KR20240026841A - Method and apparatus of controlling operation of unmanned golf cart - Google Patents

Abstract

According to some embodiments of the present disclosure, an apparatus and method for controlling the operation of an unmanned golf cart are disclosed. The method includes: acquiring at least one of location information and motion information of the unmanned golf cart; Reading map information and identifying the current location and operating state of the unmanned golf cart based on at least one of the location information and the motion information, the map information, and the sensing information; and generating a control signal according to the current location and the operating state and transmitting it to the unmanned golf cart, wherein the control signal includes travel control information for movement according to the current location and the operating state, At least one of golf course status and divot management control information may be included while the unmanned golf cart is driving.

Description

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

This disclosure relates to an unmanned golf cart, and specifically to an apparatus and method for controlling the operation of an unmanned golf cart.

While there are limits to increasing the number of golf courses due to various issues, the number of people enjoying golf has been rapidly increasing recently. As a result, efficiency is required in operating and managing golf courses.

Meanwhile, with the development of digital technology, golf courses that employ unmanned golf carts have recently emerged, sharing the role of traditional caddies and helping with golf course operation management.

However, there are various variables in golf course operation management, but currently, unmanned golf carts on golf courses are limited to simply carrying golf bags or following golfers as they play, so more efficient control of unmanned golf carts and An efficient golf course operation management system is required.

Republic of Korea registered utility model number 20-0372425 (registered on December 30, 2004)

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

The technical task to be achieved by some embodiments of the present disclosure is to detect and process grass, divots, etc. in the golf course in real time to assist the user in playing, and to provide the unmanned golf cart necessary for operation and management of the golf course. The purpose is to control movement.

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

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

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

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

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

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

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

According to some embodiments of the present disclosure, the driving control information includes information that controls the operation of the unmanned golf cart to move to a location a preset distance away from the user according to user characteristics, and the unmanned golf cart moves to a play space. Information that controls movement to be locked depending on whether an object is detected when leaving may be included.

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

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

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

According to some embodiments of the present disclosure, when the map information is updated, when the map information includes a newly added divot area or a divot expected area, a divot for the newly added divot area or the divot expected area A step of determining whether to immediately manage; And it may further include generating and transmitting processing operation control information for the divot area or the divot expected area to the unmanned golf cart based on a determination result of whether or not to immediately manage the divot.

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

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

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

In the device for controlling the operation of an unmanned golf cart according to some embodiments of the present disclosure, the device includes: a storage unit storing at least one program command; and at least one processor executing the at least one program command, wherein the at least one processor acquires sensing information from the unmanned golf cart and provides at least one of position information and motion information of the unmanned golf cart. Obtain, read map information, identify the current location and operating state of the unmanned golf cart based on at least one of the location information and the motion information, the map information, and the sensing information, and identify the current location and the operating state of the unmanned golf cart. An operation is performed to generate a control signal according to the operating state and transmit it to the unmanned golf cart, and the control signal includes driving control information for movement according to the current location and the operating state, and the driving distance of the unmanned golf cart. It may include at least one of golf course status and divot management control information.

The technical solutions obtainable from this disclosure are not limited to the solutions mentioned above, and other solutions not mentioned above will be clearly apparent to those skilled in the art from the description below. It will be understandable.

The effects of the unmanned golf cart operation control device and method according to the present disclosure will be described as follows.

According to some embodiments of the present disclosure, it is possible to quickly respond to various situations occurring within a golf course by controlling the operation of an unmanned golf cart.

According to some embodiments of the present disclosure, the golf course can be efficiently operated and managed through real-time monitoring and processing of the grass condition, divot, etc. according to the user's play within the golf course through operation control of the unmanned golf cart, and furthermore, the user can operate and manage the golf course. It can help you play golf smoothly on the golf course.

The effects that can be obtained through the present disclosure are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. will be.

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

Hereinafter, various embodiment(s) of the device and method for controlling the operation of an unmanned golf cart according to the present disclosure will be described in detail with reference to the drawings, but the same or similar components are used regardless of reference numerals. The same reference number will be assigned and duplicate description will be omitted.

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

The terms in this disclosure are terms defined in consideration of the functions in this disclosure, and may vary depending on the intention or custom of the user or operator. In addition, the attached drawings are only intended to facilitate understanding of one or more embodiments of the present disclosure, and the technical idea of the present disclosure is not limited by the attached drawings, and all changes included in the spirit and technical scope of the present disclosure are not limited. , should be understood to include equivalents or substitutes.

