KR20230126542A - Boll-robot system for collecting ball in golf driving range - Google Patents

Abstract

A ballbot system for driving a driving range is provided. The ball bot system for holding a ball at a driving range according to an embodiment of the present invention calculates a driving route according to a preset autonomous driving range within a driving range, but repeats forward movement in the direction of the ball collection groove and return in the opposite direction of the ball collection groove. While driving, the first ballbot calculates a driving path to move from the origin on the opposite side of the batter's box to the batter's box side, and transports the ball primarily in the direction of the ball collecting groove while traveling along the calculated driving path, and in parallel along one side of the ball collecting groove. While driving, the driving speed is calculated based on the driving path of the first ballbot, and the first ballbot is transported by the first ballbot while advancing from the opposite side of the batter's box to the batter's box at the calculated driving speed after a certain time after the start of the first ballbot's driving. and a second ball bot that collects the ball toward the ball collection groove.

Description

Ball-robot system for collecting ball in golf driving range}

The present invention relates to a ballbot system for a driving range, and more particularly, to a ballbot system for driving a driving range that can improve the efficiency and convenience of driving a driving range based on autonomous driving and indoor location tracking.

Recently, as the popularization of golf progresses, the demand for enjoying golf is rapidly increasing. However, golf courses are not only expensive, but also have low accessibility because they are installed in mountainous areas. Therefore, since the number of times to directly go to the golf course and play the game is relatively small, the installation of golf driving ranges in downtown or suburbs is increasing in order to improve users' accessibility and improve their skills.

Since these golf driving ranges are not only used by many people but are mainly used for swing practice, the number of balls used per hour is considerable. Therefore, an instructor or a separate manpower is being put in to collect the ball at the driving range. The use of the facility is temporarily suspended due to this water removal operation. In particular, since the number of balls supplied is limited, the number of balls collected increases as the rotation rate of the balls decreases. This causes deterioration in profitability from the point of view of facility operators, and causes inconvenience in waiting from the point of view of users. Therefore, there is a need for a plan to improve the efficiency and convenience of the see-through operation.

KR 10-2045425 B1

In order to solve the problems of the prior art as described above, an embodiment of the present invention is to provide a ballbot system for a driving range driving range that can improve efficiency and convenience of ball lifting operations based on autonomous driving and indoor location tracking.

According to one aspect of the present invention for solving the above problems, a driving route is calculated according to a preset autonomous driving range within the golf driving range, but goes straight in the direction of the ball collection groove and returns to the opposite direction of the ball collection groove. While repeating the above, a first ballbot calculates a driving path to move from the origin on the opposite side of the batter's box to the batter's box side, and primarily transports the ball in the direction of the ball collection groove while traveling along the calculated driving path; and traveling in parallel along one side of the ball collecting groove, calculating a traveling speed based on a traveling path of the first ball-bot, and at the calculated traveling speed after a predetermined time after the first ball-bot starts traveling, the batting seat There is provided a ball bot system for collecting balls at a driving range including a second ball bot that collects the ball primarily transported by the first ball bot toward the ball collection groove side while advancing from the opposite side to the at bat side.

In one embodiment, each of the first ballbot and the second ballbot may include a main body; A first wheel provided at the rear of the main body and adjusting the traveling direction; a second wheel provided in front of the main body; a side arm provided in front of the main body to push the ball; a protective cover provided to cover an upper portion of the main body, provided with an inclined surface at a corner, and having elasticity; and a buffer member provided between the main body and the protective cover.

In one embodiment, the second ball-bot starts traveling after completing the driving of the first straight path on the driving path of the first ball-bot, and after completing the driving of the first straight path, the first ball-bot returns to the origin. The traveling speed may be calculated according to the return time and the distance from the starting point of the second ball-bot to the turn at bat.

In one embodiment, each of the first ballbot and the second ballbot recognizes a position within the autonomous driving range according to position and distance information from a plurality of positioning anchors provided at the edge of a golf driving range, and When setting self-driving, the first ballbot recognizes the initially placed position as the origin of the self-driving range, sets the horizontal and vertical lengths of the self-driving range, and the self-driving range can be input by the terminal.

In one embodiment, the first ballbot divides the autonomous driving range into sections from the origin to the turn-at-bat side, and travels at different times for each section, but the number of travels decreases from the origin to the turn-at-bat side. The driving speed and return point of the ballbot may be determined in association with the driving of each section of the first ballbot.

The ball bot system for driving ranges according to an embodiment of the present invention automates ball bots by interlocking at least one pair of ball bots based on autonomous driving and indoor location tracking, thereby improving the efficiency of ball lifts, thereby increasing the ball rotation rate. You can improve and at the same time reduce the consumption of balls.

In addition, the golf driving range ball bot system according to an embodiment of the present invention automatically performs ball removal work at regular intervals due to automatic AI operation, so that it can be operated at all times regardless of the weather, as well as during break time for ball removal. Continuous use is possible without the need for this, which can improve profitability.

In addition, since the ball bot system for driving at a driving range according to an embodiment of the present invention can improve the convenience of the driving range by unmanning the driving range by the ballbot, there is no need to impose the driving operation on the instructors. It can improve people's quality of life, reduce labor costs to zero, and eliminate the risk of accidents occurring during ball collection work.

