KR102523667B1 - Method and apparatus of controlling operation of unmanned golf cart - Google Patents

Abstract

In accordance with several embodiments of the present disclosure, disclosed are an apparatus and a method for controlling the operation of an unmanned golf cart. The method includes the following steps of: acquiring at least one among position information and motion information of the unmanned golf cart; reading map information, and identifying a current position and an operating state of the unmanned golf cart based on at least one among the position information and the motion information, the map information, and the sensing information; and generating a control signal according to the current position and the operating state to transmit the control signal to the unmanned golf cart. Therefore, the present invention is capable of helping a user to smoothly play golf in a golf course.

Description

Unmanned golf cart operation control device and method {METHOD AND APPARATUS OF CONTROLLING OPERATION OF UNMANNED GOLF CART}

The present disclosure relates to an unmanned golf cart, and more specifically, to an apparatus and method for controlling an operation of an unmanned golf cart.

While there is a limit to increasing the number of golf courses due to various issues, the population enjoying golf is rapidly increasing. For this reason, efficiency is required in operating and managing the golf course.

On the other hand, along with the development of digital technology, golf courses employing unmanned golf carts have recently emerged, sharing the role of the conventional caddy and helping the operation and management of the golf course.

However, although there are various variables in golf course operation management, unmanned golf carts in current golf courses are simply at the level of carrying golf bags or following golfers who play. An efficient golf course operation management system is required.

Republic of Korea Utility Model Registration No. 20-0372425 (registered on December 30, 2004)

The present disclosure aims to solve the foregoing and other problems. A technical problem to be achieved by some embodiments of the present disclosure is to adaptively control a driving operation of an unmanned golf cart according to various situations occurring in a golf course.

A technical problem to be achieved by some embodiments of the present disclosure is to help users play by detecting and processing grass, divots, etc. in real time in a golf course, and to provide an unmanned golf cart necessary for the operation and management of a golf course. Its purpose is to control movement.

The technical tasks to be achieved in the present disclosure are not limited to the technical tasks mentioned above, and other technical tasks not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

A method of controlling an operation of an unmanned golf cart by at least one processor of an apparatus according to some embodiments of the present disclosure may include: acquiring at least one of location information and motion information of the unmanned golf cart; reading map information and identifying a current location and operating state of the unmanned golf cart based on at least one of the location information and the motion information, the map information, and the sensing information; and generating a control signal according to the current location and the operating state and transmitting the generated control signal to the unmanned golf cart, wherein the control signal includes driving control information for movement according to the current location and the operating state; At least one of a golf course state during driving of the unmanned golf cart and divot management control information may be included.

According to some embodiments of the present disclosure, the acquiring of the sensing information from the unmanned golf cart may include extracting information about temperature and humidity of a turf of a golf course and information about a divot from the sensing information.

According to some embodiments of the present disclosure, the acquiring of the sensing information from the unmanned golf cart may include: verifying information about the divot, updating the map information, and storing the information; and transmitting the map information to the unmanned golf cart when the map information is updated.

According to some embodiments of the present disclosure, the map information may include a divot area, a divot expected area, and a recommended play area.

According to some embodiments of the present disclosure, when the map information is updated, generating the driving control information based on the map information; may further include.

According to some embodiments of the present disclosure, receiving user motion sensing data from the unmanned golf cart; identifying a user motion using the user motion detection data; and if the user's motion is a specific play motion, controlling play recommendation area information in the map information to be output through a display of the unmanned golf cart.

According to some embodiments of the present disclosure, the driving control information includes information for controlling the operation of the unmanned golf cart to move to a position that is a preset distance away from the user according to user characteristics, and the unmanned golf cart moving to a play space. Information for controlling movement to be locked according to whether an object is detected upon departure may be included.

According to some embodiments of the present disclosure, the preset distance is a distance calculated for capturing the user's play video based on at least one of the user's gender information, the user's old age information, recommended play area information, and illuminance information. can be

According to some embodiments of the present disclosure, receiving a destination entry signal from the unmanned golf cart; and transmitting information for setting a play target space and a divot detection request for the play target space in response to the destination entry signal.

According to some embodiments of the present disclosure, receiving divot detection information from the unmanned golf cart according to the divot detection request; extracting information on a divot area, a divot expected area, and a recommended play area based on the divot detection information; comparing the map information with divot area information extracted from the target space, divot expected area information, and recommended play area information; and updating and storing the map information according to the comparison result.

According to some embodiments of the present disclosure, when the map information is updated and the map information includes a newly added divot area or a divot expected area, a divot for the newly added divot area or the divot expected area. Determining whether to manage immediately; and generating and transmitting processing operation control information for the divot area or the divot expected area to the unmanned golf cart based on a result of determining whether to immediately manage the divot.

According to some embodiments of the present disclosure, the map information may be generated based on 3D high-precision map data.

According to some embodiments of the present disclosure, location information of the unmanned golf cart is collected based on a Global Positioning System-Real-time Kinematic (GPS-RTK) method, and the divot is at least one of a 360-degree camera sensor and a lidar sensor. It can be sensed through one.

A computer program stored on a computer readable storage medium according to some embodiments of the present disclosure, when executed on at least one processor of a device, performs steps for controlling the operation of an unmanned golf cart, the steps comprising: obtaining sensing information; obtaining at least one of location information and motion information of the unmanned golf cart; reading map information and identifying a current location and operating state of the unmanned golf cart based on at least one of the location information and the motion information, the map information, and the sensing information; and generating a control signal according to the current location and the operating state and transmitting the generated control signal to the unmanned golf cart, wherein the control signal includes driving control information for movement according to the current location and the operating state; At least one of a golf course state during driving of the unmanned golf cart and divot management control information may be included.

An apparatus for controlling an operation of an unmanned golf cart according to some embodiments of the present disclosure, the apparatus comprising: a storage unit storing at least one program command; and at least one processor that executes the at least one program command, wherein the at least one processor obtains sensing information from the unmanned golf cart, and at least one of location information and motion information of the unmanned golf cart. Obtaining, reading map information, identifying the current location and operating state of the unmanned golf cart based on at least one of the location information and the motion information, the map information, and the sensing information, and An operation of generating and transmitting a control signal according to an operating state to the unmanned golf cart, wherein the control signal includes driving control information for movement according to the current location and the operating state, and a driving interval of the unmanned golf cart It may include at least one of a golf course state and divot management control information.

The technical solutions obtainable in the present disclosure are not limited to the above-mentioned solutions, and other solutions not mentioned will become clear to those skilled in the art from the description below. You will be able to understand.

Effects of the apparatus and method for controlling an operation of an unmanned golf cart according to the present disclosure will be described below.

According to some embodiments of the present disclosure, it is possible to quickly cope with various situations occurring in a golf course through operation control of an unmanned golf cart.

According to some embodiments of the present disclosure, it is possible to efficiently operate and manage the golf course through real-time monitoring and processing of grass conditions, divots, etc. according to the user's play in the golf course through the operation control of the unmanned golf cart. It can help you play golf smoothly on the golf course.

Effects obtainable through the present disclosure are not limited to the effects mentioned above, and other effects not mentioned may be clearly understood by those skilled in the art from the description below. will be.

Various embodiments of the present disclosure are described with reference to the drawings, wherein like reference numbers are used to collectively refer to like elements. In the following examples, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of one or more embodiments. However, it will be apparent that such embodiment(s) may be practiced without these specific details.
1 is a schematic diagram illustrating a system for controlling an operation of an unmanned golf cart according to some embodiments of the present disclosure.
2 is a block diagram illustrating a control server according to some embodiments of the present disclosure.
3 is a block diagram illustrating an unmanned golf cart according to some embodiments of the present disclosure.
4 is a flowchart illustrating an example of a driving control method of an unmanned golf cart according to some embodiments of the present disclosure.
5 is a diagram for explaining an example of an unmanned golf cart according to some embodiments of the present disclosure.
6 is a diagram for explaining an example of a golf course management method using an unmanned golf cart according to some embodiments of the present disclosure.
7 is a diagram for explaining another example of a golf course management method using an unmanned golf cart according to some embodiments of the present disclosure.
8 is a diagram for explaining an example of an operation of an unmanned golf cart when a user operation is a specific play operation according to some embodiments of the present disclosure.
9 is a diagram for explaining an example of an operation of an unmanned golf cart according to a user according to some embodiments of the present disclosure.
10 is a diagram for explaining an example of a divot management configuration of an unmanned golf cart according to some embodiments of the present disclosure.
11 is a flowchart illustrating an example of a method for controlling an operation of an unmanned golf cart according to some embodiments of the present disclosure.
12 is a flowchart for explaining another example of a method for controlling an operation of an unmanned golf cart according to some embodiments of the present disclosure.
13 is a flowchart illustrating another example of a method for controlling an operation of an unmanned golf cart according to some embodiments of the present disclosure.

