KR20220138572A - Ai golf cart and golf system comprising the ai golf cart - Google Patents

Abstract

The present invention relates to an AI golf cart, which comprises a camera sensor that captures an image of the outside of the golf cart, an RF communication interface that transmits and receives data wirelessly with a user device, and a control unit that determines a golf play state of a golfer of a user device using IMU data of a wireless communication packet received through the RF communication interface and image data received through the camera sensor, and to a golf system including the same.

Description

AI golf cart and golf system including same {AI GOLF CART AND GOLF SYSTEM COMPRISING THE AI GOLF CART}

The present invention relates to an AI golf cart and a golf system including the same, specifically, following a golfer in the field, providing various information necessary for golf play to the golfer, and recognizing the golfer's shot and storing an image corresponding to the recognized shot It relates to an AI golf cart capable of this and a golf system including the same.

Golf is a game in which a stationary ball is hit with a golf club and put into the hole on a golf course equipped with many holes, and the golfer with the fewest strokes required to enter the hole wins. A group of 3 or 4 players conducts a golf round (rounding), and the win or loss is determined by the number of total strokes of the members in one group (or all groups).

Golf is used not only for the purpose of exercise, but also for the purpose of strengthening friendship. A golfer who plays 18 holes (or 9 holes or 36 holes) for more than 4 hours can have various bonds between team members while playing golf.

A golfer visits the same golf course or another golf course regularly or irregularly and plays at that golf course. In order to reduce the total number of strokes on the golf course, golfers practice various and continuous golf and are familiar with the terrain of the golf course to be played.

In addition, in order to play golf effectively on the golf course, various peripheral assistance is required. A caddy provides a golfer with a lot of help in a round of golf. For example, the caddy guides the target hole (cup) or the remaining distance to the destination, a golf club recommendation, and the characteristics of the hole currently being played. In addition, the caddy provides various auxiliary aids to the golfer.

On the other hand, various changes are expected in golf rounds due to changes inside and outside the golf industry. With the introduction of the 52-hour workweek for golf course caddies and the application of various social security systems, it is expected that the number of caddies that can be hired will decrease or the number of available caddies will decrease.

Furthermore, it would be very desirable if the golfer's own play in the golf course could be replayed and guidance suitable for the golfer's own play style or characteristics was possible.

As such, there is a need for an AI golf cart capable of assisting a golfer on a golf course, guiding a golf round, and providing a personalized service to a golfer, and a golf system including the same.

Registered Patent 10-1780213, September 22, 2017,

The present invention has been devised to solve the above problems, and an object of the present invention is to provide an AI golf cart capable of providing a personalized service related to golf play in a round of golf and a golf system including the same.

Another object of the present invention is to provide an AI golf cart capable of recognizing a golfer's behavioral pattern through an IMU sensor and a camera and dynamically guiding golf play according to the golfer's recognized behavioral pattern, and a golf system including the same. There is this.

In addition, the present invention can automatically configure a golf shot scene and a golf shot direction that can be specified by automatically recognizing a golf shot together with recognition of a golfer's behavior pattern through an IMU sensor and a camera, and can automatically configure a play history for each hole, and reproduce the golfer's play An object of the present invention is to provide an AI golf cart that can do this and a golf system including the same.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. will be able

A golf cart according to an aspect of the present invention includes IMU data of a wireless communication packet received through a camera sensor for photographing an image of the outside of the golf cart, an RF communication interface for transmitting and receiving data wirelessly with a user device, and an RF communication interface and a controller for determining the golf play state of the golfer of the user device by using the image data received through the camera sensor.

In the above golf cart, further comprising a GPS sensor for sensing the position of the golf cart, the control unit wireless communication with the first GPS data of the wireless communication packet received through the RF communication interface and the second GPS data from the GPS sensor The golf cart is controlled to maintain within a set distance from the user device according to the packet characteristic data and golf play state.

In the golf cart described above, the controller is configured to provide a wireless communication packet within a set distance when the distance determined by the first GPS data and the second GPS data is out of the first distance greater than or equal to the set distance while the golf play state is in the moving state. Controls the movement of the golf cart toward the user device according to the direction data of the first GPS data and the second distance determined by the GPS data is within the first distance, the distance recognized by the signal strength data of the wireless communication packet Controls the movement of the golf cart toward the user device to be within a set distance according to the.

In the above golf cart, the control unit recognizes a behavior pattern from IMU data of a wireless communication packet, and determines the golfer's golf play state based on the recognized behavior pattern and the golfer's recognition using artificial intelligence technology in the image data.

In the golf cart described above, further comprising a GPS sensor for sensing the position of the golf cart, a storage unit for storing data, and a radar sensor, wherein the control unit is an image captured by a camera sensor in the storage unit in the golfer's golf shot preparation state It stores the data and generates golf shot information including the shot position determined by the image data before and after golf shot recognition according to the golf shot recognition through the radar sensor and the GPS data received through the RF communication interface and stores it in the storage unit. .

In the above-described golf cart, the control unit recognizes the golf shot preparation pattern from the IMU data of the wireless communication packet, the golfer and the golf shot preparation pattern from the image data, and the golfer's state based on the combination of the recognition of the golf ball from the image data. is determined to be ready for a golf shot.

In the above golf cart, the control unit is generated according to the view direction of the image data immediately before the image data of the golf shot information immediately before the current golf shot information, the shot position of the golf shot information immediately before, and the shot position of the current golf shot information. According to the shot distance and the shot direction, a shot line is added to the image data of the previous golf shot information and stored.

