JP2003061130A - Golf navigation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately calculate a position of a golf navigation device on a mobile station and inform a base station about it. SOLUTION: The navigation device on the mobile station (cart) discriminates whether or not data from a GPS satellite received by a GPS receiver 31 are to be aborted. When the navigation device decides that the data from the GPS receiver 31 are to be aborted, the navigation device calculates its position on the basis of data from an azimuth sensor 42 and a distance sensor 43. On the other hand, when the navigation device decides that the data from the GPS receiver 31 are not to be aborted, the navigation device calculates its position on the basis of data from the azimuth sensor 42, the distance sensor 43 and the GPS receiver 31. The mobile station transmits the calculated own position to the base station.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a golf navigation system, and more particularly to a base station and a mobile station (cart).
The present invention relates to a golf navigation system that enables more accurate position detection by distributing the processing in the above and further enables finer progress management.

[0002]

2. Description of the Related Art Labor costs, which have not been a problem when the economy is good, are one of the causes of pressure on the business situation when the economy is bad. Golf course management is no exception. Therefore, it is desired to reduce the cost by automating the work which is conventionally done by a person.

Under such circumstances, golf navigation systems have come into use. In this golf navigation system, a hole diagram and a display on the navigation device mounted on the cart
Display a green diagram, etc., instead of a caddy,
It supports players.

In the GPS system, there are 24 satellites as senders flying around the earth. Then, each satellite reports the position where it is flying to the navigation device mounted on the cart on the earth. In other words, it reports the content of what time, how many minutes, and where it is flying.

In the golf navigation device on the mobile station on the receiving side (hereinafter simply referred to as navigation device),
The latitude, longitude, and time information received from three of these 24 satellites is taken in via the GPS reception unit, and each of these information, the azimuth information of the cart equipped with the navigation device, the traveled distance information, etc. Based on, the current location (current location) of the receiving side is calculated. However,
There are various obstacles before the radio waves transmitted from the satellite reach the earth. For example, there are problems such as cloud conditions and magnetism, so it is necessary to improve accuracy. Therefore, for example, differential correction is performed.

In the case of a golf course, a club house is usually provided with a base station. This base station shows the reference position of the entire golf course, and in that sense, it is also a reference station. The base station has a GPS receiver. And
There are multiple carts (often around 50) as mobile stations, and the player rides on these carts and goes around the course. A GPS receiver is also mounted on this cart.

Both the base station and the GPS receivers on a plurality of mobile stations receive radio waves from GPS satellites once a second. In order to improve the accuracy of this radio wave, the base station performs differential correction broadcasting to each mobile station once every 10 seconds. Each mobile station that has received this differential correction broadcast corrects the radio waves from the satellite that it is currently receiving based on this differential correction broadcast to make it more accurate. Note that any method other than the above-mentioned differential correction may be used as long as it can obtain a highly accurate radio wave.

On the other hand, the base station performs a polling process (inquiry about the current position) on each mobile station. By this polling process, the current position information is sequentially returned from each mobile station to the base station. FIG. 25 is a diagram showing a procedure of polling processing in the conventional example. In the figure, the base station 101 sends a transmission request 103-1 to the cart 102-1.
When f is issued, the cart 102-1 returns the current position information (latitude, longitude) to the base station 101 as a response 103-1r. Subsequently, when the base station 101 issues a transmission request 103-2f to the cart 102-2, the previous response 1 is used as the information of the previous cart (in this case, the cart 102-1).
The position information of the cart 102-1 obtained in 03-1r is also passed to the cart 102-2. The cart 102-2 which has received the information in which the previous cart information is added to the transmission request receives the current position information (latitude, longitude) as a response 103-2r to the base station 101.
Return to. If there are nth carts, the same transmission request and the same response are performed up to the nth cart. When the transmission request of the nth cart and the response thereto are completed, the process returns to the polling of the cart 102-1 which is the first cart. By continuing such a polling process, the base station manages the positions of all mobile stations (carts) over time.

For example, each hole is divided into three zones of tee ground, fairway, and green to manage the position of each mobile station, and the base station reports to each mobile station according to the report from each mobile station. In response, give instructions. For example, if the previous cart hits the green, the next cart can be hit from the teeing ground, and so on.

Incidentally, in order to understand the approximate numerical values, polling with one mobile station takes about 0.5 seconds. Therefore, if there are 50 carts, it will make a round and until the polling from the next base station,
It takes 0.5 seconds × 50 = 25 seconds. If the speed of the cart is 3 m / s, if the cart does not stop, the cart will travel 75 m in this 25 seconds. Therefore,
The base station side manages almost 100 yards (about 91.44 m).

[0011]

However, such a conventional technique also has two problems. First, as a first problem, as described in FIG. 25, when the transmission request 103-1f is made from the base station 101 to the cart 102-1 for example, the cart 102-1 gives a response 103-1r. What was returned was just the raw, unprocessed data received from the GPS satellites. As described above, in the GPS system, correction such as differential correction is performed in order to improve the accuracy of radio waves. However, even if the accuracy of radio waves is increased by such correction, the accuracy of the obtained position is sufficient. Not a thing. Therefore, in response to the transmission request 103-1f from the base station 101 to the cart 102-1 described above, the data returned from the cart 102-1 to the base station 101 is not highly accurate and should be originally discarded. However, the base station 101 receives the data, and from the data, the cart 102-1
The position of will be calculated. The interval until the next transmission request is, for example, 25 seconds after considering the case of 50 carts. Therefore, the position of the cart 102-1 obtained from the data that should be discarded is updated for at least 25 seconds. Not done.

Further, conventionally, the latitude and longitude of each point have been obtained based on a design drawing of a hall or the like. This has caused the following second problem. That is, no matter how the latest design drawing is used, the position of the cart road in the actual hole and the position of the cart road on the design drawing are slightly deviated from each other. Therefore, if you draw a line from the base station (clubhouse) to the points set on the cart road, on the green, on the tee ground, on the bunker, etc., and obtain the longitude and latitude of each point on the design drawing, However, it differs from the latitude and longitude of the points set on the actual cart road, on the green, on the tee ground, on the bunker, etc., and the position of the cart could not be detected with sufficient accuracy as a navigation system. .

