TWI782257B - Ball-tracking self-driving travel path central controlling device of golf fairway self-driving car - Google Patents

Abstract

Disclosed is a ball-tracking self-driving travel path central controlling device of a golf fairway self-driving car, comprising a preset planned path determination module, a golf ball next shot position determination module and a path driving control module, such that the golf fairway self-driving car travels in a plurality of preset planned paths or moves among the plurality of the preset planned paths in a golf fairway.

Description

Ball track tracking self-driving driving path central control system for golf course self-driving vehicles

The present invention relates to an automatic driving vehicle, in particular to a central control system for tracking the self-driving driving path of a golf course self-driving vehicle in a golf course of a golf course.

Self-driving vehicles, also known as unmanned vehicles or computer-driven vehicles, are vehicles that can drive autonomously without human operation by sensing location information or environmental sensing results. In recent years, with the advancement of satellite signals and environmental sensing technology, as well as continuous investment in research on vehicle decision-making, command transmission, and mechanism actions, the technology of autonomous vehicles has also achieved rapid development.

Currently, the technology to implement self-driving vehicle technology on the golf course's golf course is still immature. The reason is that such technology needs to take into account whether the turf of the pitch is damaged and whether the batter gets real convenience. The inventors of the present invention believe that a golf course self-driving vehicle with path planning in the golf course is a solution. Because, if the path in the golf course is not well planned, repeated use of vehicles to cover the turf will easily cause damage in the golf course, even for the maintenance area of the golf course or there are sprinklers, sand traps , The surrounding area of the pool will also have unpredictable damage. However, for the automatic driving technology applied to the golf course, it has become a problem to consider not damaging the fairway turf and bringing convenience to the golfer at the same time. The technology of autopiloting relative to the technology of following the golf ball trajectory is not found in the prior art. Therefore, how to apply the self-driving vehicle to the golf course of the golf course, and further enable the self-driving vehicle to drive automatically according to the ball track of the golf ball has become an issue.

For this reason, the purpose of the present invention is to provide a central control system for self-driving vehicles on a golf course, which can make each golf course self-driving vehicle follow the ball track of the golf ball in a plurality of preset plans on the golf course. travel within the route or switch between multiple preset planned routes.

The technical means adopted by the present invention to solve the problems of the prior art is to provide a central control system for tracking the self-driving driving path of a golf course self-driving vehicle, which is to control a plurality of self-driving vehicles driving in a golf course of a golf course. Golf course self-driving vehicles, so that each golf course self-driving vehicle can drive in multiple preset planning paths in the golf course or switch between multiple preset planning paths, and the ball track tracking of the golf course self-driving vehicles The self-driving route central control system includes: a preset planning route determination module, which determines a plurality of preset planning routes in the golf course, and the self-driving vehicle on the golf course can change driving among the plurality of preset planning routes In addition, when the self-driving vehicle on the golf course is driving on the golf course, the self-driving vehicle on the golf course is only allowed to travel in the path area occupied by a plurality of the preset planning paths; the next hitting position of a golf ball The judging module is connected to the preset planning path determining module. The golf next hitting position judging module is to judge the next hitting of a golf ball in the golf course by a golfer after hitting the ball. Ball position; and a path driving control module, connected to the preset planning path determination module and the golf ball next hitting position judgment module, the path driving control module is for the golf course in the golf course A plurality of golf course self-driving vehicles driving in a self-driving manner determine a preset planning path from the plurality of preset planning paths according to the next hitting position of the golf ball and/or determine a plurality of the preset planning paths A change driving route between, so as to control the self-driving vehicle of the golf course to continue driving on the preset planned route and/or the changed driving route after the golfer hits the ball.

In one embodiment of the present invention, a central control system for self-driving vehicles on a golf course is provided, wherein the golf ball next-hitting position judgment module is used to judge the number of golf balls hit by a plurality of golfers. A plurality of golf balls next hitting positions in the golf course after the ball, so that the path driving control module can automatically select from a plurality of preset plans according to the positional relationship between the plurality of golf balls next hitting positions Determining a preset planned route in the route and/or determining a changed driving route between a plurality of the preset planned routes, so that the self-driving vehicle on the golf course can travel on the preset planned route and/or the changed driving route Self-driving.

In one embodiment of the present invention, a central control system of a golf course self-driving vehicle's ball track tracking self-driving path is provided, wherein the golf ball's next hitting position judgment module measures the The individual golf ball's next hitting position of all golfers belonging to the self-driving vehicle on the golf course, and a preset plan is determined from a plurality of preset planning paths based on the individual golf ball's next hitting position route and/or determine a converted driving route among the plurality of preset planning routes, so that the golf course self-driving vehicle can drive itself on the preset planned route and/or the converted driving route.