The suffixes “module” and “part” for components used in the following description are given or used interchangeably only considering the ease of preparation of the present disclosure, and do not have distinct meanings or roles in themselves.

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

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

Singular expressions include plural expressions unless the context clearly dictates otherwise. That is, unless otherwise specified or clear from context to indicate a singular form, the singular in this disclosure and claims should generally be construed to mean “one or more.”

In the present disclosure, terms such as “comprising,” “includes,” or “have” are intended to indicate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the present disclosure. It should be understood that this does not exclude in advance the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

In the present disclosure, the term “or” should be understood not as “or” in the exclusive sense but as “or” in the connotative sense. That is, unless otherwise specified or clear from context, “X utilizes A or B” is intended to mean one of the natural implicit substitutions. That is, either X uses A; X uses B; Or, if X uses both A and B, “X uses A or B” can apply to either of these cases. Additionally, the term “and/or” as used in this disclosure should be understood to refer to and include all possible combinations of one or more of the related listed items.

As used in this disclosure, the terms “information” and “data” may be used interchangeably.

Unless otherwise defined, all terms (including technical and scientific terms) used in this disclosure may be used with meanings that can be commonly understood by those skilled in the art. Additionally, terms defined in commonly used dictionaries are not overly interpreted unless specifically defined.

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

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

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

Referring to FIG. 1, the system 1 for controlling the operation of an unmanned golf cart includes a control server 10, at least one unmanned golf cart 20, a database (DB) 30, and a user terminal 40. can do. At this time, the system 1 for controlling the operation of the unmanned golf cart may also include an unmanned aerial vehicle 30 for acquiring information about the golf course and/or the unmanned golf cart 20. Additionally, each device in the unmanned golf motion control system 1 may be connected to each other for communication through a wired/wireless network 300. However, the components constituting the system 1 shown in FIG. 1 are not essential for implementing the system for controlling the operation of the unmanned golf cart 20, so there may be more or fewer components than the components listed above. It can have components.

The control server 10 and/or the unmanned golf cart 20 of the present disclosure are capable of pairing or connecting with the user terminal 40 through a wired/wireless network, and through this, predetermined Data can be transmitted/received. In this case, data transmitted/received through a wired/wireless network may be converted before transmission/reception. Here, “wired/wireless network” refers to a network that supports various communication standards or protocols for pairing or/and data transmission and reception between the control server 10 and/or the unmanned golf cart 20 and the user terminal 40. This is a general term for communication networks. These wired/wireless networks include all communication networks that are currently or will be supported in the future according to standards, and can support one or more communication protocols for them.

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

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

In this disclosure, “control server 10” refers to a device or system that supplies data to or receives data from a client, such as an unmanned golf cart 20 or various types of user terminals.

Even when referred to as a server in the present disclosure, the meaning may mean a fixed device such as an administrator terminal or a mobile device depending on the context, or it may be used to include all of them unless specifically mentioned.

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

The processor may control at least some of the components of the control server 10 to run the application program stored in the storage unit. Furthermore, the processor can operate at least two of the components included in the control server 10 in combination with each other to run the application program.

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

The processor of the present disclosure may be configured with a dual processor or other multi-processor architecture. However, it is not limited to this.

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

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

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

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

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

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

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

The Department of Communications provides technical standards or communication methods for mobile communication (e.g., GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 2000), EV-DO (Enhanced Voice- Data Optimized or Enhanced Voice-Data Only), Wideband CDMA (WCDMA), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A) ), etc.), wireless signals can be transmitted and received with at least one of a base station, an external terminal, and a server on a mobile communication network built according to the method.

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

In addition, the communication unit may be configured to transmit and receive signals through short range communication. The communications department uses Bluetooth (Bluetooth??), RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra-Wideband), ZigBee, NFC (Near Field Communication), and Wi-Fi (Wireless-Fidelity). Short-distance communication can be performed using at least one of , Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technologies. The communications department can support wireless communications through wireless area networks. Local area wireless networks may be wireless personal area networks.

