KR101415967B1 - Golf cart moving system and method - Google Patents

Abstract

The present invention relates to a system which moves a golf cart without a person. A golf cart manless moving system according to an embodiment comprises a position measuring unit which measures a position of a user using a GPS receiving module; a user terminal including a communication unit which transmits the position information of the user to a cart moving device; the communication unit which receives the position information of users from the user terminal; a moving position calculation unit which calculates a next moving position on a moving route of a predetermined cart based on the position information of the users; the cart moving device including a moving control unit which controls the cart to move to the next moving position; a position measuring request unit which measures the position of a flagpole by a request of an operator; the position measuring unit which measures the position of the flagpole using the GPS receiving module; and flagpole terminal including the communication unit which transmits the position information of the flagpole to the user terminal.

Description

Technical Field [0001] The present invention relates to a golf cart moving system and method,

To a system and method for moving a golf cart to an unmanned state.

In order to prevent the caddies from frequent departure, the caddy service fee is raised by 20% or more, and the welfare of the caddies is strengthened. Except for the fact that it employs caddies of foreign nationality such as China

Considering this situation, there is an increasing number of golf courses operated by a no caddy method, which is a method in which a player performs autonomously without the help of a caddy in a public golf course. Since golfers can save a considerable cost, The appearance of golf course is very welcomed.

In this situation, the number of golf courses in our country is increasing year by year, but the number of golfers (golfers) is decreasing year by year. As a result, the number of golfers has decreased due to decrease in number of golfers (golfers) As the golf course is being rebuilt and the deficit is cumulative and the golf course is being sold on the market, the restructuring of the golf course is proceeding rapidly, so the golf courses nationwide are making efforts to increase the number of visitors. .

In order to increase the number of passengers, the golf course needs to reduce the cost of the passengers (golfers). Discounting prices such as entrance fee discounts is not a fundamental measure, so the worry is deepened. However, unlike golfers who do not have a foreign country, the golf course has to be operated by a golf player in a golf course, (Golfers) complaints are accumulated due to delays caused by delays in the operation of golf carts. Therefore, it is necessary to appropriately adjust the number of golfers (golfers) Limitations on the number of golfers and the number of golfers (golfers) It is also a very sensitive issue because it is a matter of concern.

Considering these circumstances, the most reasonable golf course management method that golf course and golfers can satisfy is to use a golf cart which can be operated as a no caddy and can prevent the game from being delayed.

In the conventional golf cart, golfers are loaded. In a manual mode, a caddy or a golfer can directly operate the steering device, the accelerator, and the brake after the driver (rider) Mode, when the caddy is operated by a dedicated remote control, the golf cart is unmanned or stopped along a guide line embedded in the ground under the cart road (near the fairway of the golf course Hole) or under the cement road located near the fairway However, when the driver (without the caddy) operates the golf cart in the manual mode, all of the golf carts stopped on the cart road near the fairway are taken to the place where the ball is located, In order to move after moving or exchanging clubs for the next shot, the game is reversed (Golfers) located nearest to the position of the golf cart may not have a driver's license or a driver who has no driving experience even if he / she has a driver's license (Golfers) who have more driving experience than golfers (golfers) who are located farther away from the golf course must return to the golf course for a long time. Difficulties are becoming an obstacle to the progress of the game.

Also, in the automatic mode, when one of a large number of guests (a golfer) is carrying a remote controller and is dedicated to moving a golf cart, a player having a remote controller can not concentrate on the game, If you forgot to press the stop button, the golf cart will move to the automatic stop line infinitely. This causes more uncomfortable situation. Also, there is a safety accident such as collision with the golf cart of the former team. Golfers) do not pay the remote control.

Korean Registration No. 10-0580037 discloses an unmanned golf cart, but it can be operated by an unmanned operation by a remote control or by a magnet embedded in the ground with a person on board without a driver, or by an unmanned operation Type golf cart, and automatically recognizes the position of a plurality of players so as to help a fast game progress in a no-caddy golf game, and then carries the basic business function of the caddy to automatically transfer the golf cart to a proper position .