The error between the point on the design drawing of the hole and the actual point of the hole increases as the distance from the base station increases. If you try to find the position (latitude, longitude) of a point where such distance is far from the base station on the design drawing,
The angle of the line drawn from the base station just shifted a few times,
There will be a difference of several yards in the position data.

For example, in FIG. 26, points 6a,
6b and 6c are the positions of the carts 2a, 2b and 2c. All of these points 6a, 6b, 6c are far from the base station. In this case, the cart 2b at the point 6b on the cart path 5 of the hole being played is now close to the adjacent hole if the cart path of the hole currently being played is close to the cart path of the adjacent hole. It may be handled as if it were at point 6b 'on the cart road 5. In such a case, the cart 2b is treated as being in the hole immediately preceding the hole actually being played. Therefore, there is no cart 2b at the point 6b, and the cart 2a, which is one cart behind the cart 2b, is hit even though it cannot actually be hit from the tee ground of the hole. You can
I got the instruction from the base station and hit it.
The cart 2c, which is the cart immediately before the cart, is also used.
In reality, if the cart 2b is treated as being at the point 6b ', it cannot be played until the cart 2b reaches the green. Delay play also occurred due to such reasons.

Further, in the conventional navigation device, when displaying the distance from the ball to the pin, the distance from the position of the cart to the pin is calculated and the distance is displayed according to the calculated distance. Therefore, the distance display does not match the actual feeling of the player. Further, in the conventional navigation device, the course capture method displays a course diagram or the like. Therefore, it is not always easy for players to understand.

An object of the present invention is to realize a golf navigation device capable of accurately recognizing a cart position. Another object of the present invention is to realize a golf navigation device capable of displaying a distance according to the player's feeling on the screen of the display.

Another object of the present invention is to realize a golf navigation device which displays a screen of a strategy that is easy for a player to understand.

[0018]

According to a first aspect of the present invention, GPS receiving means for receiving data from GPS satellites, data indicating a moving direction, data indicating a distance moved, and reception by the GPS receiving means. Provided is a golf navigation device, comprising: a position calculating means for calculating own position data based on at least one of the obtained data, and an own position transmitting means for transmitting the own position data calculated by the position calculating means. is doing.

According to the first aspect of the present invention, the golf navigation device has a position calculating means such as a program. The position calculating means refers to data indicating the moving direction, data indicating the distance moved, data received by the GPS receiving means, and the like when calculating the own position, so that the position of the own cart with higher accuracy can be obtained. It becomes possible to calculate information. Therefore, the above-mentioned problem of accurately recognizing the position of the cart on which this navigation device is mounted can be achieved.

According to the second aspect of the present invention, the golf navigation device further has a storage means for storing map data associated with a plurality of points provided in the golf course. Then, when calculating the own position, the position calculating means also calculates the own position by also referring to the map data. Therefore, it is possible to calculate the position information of the own cart with higher accuracy. Therefore, the above-described problem of accurately recognizing the cart position can be achieved.

The map data is, for example, data (actually measured value data) obtained by actually measuring the latitude and longitude of a plurality of points provided in the golf course. According to the invention of claim 3, the golf navigation device has an event associated with the map data. Then, when there is an event associated with the point determined to correspond to the own position data calculated by the position calculating unit, the display switching unit such as a program switches the display screen of the display unit based on the event. I do.

Here, the above-mentioned event means, for example, when the cart position of the previous cart and the cart position of the own cart satisfy a predetermined condition (a distance of more than a yard), the driving permission is given. A screen is displayed, or conversely, a screen for prohibiting driving is displayed when the above-mentioned predetermined condition is not satisfied. In addition to this, a screen for forgetting a club is displayed at (one or more) points (called a green stop point) on the cart road near the green. In addition to this example, when the navigation device receives a notification of lightning evacuation from the base station, a screen of the evacuation route to the nearest evacuation shed may be displayed.

In a fourth aspect of the invention, the position calculating means such as a program of the golf navigation device has data indicating a moving direction, data indicating a moved distance, and GP.
The own position is calculated based on the position information by S. Based on the self-position thus calculated, the first distance calculating means such as a program draws a perpendicular from the self-position onto the IP line, and the IP from the intersection of the perpendicular and the IP line to the green center. Calculate the distance along the line. The second distance calculating means such as a program draws a perpendicular line from its own position onto the IP line, and calculates a straight line distance from the intersection of the perpendicular line and the IP line to the green center. Upon receiving these calculation results, the distance display means displays the distance according to the distance calculated by the first distance calculation means when the straight line distance from the own position indicated by the own position data to the green center is a predetermined value or more. If the straight line distance from the own position to the green center is within a predetermined value, the distance is displayed according to the distance calculated by the second distance calculating means.

As described above, by changing the distance display according to the remaining distance to the green center, it is possible to achieve the above-mentioned object of displaying the distance according to the player's feeling. Further, in the invention according to claim 5, a third distance calculating means such as a program is further provided. Then, the third calculating means calculates the straight line distance from the own position to the green center. Upon receiving these calculation results, the distance display means displays the distance according to the distance calculated by the third distance calculation means when the own position is the entry position, and the own position is not the entry position and If the straight line distance from the vehicle's own position to the green center is greater than or equal to a predetermined value, the distance is displayed according to the distance calculated by the first distance calculating means, and the vehicle's own position is not the entry position and the distance from the vehicle's position to the green center When the straight line distance is within a predetermined value, the distance is displayed by the distance calculated by the second distance calculating means.

As described above, by changing the distance display according to the remaining distance to the green center, it is possible to achieve the above-mentioned object of displaying the distance according to the player's actual feeling. Further, in the invention according to claim 6, in the above-mentioned claims 4 and 5, the distance is displayed by the distance to the green center instead of being displayed by the distance to the green center.

