WO2023218627A1

WO2023218627A1 - Golf assistance system, golf assistance method, and golf assistance program

Info

Publication number: WO2023218627A1
Application number: PCT/JP2022/020165
Authority: WO
Inventors: 正小澤
Original assignee: 三菱電機株式会社
Priority date: 2022-05-13
Filing date: 2022-05-13
Publication date: 2023-11-16

Abstract

This golf assistance system (500) assists a user on a green. A course map database (251) stores green surface information (511), green speed information (512), and reference point position information (513) that is the position of a feature reference point of a reference feature. An image capturing unit captures, by means of a camera, a green captured image (51) that includes the feature reference point, a cup provided in the green, and a golf ball on the green. A position calculating unit (210) uses the green captured image (51), the green surface information (511), and the reference point position information (513) to calculate a ball position (62). A line calculating unit (220) uses the green surface information (511) and the green speed information (512) to calculate a putting line (22) from the ball position (62) to the cup position (61).

Description

Golf support system, golf support method, and golf support program

The present disclosure relates to a golf support system, a golf support method, and a golf support program. In particular, the present invention relates to a golf support system, a golf support method, and a golf support program that support a user putting on a green on a golf course.

In recent years, applications have been developed to assist users in putting on the green. For example, there is an application in which a putting line is displayed when a user scans a green with a smartphone and taps a marker on the screen to match the position of the cup and the position of the ball, respectively.
With this application, the user's operations become complicated, which may cause a delay in the progress of play. Furthermore, depending on the skill of the user's operations, errors may occur in the shape of the green, the position of the cup, and the position of the ball.

Patent Document 1 discloses an electronic device that predicts a putting line and displays the predicted putting line.
Patent Document 2 discloses a position detection device that detects the position of a cup with high precision by being attached to a cup on a green.

Patent No. 6714799 Patent No. 6744663

The technique disclosed in Patent Document 1 requires the user to input the cup position and ball position. Therefore, there are problems in that the user's operations are complicated and the accuracy of the cup position and ball position is low.
The position detection device of Patent Document 2 is used by being attached to a cup on the green. As described above, the position detection device of Patent Document 2 is used by a golfer to detect the cup position with high precision in advance when formulating a playing strategy, and is not used while playing golf. Therefore, there is a problem in that it is not possible to support a user putting on the green. Further, the position detection device of Patent Document 2 does not describe detection of the ball position.

The present disclosure aims to quickly and accurately support a user putting on a green by obtaining the cup position and ball position with high precision through simple operations near the green.

A golf support system according to the present disclosure is a golf support system that supports a user on a green in a golf course.
green surface information including the position of the green and the surface shape of the green; green speed information representing the rolling speed of the golf ball on the green; a course map database that stores reference point position information that is the location of the feature reference point;
a photographing unit that uses a camera to photograph a green image including the feature reference point, a cup provided on the green, and the golf ball on the green;
a position calculation unit that calculates a ball position that is the position of the golf ball using the green photographed image, the green surface information, and the reference point position information;
and a line calculation unit that calculates a putting line from the ball position to a cup position, which is the position of the cup on the green, using the green surface information and the green speed information.

According to the golf support system according to the present disclosure, it is possible to obtain the cup position and ball position with high accuracy through simple operations near the green. Therefore, the golf support system according to the present disclosure aims to quickly and accurately support a user putting on a green.

1 is a diagram showing an example of the overall configuration of a golf support system according to Embodiment 1. FIG. 1 is a diagram illustrating a configuration example of a client device according to Embodiment 1. FIG. 1 is a diagram illustrating a configuration example of a server device according to Embodiment 1. FIG. FIG. 2 is a flow diagram showing the operation of the golf support system according to the first embodiment. 1 is a diagram showing an example of a client device according to Embodiment 1. FIG. FIG. 3 is a diagram showing an example of a green photographed image according to the first embodiment. FIG. 3 is a diagram showing an example of a putting line image according to the first embodiment. FIG. 3 is a diagram showing an example of a partially enlarged view of a putting line image according to the first embodiment. FIG. 3 is a flow diagram showing the operation of the golf support system according to Modification 1 of Embodiment 1. FIG. 7 is a diagram illustrating a configuration example of a client device according to a fourth modification of the first embodiment. FIG. 7 is a diagram illustrating a configuration example of a server device according to a fourth modification of the first embodiment. FIG. 7 is a diagram illustrating a configuration example of a course traveling vehicle that is a client device according to a second embodiment. FIG. 7 is a flow diagram showing the operation of the golf support system according to the second embodiment. FIG. 7 is a diagram showing an example of a putting line image according to Embodiment 2;

Hereinafter, this embodiment will be described using figures. In each figure, the same or corresponding parts are given the same reference numerals. In the description of the embodiments, the description of the same or corresponding parts will be omitted or simplified as appropriate. The arrows in the figure mainly indicate the flow of data or processing. Further, in the following figures, the size relationship of each component may differ from the actual one. Further, in the description of the embodiments, directions or positions such as top, bottom, left, right, front, back, front, and back may be indicated. These notations are for convenience of explanation and do not limit the arrangement, direction, or orientation of devices, instruments, parts, or the like.