In addition, the ballbot system for collecting balls at a driving range according to an embodiment of the present invention interlocks a first ballbot that primarily transports balls in the direction of the ball collection groove and a second ballbot that collects the primarily transported balls toward the ball collection groove. , Since it is only necessary to transport the ball to an approximate position by the first ballbot, there is no need to accompany precise control, and since it can be driven at a relatively high speed, the ball rotation rate can be further improved by shortening the ball collection time.

In addition, the ballbot system for collecting balls at a driving range according to an embodiment of the present invention adjusts the operating speed for each section when the ballbots having different functions are interlocked to increase the number of collections for sections where balls fall relatively much, compared to working time. Since the amount of sight can be increased, the efficiency of the sight can be further improved.

In addition, the ballbot system for carrying a ball at a driving range according to an embodiment of the present invention covers the main body of the ballbot with a protective cover having elasticity and is provided with a buffer member so that the main body can be protected against impact by a ball, thereby improving product reliability. can make it

In addition, the ballbot system for driving a driving range according to an embodiment of the present invention automatically recognizes the origin and calculates the driving path of the first ballbot and the driving speed of the second ballbot according to the input autonomous driving range, thereby providing special expertise. Even without this, the self-driving can be set by simple manipulation, so the convenience of use can be further improved.

1 is a block diagram of a ballbot system for carrying a driving range according to an embodiment of the present invention.
2 is a perspective view of a first ballbot of the ballbot system for driving a driving range according to an embodiment of the present invention.
3 is an exploded perspective view of a part of a first ballbot of the ballbot system for driving a driving range according to an embodiment of the present invention.
4 is a block diagram of a first ball bot of the ball bot system for driving a driving range according to an embodiment of the present invention.
5 is a perspective view of a second ball bot of the ball bot system for carrying a driving range according to an embodiment of the present invention.
6 is a block diagram of a second ball bot of the ball bot system for carrying a driving range according to an embodiment of the present invention.
7 is a flowchart of an operating method of a ball bot system for carrying a driving range according to an embodiment of the present invention.
8 is a flowchart of an autonomous driving setting procedure of a ballbot system for driving a driving range according to an embodiment of the present invention.
9 is a flow chart of a first ball-bot running control procedure of a ball-bot system for driving a driving range according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. This invention may be embodied in many different forms and is not limited to the embodiments set forth herein. In order to clearly describe the present invention in the drawings, parts irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar components throughout the specification.

Hereinafter, a ballbot system for carrying a driving range according to an embodiment of the present invention will be described in more detail with reference to the drawings. 1 is a block diagram of a ballbot system for carrying a driving range according to an embodiment of the present invention.

Referring to FIG. 1, a ballbot system 1 for carrying a driving range according to an embodiment of the present invention includes a first ballbot 100, a second ballbot 200, a location tracking anchor 300, and a terminal 350. can include

The ball bot system 1 for collecting golf driving ranges is an unmanned automated robot system for collecting balls that have fallen on the field 20 into a ball collection groove 30, and has an autonomous driving function and an indoor positioning system (IPS). It can be composed of ballbots 100 and 200 driven by the base. Here, the ballbot means a robot for collecting balls.

In this way, the ball bot system 1 for driving a driving range according to an embodiment of the present invention can improve the convenience of driving a driving range by unmanning the driving operation by the ball bots 100 and 200, thereby providing instructors with a ball bot system. As there is no need to impose collection work, the quality of life of instructors can be improved, labor costs can be reduced to zero, and the risk of accidents occurring during ball collection work can be eliminated.

Here, the driving range may include a turn at bat 10, a field 20 in front of the turn at bat 10, and a ball collecting groove 30 provided on the left side of the turn at bat 10. The ball collection groove 30 may include a conveyor 32 that transports the balls to the batting table 10 on each floor. At this time, although the drawing 10 is shown as one, the plate 10 may be provided with a plurality of layers. Accordingly, the conveyor 32 can transport the ball to the batting table 10 on each floor.

The ball bot system 1 for collecting golf driving ranges may be composed of unmanned AI (artificial intelligence) ball bots 100 and 200 that automatically push balls into the ball collection groove 30. Here, the first ball bot 100, as a main robot for ball collection, may primarily transport the ball in the field 20 toward the ball collection groove 30 while traveling in the autonomous driving range 400. As an example, the autonomous driving range 400 may be configured within 150 m horizontally or vertically. The second ball bot 200 is an auxiliary robot that pushes balls into the ball collection groove 30 and can collect the balls primarily transported by the first ball bot 100 toward the ball collection groove 30.

In this way, the ball bot system 1 for driving at a golf driving range according to an embodiment of the present invention automates driving by linking at least one pair of ballbots 100 and 200 based on self-driving and indoor location tracking. Since it can improve the efficiency of work, it is possible to improve the ball rotation rate and reduce the consumption of balls at the same time.

Here, the autonomous driving range 400 may be spaced apart from the ball collecting groove 30 by a predetermined distance. That is, the area between the autonomous driving range 400 and the ball collection groove 30 corresponds to the driving path 200a of the second ball robot 200. For example, the distance between the autonomous driving range 400 and the ball collection groove 30 may be the same as the width of the side arm 240 of the second ball robot 200 .

At this time, the first ballbot 100 and the second ballbot 200 can autonomously drive so as not to collide with each other based on indoor location tracking. That is, the first ballbot 100 and the second ballbot 200 can share their positions through communication. Moreover, the first ballbot 100 and the second ballbot 200 can operate repeatedly and continuously by automatic AI operation by setting driving routes so that they are not disposed close to each other when setting autonomous driving.