Further, in the invention according to claim 7, display means for displaying a screen, storage means for storing display screen data for displaying a display screen by the player's eyes on the display means, and a predetermined trigger. According to the present invention, there is provided a golf navigation device characterized by comprising: a control means for displaying a screen by the screen display of the line of sight on the display means.

Conventionally, the strategy has been described in sentences in hall diagrams. Therefore, it was difficult for the player to understand. The above-described problem of displaying a screen of the strategy that is easy for the player to understand can be achieved by displaying the screen of the player's eyes that gives the strategy on the display means.

In the invention according to claim 8, when there is an event associated with a point determined to match the own position data calculated by the position calculating means,
As this event, the screen of the player's eyes is displayed. Further, in the invention according to claim 9, even if the screen of the player's eyes is not associated with the event as in claim 8, for example, it is displayed even if a button is operated (for example, pressed). It can be displayed on the means.

Further, in the invention according to claim 10, there is provided a screen display method in the golf navigation device, wherein a screen of a player's eyes giving a strategy is displayed. is doing. This also makes it possible to achieve the above-mentioned problem of displaying a screen of a strategy that is easy for the player to understand.

[0030]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. <First Embodiment> FIG. 1 is a schematic view of a golf navigation system according to the present embodiment. As shown in the figure,
The golf navigation system of the present embodiment has a GPS
You are using the system.

At the golf course, the base station is in the clubhouse, and this base station has a dedicated machine. This dedicated machine is G
Also serves as a PS receiver. However, instead of such a configuration, the dedicated device and the GPS receiving unit may be separately provided and connected to each other. It is also possible to use a general-purpose information processing device such as a personal computer instead of the dedicated machine. In this case, the personal computer and the GPS receiver are separated, and these are connected and used.

In the following, the dedicated device of the base station 1 will be described as a structure which also serves as a GPS receiving section. A progress screen for managing the progress of each cart 2 and the like are displayed on the display of the dedicated machine. On the other hand, although not clear from FIG. 1, a navigation device is mounted on each cart 2.
This navigation device may have a configuration that also serves as a GPS receiver, or the navigation device and the GPS receiver may be separately provided and connected to each other.

The player rides on the cart 2 equipped with the navigation device and travels along the cart path 5 along the course. At this time, the player receives various types of guidance described later from the navigation device. The GPS receiver installed in each of the base station and the plurality of mobile stations,
Radio waves are received from the GPS satellite 4 traveling in orbit around the earth once per second. At this time, in order to improve the accuracy of this radio wave, the above-described processing such as differential correction broadcasting may be performed. Further, the accuracy may be improved by a method other than the differential correction.

FIG. 2 shows the hardware configuration of the dedicated machine in the base station. As shown in the figure, the dedicated device of the base station is G
It is composed of a PS receiver 11, a keyboard 12, a mouse 13, a display 14, and an information processing unit 10 connected to these. The information processing unit 10 takes in the radio waves received by the GPS receiver 11 via the input / output I / F 17.
The information in the radio wave is analyzed based on the program stored in the ROM 20, and the altitude information and the position information of the base station are calculated.

Instructions from the operator using the keyboard 12 and the mouse 13 are input to the information processing unit 10 via the input / output I / F 16. The image data is displayed on the display 14 via the graphic board 15.

A control program is stored in the ROM 20. The CPU 18 controls each part and performs arithmetic processing based on this control program. The RAM 19 is used as a work area when this control program is executed.
As described above, when a general-purpose information device such as a personal computer is used instead of a dedicated machine, the control program is stored in an auxiliary storage device such as a hard disk.

The transmitting / receiving section 22 receives radio waves from the mobile station and transmits radio waves to the mobile station. The radio waves received from the mobile station are processed by the information processing unit 1 via the input / output I / F 21.
It is taken into 0. On the other hand, the radio wave transmitted to the mobile station is transmitted from the information processing unit 10 to the transmission / reception unit 22 via the input / output I / F 21.
Is output to.

The radio waves transmitted to the mobile station by the transmitter / receiver 22 include a position inquiry (transmission request) to each mobile station during the polling process. In addition, the radio waves received by the transmission / reception unit 22 from the mobile station include a response to the transmission request (position information of each mobile station).

FIG. 3 shows the hardware structure of the navigation device mounted on the mobile station (cart). As shown in the figure, the navigation device includes a GPS receiver 31, buttons 32, a display 33, and an information processing section 30 connected to these. In the information processing unit 30, G
The radio wave received by the PS receiver 31 is taken in via the input / output I / F 36. The information in the radio wave is analyzed based on the program stored in the ROM 40, and the altitude information and the position information are calculated. In the information processing unit 30, besides this,
The own cart position is also determined by referring to the direction information of the own cart and the (moved) distance information obtained from the direction sensor 42 and the distance sensor 43. Although the azimuth sensor 42 and the distance sensor 43 are integrated with the navigation device in FIG. 3, they may be configured separately.

The button 32 is pressed when the player wants to switch the screen. A plurality of buttons 32 are provided. The emergency button is a button for when you feel sick during play. In addition, the capture button is used when switching to a screen of a line of sight described later in the third embodiment. The green button is used when displaying a green diagram on the screen. If you don't press the green button, it will switch to the green map when you get close to 150 yards from the green, but some single players may be aware of the green from 150 yards before. In such a case, the screen display can be switched to the green diagram by pressing the green button.

If the distance between the current position of the cart of the player who started playing from the tee ground and the green is a predetermined distance (for example, 150 yards) or more, as shown in FIG. 4 on the display of the navigation device. If the distance between the current position and the green is within the predetermined distance, the green map is displayed on the display of the navigation device.

In addition to this, the information processing section 30 is provided with a human sensor (not shown). The human sensor turns off the power of the screen when there is no person. This makes it possible to effectively utilize the limited resources of the battery. The image data is displayed on the display 33 via the graphic board 34. The image data is automatically switched with the movement of the cart, but can be switched by pushing the above-mentioned button 32.

