KR20240006742A - Hybrid golf system and method for locating golf ball or marker at ball point on field under the hybrid golf system - Google Patents

Abstract

The present invention is intended to solve the problems of the prior art as described above, and when playing on a virtual golf course using a screen golf system in a hybrid golf system and then playing on a real field, the ball position on the virtual golf course A hybrid golf system that can detect and control accordingly through a camera sensing system so that the locator can position the golf ball or marker at the ball point on the field corresponding to the ball point on the field. It is intended to provide a method for positioning a golf ball or marker.

Description

Hybrid golf system and method of placing a golf ball or marker at a ball point on the field in the system {HYBRID GOLF SYSTEM AND METHOD FOR LOCATING GOLF BALL OR MARKER AT BALL POINT ON FIELD UNDER THE HYBRID GOLF SYSTEM}

The present invention relates to a hybrid golf system that allows an approach shot or putt to be played as a real golf play on a real field when a virtual ball lands on or around the green during virtual golf play using a virtual golf simulation device, and a hybrid golf system that allows the player to play actual golf on a real field. It relates to a method of positioning a golf ball or marker at the ball point.

Recently, as the golf population has increased, so-called screen golf systems have emerged that allow users to practice golf and enjoy virtual golf rounds using a virtual golf simulation system.

This screen golf system installs a screen that can display a virtual golf course indoors, and when a golfer hits a golf ball toward the screen, it detects the speed and direction of the golf ball and displays the golf ball's progress on the screen. As a system that displays, it is continuously evolving technologically to provide users with the realism of playing a round of golf on a real golf course beyond the level of simply playing a golf game indoors.

A typical screen golf system implements a virtual golf course and a simulation image of the ball trajectory on the virtual golf course only through a screen installed in front of where the user hits the ball, so it is different from the user playing a round of golf on an actual golf course. There are limits to providing the same sense of reality.

To overcome these limitations, a so-called hybrid golf system has emerged that goes beyond the typical screen golf system and provides the same reality as playing a round of golf on an actual golf course, while also being able to be implemented in a much smaller space than an actual golf course.

The hybrid golf system combines a screen golf system with an actual field where actual golf can be played. Part of the golf play in one hole is played on a virtual golf course implemented in the screen golf system, and the rest of the play is played on the actual golf course. It is a system that allows you to progress by actually playing golf in the field.

For example, in the case of a par 4 hole, the tee shot and second shot are performed through a virtual golf simulation on a virtual golf course through a screen golf system, and the third shot and putting are the same as the user moving to the actual field and playing on the actual golf course. This was done so that it could proceed smoothly.

Prior art documents related to the hybrid golf system include Patent Publication No. 10-2013-0030536, Publication No. 10-2012-0036155, Publication No. 10-2012-0036156, and Publication No. 10-2012. Number -0009933 etc. are disclosed.

The most important thing in such a hybrid golf system is that when playing golf in a screen golf system, the user's virtual ball lands on the virtual golf course, that is, on the actual field corresponding to the ball position on the virtual golf course. By accurately specifying the ball position, the user can make a golf shot from the corresponding ball position on the field.

Conventionally, a laser pointer was mainly used to designate the ball position on the actual field corresponding to the ball position on the virtual golf course.

In other words, when a laser pointer installed around the actual field irradiates a laser to mark the ball position on the actual field corresponding to the user's ball position on the virtual golf course, the user places his or her golf ball at the position indicated by the laser pointer. The method was to place it on and take a shot.

However, the method of indicating the ball position using a laser pointer as described above has several problems.

In other words, in order for the laser irradiated by the laser pointer to display the exact ball position, the size of the actual field has to be reduced, so there is a problem that the realism of field play in the actual field is significantly reduced.

In addition, when the actual field is formed wide, there is a problem that a large number of laser pointers must be installed around the field for effective ball positioning, and there is a problem that such installed laser pointers may become a hindrance during field play.

In addition, there is a problem of increased cost, such as the need to provide a separate control module to control the laser pointer, and there is a problem that breakdown, repair, and maintenance are required.