In this way, the driving range ball bot system 1 according to an embodiment of the present invention automatically performs the ball bot operation at regular intervals due to automatic AI operation, so that it can not only operate at all times regardless of the weather, but also can see the ball bot system 1. Profitability can be improved as continuous use is possible without the need for break time.

The first ballbot 100 may calculate a driving route 100a according to a preset autonomous driving range 400 within the driving range. At this time, the first ball bot 100 may calculate the driving path 100a so as to repeat forward movement in the direction of the ball collection groove 30 and return in the opposite direction of the ball collection groove 30 . That is, the driving path 100a may repeat a driving pattern including one straight path L1 and a return path (dotted line). Here, the straight paths L1 to L7 and the return path (dotted line) may be determined according to the width of the side arm 140 of the first robot 100. In addition, the return path (dotted line) may be determined so as not to overlap with a range in which balls are not collected.

One driving pattern may include a forward section (O→A), a retreat section (A→O), and a turning section (O→B). At this time, the turning section (O → B) is located at the starting point (B) by turning the first ball robot 100 toward the batter's box 10, going straight, and then turning toward the collection groove 30 again. can be set. At this time, the turning section (O → B) may be arranged so that the first ballbot 100 turns outside the autonomous driving range 400 so as to completely cover the autonomous driving range 400, but this is different from the size of the field 20 It may be adjusted in consideration of the autonomous driving range 400 .

In addition, the first ball bot 100 may calculate a driving path 100a to move from the origin O on the opposite side of the turn at bat 10 to the side of the turn at bat 10 . That is, the first ball-bot 100 may calculate a driving path 100a including a plurality of straight paths L1 to L7 and a return path.

In this way, the first ballbot 100 may primarily transport the balls in the direction of the ball collection groove 30 while driving along the driving path 100a calculated within the autonomous driving range 400 .

The second ball bot 200 may travel in parallel along one side of the ball collection groove 30 . At this time, the second ball-bot 200 may calculate a traveling speed based on the driving path 100a of the first ball-bot 100 to prevent a collision with the first ball-bot 100 . That is, the second ball-bot 200 may calculate a slower driving speed than the first ball-bot 100 so as not to be placed close to the first ball-bot 100 while driving.

For example, the second ballbot 200 determines the return time to the origin (O) after the first ballbot 100 completes the driving path 100a and the turn at bat 10 at the starting point S of the second ballbot 200. ), the traveling speed can be calculated according to the distance to As another example, the second ball-bot 200 may calculate the traveling speed so that the first ball-bot 100 arrives at the end point T after a predetermined time elapses after the start of returning to the origin point O. As a result, the second ball-bot 200 always travels at a position spaced apart from the first ball-bot 100 by a certain distance, thereby preventing mutual collision.

In addition, the second ballbot 200 may start driving at the calculated driving speed after a predetermined time after the start of driving of the first ballbot 100 . For example, the second ball-bot 200 may start driving after the first ball-bot 100 completes driving the first straight path L1 on the driving path 100a. At this time, the return time to the origin (O) after the first ball-bot 100 completes driving on the first straight path (L1) and the second ball-bot 200's starting point (S) at bat ( 10), the travel speed can be calculated according to the distance.

At this time, the second ballbot 200 advances from the starting point S on the opposite side of the batter's box 10 to the end point T on the batter's seat 10 side at the calculated driving speed, while the first ballbot 100 carries the first ball. The ball can be collected toward the ball collection groove (30). That is, the second ballbot 200 can finally push the ball into the ball collection groove 30 while driving in the area between the autonomous driving range 400 of the first ballbot 100 and the ball collection groove 30. . To this end, the second ball-bot 200 has a side arm structure different from that of the first ball-bot 100, as will be described later.

In this way, the ball bot system 1 for collecting balls at a driving range according to an embodiment of the present invention collects the first ball bot 100 that primarily transports balls in the direction of the ball collection groove 30 and the primarily transported balls. By interlocking the second ball bot 200 that collects toward the groove 30, the first ball bot 100 only needs to transport the ball to an approximate position, so there is no need for precise control and it can be driven at a relatively high speed. Therefore, the ball rotation rate can be further improved by shortening the ball collection time.

The second ballbot 200 may be driven forward when moving from the starting point S to the ending point T, and driven backward when moving from the ending point T to the starting point S. At this time, the second ball-bot 200 may move at different speeds when moving forward and backward. For example, the backward movement speed may be higher than the forward movement speed. Here, when the second ball-bot 200 moves backward, the first ball-bot 100 may be set to wait at the origin point O until the second ball-bot 200 reaches the starting point S.

In FIG. 1, the second ballbot 200 is shown and described as waiting at the starting point S, but is not limited thereto and may stand by at one side (upper side in the drawing) of the origin O of the first ballbot 100. there is. In this case, the second ball-bot 200 may calculate the traveling speed by further considering the distance from one side of the origin point O to the starting point S.

Meanwhile, the first ballbot 100 may divide the autonomous driving range 400 into sections from the origin O to the turn at bat 10, and may travel a different number of times for each section. In FIG. 1, each section is divided by return points F1, F2, and F3, and may be equally divided to include three straight paths, respectively. At this time, the first section is from the origin (O) to the return point (F1), the second section is from the starting point of the third straight path (L3) to the return point (F2), and the third section is the fifth straight path ( It is from the starting point of L5) to the return point (F3).