Hereinafter, various embodiment (s) of an apparatus and method for controlling the operation of an unmanned golf cart according to the present disclosure will be described in detail with reference to the drawings, but the same or similar components regardless of reference numerals The same reference numerals are given and overlapping descriptions thereof will be omitted.

Objects and effects of the present disclosure, and technical configurations for achieving them will become clear with reference to embodiments described later in detail in conjunction with the accompanying drawings. In describing one or more embodiments of the present disclosure, if it is determined that a detailed description of a related known technology may obscure the gist of at least one embodiment of the present disclosure, the detailed description will be omitted.

The terms of the present disclosure are terms defined in consideration of functions in the present disclosure and may vary according to the intention or custom of a user or operator. In addition, the accompanying drawings are only for making it easier to understand one or more embodiments of the present disclosure, and the technical spirit of the present disclosure is not limited by the accompanying drawings, and all changes included in the spirit and technical scope of the present invention , it should be understood to include equivalents or substitutes.

The suffixes "module" and "unit" for the components used in the following description are given or used interchangeably in consideration of ease of preparation of the present disclosure, and do not themselves have a meaning or role that is distinct from each other.

Terms including ordinal numbers, such as first and second, may be used to describe various components, but the components are not limited by the terms. These terms are only used for the purpose of distinguishing one component from another. Accordingly, a first component mentioned below may also be a second component within the technical spirit of the present disclosure.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

Singular expressions include plural expressions unless the context clearly dictates otherwise. That is, unless otherwise specified or where the context clearly indicates that the singular form is indicated, the singular shall generally be construed to mean "one or more" in this disclosure and claims.

In the present disclosure, terms such as "comprising", "includes" or "has" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the present disclosure, It should be understood that it does not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

The term "or" in this disclosure should be understood as an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, “X employs A or B” is intended to mean one of the natural inclusive substitutions. That is, X uses A; X uses B; Or, if X uses both A and B, "X uses either A or B" may apply to either of these cases. Also, the term “and/or” as used in this disclosure should be understood to refer to and include all possible combinations of one or more of the listed related items.

The terms “information” and “data” used in this disclosure may be used interchangeably.

Unless otherwise defined, all terms (including technical and scientific terms) used in this disclosure may be used with a meaning that can be commonly understood by those skilled in the art of this disclosure. In addition, terms defined in commonly used dictionaries are not excessively interpreted unless specifically defined.

However, the present disclosure is not limited to the embodiments disclosed below and may be implemented in a variety of different forms. Only some embodiments of the present disclosure are provided to completely inform those skilled in the art of the scope of the present disclosure, and the present disclosure is only defined by the scope of the claims. Therefore, the definition should be made based on the content throughout this disclosure.

According to some embodiments of the present disclosure, at least one processor (hereinafter referred to as 'processor') of the device may control an operation of an autonomous vehicle such as an unmanned golf cart. Specifically, the processor obtains at least one of location information and motion information of the unmanned golf cart, reads map information, and determines the location information based on at least one of the location information and the motion information, the map information, and the sensing information. The current location and operating state of the unmanned golf cart may be identified, and a control signal according to the current location and operating state may be generated and transmitted to the unmanned golf cart to control the operation. At this time, the control signal may include at least one of driving control information for movement according to the current location and the operating state, a golf course state during driving of the unmanned golf cart, and divot management control information. Hereinafter, a method of controlling an operation of an unmanned golf cart will be described with reference to FIGS. 1 to 13 .

1 is a schematic diagram illustrating a system for controlling an operation of an unmanned golf cart according to some embodiments of the present disclosure.

Referring to FIG. 1, a system 1 for controlling the operation of an unmanned golf cart includes a control server 10, at least one unmanned golf cart 20, a database (DB) 30, a user terminal 40, and the like. can do. At this time, the system 1 for controlling the operation of the unmanned golf cart may also include an unmanned aerial vehicle 30 for obtaining information on the golf course and/or the unmanned golf cart 20. In addition, each device in the unmanned golf motion control system 1 may communicate with each other through the wired/wireless network 300 . However, the components constituting the system 1 shown in FIG. 1 are not essential for implementing a system for controlling the operation of the unmanned golf cart 20, and thus are more or less than the components listed above. can have components.

The control server 10 and/or the unmanned golf cart 20 of the present disclosure can be paired or connected with the user terminal 40 through a wired/wireless network, and through this, a predetermined Data can be sent/received. In this case, data transmitted/received through wired/wireless networks may be converted before transmission/reception. Here, the term "wired/wireless network" refers to a device that supports various communication standards or protocols for pairing or/and data transmission/reception between the control server 10 and/or the unmanned golf cart 20 and the user terminal 40. A common term for a communication network, such a wired/wireless network includes all communication networks currently or to be supported in the future according to standards, and can support one or more communication protocols therefor.

The control server 10 and/or the unmanned golf cart 20 described in the present disclosure perform at least one of transmitting and receiving data, contents, services, and applications. It can include all devices that However, it is not limited thereto.

The control server 10 of the present disclosure includes, for example, a server, a personal computer (PC), a microprocessor, a mainframe computer, a digital processor, a standing device such as a device controller, a smart phone, All mobile devices (mobile devices or handheld devices) such as tablet PCs and notebooks may be included. However, it is not limited thereto.

In the present disclosure, the term “control server 10” means a device or system that supplies data to or receives data from clients such as the unmanned golf cart 20 or various types of user terminals.

Even in the case of naming a server in the present disclosure, the meaning may mean a fixed device or a mobile device such as an administrator terminal depending on the context, or may be used in a meaning including all unless otherwise specified.

The processor is a key component of the control server 10 and can control overall operations of the control server 10 in addition to operations related to application programs. The processor may provide or process appropriate information or functions by processing signals, data, information, etc. input or output through the components of the control server 10 or by driving an application program stored in the storage unit.

The processor may control at least some of the components of the control server 10 in order to drive an application program stored in the storage unit. Furthermore, the processor may combine and operate at least two or more of the components included in the control server 10 to drive the application program.

The processor may consist of one or more cores and may be any of a variety of commercially available processors. For example, the processor includes a central processing unit (CPU), a general purpose graphics processing unit (GPUGP), a tensor processing unit (TPU), and the like of the control server 10 can do. However, it is not limited thereto.

Processors of this disclosure may be configured as dual processors or other multi-processor architectures. However, it is not limited thereto.

The processor may read the computer program stored in the storage unit and control the identification and operation of the unmanned golf cart 20 using the motion control model of the unmanned golf cart 20 according to some embodiments of the present disclosure.

The storage unit may store data supporting various functions of the control server 10 . The storage unit may store a plurality of application programs (application programs or applications) running in the control server 10, data for operation of the control server 10, commands, and at least one program command. At least some of these application programs may be downloaded from an external server through wireless communication. In addition, at least some of these application programs may exist on the control server 10 from the time of shipment for basic functions of the control server 10 . Meanwhile, the application program may be stored in a storage unit, installed on the control server 10, and driven by a processor to perform an operation (or function) of the control server 10.

The storage unit may store any type of information generated or determined by the processor and any type of information received through the communication unit.

The storage unit is a flash memory type, hard disk type, SSD type (Solid State Disk type), SDD type (Silicon Disk Drive type), multimedia card micro type, card Types of memory (eg, SD or XD memory, etc.), RAM (random access memory; RAM), SRAM (static random access memory), ROM (read-only memory; ROM), EEPROM (electrically erasable programmable read-only memory), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and an optical disk. The control server 10 may operate in relation to a web storage performing a storage function of a storage unit on the Internet.

The communication unit is between the control server 10 and the wired/wireless communication system, between the control server 10 and the unmanned golf cart 20, between the control server 10 and the unmanned aerial vehicle 30, and between the control server 10 and the user terminal. It may include one or more modules enabling wired/wireless communication between (40) or between the control server 10 and an external server. Also, the communication unit may include one or more modules that connect the control server 10 to one or more networks.

The communication unit refers to a module for wired/wireless Internet access, and may be built into or external to the control server 10.

The communication unit may be configured to transmit and receive wired/wireless signals.

The communication unit complies with technical standards or communication methods for mobile communication (eg, GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 2000), EV-DO (Enhanced Voice- Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced) ), etc.), it is possible to transmit and receive radio signals with at least one of a base station, an external terminal, and a server on a mobile communication network built according to the present invention.

Wireless Internet technologies include, for example, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), and the like. However, the communication unit 130 may transmit and receive data according to at least one wireless Internet technology within a range including Internet technologies not listed above.

In addition, the communication unit may be configured to transmit and receive signals through short range communication. The communication unit uses Bluetooth (Bluetooth??), RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra-Wideband), ZigBee, NFC (Near Field Communication), Wi-Fi (Wireless-Fidelity) , Wi-Fi Direct, and wireless USB (Wireless Universal Serial Bus) technology may be used to perform short-distance communication. The communication unit may support wireless communication through a local area network (Wireless Area Networks). The local area network may be a local area wireless personal area network (Wireless Personal Area Networks).