In addition, the commercially available golf distance meter, such as the voice caddy, can not recognize the position of the green flagpole, which changes its position several times a day to protect the green, Being guided, there is always a distance error of more than several tens of meters in all products.

A system and method for performing the role of a caddy, which is a basic task of the caddy, such as detecting the current position of the user who enjoys self-golf without the help of a caddy at the golf course, moving the golf cart to the most appropriate spot, and informing the remaining distance to the flagpole Are presented.

According to an aspect, an unmanned mobile system of a golf cart includes a position measurement unit for measuring a position of a user, a user terminal including a communication unit for transmitting the position information of the user to a cart transfer device, And a communication unit for transmitting the position information of the measured flagpole to the server, a communication unit for receiving location information of users from at least one user terminal, a position measurement unit for measuring the position of the golf cart, A movement position calculation unit for calculating a next movement position on the movement path of the cart based on the position information of the users and the position information of the measured golf cart, and a movement control unit for controlling the movement of the cart to the calculated next movement position And a cart transfer device.

The user terminal requests the position measurement unit for positional information about a second point at which the golf ball has fallen after the golf ball has flew a certain distance by hitting the first point at which the user hit the golf ball, A distance calculating unit for calculating the distance of the golf ball on the basis of the positional information when the positional information on the two points is received, and a voice informing unit for guiding the calculated distance information to the user by voice.

The user terminal requests position information of a flagpole on the green on the cart feeder through the communication unit. When the communication unit receives the position information of the flagpole from the cart feeder, the position information of the flagpole and the position The remaining distance calculating unit may calculate the remaining distance based on the position information of the user. Further, the voice guidance unit can voice the calculated remaining distance information to the user.

The flag apparatus terminal may further include a position measuring unit for measuring the position of the flag apparatus at the request of the operator who has changed the position of the flag apparatus terminal, and a communication unit for transmitting the position information of the measured flag apparatus to the position information server. Here, the location information server may transmit the location information of the flagpole to the user terminal via the cart transfer device, or may directly transmit the location information of the flagpole to the user terminal.

The cart transfer device may further include a safety control unit for controlling the start of the cart so that the user can safely change the golf club or ride the cart when the predetermined criterion is met, or to stop the moving cart by the control of the movement control unit .

The predetermined criterion may be to receive a stop request signal of the cart from the user terminal, or at least a part of the users may be located within a predetermined distance from the cart.

The safety control unit switches the operation mode of the cart to the manual operation mode when the predetermined criterion is satisfied, and switches the operation mode of the cart to the automatic operation mode if the predetermined criterion is not satisfied.

The cart transfer device may further include an alarm control unit for outputting an operation state of the cart according to the control of the movement control unit or the safety control unit to an indicator.

The communication unit of the user terminal and the cart transfer unit can communicate with each other through short-range wireless communication including at least one of NFC, IrDA, WiFi, Bluetooth, ZigBee, and UWB communication.

The movement position calculation unit may calculate the next movement position of the cart except for the position information of the user located at a position exceeding a preset threshold value among the position information of the user received from one or more user terminals.

According to one aspect, a method for unattended movement of a golf cart includes the steps of the cart transport device receiving location information of users from one or more user terminals, the cart transport device moving on a predetermined route of the cart based on the location information of the received users Calculating a next movement position, and controlling the cart transport device to move the cart to the calculated next movement position.

The method of unattended movement of a golf cart includes the steps of checking whether a cart transporting apparatus satisfies a predetermined criterion when location information of users is received from one or more user terminals, And stopping the cart being stopped.

The predetermined criterion may be to receive a stop request signal of the cart from the user terminal, or at least a part of the users may be located within a predetermined distance from the cart.

The calculating step may calculate the next movement position of the cart excluding the position information of the user at a position exceeding a predetermined threshold among the position information of the user received from the one or more user terminals.