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

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

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

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

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

Each component of the user terminal 40 of the present disclosure may be integrated, added, or omitted depending on the specifications of the user terminal 40 that is actually implemented. That is, as needed, two or more components may be combined into one component or one component may be subdivided into two or more components. Additionally, the functions performed by each block are for explaining the embodiments of the present disclosure, and the specific operations or devices do not limit the scope of the present invention.

Figure 2 is a block diagram for explaining a control server according to some embodiments of the present disclosure. In relation to FIG. 2 , content that overlaps with what was described above in FIG. 1 will not be described again, and the description will focus on the differences below.

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

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

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

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

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

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

The map data processing unit 240 may receive map-related data decoded from the data processing unit 230 to create a map or update previously stored map data. At this time, the map data processing unit 240 may also refer to other data decoded by the data processing unit 230, such as divot data or golf course general management data.

In this disclosure, map data may include, but is not limited to, 3D high-precision map map data. According to some embodiments, the map data may also include two-dimensional plan map data.

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

The divot data processing unit 250 may transmit the generated or updated divot data to the map data processing unit 240 to generate or update map data.

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

In this disclosure, divot management data may collectively refer to data transmitted to the unmanned golf cart 20 for grass and divot management, such as divot location information, divot status information, and divot repair/recovery commands according to divot status. However, the present disclosure is not limited to the above-described content.

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

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

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

DB 280 can temporarily store data received, processed, etc. from the control server 10.

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

Figure 3 is a block diagram for explaining an unmanned golf cart according to some embodiments of the present disclosure. In relation to FIG. 3, content that overlaps with what was described above in FIGS. 1 and 2 will not be described again, and the description will focus on the differences below.

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

The components that make up the unmanned golf cart 20 shown in FIG. 3 are not essential for implementing the unmanned golf cart 20, so it may have more or fewer components than the components listed above. .

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

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

One of the sensors included in the sensor module 320 may include a location information sensor, and a Global Positioning System (GPS) sensor may be used as the location information sensor, but is not limited thereto. The GPS sensor is a technology that can accurately determine one's location by communicating with satellites anywhere in the world, and VRS (Virtual Reference Station) and RTK (Real-Time Kinematic) methods can be used. The VRS is a method of determining position through real-time moving surveying with a mobile station by creating a virtual reference point in real time using a reference station consisting of a GPS station. The RTK is a position determination method that obtains centimeter-level accuracy (e.g., 1 cm horizontally, 2 cm vertically) in real time by using correction values for the phase of a base station that has precise location information, and is the VRS described above. More precise location information can be obtained using this method. In this disclosure, the GPS-RTK method is adopted for convenience, but it is not limited thereto.

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

The unmanned golf cart 20 according to some embodiments of the present disclosure is equipped with a 3D high-precision map, receives a corrected position from a GPS reference station located within a golf course when moving, and can perform precise autonomous driving based on the received position. Meanwhile, the control server 10 utilizes the characteristics of an open golf course and sets a 3D precision map for the unmanned golf cart 20 by dividing it into a driveable area and a non-driveable area for the unmanned golf cart 20. However, safe driving of the unmanned golf cart 20 can be induced by transmitting coordinate information for the above areas together.

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

The unmanned golf cart 20 according to some embodiments of the present disclosure may have a LiDAR sensor attached to the bottom, and the LiDAR sensor attached in this way not only prevents collisions with people and obstacles, but also prevents collisions with people and obstacles, for example, while driving or moving. For example, information such as the location, width, length, and depth of the area (divot hole) where a divot occurs on the ground at the bottom of the unmanned golf cart 20 can be sensed and recorded. Information about the divot hole recorded in this way can be transmitted to the control server 10. The control server 10 provides information about the divot hole. For example, if the depth of the divot hole is shallower than the reference value, the control server 10 controls the operation of the unmanned golf cart 20 and immediately supplies soil, such as soil or sand, to the divot hole. It can be controlled to pour and make temporary repairs.

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

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

In the present disclosure, the camera sensor may record information about the user's play video and movement path by time zone and transmit it to the control server 10 and/or the user terminal 40.

In this disclosure, the camera sensor is not only used to capture video of the user's play, but can also perform a black box-like role when driving an unmanned golf cart, and can also be used as a black box to prevent user safety accidents and theft. there is. However, the present disclosure is not limited to the above-described content.