[Prior art literature]

Public Patent Publication No. 10-2013-0030536

Public Patent Publication No. 10-2012-0036155

Public Patent Publication No. 10-2012-0036156

Public Patent Publication No. 10-2012-0009933

The present invention is intended to solve the problems of the prior art as described above, and when playing on a virtual golf course using a screen golf system in a hybrid golf system and then playing on a real field, the ball position on the virtual golf course A hybrid golf system that can detect and control accordingly through a camera sensing system so that the locator can position the golf ball or marker at the ball point on the field corresponding to the ball point on the field. It is intended to provide a method for positioning a golf ball or marker.

A hybrid golf system according to an embodiment of the present invention includes a screen golf module provided on one side of a field where a user can play actual golf, so that a user can play golf on a virtual golf course; A simulator provided in the screen golf module to implement a virtual golf simulation image according to the virtual golf course and the user's golf play; A camera sensing system including a plurality of cameras configured to sense the field; a locator that positions a golf ball or marker at the user's ball point while moving on the field; And calculating the position on the field corresponding to the ball position on the virtual golf course of the user played through the simulator as the ball point, and detecting the position of the locator by the camera sensing system and detecting the position of the locator by the camera sensing system. It includes a control unit that transmits movement route information to the locator to move to the viewing point.

Also preferably, the locator is implemented in the form of any one of a vehicle that travels on the field and an airplane that flies on the field, and receives the movement route information in real time from the control unit through wireless communication. It is configured to move along the movement path, holds a golf ball or marker, and is configured to put down the golf ball or marker when it reaches the ball point transmitted by the control unit.

Also preferably, the camera sensing system is characterized in that the field is divided into a preset size and each of the plurality of cameras is set to detect each divided area.

Also preferably, the camera sensing system detects an object corresponding to the locator from the plurality of cameras and images acquired by each of the plurality of cameras, calculates the position coordinate information of the locator on the field, and calculates the position coordinate information of the locator in the field. It is characterized by including a sensing processing unit that transmits the signal to the control unit.

Also preferably, the camera sensing system analyzes the images each acquired by the plurality of cameras to calculate the position coordinate information of the locator detected on the field and transmits it to the control unit, and the control unit determines the transmitted locator It is characterized in that it is configured to calculate movement path information from the position coordinates of the ball point to the position coordinates of the ball point and transmit it to the locator.

Also preferably, the locator is provided at one side of the field and configured to dock the locator, and further includes a locator station configured to charge the docked locator and supply a golf ball or marker to the locator, wherein the locator is located in the field. It is characterized in that it is configured to return to the locator station after placing the golf ball or marker at the ball point on the top.

Also preferably, when the locator is docked at the locator station, the control unit calculates movement route information from the location of the locator station to the location of the point to be viewed and transmits it to the locator, and the locator station When the locator is not docked, movement path information from the position of the locator detected by the camera sensing system to the position of the point to be viewed is calculated and transmitted to the locator.

Meanwhile, a method of positioning a golf ball or marker at a ball point on a field in a hybrid golf system according to an embodiment of the present invention includes a field provided so that a user can actually play golf, and a field provided on one side of the field. A method of positioning a golf ball or marker at a ball point on a field in a hybrid golf system using a screen golf module provided to enable golf play on a virtual golf course, wherein the virtual golf course of the user played on the screen golf module calculating a position on the field corresponding to the ball position on the field as the ball point; A locator moving on the field and carrying a golf ball or marker is detected by a camera sensing system including a plurality of cameras provided to sense the field, and location information of the locator is calculated, and from the position of the locator, the locator is detected. Calculating movement route information to a point to be viewed; And transmitting the calculated movement path information to the locator so that the locator moves along the movement path and positions the golf ball or marker at the ball point.

Also preferably, calculating position coordinate information of the locator detected on the field through analysis of images acquired by each camera of the camera sensing system, and position coordinates of the locator are calculated along the calculated movement path. The step of determining whether the position coordinates of the locator have deviated from the movement path, and calculating a new movement path from the position coordinates of the locator to the point to be viewed and transmitting it to the locator. Do it as

The hybrid golf system according to the present invention and the method of positioning the golf ball or marker at the ball point on the field in the system are performed when playing on the actual field following play on a virtual golf course using a screen golf system in the hybrid golf system. Stable hybrid golf play is possible by detecting and controlling it through a camera sensing system so that the locator can position the golf ball or marker at the ball point on the field corresponding to the ball position on the virtual golf course. It has the effect of improving user convenience.