For example, the number of driving times of the first ball bot 100 may decrease as it moves from the origin point O toward the turn at bat 10. That is, the first ballbot 100 starts from the origin (O), returns to the origin (O) from the return point (F1) of the first section, and then returns from the origin (O) to the return point (F2) of the second section. can drive In addition, the first ball-bot 100 may return to the origin point O from the return point F2 and then travel again from the origin point O to the return point F3 of the third section. As a result, the first ball-bot 100 may calculate the driving path 100a to include driving the first section 3 times, driving the second section 2 times, and driving the third section 1 time. Here, the first ball-bot 100 may be set to turn right on the straight path it is traveling when returning to the origin O at each return point F1, F2, F3.

At this time, the driving speed and return point of the second ball-bot 200 may be determined in association with the section-by-section driving of the first ball-bot 100. That is, when the first ballbot 100 returns from each return point (F1, F2, F3), the second ballbot 200 can also be set to return to the starting point (S). Here, the return point of the second ball-bot 200 means a position on a straight line of the return points F1, F2, and F3 of the first ball-bot 100.

For example, the second ball-bot 200 calculates the driving speed according to the time it takes for the first ball-bot 100 to reach each return point (F1, F2, F3) and the distance from the starting point (S) to its own return point. can do. At this time, the second ball-bot 200 depends on the time for the first ball-bot 100 to return to the origin (O) from each return point (F1, F2, F3) and the distance from its own return point to the starting point (S). The reverse travel speed can be calculated. In this case, if necessary, the first ballbot 100 may be set to wait at the origin point O until the second ballbot 200 reaches the starting point S.

In FIG. 1, each section is illustrated and described as equally divided, but is not limited thereto and may be divided unevenly according to the ball drop distribution. For example, the return point F1 may be set at the second straight path L2. In this case, the first section may include only two straight paths L1 and L2, and the second section may include four straight paths L2 to L5. Also, the return point F2 may be set at the sixth straight path L6. In this case, the second section may include four straight paths L3 to L6, and the third section may include only two straight paths L6 and L7. In addition, when both the return point F1 and the return point F2 are changed as described above, the first section and the third section each include only two straight paths L1 to L2 and L6 to L7, and Section 2 may include 5 straight routes (L2 to L6).

As such, the driving range ballbot system 1 according to an embodiment of the present invention adjusts the operating speed for each section when the ballbots 100 and 200 having different functions are interlocked with each other for sections where the ball falls relatively much. By increasing the number of times of collection, it is possible to increase the amount of balls collected compared to the working time, so the efficiency of the collection can be further improved.

The location tracking anchor 300 may be provided at the edge of the field 20 of the driving range. In FIG. 1 , four location tracking anchors 300 are illustrated and described as being provided at each corner of the field 20 , but if at least three or more are provided, the location is not particularly limited.

At this time, each of the first ballbot 100 and the second ballbot 200 may receive location and distance information from the location tracking anchor 300 and recognize a location within the autonomous driving range 400 accordingly. Here, the first ballbot 100 and the second ballbot 200 can recognize their respective positions according to the triangulation method.

The terminal 350 may communicate with the first volbot 100 and the second volbot 200 to set autonomous driving of the first volbot 100 and the second volbot 200 . In addition, the terminal 350 can remotely control the first volbot 100 and the second volbot 200 .

For example, the terminal 350 may be a dedicated remote controller. As another example, the terminal 350 may be an operator's portable terminal. In this case, the terminal 350 may include a smart phone, a note pad, and a desktop PC. In this case, the terminal 350 may have an application dedicated to the ballbot system 1 for driving at the driving range.

At this time, the first ballbot 100 may recognize the initially placed position as the origin (O) of the autonomous driving range 400 when setting autonomous driving. That is, when the operator places the first ballbot 100 on one side of the desired autonomous driving range 400 within the field 20, the first ballbot 100 recognizes the location by the location tracking anchor 300 and It can be recognized as the origin (O) of the autonomous driving range 400.

In addition, the operator may input the horizontal and vertical lengths of the autonomous driving range 400 through the terminal 350 . That is, the first ballbot 100 can set the autonomous driving range 400 according to the input from the terminal 350 . At the same time, as described above, the first ball-bot 100 can calculate the travel path of the first ball-bot 100 and the second ball-bot 200 can calculate the travel speed.

In this way, the ballbot system 1 for carrying a driving range according to an embodiment of the present invention automatically recognizes the origin (O), and according to the input autonomous driving range 400, the driving path of the first ballbot 100 ( By calculating the traveling speed of 100a) and the second ball-bot 200, the convenience of use can be further improved because autonomous driving can be set by simple manipulation without special expertise.

2 is a perspective view of a first ballbot of a ballbot system for carrying a driving range according to an embodiment of the present invention, and FIG. 3 is a partially exploded perspective view of a first ballbot of a ballbot system for carrying a driving range according to an embodiment of the present invention. 4 is a block diagram of a first ballbot of the ballbot system for driving a driving range according to an embodiment of the present invention.

2 and 3, the first ball robot 100 includes a body 110, a first wheel 120, a second wheel 130, a first side arm 140, a support 150, and a protective cover. (160) and a buffer member (170).