One of the sensors included in the sensor module 320 may include a temperature/humidity sensor, and this temperature/humidity sensor can obtain information about the temperature or humidity of the grass and the temperature or humidity of the surrounding environment. Sensing information acquired through the temperature/humidity sensor can be referenced by the control server 10 for management, such as maintenance and repair of grass and divots.

Meanwhile, according to some embodiments of the present disclosure, the sensing module 320 may acquire an RGB image and transmit it to the control server 10 to identify the growth state of the grass. The control server 10 can determine the growth state of the grass based on the information and RGB images received through the temperature/humidity sensor and the LiDAR sensor. Through this, the control server 10 can determine the overall condition of the grass and classify it into areas requiring management, areas requiring priority management, etc. The unmanned golf cart 20 moves to the area where the divot occurred based on the sensing information collected through the sensor module, and when the shape of the divot and the growth state of the grass exceed the set standard value, the unmanned golf cart 20 is given priority along with information about the area. A management request list can also be created and transmitted to the control server 10.

The unmanned golf cart 20 according to the present disclosure displays ( 360).

According to some embodiments of the present disclosure, the divot combines the location information sensed through the GPS-RTK type location information sensor and the shape information of the divot sensed through at least one of the LiDAR sensor and the 360-degree camera sensor. , not only can it be detected more accurately, but also detailed information about the divot can be obtained. For example, the LIDAR sensor can sense not only the detected divot but also the depth information of the divot hole in the grass. Accordingly, the unmanned golf cart 20 may list-up the divot recovery priority based on at least one of the dibot detection information and the divot detailed information and transmit it to the control server 10. However, the list-up regarding the divot recovery priority may be performed by the control server 10 rather than the unmanned golf cart 20.

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

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

The driving control module 340 may control the driving of the unmanned golf cart 20 by extracting various information regarding the driving of the unmanned golf cart 20 based on the data processed by the data processing unit 330.

The divot processing module 350 may control the unmanned golf cart 20 to perform processing on the divot based on the data processed by the data processing unit 330.

The display 360 may display (output) information processed in the user terminal 40. For example, the display 360 may display execution screen information of an application running on the user terminal 40 or UI and graphic user interface (GUI) information according to the execution screen information.

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

The control unit 370 is responsible for overall control of the unmanned golf cart 20, and can control the operations of other components for this control.

The DB 380 can store data that is received, processed, etc. from the unmanned golf cart 20.

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

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

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

The sound output unit may include a receiver, speaker, buzzer, etc. That is, when the sound output unit is implemented as a receiver, it may be implemented in the form of a loud speaker. However, it is not limited to this.

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

The sound acquisition unit may process external sound signals into electrical sound data. The processed audio data can be utilized in various ways depending on the function (or application program being executed) being performed on the user terminal 40. Meanwhile, various noise removal algorithms may be implemented in the sound acquisition unit to remove noise generated in the process of receiving an external sound signal.

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

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

Meanwhile, according to the present disclosure, the system 1 acquires precise location information through a GPS location information sensor and the object shape acquired by a lidar sensor, and integrates the obtained information to efficiently manage or process divots caused by the user's play, etc. In addition, the user can play by receiving his/her exact location, grass condition, various play records, play recommendation information, etc. through the terminal 40.

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

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

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

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

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

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

Steps S101 and S103 described above may be performed simultaneously or may be performed in a different order than shown.

The control server 10 can read pre-stored map information from the DB 270 (S105). Here, the map information is information related to the map of the golf course and may include information about the location of the green within the golf course and information about the location of the bunker within the golf course. However, the present disclosure is not limited to this.

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

In the present disclosure, the current location of the unmanned golf cart 20 can be identified based on location information and map information. However, it is not limited to this, and the current location of the unmanned golf cart 20 includes map information, sensing information (e.g., image information taken of the surrounding environment), location information, and motion information (e.g., movement direction and may be identified based on at least one of: movement speed).

In the present disclosure, the operating state may indicate whether the unmanned golf cart 20 is stationary or moving. For example, the control unit 370 of the unmanned golf cart 20 changes when at least one of location information and motion information changes, sensing information (e.g., image information captured of the surrounding environment) changes, or location information and If the sensing information changes as at least one of the motion information changes, the unmanned golf cart 20 may be recognized as moving. However, the present disclosure is not limited to this.

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

Specifically, the control server 10 can use the current location and operating state of the unmanned golf cart 20 to recognize whether the unmanned golf cart 20 is moving or stationary and its destination to generate a control signal. there is.