As a result, the control server 10 may be connected to the unmanned golf cart 20 and the user terminal 40 through a wired/wireless network through a communication unit.

In the present disclosure, the user terminal 40 can be paired with or connected to the control server 10 and/or the unmanned golf cart 20 in which the motion control model of the unmanned golf cart 20 is stored through a wired/wireless network. Data can be transmitted/received and displayed.

In the present disclosure, the unmanned golf cart 20 and/or the user terminal 40 perform at least one of transmitting, receiving, and displaying data, content, service, and application. It can include all devices that

In the present disclosure, the user terminal 40 may include, for example, a mobile device such as a mobile phone, a smart phone, a tablet PC, or an ultrabook. However, it is not limited thereto, and the user terminal 40 may also include a standing device such as a personal computer (PC), a microprocessor, a mainframe computer, a digital processor, and a device controller.

Although not shown, the user terminal 40 may include a processor, a storage unit, a communication unit, an image acquisition unit, a display, a sound output unit, and a sound acquisition unit.

Each component of the user terminal 40 of the present disclosure may be integrated, added, or omitted according to specifications of the user terminal 40 actually implemented. That is, two or more components may be combined into one component or one component may be subdivided into two or more components as needed. In addition, the functions performed in each block are for explaining an embodiment of the present disclosure, and the specific operation or device does not limit the scope of the present invention.

2 is a block diagram illustrating a control server according to some embodiments of the present disclosure. In relation to FIG. 2 , contents overlapping with those described in FIG. 1 will not be described again, and will be described below focusing on differences.

Referring to FIG. 2 , the control server 10 may be composed of a memory and a processor, and the processor includes a communication unit (not shown), a data receiving unit 210, a pre-processing unit 220, a data processing unit 230, and a map data It may include a processing unit 240, a divot data processing unit 250, a display 260, and a control unit 270. Meanwhile, the memory may correspond to or include a database (DB) 280 .

Components constituting the control server 10 shown in FIG. 2 are not essential to implement the control server 10, and may have more or fewer components than the components listed above.

The data receiving unit 210 may acquire or receive various sensor information of the unmanned golf cart 20 through the communication unit.

According to some embodiments, the data receiver 210 may receive data from the user terminal 40 or an external server through a communication unit.

The preprocessor 220 may preprocess data received through the data receiver 210 . The pre-processing unit 220 may pre-process the received data and classify it into map data, divot data, golf course general management data, and the like.

The data processing unit 230 may process each data classified through the pre-processing unit 220, such as decoding.

The map data processing unit 240 may generate a map map by receiving the map related data decoded by the data processing unit 230 or update previously stored map map data. At this time, the map data processing unit 240 may also refer to other data decoded by the data processing unit 230, for example, divot data or golf course general management data.

In the present disclosure, map map data may include 3D high-precision map map data, but is not limited thereto. According to some embodiments, the map map data may also include 2D flat map map data.

The divot data processing unit 250 may receive the divot related data decoded by the data processing unit 230 to generate divot data and/or divot management data, or may update previously generated divbot data and/or divot management data.

The divot data processor 250 may transmit the generated or updated divot data to the map data processor 240 so that map data is generated or updated.

In the present disclosure, a divot refers to a piece of grass separated from the original grass as a user makes a golf play shot. Such divots may be directly related to the state of the golf course, and if not treated in time, it may be difficult to reproduce grass and divots, so appropriate management is required. If a divot that is not properly managed is left unattended, it may affect a user's play, and it may decrease satisfaction with the use of the golf course, so it may be one of the important elements of operation management of the golf course. Accordingly, in the present disclosure, divot management relates to management of grass and divots and can be handled through the unmanned golf cart 20 .

In the present disclosure, divot management data may collectively refer to data transmitted to the unmanned golf cart 20 for turf and divot management, such as divot location information, divot state information, and divot repair/restoration commands according to the divot state. However, the present disclosure is not limited to the above contents.

The display 260 is a terminal for the manager of the control server 10, and can output various information for managing the operation of the golf course, including information transmitted through the unmanned golf cart 20.

The display 260 may output a user interface (UI) for manager's golf course operation management and operation control of the unmanned golf cart 20 .

The control unit 270 may control the overall operation of each component of the control server 10 .

The DB 280 may temporarily store data received, processed, and processed by the control server 10 .

According to some embodiments of the present disclosure, the DB 280 does not necessarily need to be built into the control server 10, and is located remotely, but is accessed by the control server 10 to transmit/receive, store or read data. should be able to

3 is a block diagram illustrating an unmanned golf cart according to some embodiments of the present disclosure. In relation to FIG. 3 , contents overlapping with those described above in FIGS. 1 and 2 will not be described again, and will be described below focusing on differences.

Referring to FIG. 3, the unmanned golf cart 20 is divided into a memory and a processor, and the processor includes a communication module 310, a sensor module 320, a data processing unit 330, a driving control module 340, and a divot processing unit. It may include a module 350, a display 360, and a controller 370, and the memory may correspond to or include a database (DB) 380.

The components constituting the unmanned golf cart 20 shown in FIG. 3 are not essential to implement the unmanned golf cart 20, and may have more or less components than the components listed above. .

The communication module 310 has a configuration corresponding to the communication unit of FIGS. 1 and 2 described above, and provides a communication environment with the control server 10, other unmanned golf carts, and the user terminal 40 to enable data transmission/reception. can do.

The sensor module 320 may acquire various sensing information including various sensors. The obtained sensing information may be transmitted to the control server 10 and/or the user terminal 40 in the form of raw data or processed data after processing.

As one of the sensors included in the sensor module 320, a location information sensor may be included, and a Global Positioning System (GPS) sensor may be used as the location information sensor, but is not limited thereto. A GPS sensor is a technology that can accurately know one's position by communicating with satellites anywhere in the world, and VRS (Virtual Reference Station) and RTK (Real-Time Kinematic) methods can be used. The VRS is a method for determining a position by generating a virtual reference point in real time using a reference station composed of a GPS station and performing real-time movement measurement with a mobile station. The RTK is a positioning method that obtains centimeter level (eg, horizontal 1cm, vertical 2cm) accuracy in real time by using a correction value for the phase of a base station having precise positional information. More precise location information can be obtained than the method. In the present disclosure, the GPS-RTK method is employed for convenience, but is not limited thereto.

Meanwhile, information acquired through the location information sensor may be used to obtain current location information of the unmanned golf cart 20 . In addition, the location information can also be used to generate a 3D high-precision map in the control server 10.

The unmanned golf cart 20 according to some embodiments of the present disclosure is equipped with a 3D high-precision map, receives a corrected position from a GPS reference station located in a golf course while moving, and can perform sophisticated autonomous driving based on the corrected position. Meanwhile, the control server 10 divides and sets the drivable area and the drivable area of the unmanned golf cart 20 together with a three-dimensional precision map with the unmanned golf cart 20 by utilizing the characteristics of the golf course, which is an open field. However, safe driving of the unmanned golf cart 20 may be induced by transmitting coordinate information of the areas together.

As one of the sensors included in the sensor module 320, a LiDAR (Light Detection And Ranging) sensor may be included, and detection information on various objects may be sensed through the lidar sensor. Here, the object may include, for example, various structures installed in a golf course, a user's golf equipment, a divot, and the like. The lidar sensor is a sensing technology that detects remotely using light and measures the distance to a target (ie, object). This lidar is similar to a radar (RADAR: Radio Detection And Ranging) in function, but radio waves Unlike radar that uses , it has the advantage of being able to recognize shapes. Accordingly, the lidar sensor on the unmanned golf cart 20 can detect, for example, a divot and transmit information about the divot to the control server 10 or the user terminal 40 .

The unmanned golf cart 20 according to some embodiments of the present disclosure may attach a lidar sensor to the lower end, and the lidar sensor attached in this way not only prevents collisions with people and obstacles, but also provides examples during driving or movement. For example, information such as the location, width, length, and depth of an area where a divot occurs (divot hole) on the lower ground of the unmanned golf cart 20 may be sensed and recorded. Information on the divot hole thus recorded may be transmitted to the control server 10 . The control server 10 controls the operation of the unmanned golf cart 20 when the information about the divot hole, for example, the depth of the divot hole is shallower than the reference value, and immediately fills the divot hole with soil such as soil or sand. It can be controlled to make temporary repairs by pouring.

As one of the sensors included in the sensor module 320, a camera sensor may be included, and a 360-degree camera sensor may be used as the camera sensor. The 360-degree camera sensor can capture various images by rotating 360 degrees while the unmanned golf cart 20 is stationary or moving. For example, when a user's play video is filmed through a 360-degree camera sensor, it can be filmed in various directions without restrictions on a specific location or angle, and the user's play video filmed in this way can be filmed in various ways in response to the user's play video playback request through 3D work. An angle image can be provided. Also, the 360-degree camera sensor may be used for sensing for divot detection. Meanwhile, the camera sensor may be matched so that a plurality of cameras form a matrix structure. According to some embodiments, the camera sensor may include a plurality of lenses arranged along at least one line. A plurality of lenses may be arranged in a matrix form. Such a camera may be referred to as an array camera. When the camera sensor is configured as an array camera, images can be captured in various ways using a plurality of lenses, and better quality images can be obtained.