Embodiment 1.
***Explanation of configuration***
FIG. 1 is a diagram showing an example of the overall configuration of a golf support system 500 according to the present embodiment.
The golf support system 500 is a system that supports the user 20 playing golf on the golf course 40. The user 20 is also referred to as a golfer or player who plays golf on the golf course 40.
In particular, the golf support system 500 according to the present embodiment supports the user 20 putting on the green 41 of the golf course 40.

Golf support system 500 includes a client device 100 and a server device 200.
The client device 100 is, for example, a mobile terminal device such as a smartphone, a mobile phone, or a tablet terminal. Alternatively, the client device 100 may be a course driving vehicle that automatically drives the golf course 40 based on the driving route. Note that a case where the client device 100 is a course traveling vehicle will be described in a second embodiment.
The server device 200 is realized by, for example, a cloud computer. Server device 200 communicates with client device 100 via a network.

FIG. 2 is a diagram showing a configuration example of the client device 100 according to the present embodiment.
Client device 100 is a computer. The client device 100 includes a processor 910 and other hardware such as a memory 921, an auxiliary storage device 922, an input interface 930, an output interface 940, a communication device 950, a camera 961, a lidar radar 962, and a position sensor 963. Processor 910 is connected to other hardware via signal lines or wireless connections and controls these other hardware.

The client device 100 includes a photographing section 110, an information collecting section 120, a display section 130, and a storage section 140 as functional elements. The client device 100 is a mobile terminal device such as a smartphone, a mobile phone, or a tablet terminal. Therefore, client device 100 has various other functions for realizing the function as a mobile terminal device, but only the functions used in this embodiment are illustrated here.

The camera 961 is, for example, a photographing device built into a mobile terminal device such as a smartphone, a mobile phone, or a tablet terminal. The camera 961 photographs the surroundings of the client device 100 when operated by the user 20 .
Lidar radar 962 detects distances to objects around client device 100. A point cloud image is generated by lidar radar 962.

The position sensor 963 acquires the position information 53 of the client device 100. More specifically, the position sensor 963 acquires the position and time of the client device 100 as the position information 53. The position sensor 963 is, for example, a GPS. GPS is an abbreviation for Global Positioning System.
The position information 53 acquired by the position sensor 963 is transmitted to the server device 200 by the information collection unit 120.

FIG. 3 is a diagram showing a configuration example of server device 200 according to the present embodiment.
Server device 200 is a computer. The server device 200 includes a processor 910 and other hardware such as a memory 921, an auxiliary storage device 922, an input interface 930, an output interface 940, and a communication device 950. Processor 910 is connected to other hardware via signal lines or wireless connections and controls these other hardware.
Note that hardware having similar functions to those of the client device 100 are given the same reference numerals to simplify the explanation. However, it is obvious that each of the client device 100 and the server device 200 is individually equipped with hardware.

The server device 200 includes a position calculation section 210, a line calculation section 220, an image generation section 230, a database update section 240, and a storage section 250 as functional elements. A course map database 251 is stored in the storage unit 250 . The course map database 251 includes green surface information 511, green speed information 512, and reference point position information 513.

The functions of the position calculation unit 210, line calculation unit 220, image generation unit 230, and database update unit 240 are realized by software. The storage unit 250 is included in the memory 921. Note that the storage unit 250 may be provided in the auxiliary storage device 922 or may be provided in a distributed manner in the memory 921 and the auxiliary storage device 922.

The processor 910 is a device that executes a golf support program. The golf support program is a program that realizes the functions of the client device 100 and the server device 200. In the server device 200, the golf support program is a program that realizes the functions of the position calculation section 210, the line calculation section 220, the image generation section 230, and the database update section 240.

The processor 910 is an IC that performs arithmetic processing. Specific examples of the processor 910 are a CPU, a DSP, and a GPU. IC is an abbreviation for Integrated Circuit. CPU is an abbreviation for Central Processing Unit. DSP is an abbreviation for Digital Signal Processor. GPU is an abbreviation for Graphics Processing Unit.

Memory 921 is a storage device that temporarily stores data. A specific example of the memory 921 is SRAM or DRAM. SRAM is an abbreviation for Static Random Access Memory. DRAM is an abbreviation for Dynamic Random Access Memory.
Auxiliary storage device 922 is a storage device that stores data. A specific example of the auxiliary storage device 922 is an HDD. Further, the auxiliary storage device 922 may be a portable storage medium such as an SD (registered trademark) memory card, CF, NAND flash, flexible disk, optical disk, compact disc, Blu-ray (registered trademark) disc, or DVD. Note that HDD is an abbreviation for Hard Disk Drive. SD (registered trademark) is an abbreviation for Secure Digital. CF is an abbreviation for CompactFlash®. DVD is an abbreviation for Digital Versatile Disk.