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

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

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

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

According to some embodiments of the present disclosure, the control server 10 may receive user motion detection data from the unmanned golf cart 20 and identify the user's motion using the user motion detection data. Here, user motion detection data may refer to data that identifies the user's movement behavior (e.g., motion for hitting a tee shot, motion for moving after hitting a golf ball, etc.), and motion detection data Can be obtained by analyzing information acquired through at least one of a location information sensor, a 360-degree camera sensor, or a lidar sensor.

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

According to some embodiments of the present disclosure, the unmanned golf cart is provided with information that the current location of the unmanned golf cart is near the tee box zone, obtained through at least one of a location information sensor, a 360-degree camera sensor, or a lidar sensor, and information about the tee box zone. Information that features corresponding to the feature exist in the surroundings (e.g., information that an image taken of the surroundings corresponds to an image of the tee box zone), information that the user moves to hit a tee shot (e.g., lidar If at least one of information (information that a specific object has picked up a driver) obtained through a sensor is obtained, the user's motion may be recognized as a specific play motion.

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

Additionally, according to some embodiments of the present disclosure, the travel control information may include information for controlling movement of the unmanned golf cart 20 when it leaves the play space, depending on whether or not an object in the play space is detected.

For example, when the unmanned golf cart 20 moves out of the space where the user has previously played, it generally moves according to the user's movements. However, the control server 10 scans the entire space before the unmanned golf cart 20 leaves the play space and detects pre-registered objects (e.g., the user's golf club or other equipment, a new divot) etc.), and when at least one object is detected in the corresponding play space as a result of the detection, driving control information can be transmitted so that the operation, that is, the movement, of the unmanned golf cart 20 is locked. Meanwhile, when the movement of the unmanned golf cart 20 is restricted despite the user's movement, the control server 10 displays information related to the movement restriction on the display of the unmanned golf cart 20 and/or the user. It can be controlled to be output through the terminal 40. Through this, the user can avoid losing equipment after playing, and when a divot is newly discovered, the control server 10 immediately collects information and processes the divot, thereby improving lawn management efficiency. .

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

According to some embodiments of the present disclosure, when the control server 10 receives a destination entry signal from the unmanned golf cart 20, the control server 10 provides information for setting a target space within the destination in response to the destination entry signal and the target. A divot detection request for a space can be transmitted, and when divot detection information according to the divot detection request is received from the unmanned golf cart 20, a divot area, divot expected area, and recommended play area are created based on the received divot detection information. Extract information, read map information, compare the read map information with divot area information, divot expected area information, and recommended play area information extracted for the target space, and update and store the map information according to the comparison result. You can. In the above, the target space may represent, for example, a space within the destination where the user plays or a space within a preset range based on the point where the golf ball is located. For example, the target space may be played by the user or may indicate an expected play space. Referring to FIG. 8, 800 may represent a destination and 700 may represent a target space.

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

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

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

As shown in (a) of FIG. 5, when the unmanned golf cart 20 detects the user's entry, it can start driving and move to the destination along a predetermined route. At this time, the detection may mean when both of the user's feet are recognized on the support stand (and/or when both hands are holding the support stand).

In the present disclosure, the unmanned golf cart 20 may be equipped with a weight detection sensor, and when the unmanned golf cart 20 recognizes a weight change greater than a preset threshold through the weight detection sensor, it may detect that the user is on board. .

Referring to (b) of FIG. 5, when the user is not on board or in certain situations, the unmanned golf cart 20 is positioned at a predetermined distance (d1) from the user and is stationary or moves at the predetermined distance (d1) according to the user's movement. You can also leave d1) and move accordingly.

Meanwhile, as shown in FIG. 9, the unmanned golf cart 20 determines whether another unmanned golf cart is detected within a predetermined range, and when at least one other unmanned golf cart is detected, it again determines whether it is the unmanned golf cart of the same play user. It may be determined whether or not, and if it is not an unmanned golf cart belonging to the same player, the golf cart may be controlled to maintain a distance of at least a first distance. On the other hand, when the unmanned golf cart 20 is an unmanned golf cart of the same play user, it can be controlled to maintain a second distance interval, and the second distance interval is determined by the state of each same play user (playing, waiting to play) ) may vary depending on the condition. For example, unmanned golf cart(s) assigned to waiting users may be clustered within a second distance interval (minimum distance interval) from each other.