In addition, the golf system according to an aspect of the present invention includes a user device that periodically transmits GPS data and IMU data to the golf cart and the golf cart through wireless communication.

In the above golf system, the wireless communication is Bluetooth wireless communication or UWB wireless communication.

In addition, the golf system according to an aspect of the present invention includes the above-described golf cart and the golf management server, and the control terminal of the golf cart receives the golf play characteristic information of the golfer from the golf management server and plays golf in the golf ball recognition state. A golf shot guide message determined based on the characteristic information, the characteristics of the hole being played, and the external environment information is output as voice or text, and a plurality of golf shot information for each hole generated according to golf play is uploaded to the golf management server.

The AI golf cart and the golf system including the same according to the present invention as described above have an effect of providing a personalized service related to golf play in a round of golf.

In addition, the AI golf cart according to the present invention and a golf system including the same according to the present invention as described above can recognize a golfer's behavior pattern through an IMU sensor and a camera and dynamically guide golf play according to the golfer's recognized behavioral pattern. there is

In addition, the AI golf cart according to the present invention and the golf system including the same according to the present invention as described above automatically recognize the golf shot together with the recognition of the golfer's behavior pattern through the IMU sensor and the camera to specify the recognized golf shot scene and golf shot direction. It is possible to automatically configure the play history for each possible hole and has the effect of replaying the golfer's play.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those of ordinary skill in the art from the following description. will be.

1 is a diagram showing the configuration of an exemplary golf system according to the present invention.
2 is a diagram illustrating an exemplary block diagram of a user device.
3 is a diagram illustrating an exemplary block diagram of a golf cart.
4 is a diagram illustrating an exemplary block diagram of a golf management server.
5 is a diagram illustrating a main control flow for managing golf play.
6 is a diagram illustrating an example of replaying monitored golf play through a golf cart in a specific hole course of a golf course.

The above-described objects, features and advantages will become more clear through the detailed description described below in detail with reference to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains can understand the technical spirit of the present invention. can be easily implemented. In addition, in the description of the present invention, when it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram showing the configuration of an exemplary golf system according to the present invention.

According to FIG. 1 , a golf system capable of guiding and managing golf play is configured to include a user device 200 , a golf cart 100 , and a golf management server 300 . Some devices or devices may be omitted from the golf system according to design examples or variations. For example, the user device 200 and/or the golf management server 300 may be omitted from the golf system.

Briefly looking at the golf system through FIG. 1 , the user device 200 is a device used by a golfer who is a user. The user device 200 is configured to be fixed to a golfer's trousers, a belt, etc. through a fixing clip carried by a user or a built-in fixing clip.

The golf cart 100 and the user device 200 established and/or paired with a communication channel transmits a wireless communication packet through wireless communication. The user device 200 includes IMU (Inertial Measurement Unit) data that can specify the user's movement and GPS data that can specify the user's location in a wireless communication packet periodically according to a set period to the golf cart 100 (of control terminal).

The wireless communication between the user device 200 and the golf cart 100 may be, for example, Bluetooth wireless communication, UWB (Ultra Wide Band) wireless communication, Wi-Fi, or any wireless communication method known or to be known. The wireless communication between the user device 200 and the golf cart 100 is preferably a Bluetooth wireless communication method or a UWB wireless communication method. The user device 200 will be described in more detail with reference to FIGS. 2 and 5 .

The golf cart 100 is a device capable of loading (loading) a golfer's golf bag (golf bag) and following (following) a user. The golf cart 100 has an electric motor and an electric battery therein and is configured to follow the golfer within a set distance according to GPS data wirelessly received from the user device 200 .

In addition, the golf cart 100 determines the golfer's golf play state according to the golfer's movement and the shot image according to the IMU data wirelessly received from the user device 200, and can take various actions corresponding to the determined golf play state. have. The golf cart 100 is provided with various sensors and communication interfaces, and by applying artificial intelligence technology, determines the playing state of golf, and may perform various guidance, image storage, golf play storage, etc. according to the play state.

For example, the golf cart 100 includes various sensors or has a control terminal capable of interfacing with various sensors, and outputs various voice or text guidance according to the golfer's play state through the control terminal and corresponds to the play state. information can be stored.

The golf cart 100 will be described in more detail with reference to FIGS. 3 and 5 .

The golf management server 300 stores various types of golfer-related information. The golf management server 300 stores golf play characteristic information determined from the golfer's golf play history information and golfer play history information, including the user DB. The golf management server 300 may transmit the golf play characteristic information of the golfer to the golf cart 100 (control terminal of) logged in through a user ID and password, etc., and a plurality of holes for each hole from the golf cart 100 (control terminal of) It is possible to update golf play history information by receiving golf shot information of .

The golf management server 300 will be looked at in more detail with reference to FIGS. 4 and 5 .

The golf management server 300 and the golf cart 100 may be connected to each other through wireless and/or wired communication to transmit/receive various data. The golf management server 300 and the golf cart 100 are connected to the Internet through Wi-Fi, Ethernet, etc. to transmit and receive various data necessary for a golfer's golf guide, data for knowing the score of golf play on the golfer's golf course, etc. .

2 is a diagram illustrating an exemplary block diagram of a user device 200 .