The input interface 930 is a port connected to an input device such as a mouse, keyboard, or touch panel. Input interface 930 is specifically a USB terminal. Note that the input interface 930 may be a LAN interface or may be Bluetooth (registered trademark). USB is an abbreviation for Universal Serial Bus. LAN is an abbreviation for Local Area Network.

The output interface 940 is a port to which a cable of an output device such as a display is connected. Further, the output interface 940 may be a LAN interface or may be Bluetooth (registered trademark). Specifically, the output interface 940 is a USB terminal or an HDMI (registered trademark) terminal. The display is specifically an LCD. Output interface 940 is also referred to as a display interface. HDMI (registered trademark) is an abbreviation for High Definition Multimedia Interface. LCD is an abbreviation for Liquid Crystal Display.

The communication device 950 has a receiver and a transmitter. The communication device 950 is connected to a communication network such as Wi-Fi (registered trademark), LAN, the Internet, or a telephone line. Communication device 950 is specifically a communication chip or NIC. NIC is an abbreviation for Network Interface Card.

The golf support program is executed in each device of the golf support system 500. The golf support program is loaded into processor 910 and executed by processor 910. The memory 921 stores not only the golf support program but also the OS. OS is an abbreviation for Operating System. Processor 910 executes the golf support program while executing the OS. The golf support program and the OS may be stored in the auxiliary storage device 922. The golf support program and OS stored in auxiliary storage device 922 are loaded into memory 921 and executed by processor 910. Note that part or all of the golf support program may be incorporated into the OS.

The server device 200 may include multiple processors that replace the processor 910. These plurality of processors share execution of the golf support program. Each processor, like processor 910, is a device that executes a golf support program.

The data, information, signal values, and variable values used, processed, or output by the golf support program are stored in the memory 921, the auxiliary storage device 922, or a register or cache memory in the processor 910.

In the server device 200, each section of the position calculation unit 210, line calculation unit 220, image generation unit 230, and database update unit 240 is referred to as a “circuit,” “process,” “procedure,” “process,” or “process.” It may also be read as "circuitry". The golf support program causes a computer to execute a position calculation process, a line calculation process, an image generation process, and a database update process. The "processing" of position calculation processing, line calculation processing, image generation processing, and database updating processing is referred to as "program", "program product", "computer-readable storage medium storing program", or "computer storing program" It may also be read as "readable recording medium". Moreover, the golf support method is a method performed by each device of the golf support system 500 executing a golf support program.
The golf support program may be provided while being stored in a computer-readable recording medium. Further, the golf support program may be provided as a program product.

***Operation explanation***
Next, the operation of golf support system 500 according to this embodiment will be explained. The operating procedure of the golf support system 500 corresponds to a golf support method. Further, a program that realizes the operation of the golf support system 500 corresponds to a golf support program.

FIG. 4 is a flow diagram showing the operation of golf support system 500 according to this embodiment.
Golf support system 500 according to the present embodiment is a system that supports user 20 who is about to putt on green 41 of golf course 40 . The golf support system 500 is, for example, downloaded as an application to the client device 100 and used by the user 20.

<Photographing process: Step S101>
In step S101, the photographing unit 110 photographs the green photographed image 51 using the camera 961. The green photographed image 51 includes a feature reference point 403, a cup 42 provided on the green 41, and a golf ball 21 on the green 41.

FIG. 5 is a diagram showing an example of the client device 100 according to this embodiment.
The client device 100 is, for example, a smartphone as shown in FIG.
The user 20 starts the application downloaded to the client device 100. The client device 100 enters the green photographed image 51 photographing mode, and the user 20 photographs the green photographed image 51 with the camera 961 according to instructions from the application.
At this time, the display unit 130 of the client device 100 may display a caution notice 55 urging the user 20 to take a photograph including the feature reference point 403, the cup 42, and the golf ball 21.

Additionally, information regarding the wetness and dryness of the grass on the green 41 may be acquired by the camera 961. Furthermore, surrounding weather information may be acquired from the self-position information obtained by the position sensor 963.

FIG. 6 is a diagram showing an example of a green photographed image 51 according to the present embodiment.
As shown in FIG. 6, the green 41 is provided with a cup 42 into which the user 20 cups the golf ball 21. Further, on the green 41, a golf ball 21 is placed on which the user 20 putsts.

The user 20 uses the camera 961 to photograph the green 41 including the feature reference point 403, the cup 42 provided on the green 41, and the golf ball 21 on the green 41 as a green photographed image 51.
If it is a smartphone, the user 20 can carry it while playing. Therefore, the user 20 can quickly capture the green image 51.

The reference feature 43 is a feature fixed on the green 41 or in the vicinity of the green 41, and is a feature whose predetermined position, whose exact position has been measured in advance, is set as the feature reference point 403. In other words, the feature reference point 403 refers to a predetermined position on the reference feature 43.
The accurate position of the feature reference point 403 has been measured in advance by high-precision positioning, and the position is set in the reference point position information 513 of the course map database 251.