According to the present golf cart unmanned moving system and method, it is possible to grasp the current position of users enjoying golf, to move the golf cart to the most appropriate point, to guide the accurate remaining distance to the green flagpole, , Which can minimize the time delay in no-caddy competition.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a block diagram of an unattended transfer system of a golf cart in accordance with one embodiment.
2 is a detailed block diagram of a user terminal of the unmanned mobile system according to the embodiment of FIG.
FIG. 3 is a detailed block diagram of the cart transporting apparatus of the unmanned mobile system according to the embodiment of FIG. 1;
4 is a detailed block diagram of a flag terminal of an unmanned mobile system according to the embodiment of FIG.
5A to 5C are diagrams for explaining a method in which the cart moving device calculates the cart moving position.
6 is a flowchart of a golf cart unmanned moving method using a golf cart unmanned moving system according to an embodiment.
FIG. 7 is a detailed flowchart of a golf cart unmanned moving method according to an embodiment performed in the cart transporting apparatus.

The details of other embodiments are included in the detailed description and drawings. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the described techniques, and how to accomplish them, will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. Like reference numerals refer to like elements throughout the specification.

Hereinafter, embodiments of an unmanned moving system and method of a golf cart will be described in detail with reference to the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a block diagram of an unattended transfer system of a golf cart in accordance with one embodiment.

Referring to FIG. 1, a golf cart unmanned mobile system 1 includes a user terminal 100, a cart transport device 200, a flag terminal 300, and a location information server 400.

The user terminal 100 may be any portable terminal equipped with a GPS reception function such as a smartphone, a tablet PC, or the like as a golfer, that is, a device or a mobile terminal carried by a user. The user terminal 100 carried by each user periodically measures the current position of each user who enjoys rounding by using the mounted GPS receiving function and transmits the measured current position of each user to the cart transfer device 200 .

The cart transfer device 200 calculates the next movement position to move the cart using the current position information received from each user's user terminal 100, and moves the cart to the calculated next movement position. At this time, the movement path of the cart can be set in advance, and the cart transfer device 200 can calculate the most suitable position for enjoying the round on the predetermined movement route to the next movement position.

Flagstaff terminal 300 may be a device or mobile terminal attached to a flagpole on a green, and may be a terminal equipped with a GPS receiving function. The flagpole terminal 300 measures the current position at the request of an operator (employee) who changed the position of the flagpole terminal using the mounted GPS receiving function, transmits the measured current position to the position information server 400, And then transmit the position of the flag terminal according to the request of the cart transfer apparatus 200 or the user terminal 100.

The location information server 400 can receive the location information of the flagpole, or the golf cart, from the flag terminal 300 or the cart transport apparatus 200. [ When the position information of the flag terminal is received, it can be transmitted to the cart transfer apparatus 200 or the user terminal 100. In addition, the received location information may be transmitted to a golf control system (not shown) to monitor the golf green in real time.

Hereinafter, the golf cart automatic transfer system 1 according to the embodiment of FIG. 1 will be described in detail with reference to FIGS. 2 to 4. FIG.

2 is a detailed block diagram of a user terminal 100 of the unmanned mobile system 1 according to the embodiment of FIG. Referring to FIG. 2, the user terminal 100 may include a position measurement unit 110 and a communication unit 120.

The position measuring unit 110 measures the position of the user by using a built-in GPS receiving function or a local positioning technique of a short-range wireless communication system (e.g., a method of calculating a position by measuring a distance using a flight time or attenuation of a signal or a radio wave) The position can be measured. The position measuring unit 110 may measure the position of the user at a predetermined cycle (e.g., 2 minutes, 2 minutes, 30 seconds, 3 minutes, 3 minutes, 30 seconds, etc.). For example, the level of the golfers is different. For beginners, the distance is short and the moving time is long, and the skilled player has a long distance and the moving time can be shortened relative to the beginner. As described above, by setting the cycle according to the level of various users, it is possible to prevent power consumption and safety.