According to FIG. 2 , the user device 200 includes an input interface 210 , a GPS sensor 230 , an IMU sensor 250 , a wireless communication interface 270 , and a processor 290 . The block diagram of FIG. 2 is preferably a hardware block diagram, and according to a design modification, the user device 200 is configured by omitting some structural blocks of FIG. 2 or the user device 200 adds other blocks not shown in FIG. 2 may include

The user device 200 according to the present invention is a small device that a golfer can carry or possess, and may be attached to or coupled to a golfer's waist, a belt, or the like. The user device 200 may include fixing means such as clips, magnets, holders, etc. to be fixed to a specific body location (eg, waist) of the golfer and move with the golfer. The user device 200 is a device owned by a golfer or a device leased from a golf course (front of a golf course).

Referring to the user device 200 through FIG. 2 , the input interface 210 receives a user input. The input interface 210 may include a button (a touch button, a push button) and the like to receive an input from a golfer or other user. The input interface 210 may receive a power on/off input or an input for pairing or setting a communication channel with the control terminal of the golf cart 100 .

The GPS sensor 230 senses the location of the user device 200 . The GPS sensor 230 senses a GPS signal from a GPS satellite and outputs sensed data corresponding to the sensed signal to the processor 290 .

The Inertial Measurement Unit (IMU) sensor 250 senses the movement of the user device 200 . The IMU sensor 250 may sense the user's (golfer's) movement (the golfer's moving speed, directional direction, acceleration, etc.) It consists of a sensor and a geomagnetic sensor.

The IMU sensor 250 can measure the acceleration and pitch, yaw, and roll angular velocity of the user device 200 (golfer of) in the traveling direction, lateral direction and height direction, and is used for determining the speed, posture, and direction of the golfer. Possible sensing data is output to the processor 290 .

The wireless communication interface 270 is an interface for performing wireless communication with the golf cart 100 (control terminal of). The wireless communication interface 270 includes a wireless antenna, a chipset for performing wireless communication above the physical layer or MAC layer, and performs designated wireless communication. The wireless communication interface 270 performs wireless communication according to Bluetooth, UWB, Wi-Fi, or any other wireless standard. The wireless communication interface 270 preferably performs Bluetooth or UWB wireless communication.

The processor 290 controls the user device 200 . The processor 290 that can access the internal non-volatile memory or the non-volatile memory external to the processor 290 controls the user device 200 by performing programming of the non-volatile memory. The processor 290 of the user device 200 may represent a microcomputer, a CPU, an MPU, a central processing unit, and the like.

The processor 290 for performing the program operates according to an input through the input interface 210 to pair or establish a communication channel with the golf cart 100 (control terminal of the golf cart 100) through the wireless communication interface 270 .

The processor 290 configures GPS data from sensing data received through the GPS sensor 230 and configures IMU data from sensing data received from the IMU sensor 250 . The GPS data is sensed data received from the GPS sensor 230 or data configured in a format agreed with the golf cart 100 to specify the location of the user device 200 from the sensed data. The IMU data is sensing data received from the IMU sensor 250 or data configured in a format promised with the golf cart 100 for specifying the movement of a golfer carrying or wearing the user device 200 .

The processor 290 transmits a wireless communication packet including GPS data and/or IMU data configured with a wireless communication channel established through the wireless communication interface 270 . The processor 290 is configured to periodically (eg, 0.1 sec, 0.2 sec, 0.5 sec, etc.) transmit a wireless communication packet including GPS data and/or IMU data.

3 is a diagram illustrating an exemplary block diagram of a golf cart 100 .

The block diagram of FIG. 3 is a block diagram for electronic control of the golf cart 100. The golf cart 100 includes three or four wheels for movement in addition to the blocks of FIG. 3, and the golf cart 100 through the control of the wheels. ) further comprising an open loading box for loading a motor and a battery for moving the golf bag.

The blocks of the block diagram of FIG. 3 are implemented in, or at least connected to, the control terminal of the golf cart 100 . For example, the radar sensor 120 and/or the camera sensor 130 may be embedded in the control terminal or connected to the control terminal to output a radar signal or a camera signal to the control terminal. The control terminal is a terminal installed at a specific location of the golf cart 100 and may be a tablet PC or a dedicated terminal configured according to the present invention. All or some of the blocks of FIG. 3 may be implemented in the control terminal.

Referring to FIG. 3 , the golf cart 100 includes an input unit 110 , a radar sensor 120 , a camera sensor 130 , a GPS sensor 140 , a storage unit 150 , an RF communication interface 160 , and an output unit ( 170 ), a motor interface 180 , and a control unit 190 . According to a design example, the golf cart 100 may further include other blocks in addition to the blocks of FIG. 3 .

The input unit 110 receives a user (golfer) input. The input unit 110 receives a user input including a button, a touch screen, a touch pad, and the like. For example, the input unit 110 outputs an input signal capable of specifying a touch position according to a user input of the touch screen to the control unit 190 .

The radar sensor 120 is installed in front of the golf cart 100 so that an object in the front of the golf cart 100 can be recognized. The radar sensor 120 emits a specific electromagnetic wave according to the reception of the control signal of the control unit 190 , senses the reflected signal, and outputs the sensing signal to the control unit 190 . The radar sensor 120 outputs the sensed radar signal or radar data representing the same to the controller 190 . The radar sensor 120 is built in or connected to the control terminal of the golf cart 100 so that the control unit 190 can recognize a golf shot according to the recognized speed of an object in front of the golf cart 100 .

The camera sensor 130 captures an image outside the golf cart 100 . The camera sensor 130 includes a lens and an image sensor such as CCD or CMOS to photograph an image outside the golf cart 100 according to a control signal received from the control unit 190, and photographed image data or an image signal representing the same. is output to the control unit 190 .