Specific examples of the reference feature 43 include plants planted near the green 41, installations such as sprinklers or drainage ditches provided near the green 41, or bunkers near the green 41. Further, the reference feature 43 may be a cup 42 provided on the green 41. On the other hand, movable objects such as pins or flags on the green are not suitable as the reference feature 43. The reference feature 43 is a feature fixed at or near the green 41.

The feature reference point 403 is a predetermined position on the reference feature 43. For example, the feature reference point 403 may be the lowest part of a plant that is closest to the green, the center of an installation such as a sprinkler or drainage ditch, or the edge of a bunker that is closest to the green. Further, when the reference feature 43 is a cup 42, the center of the cup 42 may be set as the feature reference point 403. Since the accurate position of the feature reference point 403 has been measured in advance by high-precision positioning, the feature reference point 403 may be marked on the reference feature 43 during the high-precision positioning.

Note that the position of the cup 42 on the green 41 is usually changed periodically or irregularly. Therefore, when the reference feature 43 is the cup 42, high-precision positioning is performed for the feature reference point 403 (for example, the center of the cup 42) each time the cup position is changed. Then, each time the cup position is changed, the position of the feature reference point 403, which is the result of high-precision positioning, is re-registered in the course map database 251.

Further, the reference feature 43 may be different for each hole. For example, a sprinkler may be the reference feature 43 at the first hole, and a plant may be the reference feature 43 at the third hole. Alternatively, the cup 42 may be the reference feature 43 on all holes.
When the user 20 photographs the green photographed image 51, the display unit 130 notifies the user 20 of the location of the feature reference point 403 of the reference feature 43 on the hole in the caution notification 55.
For example, the display unit 130 may display a caution notice 55 such as "Please take a photograph including the feature reference point, the cup, and the golf ball. The feature reference point for the first hole is the center of the sprinkler at the back left." indicate.

The caution notification 55 may be transmitted from the server device 200 when the user 20 is in the shooting mode to shoot the green image 51. At this time, information regarding which hole green the user 20 is on is determined based on the position information 53 transmitted from the client device 100.
Alternatively, the caution notification 55 may be generated and displayed by the display unit 130 when the user 20 is in the shooting mode to shoot the green image 51.

When the user 20 photographs a green photographed image 51 in accordance with the caution notice 55 displayed on the client device 100, the photographing unit 110 transmits the photographed green photographed image 51 to the server device 200.

<Position calculation process: Step S102>
In step S102, the position calculation unit 210 calculates the position of the cup 42 and the position of the golf ball 21 on the green 41 using the green photographed image 51, green surface information 511, and reference point position information 513. The position of the cup 42 calculated by the position calculation unit 210 is defined as a cup position 61, and the position of the golf ball 21 is defined as a ball position 62.
Note that when the feature reference point 403 is located at the center of the cup 42, for example, the cup position 61 can be obtained from the reference point position information 513. Therefore, the position calculation unit 210 may calculate the cup position 61 and the ball position 62 when the feature reference point 403 is other than the cup position 61.

As shown in FIG. 3, the course map database 251 stores green surface information 511, green speed information 512, and reference point position information 513.
The green surface information 511 includes the position of the green 41 and the surface shape of the green 41. Green surface information 511 is highly accurate three-dimensional spatial information. For example, the course map database 251 stores high-precision three-dimensional map information of the entire golf course, and the green surface portion thereof may be used as the green surface information 511.

The green speed information 512 includes the rolling speed of the ball on the green 41. At golf courses, the amount of ball rolling on the green 41 is measured in advance using a stimp meter.

The reference point position information 513 includes the position of the feature reference point 403 on the green 41 or the reference feature 43 fixed in the vicinity of the green 41. As described above, it is assumed that the position of the feature reference point 403 has been accurately measured in advance by high-precision positioning.

The position calculation unit 210 matches the shape of the green 41 and the cup 42 in the green photographed image 51 with the green shape and cup in the green surface information 511, and calculates the cup position 61. Further, the position calculation unit 210 extracts the position information of the feature reference point 403 in the green photographed image 51 from the reference point position information 513. The position calculation unit 210 corrects the cup position 61 using the position information of the feature reference point 403.
Similarly, the position calculation unit 210 matches the shape and cup of the green 41 in the green photographed image 51 with the green shape and cup in the green surface information 511, and calculates the ball position 62 in the green photographed image 51. . Further, the position calculation unit 210 corrects the ball position 62 using the position information of the feature reference point 403.

<Putting line calculation process: Step S103>
In step S103, the line calculation unit 220 uses the green surface information 511 and the green speed information 512 to calculate the putting line 22 from the ball position 62 to the cup position 61.

Specifically, the line calculation unit 220 inputs green surface information 511, green speed information 512, ball position 62, and cup position 61 into a prediction algorithm, and calculates the putting line 22 from ball position 62 to cup position 61. do.
As the putting line prediction algorithm, for example, a prediction program described in Patent Document 1 is used. Furthermore, the line calculation unit 220 may calculate the putting line by taking into consideration information on the moisture of the grass or weather information.