1 is a diagram showing the configuration of a hybrid golf system according to an embodiment of the present invention.
FIG. 2 is a block diagram showing the control system of the hybrid golf system shown in FIG. 1.
FIG. 3 is a diagram showing a user playing virtual golf while viewing an image projected on the screen inside the screen golf module shown in FIG. 1.
FIG. 4 is a diagram illustrating an example of how a camera sensing system of a hybrid golf system detects a field according to an embodiment of the present invention.
Figure 5 is a flow chart showing a method of positioning a golf ball or marker at a ball point on the field in a hybrid golf system according to an embodiment of the present invention.
Figures 6 and 7 are diagrams to explain how a locator moves to a specific ball point, sets down a golf ball or marker, and returns to the locator station according to an embodiment of the present invention.

Specific details regarding the hybrid golf system according to the present invention and the method of positioning a golf ball or marker at a ball point on the field in the system will be described in detail with reference to the drawings.

First, the configuration of a hybrid golf system according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2.

FIG. 1 is a diagram showing the configuration of a hybrid golf system according to an embodiment of the present invention, and FIG. 2 is a block diagram showing the control system of the hybrid golf system shown in FIG. 1.

As shown in FIG. 1, the hybrid golf system according to an embodiment of the present invention has a field 200 provided so that the user can play actual golf, and a field 200 on one side of the field 200 where the user can play virtual golf. A screen golf module 100 including a virtual golf simulation device that allows golf play on a course may be provided.

In addition, the hybrid golf system according to an embodiment of the present invention includes a camera sensing system 300 including a plurality of cameras 310 to 400 provided to sense the field 200, and a camera sensing system 300 that moves on the field 200. It may include a locator 500 that positions the golf ball or marker at the user's ball point.

The screen golf module 100 is configured for a typical screen golf system, that is, it projects a virtual golf course image on the screen in front, and when the user hits the ball toward the screen from the batting box 120, the sensing device 160 It includes a configuration for a virtual golf simulation device that allows a user to play virtual golf by sensing this and implementing a simulation image (iVG) in which a virtual ball moves on a virtual golf course image based on the sensing result.

The screen golf module 100 may be provided in the form of a box or booth with an entrance 110 on one side, and may be closed on all sides or open on some sides.

The screen golf module 100 may be configured to have a screen 130 on the side facing the field 200.

The screen 130 includes an image about a virtual golf course output by an image output device 140 (e.g., a beam projector, etc.) provided inside the screen golf module 100 and a simulation image made on the virtual golf course ( It is a component that projects iVG and provides it to the user.

Meanwhile, the field 200 may be configured to form part of the terrain of an entire hole of an actual golf course, and may be formed to include the green 210 and the hole cup 212 as shown in FIG. 1, and the green (210) It may be provided so that the user can actually make approach shots and putting, including the surrounding area 220, such as the surrounding fairway, rough, and bunker.

The hybrid golf system according to an embodiment of the present invention allows the user to play some golf through a virtual golf course in the screen golf module 100 and play the remaining golf play in the field 200.

For example, when golf is played in a par 4 hole, the screen golf module 100 displays a virtual golf shot on the virtual golf course of the par 4 hole (the user makes a golf shot toward the screen at the plate and the sensing device detects the hit ball). (golf play performed by sensing and simulation) is performed, and golf play in the remaining part of the par 4 hole can be performed on the field 200 by the user moving directly to the field 200.

For example, the tee shot and second shot of a par 4 hole are played as virtual golf plays through a virtual golf course in the screen golf module 100, and the third shot (approach shot) and putting are performed by the user through the screen golf module 100. You can move to the field 200 and actually play golf on the field 200.

As shown in FIGS. 1 and 2, the simulator 150 provided inside the screen golf module 100 includes a control unit 152, an image processing unit 156, and a storage unit 154 for storing data, The control unit 152 is configured to receive sensing data from the sensing device 160, and the control unit 152 can control the locator 500 moving on the field through the wireless communication unit 158.