The GPS sensor 140 senses the position of the golf cart 100 . The GPS sensor 140 senses a GPS signal from a GPS satellite and outputs GPS data corresponding to the sensed signal to the controller 190 . The GPS data may be analog sensing data corresponding to the sensing signal, digital sensing data converted from the sensing signal, or data capable of specifying latitude and longitude positions from the sensing signal.

The RF communication interface 160 transmits/receives data to and from the user device 200 wirelessly. The RF communication interface 160 may transmit/receive a wireless communication packet according to a specified wireless communication method to/from the user device 200 in which a communication channel is set or paired. The RF communication interface 160 is capable of wireless communication with the user device 200 through Bluetooth, UWB, Wi-Fi, or any wireless communication method, and preferably, a user paired or a communication channel is established using a wireless communication method of Bluetooth and UWB. Wireless communication with the device 200 is possible.

The storage unit 150 stores various data and programs including volatile memory and/or non-volatile memory. For example, the storage unit 150 represents golf play characteristic information of a golfer currently using the golf cart 100, external environment information of a golf course being used, characteristic information of holes of a golf course, etc. Stores a plurality of golf shot information (including score information) for each hole that can be specified. The storage unit 150 further includes a control program and an artificial intelligence program executed by the control unit 190 . The artificial intelligence program may be configured to recognize a golfer or recognize a golf ball from at least image data, and may be controlled by a control program.

The output unit 170 outputs various signals generated by the control unit 190 . The output unit 170 converts a video signal into an optical signal, including a display, a speaker, and the like, and converts an audio signal into a vibration signal for output.

The motor interface 180 is an interface for controlling an internal motor of the golf cart 100 . The motor interface 180 converts the motor control signal received from the controller 190 into a signal for controlling the motor and outputs it. The motor interface 180 receives motor control data from the control unit 190, specifies the moving speed of the golf cart 100, and converts it into a motor control signal (eg, a PWM signal) corresponding to the motor control data to convert the motor to the motor. print out

In addition to the output of the motor control signal, the motor interface 180 receives steering control data for changing the rotation direction of the wheels of the golf cart 100 from the controller 190 and receives a steering control signal corresponding to the steering control data (for example, , analog signal or PWM signal) is output to a motor (eg, a step motor) for setting the rotation angle of the wheels of the golf cart 100 .

The controller 190 controls the golf cart 100 . The control unit 190 controls the golf cart 100 by loading and executing the control program and the artificial intelligence program of the storage unit 150 . The control unit 190 indicates or includes a processor, a microcomputer, a CPU, an MPU, a central processing unit, and the like including one or more execution units. The controller 190 may include a Tensor Processing Unit (TPU) or a Graphic Processing Unit (GPU) therein to execute an artificial intelligence program. The AI program at least recognizes the golfer from the image data. The artificial intelligence program may further recognize the golf ball from the image data or may further determine the golfer's play state in conjunction with the control program. AI programs can be constructed using CNN models (frameworks) such as Yolo-lite and TensorFlow Lite.

The control unit 190 periodically receives a wireless communication packet including IMU data through the RF communication interface 160 and uses the periodically received IMU data and the image data received through the camera sensor 130 to the user device ( 200), it is possible to determine the golf play state of the golfer and take various actions and reactions corresponding to the determined golf play state through the output unit 170, the motor interface 180, and/or the storage unit 150.

A detailed control flow performed in the controller 190 will be described in more detail with reference to FIG. 5 .

4 is a diagram illustrating an exemplary block diagram of the golf management server 300 .

According to FIG. 4 , the golf management server 300 includes a communication unit 310 , a storage unit 330 , a connection unit 350 , and a control unit 370 . The block diagram of FIG. 4 is a functional block diagram, and the golf management server 300 may have various physical configurations for performing each function. The golf management server 300 may be divided into a plurality of physical servers, configured as a cloud server, etc., or may be configured separately according to assigned functions.

Referring to each functional block through FIG. 4 , the communication unit 310 transmits and receives data through the Internet. The communication unit 310 may transmit/receive various data including a communication chipset for connection to a wireless LAN, a wired LAN, an optical LAN, or the like.

The communication unit 310 transmits and receives data via the Internet. The communication unit 310 may transmit/receive various data including a communication chipset for connection to a wireless LAN, a wired LAN, an optical LAN, or the like.

For example, the communication unit 310 transmits golf play characteristic information of the golfer, external environment information of the golf course, characteristic information of holes of the golf course, etc. to the golf cart 100 (control terminal of the golf cart 100) ( A plurality of golf shot information for each hole that can indicate or specify golf play by the golfer may be received from the control terminal of the .

The communication unit 310 may receive various requests through the golf cart 100 or the golfer's personal terminal and transmit a response to the request to the golf cart 100 or the personal terminal.

The storage unit 330 stores various data. The storage unit 330 stores various data and management programs in a mass storage medium including a mass storage medium such as a hard disk. The storage unit 330 stores the golf course DB and the user DB.

The golf course DB includes a plurality of golf course items, and each golf course item stores a golf course ID, golf course related information, a golf course map, and a plurality of hole characteristic information and golf course external environment information.

The golf course ID is an identifier for specifying or identifying a golf course, and is composed of a combination of numbers and letters. For example, the golf course ID may include the name or name of the golf course or may be composed of a combination of any number or letter.

The golf course-related information stores various information related to the golf course, such as the address (location) of the golf course, the total number of odds, the total length, and the golf course round cost. The golf course map is constructed including a map of the holes of the golf course. A map of each hole consists of an image representing the terrain from the teeing ground to the hole cup.