<Image generation process: Step S104>
In step S104, the image generation unit 230 generates a putting line image 54 in which the putting line 22 is superimposed on the photographed green image 51.

FIG. 7 is a diagram showing an example of a putting line image 54 according to the present embodiment.
FIG. 7 shows a putting line image 54 in which the putting line 22 is superimposed on the green photographed image 51.
As shown in FIG. 7, the image generation unit 230 may superimpose a just aim 22a and a just launch direction 22b for realizing the putting line 22 on the putting line image 54.
Further, as shown in FIG. 7, the image generation unit 230 superimposes a putting line (strong) 22c when the ball is hit hard and a putting line (weak) 22d when the ball is hit weakly on the putting line image 54. Good too.

The image generation unit 230 calculates the perfect target line 22a and the perfect launch direction 22b based on the green surface information 511 and the putting line 22 predicted by the line calculation unit 220. Alternatively, the line calculation unit 220 may calculate the correct aim 22a and the correct launch direction 22b.

The image generation unit 230 adds a plurality of launch directions to the putting line image 54. FIG. 7 shows three stages of launch direction: when hitting with just the right distance, when hitting hard, and when hitting weakly.
Specifically, the image generation unit 230 calculates a putting line (strong) 22c and a putting line (weak) 22d based on the green surface information 511 and the putting line 22 predicted by the line calculation unit 220. . Alternatively, the line calculation unit 220 may calculate the putting line (strong) 22c and the putting line (weak) 22d.

FIG. 8 is a diagram showing an example of a partially enlarged view of the putting line image 54 according to the present embodiment.
As shown in FIG. 8, the launch direction when hitting with just the right distance, the launch direction when hitting hard, and the launch direction when hitting weakly are indicated by arrows and superimposed on the putting line image 54. good. At this time, the length of the arrow may represent the ratio of stronger or weaker hitting compared to when hitting just.

Further, the image generation unit 230 may display a specific numerical value of the launch angle on the putting line image 54. For example, it may be displayed as ``If you want to hit harder, α degrees to the right from the exact launch direction.'' Although it is difficult for the user 20 to putt by measuring numerical values, it is possible to intuitively judge the direction in which to hit based on the numerical values.

When displaying the strength of the putt, the image generation unit 230 may display the strength of the putt using an index such as 70% of the flat rate for a downhill slope and 20% more for an uphill slope.
Further, information such as the coefficient of restitution of the putter of the user 20 may be registered in the client device 100, and the line calculation unit 220 may calculate the putting line by taking the coefficient of restitution of the putter into consideration. Further, the image generation unit 230 may display on the putting line image 54 a display that advises the strength of the putt by taking into consideration the coefficient of restitution of the putter.
Further, the image generation unit 230 may display advice on the strength of the putting, taking into account information on the moisture of the grass on that day.

The image generation unit 230 transmits the generated putting line image 54 to the client device 100. Note that the image generation unit 230 may use a simulation video until the golf ball 21 enters the cup 42 as the putting line image 54.

<Display processing: Step S105>
The display unit 130 of the client device 100 displays the putting line image 54 on the display device 941.
The display unit 130 may display the putting line image 54 in AR. AR is an abbreviation for Augmented Reality.
Further, when the putting line image 54 is a moving image, the display unit 130 plays the moving image on the display device 941.

***Other configurations***
<Modification 1>
FIG. 9 is a flow diagram showing the operation of golf support system 500 according to Modification 1 of the present embodiment.
In step S101a, the photographing unit 110 photographs a green point group image 52 including the feature reference point 403, the cup 42 provided on the green 41, and the golf ball 21 on the green 41 using the lidar radar 962. The imaging unit 110 transmits the green point cloud image 52 to the server device 200.
In addition to the green photographed image 51, the position calculation unit 210 also uses the green point group image 52 to correct the cup position 61 and the ball position 62.
The use of the green point cloud image 52 has the effect of improving the accuracy of the cup position 61 and ball position 62.

Further, in step S<b>101 b , the information collection unit 120 acquires the position information 53 of the client device 100 using the position sensor 963 and transmits it to the server device 200 .
The position calculation unit 210 corrects the cup position 61 and the ball position 62 using the position information 53 of the client device 100, which is a device equipped with a camera 961 and a lidar radar 962.
By using the position information 53 of the client device 100, there is an effect that the accuracy of the cup position 61 and the ball position 62 can be further improved.

In step S102a, the database update unit 240 updates the surface shape of the green 41 included in the green surface information 511 based on the green point cloud image 52.
The database update unit 240 utilizes the green photographed image 51, the green point cloud image 52, and the position of the feature reference point 403 to create the latest green surface relief information as three-dimensional spatial information, and updates the green surface information 511 with the green surface information 511. Update.