The main body 110 is composed of a frame, and the main components of the first ball robot 100 as described below may be embedded therein.

The first wheel 120 is a main wheel and may be provided at the rear of the main body 110 . The first wheel 120 may provide power for straight driving of the first robot 100 . The first wheel 120 may be fixed to both sides of the main body 110 . In addition, the first wheel 120 may be driven to adjust the moving direction of the first ball-bot 100. For example, the traveling direction of the first wheel 120 may be adjusted by stopping one wheel and driving the other wheel. That is, in the first wheel 120, one side wheel becomes a central axis and the other side wheel rotates so that the traveling direction can be adjusted.

The second wheel 130 is an auxiliary wheel and may be provided in front of the main body 110 . The second wheel 130 may be rotatably coupled to the first ball robot 100 . At this time, the second wheel 130 may rotate according to the driving of the first wheel 120 without having a separate power.

The side arm 140 is provided in front of the body 110 to push the ball. The side arm 140 may include a longitudinal base and forwardly bent guides on both sides. That is, the side arm 140 may be provided in a substantially "c" shape. The side arm 140 may be provided with a length approximately three times greater than the width of the main body 110 .

The support 150 may extend between the side arm 140 and the main body 110 to support it. The supports 150 may be provided to be supported as a pair at the center of the side arm 140 .

The protective cover 160 may be provided to cover the top of the main body 110 . The protective cover 160 is to protect the main body 110 from external impact due to a ball hit in the batter's box 10, and may be made of a material having elasticity. For example, the protective cover 160 may be made of rubber or silicon.

In addition, the protective cover 160 may be provided with an inclined surface at the corner. That is, the protective cover 160 may be provided with an inclined surface at a portion between the upper surface and the side surface of the main body 110 . Here, since the ball has a greater impact force when it falls from the side than when it falls from the upper side of the main body 110, by providing an inclined surface, the force at the contact surface with the ball is dispersed and the ball can easily bounce, so the impact force can reduce

The buffer member 170 may be provided between the main body 110 and the protective cover 160 . The buffer member 170 may be provided at each upper corner of the main body 110 . The buffer member 170 may be fixed to the upper surface of the main body 110 and the lower surface of the protective cover 160 , respectively. At this time, the buffer member 170 may have elasticity. For example, the buffer member 170 may include a spring.

In this way, the ballbot system 1 for carrying a driving range according to an embodiment of the present invention covers the main bodies 110, 210 of the ballbots 100, 200 with protective covers 160, 260 having elasticity and a buffer member ( 170 and 270), it is possible to protect the main body even from an impact caused by a ball, so that the reliability of the product can be improved.

Referring to FIG. 4 , the first ball-bot 100 may further include a location information receiving unit 181, a communication unit 182, a first driving unit 183, and a control unit 186. Here, the location information receiving unit 181, the communication unit 182, the first driving unit 183, and the control unit 186 may be built into the main body 110.

The location information receiver 181 may receive location information from the location anchor 300 .

The communication unit 182 may perform short-range wireless communication with the second volbot 200 and the terminal 350 . For example, the communication unit 182 may perform communication through WiFi or Bluetooth. In addition, the communication unit 182 may perform communication with the second volbot 200 and communication with the terminal 350 in different ways.

The first driving unit 183 may drive the first wheel 120 . The first driving unit 183 may be a motor coupled to a rotation shaft of the first wheel 120 . For example, the first driving unit 183 may be a step motor. At this time, the first driving unit 183 may differently drive the first wheels 120 on both sides. That is, when the first ball-bot 100 rotates, the first driving unit 183 can stop the first wheel 120 on one side and drive the first wheel 120 on the other side.

The controller 186 is communicatively connected to the location information receiving unit 181, the communication unit 182, and the first driving unit 183 to control overall operations of the first ball-bot 100. In one example, controller 186 may be a microcontroller.

As described above, the control unit 186 may set the autonomous driving of the first ballbot 100 and control autonomous driving according to the setting. That is, the control unit 186 can control the forward, turning, and autonomous driving of the first ball-bot 100 along the driving route 100a. Optionally, the control unit 186 determines that the first ball-bot 100 moves when it is predicted that the second ball-bot 200 approaches within a certain distance based on the position of the first ball-bot 100 and the position of the second ball-bot 200. The first driving unit 183 may be controlled to temporarily stop.

In addition, the controller 186 may control charging of a battery (not shown). At this time, the controller 186 may control the first ball robot 100 to move to the origin (O) or a separate charging station.

5 is a perspective view of a second ballbot of a ballbot system for carrying a driving range according to an embodiment of the present invention, and FIG. 6 is a block diagram of a second ballbot of a ballbot system for carrying a driving range according to an embodiment of the present invention. .

Referring to FIG. 5 , the second ball robot 200 includes a body 210, a first wheel 220, a second wheel 230, a side arm 240, a support 250, a protective cover 260, and a shock absorber. A member 270 may be included. Here, since the configuration of the second ballbot 200 is the same as that of the first ballbot 100 shown in FIGS. 1 and 2 except for the side arm 240 and the support 250, a detailed description thereof will be omitted.

The side arm 240 is provided in front of the main body 210 to push the ball toward the ball collection groove 30. Similar to the side arm 140 of the first ball robot 100, the side arm 240 may include a base in the longitudinal direction and guides bent forward on both sides. That is, the side arm 240 may be provided in a substantially “c” shape.