A control program is stored in the ROM 40. The CPU 37 controls each part and performs arithmetic processing based on this control program. The RAM 39 is used as a work area when this control program is executed.
The transmitting / receiving unit 44 receives the radio wave from the base station,
Transmit radio waves to the base station. The radio wave received from the base station is taken into the information processing section 30 via the input / output I / F 38. On the other hand, the radio waves transmitted to the base station are input / output I / F 38
Is output from the information processing unit 30 to the transmission / reception unit 44 via.

The radio waves transmitted and received by the transmitter / receiver 44 to the base station include a response (return of own position information) to a position inquiry (transmission request) made from the base station to the mobile station. In addition, the radio waves received by the transmitter / receiver 44 from the base station include the above-mentioned transmission request (inquiry about position information of each mobile station), lightning warning, previous cart position, cup position information of the day and the like.

The base station performs a polling process (inquiry about the current position of each mobile station) on each mobile station. By this polling process, the current position information is sequentially returned from each mobile station to the base station. FIG. 5 is a diagram showing a procedure of polling processing in this embodiment. As shown in the figure, the procedure itself of the polling process is not different from the conventional example.

In this embodiment, all the things that can be managed on the mobile station side are managed on the mobile station side.
Therefore, the base station mainly performs progress management. In FIG. 5, when the base station 1 issues a transmission request 3-1f to the cart 2-1, the cart 2-1 returns the current position information (for example, point) as a response 3-1r to the base station 1. Subsequently, when the base station 1 issues a transmission request 3-2f to the cart 2-2, the cart 2-obtained in the previous response 3-1r is used as the information of the previous cart (in this case, the cart 2-1). The position information of 1 is passed to the cart 2-2 together. Cart that received the information that the previous cart information was added to the transmission request 2-2
Responds with current location information (eg point) 3-2r
To the base station 1. If there are nth carts, the same transmission request and the same response are performed up to the nth cart. When the transmission request of the nth cart and the response to it are completed, the first cart, which is the cart 2, is sent.
Return to processing of -1. Hereinafter, the above process is repeated.

Here, the difference between the conventional example and the present embodiment is that, in the conventional example, the position of each cart was calculated by the base station, whereas in the present embodiment, each cart is calculated. Is to calculate his own cart position by himself. FIG. 6 is a flowchart of the polling process on the base station side. In the figure, first, the base station sets No. 1 as the current cart number (S101).
Then, in S102, it is determined whether there is a front cart. There is no cart in front of the 1st cart, so N in S102
When it is determined to be o, a transmission request (inquiry of position information) is made to the first cart (S103). If the current cart number is the second or later cart, the previous cart is present. For example, the first cart is the second cart, the second cart is the second cart, and the second cart is the second cart. Therefore, in such a case, Yes is determined in S102. Then, in S104,
When requesting transmission to the cart with the current cart number, the location information of the previous cart is also transmitted.

The base station that has received the position information from the cart having the current cart number in S105 increments the current cart number in S106, and returns to S102. Then, the above processing is repeated. In S106, if the cart number is up to the nth, the nth next returns to the first cart again.

FIG. 7 shows a flowchart of the polling process of the navigation device on the mobile station side. In the figure,
The navigation device on the mobile station that has received the transmission request, which is an inquiry about the own cart position from the base station in S201, and the position information of the previous cart receives the own cart position calculated in S202 from the data storage unit 41 of FIG. Etc. is read from the memory and the self cart position is returned to the base station in S203.

FIG. 8 shows a flowchart of the processing for calculating the own cart position of the navigation device on the mobile station side. In the figure, in S301, the navigation device on the mobile station (cart) receives radio waves from GPS satellites. And
In S302, the azimuth information and the movement distance information are received from the azimuth sensor and the distance sensor, respectively. In the determination step of S303, it is determined whether the information received from GPS hygiene should be discarded based on these information and the history information of the own cart position.

More specifically, in the determination processing in S303 of FIG. 8, the navigation device in the mobile station is
The ROM 40 shown in FIG. 3 holds measured value data of latitude and longitude for points set on the course. This point is set on the cart road, green, fairway, tee ground, bunker, etc. These points are, for example, 2 for the whole course.
About 000 points will be set. Then, at each of these points, the latitude and longitude data are measured.
In addition, the number of points at which the measurement is performed can be set as necessary.

Then, when determining in S303 whether the received position information should be discarded, the navigation device in the mobile station (cart) makes this determination with reference to the above-mentioned measured data. In this decision process,
The speed of the cart is set to 10km to 13km. Then, at the upper limit of the cart speed of 13 km (which is about 3.6 m / s), the distance (= about 3 m) that the cart travels for 1 second (at this interval, the cart receives radio waves from GPS satellites). If the current cart position does not come within the radius of 0.6 m) from the previous cart position, the radio wave received from this GPS satellite is discarded. Here, the previous cart position is held in, for example, the data storage unit 41 of FIG.

Therefore, in FIG. 26 of the conventional example, the distance between the cart path 5 of the hole currently being played and the cart path 5 of the adjacent hole is caused by an error caused by dropping the data from the map information such as the course map. As described above, if the point 6b and the point 6b ′ are separated by 3.6 m or more, even if the point 6b ′ is near and is mistakenly recognized, if the point 6b is at the point 6b, the data of the point 6b ′ is GP.
Even if received from the S satellite, this data can be discarded.

On the other hand, in FIG. 26 of the conventional example, when the point 6b and the point 6b ′ are within a distance of 3.6 m, the traveling direction of the cart at the point 6b and the point 6b ′ is stored in the ROM 40 of FIG. Keep it. And
For example, the degree of similarity between the arrow formed by connecting the previous cart position and the currently received cart position and the traveling direction set at the point 6a is determined. In this similarity determination, for example, the angle formed by the arrow and the traveling direction is determined. If the degree of similarity (angle formed) is lower (larger) than a predetermined threshold value, the received data is discarded even if it is within the radius of 3.6 m. With such a configuration, it is possible to identify these points even if the points 6b and 6b 'are within a distance of 3.6 m in FIG.