<Modification 2>
In this embodiment, it is assumed that the position information of the feature reference point 403 is accurately measured in advance by high-precision positioning and stored in the reference point position information 513.
In the second modification, a device such as a Bluetooth (registered trademark) pendant may be installed at the feature reference point 403, and reference point position information that has been precisely positioned in advance may be transmitted as data as a position beacon. In this case, for example, the information collection unit 120 receives reference point position information included in a position beacon transmitted from the feature reference point 403 and transmits it to the server device 200. Then, the server device 200 calculates the cup position 61 and the ball position 62 using the reference point position information transmitted from the information collection unit 120 instead of the reference point position information 513 stored in the course map database 251. .

<Modification 3>
The functions of the golf support system 500 according to the present embodiment may be provided as an application downloaded to the client device 100 such as a smartphone, a mobile phone, or a tablet terminal, as described above. Alternatively, the functions of golf support system 500 may be provided web-based.
Further, in the golf support system 500, the course map database 251 including green surface information 511, green speed information 512, and reference point position information 513 may be provided to the client device 100. By providing the course map database 251 to the client device 100, the functions of the golf support system 500 can be realized by the client device 100 alone.

<Modification 4>
In this embodiment, the functions of each device, client device 100 and server device 200, are realized by software. As a modification, the functions of the client device 100 and the server device 200 may be realized by hardware.
Specifically, each of the client device 100 and the server device 200 includes an electronic circuit 909 instead of the processor 910.

FIG. 10 is a diagram showing a configuration example of a client device 100 according to a modification of the present embodiment.
FIG. 11 is a diagram showing a configuration example of a server device 200 according to a modification of the present embodiment.
Below, the server device 200 will be explained as an example. Note that the same applies to the client device 100.

The electronic circuit 909 is a dedicated electronic circuit that realizes the functions of the position calculation section 210, line calculation section 220, image generation section 230, and database update section 240. Electronic circuit 909 is specifically a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA, an ASIC, or an FPGA. GA is an abbreviation for Gate Array. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field-Programmable Gate Array.

The functions of the position calculation unit 210, line calculation unit 220, image generation unit 230, and database update unit 240 may be realized by one electronic circuit, or may be realized by being distributed among multiple electronic circuits.

As another modification, some of the functions of the position calculation section 210, line calculation section 220, image generation section 230, and database update section 240 may be realized by electronic circuits, and the remaining functions may be realized by software. Furthermore, some or all of the functions of the position calculation section 210, line calculation section 220, image generation section 230, and database update section 240 may be realized by firmware.

Each of the processor and electronic circuit is also referred to as processing circuitry. That is, the functions of the position calculation section 210, line calculation section 220, image generation section 230, and database update section 240 are realized by processing circuitry.

***Explanation of effects of this embodiment***
As described above, according to the golf support system according to the present embodiment, it is possible to obtain the cup position and ball position with high accuracy through simple operations near the green. In other words, the user only needs to take an image of the ball, the cup, and the feature reference point, and the accuracy of the cup position and ball position can be improved while simplifying the user operation.
Therefore, according to the golf support system according to the present embodiment, it is possible to quickly and accurately support a user putting on a green.

Embodiment 2.
In this embodiment, points different from Embodiment 1 and points added to Embodiment 1 will be mainly described.
In this embodiment, components having the same functions as those in Embodiment 1 are denoted by the same reference numerals, and the description thereof will be omitted.

In the first embodiment, a case has been described in which the client device 100 is a mobile terminal device such as a smartphone, a mobile phone, or a tablet terminal.
In this embodiment, a case will be described in which client device 100 is a course traveling vehicle that is a moving object operated on a golf course.

***Explanation of configuration***
FIG. 12 is a diagram illustrating a configuration example of a course traveling vehicle that is the client device 100 according to the present embodiment.
The course driving vehicle that is the client device 100 is an autonomous vehicle that loads the golf bag of the user 20 who plays on the golf course and automatically drives the golf course according to a travel route transmitted from the server device 200.
The course traveling vehicle is equipped with devices such as a display device 941, a vehicle camera 961, a lidar radar 962, and a position sensor 963.
Further, in this embodiment, since the course traveling vehicle is the client device 100, the course traveling vehicle has the functions described in the first embodiment.
Although not shown, the course traveling vehicle is equipped with an automatic driving system for automatically driving the vehicle according to the traveling route. The traveling route is an example of a moving route along which a moving object moves.

The course traveling vehicle is, for example, a PMV that can carry a person and travel. PMV is an abbreviation for Personal Mobility Vehicle. Furthermore, in the case of a usage pattern in which no person is allowed to ride the vehicle, the course traveling vehicle may be an AMR. AMR is an abbreviation for Autonomous Mobile Robot.

The course traveling vehicle according to the present embodiment has a seat for carrying a person, like a golf cart on a golf course, and is capable of automatic driving with the user seated. Since the user can also ride and move, there is an effect that the play time can be shortened compared to when walking.