However, unlike the side arm 140 of the first ball robot 100, the side arm 240 may be inclined at a certain angle. That is, a pair of supports 250 supporting between the side arm 240 and the main body 210 may be provided with different lengths at the connection portion. Therefore, the side arm 240 may be inclined to one side with respect to the front of the main body 210 . In particular, as shown in FIG. 1, the side arm 240 may be inclined so as to reduce the angle between it and the ball collection groove 30 with respect to the set traveling direction.

As a result, when the second ball bot 200 moves forward along one side of the ball collection groove 30, the ball receives force toward the ball collection groove 30 due to the inclination angle of the side arm 240. ) can be easily collected on the side.

Optionally, the angle of the side arm 240 may be variable without being fixed. That is, the support 250 may be provided in a variable type rather than a fixed type. In this case, a driving unit for varying the support 250 may be provided.

Referring to FIG. 6 , the second ball-bot 200 may further include a location information receiving unit 281, a communication unit 282, a first driving unit 283, a second driving unit 285, and a control unit 286. Here, since the configuration of the second ball-bot 200 is the same as that of the first ball-bot 100 shown in FIG. 3 except for the third drive unit 285, a detailed description thereof will be omitted.

The second driving unit 285 may change the support 250 to change the inclination angle of the side arm 240 . That is, the second driving unit 285 may be additionally provided when the side arm 240 is of a variable type rather than a fixed type unlike the side arm 140 of the first ball robot 100 . For example, the second driving unit 285 may be an electronic cylinder.

In addition, the second driving unit 285 can push the ball into the ball collection groove 30 by varying the inclination of the side arm 240 on the driving path 200a. That is, the second driving unit 285 may apply force so that the ball moves toward the ball collection groove 30 by varying the angle between the side arm 240 and the ball collection groove 30 to decrease. As a result, the side arm 240 can more easily collect the ball located in its front toward the ball collecting groove 30 side.

Hereinafter, with reference to FIGS. 7 to 9 , the operation of the ballbot system 1 for driving at a driving range according to an embodiment of the present invention configured as described above will be described.

7 is a flowchart of an operating method of a ball bot system for carrying a driving range according to an embodiment of the present invention.

Referring to FIG. 7 , the operating method 500 of the ball-bot system 1 for driving at a driving range according to an embodiment of the present invention includes the steps of setting autonomous driving (S510), the first ball-bot 100 and the second ball-bot It may include the steps of starting the driving of (200) (S520 and S530) and turning the first ball-bot 100 and the second ball-bot 200 (S540 and S550).

More specifically, as shown in FIG. 7, first, the operator sets autonomous driving of the first ballbot 100 and the second ballbot 200 through the terminal 350 (step S510). At this time, the first ballbot 100 and the second ballbot 200 may recognize the location according to the location received from the location tracking anchor 300 . In addition, the first ballbot 100 can calculate the driving path 100a within the autonomous driving range 400, and the second ballbot 200 can calculate the driving speed on the driving path 200a.

Next, the first ball-bot 100 starts driving along the set driving path 100a (step S520). Here, the first ball-bot 100 may repeatedly perform driving patterns including forward, backward, and turning. At this time, the first ball-bot 100 may be set to move at different travel speeds when moving forward, backward, and turning.

At the same time, the first ballbot 100 may be driven to proportionally or uniformly travel within the autonomous driving range 400 . Here, proportional driving means that the first robot 100 travels the number of times of driving differently for each section within the autonomous driving range 400 . In addition, uniform driving means that the first ball robot 100 travels in the autonomous driving range 400 at the same number of driving times.

Here, the first ballbot 100 may primarily transport the balls in the direction of the ball collection groove 30 while driving along the driving path 100a calculated within the autonomous driving range 400 .

Next, the second ballbot 200 starts driving along the set travel path 200a (step S530). At this time, the second ball-bot 200 may start driving after a predetermined time after the start of driving of the first ball-bot 100. For example, the second ball-bot 200 may start driving after the first ball-bot 100 completes driving the first straight path L1 on the driving path 100a.

Here, the second ballbot 200 is primarily transported by the first ballbot 100 while advancing from the starting point (S) on the opposite side of the batter's box 10 to the end point (T) on the batter's seat 10 side at the calculated driving speed. The ball can be collected toward the ball collection groove (30). That is, the second ballbot 200 can finally push the ball into the ball collection groove 30 while driving in the area between the autonomous driving range 400 of the first ballbot 100 and the ball collection groove 30. .

Next, the first ball-bot 100 returns to the origin (O) (step S540). At this time, the first ball-bot 100 may return to the origin point O by turning to the right after reaching the return point F3, which is the target point. At this time, the first ball-bot 100 may return at a speed different from the traveling speed moving from the origin point O to the return point F3.

Next, the second ballbot 200 returns to the starting point S (step S550). At this time, after reaching the end point T, the second ballbot 200 may return to the start point S by driving backward. At this time, the second ballbot 200 can move at a higher speed than when moving forward.

8 is a flowchart of an autonomous driving setting procedure of a ballbot system for driving a driving range according to an embodiment of the present invention.

Referring to FIG. 8 , the self-driving setting procedure 510 of the ball-bot system 1 for driving at a driving range according to an embodiment of the present invention includes recognizing the origin O (S511), autonomous driving range 400 inputting (S512), calculating the driving route of the first robot 100 (S513), calculating the driving speed of the second robot 200 (S514), and performing a test drive (S515 and S516) may be included.