In the present disclosure, when a 360-degree camera sensor is used together with a lidar sensor to detect a divot, the accuracy of divot detection can be improved.

In the present disclosure, the camera sensor may record a user's play video for each time period and information on movement, and transmit it to the control server 10 and/or the user terminal 40 .

In the present disclosure, the camera sensor is not only used when capturing a video of a user's play, but also serves as a black box when driving an unmanned golf cart, and can also be used as a black box to prevent safety accidents and theft of users. there is. However, the present disclosure is not limited to the above contents.

As one of the sensors included in the sensor module 320, a temperature/humidity sensor may be included, and the temperature/humidity sensor may obtain information about the temperature or humidity of the grass or the temperature or humidity of the surrounding environment. Sensing information obtained through the temperature/humidity sensor may be referred to in management such as maintenance and repair of grass and divots in the control server 10 .

Meanwhile, according to some embodiments of the present disclosure, the sensing module 320 may obtain an RGB image and transmit it to the control server 10 so as to identify the growth state of grass. The control server 10 can determine the growth state of the grass based on the RGB image and the information received through the temperature/humidity sensor and lidar sensor. Through this, the control server 10 can grasp the overall condition of the turf and classify it into areas requiring management, areas requiring priority management, and the like. The unmanned golf cart 20 moves to the area where the divot occurs based on the sensing information collected through the sensor module, and when the shape of the divot and the growth state of the grass exceed the set reference values, the information on the area is first provided. A management request list may be prepared and transmitted to the control server 10 .

The unmanned golf cart 20 according to the present disclosure visualizes the current weather condition, grass temperature, humidity information, etc. to a user who is playing (rounding) based on the information collected through the temperature/humidity sensor, and displays ( 360) can be provided.

According to some embodiments of the present disclosure, the divot combines location information sensed through the GPS-RTK type location information sensor and shape information of the divot sensed through at least one of the lidar sensor and the 360-degree camera sensor. , it is not only possible to detect more accurately, but also to obtain detailed information about the divot. For example, the lidar sensor may sense depth information of a divot hole in the grass as well as the detected divot. Accordingly, the unmanned golf cart 20 may list up divot recovery priorities based on at least one of the divot detection information and the divot detailed information, and transmit the divot recovery priority to the control server 10 . However, the list-up of the divot recovery priority may be performed in the control server 10 instead of the unmanned golf cart 20 .

Although an example of the sensor module 320 has been described above, it is not limited to the foregoing, and one or more sensors are further included in the sensor module 320 to control the unmanned golf cart 20 or the control server 10. It may refer to operation, control, etc.

The data processing unit 330 may process sensing information obtained through the sensor module 320 or data included in various information or control signals of the control server 10 received through the communication module 310 .

The operation control module 340 may extract various information about the driving of the unmanned golf cart 20 based on the data processed by the data processing unit 330 and control the driving of the unmanned golf cart 20 .

The divot processing module 350 may control the unmanned golf cart 20 so that the unmanned golf cart 20 performs a task of processing a divot based on the data processed by the data processor 330 .

The display 360 may display (output) information processed by the user terminal 40 . For example, the display 360 may display execution screen information of an application program driven in the user terminal 40 or UI or GUI (Graphic User Interface) information according to such execution screen information.

The display 360 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), or a flexible display. , 3D display, and e-ink display. However, it is not limited thereto.

The control unit 370 is in charge of overall control of the unmanned golf cart 20, and may control the operation of other components for the control.

The DB 380 may store data to be received, processed, processed, and the like in the unmanned golf cart 20 .

According to some embodiments of the present disclosure, the DB 380 need not necessarily be built into the driverless golf cart 20 and may be located remotely. However, when the DB 380 is located remotely, it must be accessible by at least the unmanned golf cart 20, and various data must be transmitted/received or saved/read through it.

According to some embodiments of the present disclosure, the unmanned golf cart 20 may further include a sound output unit.

The sound output unit may output audio data (or sound data, etc.) received from the communication module 310 or stored in the DB 380 . The sound output unit may output sound signals related to functions performed by the user terminal 40 .

The sound output unit may include a receiver, a speaker, a buzzer, and the like. That is, when the sound output unit is implemented as a receiver, it may be implemented in the form of a loudspeaker. However, it is not limited thereto.

According to some embodiments of the present disclosure, the unmanned golf cart 20 may further include a sound acquisition unit.

The sound acquisition unit may process an external sound signal into electrical sound data. The processed sound data may be utilized in various ways according to functions (or application programs being executed) being performed in the user terminal 40 . Meanwhile, various noise removal algorithms for removing noise generated in the process of receiving an external sound signal may be implemented in the sound acquisition unit.

The above-described examples are merely examples for explanation of the present disclosure, and the present disclosure is not limited to the above-described examples.

Through the components of FIGS. 1 to 3 described above, the system 1 can provide an environment in which the user can play through the unmanned golf cart 20 without a caddy, and can quickly and easily operate a golf course remotely with a minimum of manpower. By providing a manageable environment, the efficiency of the system can be increased.

Meanwhile, according to the present disclosure, the system 1 obtains precise location information and an object shape acquired by a LIDAR sensor through a GPS location information sensor, and synthesizes them to efficiently manage or process divots generated by a user's play. In addition, the user can play by receiving information such as his/her exact location, the condition of the grass, various play records, and play recommendation information through the terminal 40 .

4 is a flowchart illustrating an example of a driving control method of an unmanned golf cart according to some embodiments of the present disclosure. In relation to FIG. 4 , contents overlapping with those described above in FIGS. 1 to 3 will not be described again, and the differences will be mainly described below.

4 may be performed by the control server 10 of FIG. 1 , a processor of the control server 10 or the control unit 260 shown in FIG. 2 . For convenience of description, the control server 10 will be described below. Meanwhile, in the present disclosure, the control server 10 may also be referred to as a device that controls the operation of an unmanned golf cart.

The control server 10 may obtain sensing information from the unmanned golf cart 20 (S101). Here, the sensing information may be information in the form of raw data sensed by the sensing unit of the unmanned golf cart 20 or information in the form of data sensed and processed by the sensing unit of the unmanned golf cart 20 . However, the present disclosure is not limited thereto.

Specifically, the control unit 370 of the unmanned golf cart 20 may control the communication module 310 to transmit sensing information acquired through the sensing module 330 to the control server 10 . In this case, the control unit 270 of the control server 10 may receive sensing information through a communication unit.

Meanwhile, the control server 10 may obtain at least one of location information and motion information of the unmanned golf cart 20 (S103). Here, the location information may refer to information about the location of the unmanned golf cart 20, and the motion information is information related to the movement of the unmanned golf cart 20, for example, information about movement speed, movement direction, and the like. can mean However, the present disclosure is not limited thereto.

In detail, the controller 370 of the unmanned golf cart 20 may obtain at least one of location information and motion information of the unmanned golf cart through the sensor module 320 . When at least one of location information and motion information is acquired, the controller 370 may control the communication module 310 to transmit at least one of the location information and motion information to the control server 10 . In this case, the controller 270 of the control server 10 may receive at least one of location information and motion information through a communication unit.

Steps S101 and S103 described above may be performed simultaneously or may be performed in an order different from that shown.

The control server 10 may read previously stored map information from the DB 270 (S105). Here, the map information is information related to the map of the golf course, and may include information about the location of a green in the golf course, information about the location of a bunker in the golf course, and the like. However, the present disclosure is not limited thereto.

The control server 10 may identify the current location and operating state of the unmanned golf cart 20 based on at least one of map information, location information and motion information, and sensing information (S107).

In the present disclosure, the current location of the unmanned golf cart 20 can be identified based on location information and map information. However, it is not limited thereto, and the current location of the unmanned golf cart 20 includes map information, sensing information (eg, image information of a surrounding environment), location information, and motion information (eg, movement direction and It may be identified based on at least one of the moving speed).

In the present disclosure, the operating state may indicate whether the unmanned golf cart 20 is stationary or moving. For example, the control unit 370 of the unmanned golf cart 20 changes when at least one of location information and motion information changes or when sensing information (eg, image information of a surrounding environment) changes or when location information and When at least one of the motion information changes and the sensing information changes, it may be recognized that the unmanned golf cart 20 is moving. However, the present disclosure is not limited thereto.

The control server 10 may generate a control signal based on the current location and operating state of the unmanned golf cart 20 (S109).

Specifically, the control server 10 may generate a control signal by recognizing whether the unmanned golf cart 20 is moving or stopping and where the unmanned golf cart 20 is at a destination using the current location and operating state of the unmanned golf cart 20. there is.

The control server 10 may transmit the control signal to the unmanned golf cart 20 to control its operation (S111).