In one embodiment of the present invention, a central control system for tracking the driving path of self-driving vehicles on a golf course is provided, wherein the golf ball's next hitting position judgment module is measured by a plurality of self-driving vehicles on the golf course The next hitting position of the golf ball of all the golfers belonging to multiple self-driving vehicles on the golf course, and under the current golf ball of the golfer of the first self-driving vehicle on the golf course After the location of the next shot is determined, the second golf path self-driving vehicle is used to measure the next shot location of the golf ball of the golfer belonging to the first golf path self-driving vehicle.

In one embodiment of the present invention, a ball track tracking self-driving driving path central control system of a self-driving vehicle on a golf course is provided, which further includes a preset planning path exclusion decision module connected to the default planning path decision module, the The default planning path exclusion decision module decides whether to exclude an unusable default planning path from among the plurality of the default planning paths, and the plurality of the default planning paths after the unusable default planning path is excluded is an applicable default planning path, the default planning path exclusion decision module can selectively readjust the unusable default planning path to the applicable default planning path, and the Appropriately used preset planning paths are the plurality of preset planning paths.

In one embodiment of the present invention, there is provided a central control system for a ball track tracking self-driving driving route of a self-driving vehicle on a golf course, wherein the route driving control module selects all of the applicable preset planning routes The applicable default planning path or part of the applicable default planning path is used as a candidate default planning path set, and is selected from the candidate default planning path set according to the next hitting position of the golf ball Determining one of the applicable preset planning routes as the default planning route, and determining a conversion driving route between the plurality of pre-applicable preset planning routes, so that the self-driving vehicle on the golf course can continue Carry out self-driving driving on the preset planned route and/or the changed driving route, and transmit the preset planned route to each self-driving vehicle on the golf course to control the subsequent preset planned route of each self-driving vehicle on the golf course, In this way, each self-driving vehicle on the golf course continues to drive in a self-driving manner on the preset planned route.

In one embodiment of the present invention, there is provided a ball track tracking self-driving route central control system for self-driving vehicles on a golf course, wherein the route control module selects the candidate preset planned route according to a self-driving area maintenance plan gather.

In one embodiment of the present invention, a central control system for a golf course self-driving vehicle's track tracking self-driving driving route is provided, wherein the route driving control module determines a plurality of preset conversion driving routes from a plurality of presets For the changed driving route among the planned routes, the plurality of preset changed driving routes are determined in advance according to the golf course-related information of the golf course.

In one embodiment of the present invention, a central control system for tracking self-driving driving paths of golf course self-driving vehicles is provided, which further includes a front group position receiving module, and the front group position receiving module receives all the previous group position receiving modules. The position of the hitter, when the shortest distance between the positions of all the hitters of the previous group and the golfer of the self-driving vehicle on the golf course is greater than a preset distance value, a hitable ball will be issued signal to inform the golfer of the self-driving vehicle on the golf course that it is possible to hit the ball.

Through the technical means adopted in the present invention, it is possible to control a plurality of golf course self-driving vehicles driving in a self-driving manner in the golf course of the golf course, so that each golf course self-driving vehicle can drive in a plurality of preset planning paths in the golf course Or change driving between several preset planned routes. By (1) determining a plurality of preset planning paths in the golf course; (2) judging the golfer's next hitting position of the golf ball in the golf course after hitting the ball; and (3) for the A plurality of golf course self-driving vehicles driving in a self-driving manner in a golf course of a golf course determine a preset planning path from a plurality of preset planning paths according to the next hitting position of the golf ball and/or determine a plurality of preset planning paths. A changing driving route between planned routes, so as to control the self-driving vehicle on the golf course to drive on the preset planned route and/or change the driving route. In one embodiment, the preset planned route and/or the changed driving route are determined from the plurality of preset planned routes according to the positional relationship between the next hitting positions of the plurality of golf balls, so that the self-driving vehicle on the golf course Preset the planned path and/or change the driving path for self-driving, so that the self-driving vehicle on the golf course can drive on the preset planned path and/or change the driving path to effectively avoid damage at unintended positions on the golf course Next, it can guide the batter to go to the next batting position immediately after hitting the ball, so as to bring convenience to the batter. In one embodiment, the next hitting position of the golf ball is individually measured for all the golfers belonging to the self-driving vehicle on the golf course, so as to select from multiple preset plans according to the next hitting position of the individual golf ball A preset planned route is determined in the route and/or a converted driving route among a plurality of preset planned routes is determined. In one embodiment, the second golf course self-driving vehicle is used to measure the next golf shot position of the golfer belonging to the first golf course self-driving vehicle.