In more detail, as shown in FIG. 8, first, the first ballbot 100 recognizes the origin O (step S511). At this time, when the first ballbot 100 is placed at a location where an operation is desired to start corresponding to the autonomous driving range 400, the first ballbot 100 sets the location as the origin according to the information received from the location tracking anchor 300. (O) can be recognized.

At the same time, if the second ballbot 200 is placed at a location where an operation is desired to start corresponding to the autonomous driving range 400, the second ballbot 200 determines the location according to the information received from the location tracking anchor 300. It can be recognized as the starting point (S).

Next, the autonomous driving ranges of the first ballbot 100 and the second ballbot 200 are input (step S512). Here, the operator may input the actual specifications of the autonomous driving range 400 through the terminal 350 . That is, the operator may input the horizontal and vertical lengths of the autonomous driving range 400 .

Next, the first robot 100 calculates a driving route 100a within the autonomous driving range 400 (step S513). At this time, the first ball bot 100 may calculate the driving path 100a so as to repeat forward movement in the direction of the ball collection groove 30 and return in the opposite direction of the ball collection groove 30 . That is, the driving path 100a may repeat a driving pattern including one straight path L1 and a return path (dotted line). Here, one driving pattern may include a forward section (O→A), a retreat section (A→O), and a turning section (O→B).

In addition, the first ball bot 100 may calculate a driving path 100a to move from the origin O on the opposite side of the turn at bat 10 to the side of the turn at bat 10 . That is, the first ball-bot 100 may calculate a driving path 100a including a plurality of straight paths L1 to L7 and a return path.

At the same time, the second ball-bot 200 may calculate a driving route 200a. That is, the second ballbot 200 may calculate the distance from the starting point S to the ending point T corresponding to the vertical length of the autonomous driving range 400 .

Next, the second ball-bot 200 calculates the traveling speed in conjunction with the first ball-bot 100 (step 514). At this time, the second ball bot 200 may travel in parallel along one side of the ball collection groove 30 . Here, the second ball-bot 200 may calculate a traveling speed based on the driving path 100a of the first ball-bot 100 to prevent a collision with the first ball-bot 100 . That is, the second ball-bot 200 may calculate a slower driving speed than the first ball-bot 100 so as not to be placed close to the first ball-bot 100 while driving.

For example, the second ballbot 200 determines the return time to the origin (O) after the first ballbot 100 completes driving on the first straight path (L1) and the turn at the starting point (S) of the second ballbot 200. According to the distance to (10), the traveling speed can be calculated.

Next, the first ball-bot 100 and the second ball-bot 200 perform a test drive according to the calculated travel path and travel speed (step S515). At this time, the operator can check whether an area in which the first ball-bot 100 and the second ball-bot 200 travel in close proximity to each other occurs.

Next, it is determined whether the test driving of the first ballbot 100 and the second ballbot 200 is normal (step S516). The autonomous driving setting of step S515 may be re-performed. That is, during the test drive, the driving speed of the second robot 200 and the driving path of the first robot 100 may be readjusted so that an area in which the first robot 100 and the second robot 200 travel close to each other does not occur. can

9 is a flow chart of a first ball-bot running control procedure of a ball-bot system for driving a driving range according to an embodiment of the present invention.

Referring to FIG. 9 , the first ball-bot driving control procedure 520 of the ball-bot system 1 for driving at a driving range according to an embodiment of the present invention includes the step of determining whether proportional driving is performed (S521), It may include driving steps (S522 to S527), and driving to uniformly travel for each section (S528 to S541).

In more detail, as shown in FIG. 9, first, the first ball-bot 100 determines whether or not proportional driving is performed (step S521). Here, the first ballbot 100 may divide the autonomous driving range 400 into sections from the origin O to the turn at bat 10, and may travel a different number of times for each section. At this time, each section may be divided by return points F1, F2, and F3. For example, the first section is from the origin (O) to the return point (F1), the second section is from the starting point of the third straight path (L3) to the return point (F2), and the third section is the fifth straight path It is from the starting point of (L5) to the return point (F3).

As a result of the determination in step S521, if it is determined that the proportional driving is the case, the first ball-bot 100 travels along the first straight path L1 (step S522). At this time, the second ball-bot 200 may start driving starting from the starting point S after the first ball-bot 100 passes the first straight path L1.

Next, the first ball-bot 100 determines whether it has reached the return point F1 (step S523), and returns to the origin point O when it has reached the return point F1 (step S524).

As a result of the determination in step S523, if the return point F1 has not been reached, the first ball-bot 100 travels on the next driving route (step S525). At this time, the first ballbot 100 may travel on a straight path disposed before the return point F1. For example, the first ball-bot 100 may travel along the second straight path L2.

Next, the first ball-bot 100 determines whether the driving of the set driving route 100a has ended (step S526), and ends autonomous driving when the entire driving route 100a has been driven. Here, the end of autonomous driving means the end of one-time driving of the driving path 100a, and does not mean that the first ball robot 100 ends autonomous driving any longer. That is, the first ballbot 100 may resume autonomous driving after waiting for a certain period of time while the second ballbot 200 returns to the starting point (S) or after being charged at a charging station (not shown).