Meanwhile, when the request information of the user's current position is received from the cart transfer device 200, the position measuring unit 110 may measure the current position of the user.

The position measuring unit 110 may transmit the current position information of the user to the cart transfer device 200 through the communication unit 120. [ On the other hand, the position measuring unit 110 compares the position of the user measured in the current period with the position of the user measured in the reference period, and transmits the position information to the cart transfer device 200 only when the user's position is out of a predetermined threshold can do. At this time, the threshold value can be preset in units of meters (m) or yards (yd). Here, the reference period may be a previous period of the current period, for example, the last period in which the comparison result is out of the threshold, may be the reference period in the previous period of the current period.

This is to prevent the cart carrying apparatus 200 from continuing to calculate the next moving position of the cart even when the positions of users are not greatly changed, thereby reducing performance degradation and power consumption.

The communication unit 120 may include at least one of a short range communication module and a mobile communication module (e.g., 3G, 4G, etc.), and may store various data including the current location information of the user measured using short- Can be transferred to the cart transfer apparatus 100. At this time, the near field communication may include at least one of Near Field Communication (NFC), IrDA, WiFi, RFID, Bluetooth, Zigbee and UWB communication. The communication unit 120 can communicate with the cart transfer device 200 by controlling the most appropriate communication module based on the communication distance of each communication method or the connection state of each communication network and connecting to the communication network. For example, when the distance between the user terminal 100 and the cart transfer device 200 is too long to perform close-range communication or the distance is close, the connection state of the short-range communication is not good depending on the situation. can do.

According to a further aspect, the user terminal 100 may further include an distance calculating unit 130, a remaining distance calculating unit 140, and a voice guidance unit 150. This is to allow the user terminal 100 to perform the function of the caddy in consideration of the absence of the caddy.

The distance calculating unit 130 may request the position measuring unit 110 for position information about a first point at which the user hits the golf ball and a second point at which the golf ball has fallen by a certain distance due to the hit. The distance calculating unit 130 may calculate the distance of the golf ball based on the position information of the first point and the second point marked by the user's request from the position measuring unit 110 .

The remaining distance calculating unit 140 may request the position of the flagpole on the golf green on the cart feeder 200 through the communication unit 120. [ The cart transfer device 200 can communicate with the location information server 400 to receive location information of the flagpole and to transmit the location information of the received flagpole to the user terminal 100. [

The remaining distance calculating unit 140 may directly access the position information server 200 through the communication unit 120 to request position information from a Flagpole on the golf green.

When the position information measurement button of the flagpole is operated, the flagpole terminal 300 measures the position of the flagpole and transmits the position information of the measured flagpole to the location information server 400.

Since the flagpole 300 inserted in the green top hole is pulled out by the player who wants to put the flagpole, the position of the flagpole terminal 300 is changed at any time. Therefore, only when the request information (measurement button operation) of the worker The measured position information can be transmitted.

In addition, the flagpole terminal 300 may further include a case (not shown) made of a ball-shaped circle. The case protects the flag pole from snow, rain, and protects green grass.

The position information server 400 may transmit the position information of the flagpole from the flag terminal to the cart transfer device 200 or the user terminal 100 or to the golf control system (not shown).

When the position information of the flagpole requested by the communication unit 120 is received, the remaining distance calculating unit 140 calculates the remaining distance based on the position information of the flagpole and the current position information of the user measured by the position measuring unit 110 can do.

The voice guidance unit 150 may inform the user of the remaining distance calculated by the distance or remaining distance calculation unit 140 calculated by the distance calculation unit 130 through a speaker (not shown) or the like mounted on the user terminal 100 . In this manner, the user terminal 100 can perform the voice caddy function, thereby improving convenience for users enjoying golf.