The control unit 152 as described above calculates the position on the field corresponding to the ball position on the virtual golf course of the user playing through the simulator 150 as a 'ball point', and calculates the position on the field corresponding to the ball position on the virtual golf course by the camera sensing system 300. It may be configured to detect the location of the locator 500 and transmit movement path information to the locator 500 so that the locator 500 moves to the 'view point' of each user.

FIG. 3 shows a user P playing virtual golf while viewing an image iVG projected on the screen 130 inside the screen golf module 100 shown in FIG. 1 .

The sensing device 160 may be implemented as a camera-based device that senses the movement of at least one of the golf club and the ball according to the user's golf swing. A golf ball placed on the golf mat 122 is struck by a golf shot, an image of the hit golf ball 1 is captured and collected, and analysis such as image processing is performed on the collected image to produce a golf ball. Sensing information, such as motion parameters for the movement of (1), is calculated and transmitted to the control unit 152.

An operating device (not shown) may be provided as a means for a user to operate to set up a virtual golf simulation environment or to adjust aiming, etc. during a virtual golf round.

The storage unit 154 stores all data necessary for image implementation of a virtual golf simulation, and stores data about a virtual golf course realized by imaging an actual golf course and data about topographical information of the virtual golf course, so that the user can It can provide data that can create a virtual environment that allows you to play a virtual golf round on a selected virtual golf course.

The storage unit 154 may be configured to store various data related to the virtual golf course, or may be configured to receive various data related to the virtual golf course from a server (not shown) through a network and temporarily store them. It may be possible.

The image processing unit 156 performs information processing to create an image about the virtual golf course on the screen using data about the virtual golf course stored in the storage unit 154, and the trajectory of the golf ball hit by the user is Information processing is performed to implement images simulated in the virtual golf course.

The image information processed in the image processing unit 156 is projected on the screen 130 through the image output device 140, which can be implemented as a projector, etc., so that the user (P) displays the image projected on the screen 130 ( iVG) can be viewed.

The image processing unit 156 may be implemented as a modular component that performs an image processing function in an independent device, or may itself be implemented as an independent device.

The control unit 152 is a component responsible for controlling all processing for virtual golf simulation. The control unit 152 is a component responsible for controlling all processing for virtual golf simulation. Various calculations and controls are performed to simulate the movement of a virtual ball on a golf course. Based on these various calculations and controls, an image (iVG) in which a virtual ball is simulated according to the sensing results of the sensing device and the physical engine in the virtual golf course can be implemented.

The control unit 152 determines whether the user meets the requirements for field play in the field during the virtual golf play using the virtual golf course, and if the field play requirements are met, the user moves to the field 200 and plays the field. You can provide video/audio guidance through screen video (iVG).

When multiple users play a round of golf together, all users' balls (virtual balls in the video) are within a preset range on the virtual golf course, for example, within a preset radius range based on the hole cup (hole cup on the green of the virtual golf course). When located, the above-mentioned field play may be initiated.

When field play starts as described above, the control unit 401 of the simulator 400 can prepare each camera of the camera sensing system 300 for sensing, and when field play starts, the The 'ball point' on the field corresponding to each user's ball position can be calculated.

That is, the control unit 152 can use the field 200 as a coordinate space to calculate the coordinate information of the ball point corresponding to the ball position of each user in the coordinate space.

Here, 'ball position' refers to the position of each user's ball (ball in the video) on the virtual golf course, and 'ball point' refers to the position coordinates in the field 200 coordinate space corresponding to each ball position above. Let me explain by doing this.

Meanwhile, as shown in FIGS. 1 and 2, the camera sensing system 300 of the hybrid golf system according to an embodiment of the present invention includes a plurality of cameras 310 ~ 400) and a sensing processing unit 302.

The plurality of cameras 310 to 400 are connected to the sensing processing unit 302 as shown in FIG. 2, and the sensing processing unit 302 detects the field 200 from the images each acquired by the plurality of cameras 310 to 400. ) It is possible to detect a specific object on the field, and in particular, an object corresponding to the locator 500 that moves or is stationary on the field 200 is detected to calculate the location coordinate information of the locator 500 on the field 200. This can be transmitted to the control unit 152.

That is, the camera sensing system 300 monitors the field 200 using images acquired by each of the multiple cameras 310 to 400, senses the movement of the locator 500, and moves the locator 500 to the correct position. You can do it.