In this way, the point 6a on the cart path 5 of the hole being played is changed to the cart path 5 of the adjacent hole.
No longer treated as point 6b above,
The delayed play described in the conventional example can also be prevented. Thus, in S303, it is determined whether the information from the GPS satellite should be discarded. When discarding (Yes in S303), S3
In step 04, the own cart position is calculated based on the direction information and the movement distance information. When not discarding (N in S303)
o), proceeding to S305, information received from GPS satellites,
The own cart position is calculated based on the azimuth information and the moving distance information.

In this embodiment, the base station mainly manages the progress. The blind zone is one of the progress managements. Taking the hole in FIG. 9 as an example, the situation before setting the blind zone is shown. In the figure, on the cart road, there are a plurality of points where measured values indicated by circles are measured. Point A on the cart road indicates the cart stop point on the teeing ground. That is, when the player is on the tee ground, the cart stops near this position. Also, point B is 2
The hit play NG point is shown. If the second shot is near this point, it cannot be played unless the front cart has passed the position of point E. Point C is 1
The bat play is OK. If the previous cart is after this point, the player in the back cart may strike from the teeing ground. Point D is a green stop. When the player is on the green, the cart will stop near this position. In addition, the above tee stop point,
The green stop may be configured to span multiple points.

As described above, an event (what position to do and what to do) is set at each point. In FIG. 10, two points on the cart road in FIG. 9 are set and a blind zone is set between them. A hole with a blind zone is called a blind hole.

In a blind hole (a hole where there is a place where the front cannot be seen), it is not known whether or not it is possible to hit, so the base station detects the position of the front cart and informs whether or not to hit the back cart. Tell. This information is, for example, "please wait" or "please hit". The reason why such a process is necessary is that it is dangerous that the ball hit hits the player who is playing in front of the player when there is a person too close.
If the player cannot hit the ball, a driving prohibition screen as shown in FIG. 11 is displayed. Also, if you want to hit,
A screen as shown in FIG.

In this case, the base station side performs a priority polling process. For example, when the No. 4 cart enters the blind zone, the base station has to inform the No. 4 cart of the previous cart information (that is, No. 3 cart information) as soon as possible. When No. 4 Kart) entered the blind zone, No. 4 Kart informs the base station that it has now entered the blind zone. At this time, if there is a play prohibited zone where the ball hit by the 3rd cart, which is the previous cart of the 4th cart, may fly, the current cart number is decremented from 4 to 3 The position information (point) of is requested. When the 3rd cart exits the play prohibited zone, the priority polling process for the 4th cart is stopped.

The priority order of polling the 4th cart at this time is, for example, "1 → 2 → 3 → 4 →
5 → 3 → 4 → 6 → 3 → 4 → 7 → 8 → 9 → ... ”. Thus, while the base station mainly manages the progress, the navigation device on the mobile station (cart) has the event information in the ROM 40 of FIG. By also holding the above, the following control is performed.

Prior to this explanation, FIG. 13 shows a flowchart of a process of switching the screen displayed on the display of the navigation device mounted on the mobile station (cart) based on the event information. This flowchart is common to the following examples. In the figure, S301
~ S305 is the same as FIG. Therefore, the description is omitted.

In S306, S304 or S305
In any of the above, based on the calculated own cart position (point), it is determined whether there is event information associated with this point. If there is no such event information (No in S306), the screen will not be switched. On the other hand, if there is event information associated with this point, the screen is switched according to the event information in S307. This event information includes progress management in each hall, an evacuation route to the nearest shelter cabin displayed on the screen when a lightning alert is received from the base station (this evacuation route varies depending on the current point), There is an automatic start table creation, a club forget screen, a guide screen for a route from a hole to the next hall.

Hereinafter, what kind of event information is embedded will be described with some examples.
First, the progress management in each hole will be described. this is,
The blind zone processing performed by the base station described above is realized on the mobile station side.

In the conventional golf navigation, the hole is divided into three areas, that is, the tee ground, the fairway, and the green to be managed. For this reason, even if I am on the tee ground now, unless the previous group goes to the green,
I couldn't play. And this led to delayed play.

On the other hand, in the golf navigation system of this embodiment, by using the position of the own cart and the position of the preceding cart in one hole, finer control is performed and the progress of the play is accelerated ( It prevents delayed play).

FIG. 14 is a flowchart of the progress management performed by the navigation device on each mobile station (cart) in each hall.
Shown in. In the figure, in S201, the own cart receives the position information of the previous cart together with the inquiry of the own cart position from the base station. Then, in S202, the calculated position of the own cart is read from the memory such as the data storage unit 41 in FIG. In the determination step of S204, it is determined whether or not the own cart can be hit. This determination is S20.
This is performed based on the previous cart position notified in 1 and the own cart position read from the memory in S202.
However, the judgment condition is the position (point) of the own cart.
Depends on For example, even if the positions (points) of the own cart and the front cart are close to each other, the distance between the points does not matter if the front cart is in the adjacent hole. On the other hand, when both the own cart and the previous cart are playing in the same hole, if the distance between these carts exceeds a predetermined threshold value (for example, 250 yards), it can be determined based on the playable condition. It is possible. That is, the determination condition itself of whether or not to hit indicates the event information associated with each point indicating the cart position. It is possible to prevent the delayed play by automatically performing such control by the navigation device on the mobile station (own cart).

As a result of the determination processing in S204, if it is determined that the hit should not be made (No in S204), S2
Proceed to 05 to display the drive-in prohibition screen on the display of the navigation device. If it is determined that the player should hit the ball (Yes in S204), the process advances to S206 to display a screen for allowing the hammering on the display of the navigation device. After that, in S203, the own cart position information is returned to the base station.

Next, how it is applied to a warning against lightning will be described. When the weather becomes unstable and lightning is about to occur, this information is transmitted from the base station to each mobile station as a lightning alert. The navigation device of each mobile station that has received the lightning warning information displays a lightning evacuation screen on the display.

FIG. 15 shows an example of this lightning evacuation screen. On this screen, the mobile station automatically displays the route from where you are to the nearest (the easiest to move) evacuation hut. At this time, it is possible to make more specific announcements such as "Escape to the refuge hut in the direction of No. 5 green" and "Go to the next tee ground No. 6".