FIG. 3 is a detailed block diagram of the cart transport apparatus 200 of the unmanned moving system 1 according to the embodiment of FIG. 3, the cart transfer device 200 according to an embodiment may include a communication unit 210, a position measurement unit 220, a movement position calculation unit 230, and a control unit 240.

The communication unit 210 may include a local area communication module or a mobile communication module such as 3G or 4G and communicates with the user terminal 100 or the location information server 400 through a local communication or a mobile communication, It can transmit and receive. As described above, the short-range communication may include at least one of Near Field Communication (NFC), IrDA, WiFi, RFID, Bluetooth, Zigbee and UWB communication. And can communicate with the user terminal 100 or the location information server 400 through the most appropriate communication method.

In addition, it may include a mobile communication function such as 3G or 4G for communicating with a golf control system (not shown), and a wireless LAN function for wireless communication with a tablet PC that can be mounted on a cart.

The position measuring unit 220 measures the current position of the cart using the GPS receiving function. When the communication unit 210 receives the location request information of the flagpole from the user terminal 100, the location measurement unit 220 receives the location information of the flagpole from the location information server 400 and transmits the location information to the user terminal 100 through the communication unit 210. [ (100).

The movement position calculation unit 230 may calculate the next movement position of the cart using the current position information of the users received by the communication unit 210 and the current position information of the cart measured by the position measurement unit 220. [

4 is a detailed block diagram of a flag terminal 300 of the unmanned mobile system 1 according to the embodiment of FIG. Referring to FIG. 4, the flag terminal 300 may include a position measurement request unit 310, a position measurement unit 320, and a communication unit 330.

The position measurement request unit 310 is operated as a measurement button (switch) so as to receive request information of an operator (employee) who changes the position of the hole cup.

The location measurement unit 320 measures the current location of the flagpole using the GPS reception function when the request information of the current location of the flagpole is received from the location measurement request unit 310, And transmits the location information of the flagpole to the location information server 400. Even though the position of the flag is not changed, the flagpole inserted into the green hole cup is pulled by the player who wants to put the flag, so that the position is changed from time to time, and the performance degradation and power consumption of the terminal are reduced due to frequent location reporting.

The communication unit 330 may include at least one of a local communication module and a mobile communication module (e.g., 3G, 4G, etc.), and may store various data including current position information of the flagpole measured using local communication or mobile communication To the location information server 400. At this time, the near field communication may include at least one of Near Field Communication (NFC), IrDA, WiFi, RFID, Bluetooth, Zigbee and UWB communication. The communication unit 330 can communicate with the location information server 400 by controlling the most appropriate communication module based on the communication distance of each communication method or the connection state of each communication network and connecting to the communication network.

Hereinafter, a method of calculating the next movement position of the cart by the movement position calculation unit 230 will be described with reference to Figs. 5A to 5C.

5A and 5B are views for explaining an example of transforming coordinates of a user's position information received from the user terminal 100 into measurable units (e.g., meters, inches, etc.). Generally, the GPS receiving device used for positional positioning outputs only the WGS-84 (World Geodetic System 1984) coordinate system, that is, the latitude and longitude coordinates by the geodesic coordinate system. In this manner, the user's position information output in the latitude and longitude coordinates needs to be converted into coordinates that can be recognized by people.

For example, the movement position calculating unit 230 may convert the user current position information output by the WGS-84 coordinate system into position information by an ECEF (Earth Centered Earth Fixed) coordinate system using the reference frame frame shown in FIG. 5A can do. Referring to Fig. 5a, P point geodetic coordinate system (φ, λ, h), ECEF coordinate system is expressed as _{(x ρ, y ρ, z} ρ), the value of the geodetic coordinate system by the equations (1) through (3) below, To the value of the ECEF coordinate system.

In the above equations (1) to (3), a represents the long axis of the earth ellipsoid, b represents the short axis of the earth ellipsoid, f represents the flatness, and h represents the ellipsoid height.