The camera sensing system 300 may be set to divide the field 200 into a preset size and have each camera installed around the field 200 detect each divided area.

For example, as shown in FIG. 4, the field 200 is divided into a first partition (R1), a second partition (R2), a third partition (R3), a fourth partition (R4), and a fifth partition. It is divided into a region R5, a sixth division R6, a seventh division R7, and an eighth division R8, and the first division R1 contains the first camera 310, the second division region R1, and the first camera 310. The division area R2 is the second camera 320, the third division R3 is the third camera 330, the fourth division R4 is the fourth camera 340, and the fifth division region is the division area R2. (R5) is the fifth camera 350, the sixth division (R6) is the sixth camera 360, the seventh division (R7) is the seventh camera 370, and the eighth division (R6) is the fifth camera 350, R8) can enable the eighth camera 380 to detect each.

The sensing processing unit 302 of the camera sensing system 300 converts each camera coordinate system of the image acquired by each camera as described above into a coordinate system for the entire field 200 as shown in FIG. 4, and converts the entire field ( Coordinate information about the location of the ball point or the location of the locator in the coordinate space for 200) can be calculated and transmitted to the control unit.

In other words, each camera of the camera sensing system 300 detects each division area in charge of the corresponding camera's coordinate system, and the sensing processing unit 302 converts the entire field 200 into one coordinate system from the image transmitted by each camera. (x-y coordinate system as shown in FIG. 4), coordinate information of a specific location according to the overall coordinate system of the field can be calculated.

For example, when a locator is detected in the image acquired by the first camera 310 in the R1 area, the sensing processing unit converts the image acquired by the first camera 310 into an x-y coordinate system, which is the coordinate system of the entire field, and determines the position coordinates of the locator. Information can be calculated.

Meanwhile, as shown in FIGS. 1 and 2, the hybrid golf system according to an embodiment of the present invention may be provided with a locator 500 that can transport and position a golf ball or marker to a specific location on the field. .

The locator 500 may be implemented in the form of a vehicle that travels on the field 200 (e.g., a mini vehicle, etc.) or a vehicle that flies on the field (e.g., a drone, etc.).

The locator 500 may be provided with a driving unit 520 that allows movement (including flight) and a steering unit 540 that can adjust the direction of movement of the locator 500, and a golf ball or marker to be transported. It may be configured to receive and may include a ball/marker handler 550 capable of handling the golf ball or marker so as to place the received golf ball or marker at a specific location (i.e., the user's ball point). .

Since the configuration of the locator itself has already been disclosed as conventional technology, detailed description thereof will be omitted.

The locator 500 includes a communication module 530 capable of wirelessly transmitting and receiving data with the wireless communication unit 158 of the simulator 150, and transmits movement route information from the control unit 152 of the simulator 150 through wireless communication. The locator control unit 510 controls the drive unit 520 and the steering unit 540 according to the movement path information transmitted through the communication module 530 to move the locator 500 to a location determined by the movement path. Allow it to move.

In other words, the locator 500 is configured to receive movement route information in real time through wireless communication from the control unit 152 and move along the route, and holds a golf ball or marker and reaches the ball point along the route. In this case, it is configured to put down the golf ball or marker held, and this can be controlled by the locator control unit 510.

In addition, as shown in FIGS. 1 and 2, a locator station 170 may be provided on one side of the field 200 so that the locator 500 can be docked to the locator station 170.

The locator station 170 may be provided with a ball/marker supply unit 174, a charging unit 172, and a charging terminal 176, as shown in FIG. 2, and the locator 500 is attached to the locator station 170. When docked, the connection portion 560 of the locator 500 is connected to the charging terminal 176 of the locator station 170 so that the locator 500 can be charged, and the ball/marker supply portion 174 of the locator station 170 ) can be supplied to the locator 500.

The locator 500 moves on the field 200 and places a golf ball or marker at the required location, then returns to the locator station 170 and remains docked until moving to the next location, as shown in FIG. 1. We can wait together.

Meanwhile, a method of positioning a golf ball or marker at a ball point on the field in a hybrid golf system according to an embodiment of the present invention will be described with reference to FIGS. 5 to 7.