Each hole (course) characteristic information stores characteristic information of each hole course. The hole characteristic information stores information such as the position of the start teeing ground, the position of the end hole cup, the hole course area from the start teeing ground to the end hole cup, the fair ground area of the hole course, the slope information of the hole course area, and the location of the bunk. .

The golf course external environment information stores environmental information on the golf course. The golf course external environment information includes weather information such as temperature, weather, and wind. The weather information of the environmental information outside the golf course may include environmental information of the current date and may further include information of a previous date.

The user DB includes a plurality of user items. The user item includes a user ID and password, and stores a plurality of golf play history information and golf play characteristic information of the user (golfer).

Each of the plurality of golf play history information stores information that can specify the golf play of the user (golfer) in a specific golf course. The golf play history information includes a golf course ID, a golf play date, a total score, and a plurality of hole play information. The hole play information includes one or more pieces of golf shot information that includes a score in the corresponding hole and can specify a golf shot made in the corresponding hole. The golf shot information includes a golf shot position and a golf shot image of a user (golfer). The golf shot location may indicate a latitude and longitude location or a relative location within a corresponding golf course. In addition, the golf shot information may further include golf club information and a shot distance used for the golf shot. The golf club information indicates the number of the golf club used for the corresponding golf shot or the type of the golf club. The golf play history information may further include still image data (images) taken by the golf cart 100 . The shot distance represents a distance traveled by the golf ball by the golf shot.

The golf shot image includes image data (video image) that can specify the swing state of the user (golfer) at the time of the golf shot. The golf shot image may be a still image of a golf shot scene or a moving image including video images before and after the golf shot scene. Furthermore, the golf shot image may further include a shot line through which the (non) distance and direction of the golf shot at the golf shot position can be known.

The golf play characteristic information stores information indicating a golf play characteristic of a golfer. The golf play characteristic information is generated by the control unit 370 using a plurality of golf play history information. The golf play characteristic information may include a shot distance (average shot distance) for each golf club and may include golfer shot characteristics of a golfer according to other hole characteristics.

The storage unit 330 further stores one or more reservation information. The reservation information includes a plurality of user IDs that can specify reserved golfers (team members) and a golf course ID that can specify a golf course, and may further include start date and time information of golf play.

The connection unit 350 transmits and receives various data between blocks in the golf management server 300 . The connection unit 350 may transmit/receive various data including one or more of a parallel bus, a serial bus, Ethernet, Wi-Fi, and the like.

The control unit 370 controls the golf management server 300 . The control unit 370 controls the golf management server 300 through a management program that is stored and loaded in the storage unit 330 . The control unit 370 may include one or more of a CPU, an MPU, a central processing unit, a microcomputer, and the like to execute an instruction code of a management program.

The control unit 370 interworks with the golf cart 100 (the control terminal of) and/or the golfer's personal terminal (eg, smart phone, tablet PC, notebook or personal computer) to process various requests and store unit ( 330), the user DB and reservation information may be updated, and specific information or reservation information of the user DB may be provided to the golf cart 100 and/or the personal terminal.

Various control flows made in the control unit 370 (including the golf management server 300) will be looked at in more detail through FIG.

5 is a diagram illustrating a main control flow for managing golf play.

The control flow of FIG. 5 is performed by the golf cart 100 and is preferably performed by the control unit 190 executing the program of the storage unit 150 of the golf cart 100 . If necessary, a process performed by the golf management server 300 or the user device 100 in conjunction with the control flow of FIG. 5 will also be looked at.

First, the golf cart 100 sets the golf play monitoring environment (S101). A golfer or manager of a golf course sets a wireless communication environment between the golf cart 100 (control terminal of the golfer) and the user device 200 that the golfer carries, wears or possesses, and between the user device 200 and the golf cart 100 Set the distance (eg, 2m , 3m , 5m , etc.).

The user device 200 and the control terminal of the golf cart 100 pair or establish a wireless communication channel between the user device 200 and the control unit 190 of the golf cart 100 according to an input signal. In addition, the controller 190 of the golf cart 100 sets the maintenance distance between the user device 200 and the golf cart 100 to a specific distance according to the input signal. For example, the controller 190 outputs a motor control signal to maintain a distance within 2 m, 3 m, or 5 m set according to the input signal.

With pairing or wireless communication channel setting for Bluetooth or UWB wireless communication, the golf cart 100 (the control terminal of) connects to the golf management server 300 and downloads various information necessary for golf play at the current golf course (S103). ) and temporarily stored it in the storage unit 150 .

For example, the control unit 190 provides a user ID and password to the golf management server 300 according to a user input provided through the input unit 110 to log in to the golf management server 300 and access the golf management server through the Internet. According to the reservation information of the user (golfer) from 300, the golf course related information of the golf course item searched for corresponding to the golf course ID, the golf course map, the plurality of hole characteristic information, and the golf course external environment information are downloaded. The control unit 190 may download various information through the RF communication interface 160 or through a wireless LAN communication interface or a wired LAN communication interface that is further provided.

In addition, the control unit 190 searches the user DB for information of other golfers (users) according to the reservation information, downloads the retrieved user information from the golf management server 300 , and configures new score information including other golfers.

The score information may include a score for each hole of each golfer and further include golf shot information in each hole (course). The control unit 190 (control unit 190 of the control terminal) receives golf play characteristic information corresponding to the user ID from the golf management server 300 and stores it in the internal storage unit 150 . Each of the plurality of golf carts 100 used for golf play can set an individual user ID according to an individual user input and store golf play characteristic information of the individual user.

The golf management server 300 generates new golf play history information and stores new golf play history information including a golf course ID and a golf play date in a user item corresponding to the user ID.