Meanwhile, the control signal includes at least one of driving control information for movement according to the current location and operating state of the unmanned golf cart 20, golf course state during driving of the unmanned golf cart 20, and divot management control information. may be included.

According to some embodiments of the present disclosure, the control server 10 extracts information about the temperature and humidity of the golf course grass and information about the divot from the obtained sensing information of the unmanned golf cart, and verifies the information about the divot. Thus, map information may be updated and stored, and the map information may be transmitted to the unmanned golf cart 20 . According to some embodiments of the present disclosure, the map information may include a divot area, a divot expected (candidate) area, and a recommended play area, and the control server 10 determines the unmanned golf cart 20 based on the map information. It is possible to generate driving control information for the vehicle.

In the present disclosure, driving control information may include driving command information for moving to at least one of a divot area, a divot expected area, and a recommended play area included in map information. However, the present disclosure is not limited thereto.

According to some embodiments of the present disclosure, the control server 10 may receive user motion detection data from the unmanned golf cart 20 and identify the user's motion using the user motion detection data. Here, the user motion detection data may refer to data identifying a user's motion motion (eg, motion to hit a tee shot, motion to move after hitting a golf ball, etc.), motion sensing data may be obtained by analyzing information obtained through at least one of a location information sensor, a 360-degree camera sensor, and a lidar sensor.

In the present disclosure, the control server 10 determines that, when the user action is a specific play action (for example, an action to hit a tee shot), play recommendation area information in the map information of the unmanned golf cart 20 It can be controlled to be output through the display or the user terminal 40 . This will be described later in more detail with reference to FIG. 8 .

According to some embodiments of the present disclosure, the unmanned golf cart is provided with information that the current location of the unmanned golf cart is near the tee box zone and information obtained through at least one of a location information sensor, a 360-degree camera sensor, and a lidar sensor, and information about the tee box zone Information that a feature corresponding to the feature exists in the surroundings (for example, information that the image taken around the area corresponds to the image of the tee box zone), information that the user is moving to hit a tee shot (for example, lidar When at least one of information that a specific object is holding a driver obtained through a sensor) is obtained, it may be recognized that the user's motion is a specific play motion.

According to some embodiments of the present disclosure, the driving control information may include information for controlling an operation of the unmanned golf cart 20 to move to a position away from the user by a preset distance according to the user characteristics. Here, the reason why the unmanned golf cart 20 moves to a position away from the user by a predetermined distance is to prevent the user from being disturbed by the unmanned golf cart 20 when the user hits a golf ball and to capture a video of the user's play. am.

Also, according to some embodiments of the present disclosure, driving control information may include information for controlling movement of the unmanned golf cart 20 according to whether an object is detected in the play space when leaving the play space.

For example, when the unmanned golf cart 20 moves outside the space where the user has already played, it generally moves according to the user's movement. However, the control server 10 scans the entire corresponding space before the unmanned golf cart 20 leaves the play space and pre-registered objects (eg, the user's golf club or other equipment, a new divot) etc.) is detected, and if at least one object is detected in the corresponding play space as a result of the detection, driving control information may be transmitted so that the motion of the unmanned golf cart 20 is locked. Meanwhile, when the movement of the unmanned golf cart 20 is restricted despite the user's movement, the control server 10 displays information related to the movement restriction and/or displays the unmanned golf cart 20 and/or the user. It can be controlled to be output through the terminal 40. Through this, the user may not lose equipment after playing, and the control server 10 immediately collects information and processes the divot when a divot is newly discovered, thereby increasing the management efficiency of the turf. .

According to some embodiments of the present disclosure, the control server 10 calculates an optimal distance for capturing the user's play video based on at least one of the user's body information, recommended play area information, and illuminance information to perform the unmanned golf course. The movement of the cart 20 can be controlled. According to some embodiments of the present disclosure, the control server 10 may refer to the user characteristic information when calculating the optimal distance. According to some embodiments of the present disclosure, in calculating the optimal distance, when the control server 10 draws a virtual extension line from the altitude information of the current location and the current location to the shot target point, the virtual extension Additional information about the surrounding environment (trees, hazards, bunkers, etc.) can be referenced. Here, the body information may include at least one of gender, age, height, weight, and the like.

According to some embodiments of the present disclosure, when the control server 10 receives a destination entry signal from the unmanned golf cart 20, information for setting a target space in the destination corresponding to the destination entry signal and the target A divot detection request for a space can be transmitted, and when divbot detection information according to the divot detection request is received from the unmanned golf cart 20, a divot area, a divot expected area, and a recommended play area are based on the received divot detection information. Information is extracted, map information is read, the read map information is compared with the extracted divot area information, divot expected area information, and recommended play area information for the target space, and the map information is updated and stored according to the comparison result. can In the above, the target space may indicate, for example, a space within a predetermined range based on a space where a user plays or a point where a golf ball is located within a destination. For example, the user may play the target space or indicate a play expected space. Referring to FIG. 8 , 800 may indicate a destination and 700 may indicate a target space.

According to some embodiments of the present disclosure, the control server 10, when the map information includes a region where a newly added divot occurs, determines whether to immediately manage the divbot for the corresponding region, and manages the divot immediately. Based on the determination result, processing operation control information for the corresponding divot may be generated and transmitted to the unmanned golf cart 20 . Meanwhile, it is difficult for the control server 10 to believe that a divot has occurred at present, but when a user plays in the corresponding area, the state of the grass is similar to the area where the divot occurred or the area repaired because a divot has already occurred is a divot. It can be separately managed as an expected area or a divot candidate area, and related information can be provided to the user through the unmanned golf cart 20 for reference during play.

5 is a diagram for explaining an example of an unmanned golf cart according to some embodiments of the present disclosure. In relation to FIG. 5, contents overlapping with those described above with respect to FIGS. 1 to 4 will not be described again, and will be described below focusing on differences.

Referring to (a) of FIG. 5 , the unmanned golf cart 20 may or may not operate with a user on board. Meanwhile, a space capable of holding a user's golf bag may be formed at the front of the unmanned golf cart 20 .

As shown in (a) of FIG. 5 , when a user's boarding is detected, the unmanned golf cart 20 may start driving and move to a destination along a predetermined route. In this case, the detection may mean a case in which both feet of the user are recognized on the support stand (and/or when both hands hold the support stand).

In the present disclosure, the unmanned golf cart 20 may include a weight sensor, and the unmanned golf cart 20 may detect that a user has boarded when a change in weight equal to or greater than a predetermined threshold is recognized through the weight sensor. .

Referring to (b) of FIG. 5 , the unmanned golf cart 20 is positioned at a predetermined distance (d1) from the user when the user is not on board or in a specific situation, and is in a stationary state or the predetermined distance (d1) according to the user's movement. d1) and move accordingly.

Meanwhile, as shown in FIG. 9 , the unmanned golf cart 20 determines whether other unmanned golf carts are detected within a predetermined range, and if at least one other unmanned golf cart is detected, whether the unmanned golf cart of the same playing user is detected. It is determined whether or not the golf cart is the same, and if it is not the unmanned golf cart of the same playing user, it may be controlled to maintain an interval of at least a first distance or more. On the other hand, if the unmanned golf carts 20 are unmanned golf carts of the same playing user, the control may be performed to maintain a second distance interval, and the second distance interval is determined by the state of each same playing user (playing, waiting for play). ) may vary. For example, the driverless golf cart(s) assigned to the waiting user may be clustered within a second distance interval (minimum distance interval) from each other.

6 is a diagram for explaining an example of a golf course management method using an unmanned golf cart 20 according to some embodiments of the present disclosure. In relation to FIG. 6, contents overlapping with those described above with respect to FIGS. 1 to 5 will not be described again, and will be described below focusing on differences.

Referring to (a) of FIG. 6, the unmanned golf cart 20 includes a first unmanned golf cart (basic unit) according to its role, and a second unmanned golf cart for supplying moisture to the grass according to the grass moisture/growth condition. , a third unmanned golf cart for supplying soil, such as sand for divot repair, etc., and each unmanned golf cart may exist individually according to its role.

According to some embodiments, the upper part of the unmanned golf cart 20 is formed in a structure in which at least one unit is detachable, and in order to perform a specific function, water is supplied to supply water after checking the grass moisture and growth state in the basic unit state. When the tank unit is attached to the top or to supply soil such as sand for divot repair, the soil tank unit may be attached to the top.

According to some embodiments, the unmanned golf cart 20 may have a space at the top where the water tank unit and the soil tank unit can be attached together.

Referring to (b) of FIG. 6 , the control server 10 operates a grass or divot or grass and/or divot while at least one unmanned golf cart drives in a target space 600 (eg, a fairway). You can check the status of and control to perform an operation.

