Golf cart movement control system, golf card movement control method, and program

Abstract

To provide a golf cart movement control system, a golf cart movement control method, and a program capable of moving a golf cart to a position convenient to a player who is playing golf.SOLUTION: A player position specification section 96 specifies a player's position. A target stop position determination section 108 determines a target stop position on the basis of the player's position. An avoidance necessity determination section 110 determines whether or not a given avoidance target area exists between the player's position and the target stop position. A movement control section 116 moves a golf cart to the target stop position when determining that the avoidance target area does not exist, and moves the golf cart to a substitution stop position that is a position determined based on a position of the avoidance target area and is different from the target stop position when determining that the avoidance object area exists.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present invention relates to a golf cart movement control system, a golf cart movement control method, and a program. [Background technology]

[0002] Patent Document 1 describes a golf cart system that estimates the stopping position of a ball based on the measurement results of the ball's trajectory, and drives the golf cart from its current position to a destination that is determined based on the estimated stopping position.

[0003] Patent Document 2 describes a technique for moving a golf cart to a position on the course road laterally of a player only when the player moves toward the green of the hole.

[0004] Patent Document 3 describes a technology for setting a target position for a golf cart outside the flight area of ​​a ball hit by a player. Patent Document 3 also describes that the flight area may be obtained taking into consideration the shape of the golf course (for example, the shape of the fairway and the location of obstacles such as bunkers, water hazards, and trees).

[0005] Patent Document 4 describes a technology that allows a golfer to call a golf bag transport vehicle. Patent Document 4 also describes a technology that changes the travel route to avoid an obstacle such as a bunker when it is recognized that there is an obstacle between the golfer and the golf bag transport vehicle. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2023-140652 [Patent Document 2] Japanese Patent Application Laid-Open No. 2004-329702 [Patent Document 3] Japanese Patent Application Publication No. 2019-82910 [Patent Document 4] Japanese Patent Application Publication No. 2023-154493 Summary of the Invention [Problem to be solved by the invention]

[0007] Controlling a golf cart traveling within a drivable range, such as on a cart path, to stop near a player playing golf is convenient as it reduces the player's need to go and retrieve their golf clubs.

[0008] However, even if the golf cart stops near the player, if there is an area to be avoided, such as a hazard or ground under repair, between the golf cart and the player, the player will have to detour around the area to be avoided in order to get to the position of the golf cart, which is inconvenient.

[0009] The present invention has been made in consideration of the above-mentioned problems, and one of its objectives is to provide a golf cart movement control system, a golf cart movement control method, and a program that can move a golf cart to a position that is convenient for a player playing golf. [Means for solving the problem]

[0010] (1) The golf cart movement control system of the present invention includes a player position identification means for identifying a player position, which is the position of a player playing golf; a target stop position determination means for determining a target stop position within a driving range of the golf cart used by the player based on the player position; an avoidance necessity determination means for determining whether a given area to be avoided exists between the player position and the target stop position; and a movement control means for moving the golf cart, wherein the movement control means moves the golf cart to the target stop position when it is determined that the area to be avoided does not exist, and moves the golf cart to an alternative stop position different from the target stop position, which is a position determined based on the position of the area to be avoided, when it is determined that the area to be avoided exists.

[0011] (2) The golf cart movement control system may be as described in (1) above, wherein the alternative stopping position is determined based on an alternative player position associated with the area to be avoided.

[0012] (3) The golf cart movement control system according to (2) above may be such that the player alternative position associated with the area to be avoided is set in advance in association with the area to be avoided.

[0013] (4) The golf cart movement control system may further include a player alternative position determination means for determining the player alternative position associated with the area to be avoided based on the position of the area to be avoided.

[0014] (5) The golf cart movement control system may be one described in (4) above, in which the player alternative position determination means determines the player alternative position associated with the area to be avoided based on the position of the area to be avoided and the position of the pin on the hole on which the player is playing.

[0015] (6) The golf cart movement control system may be as described in (5) above, wherein the player alternative position determination means determines the position within the avoidance area that is closest to the position of the pin on the hole, or the position within the avoidance area that is farthest from the position of the pin on the hole, as the player alternative position associated with the avoidance area.