Next, the movement position calculating unit 230 may convert the position information of the user converted into the ECEF coordinate system into an ENU (East-North-Up) coordinate system as shown in FIG. 5B.

For example, in Fig. 5b, the ECEF coordinate can be rotated twice and converted to ENU coordinates, one for the Z-axis alignment with the Zenith direction, The 'East' axis of the ENU coordinate), and the other can be expressed as Equation 4 below, and the other is a counterclockwise rotation through the direction from bottom to top by 90 + lambda to align the X axis with the east direction Can be expressed as Equation (5). In the following equations, R1 denotes the direction from east to west, R2 denotes the direction from west to east, and R3 denotes the direction from north to south.

Using the above equations (4) and (5), the matrix can be represented by the following equation (6).

According to Equation (7), the yield can be expressed by Equation (8) below.

Referring to this, when switching from the ECEF coordinate system to the ENU coordinate system, the inverse transformation of Equation (6) above on the property of the rotation matrix can be expressed as Equation (9) below.

5C is a diagram for explaining that the movement position calculating unit 230 calculates the next movement position of the cart with respect to four users according to an embodiment. Referring to FIG. 5C, the movement path 10 for moving the cart may be preset. It is also possible to preset the movement positions (C1 to Cn) of one or more carts appropriate on the movement route (10). At this time, C1 is the start position of the cart and Cn is the last movement position of the cart. At this time, information on the movement route 10 and the cart moving positions C1 to Cn may be stored in advance in a database (not shown).

When the communication unit 210 receives the position information of the users 1, 2, 3, 4 from each user terminal 100, the movement position calculation unit 230 converts the position information into the ENU coordinate system as described above, 3, 4) with respect to all the movement positions (C1 to Cn) based on the position information of the users (1,2,3, 4). For example, users (1, 2, 3, 4) and the movement position C4 (Xc _4, Yc ₄ , and Zc ₄ ) are D1, D2, D3, and D4, respectively, the sum of these values is the distance between the users and the C4 position.

Here, the distance between the user 1 and the arbitrary position C4 can be expressed by the following equation (10).

The sum of the positions of the users 1, 2, 3, and 4 and the arbitrary point C4 is expressed by Equation (11).

In this way, the distance between the users 1, 2, 3, and 4 and all the movement positions C1 to Cn can be obtained, and the position having the smallest value can be calculated as the next movement position of the cart.

At this time, the movement position calculation unit 230 can calculate the next movement position of the cart, excluding the position information of the user at a position exceeding a predetermined threshold value among the position information of the user received from the one or more user terminals 100 have. For example, if the user's golf level is very advanced and far ahead of the user shown in FIG. 4C, or if the golf level of the user 4 is a beginner, he or she is far behind by himself, It is possible to calculate the next movement position of

3, the control unit 240 may control various operations of the cart and may include a safety control unit 241, a movement control unit 242, an alarm control unit 243, and a mode control unit 244. [

The safety control unit 241 can control the start or movement of the cart for the safety of the user when the user approaches the cart to replace the golf club in the cart or to ride the cart. The safety control unit 241 checks whether or not a predetermined criterion is satisfied. If the criterion is satisfied, the safety control unit 241 can control the cart to not start when the cart is stopped, and stop the cart when the cart is moving.

At this time, the predetermined criterion may be a case where the user has received the stop request signal of the cart transmitted through the user terminal 100. Or a specific user is located within a certain distance from the cart based on the location information of the users periodically received from the user terminal 100. [ That is, even if the next movement position is calculated by the movement position calculation unit 230 based on the position information of the received user, the safety control unit 241 controls to start the movement to the next calculated movement position when the specific user is located within a certain distance can do.

On the other hand, the safety control unit 241 can change the operation mode of the golf cart according to a predetermined criterion. For example, when the predetermined criterion is satisfied, the operation mode of the golf cart is switched to the manual operation mode, and if the predetermined criterion is not satisfied, the mode can be switched to the automatic operation mode.