The course driving vehicle according to the present embodiment also has a function of photographing the trajectory of the golf ball hit by the user 20 using the camera 961 and predicting the trajectory of the golf ball using the trajectory image. The course traveling vehicle also has a function of calculating a predicted falling position, which is a falling position of the golf ball, using the predicted trajectory, and calculating a travel route to the predicted falling position. Furthermore, the course traveling vehicle has a function of automatically traveling to the predicted fall position according to the travel route.

Note that even if the client device 100 is a course traveling vehicle, the functional configuration diagram of the client device 100 according to the present embodiment is the same as that in the first embodiment.

***Operation explanation***
FIG. 13 is a flow diagram showing the operation of golf support system 500 according to this embodiment.
In step S100, the course traveling vehicle, which is the client device 100, determines whether the golf ball of the user 20 has landed on the green.
For example, the course traveling vehicle may determine whether the golf ball has landed on the green by determining whether the predicted falling position is on the green. Alternatively, it may be determined whether the golf ball has landed on the green in cooperation with an autonomous flying object such as a drone.

If the golf ball lands on the green, the process advances to step S101.
The processing after step S101 is similar to the processing described in FIG. 4 or FIG. 9. In FIG. 13, the processing after step S101 is the same as that in FIG.

The course traveling vehicle, which is the client device 100, may photograph the green photographed image 51 through the operation of the user 20. Alternatively, the course traveling vehicle may automatically calculate an appropriate position for photographing the user's putting, move automatically to the appropriate position, and automatically photograph the green photographed image 51. The course traveling vehicle photographs a green photographic image 51 before the user putsts, and transmits it to the server device 200.

Further, in step S104, the server device 200 transmits the generated putting line image 54 to the course traveling vehicle, which is the client device 100.
Then, in step S105, the display unit 130 of the course traveling vehicle displays the putting line image 54 on the display device.
At this time, the server device 200 may transmit the generated putting line image 54 to the mobile terminal device of the user 20 registered in advance. As a result, the user 20 can putt by referring to the putting line image 54 displayed on his or her mobile terminal device, without having to go to the display device 941 of the course running vehicle to see the putting line image 54. good. Therefore, it is possible to contribute to quick play progress.

FIG. 14 is a diagram showing an example of a putting line image 54 according to the present embodiment.
Also in this embodiment, the putting line image 54 shown in FIG. 7 is displayed. Further, in this embodiment, it is possible to provide the user 20 with not only the putting line image 54 shown in FIG. 7 but also an image in which the putting line actually hit by the user 20 is superimposed on the putting line image 54.
This allows the user 20 to look back on his or her putting.

Also in this embodiment, the course map database 251 including green surface information 511, green speed information 512, and reference point position information 513 may be provided to the course traveling vehicle. By providing the course map database 251 to the course traveling vehicle, it is also possible to realize the functions of the golf support system 500 with the client device 100 alone.

***Other configurations***
<Modification 5>
Golf support system 500 according to this embodiment may have the following functions.
・Using footage of actual shots as training data, the putting line is calculated using a learning model rather than physical calculations.
・Provide a video simulation of the ball entering the cup.
- A simulation video of the ball entering the cup will be displayed on the green using lighting such as projection mapping. This makes it easier for the user 20 to understand how fast he or she should hit the ball.
- Cooperate with the drone and send the green photographed image, green point cloud image, and drone position information from the drone to the server device. Additionally, a drone will be used to display images of the putting line on the green using techniques such as projection mapping.
・Update information on the undulations of the green surface using green images taken with a drone and green point cloud images.
- The actual putting trajectory is superimposed on the image to provide a video for the user 20 to look back on to see how much it deviated from the putting line.

<Modification 6>
The course running vehicle, which is the client device 100, may take pictures of the user's 20 shot scenes and putting scenes, and may support the creation of a user video such as a play movie. This makes it possible to create user videos such as play movies without the need for a filming crew.

***Explanation of effects of this embodiment***
As described above, according to the golf support system according to the present embodiment, user operations can be further simplified.

In the first and second embodiments above, each part of each device of the golf support system has been described as an independent functional block. However, the configuration of each device of the golf support system does not have to be the configuration of the above-described embodiment. The functional blocks of each device of the golf support system may have any configuration as long as they can realize the functions described in the embodiments described above. Moreover, each device of the golf support system may not be one device, but may be a system composed of a plurality of devices.

For example, some of the functions of the server device 200 may be provided in the client device 100. Alternatively, the server device 200 may have some of the functions of the client device 100.

Further, a plurality of parts of Embodiments 1 and 2 may be combined and implemented. Alternatively, one part of these embodiments may be implemented. In addition, these embodiments may be implemented in any combination, in whole or in part.
That is, in Embodiments 1 and 2, it is possible to freely combine each embodiment, to modify any component of each embodiment, or to omit any component in each embodiment.

Note that the embodiments described above are essentially preferable examples, and are not intended to limit the scope of the present disclosure, the scope of applications of the present disclosure, and the scope of uses of the present disclosure. The embodiments described above can be modified in various ways as necessary. For example, the procedures described using flow diagrams or sequence diagrams may be modified as appropriate.