[0016] (7) The golf cart movement control system may be any of the above (4) to (6), wherein the player alternative position determination means further includes an alternative stop position determination means that determines a plurality of player alternative positions that correspond to the avoidance target area, and determines the alternative stop position based on the position of the plurality of player alternative positions that is closest to the player position.

[0017] (8) The golf cart movement control system may be any of those described in (1) to (7) above, wherein the avoidance necessity determination means determines that an area to be avoided exists between the player position and the target stopping position when a portion of a line segment connecting the player position and the target stopping position is included in the area to be avoided.

[0018] (9) The golf cart movement control system may be one of the above (1) to (8), wherein the area to be avoided is an area indicating a hazard or ground under repair.

[0019] (10) The golf cart movement control system may further include a riding estimation means for estimating whether each of the plurality of players is riding in the golf cart, and a last player identification means for identifying a last player from one or more players who are estimated not to be riding in the golf cart, and the target stop position determination means determines the target stop position based on the player position of the last player.

[0020] (11) The last player identification means may be the golf cart movement control system described in (10) above, which identifies the last player based on the distance of the player position of each of one or more players who are presumed not to be riding in the golf cart from the position of the pin of the hole on which the multiple players are playing.

[0021] (12) The golf cart movement control system may be any of the above (1) to (11), further including a green arrival detection means for detecting that the player has arrived at a green included in the hole on which the player is playing, and the movement control means may move the golf cart to a waiting position provided at the exit of the hole in response to the detection that the player has arrived at the green.

[0022] (13) The golf cart movement control system may be as described in (12) above, wherein the green arrival detection means detects that each of the multiple players has arrived at the green, and the movement control means moves the golf cart to the waiting position in response to detection that all of the multiple players have arrived at the green.

[0023] (14) The green arrival detection means may be a golf cart movement control system as described in (12) or (13) above, which detects that the player has arrived at the green based on the player position of the player and the position of the green.

[0024] (15) A golf cart movement control method according to the present invention includes the steps of: identifying a player position, which is the position of a player playing golf; determining a target stopping position within a driving range of a golf cart used by the player, based on the player position; determining whether a given area to be avoided exists between the player position and the target stopping position; moving the golf cart to the target stopping position if it is determined that the area to be avoided does not exist; and moving the golf cart to an alternative stopping position, which is a position determined based on the position of the area to be avoided, and is different from the target stopping position, if it is determined that the area to be avoided exists.

[0025] (16) The program of the present invention is a program for causing a computer to execute the following steps: identifying a player position, which is the position of a player playing golf; determining a target stopping position within a driving range of a golf cart used by the player based on the player position; determining whether a given area to be avoided exists between the player position and the target stopping position; moving the golf cart to the target stopping position if it is determined that the area to be avoided does not exist; and moving the golf cart to an alternative stopping position, which is a position determined based on the position of the area to be avoided and is different from the target stopping position, if it is determined that the area to be avoided exists.

[0026] (17) Another golf cart movement control system according to the present invention includes a green arrival detection means for detecting when a player playing golf has arrived at a green included in the hole on which the player is playing, and a movement control means for moving the golf cart to a waiting position provided at the exit of the hole in response to detection of the player's arrival at the green.

[0027] (18) Another golf cart movement control method according to the present invention includes a green step for detecting that a player playing golf has arrived at a green included in a hole on which the player is playing, and a step for moving the golf cart to a waiting position provided at the exit of the hole in response to the detection that the player has arrived at the green.

[0028] (19) Another program according to the present invention is a program for causing a computer to execute the steps of detecting that a player playing golf has arrived at a green included in the hole on which the player is playing, and, in response to the detection of the player's arrival at the green, moving the golf cart to a waiting position located at the exit of the hole. [Brief explanation of the drawings]