As the settings and various information of the golf cart 100 are downloaded and golf play starts or proceeds, the golf cart 100 recognizes a hole (S105). For example, in the golf cart 100, a position recognized by the GPS sensor 140 or a position corresponding to GPS data received from the user device 200 is a position (eg, a start) of hole characteristic information of a specific hole course. It is possible to recognize a specific hole where the golfer is located by being in the teeing ground position).

Following recognition of a specific hole or recognition of a golf shot, the golf cart 100 (control unit 190 of) determines the golfer's play state of the user device 200 that has been paired with a communication channel (S107). The control unit 190 uses the IMU data of the wireless communication packet periodically received through the RF communication interface 160 and the image data received through the camera sensor 130 to the golfer's golf play state of the connected user device 200 . to decide

Specifically, the control unit 190 receives IMU data periodically through the RF communication interface 160 and receives image data through the camera sensor 130 to determine the golfer's golf play state according to the IMU data and the image data. do. The controller 190 determines a golf ball recognition state, a movement state, a golf shot preparation state, etc. from the periodically received IMU data and/or image data. The control unit 190 may determine the golf play state by using the artificial intelligence program of the storage unit 150 .

For example, the controller 190 recognizes a golf ball from the image data using an artificial intelligence program, and sets the golf play state to the golf ball recognition state when the golfer moves in the recognized golf ball direction and further recognized the golf ball. can The control unit 190 for performing the artificial intelligence program recognizes a golf ball from image data and further recognizes a behavior pattern corresponding to a movement from periodically received IMU data, and the behavior pattern moves at a speed within a certain range and moves within a certain range If the walking pattern has a vertical movement in the inner cycle and the golfer moves in the direction of the golf ball, the golf play state may be set as the golf ball recognition state.

The control unit 190 is configured to recognize the behavior pattern of the golfer from the periodically received IMU data. The control unit converts at least three axes of the accelerometer signal data, at least three axes of the accelerometer signal data and the earth magnetic field data of the IMU data according to the characteristics in the time and frequency domains to a walking pattern, a stop pattern, a right turn pattern, a left turn pattern, a golf shot preparation pattern, It is possible to recognize behavioral patterns such as golf swing patterns.

In the state where the golf ball is not recognized in the image data, the controller 190 moves at a speed within a certain range, and the behavior pattern recognized in response to the movement from the periodically received IMU data moves at a speed within a certain range and moves up and down with a period within a certain range. In the case of a walking pattern, the golf play state may be set to a moving state.

The control unit 190 has a golf shot preparation pattern in which a behavior pattern recognized in response to a movement from IMU data periodically received in a golf ball recognition state in which the golf ball is recognized is rotated left and right at a rotation speed within a certain range from the image data. The golfer is recognized and the golfer's golf shot preparation pattern is also recognized through an artificial intelligence program, or when the golfer approaches the golf ball or is located in front of the golf ball, the golf play state is set to the golf shot preparation state. In this way, the control unit 190 prepares the golfer's state based on the (before and after) combination of the recognition of the golf shot preparation pattern from the IMU data, the recognition of the golfer and the golf shot preparation pattern from the image data, and the recognition of the golf ball. determined by state

The controller 190 may set the golf ball recognition state, the movement state, and the golf shot preparation state to other states by using the IMU data and the image data. In this way, the controller 190 recognizes a behavior pattern from the IMU data of the wireless communication packet received through the RF communication interface 160 , and artificially in the recognized behavior pattern and image data received through the camera sensor 130 . The golfer's golf play state is determined based on the golfer's recognition using the intelligent technology.

When the determined golf play state is the golf ball recognition state (S109), the golf cart 100 (the control terminal of) outputs a golf shot guide message in voice or text (S111). The control unit 190 of the control terminal generates a golf shot guide message according to the golf play characteristic information, the characteristic information of the currently recognized hole being played, and the external environment information, and outputs the golf shot guide message as voice or text through the output unit 170, followed by golf. A play state is determined (S107).

The controller 190 recognizes the current recognized position (GPS sensor 140 or GPS data from the user device 200) from the golf club-specific shot distance of the golfer's golf play characteristic information and the corresponding hole characteristic information of the recognized hole. The output unit 170 outputs a golf shot guide message of voice and text indicating a golf club selected based on external environmental information such as the distance from the position) to the hole cup, the slope at the current position, and the wind, etc., and the recommended shot direction. output through The controller 190 may generate and output a golf shot guide message through an artificial intelligence program.

The controller 190 may output a golf shot guide message only when the golf ball recognition state is switched from another golf play state.

When the currently determined golf play state is the golf shot ready state (S113), the golf cart 100 stores the image and attempts to recognize the golf shot. The golf cart 100 generates golf shot information according to the golf shot recognition and stores it in the storage unit 150 (S117).

Specifically, in the golf shot preparation state, the control unit 190 stores image data captured by the camera sensor 130 in the storage unit 150 . In addition, the controller 190 receives the reflected radar signal by controlling the radar sensor 120 in the golf shot preparation state, and recognizes the golf shot according to the recognition of movement of the golf ball by the radar signal. The control unit 190 sets that a golf shot is generated according to the recognition of the golf swing pattern from the image data and/or the IMU data at the same time as the recognition of the movement of the golf ball over a specified speed (eg, 10 Km, etc.) from the radar signal. can

At the time of golf shot recognition, the controller 190 determines based on the image data before and after a specified time (eg, 5 seconds, 10 seconds, etc.) from the golf shot recognition time and GPS data received from the user device 200 . Golf shot information including the shot position is generated, matched to the recognized hole (course number), and stored in the storage unit 150 . In addition, the controller 190 stores the golf club information (the number or type of golf club) used for the golf shot in the golf shot information. The controller 190 may set golf club information according to a golfer's input through the input unit 110 or by recognizing a golf club number or a golf club type from image data from the camera sensor 130 .