At this time, the control server 10 may control the plurality of unmanned golf carts to collect information about grass and divot detection and their states while driving in the target space 600 so that their traffic lines do not overlap each other. Meanwhile, at least one of the plurality of unmanned golf carts may be controlled to report collected information to the control server 10 . In addition, the control server 10 generates a management control signal according to the report and transmits it to each of the plurality of unmanned golf carts or at least one unmanned golf cart among the plurality of unmanned golf carts, and sprays earth and sand where divot repair is required. and can be controlled to spray water on grass that needs moisture.

According to some embodiments, the unmanned golf cart 20 photographs the state of the detected divot and transmits it to the control server 10, and when the control server 10 determines that the divot is in a good state, the control server 10 returns the divot to the original state. A recovery control signal may be sent to the driverless golf cart 20 to move it into position. To this end, the unmanned golf cart 20 includes a component for moving the divot to its original position (eg, a robot forefinger arm, etc.) and a component for applying pressure so that the moved divot can be fixed at the corresponding position (eg, a robot forefinger arm). , a roller). When the divot is relocated to the corresponding location, the control server 10 sprays more moisture or soil through the unmanned golf cart 20 and applies pressure through the above-described configuration to control the divot to be restored to repair or manage the divot. there is.

7 is a diagram for explaining another example of a golf course management method using an unmanned golf cart according to some embodiments of the present disclosure. In relation to FIG. 7, contents overlapping with those described above with respect to FIGS. 1 to 6 will not be described again, and will be described below focusing on differences.

8 is a diagram for explaining an example of an operation of an unmanned golf cart when a user operation is a specific play operation according to some embodiments of the present disclosure. In relation to FIG. 8, contents overlapping with those described above with respect to FIGS. 1 to 7 will not be described again, and the differences will be mainly described below.

Referring to (a) of FIG. 7 , when at least one unmanned golf cart 20 enters a destination, the control server 10 sets a target space 700 in the destination, and transmits the target space setting information to the destination. It can be transmitted to the unmanned golf cart 20.

According to some embodiments of the present disclosure, when the unmanned golf cart 20 is controlled to simply manage the golf course, the destination may mean a space having a preset size based on a point where a divot is located, and the target space is the destination. It may refer to an area included in (a space having a preset size).

For example, when the destination is the first hole, the target space 700 may be the whole or part of the green, such as the fairway of the first hole.

According to some other embodiments of the present disclosure, when the unmanned golf cart 20 is controlled to support the user's play, the destination is a space of a preset size for the user's play (eg, including a tee box). space), and the target space may mean an area (eg, tee box area) included in the destination.

For example, when the destination is the tee box of the first hole, the target space 700 may mean a space within the tee box of the first hole.

Assuming that the tee-box is the target space 700 in the present disclosure, the unmanned golf cart 20 randomly drives the target space 700 as shown in FIG. You can perform actions for status, divot detection, etc. This may be done under the control of the control server 10 .

Through the above operation, at least one of the control server 10 and the unmanned golf cart 20 can generate mini-map information as shown in (b) of FIG. 7 . To generate the mini-map information, at least one of the control server 10 and the unmanned golf cart 20 reads map information pre-stored in a storage unit (not shown) and converts the turf conditions and divot detection contents into the map information. can be recorded in

Referring to (b) of FIG. 7, at least one of the control server 10 and the unmanned golf cart 20 is located in a detected divot DV, a divot expected area PDV, and a play recommendation area without a divot RDV. information can be recorded on the mini-map.

As described above, in the present disclosure, the divot expected area PDV may indicate an area where play in the corresponding area is not recommended, although it is not an area where a divot currently occurs.

In the present disclosure, the recommendation area RDV is an area in the target space 700 where no divot is detected and an area other than the divot expected area PDV, and may indicate an area in which a user's play in the corresponding area is recommended.

When mini-map information is generated, the unmanned golf cart 20 may transmit the mini-map information to the control server 10 .

According to some embodiments of the present disclosure, the unmanned golf cart 20 provides only location information (eg, coordinate information (x,y)) of the currently generated divot area and grass condition information within the target space 700. transmission, and the mini-map can be created in the control server 10.

Referring to FIG. 8 , the control server 10 may transmit recommended play areas X1 to X3 to the unmanned golf cart 20 based on mini-map information.

The unmanned golf cart 20 may provide the recommended play areas X1 to X3 within the target space 700 received through the control server 10 through a display so that the user can identify them.

In the present disclosure, the unmanned golf cart 20 is a control server (by a method of transmitting a preset signal so that the recommended play areas X1 to X3 are displayed on the user terminal 40) through the display or the user terminal 40. 10), information on the recommended play areas (X1-X3) received may be provided. At this time, it is difficult for the user to match and identify the information displayed only on the display of the unmanned golf cart 20 or on the user terminal 40 with a corresponding area in the actual space, that is, the target space 700. 20 may move to a location on the actual field corresponding to the information displayed on the display of the unmanned golf cart 20 or the user terminal 40, spray a predetermined display material such as powder, and move to be identifiable.

Meanwhile, according to some embodiments, the control server 10 determines whether the user is left-handed or right-handed, for example, calculates a recommended play area based on the user's characteristics, and drives the unmanned golf cart 20. can be provided through

According to some embodiments of the present disclosure described above, when a user hits a tee shot in the tee box, since the user can arbitrarily place a golf ball in the tee shot box and hit it, whether the hole currently playing golf is a slice hole, the user Based on whether the user is right-handed or not, an optimal position to hit a tee shot may be recommended to the user.

9 is a diagram for explaining an example of an operation of an unmanned golf cart according to a user according to some embodiments of the present disclosure. In relation to FIG. 9 , contents overlapping with those described above in FIGS. 1 to 8 will not be described again, and the differences will be mainly described below.

9 shows an example of an operation of the unmanned golf carts 21 and 22 when a user's play video (eg, swing video) is captured.

According to some embodiments of the present disclosure, the unmanned golf cart 20 may move by a predetermined distance to capture a video of a user's play. The predetermined distance may be set differently according to at least one of, for example, a user's request, a user's gender, a golf course structure such as a tee box or a fairway, and an external environment such as illumination.

For example, the first unmanned golf cart 21 may be located at a distance by a first distance do1 to capture a first user's play video, and the second unmanned golf cart 22 is a second user's play video. It may be located at a distance as much as the second distance (do2) in order to photograph. In this case, the first distance do1 and the second distance do2 may be different.

The unmanned golf cart 20 may be interlocked with a pair of signal terminals to be assigned an identifier, and a distance may be maintained to minimize signal interference with other users' unmanned golf carts.

Meanwhile, when the first unmanned golf cart 21 moves away from the first user by the first distance do1 to capture a play video of the first user, an unmanned golf cart adjacent to the first unmanned golf cart 21 The golf cart 22 may move while maintaining a distance equal to or greater than a minimum distance di that does not interfere with the photographing of the first unmanned golf cart 21 .

10 is a diagram for explaining an example of a divot management configuration of an unmanned golf cart according to some embodiments of the present disclosure. In relation to FIG. 10 , contents overlapping with those described above in FIGS. 1 to 9 will not be described again, and hereinafter, differences will be mainly described.

The unmanned golf cart 20 may obtain sensing information about grass, such as a divot and a fairway, obtained through, for example, a LIDAR sensor. In addition to the lidar sensor, the sensing information may also include a divot through a temperature/humidity sensor or information on temperature/humidity of grass and soil.

When a divot is found, the unmanned golf cart 20 may report it to the control server 10 and perform an operation according to a control signal of the control server 10 .

The unmanned golf cart 20 according to some embodiments of the present disclosure reports information about the divot to the control server 10, but determines the divot management operation independently of the control server 10 receiving a control signal. can also be done

Referring to FIG. 10 , a configuration for divot management of an unmanned golf cart 20 according to some embodiments of the present disclosure is disclosed.

For example, a part of the lower end of the unmanned golf cart 20 may include the configuration shown in FIG. 10 .

An unmanned golf cart 20 according to some embodiments of the present disclosure may include the configuration shown in FIG. 10 on a portion of a side surface.

The unmanned golf cart 20 includes a first accommodating part 1010 accommodating a first material (eg soil) and a second accommodating part 1020 accommodating a second material (eg water). It may be, but is not limited thereto.

The first material accommodated in the first accommodating part 1010 moves to the first tank part 1012 through the passage part 1011, and is sprayed from the first tank part 1012 to the outside through the first nozzle 1013. It can be.

The second material accommodated in the second accommodating part 1020 moves to the second tank part 1022 through the passage part 1021, and is sprayed from the second tank part 1022 to the outside through the second nozzle 1023. It can be.

Each of the above components may be individually controlled or, according to some embodiments, may be controlled simultaneously.

Meanwhile, for convenience, the first tank unit 1012 and the second tank unit 1022 are described as being separated, but are not limited thereto and may be configured in an integrated form.

Each of the nozzles 1013 and 1023 can be adjusted in direction and length, and as shown in FIG. 10 , when the unmanned golf cart 20 is moving, it can be accommodated inside.

Although only two accommodating units are shown in FIG. 10 for convenience of description, an accommodating unit for accommodating more substances may be further included.