When the next movement position of the cart is calculated by the movement position calculation unit 230, the movement control unit 242 controls the cart to move the cart to the next movement position.

The mode control unit 244 controls to operate in either the manual mode or the automatic mode. For example, when the user sets a key operation of the cart or a UI operation of a dedicated device or a smart phone or a tablet PC so as to operate in a manual mode or an automatic mode, each section of the cart transfer device 200 It is possible to control to operate in a mode corresponding thereto. That is, when the user is set to the manual mode, the movement position calculation unit 230, the movement control unit 242, the safety control unit 241 and the like can be controlled not to operate.

The alarm control unit 243 can display the current operating state of the cart under the control of the safety control unit 241, the movement control unit 242, and the mode control unit 244 on the display device. For example, when the cart is normally moving, green light is emitted, red light is emitted when the cart is stationary, and yellow light is emitted when the cart is started. In addition, different colors may be emitted according to the set mode so that the user can easily confirm whether the current cart is in the manual mode or the automatic mode.

6 is a flowchart of a golf cart unmanned method using the golf cart unmanned mobile system 1 according to an embodiment.

Referring to FIG. 6, in the golf cart unmanned moving method, the user terminal 100 measures the current position information of the user and transmits the information to the cart transfer device 200 (step 610). As described above, the user terminal 100 is carried by each user during rounding and can measure position information of each user using the GPS receiving function.

The cart transfer device 200 controls the movement of the cart based on the current location information of the user and the current location information of the cart received from the user terminal 100 (step 620). When the user's location information is received from each user's terminal 100, the cart transfer device 200 measures the current location of the cart using the GPS reception function and calculates the distance between the current location of the cart and the current location of the users The cart calculates the most appropriate location to move to next. The cart transfer device 200 controls the cart to move to the next movement position when the position at which the cart moves next is calculated as described above.

FIG. 7 is a detailed flowchart of a golf cart unmanned moving method according to an embodiment performed in the cart transporting apparatus. Referring to Fig. 7, a detailed procedure according to an embodiment performed in the cart transporting apparatus 200 will be described.

First, the cart transfer apparatus 200 receives the location information of the users from one or more user terminals 100 (step 710) and may check whether it meets a predetermined criterion for safety control of the cart (step 720). If the check result (step 720) satisfies the predetermined criterion, it is possible to control so that the cart does not start if the cart is stopped and to stop when the cart is moving (step 730). At this time, the predetermined criterion may be a case in which the stop request signal of the cart is received from the user terminal 100, or a specific user is located within a certain distance from the cart, as described above.

For example, since a certain user may move to the next position while another user moves forward while the cart is approaching the cart to get on the cart or to replace the golf club, Can be controlled so that the cart does not start when it is positioned within a certain distance from the cart.

If the predetermined criterion for safety control is not satisfied as a result of the checking in step 720, the current position of the cart is measured (step 740), and the position information of the received users and the measured The next movement position of the cart is calculated based on the current position information of the cart (step 750).

The cart can then be controlled and moved to the calculated next move position (step 760).

Then, in steps 730 and 760, it is possible to control the operation state of the cart according to the control to display a predetermined color on the display device (step 770).

Next, it is determined whether the cart is the preset last position (step 780), and if it is not the last position, the step 710 of receiving the position information of users from the user terminal 100 may be repeatedly performed. If it is determined in step 780 that the cart has reached the preset final position, the process ends.

In the meantime, the embodiments can be embodied in a computer-readable code on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored.

Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device and the like, and also a carrier wave (for example, transmission via the Internet) . In addition, the computer-readable recording medium may be distributed over network-connected computer systems so that computer readable codes can be stored and executed in a distributed manner. And functional programs, codes, and code segments for implementing the present embodiments can be easily deduced by programmers of the art to which the present invention belongs.