Embodiments of the present invention will be described below based on FIGS. 1 to 8 . This description is not intended to limit the implementation of the present invention, but is one of the examples of the present invention.

As shown in Fig. 1 to Fig. 8, according to an embodiment of the present invention, a central control system 100 for tracking the self-driving driving path of a self-driving vehicle on a golf course is controlled in a golf course A of a golf course to drive by itself. A plurality of golf course self-driving vehicles C traveling in the same way, so that each golf course self-driving vehicle C travels in a plurality of preset planning paths in the golf course A or switches between a plurality of preset planning paths. The ball track tracking self-driving driving path central control system of golf course self-driving vehicles includes: a preset planning path determination module 1, a golf ball next hitting position judgment module 2, a path driving control module 3 and a preset Planning path exclusion decision module 4.

As shown in Figures 1 to 8, the default planning path determination module 1 determines a plurality of preset planning paths P0, P1, P2, P3 and P4 in the golf course A, and the self-driving vehicle on the golf course In addition to switching between a plurality of the preset planning paths P0, P1, P2, P3 and P4, when the golf course self-driving vehicle C is driving in the golf course A, the golf course self-driving vehicle C is restricted to only It is allowed to travel in the route areas occupied by the plurality of preset planned routes P0, P1, P2, P3 and P4. In one embodiment, the width of the occupied path area is the vehicle width of the self-driving vehicle C on the golf course plus a preset width. For example, when the vehicle width of the self-driving vehicle C on the golf course is 2.1 meters, the The vehicle width is 2.1 meters plus a preset width of 40 centimeters, which is 2.5 meters. Each of the preset planned routes can be formulated by an area map, or by an actual on-site walking route based on the site maintainers' actual on-site walking. When each of the preset planned routes is formulated by an area map, the preset planned route determination module 1 of the ball track tracking self-driving driving route central control system 100 of the golf course self-driving vehicle of the present invention can be used to establish the Area map. As shown in Figures 2 to 8, the area map covers the golf course A, and the area map is constructed based on the electronic map of the golf course A and the topographic features of the golf course A. The data of the regional map is combined with the actual venue (ie, the golf course) through location information such as Global Navigation Satellite System (GNSS), so that the self-driving vehicle C of the golf course can locate the golf course according to the regional map. Drive by yourself. In another embodiment, an actual on-site walking route can be used by the site maintainers to walk on the actual site, and the obtained actual on-site walking route can be used to correspond to the reference area map to determine the individual areas in the area map. Preset planning paths P0, P1, P3 and P4. In one embodiment, the preset planning route determination module 1 can determine a plurality of preset planning routes (for example, a total of nine preset planning routes) in the golf course A. The self-driving vehicle C on the golf course is assigned on average to a plurality of preset planning paths among the determined plurality of preset planning paths (for example, three of the nine preset planning paths), for example, for the first group of golf courses The fairway self-driving vehicle C is designated with multiple preset planning paths (for example, the first, second and third preset planning paths among the nine preset planning paths), and for the second group of the golf course self-driving vehicle C, a plurality of preset planning paths are designated. Set a planned route (for example, the fourth, fifth and sixth preset planned routes among the nine preset planned routes), and designate a plurality of preset planned routes for the third group of self-driving vehicles C on the golf course (for example, nine preset planned routes) The seventh, eighth and ninth preset planning paths in the default planning paths) to avoid excessive concentration of certain preset planning paths and cause damage to the turf. The preset planning path specified for each group may be repeated, for example, the same preset planning path is specified in three groups at the same time. And after specifying a plurality of preset planned routes for the plurality of self-driving vehicles C on the golf course, the central control system 100 of the present invention can receive the self-driving route of the golf course. The historical data and/or real-time data of the preset planned route traveled by the vehicle, or the data of the preset planned route traveled by the self-driving vehicle on the golf course that is not accepted.

