Golf cart system capable of autonomous driving based on accurate location information and method of controlling golf cart using the system

A golf cart system capable of autonomous driving based on accurate location information, comprising:

• a cart main body;
• a control module configured to automatically drive the cart main body and including
• a collision prevention sensor configured to prevent a collision by recognizing a target,
• a GPS sensor configured to provide location information of the cart main body,
• a slope sensor configured to recognize and control a slope,
• a memory unit configured to store field information of a driving area and driving restricted area of a golf course,
• a tracking unit configured to track a terminal in real time,
• a control unit configured to receive location information of the terminal, to calculate a distance from the terminal based on the field information of the golf course stored in the memory unit and to control a movement of the cart main body,
• a communication module for transmission and reception with the terminal, and
• a distance measurement unit configured to measure a distance between the control module and the terminal;
• a server transmitting the field information of the golf course to the memory unit;
• and
• the terminal operating in conjunction with the control module selectively or in real time,
• wherein
• three or more fixed nodes are configured at locations spaced apart from one another on one side of the cart main body and are connected to the control module, wherein one of the fixed nodes is a reference of coordinates,
• the terminal is configured to perform signal transmission and reception with the control module at a round robin state,
• when the terminal transmits a first signal, the control module
• receives the first signal and retransmits the first signal if the number of checked fixed nodes after the first signal timeout of 100 ms is less than 3, and
• switches to the round robin state if the number of checked fixed nodes after the first signal timeout of 100 ms is 3 or more,
• the terminal is configured to transmit a second signal to the control module, receive a response to the second signal from the control module, and calculate a first time lag, if the response to the second signal is not received by the terminal within 10 ms after the second signal is transmitted, timeout is generated and round robin is restarted,
• the terminal is configured to transmit a third signal regarding a range information, receive a response to the third signal regarding the range from the control module, and calculate a second time lag, if the response to the third signal is not received within 10 ms after transmitting the third signal, timeout is generated and round robin is restarted, and
• the distance measurement unit is configured to
• sequentially calculate the distances between each of the fixed nodes and the terminal based on information of the first and second time lags at the round robin state,
• calculate an x,y coordinate value of the terminal by substituting a trilateration algorithm into the x,y coordinate value,
• determine the x,y coordinate value to be the location values of the terminal,
• calculate a distance l and angle Θ between the location value of the terminal and the fixed node of the reference, and
• transmit a result of the calculation to the control module so that the cart main body autonomously drives.