The control unit 190 updates golf shot information immediately before (previous) golf shot information generated in the same recognized hole. The controller 190 sets the distance according to the difference between the golf shot position of the previous golf shot information and the golf shot position of the currently generated golf shot information as the shot distance of the previous golf shot information.

In addition, the controller 190 adds and stores a shot line of a designated color (eg, red, etc.) according to the shot distance and shot direction set in the golf shot image (data) of the previous golf shot information. The control unit 190 controls the image data of the previous golf shot information according to the shot distance and the shot direction according to the difference between the view direction of the image data captured through the camera sensor 130 of the previous golf shot information and the shot position of the two golf shot information. Add a shot line to

For example, a parabola having a size proportional to the shot distance with an angle of a difference between the view direction of the previous image and the shot direction according to the position of the two shots from the position of the recognized golf ball in the image data of the previous golf shot information, By adding an arc or curve to the image data, the image data of the previous golf shot information may be updated.

In the golf ball recognition state or the golf shot preparation state, the golf cart 100 may stop performing a function of following (following) the golfer of the user device 200 in which the paired or communication channel is set from behind. The golf cart 100 may follow the golfer of the user device 200 according to recognition of a movement state following recognition of a golf shot.

The golf cart 100 in which the follow function is stopped sets the view direction of the image to shoot an image including the golf ball toward the target target. The target target is a hole cup of a recognized hole (course) or an intermediate point for golf play from the current position of the recognized hole to the hole cup.

When the golf play state of the golfer of the user device 200 is a state other than the golf ball recognition state or the golf shot preparation state, the golf cart 100 processes an action corresponding to the determined state (S115) and subsequent golf play continue to determine the status.

For example, in a moving state, the golf cart 100 controls the internal blocks to follow the golfer of the user device 200 within a set distance. The control unit 190 of the golf cart 100 is a user device based on the GPS data of the wireless communication packet received through the RF communication interface 160 and the GPS data from the GPS sensor 140, furthermore, the characteristic data of the wireless communication packet. (200) and controls the movement of the golf cart 100 to keep within a set distance.

The controller 190 determines the distance between the golf cart 100 and the user device 200 based on the GPS data from the user device 200 and the GPS data of the internal GPS sensor 140 .

When the distance determined by the GPS data is out of the critical distance (for example, 5m, 6m, 8m, etc., the critical distance is a distance reflecting the error of the GPS signal) longer than the distance set by the golfer (see S101) (long case) ) The controller 190 controls the motor to move the golf cart 100 toward the user device 200 within a set distance.

The controller 190 controls the user device according to the direction data of the wireless communication packet received from the user device 200 (eg, the direction signal of the user device 200 or the golf cart 100 extracted from the Bluetooth or UWB signal). The motor control data and/or steering control data for moving to 200 are output to the motor interface 180, and the motor interface 180 is converted into a corresponding motor control signal and/or steering control signal and output to the motor. A wireless communication technology of Bluetooth, UWB, or any wireless communication method may detect a direction signal (via a wireless antenna, etc.) indicating a location direction of a device in one-to-one communication and output it to the controller 190 .

When the distance determined by the GPS data is within a threshold distance (eg, 5m, 6m, 8m, etc.) (short case), the controller 190 controls the wireless communication packet from the user device 200 to be maintained within a set distance. The movement of the golf cart 100 is controlled using the signal strength and further the direction signal. The control unit 190 recognizes the signal strength distance with the user device 200 from the signal strength data corresponding to the signal strength of the wireless communication packet, and the user device ( 200) outputs the motor control data and/or steering control data for moving to the motor interface 180, and the motor interface 180 converts the corresponding motor control signal and/or the steering control signal to the motor.

During the movement process, the golf cart 100 may recognize a front obstacle, an object, an external environment, a bunker, etc., and follow the golfer avoiding the obstacle.

When the determined golf play state is a stop state, the golf cart 100 (controller 190 of the golf cart 100 ) may maintain a set distance and shoot an image in a stopped state, and store the captured image in the storage unit 150 . The stored image may be uploaded to the golf management server 300 .

In this way, the golf cart 100 processes a corresponding action according to the determined state. After generating and storing the golf shot (S117), the golf cart 100 determines whether the recognized golf shot is the last golf shot of the recognized hole (S119). The controller 190 may recognize a hole cup from image data from the camera sensor 130 or determine whether it is the last golf shot according to a user input through the input unit 110 .

If it is not the last golf shot, the golf cart 100 determines a subsequent golf play state and repeats the corresponding action.

In the case of the last golf shot in the recognized hole, the golf cart 100 uploads golf shot information matching the recognized hole to the golf management server 300 (S121). The controller 190 calculates the score of the recognized hole of the golfer of the user device 200 to which the pairing or communication channel is set, and stores the calculated hole score and golf shot information of the recognized hole in the score information. In addition, the controller 190 uploads the recognized hole score and golf shot information to the golf management server 300 through the RF communication interface 160 or the wireless LAN communication interface. The golf management server 300 stores the uploaded score and golf shot information of the recognized hole in hole play information corresponding to the recognized hole of the newly created golf play history information.