Meanwhile, referring to FIGS. 6 and 10 , the first accommodating part 1010 and the second accommodating part 1020 corresponding to the tank units are disposed above the unmanned golf cart 20, and the connecting passage 1011 , 1021) may be combined in a tank and sprayed to the outside through a nozzle.

11 and 12 relate to operation control and golf course management (particularly, divot management) of an unmanned golf cart, and FIG. 13 may relate to operation control of an unmanned golf cart assisting a user.

11 is a flowchart illustrating an example of a method for controlling an operation of an unmanned golf cart according to some embodiments of the present disclosure. In relation to FIG. 11, contents overlapping with those described above in FIGS. 1 to 10 will not be described again, and the differences will be mainly described below.

The unmanned golf cart 20 may receive and store map information from the control server 10 (S201).

The unmanned golf cart 20 may acquire at least one of location information and motion information, and transmit at least one of the obtained location information and motion information to the control server 10 (S203).

According to some embodiments of the present disclosure, the unmanned golf cart 20 may acquire location information and motion information. If there is only location information of the unmanned golf cart 20, it is difficult for the control server 10 to immediately identify information about the operating state of the unmanned golf cart 20, such as moving/stopping, destination, and the like. Therefore, it is possible to quickly and easily predict information about the operating state of the unmanned golf cart 20 by referring to information about the movement speed, movement direction, etc. through the motion information.

The unmanned golf cart 20 may receive a driving control signal according to at least one of the transmitted location information and motion information from the control server 10 (S205).

Since the driving control signal does not reflect the divot information generated according to the current user's play or the previous user's play, the unmanned golf cart 20 reads the previously stored map information, and reads the map information and the received driving control signal. While driving based on , a divot may be detected through a sensor, and information on the detected divot may be calculated (S207).

The unmanned golf cart 20 may transmit information on the calculated divot to the control server 10 (S209).

The unmanned golf cart 20 may receive a divot management control signal according to the transmission of the divot information from the control server 10, process a target divot according to the received divot management control signal, and transmit the processing result (S211). ).

According to some embodiments of the present disclosure, unlike shown in FIG. 11 , the unmanned golf cart 20 does not operate according to control information received after transmitting information to the control server 10, but rather based on information acquired in real time. It can also drive automatically based on it. For example, the unmanned golf cart 20 provides direct information in the case of poor communication conditions, short distance driving within a target space, driving according to a predetermined routine, or driving within a hole rather than moving between holes. can be processed and driven. For example, if updated map information is not received from the control server 10, the unmanned golf cart 20 may automatically operate based on previously stored map information. In this case, a routine may be determined in advance, and motion information for an operation for each routine may be generated and operated based on artificial intelligence.

In addition to the transmission operation separately defined above, the unmanned golf cart 20 may continuously transmit current location information and motion information to the control server 10 periodically/non-periodically.

According to some embodiments of the present disclosure, update of map information may be performed upon entering each hole or may be performed in real time.

12 is a flowchart for explaining another example of a method for controlling an operation of an unmanned golf cart according to some embodiments of the present disclosure. In relation to FIG. 12, contents overlapping with those described above in FIGS. 1 to 11 will not be described again, and the differences will be mainly described below.

The unmanned golf cart 20 may read previously stored map information (S301).

The unmanned golf cart 20 may extract divot information (first divot information) from the map information (S303).

When an object is sensed through the sensor, the unmanned golf cart 20 may regard the object as a divot and calculate information about the divot (second divot information) (S305).

The unmanned golf cart 20 may compare the first divot information and the second divot information, generate divot verification information for the object, and transmit it to the control server 10 (S307).

In the above, the divot verification information may include information identifying whether or not a corresponding object has a divot.

According to some embodiments of the present disclosure, the divot verification information, when the object is identified as a divot, is based on information such as the position of the divot, the size of the divot, and the depth of grass around the divot or the divot. Information for identifying whether the divot is a newly generated divot or a divot that has already been generated and recorded according to the current user's play may be indicated.

According to some embodiments of the present disclosure, in addition to the above comparison, the unmanned golf cart 20 may include information about damaged grass, moisture level, and the like in the divot verification information by self-determination.

The unmanned golf cart 20 may receive map information reflecting the divot verification information transmitted from the control server 10 and update previously stored map information (S309).

The unmanned golf cart 20 may detect the user and identify the user's motion (S311).

The unmanned golf cart 20 may provide recommendation information based on map information updated according to the user's motion (S313).

The step S311 may represent identifying whether the user's motion is, for example, a specific play motion. Accordingly, the recommendation information may be provided when the user's motion is play progress.

According to some embodiments of the present disclosure, the unmanned golf cart 20, unlike shown in FIG. 12 , when a foreign object or obstacle is detected, reads pre-stored map information and compares the map information to a suspected divot or candidate object. settings, transmits information (eg, shooting information) on the object to the control server 10, and the control server 10 performs the divot verification information generation, pre-stored map information update, etc., Map information with updated information may be transmitted to the unmanned golf cart 20 .

According to some embodiments of the present disclosure, additional information newly added or reflected in other updates may be displayed differently from previous information in the updated map information.

According to some embodiments of the present disclosure, in updated map information, location information on a divot updated according to the divot verification information may be referred to when providing recommendation information to a user. That is, with reference to the updated map information, recommendation information about a location where there is no divot in the target space may be provided to the user. Accordingly, step S313 of FIG. 12 may be created and provided based on the updated map information.

13 is a flowchart illustrating another example of a method for controlling an operation of an unmanned golf cart 20 according to some embodiments of the present disclosure. In relation to FIG. 13, contents overlapping with those described above in FIGS. 1 to 12 will not be described again, and the differences will be mainly described below.

The unmanned golf cart 20 may detect the user and the user's motion (S401). And, the unmanned golf cart 20 can identify the user and the user's motion (S403).

In the present disclosure, identifying a user's motion may indicate identifying whether the user intends to play, such as a user's preliminary motion for play.

For example, it may be identified whether the user's motion is a motion to prepare for a tee shot, which is a specific play motion.

Meanwhile, the identification of the user's motion may not necessarily be performed only by image information, and may be identified or referred to through voice or the like.

The unmanned golf cart 20 may provide play recommendation location information according to the user's motion (S405).

Here, the play recommendation location information may be provided based on the recommendation information described in step S313 of FIG. 12, that is, map information updated according to divot verification.

After providing the play recommendation location information, the unmanned golf cart 20 may move to a preset location (S407).

Here, the preset location may indicate, for example, a location optimized for the user's play shooting based on user play recommendation location information or current user location information. In addition, the preset location may include not only a distance from the user but also a location determined in real time according to current weather or illumination.

After moving to the preset location, the unmanned golf cart 20 may capture a video of the user's play (S409).

Here, the unmanned golf cart 20 may determine a resolution of the user's play video based on the intensity of illumination and the like, and may capture the image at the determined resolution.

According to some embodiments of the present disclosure, the unmanned golf cart 20 moves to an appropriate location for photographing in step S407, and then moves from the user's play preparation motion to the finish motion of the corresponding play or after the finish motion, and drives the golf club. Even the motion for returning to the unmanned golf cart 20 can be photographed. Here, the unmanned golf cart 20 may perform a processing operation for the divot when detecting the user's finishing operation. However, the present disclosure is not limited thereto.

According to some embodiments of the present disclosure, the unmanned golf cart 20 may transmit the original video of the user's play to the control server 10 as it is, or may process and transmit the original video to the control server 10. In the above, processing may include, for example, dividing and processing the entire original video into a play preliminary operation, a play original operation, and an unrelated play operation. In addition, the unmanned golf cart 20 compresses and transmits the original video if the original video is larger than a predetermined size, but if the size of the compressed file is also larger than the predetermined size, some of the data for the separated motion (Play Bonn). operation) may be transmitted to the control server 10. Meanwhile, some of the data separated from the play original video may be recorded in the unmanned golf cart 20 without being transmitted to the control server 10 . Some of the recorded play image data may be reset when the corresponding user returns the unmanned golf cart 20 to a reference location such as a club house.

The unmanned golf cart 20 may record the captured user's play video and transmit it to the control server 10 (S411).

The unmanned golf cart 20 may receive play-related information on the transmitted user's play video from the control server 10 and provide the information to the user (S413).

The play-related information may include at least one or more of general information about play, comparison information with play images of the user and/or other users previously stored in the control server 10, and play coaching information by experts.

In the present disclosure, general information about a play may include overall play information about a corresponding play at a corresponding position, such as play time, calculated play accuracy, or miss shot probability.

In the present disclosure, the term “other user” refers to a user who is playing together, a user whose at least one video recording of a play has been uploaded to the control server 10 while currently playing in the corresponding club, a user of the same age group, a user of the same gender, and the same user. Alternatively, users of similar abilities, users of the same or similar levels, and the like may be included.

In the present disclosure, comparison information of play images may be provided in units of individual users or in units of groups playing together.