As shown in Figures 1 to 8, the golf ball's next hitting position judging module 2 is connected to the preset planning path determining module 1, and the golf ball's next hitting position judging module 2 judges the majority A golfer's next stroke position of a golf ball in the golf course after hitting the ball. The next golf shot position judgment module 2 can be a shot trajectory measuring device installed on the golf course self-driving vehicle C, by parking the golf course self-driving vehicle C on a ladder when teeing off Park the golf course self-driving vehicle C behind the golfer's table or when the golfer hits the fairway to measure the golfer's shot trajectory and/or hit ball direction and/or stroke distance to estimate the golfer's next golf stroke location. In another embodiment, the next golf shot position judgment module 2 can be a ball hitting trajectory measuring device installed on the self-driving vehicle C of the golf course, which can be installed on steps, utility poles, buildings At the top, the ball trajectory measuring device protruding from the ground can be hidden.

Taking Figure 2 as an example, the self-driving vehicle C on the golf course is parked behind a step when teeing off, so that the next shot position judgment module 2 of the golf ball can judge the first hitter and the second hitter. The golf balls of the golfer, the third hitter and the fourth hitter are at W1 , X1 , Y1 , and Z1 respectively. After judging the next hitting positions W1, X1, Y1 and Z1 of the four golf balls, the route driving control module 3 will select the golf ball from the plurality of preset planning routes P0, P1, P2, P3 and P4. The self-driving vehicle on the golf course continues to drive on the preset planned route and/or the changed driving route. The selection method may be based on the shortest walking distance, the designated basic route of the day, or the route based on the age of the batter. In Figure 2, it is based on the designated basic route of the day (preset planned route P2), and basically walks the preset planned route P2, and departs from the preset planned route P2 to other routes (for example, by After changing the driving route S24 to the preset planned route P4), the user returns to the preset planning route P2 through a changing driving route S42. The converted driving routes S24, S42, S23, and S31 in Fig. 2 can be preset converted driving routes between various preset planning routes, or based on a starting point on a preset planned route (such as P -Start) to a target point (such as P-End) on another preset planning path, so as to avoid the golfer’s excessive turning angle when changing the preset planning path. Uncomfortable.

As shown in Figures 1 to 8, the route control module 3 is connected to the preset planning route determination module 1 and the golf ball next hitting position determination module 2, the route control module 3 For a plurality of golf course self-driving vehicles C traveling in a self-driving manner in the golf course A of the golf course, according to the next hitting position of the golf ball, from a plurality of the preset planning paths P0, P1, P2, P3 and P4 Determined (for example: determined by central control. Of course, the present invention is not limited to this, and can also be determined by non-central control. For example, it can be determined in advance before the self-driving vehicle C on the golf course) a predetermined Set a planned route and/or determine a conversion route between a plurality of the preset planned routes, so as to control the self-driving vehicle C on the golf course to continue on the preset planned route after the golfer hits the ball And/or the changed driving route is used for self-driving driving. Preferably, the route driving control module 3 determines the converted driving routes between the plurality of preset planned routes from the plurality of preset converted driving routes, and the plurality of preset converted driving routes are based on the golf course. The golf course related information of fairway A is determined in advance. Specifically, the golf course-related information can be the terrain of the golf course A, a specific designated maintenance area, the weather conditions of the golf course, etc., and according to the golf course-related information of the golf course A in the golf course A Between the plurality of preset planned routes P0, P1, P2, P3, and P4, a plurality of preset converted driving routes are pre-planned, so that the route driving control module 3 can follow up from the plurality of preset converted driving routes This alternate travel path is determined in , further reducing or avoiding the chance of causing damage at unintended locations in golf course A.

As shown in Fig. 1 and Fig. 2, the golf ball next hitting position judging module 2 in Fig. The golf ball's next hitting position W1, X1, Y1, Z1 (as shown in Fig. 2), and the route travel control module 3 is set according to a plurality of the golf ball's next hitting positions W1, X1, Y1, Z1 Determine a preset planning route P2 from the plurality of the preset planning routes P0, P1, P2, P3 and P4 and/or determine a converted driving route between the plurality of the preset planning routes S24 , S42 , S23 , S31 , so that the self-driving vehicle C on the golf course is driven on the preset planned route P2 and/or the converted travel route S24 , S42 , S23 , S31 . As shown in Fig. 1 and Fig. 3, the golf ball's next hitting position judgment module 2 is from the self-driving vehicle C on the golf course to measure all the golfers belonging to the self-driving vehicle C on the golf course The individual golf ball's next hitting position W1, X1, Y1, Z1, and the plurality of preset planning paths P0, P1, In P2, P3, and P4, determine a preset planning path P2 and/or determine a conversion driving path S12, S24, S43, and S32 between a plurality of the preset planning paths, so that the golf course self-driving vehicle C continues to The preset planned route P2 and/or the converted travel routes S12, S24, S43, S32 are used for self-driving travel. In one embodiment, the selection of the preset planning path is to select the path closest to each of the golf ball's next hitting positions W1 , X1 , Y1 , Z1 .