Figure 5 is a flow chart showing a method of positioning a golf ball or marker at a ball point on the field in a hybrid golf system according to an embodiment of the present invention, and Figures 6 and 7 show a locator according to an embodiment of the present invention. These are drawings to explain moving to a specific ball point, putting down the golf ball or marker, and returning to the locator station.

As shown in FIG. 5, one or more users first play golf on a virtual golf course using the screen golf module (S110).

In the process of playing virtual golf in the screen golf module, if the field play start requirements are met, field play starts (S120). When field play starts, users can move to the field from the screen golf module and proceed with play on the field. You can.

For example, if 4 users are playing virtual golf on the 1st hole of a virtual golf course, and all 4 users put the ball on the green of the 1st hole, or the ball lands within a certain range around the green, field play initiation requirements If this is met, field play can begin.

When field play begins, the control unit operates the camera sensing system, and the camera sensing system causes each of the multiple cameras to acquire images including each corresponding segment on the field (S210).

Meanwhile, as field play begins, the control unit calculates each user's 'ball point', which is a position on the field corresponding to the ball position on the virtual golf course (S120).

Since the green and surrounding areas on the virtual golf course have different topography from the field formed in front of the screen golf module, the above-mentioned 'ball position' and 'ball point' do not exactly match, but 'ball position' and 'ball point' can be determined through various methods. Points can be matched. For example, a reference position (eg, hole cup position) can be determined and the 'ball position' and 'ball point' can be matched based on the relative positional relationship.

As the user's 'ball position' on the virtual golf course and the corresponding 'ball point' on the field are calculated, when field play begins, the control unit recognizes the position coordinates of the ball point on the field for each user. It becomes possible.

Meanwhile, the camera sensing system collects and analyzes images acquired by each of a plurality of cameras to detect an object corresponding to a locator in the image (S220), thereby calculating location information about where the locator is located (S230).

The control unit receives the location information of the locator from the camera sensing system, calculates the movement path information from the location of the locator to the viewing point, and transmits it to the locator control unit (S140). The locator waits (S310) and then receives the ball from the control unit. Upon receiving the movement route information to the point (S320), you can move along the movement route (S330).

If the locator is docked at the locator station, the control unit can recognize that it is docked at the locator station even if the camera sensing system does not detect the locator, so the control unit calculates the movement path information from the locator station to the point to be viewed. It can also be transmitted to the locator control unit.

The locator control unit controls the locator to move along the movement path transmitted from the control unit, and when it arrives at the ball point (S340), it positions the golf ball or marker it holds at the ball point (S350) and returns to the locator station. You can move the locator to do so (S360).

After placing the golf ball or marker at the ball point, the locator control unit can notify the control unit that the golf ball or marker has been placed at the ball point, and if the control unit determines that the locator has placed the golf ball or marker at the ball point (S150 ), you can wait until the user makes a shot at the corresponding ball point, and then after the shot is made, you can proceed with the process of allowing the locator to position the golf ball or marker at the next ball point in the same manner as described above (S160) ).

Even after transmitting the movement path information to the locator control unit in step S140, the control unit can detect the location information of the locator in real time through the camera sensing system (S230) and monitor whether the locator deviates from the movement path during the movement process, and the camera sensing If the system senses that the locator has deviated from its path, the locator's location information at that time is identified through the camera sensing system, and the path to the point to be viewed is calculated again and transmitted to the locator control unit, allowing the locator to move to the point to be viewed. can be completed.

In this regard, referring to FIG. 6, in the example shown in FIG. 6, a locator station 170 is provided on one side of the screen golf module 100, and the locator 500 is docked at the locator station 170. It shows the case in .

In Figure 6, the ball point on the field 200 of each of the four users (User 1's ball point is P1, User 2's ball point is P2, User 3's ball point is P3, and User 4's ball point is P4. ) is exemplified.

In Figure 6, the camera sensing system is omitted.

As described above, the control unit calculates each ball point (P1 to P4) as a position on the field corresponding to the ball position of each user on the virtual golf course, so it recognizes the position coordinates of each ball point and there is.

The control unit can control the locator to sequentially position the golf ball or marker at each ball point according to the shot order from the position of each ball point (P1, P2, P3, and P4).