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

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

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

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

Referring to (b) of FIG. 6, the control server 10 controls grass or divots or grass and/or divots while at least one unmanned golf cart runs in the target space 600 (e.g., fairway). You can check the status and control it to perform an action.

At this time, the control server 10 can control a plurality of unmanned golf carts to drive within the target space 600 so that their movement lines do not overlap, while detecting grass and divots and collecting information about their status. Meanwhile, at least one golf cart among the plurality of unmanned golf carts may be controlled to report collected information to the control server 10. In addition, the control server 10 generates a management control signal according to the report and transmits it to each of the plurality of unmanned golf carts or at least one unmanned golf cart among them, and sprays soil and the like in places where divot repair is required. and can be controlled to spray water on grass that needs moisture.

According to some embodiments, the unmanned golf cart 20 photographs the state of the detected divot and transmits it to the control server 10, and when the control server 10 determines that the divot is in good condition, it returns the divot to its original state. A recovery control signal may be transmitted to the unmanned golf cart 20 to move it into position. To this end, the unmanned golf cart 20 has a configuration for moving the divot to its original position (e.g., a robot gripper arm, etc.) and a configuration for applying pressure so that the moved divot is fixed in that position (e.g. , it may include at least one of rollers. When the divot is relocated to the corresponding location, the control server 10 may repair or manage the divot by spraying more moisture or soil through the unmanned golf cart 20 and controlling the divot to be restored by applying pressure through the above-described configuration. there is.

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

FIG. 8 is a diagram illustrating an example of an operation of an unmanned golf cart when a user operation is a specific play operation according to some embodiments of the present disclosure. Contents that overlap with those described above with respect to FIGS. 1 to 7 in relation to FIG. 8 will not be described again, and will be described below focusing on differences.

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

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

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

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

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

In the present disclosure, assuming that the tee-box is the target space 700, the unmanned golf cart 20 randomly travels in the target space 700 as shown in (a) of FIG. 7, and moves the grass within the tee-box. You can perform operations for status, divot detection, etc. This can be done under the control of the control server 10.

Through performing the above operation, at least one of the control server 10 and the unmanned golf cart 20 can generate mini-map information as shown in (b) of FIG. 7. In order to generate the mini-map information, at least one of the control server 10 and the unmanned golf cart 20 reads map information previously stored in a storage unit (not shown) and records the turf condition and divot detection information in the map information. can be recorded in

Referring to (b) of FIG. 7, at least one of the control server 10 and the unmanned golf cart 20 is located in the detected divot (DV), divot expected area (PDV), and divot-free play recommendation area (RDV). Information can be recorded on the mini map.

In the present disclosure, the divot expected area (PDV), as described above, may represent an area in which a divot is not currently occurring, but play in that area is not recommended.

In the present disclosure, the recommended area (RDV) is an area in the target space 700 where a divot is not detected and an area other than the divot expected area (PDV), and may represent an area where the user's play in the corresponding area is recommended.

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

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

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

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

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

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

According to some embodiments of the present disclosure described above, when hitting a tee shot within a tee box, the user can arbitrarily place the golf ball inside the tee shot box and hit it, so the user can determine whether the hole currently playing golf is a slice hole. Based on things like whether the user is right-handed, the optimal location for hitting a tee shot can be recommended to the user.

FIG. 9 is a diagram illustrating an example of an operation of an unmanned golf cart according to a user according to some embodiments of the present disclosure. In relation to FIG. 9 , content that overlaps with what was described above with reference to FIGS. 1 to 8 will not be described again, and the description will focus on the differences below.

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

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

For example, the first unmanned golf cart 21 may be located at a distance of a first distance (do1) to capture the play video of the first user, and the second unmanned golf cart 22 may capture the play video of the second user. It may be located at a distance of a second distance (do2) in order to photograph. At this time, the first distance (do1) and the second distance (do2) may be different.

The unmanned golf cart 20 can be assigned an identifier in conjunction with a pair of signal terminals, and can maintain a distance from other users' unmanned golf carts to minimize signal interference.

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

FIG. 10 is a diagram illustrating an example of a divot management configuration of an unmanned golf cart according to some embodiments of the present disclosure. In relation to FIG. 10 , contents that overlap with those described above with reference to FIGS. 1 to 9 will not be described again, and the description will focus on the differences below.