The golf course self-driving vehicle C is based on the distance between the golf ball's next hitting position W1, X1, Y1, Z1 and the hole, from far to near and between the preset planning paths and/or a plurality of the preset planning paths Change the driving path to drive. For example, in Figure 2, according to the golf ball's next hitting position W1, X1, Y1, Z1 from far to near, the golf course self-driving vehicle C is based on a specified basic path of the day (in this example , is the preset planned route P2 as the designated basic route of the day, so the selection of the route is basically a route back to the preset planned route P2) sequentially driving on the preset planned route P2, changing the driving route S24, and Suppose the planned route P4, the converted driving route S42, the preset planned route P2, the converted driving route S23, the preset planned route P3, the converted driving route S31, and the preset planned route P1.

Figure 3 is a schematic diagram of the situation after the next shot continued from Figure 2. In Figure 3, according to the golf ball's next hitting position Y2, X2, Z2, W2 from far to near, the golf ball The fairway self-driving vehicle C travels sequentially on the preset planning route P1, the converted driving route S12, the preset planned route P2, the converted driving route S24, the preset planned route P4, the converted driving route S43, the preset planned route P3, and the converted driving route S32. The preset planning path P2. These paths can be determined according to the shortest walking distance, the designated basic path of the day, or the path based on the player's age.

In Figure 4, two self-driving vehicles on the golf course are taken as an example, that is, the golf ball's next hitting position judgment module 2 is from a plurality of self-driving vehicles on the golf course (in this example, two self-driving vehicles) ) and measure the individual golf ball next hitting positions W1, X1, Y1, Z1 of all the golfers belonging to the multiple self-driving vehicles C1 and C2 on the golf course, and the self-driving vehicle on the first golf course After the current golfer's next hitting position W1 and X1 of the golfer belonging to C1 are determined, the golfer's next hitting position of the golfer belonging to the first golf course self-driving vehicle C1 W1 is closer to the second golf course self-driving vehicle C2, so the second golf course self-driving vehicle C2 is used to measure the golf swing of the golfer belonging to the first golf course self-driving vehicle C1 The second hitting position W1. As further shown in FIG. 5, in the second round of hitting, the golf ball's next hitting position determination module 2 again measures the plurality of golf course self-driving vehicles C1 from the plurality of golf course self-driving vehicles. , All the golfers belonging to C2’s individual golfers’ next hitting positions W2, X2, Y2, Z2, and the current golfing of the golfers belonging to the self-driving vehicle C1 on the first golf course After the ball's next hitting position W2, X2 is determined, the first golf course self-driving vehicle is measured by the golf course self-driving vehicle that is closer to the individual golf ball's next hitting position W2, X2, Y2, Z2 The golfer's next shot position X2 of the golfer of C1 (the example in the 5th figure is to use the second golf course self-driving vehicle C2 to measure the position of the first golf course self-driving vehicle C1 The golf player's next hitting position of the golf ball X2). In this way, the total length of the routes driven by the golf course self-driving vehicles C1 and C2 in the golf course A of the golf course can be shortened, and the damage to the golf course A (for example: turf) of the golf course can be reduced.

The self-driving vehicles C, C1, and C2 on the golf course in the above-mentioned examples of Fig. 2 to Fig. 5 do not drive on the preset planned route P0. The reason is that the preset planned route P0 is not used in these examples The default planning path is excluded in advance, and the exclusion method is explained as follows. As shown in FIG. 1, FIG. 6 and FIG. 7, the default planning route exclusion determination module 4 is connected to the default planning route determination module 1, and the default planning route exclusion determination module 4 is plural Among the preset planning paths P0, P1, P2, P3 and P4, it is determined whether to exclude an unusable default planning path (for example, in Figure 6, the default planning path P0 is excluded due to the relationship between the construction point M excluded), and the plurality of preset planning routes after the unsuitable default planning route is an applicable default planning route (including P1, P2, P3 and P4), the default planning route The exclusion decision module 4 can selectively readjust the original unusable default planning path P0 to the adaptable default planning path when the exclusion factor disappears, so as to re-obtain the applicable default planning path Paths (P0, P1, P2, P3, and P4). The default planning route exclusion decision module 4 determines whether to exclude the unusable default planning route according to the current ground conditions, weather conditions, seasons, time, and number of visitors. And, along with the change of ground condition, weather condition, season, time and number of visitors etc. at that time, this preset planning route exclusion decision module 4 may also readjust the preset planning route that was previously unsuitable to the applicable one. The default planning path used. In detail, when there is water accumulation in a preset planning path, the preset planning path will be excluded; Assuming that the planned path is prone to water accumulation due to possible rain on that day, the preset planned path will be excluded; if there are not many visitors on that day, only a small number of preset planned paths will be opened; as shown in Figure 7, you can Mondays, Wednesdays, and Fridays use odd-numbered preset planning paths P1 and P3 (marked with triangles in Figure 7), while Tuesdays, Thursdays, Saturdays, and Sundays use even-numbered preset planning paths P0, P2, and P4 (Figure 7 marked with a circle). And the above settings can be changed by the administrator if necessary.