In order to realize this function, the entire Hall diagram is divided into zones. Then, the mobile station determines which evacuation shed to evacuate according to which zone it is in now. At this time, depending on the current zone, the player is taught (displayed) the evacuation route to the evacuation shed using pictures and pictures on the screen. This evacuation route is not always to the nearest evacuation shed in terms of distance. For example, even if there is an instruction to go to the next hall, there are many cases where you cannot go to the next hall over a mountain or a valley. In such a case, information indicating whether to go forward and go to the next hall or to return to the back is automatically displayed on the display of the navigation device.

Next, the automatic start table creation function will be dealt with. Conventionally, the management of the start table has been performed by manually inputting it. However, when inputting by hand, it was troublesome to input the input again in the morning and in the afternoon. For this reason, I used to copy what I entered in the morning and use in the afternoon. However, in reality, the order changes between morning and afternoon, so I had to change the order again in the caddy room. For this reason, half management and half management were not always performed efficiently.

In this embodiment, the starting order of each cart is determined by the 1st hole, and this order is changed at the 10th hole. Therefore, the predetermined points of the 1st and 10th holes are set in advance as start points. This start point is stored in the ROM of the navigation device in each cart. Then, when the navigation device on the cart passes the start point, it recognizes that the own cart has passed the start point. Then, at the next transmission request from the base station, the information that the own cart has passed the start point is added to the response to the transmission request and is returned to the base station. The base station side registers the cart number of the cart in the start table based on the information that the start point in the response has been passed.

However, if the 1st and 10th holes are blind holes, there is no choice but to manually enter the start table. Also, if fog occurs, all holes become blind holes. Also in this case, the start table is created by manual input. Next, we will deal with forgetting clubs. In the past, it was common for players to play on the green and forget about the club.

Therefore, when the cart is stopped at the green stop point D in FIG.
The screen for forgetting the club is displayed to eliminate the forgetting of the club. Next, we will deal with guidance. The player finishes playing in one hole,
When moving to the next hall, the route to the next hall is not always clear. In such a case, as shown in FIG. 17, a guidance screen is displayed at a branch point (a place where the cart road is bifurcated) or the like. Second Embodiment This embodiment deals with the problem of distance display.

In the conventional navigation device, when the distance from the ball to the pin is displayed, the distance from the cart to the pin is calculated and the distance is displayed according to the calculated distance. However, in this display, the distance from the ball to the pin does not match the distance from the cart to the pin, and in some cases does not match the actual feeling of the player.

In the present embodiment, when displaying the distance from the ball to the pin, it is an object to display the distance more suited to the player's feeling by switching between three display methods. FIG. 18A shows the first distance display method. As shown in (a) of the same figure, when the cart is off the cart path and is riding on the fairway, the cart normally stops near the ball, so that the distance between the cart and the ball becomes short. Therefore, when the cart gets in, the distance is displayed by the straight line distance from the cart to the pin as in the conventional case.

FIG. 18B shows a second distance display method. As shown in FIG. 3B, a perpendicular is drawn from the cart onto the IP line, and the intersection B between this perpendicular and the IP line is obtained. Then, the straight line distance between the intersection B and the green center is calculated, and when the straight line distance is equal to or greater than a predetermined threshold value (for example, 200 yards), the straight line along the IP line from the cross point on the IP line to the green center is calculated. The distance from the ball to the pin is displayed as the distance.

FIG. 18C shows a third distance display method. As shown in FIG. 6C, a perpendicular is drawn from the cart onto the IP line, and an intersection C between the perpendicular and the IP line is obtained. Then, the straight line distance between the intersection C and the green center is calculated, and when the straight line distance is within the predetermined threshold value, the straight line distance is set as the distance from the ball to the pin.

In the case of FIGS. 18 (b) and 18 (c), the positions of the cart and the ball do not necessarily match, but if the cart is stopped near the point where the ball falls, the
The intersection point of the perpendicular line drawn on the line and the IP line and the intersection point of the perpendicular line drawn on the IP line from the ball and the IP line are substantially coincident with each other. Therefore, the accuracy of the distance display is improved.

FIG. 19 shows a flowchart of the process of calculating the distance between the own cart and the green center performed by the navigation device on the cart. In the figure, in S401, the position of the own cart is calculated. The processing in S401 is the same as the processing in S301 to S305 in FIGS. 8 and 13.

Based on the own cart position (point) calculated in this way, it is determined in S402 whether the own cart is in the vehicle. If you are on board (S402
Yes), in S403, the straight line distance between the own cart and the green center is obtained, and this distance is displayed on the display of the navigation device on the cart. On the other hand, when the vehicle has not entered (No in S402), the process proceeds to S404, and the linear distance between the own cart and the green center is calculated in S404. At this time, the latitude of the Green Center,
The distance between the green center and your cart is calculated from the longitude and the current latitude and longitude of your cart. If the straight line distance thus obtained is equal to or greater than the predetermined threshold value (No in S404), in S405, a perpendicular is drawn from the own cart position onto the IP line and the IP line from the intersection to the green center. The distance along is calculated and this distance is displayed on the display of the navigation device on the cart. On the other hand, if the linear distance obtained in S404 is within a predetermined threshold value (Yes in S404)
In s) and S406, a perpendicular is drawn from the own cart position onto the IP line, the straight line distance between the intersection and the green center is obtained, and this distance is displayed on the display of the navigation device on the cart. After that, control is S
Returning to step 401, the above processing is repeated.

However, as described above, even if the distance display method according to the player's feeling is displayed by switching the distance display method in three ways, the green center is made to represent the green cup position as described above. However, this is not an accurate distance display.

As is well known, the green cup position is regularly (eg, 1
It will be changed every day). This kind of care must be given to the green so that it does not hurt.
Therefore, in the present embodiment, the function of setting the green cup position is also used together with this distance display. By doing so, the accuracy of the distance display can be further increased.

