode for each of the areas in accordance with the allocation information selected by the selection unit in response to information received from the operation management device.

[0094] (Appendix 3) In the golf cart operation management system described in Appendix 1 or 2, A golf cart operation management system characterized in that the multiple driving modes in the allocation information include a fairway manual mode in which joint areas connecting each hole on a golf course are driven automatically and fairways are driven manually, a full manual mode in which all areas within the golf course are driven manually, a cart path full auto mode in which cart paths and the joint areas are driven automatically, and a fairway auto mode in which the fairways, cart paths, and joint areas are driven automatically.

[0095] (Appendix 4) In the golf cart operation management system described in Appendix 1, 2 or 3, the storage unit stores a plurality of operation patterns each having a different combination of each of the areas and the driving mode as an operation pattern formed by a combination of each of the areas and the driving mode, The golf cart operation management system is characterized in that the selection unit selects any one operation pattern from among the plurality of operation patterns.

[0096] (Appendix 5) In the golf cart operation management system according to any one of Supplementary Note 1 to 4, A golf cart operation management system characterized in that the multiple areas partitioned within the golf course include holes, joint areas connecting each hole, the area between the front of the clubhouse and the hole, the area between the front of the clubhouse and the cart warehouse, and the area inside the cart warehouse. [Industrial Applicability]

[0097] The present invention can be applied to a golf cart operation management system that manages the operation of a plurality of golf carts that can be switched between manual and automatic driving. [Explanation of symbols]

[0098] 1. Golf cart operation management system 2. Golf carts 23 Control device 23a Operation pattern memory unit (memory unit) 23c Operation pattern extraction unit (selection unit) 23d Driving mode switching unit (control unit) 23e control command signal generation unit (control unit) 3. Terminal device (operation control device) 4 System management device (operation management device) FW Fairway CP Cart Path JA Joint Area H1~H9 holes CH Clubhouse CS Cart A1 The area between the clubhouse and the hole A2 Area between the front of the clubhouse and the cart shed A3 Cart Area

Claims

1. A golf cart operation management system includes a plurality of golf carts configured to be switchable between manual and automatic driving, and an operation management device that can communicate with each of the plurality of golf carts and be operated by a golf course operator, an operation pattern storage unit that stores a plurality of operation patterns each consisting of a combination of a plurality of areas partitioned within the golf course and a driving mode, the operation patterns being different from one another in combination of the areas and the driving mode; an operation pattern extraction unit that extracts one operation pattern from the plurality of operation patterns; a control unit that controls the driving state of the golf cart in each of the areas while automatically switching the driving mode for each of the areas according to the one driving pattern extracted by the driving pattern extraction unit, A golf cart operation management system characterized in that the operation management device is equipped with a transmission unit that transmits information to the operation pattern extraction unit in response to the operator's operation to extract one operation pattern in accordance with the operator's request.

2. In the golf cart operation management system according to claim 1, the operation pattern storage unit stores operation patterns each consisting of a combination of a plurality of areas partitioned within the golf course and a driving mode, including a sunny weather operation pattern and a rainy weather operation pattern each having a different combination of each of the areas and the driving mode; the operation management device is configured to transmit, in response to an operation by the operator, information for extracting one of the fair-weather operation pattern and the rainy-weather operation pattern in accordance with a request from the operator, to the operation pattern extraction unit by the transmission unit; the operation pattern extraction unit extracts one of the fair-weather operation pattern and the rainy-weather operation pattern in accordance with the information transmitted from the transmission unit, The control unit controls the driving state of the golf cart in each of the areas by automatically switching the driving mode for each of the areas in accordance with the one driving pattern extracted by the driving pattern extraction unit.

3. In the golf cart operation management system according to claim 1 or 2, A golf cart operation management system, characterized in that the operation pattern storage unit, the operation pattern extraction unit, and the control unit are each provided in the golf cart.

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