As shown in Figure 1, the route driving control module 3 is connected to the preset planning route decision module 1 and the preset planning route exclusion decision module 4, and the route driving control module 3 receives information from the preset planning route. Excluding the applicable default planning route provided by the route determination module 4, and the route driving control module 3 determines a default planning route from the applicable default planning route as a plurality of A preset planned route to be driven by each of the golf course self-driving vehicles C in the golf course self-driving vehicles C, and the preset planned route is transmitted to each of the golf course self-driving vehicles C to control each of the golf course self-driving vehicles C The preset planned route, so that each of the self-driving vehicles C on the golf course can drive in a self-driving manner on the preset planned route. As shown in Figure 8, the default planning path determination module 1 determines five default planning paths (P0, P1, P2, P3 and P4), and the default planning path exclusion decision module 4 selects them The default planning paths P0 and P4 (marked with (X)) are excluded, so the default planning paths P1, P2 and P3 are the applicable default planning paths (marked with (○)), Then the route control module 3 determines one or more preset planning routes from the applicable preset planning routes P1, P2 and P3 (such as selecting P1 and P2 (marked with R), and idle P3 (marked with □)), and P1 and P2 are used as the default planned route, and a plurality of self-driving vehicles on the golf course are respectively driven on the preset planned route P1 and P2 (P3 is idle).

Furthermore, in this embodiment, the route driving control module 3 selects all of the applicable preset planned routes or part of the applicable preset planned routes. The preset planning path is used as a set of candidate default planning paths, and an applicable default planning path is determined from the set of candidate default planning paths according to the next hitting position of the golf ball as the default planning path route, and determine a conversion driving route among the plurality of pre-applicable preset planning routes, so that the golf course self-driving vehicle C continues to drive on the preset planning route and/or the conversion driving route drive, and transmit the preset planned route to each golf course self-driving vehicle C to control the connected preset planned route of each golf course self-driving vehicle C, so that each golf course self-driving vehicle C can continue on the golf course Drive by self-driving on the preset planned route. Specifically, the route driving control module 3 selects the set of candidate preset planning routes according to a self-driving area maintenance plan. The self-driving area maintenance plan is such as turf maintenance, bunker maintenance, pipeline construction or tree planting in each area, and all the applicable default planning routes are selected from the applicable default planning routes or Part of the applicable default planning route is used as the default planning route.

As shown in Fig. 1, according to the central control system 100 of the golf course self-driving vehicle's ball track tracking self-driving driving path according to the embodiment of the present invention, the path driving control module 3 includes a wireless transmission unit 31, which is used to transmit The preset planned route is transmitted to each self-driving vehicle C on the golf course.

As shown in Fig. 1, the central control system 100 of the ball track tracking self-driving driving path of the golf course self-driving vehicle according to the embodiment of the present invention further includes a front group position receiving module 5, and the front group position receiving module 5 is Receive the positions of all the hitters of the previous group, when the shortest distance between the positions of all the hitters of the previous group and the golfer of the self-driving vehicle C on the golf course is greater than a preset distance value , then send out a shot signal to notify the golfer of the golf course self-driving vehicle C that he can hit the ball. Specifically, the next golf shot location judgment module 2 sends the locations of all hitters to the path driving control module 3, so that the golf balls of the next group of self-driving vehicles C on the golf course The hitter knows whether the positions of all the hitters in the previous group are farther than the preset distance value from the shortest distance of the golfer in the self-driving vehicle C on the golf course.