As a result of the determination in step S526, if the first ball-bot 100 has not finished driving along the driving path 100a, the first ball-bot 100 changes the return point F1 (step S527). At this time, the first ball-bot 100 may change the return point F1 to the return point F2. In addition, the first ball-bot 100 may change the return point F2 to the return point F3 in the next routine.

At the same time, the first ball-bot 100 may return to step S522 and repeatedly perform steps S522 to S526 until the first ball-bot 100 reaches the return point F3. As a result, the first ball-bot 100 may calculate the driving path 100a to include driving the first section 3 times, driving the second section 2 times, and driving the third section 1 time.

In this way, when the first ball-bot 100 travels proportionally, the travel speed and return point of the second ball-bot 200 may be determined in association with the section-by-section travel of the first ball-bot 100. That is, when the first ballbot 100 returns from each return point (F1, F2, F3), the second ballbot 200 can also be set to return to the starting point (S). Here, the return point of the second ball-bot 200 means a position on a straight line of the return points F1, F2, and F3 of the first ball-bot 100.

As a result of the determination in step S521, if it is determined that the driving is not proportional, the first ball-bot 100 travels along the designated driving path 100a (step S528). At this time, the first ball-bot 100 may be driven to travel uniformly. That is, the first ballbot 100 can start from the origin (O) within the autonomous driving range 400 and drive to the return point F3 at once without turning in the middle.

Next, the first ball-bot 100 determines whether the end point has arrived (step S529), and if it does not arrive at the end point, it returns to step S528 and can continuously drive along the driving route 100a.

As a result of the determination in step S529, when the first ball-bot 100 arrives at the destination point F3, the first ball-bot 100 returns to the origin point O (step S541). At this time, the first ballbot 100 may return to the origin (O) and end autonomous driving.

In this way, when the first ball-bot 100 travels uniformly, the second ball-bot 200 can travel along the travel path 100a once.

The methods described above may be implemented by the ballbot system 1 for driving a driving range as shown in FIG. 1, and in particular, may be implemented by a software program that performs these steps, and in this case, these programs are computerized. It may be stored in a readable recording medium or transmitted by a computer data signal combined with a carrier wave in a transmission medium or communication network.

At this time, the computer-readable recording medium includes all types of recording devices in which data readable by a computer system is stored, and includes, for example, ROM, RAM, CD-ROM, DVD-ROM, DVD-RAM, magnetic tape, It may be a floppy disk, a hard disk, an optical data storage device, and the like.

Although one embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiments presented herein, and those skilled in the art who understand the spirit of the present invention may add elements within the scope of the same spirit. However, it will be possible to easily suggest other embodiments by means of changes, deletions, additions, etc., but this will also be said to fall within the scope of the present invention.

1: Ballbot system for driving range
100: first ball bot 200: second ball bot
100a, 200a: travel path 110, 210: main body
120, 220: first wheel 130, 230: second wheel
140, 240: side arm 150, 250: support
160, 260: protective cover 170, 270: buffer member
181, 281: location information receiver 182, 282: communication unit
183, 283: first driving unit 186, 286: control unit
285: second driving unit 300: location tracking anchor
350: terminal 400: autonomous driving range
F1, F2, F3: return point O: origin
S: starting point T: ending point
10: at bat 20: field
30: ball collection groove 32: conveyor

Claims (5)

The driving route is calculated according to the preset autonomous driving range within the driving range, but the driving is performed to move from the origin on the opposite side of the batter's box to the batter's box side while repeating the forward movement in the direction of the ball collection groove and the return in the opposite direction of the ball collection groove. a first ballbot that calculates a path and primarily transports the balls in the direction of the ball collection groove while traveling along the calculated path; and
While traveling in parallel along one side of the ball collecting groove, a traveling speed is calculated based on the traveling path of the first ball-bot, and the calculated traveling speed is used for a certain time after the first ball-bot starts traveling. a second ball bot advancing from the opposite side to the batter's box side and collecting the ball primarily transported by the first ball bot toward the ball collection groove;
A ball bot system for holding a driving range that includes a. According to claim 1,
Each of the first ballbot and the second ballbot,
main body;
A first wheel provided at the rear of the main body and adjusting the traveling direction;
a second wheel provided in front of the main body;
a side arm provided in front of the main body to push the ball;
a protective cover provided to cover an upper portion of the main body, provided with an inclined surface at a corner, and having elasticity; and
a buffer member provided between the main body and the protective cover;
A ball bot system for driving ranges that includes a. According to claim 1,
The second ballbot,
Driving is started after the first straight path on the driving path of the first robot is completed,
The driving range ball-bot system for calculating the traveling speed according to the return time to the origin after the first ball-bot completes driving on the first straight path and the distance from the starting point of the second ball-bot to the at-bat. According to claim 1,
Each of the first ballbot and the second ballbot recognizes a position within the autonomous driving range according to position and distance information from a plurality of position tracking anchors provided at the edge of the field of the driving range,
When setting self-driving, the first ballbot recognizes the initially placed position as the origin of the self-driving range, sets the horizontal and vertical lengths of the self-driving range, and sets the self-driving range to the golf driving range inputted by the terminal. A ballbot system for collection. According to claim 1,
The first ballbot divides the autonomous driving range into sections from the origin to the turn-at-bat side, travels at different times for each section, and the number of travels decreases from the origin toward the turn-at-bat side;
The second ballbot is a ballbot system for driving at a driving range in which a driving speed and a return point are determined in conjunction with the driving of the first ballbot for each section.

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