In the present disclosure, play coaching information may be created and provided in real time by an expert or expert group having a coaching license registered in advance in the control server 10 .

According to some embodiments of the present disclosure, the play coaching information is judged on the play based on artificial intelligence in the control server 10, and at least one or more coaching information previously stored for the determined play is read from the DB 270. Therefore, it may be provided according to priority. In the above, the learning data for determining the corresponding play may be, for example, play data of at least one of the experts with the above-mentioned pre-registered coaching license. Meanwhile, the control server 10 generates and stores a learning model using the play video data of each expert as learning data, and then, when the user transmits a specific expert selection signal through the unmanned golf cart 20, the corresponding learning model Coaching information may be generated and provided based on learning through.

Various types of information described in this disclosure may be information determined by a preset bar, which may be arbitrarily changed.

According to some embodiments of the present disclosure, the control server 10 may obtain information obtained while driving through the sensing module 320 of the unmanned golf cart 20 . Here, the sensing module 320 may include a 360-degree camera sensor, a location information sensor, a LIDAR sensor, a temperature/humidity sensor, and the like. As described above, the information acquired by the control server 10 can be provided to users and administrators, and the user can be provided with information on atmospheric conditions such as temperature and humidity of the golf course while freely moving, and the administrator can remotely It is possible to grasp the overall situation of the golf course.

According to at least one of the above-described embodiments of the present invention, it is possible to ensure optimal and safe driving in consideration of various circumstances when driving in a golf course, and the condition of the grass, divot, etc. in real time according to the user's play in the golf course It is possible to monitor and process, so it is efficient in the operation and management of the golf course, and has the advantage of helping the user's golf play.

In the present disclosure, the apparatus is not limited to the configuration and method of the above-described several embodiments, but all or part of each of the embodiments may be selectively combined so that various modifications may be made. there is.

Various embodiments described in this disclosure may be implemented in a recording medium readable by a computer or a similar device using, for example, software, hardware, or a combination thereof.

In terms of hardware implementation, some embodiments described herein include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), and field programmable gate arrays (FPGAs). , processors, controllers, micro-controllers, microprocessors, and electrical units for performing other functions. Some embodiments may be implemented with at least one processor.

According to software implementation, some embodiments, such as procedures and functions described in this disclosure, may be implemented as separate software modules. Each of the software modules may perform one or more functions, tasks, and operations described in this disclosure. Software code may be implemented as a software application written in any suitable programming language. Here, the software code may be stored in the storage unit and executed by at least one processor. That is, at least one program command may be stored in the storage unit, and at least one program command may be executed by at least one processor.

A method for learning a dementia identification model by at least one processor of a device according to some embodiments of the present disclosure is implemented as code readable by at least one processor in a recording medium readable by at least one processor included in the device. it is possible A recording medium readable by at least one processor includes all kinds of recording devices in which data readable by at least one processor is stored. Examples of a recording medium readable by at least one processor include a read only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

On the other hand, although the present disclosure has been described with reference to the accompanying drawings, this is only an embodiment and is not limited to a specific embodiment, and various contents that can be modified and implemented by those skilled in the art to which the invention belongs are also claimed. belongs to the scope of rights according to In addition, such modified implementations should not be individually understood from the technical spirit of the present invention.

Claims (15)

A method of controlling operation of an unmanned golf cart by at least one processor of a device, the method comprising:
obtaining sensing information from an unmanned golf cart;
obtaining at least one of location information and motion information of the unmanned golf cart;
reading map information and identifying a current location and operating state of the unmanned golf cart based on at least one of the location information and the motion information, the map information, and the sensing information;
generating and transmitting a control signal according to the current location and the operating state to the unmanned golf cart;
receiving user motion sensing data from the unmanned golf cart;
identifying a user motion using the user motion detection data; and
controlling recommended area information in the map information to be output through a display of the unmanned golf cart when the user's motion is a specific play motion;
including,
In the control signal,
At least one of driving control information for movement according to the current location and the operating state, a golf course state during driving of the unmanned golf cart, and divot management control information,
The driving control information,
Including information for controlling the operation of the unmanned golf cart to move to a position that is a preset distance away from the user according to user characteristics;
Obtaining sensing information from the unmanned golf cart is:
extracting information about the temperature and humidity of the golf course turf and information about the divot from the sensing information;
verifying information about the divot, updating and storing the map information; and
transmitting the map information to the unmanned golf cart and generating the driving control information based on the map information when the map information is updated;
including,
A method for controlling an unmanned golf cart operation. delete delete According to claim 1,
The map information includes a divot area, a divot expected area, and a recommended play area.
A method for controlling an unmanned golf cart operation. delete delete According to claim 1,
In the driving control information,
Further comprising information for controlling movement of the unmanned golf cart to be locked depending on whether an object is detected when leaving the play space,
A method for controlling an unmanned golf cart operation. According to claim 7,
The preset distance,
A distance calculated for capturing the user's play video based on at least one of the user's body information, recommended play area information, and illuminance information,
A method for controlling an unmanned golf cart operation. According to claim 1,
receiving a destination entry signal from the unmanned golf cart; and
Transmitting information for setting a play target space and a divot detection request for the play target space in response to the destination entry signal;
Including more,
A method for controlling an unmanned golf cart operation. According to claim 9,
receiving divot detection information according to the divot detection request from the unmanned golf cart;
extracting information on a divot area, a divot expected area, and a recommended play area based on the divot detection information;
comparing the map information with divot area information extracted from the target space, divot expected area information, and recommended play area information; and
updating and storing the map information according to a comparison result;
Including more,
A method for controlling an unmanned golf cart operation. According to claim 10,
If the map information is updated and the map information includes a newly added divot area or a divot expected area, determining whether to immediately manage the divbot for the newly added divot area or the divbot expected area; and
generating and transmitting processing operation control information for the divot area or the divot expected area to the unmanned golf cart based on a result of determining whether to manage the divot immediately;
Including more,
A method for controlling an unmanned golf cart operation. According to claim 1,
The map information is
3D high-precision map generated based on map data,
A method for controlling an unmanned golf cart operation. According to claim 12,
The location information of the unmanned golf cart is collected based on a Global Positioning System-Real-time Kinematic (GPS-RTK) method,
The divot is sensed through at least one of a 360-degree camera sensor and a lidar sensor,
A method for controlling an unmanned golf cart operation. A computer program stored on a computer readable storage medium, the computer program, when executed on at least one processor of a device, performing steps for controlling operation of an unmanned golf cart, the steps comprising:
obtaining sensing information from an unmanned golf cart;
obtaining at least one of location information and motion information of the unmanned golf cart;
reading map information and identifying a current location and operating state of the unmanned golf cart based on at least one of the location information and the motion information, the map information, and the sensing information;
generating and transmitting a control signal according to the current location and the operating state to the unmanned golf cart;
receiving user motion sensing data from the unmanned golf cart;
identifying a user motion using the user motion detection data; and
controlling recommended area information in the map information to be output through a display of the unmanned golf cart when the user's motion is a specific play motion;
including,
In the control signal,
At least one of driving control information for movement according to the current location and the operating state, a golf course state during driving of the unmanned golf cart, and divot management control information,
The driving control information,
Including information for controlling the operation of the unmanned golf cart to move to a position that is a preset distance away from the user according to user characteristics;
Obtaining sensing information from the unmanned golf cart is:
extracting information about the temperature and humidity of the golf course turf and information about the divot from the sensing information;
verifying information about the divot, updating and storing the map information; and
transmitting the map information to the unmanned golf cart and generating the driving control information based on the map information when the map information is updated;
including,
A computer program stored on a computer readable storage medium. An apparatus for controlling the operation of an unmanned golf cart, the apparatus comprising:
a storage unit storing at least one program command; and
at least one processor to execute the at least one program instruction;
including,
The at least one processor,
Acquiring sensing information from the unmanned golf cart;
Obtaining at least one of location information and motion information of the unmanned golf cart;
reading map information, and identifying a current location and operating state of the unmanned golf cart based on at least one of the location information and the motion information, the map information, and the sensing information;
generating and transmitting a control signal according to the current location and the operating state to the unmanned golf cart;
Receiving user motion detection data from the unmanned golf cart;
Identifying a user motion using the user motion detection data;
When the user's motion is a specific play motion, controlling recommended area information in the map information to be output through a display of the unmanned golf cart;
The control signal is
At least one of driving control information for movement according to the current location and the operating state, a golf course state during driving of the unmanned golf cart, and divot management control information;
The driving control information,
Including information for controlling the operation of the unmanned golf cart to move to a position that is a preset distance away from the user according to user characteristics;
The at least one processor,
When sensing information is obtained from the unmanned golf cart, information on the temperature and humidity of the golf course grass and information on a divot are extracted from the sensing information, the information on the divot is verified, and the map information is updated and stored. When the map information is updated, transmitting the map information to the unmanned golf cart and generating the driving control information based on the map information.
Device.

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