With the above-mentioned structure, the central control system 100 of the present invention for self-driving vehicles on a golf course can control a plurality of self-driving vehicles C driving in a self-driving manner in a golf course A of a golf course, so that each golf course The fairway self-driving vehicle C travels on a plurality of preset planning paths in the golf course A or switches between a plurality of preset planning paths. By (1) determining a plurality of preset planning paths P0, P1, P2, P3 and P4 in the golf course A; Striking positions W1, X1, Y1, Z1, W2, X2, Y2, Z2; and (3) for a plurality of golf course self-driving vehicles C driving in the golf course A of the golf course according to the next shot of the golf ball The ball position W1, X1, Y1, Z1, W2, X2, Y2, Z2 determines a preset planning path from the plurality of preset planning paths and/or determines a transition between the plurality of preset planning paths route, so as to control the self-driving vehicle C on the golf course to drive on the preset planned route and/or change the driving route, so as to effectively avoid damage at unintended positions in the golf course.

The above descriptions and descriptions are only descriptions of the preferred embodiments of the present invention. Those who have common knowledge of this technology may make other modifications according to the scope of the patent application defined below and the above descriptions, but these modifications should still be It is for the inventive spirit of the present invention and within the scope of rights of the present invention.

100: Ball track tracking self-driving driving path central control system for self-driving vehicles on golf courses 1: Preset planning path decision module 2: Golf next hit position judgment module 3: Path driving control module 31: Wireless transmission unit 4: Preset planning path exclusion decision module 5: Front group position receiving module A: golf course C: Self-driving vehicles on golf courses C1: Self-driving vehicles on golf courses C2: Self-driving vehicles on golf courses M: construction point P-Start: starting point P-End: target point P0: preset planning path P1: Preset planning path P2: Preset planning path P3: Preset planning path P4: Preset planning path S12: Change driving path S23: Change driving path S24: Change driving path S31: Change driving path S34: Change driving path S42: Change driving path S43: Change driving path W1: The golf ball's next hitting position W2: The golf ball's next hitting position X1: The position where the golf ball will hit the ball next time X2: The position where the golf ball will hit the ball next time Y1: The golf ball's next hitting position Y2: The golf ball's next hitting position Z1: The golf ball's next hitting position Z2: The golf ball's next hitting position

[Fig. 1] is a schematic block diagram showing the central control system of the ball track tracking self-driving driving path of the golf course self-driving vehicle according to an embodiment of the present invention; [Fig. 2] is a schematic diagram showing the implementation of the central control system of the ball track tracking self-driving driving path of the golf course self-driving vehicle according to the embodiment of the present invention on the golf course of the golf course; [Figure 3] is a schematic diagram showing the implementation of the central control system of the ball track tracking self-driving driving path of the golf course self-driving vehicle according to the embodiment of the present invention on the golf course of the golf course; [Fig. 4] is a schematic diagram showing the implementation of the central control system of the ball track tracking self-driving driving path of the golf course self-driving vehicle according to the embodiment of the present invention on the golf course of the golf course; [Fig. 5] is a schematic diagram showing the implementation of the central control system of the ball track tracking self-driving driving path of the golf course self-driving vehicle according to the embodiment of the present invention on the golf course of the golf course; [Figure 6] is a schematic diagram showing the implementation of the central control system of the ball track tracking self-driving driving path of the golf course self-driving vehicle according to the embodiment of the present invention on the golf course of the golf course; [Fig. 7] is a schematic diagram showing the implementation of the central control system of the ball track tracking self-driving driving path of the golf course self-driving vehicle according to the embodiment of the present invention on the golf course of the golf course; [Fig. 8] is a schematic diagram showing the implementation of the central control system of the ball track tracking self-driving driving path of the golf course self-driving vehicle according to the embodiment of the present invention on the golf course of the golf course.

100: Ball track tracking self-driving driving path central control system for self-driving vehicles on golf courses

1: Preset planning path decision module

2: Golf next hit position judgment module

3: Path driving control module

31: Wireless transmission unit

4: Preset planning path exclusion decision module

5: Front group position receiving module

C: Self-driving vehicles on golf courses

Claims (9)