20 User, 21 Golf ball, 22 Putting line, 22a Just the aim, 22b Just the launch direction, 22c Putting line (strong), 22d Putting line (weak), 40 Golf course, 41 Green, 42 Cup, 43 Reference ground Object, 403 Feature reference point, 51 Green photographed image, 52 Green point cloud image, 53 Position information, 54 Putting line image, 55 Caution notice, 61 Cup position, 62 Ball position, 100 Client device, 110 Photography department, 120 Information Collection unit, 130 Display unit, 200 Server device, 210 Position calculation unit, 220 Line calculation unit, 230 Image generation unit, 240 Database update unit, 140, 250 Storage unit, 251 Course map database, 511 Green surface information, 512 Green speed Information, 513 Reference point position information, 500 Golf support system, 909 Electronic circuit, 910 Processor, 921 Memory, 922 Auxiliary storage device, 930 Input interface, 940 Output interface, 941 Display device, 950 Communication device, 961 Camera, 962 Lidar radar , 963 position sensor.

Claims

In a golf support system that supports a user on the green at a golf course,
green surface information including the position of the green and the surface shape of the green; green speed information representing the rolling speed of the golf ball on the green; a course map database that stores reference point position information that is the location of the feature reference point;
a photographing unit that uses a camera to photograph a green image including the feature reference point, a cup provided on the green, and the golf ball on the green;
a position calculation unit that calculates a ball position that is the position of the golf ball using the green photographed image, the green surface information, and the reference point position information;
A golf support system comprising: a line calculation unit that calculates a putting line from the ball position to a cup position, which is the position of the cup on the green, using the green surface information and the green speed information.
The position calculation unit includes:
The golf support system according to claim 1, wherein when the feature reference point is other than the cup position, the cup position is calculated using the green photographed image, the green surface information, and the reference point position information.
The golf support system includes:
an image generation unit that generates a putting line image in which the putting line is superimposed on the photographed image of the green;
The golf support system according to claim 1 or 2, further comprising a display unit that displays the putting line image on a display device.
The image generation unit includes:
The golf support system according to claim 3, wherein a plurality of launch directions are added to the putting line image.
The photography department is
photographing a green point cloud image including the terrestrial reference point, a cup provided on the green, and the golf ball on the green using a lidar radar;
The position calculation unit includes:
The golf support system according to any one of claims 1 to 4, wherein the cup position and the ball position are corrected using the green point group image.
The golf support system includes:
The golf support system according to claim 5, further comprising a database updating unit that updates the surface shape of the green included in the green surface information based on the green point cloud image.
The golf support system includes:
comprising a position sensor that detects the position of the device equipped with the camera,
The position calculation unit includes:
The golf support system according to any one of claims 1 to 6, wherein the cup position and the ball position are corrected using the position of a device equipped with the camera.
The photography department is
8 . The green camera according to claim 1 , wherein a caution notice is displayed to call attention to including the feature reference point, the cup, and the golf ball when photographing the green photographic image. 8 . Golf support system.
The golf support system includes:
comprising a client device carried by the user and a server device communicating with the client device,
The server device includes the course map database, the position calculation unit, and the line calculation unit,
The golf support system according to any one of claims 1 to 8, wherein the client device includes the camera and transmits the green photographed image taken by the user to the server device.
The golf support system includes:
comprising a client device that is a mobile body equipped with the camera and operated at the golf course, and a server device that communicates with the client device,
The server device includes the course map database, the position calculation unit, and the line calculation unit,
The golf support system according to any one of claims 1 to 7, wherein the client device transmits the green photographed image photographed by the camera to the server device.
In a golf support method used in a golf support system that supports a user on a green in a golf course,
A computer generates green surface information including the position of the green and the surface shape of the green, green speed information representing the rolling speed of a golf ball on the green, and a reference fixed on the green or in the vicinity of the green. Equipped with a course map database that stores reference point position information that is the position of feature reference points on features,
a computer uses a camera to photograph a green image including the terrestrial feature reference point, a cup provided on the green, and the golf ball on the green;
a computer calculates a ball position, which is the position of the golf ball, using the green photographed image, the green surface information, and the reference point position information;
A golf support method in which a computer uses the green surface information and the green speed information to calculate a putting line from the ball position to a cup position that is the position of the cup on the green.
In a golf support program used in a golf support system that supports a user on the green of a golf course,
The golf support system includes green surface information including the position of the green and the surface shape of the green, green speed information representing the rolling speed of a golf ball on the green, and information fixed on the green or in the vicinity of the green. and a course map database that stores reference point position information that is the position of the feature reference point in the reference feature that has been determined.
a photographing process of photographing a green photographed image including the terrestrial feature reference point, a cup provided on the green, and the golf ball on the green with a camera;
a position calculation process of calculating a ball position, which is the position of the golf ball, using the green photographed image, the green surface information, and the reference point position information;
A golf support program that causes a computer to execute a line calculation process of calculating a putting line from the ball position to a cup position, which is the position of the cup on the green, using the green surface information and the green speed information.