[0029] [Figure 1] 1 is a diagram showing an example of the overall configuration of a golf cart movement control system according to an embodiment of the present invention; [Figure 2A] FIG. 2 is a diagram illustrating an example of a configuration of a server according to an embodiment of the present invention. [Figure 2B] FIG. 1 is a diagram illustrating an example of the configuration of a player terminal according to an embodiment of the present invention. [Figure 2C] FIG. 2 is a diagram illustrating an example of the configuration of a golf cart terminal according to an embodiment of the present invention. [Figure 3] FIG. 2 is a diagram illustrating an example of a map image. [Figure 4] FIG. 2 is a diagram illustrating an example of a map image. [Figure 5] FIG. 2 is a diagram illustrating an example of a map image. [Figure 6] FIG. 2 is a diagram illustrating an example of a map image. [Figure 7] FIG. 2 is a diagram illustrating an example of a map image. [Figure 8] FIG. 2 is a diagram illustrating an example of a map image. [Figure 9] FIG. 2 is a functional block diagram showing an example of functions implemented in a server according to an embodiment of the present invention. [Figure 10] FIG. 10 is a diagram illustrating an example of decomposition of a movement direction vector. [Figure 11] FIG. 10 is a diagram illustrating an example of decomposition of a movement direction vector. [Figure 12] FIG. 10 is a diagram showing an example of green arrival management data. [Figure 13A] FIG. 10 is a flowchart showing an example of the flow of processing performed by the server according to one embodiment of the present invention. [Figure 13B] FIG. 10 is a flowchart showing an example of the flow of processing performed by the server according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0030] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

[0031] FIG. 1 is a diagram showing an example of the overall configuration of a golf cart movement control system 1 according to this embodiment. As shown in FIG. 1, the golf cart movement control system 1 according to this embodiment includes a server 10, a plurality of player terminals 12 (12a, 12b, 12c, and 12d in the example of FIG. 1), and a golf cart terminal 14. The player terminal 12 is a terminal used by a player playing golf. The golf cart terminal 14 is a terminal provided on a golf cart 16 used by a player playing golf. The golf cart 16 is provided with a control button 18 for controlling the starting and stopping of the golf cart 16. The server 10, the player terminals 12, and the golf cart terminals 14 are connected to a computer network 20 such as the Internet. Therefore, the server 10, the player terminals 12, and the golf cart terminals 14 are able to communicate with each other via the computer network 20.

[0032] The server 10 according to this embodiment is a server computer including a processor 30, a storage unit 32, and a communication unit 34, as shown in FIG. 2A, for example.

[0033] The processor 30 is, for example, a program-controlled device such as a microprocessor that operates according to a program installed in the server 10. The memory unit 32 is, for example, a storage element such as a ROM or RAM, or a solid-state drive (SSD). The memory unit 32 stores programs to be executed by the processor 30. The communication unit 34 is, for example, a communication interface for wired or wireless communication, and transmits and receives data between the player terminals 12 and the golf cart terminals 14 via the computer network 20. The server 10 may be installed in a clubhouse on the golf course, or in a location such as a data center away from the golf course.

[0034] The player terminal 12 according to this embodiment is, for example, a computer such as a mobile phone (including a smartphone) or a mobile information terminal (including a tablet computer). As shown in FIG. 2B, the player terminal 12 according to this embodiment includes, for example, a processor 40, a storage unit 42, a communication unit 44, and a sensor unit 46. The player terminal 12 may also include a touch panel, a camera, etc.

[0035] The processor 40 is, for example, a program-controlled device such as a microprocessor that operates according to a program installed in the player terminal 12. The storage unit 42 is, for example, a storage element such as a ROM or a RAM, or a solid-state drive (SSD). The storage unit 42 stores programs executed by the processor 40. The communication unit 44 is, for example, a communication interface for wired or wireless communication, and transmits and receives data to and from a computer such as the server 10 via the computer network 20. The sensor unit 46 is, for example, a sensing device such as a GPS module, an acceleration sensor, a motion sensor, or a direction sensor. Note that, although the present embodiment describes a case in which the sensor unit 46 is included in the player terminal 12, the sensor unit 46 may be located outside the player terminal 12.

[0036] The golf cart terminal 14 according to this embodiment is, for example, a computer such as a mobile phone (including a smartphone) or a personal digital assistant (including a tablet computer). As shown in FIG. 2C, the golf cart terminal 14 according to this embodiment includes, for example, a processor 50, a memory unit 52, a communication unit 54, a sensor unit 56, and an output unit 58. The golf cart terminal 14 may also include a camera.