A central control system for tracking self-driving driving paths of golf course self-driving vehicles, which controls a plurality of golf course self-driving vehicles driving in a self-driving way on a golf course in a golf course, so that each golf course self-driving vehicle can travel on the golf course. Driving in a plurality of preset planning paths or switching between a plurality of preset planning paths, the ball track tracking self-driving driving path central control system of the golf course self-driving vehicle includes: A preset planning path determination module is used to determine a plurality of preset planning paths in the golf course. In addition to changing driving between the plurality of preset planning paths, the golf course self-driving vehicle When self-driving on the golf course, the self-driving vehicle on the golf course is only allowed to travel in the route area occupied by the plurality of preset planned routes; A golf ball's next hitting position judgment module is connected to the preset planning path determination module. where a golf ball is next hit; and A path driving control module, connected to the preset planning path determination module and the golf ball's next hitting position judgment module, the path driving control module is used for driving in the golf course of the golf course A plurality of driving self-driving vehicles on golf courses determine a preset planning path from the plurality of preset planning paths according to the next hitting position of the golf ball and/or determine a path between the plurality of preset planning paths. Changing the driving route to control the self-driving vehicle on the golf course to continue driving on the preset planned route and/or the changed driving route after the golfer hits the ball. The ball track tracking self-driving driving path central control system of the self-driving vehicle on the golf course as described in claim 1, wherein the golf ball next hitting position judgment module is to judge whether a plurality of golfers hit the ball after hitting the ball. a plurality of golf balls in the golf course for the next hitting position, so that the path driving control module determines one of the plurality of preset planning paths according to the positional relationship between the plurality of the golf balls' next hitting positions A preset planned route and/or a changed driving route among the plurality of preset planned routes is determined, so that the golf course self-driving vehicle can drive itself on the preset planned route and/or the changed driving route. The ball track tracking self-driving driving route central control system of the self-driving vehicle on the golf course as described in Claim 1, wherein the next shot position judgment module of the golf ball measures the self-driving vehicle on the golf course from the self-driving vehicle on the golf course The individual golf ball next hitting position of all golfers belonging to it, and a preset planning path is determined from a plurality of the preset planning paths based on the individual golf ball next hitting position and/or A conversion driving route among the plurality of preset planning routes is determined, so that the golf course self-driving vehicle can drive itself on the preset planning route and/or the conversion driving route. The ball track tracking self-driving path central control system of the golf course self-driving vehicle as described in claim 1, wherein the golf ball’s next hitting position judgment module measures a plurality of the golf course self-driving vehicles from a plurality of the golf course self-driving vehicles The next shot position of the golf ball of all the golfers belonging to the self-driving vehicle on the golf course, and the next hitting position of the golf ball of the golfer who belongs to the first self-driving vehicle on the golf course After being determined, the second golf course self-driving vehicle is used to measure the next shot position of the golf ball of the golfer belonging to the first golf course self-driving vehicle. The ball track tracking self-driving driving path central control system of the golf course self-driving vehicle as described in claim 1 further includes a preset planning path exclusion decision module connected to the default planning path determination module, the default planning path The exclusion decision module decides whether to exclude an inapplicable default planning route from among the plurality of preset planning routes, and the plurality of preset planning routes after the exclusion of the inapplicable default planning route are a possible Applicable default planning path, the default planning path exclusion decision module can selectively readjust the unusable default planning path to the applicable default planning path, and use the applicable The preset planning path is a plurality of the preset planning paths. The ball track tracking self-driving route central control system of self-driving vehicles on golf courses as described in claim 5, wherein the route control module is to select all the applicable preset routes from the applicable preset planning routes The default planning path or part of the applicable default planning path is used as a set of candidate default planning paths, and one of the possible preset planning paths is determined from the set of candidate default planning paths according to the next hitting position of the golf ball. The preset planning route that can be used is used as the default planning route, and a conversion driving route between a plurality of the preset planning routes that can be used is determined, so that the self-driving vehicle on the golf course can continue on the preset planning route. Set the planned route and/or the changed driving route for self-driving, and transmit the preset planned route to each self-driving vehicle on the golf course to control the subsequent preset planned route of the self-driving vehicle on each golf course, so as to make Each of the self-driving vehicles on the golf course continues to drive in a self-driving manner on the preset planned route. The ball track tracking self-driving route central control system for self-driving vehicles on golf courses as described in claim 6, wherein the route control module selects the set of candidate preset planned routes according to a self-driving area maintenance plan. The ball track tracking self-driving driving route central control system of golf course self-driving vehicles as described in claim 1, wherein the route driving control module determines the distance between the plurality of preset planning routes from the plurality of preset transformed driving routes The converted driving route, the plurality of the preset converted driving routes are determined in advance according to the golf course-related information of the golf course. The ball track tracking self-driving path central control system of the self-driving vehicle on the golf course as described in claim 1 further includes a front group position receiving module, which receives all the ball hitters of the previous group location, when the shortest distance between the location of all the hitters of the previous group and the golfer of the self-driving vehicle on the golf course is greater than a preset distance value, a signal to hit the ball is sent to notify The golfer of the self-driving vehicle on the golf course is allowed to hit the ball.

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