Conventionally, when setting the cup position of the green, as shown in FIG. 20, the green is divided into blocks and the block having the pin is specified by clicking with the mouse. However, in this method, when one block is, for example, a square of 10 yards, there is only accuracy according to the size of the block.

As described above, even if only the accuracy of the distance display is pursued, it is meaningless if the accuracy of the green cup position is insufficient. Therefore, as shown in FIG. 21, the green of each hole is displayed on the screen of the base station and the cup position can be moved to any position by clicking it with the mouse.

At this time, information on how many yards corresponds to one dot on the pin position setting screen displayed on the display 14 of the base station shown in FIG. 2 is known by design. Therefore, based on the information that the number of yards from the edge is today's cup position from the green keeper and how many yards from the left, the base station specifies the cup position based on the information about how many yards per dot. For example, the mouse 13 or the like can be used on the pin position setting screen of the display 14 of FIG.

On the other hand, in the navigation device mounted on the mobile station (cart), when the power is turned on, the base station is queried for the current cup position. In response to this inquiry, the cup (position) information is transferred from the base station to the navigation device mounted on the mobile station (cart). The cup position transferred at this time is highly accurate in dot units as described above. The cup (position) information notified from the base station to the navigation device in the mobile station is held in, for example, the data storage unit 41 in FIG. 3, and is read out from the data storage unit 41 and referred to when necessary. .

When the above-described distance display and the designation of the cup position are used in combination, the following is performed. First, if the cart is on board, find the distance from the cart position to the green center. Then, the cosine theorem is applied to the triangle with the green center, the cup position, and the cart position as vertices to find the distance between the cup position and the cart.

When the cart is not in the car, a perpendicular is drawn from the cart onto the IP line and the intersection of the IP line and the perpendicular is obtained. Then, the straight line distance from this intersection to the green center is calculated. If this straight line distance is equal to or greater than a predetermined threshold value, the distance is displayed with the distance along the IP line from this intersection to the green center. That is, the cup position is not considered in this case. On the other hand, if the straight line distance is within a predetermined threshold value, the cosine theorem is applied to a triangle having three points of this intersection, the green center, and the cup position as vertices, and this intersection,
Find the distance between cup positions. It should be noted that, instead of using the cosine theorem, the distance can be obtained directly from the cup position of the day and the own cart position based on the cup (position) information (of the day) stored in the data storage unit 41 of FIG. May be. <Third Embodiment> This embodiment deals with an image display method in a golf navigation system.

In this image display method, a screen of the player's eyes, that is, a photographic screen (or a picture screen) of the same view as the scenery actually seen by the player at the play position is used in the form of a strategy. On this display screen, "1 pena", "aim", or "OB line" is displayed as a guide display with an arrow in the photograph. For example, if you have a dog leg and there is a pond in front of it, "Ikenaku" etc. is written in the photo.

This display screen guides the player by displaying on the display of the navigation device a screen showing the line of sight of the player as to what the invisible position of the second shot is. . It is conceivable that there will be at least three photographic screens per line per hole. The first image is a screen looking from the back tee at the time of the tee shot, the second is a screen looking from the regular tee at the tee shot, and the third is a screen looking from the second tee.

However, in the case of a long course, etc., 4 sheets,
It is also possible to have a screen with this line of sight. The fourth sheet is, for example, a screen with a line of sight around the green that is not visible in the second shot. In the above explanation, the line of sight is 3
The number of screens in the line of sight is not limited to this.

22 to 24 show examples of the photograph screen from the player's eyes as described above. In each of the drawings, an arrow as an index indicates a place to be an aim and a place to be an OB by hitting it. Some of them are difficult to distinguish at first glance with the naked eye. For example, in FIG. 22, “safe up to the slope” is set for the position that seems to be OB at first glance.
In addition, in FIG. 23, the player is informed of the “right safe” strategy for a portion that is likely to be OB at first glance. In addition, in FIG. 24, the player is notified of a place that is difficult to understand at first glance, such as “There is a bunker on the far right of the green 1”.

It can be said that such a display method serves as a guideline for the player when playing and supports the player instead of the caddy. When displaying the picture of this line of sight on the screen, for example, it can be displayed at the timing instructed by the player side such as pressing the capture button, or automatically according to the progress of the cart as described in the first embodiment. It is also possible to switch the picture (picture). In this case, as the event information associated with the points provided on the cart road, the event information of displaying the screen of the player's eyes indicating the strategy when passing the points is set. Then, the navigation device on the mobile station controls S307 of FIG. 14 based on this event information, and the screen of the display of the navigation device is automatically switched.

Although the above description has been made with a photograph, it may be a picture instead of a photograph. In addition to the above configuration, for example, as the cart advances, a photograph (picture) screen of the player's eyes corresponding to each point is provided in the data storage unit 41 of FIG. When passing a certain point, it may be configured to automatically switch to the screen of the line of sight of the player corresponding to the passing point. In this case, a large number of display screens are stored as long as the storage capacity of the data storage unit 41 allows, and the display screen corresponding to the position obtained by the navigation device is selected and displayed from among these.

[0096]

As described above, according to the present invention, the accuracy of the data returned from the mobile station side to the base station side at the time of polling can be improved by distributing the processing to the base station and the mobile station.

Further, in the present invention, the position information of each point on the golf course is accurately obtained, so that the position of the navigation device on the cart can be accurately calculated. Further, in the present invention, since the distance display method is changed according to the distance to the pin, it is possible to display the distance according to the player's actual feeling.

Further, in the present invention, since the screen of the strategy is displayed from the player's eyes, the strategy can be more easily understood.

[Brief description of drawings]

FIG. 1 is an external view of a golf navigation system according to an embodiment of the present invention.

FIG. 2 is a diagram showing a hardware configuration of a base station according to the embodiment of the present invention.

FIG. 3 is a diagram showing a hardware configuration of a navigation device on a mobile station (cart) according to the embodiment of the present invention.

FIG. 4 is a screen example (hole diagram) displayed on the display on the mobile station side according to the embodiment of the present invention.

FIG. 5 is a diagram showing a procedure of polling processing according to the embodiment of the present invention.