In the example shown in FIG. 6, a shot is made at the P1 ball point furthest from the hole cup 212, then a shot is made at the P3 ball point, and sequentially starting from the point furthest from the hole cup 212 on the green 210. The putt is made.

The control unit determines where the locator 500 is in order to position the golf ball or marker at the P1 ball point. First, the control unit can determine whether the locator 500 is docked at the locator station 170, and the locator station ( 170), the location of the locator 500 can be determined through a camera sensing system.

In the example shown in FIG. 6, since the locator 500 is docked at the locator station 170, the control unit calculates the movement path (Wd1) information from the location of the locator station 170 to the P1 ball point and provides the locator control unit It can be sent to .

The locator control unit can control the locator 500 to move by receiving information on the movement path (Wd1) to the ball point P1 and controlling the driving unit and steering unit, etc. along the movement path (Wd1).

The camera sensing system detects the position of the locator 500 in real time while the locator 500 moves along the movement path (Wd1) and transmits it to the control unit, so that the control unit detects the position of the locator 500 along the movement path (Wd1). You can monitor whether you are moving correctly.

If the locator 500 deviates from the movement path (Wd1) during the movement, the camera sensing system detects the location information of the locator 500 in real time, so the control unit detects the location of the locator 500 detected by the camera sensing system. The movement path from P1 to the ball point is recalculated and transmitted to the locator control unit, and the locator control unit can continue movement along the recalculated movement path.

In this way, when the locator 500 arrives at the P1 ball point, the locator control unit controls the ball/marker handle unit to position the golf ball or marker at the P1 ball point, and moves the golf ball or marker from the P1 ball point position to the locator station 170. You can return along the return path (Wr1).

At this time, the return path (Wr1) from the ball point location to the location of the locator station 170 is calculated by the control unit and transmitted to the locator control unit, and the locator control unit moves the locator 500 to the locator station along the received return path (Wr1). (170) It can be moved to return to the position.

Alternatively, the locator control unit may recognize the map information for the field and calculate the return path (Wr1) on its own to return.

In this way, the control unit can control the locator to move along the movement path and position the golf ball or marker at the ball point through detection of the camera sensing system, and control the locator to return to the locator station. In the same way as shown, a golf ball or marker can be placed at every user's ball point, and when a golf ball is placed on the user's ball point (by the locator), the user can make an approach shot or putt with the golf ball, or hit the ball point at the user's ball point. When a marker is placed (by a locator), you can place your golf ball at the marker location and take an approach shot or putt, allowing stable and convenient field play.

Meanwhile, as described above, the process proceeds so that the locator 500 returns to the locator station 170 after putting down the golf ball or marker at the ball point, but the locator 500 returns to the locator station 170 for any reason. It may not be able to do so and may be located anywhere on the field 200.

FIG. 7 shows a case where the locator 500 moves to place a golf ball or marker at the P2 ball point, and the locator 500 is located at a certain location on the field 200 other than the locator station 170. It shows the case of moving from the position to the P2 ball point.

Although omitted in FIG. 7, since the camera sensing system detects the position of the locator 500 in real time using a plurality of cameras installed around the field, the control unit detects the current position of the locator 500 detected by the camera sensing system. Information on the movement path (Wd2) to the P2 ball point can be calculated and transmitted to the locator control unit, and the locator control unit can move the locator 500 to the P2 ball point along the movement path (Wd2).

If the locator 500 deviates from the movement path (Wd2) during the movement, the camera sensing system detects the location information of the locator 500 in real time, so the control unit detects the location of the locator 500 detected by the camera sensing system. The movement path from P2 to the ball point is recalculated and transmitted to the locator control unit, and the locator control unit can continue movement along the recalculated movement path.

In this way, when the locator 500 arrives at the P2 ball point, the locator control unit controls the ball/marker handle unit to position the golf ball or marker at the P2 ball point, and the control unit that recognizes this moves the locator station from the P2 ball point position. (170) The return path to the position (Wr2) is calculated and transmitted to the locator control unit, and the locator control unit can move the locator 500 to return to the location of the locator station 170 along the transmitted return path (Wr2). there is.