[0037] The processor 50 is, for example, a program-controlled device such as a microprocessor that operates according to a program installed in the golf cart terminal 14. The memory unit 52 is, for example, a storage element such as a ROM or RAM, or a solid-state drive (SSD). The memory unit 52 stores programs executed by the processor 50. The communication unit 54 is, for example, a communication interface for wired or wireless communication, and exchanges data with a computer such as the server 10 via the computer network 20. The sensor unit 56 is, for example, a sensing device such as a GPS module, an acceleration sensor, a motion sensor, or a direction sensor. The output unit 58 is, for example, a display that displays and outputs information according to instructions input from the processor 50, or a speaker that outputs audio. Note that, although the present embodiment describes a case in which the sensor unit 56 is included in the golf cart terminal 14, the sensor unit 56 may be external to the golf cart terminal 14. The output unit 58 may also include a touch panel.

[0038] The golf cart 16 according to this embodiment moves along a predetermined route within the golf course. When the player presses the control button 18 while the golf cart 16 is stopped, the golf cart 16 moves forward. On the other hand, when the player playing golf presses the control button 18 while the golf cart 16 is moving forward, the golf cart 16 stops.

[0039] Furthermore, the golf cart 16 according to this embodiment is capable of receiving operation signals transmitted from the golf cart terminal 14 and automatically driving (forward, stopping, etc.) in accordance with the operation signals, without the player having to perform any explicit operation such as operating the control button 18.

[0040] In this embodiment, it is assumed that four players belong to a certain group (party), and these four players play golf using golf carts 16. Hereinafter, these four players will be referred to as player A, player B, player C, and player D, respectively. It is also assumed that the identifiers (hereinafter referred to as player IDs) of player A, player B, player C, and player D are "1," "2," "3," and "4," respectively. It is also assumed that player A, player B, player C, and player D carry player terminal 12a, player terminal 12b, player terminal 12c, and player terminal 12d, respectively, while playing golf.

[0041] The server 10 according to this embodiment stores map data showing the golf course where the four players are playing golf. The map data according to this embodiment is, for example, grid data, in which location information of a cell (e.g., latitude and longitude) is associated with type information showing the type of the cell (e.g., fairway, rough, hazard (bunker and water hazard), ground under repair, green, cart path, woods, etc.).

[0042] Fig. 3 is a diagram showing an example of a map image 60 that visualizes map data of a hole where a player according to this embodiment is playing golf. The map image 60 shown in Fig. 3 shows a driving range 62 (e.g., a cart path) for the golf cart 16, avoidance areas 64 (64a, 64b, and 64c) that are areas indicating hazards or ground under repair, a green area 66 that is an area indicating the green, and the like.

[0043] The map data also includes pin position data indicating the position of the pin (hereinafter referred to as pin position 68) and standby position data indicating standby positions 70 that are set up in advance at the exit of each hole. In Figure 3, the pin positions 68 and standby positions 70 are shown on the map image 60.

[0044] The map data also includes player alternative position data indicating player alternative positions 72, which will be described later. In Fig. 3, two player alternative positions 72 (72a and 72b) associated with the avoidance target area 64a are shown on the map image 60. Note that the player alternative position 72 associated with the avoidance target area 64b and the player alternative position 72 associated with the avoidance target area 64c are not shown in the figure.

[0045] Then, in this embodiment, for example, as will be described later, player positions 74, which are the positions of each of the multiple players playing golf, and golf cart position 76, which is the position of the golf cart 16, are identified (see FIGS. 4 to 8).

[0046] 4, player position 74a of player A, player position 74b of player B, player position 74c of player C, and player position 74d of player D are shown on map image 60. Golf cart position 76, which is the position of golf cart 16, is also shown on map image 60.

[0047] In this embodiment, for example, it is estimated for each of the multiple players whether or not the player is riding in the golf cart 16. In the example of Fig. 4, it is assumed that player A, player B, and player C are not riding in the golf cart 16, and player D is riding in the golf cart 16.

[0048] Then, in this embodiment, for example, a player at the back (hereinafter referred to as the back player) is identified from one or more players who are presumed not to be riding in the golf cart 16. In the example of Fig. 4, from among players A, B, and C, player A is identified as the back player.