For example, the unmanned golf cart 20 can obtain sensing information about the grass, such as divots and fairways, obtained through a lidar sensor. In addition to the LiDAR sensor, the sensing information may also include information on temperature/humidity and soil for divots or grass conditions through a temperature/humidity sensor.

When a divot is discovered, the unmanned golf cart 20 may report this to the control server 10 and perform an operation according to a control signal from the control server 10.

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

With reference to FIG. 10 , a configuration for divot management of an unmanned golf cart 20 according to some embodiments of the present disclosure has been disclosed.

For example, a portion of the bottom of the unmanned golf cart 20 may include the configuration shown in FIG. 10 .

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

The unmanned golf cart 20 is provided with a first accommodating part 1010 for accommodating a first material (e.g., soil) and a second accommodating part 1020 for accommodating a second material (e.g., water). It may be possible, but it is not limited to this.

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

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

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

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

Each nozzle (1013, 1023) can be adjusted in direction, length, etc., and can be accommodated inside when the unmanned golf cart 20 is moving, as shown in FIG. 10.

In FIG. 10, only two accommodating parts are shown for convenience of explanation, but the accommodating part may be further included to accommodate more materials.

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

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

FIG. 11 is a flowchart illustrating an example of a method for controlling the operation of an unmanned golf cart according to some embodiments of the present disclosure. In relation to FIG. 11 , content that overlaps with what was described above with reference to FIGS. 1 to 10 will not be described again, and the following will focus on differences.

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

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

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

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

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

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

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

According to some embodiments of the present disclosure, unlike shown in FIG. 11, the unmanned golf cart 20 does not operate according to control information received after transmitting information to the control server 10, but operates based on information obtained in real time. Based on this, automatic driving can also be possible. For example, the unmanned golf cart 20 provides direct information in cases where communication conditions are poor, driving a short distance within the target space, driving according to a set routine, or driving within a hole rather than between holes. can be processed and driven. For example, if updated map information is not received from the control server 10, the unmanned golf cart 20 may automatically operate based on pre-stored map information. In this case, routines can be determined in advance and operation information for each routine can be generated based on artificial intelligence.

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

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

FIG. 12 is a flowchart illustrating another example of a method for controlling the operation of an unmanned golf cart according to some embodiments of the present disclosure. In relation to FIG. 12 , content that overlaps with what was described above with reference to FIGS. 1 to 11 will not be described again, and the description will focus on the differences below.

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

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

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

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

In the above, divot verification information may include information identifying whether the corresponding object is divot.

According to some embodiments of the present disclosure, dibot verification information means that when the object is identified as a divot, based on information such as the location of the divot, the size of the divot, the depth of the divot or the grass around the divot, and the divot. Depending on the current user's play, this may indicate information that identifies whether it is a newly generated divot or a divot that has already been generated and recorded.

According to some embodiments of the present disclosure, in addition to the above comparison, the unmanned golf cart 20 may determine itself and include information about damage to the grass, moisture level, etc. in the divot verification information.

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

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

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

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

According to some embodiments of the present disclosure, unlike as shown in FIG. 12, when a foreign object or obstacle is detected, the unmanned golf cart 20 reads pre-stored map information and compares it with the map information to determine a divot as a suspected or candidate object. Set, and transmit information (e.g., shooting information) about the object to the control server 10, and the control server 10 generates the divot verification information, updates pre-stored map information, etc., and performs divot verification information. The updated map information may also be transmitted to the unmanned golf cart 20.

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

According to some embodiments of the present disclosure, the updated map information may include location information about the divot updated according to the divot verification information, etc. when providing recommendation information to the user. That is, recommended information about a location without a divot in the target space may be provided to the user by referring to the updated map information. Accordingly, step S313 of FIG. 12 may be prepared and provided based on the updated map information.

FIG. 13 is a flowchart illustrating another example of a method for controlling the operation of an unmanned golf cart 20 according to some embodiments of the present disclosure. In relation to FIG. 13 , content that overlaps with what was described above with reference to FIGS. 1 to 12 will not be described again, and the following will focus on the differences.

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

In the present disclosure, identifying the user's motion may refer to identifying whether the user intends to play, such as the user's pre-play motion.

For example, it is possible to identify whether the user's action is an action to prepare for a tee shot, which is a specific play action.