As described above, the hybrid golf system according to the present invention and the method of positioning the golf ball or marker at the ball point on the field in the hybrid golf system include play on a virtual golf course using a screen golf system followed by play on the actual field. When playing in the virtual golf course, detection and control are performed through a camera sensing system so that the locator can position the golf ball or marker at the ball point on the field corresponding to the ball position on the virtual golf course. It has the advantage of enabling hybrid golf play and improving user convenience.

100: screen golf module, 130: screen
150: simulator, 152: control unit
160: sensing device, 170: locator station
200: Field, 210: Green
212: hole cup, 300: camera sensing system
310, 320, 330, 340, 350, 360, 370, 380: Camera
500: Locator, 510: Locator control unit

Claims (9)

A screen golf module provided on one side of a field where users can play actual golf, allowing users to play golf on a virtual golf course;
A simulator provided in the screen golf module to implement a virtual golf simulation image according to the virtual golf course and the user's golf play;
A camera sensing system including a plurality of cameras configured to sense the field;
a locator that positions a golf ball or marker at the user's ball point while moving on the field; and
The position on the field corresponding to the ball position on the virtual golf course of the user played through the simulator is calculated as the ball point, and the position of the locator is detected by the camera sensing system, and the locator detects the ball. a control unit that transmits movement route information to the locator to move to a point;
A hybrid golf system including. The method of claim 1, wherein the locator is:
It is implemented in the form of any one of a transportation means that travels on the field and a flying means that flies on the field,
It is configured to receive the movement path information in real time through wireless communication from the control unit and move along the movement route, and when holding a golf ball or marker and reaching the ball point transmitted by the control unit, the golfer held by the golfer A hybrid golf system characterized in that it is configured to place a ball or marker down. The method of claim 1, wherein the camera sensing system:
A hybrid golf system, characterized in that the field is divided into preset sizes and each of the plurality of cameras is set to detect each divided area. The method of claim 1, wherein the camera sensing system:
and a sensing processing unit that detects an object corresponding to the locator from the plurality of cameras and images acquired by the plurality of cameras, calculates location coordinate information of the locator in the field, and transmits the information to the control unit. A hybrid golf system that uses. According to paragraph 1,
The camera sensing system analyzes images acquired by each of the plurality of cameras to calculate location coordinate information of the locator detected on the field and transmits it to the control unit,
A hybrid golf system, wherein the control unit calculates movement path information from the transmitted position coordinates of the locator to the position coordinates of the ball point and transmits the information to the locator. According to paragraph 1,
It is provided on one side of the field and configured to dock the locator, and further includes a locator station configured to charge the docked locator and supply a golf ball or marker to the locator,
The hybrid golf system, wherein the locator is configured to position a golf ball or marker at a ball point on the field and then return to the locator station. The method of claim 6, wherein the control unit,
When the locator is docked at the locator station, movement route information from the location of the locator station to the location of the point to be viewed is calculated and transmitted to the locator,
When the locator is not docked at the locator station, movement path information from the location of the locator detected by the camera sensing system to the location of the point to be viewed is calculated and transmitted to the locator. A hybrid golf system that uses. In a hybrid golf system with a field provided so that users can play actual golf, and a screen golf module provided on one side of the field to allow users to play golf on a virtual golf course, a golf ball is hit at the ball point on the field. or as a method of positioning a marker,
calculating a position on the field corresponding to a ball position on the user's virtual golf course played through the screen golf module as the ball point;
A locator moving on the field and carrying a golf ball or marker is detected by a camera sensing system including a plurality of cameras provided to sense the field, and location information of the locator is calculated, and from the position of the locator, the locator is detected. Calculating movement route information to a point to be viewed; and
transmitting the calculated movement path information to the locator so that the locator moves along the movement path and positions a golf ball or marker at the ball point;
A method of positioning a golf ball or marker at a ball point on a field in a hybrid golf system including. According to clause 8,
calculating location coordinate information of the locator detected on the field through analysis of images acquired by each camera of the camera sensing system;
determining whether the location coordinates of the locator deviate from the calculated movement path;
When the position coordinates of the locator deviate from the movement path, calculating a new movement path to the ball point from the position coordinates of the locator and transmitting it to the locator. Field in a hybrid golf system further comprising: A method of placing a golf ball or marker on the upper ball point.