FIG. 6 is a flowchart of polling processing on the base station side according to the embodiment of the present invention.

FIG. 7 is a flowchart of a polling process of the navigation device on the mobile station (cart) according to the embodiment of the present invention.

FIG. 8 is a flowchart of a process of calculating the own cart position in the navigation device on the mobile station (cart) according to the embodiment of the present invention.

FIG. 9 is an example of course progress management according to the embodiment of the present invention.

FIG. 10 is an example in which a blind zone is set in the course of the embodiment of the present invention.

FIG. 11 is an example of a drive-in prohibition screen according to the embodiment of the present invention.

FIG. 12 is an example of a driving prohibition cancellation screen according to the embodiment of the present invention.

FIG. 13 is a flowchart of position calculation / screen switching processing of the own cart performed by the navigation device on the mobile station according to the embodiment of the present invention.

FIG. 14 is a flowchart of progress management of each hole performed by the navigation device on the mobile station according to the embodiment of the present invention.

FIG. 15 is an example of a lightning evacuation screen according to the embodiment of the present invention.

FIG. 16 is an example of a club forget screen according to the embodiment of the present invention.

FIG. 17 is an example of a guide screen for a traveling direction of a cart road according to the embodiment of the present invention.

FIG. 18 is a diagram showing a method of calculating a distance according to the embodiment of the present invention.

FIG. 19 is a flowchart showing a process of calculating the distance between the own cart and the green center according to the embodiment of the present invention.

FIG. 20 is a diagram showing a procedure for designating a cup position in a conventional example.

FIG. 21 is a diagram showing a procedure for designating a cup position in the embodiment of the present invention.

FIG. 22 is an example (No. 1) of a screen of a line of sight showing a strategy of the embodiment of the present invention.

FIG. 23 is an example (No. 2) of a screen of a line of sight showing a strategy of the embodiment of the present invention.

FIG. 24 is an example (No. 3) of a line-of-sight screen showing a strategy of the embodiment of the present invention.

FIG. 25 is a diagram showing a polling procedure of a conventional example.

FIG. 26 is a diagram showing a problem (erroneous recognition of cart position) in the conventional example.

[Explanation of symbols]

1 base station 2 Mobile stations (golf cart) 3-1f, 3-2f ,. ． ． , 3-nf transmission request 3-1r, 3-2r ,. ． ． , 3-nr response 4 GPS satellites 5 cart road 6 points 7 IP line 10 Information processing section 11 GPS receiver 12 keyboard 13 mice 14 display 15 graphic board 16 Input / output I / F 17 Input / output I / F 18 CPU 19 RAM 20 ROM 21 Input / output I / F 22 Transmitter / receiver 30 Information Processing Department 31 GPS receiver 32 buttons 33 display 34 graphic board 35 Input / output I / F 36 I / F 37 CPU 38 Input / output I / F 39 RAM 40 ROM 41 data storage 42 Direction sensor 43 Distance sensor 44 Transmitter / receiver

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Claims (10)

[Claims] 1. A GP for receiving data from GPS satellites.
S receiving means, at least one of data indicating a moving direction, data indicating a moving distance, and data received by the GPS receiving means
A golf navigation device comprising: a position calculating means for calculating the own position data based on the above; and a own position transmitting means for transmitting the own position data calculated by the position calculating means. 2. The storage device further comprises storage means for storing map data associated with a plurality of points provided in the golf course, wherein the position calculation means is configured such that the storage means stores the self-position data. The golf navigation device according to claim 1, wherein the map data is further used for calculation. 3. The map data in the storage means further corresponds to display means for displaying a screen giving navigation information, which has an event associated with the point, and own position data calculated by the position calculating means. The golf navigation device according to claim 2, further comprising a display switching unit that switches a display screen of the display unit based on the event when there is an event associated with the determined point. . 4. A position calculating means for calculating own position data based on at least one of information indicating a moving direction, information indicating a distance moved, and position information by GPS, and a own position calculated by the position calculating means. First distance calculating means for calculating the distance along the IP line from the intersection of the perpendicular line drawn from the own position indicated by the data onto the IP line and the IP line, and the position calculating means. Second distance calculating means for calculating a straight line distance from the intersection of the perpendicular line drawn on the IP line from the own position indicated by the own position data and the IP line to the green center, and from the own position indicated by the own position data When the straight line distance to the green center is a predetermined value or more, the distance is displayed according to the distance calculated by the first distance calculation means, and the distance from the own position is displayed. A golf navigation device comprising: a distance display means for displaying a distance according to the distance calculated by the second distance calculation means when the straight line distance to the green center is within a predetermined value. 5. The third distance calculation means for calculating a straight line distance from the own position to the green center indicated by the own position data calculated by the position calculation means, further comprising: In the case of the entry position other than the cart road, the distance is displayed according to the distance calculated by the third distance calculation means, and the own position is not the entry position and the straight line distance from the own position to the green center. Is greater than or equal to a predetermined value, the distance is displayed according to the distance calculated by the first distance calculation means, and the own position is not the entry position and the linear distance from the own position to the green center is within a predetermined value. The golf navigation device according to claim 4, wherein the distance is displayed based on the distance calculated by the second distance calculating means. 6. The golf navigation device according to claim 4, wherein the distance display means displays a distance to a cup position instead of the green center. 7. A display means for displaying a screen, a storage means for storing display screen data for displaying a display screen of a player's line of sight on the display means, and a screen for displaying the line of sight by a predetermined trigger. A golf navigation device comprising: a control unit for displaying on a display unit. 8. A storage means for storing map data associated with a plurality of points provided in the golf course, at least one of information indicating a moving direction, information indicating a distance moved, and position information by GPS. Position calculation means for calculating own position data based on the above, and the predetermined trigger is a case where the position indicated by the own position data calculated by the position calculation means coincides with the point. The golf navigation device according to claim 7. 9. The golf navigation device according to claim 7, further comprising a button operated by a user, wherein the predetermined trigger is operation of the button by the user. 10. A screen display method for a golf navigation device, wherein an image display screen for a player's eyes is displayed.