The control unit 190 of the golf cart 100 may receive the score score or golf shot information of another team member in real time from the golf management server 300 and output it through the output unit 170 according to a user input.

After uploading the golf shot information, the golf cart 100 determines whether the recognized hole is the last hole (S123). If the recognized hole is not the last hole, the golf cart 100 manages and monitors golf play through the recognition of a subsequent hole ( S105 ).

In the case of the last hole, the golf cart 100 (control unit 190 of) calculates a total score based on the score for each hole and transmits a golf play end request including the total score to the golf management server 300, and the golf management server ( 300) stores the total score in the golf play history information and completes the storage of the golf play history information in the user item corresponding to the user ID.

The golf management server 300 may update the user's golf play characteristic information by further using the added golf play history information.

6 is a diagram illustrating an example of replaying a golf play monitored through the golf cart 100 in a specific hole course of a golf course.

The example of FIG. 6 is displayed through the golfer's personal terminal. The personal terminal accesses the golf management server 300 using the user ID and password, downloads the specific golf play history information of the user item of the golf management server 300 and the map of the golf course, and downloads the map of the specific hole course and the specific hole course An image as in the example of FIG. 6 may be output using the hole score of the golf play made in , and information on a plurality of golf shots.

The example of FIG. 6 is an example in which a golfer takes a golf shot at points ⓐ, ⓑ, ⓒ, ⓓ, and ⓔ. The personal terminal outputs corresponding golf shot information to a display or speaker of the personal terminal according to a user selection input for a specific golf shot point. For example, the personal terminal outputs a golf shot distance, a direction of a golf shot, and used golf club information at a specific point according to a selection input for a specific point (ⓐ, ⓑ, ⓒ, ⓓ, or ⓔ). In addition, the personal terminal may reproduce the video data taken before and after the golf shot is made and output it to the display.

Accordingly, the golfer can replay his or her golf play, check the swing posture of the golf shot actually made at the time of the golf shot, and receive necessary feedback from the actual swing posture on the field from a coach or the like.

The present invention described above, various substitutions, modifications and changes are possible within the scope without departing from the technical spirit of the present invention for those of ordinary skill in the art to which the present invention pertains. It is not limited by the drawings.

100 : golf cart
110: input unit 120: radar sensor
130: camera sensor 140: GPS sensor
150: storage unit 160: RF communication interface
170: output unit 180: motor interface
190: control
200: user device
210: input interface 230: GPS sensor
250: IMU sensor 270: wireless communication interface
290: processor
300: golf management server
310: communication unit 330: storage unit
350: connection unit 370: control unit

Claims (10)

As a golf cart,
a camera sensor for taking an image of the outside of the golf cart;
an RF communication interface for transmitting and receiving data to and from the user device wirelessly; and
A control unit for determining a golf play state of a golfer of the user device using IMU data of a wireless communication packet received through the RF communication interface and image data received through the camera sensor;
golf cart. According to claim 1,
A GPS sensor for sensing the position of the golf cart; further comprising,
The control unit is a distance set with the user device according to the first GPS data of the wireless communication packet received through the RF communication interface, the second GPS data from the GPS sensor, characteristic data of the wireless communication packet, and the golf play state to control the golf cart to stay within,
golf cart. 3. The method of claim 2,
The control unit, in the golf play state in the moving state, when the distance determined by the first GPS data and the second GPS data is out of a first distance equal to or greater than the set distance, the wireless communication packet to be within the set distance control the movement of the golf cart toward the user device according to the direction data of the first GPS data and the signal strength of the wireless communication packet when the distance determined by the second GPS data is within the first distance Controlling the movement of the golf cart toward the user device to be within the set distance according to the distance recognized by data,
golf cart. According to claim 1,
The control unit recognizes a behavior pattern from the IMU data of the wireless communication packet and determines the golf play state of the golfer based on the recognized behavior pattern and the recognition of the golfer using artificial intelligence technology in the image data,
golf cart. 5. The method of claim 4,
a GPS sensor for sensing the position of the golf cart;
a storage unit for storing data; and
Radar sensor; further comprising,
The control unit stores the image data photographed by the camera sensor in the storage unit in the golf shot preparation state of the golfer, and image data before and after the golf shot recognition according to the golf shot recognition through the radar sensor and the RF communication interface Generating golf shot information including a shot position determined by the GPS data received through the
golf cart. 6. The method of claim 5,
The control unit determines the state of the golfer based on a combination of recognition of a golf shot preparation pattern from the IMU data of the wireless communication packet, recognition of a golfer and a golf shot preparation pattern from the image data, and recognition of a golf ball from the image data. to decide on readiness,
golf cart. 6. The method of claim 5,
The controller determines the shot distance and shot direction according to the view direction of the image data immediately before the generated image data of the golf shot information immediately before the current golf shot information, the shot position of the golf shot information immediately before, and the shot position of the current golf shot information. To add and store a shot line to the video data of the golf shot information just before according to it,
golf cart. The golf cart of claim 1 ; and
A golf system comprising a; a user device that periodically transmits GPS data and IMU data to the golf cart through wireless communication. 9. The method of claim 8,
The wireless communication is Bluetooth wireless communication or UWB wireless communication,
golf system. The golf cart of claim 1 ; and
Includes; golf management server;
The control terminal of the golf cart receives the golfer's golf play characteristic information from the golf management server, and receives a golf shot guide message determined based on the golf play characteristic information, the characteristics of the hole being played, and the external environment information in the golf ball recognition state. Outputting in voice or text and uploading a plurality of golf shot information for each hole generated according to golf play to the golf management server,
golf system.

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