It will be understood by those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

1: golf cart unmanned mobile system 100: user terminal
110: position measurement unit 120: communication unit
130: Distance calculation unit 140: Residual distance calculation unit
150: voice guidance unit 200: cart feeding device
210: communication unit 220:
230: movement position calculating unit 240:
240: safety control unit 242:
243: alarm control unit 244: mode control unit
300: Flagstaff terminal 310: Position measurement request unit
320: position measuring unit 330: communication unit
400: Location information server

Claims (16)

A user terminal including a position measuring unit for measuring a position of a user, and a communication unit for transmitting the position information of the user to a cart transfer device; And
A communication unit for receiving location information of users from at least one user terminal, a position measuring unit for measuring the position of the golf cart, a movement path for a predetermined cart based on the position information of the received users, And a movement control unit for controlling the movement of the cart to the calculated next movement position, wherein the movement control unit includes:
Wherein the movement position calculation unit calculates the next movement position of the cart excluding the position information of the user located at a position exceeding a preset threshold value among the position information of the user received from the one or more user terminals. The method of claim 1, wherein the user terminal
A first position where the user hits the golf ball and a position information of the second position where the golf ball has fallen after the golf ball has traveled a certain distance by the hit, A distance calculating unit for calculating a distance of the golf ball based on the received position information about the first point and the second point; And
And a voice guidance unit for voice guidance of the calculated distance information to the user. 3. The method of claim 2,
The position information of the flagpole on the green is requested to the cart feeder or the position information server through the communication unit, and when the communication unit receives the position information of the flagpole from the cart feeder or the position information server, And a remaining distance calculating unit for calculating a remaining distance based on the position information of the user measured by the position measuring unit,
The voice guidance unit
And informs the user of the calculated remaining distance information by voice. The method of claim 3,
And a flag terminal including a position measuring section for measuring the position of the flagpole at the request of the operator and a communication section for transmitting the position of the measured flagpole to the position information server and storing the flagpole terminal. 5. The apparatus according to claim 4, wherein the cart transporting device
Requesting location information of the flagpole to the location information server when receiving a location information request of the flagpole from the user terminal, receiving location information of the flagpole and transmitting the location information to the user terminal. 5. The system according to claim 4, wherein the location information server
And transmits the position information of the flag to the user terminal when the flag information of the flag is received from the user terminal. 7. The apparatus according to any one of claims 1 to 6, wherein the cart transporting device
And a safety control unit for controlling the start of the cart so that the user can safely change the golf club or ride on the cart or stop the moving cart by the control of the movement control unit when the predetermined criterion is satisfied, system. 8. The method of claim 7,
Wherein the at least one of the users is located within a predetermined distance from the cart. 8. The apparatus of claim 7, wherein the safety control unit
Wherein when the predetermined criterion is satisfied, the operation mode of the cart is switched to the manual operation mode and the operation mode of the cart is switched to the automatic operation mode if the predetermined criterion is not satisfied. 8. The apparatus according to claim 7, wherein the cart transporting device
And an alarm control unit for outputting an operation state of the cart according to the control of the movement control unit or the safety control unit to an indicator. The apparatus of claim 1, wherein the communication unit of the user terminal and the cart transfer device
NFC, IrDA, Wireless LAN (WiFi), Bluetooth, ZigBee, and UWB communication. delete delete Receiving a location information of users from one or more user terminals;
Calculating a next movement position on a movement path of a predetermined cart based on the position information of the received users;
Controlling the cart moving device to move the cart to the calculated moved position;
Checking whether the cart transfer apparatus satisfies a predetermined criterion when location information of users is received from one or more user terminals; And
And controlling the start of the cart or stopping the cart being moved when the cart transfer device satisfies a predetermined criterion as a result of the check. 15. The method of claim 14,
Receiving a stop request signal of the cart from the user terminal, or at least a part of the users being located within a predetermined distance from the cart. 15. The method of claim 14, wherein the calculating step
And calculating a next movement position of the cart excluding the position information of the user at a position exceeding a predetermined threshold value among the position information of the user received from one or more user terminals.

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