Meanwhile, identification of the user's motion may not necessarily be accomplished solely through video information, and may be identified or referenced through voice, etc.

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

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

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

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

The unmanned golf cart 20 can move to the preset location and capture the user's play video (S409).

Here, the unmanned golf cart 20 can determine the resolution of the user's play video based on illuminance, etc., and capture the image at the determined resolution.

According to some embodiments of the present disclosure, the unmanned golf cart 20 moves to an appropriate location for photography in step S407, and then moves the golf club from the user's play preparation action to the finish action of the play or after the finish action. Even the action to return the golf cart to the unmanned golf cart (20) can be filmed. Here, when the unmanned golf cart 20 detects the user's finishing motion, it can perform a processing operation for the divot. However, the present disclosure is not limited to this.

According to some embodiments of the present disclosure, the unmanned golf cart 20 may transmit the original video of the user's play to the control server 10 as is, or may process the original video and transmit it to the control server 10. In the above, processing may include, for example, processing the entire original video by dividing it into pre-play motions, play-based motions, and play-irrelevant motions. And, if the original video is larger than a predetermined size, the unmanned golf cart 20 compresses and transmits the original video, but if the size of the compressed file is also larger than the predetermined size, some of the data for the divided actions (play Only the operation (including motion) may be transmitted to the control server 10. Meanwhile, some of the data classified from the original play video may not be transmitted to the control server 10, but may be recorded in the unmanned golf cart 20. Some of the play video data recorded in this way may be reset when the user returns the unmanned golf cart 20 to a reference location such as a club house.

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

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

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

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

In this disclosure, third-party users include users who are playing together, users who are currently playing at the club and for whom at least one play video has been uploaded to the control server 10, users of the same age, users of the same gender, and users of the same age. Alternatively, users with similar experience, users at the same or similar level, etc. may be included.

In the present disclosure, comparison information of play videos may be provided on a per-user basis, or on a group-by-player basis.

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

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

Various information described in this disclosure may be information determined in advance, and may be arbitrarily changed.

According to some embodiments of the present disclosure, the control server 10 may obtain information obtained during operation through the sensing module 320 of the unmanned golf cart 20. Here, the sensing module 320 may include a 360-degree camera sensor, a location information sensor, a lidar sensor, and a temperature/humidity sensor. As described above, the information acquired by the control server 10 can be provided to users and managers, and users can receive information on atmospheric conditions such as temperature and humidity of the golf course while moving freely, and managers can remotely This allows you to understand the entire golf course situation.

According to at least one of the above-described embodiments of the present invention, optimal and safe driving can be ensured by considering various circumstances when driving within a golf course, and information on grass conditions, divots, etc. in real time according to the user's play within the golf course. It is efficient in the operation and management of golf courses as it is capable of monitoring and processing, and has the advantage of helping users play golf.

In the present disclosure, the device may not be limited to the configuration and method of some of the embodiments described above, but may be configured by selectively combining all or part of each embodiment so that various modifications can be made. there is.

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

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

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

A method of training a dementia identification model by at least one processor of a device according to some embodiments of the present disclosure is implemented as code readable by at least one processor on a recording medium readable by at least one processor provided in the device. It is possible. A recording medium readable by at least one processor includes all types of recording devices storing data that can be read by at least one processor. Examples of recording media that can be read by at least one processor include Read Only Memory (ROM), Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage devices.

Meanwhile, although the present disclosure has been described with reference to the accompanying drawings, these are only examples and are not limited to specific embodiments, and various modifications that can be made by those skilled in the art in the technical field to which the invention pertains are also included in the claims. falls within the scope of rights. Additionally, such modified implementations should not be understood individually from the technical spirit of the present invention.

Claims (1)

A method of controlling the operation of an unmanned golf cart by at least one processor of the device, the method comprising:
Obtaining sensing information from an unmanned golf cart;
Obtaining at least one of location information and motion information of the unmanned golf cart;
Reading map information and identifying the current location and operating state of the unmanned golf cart based on at least one of the location information and the motion information, the map information, and the sensing information; and
generating a control signal according to the current location and the operating state and transmitting it to the unmanned golf cart;
Including,
In the control signal,
Containing at least one of driving control information for movement according to the current location and the operating state, golf course status and divot management control information during driving of the unmanned golf cart,
Method for controlling the operation of an unmanned golf cart.