[0049] 5, a target stopping position 78 within the driving range 62 is determined based on the player position 74. It is then determined whether or not a given avoidance target area 64 exists between the player position 74 and the target stopping position 78. In the example of FIG. 5, the target stopping position 78 within the driving range 62 is determined based on the player position 74a of Player A, and it is determined that the avoidance target area 64a exists between the player position 74a and the target stopping position 78.

[0050] 5, when it is determined that an avoidance target area 64 exists between the player position 74 and the target stop position 78, the golf cart 16 moves to an alternative stop position 80 that is different from the target stop position 78 and that is determined based on the position of the avoidance target area 64. Here, the alternative stop position 80 may be determined based on the player alternative position 72b, which is closest to the player position 74a, of the player alternative positions 72a and 72b. The golf cart 16 may then move to the alternative stop position 80 determined in this manner.

[0051] On the other hand, if it is determined that the avoidance target area 64 does not exist between the player position 74 and the target stop position 78, the golf cart 16 will move to the target stop position 78.

[0052] If the golf cart 16 were to move to the target stop position 78 in the situation shown in Figure 5, Player A would have to make a detour through the avoidance target area 64a to reach the position of the golf cart 16, which would be inconvenient. In this embodiment, as described above, if it is determined that the avoidance target area 64 exists between the player position 74 and the target stop position 78, the golf cart 16 moves to the alternative stop position 80. This allows Player A to reach the position of the golf cart 16 without having to detour through the avoidance target area 64a. In this way, in the example of Figure 5, the golf cart 16 can be moved to a position that is convenient for the player playing golf.

[0053] 5, the player farthest from pin position 68 is player D. If player D is identified as the last player among players A, B, C, and D and target stop position 78 is determined based on player position 74 of player D, golf cart 16 will never depart.

[0054] In this embodiment, as described above, it is estimated for each of the multiple players whether or not that player is riding in the golf cart 16. Then, the last player is identified from one or more players who are estimated not to be riding in the golf cart 16. This prevents the golf cart 16 from never departing. In this way, in the example of FIG. 5, the golf cart 16 can be moved to an appropriate position.

[0055] Figure 6 shows a situation different from Figures 4 and 5. In this embodiment, as shown in Figure 6, the golf cart 16 moves to the standby position 70 in response to detection of arrival of all of the players at the green. This allows the golf play to proceed smoothly.

[0056] FIG. 7 illustrates a different situation from those illustrated in FIGS. 4 to 6. In the example illustrated in FIG. 7, player A's player position 74a at time t1 is shown as player position 74aa, and player A's player position 74a at time t2, a predetermined time after time t1, is shown as player position 74ab on the map image 60. Furthermore, player B's player position 74b at time t1 is shown as player position 74ba, and player B's player position 74b at time t2 is shown as player position 74bb on the map image 60. Furthermore, FIG. 7 illustrates player C's player position 74c and player D's player position 74d on the map image 60. In the example illustrated in FIG. 7, it is assumed that player C's player position 74c and player D's player position 74d do not change between time t1 and time t2. In the example of FIG. 7, player A is identified as the last player, and player B is identified as the second-to-last player.

[0057] 7, it is assumed that player B is approaching the driving range 62 and player A is detected moving in the driving direction of the golf cart 16. In this case, the golf cart 16 moves to a target stopping position 78 determined based on the history of player B's player position 74b.

[0058] 7, player B is moving toward the driving range 62. Therefore, it is presumed that there may be a situation where player B wants the golf cart 16 to come closer, for example, to retrieve a golf club loaded on the golf cart 16.

[0059] Furthermore, Player A is moving in the direction of travel of the golf cart 16. Therefore, it can be inferred that Player A does not need the golf cart 16, that is, has no intention of riding in the golf cart 16.

[0060] In the above situation, in the example of Fig. 7, the golf cart 16 moves so as to approach player B as described above. In this way, in the example of Fig. 7, the golf cart 16 can be moved so as to approach a player who is likely to want the golf cart 16 to come closer.

[0061] FIG. 8 illustrates a different situation from those illustrated in FIGS. 4 to 7. In the example illustrated in FIG. 8, player A's player position 74a at time t1 is shown as player position 74aa, and player A's player position 74a at time t2, a predetermined time after time t1, is shown as player position 74ab on the map image 60. FIG. 8 also illustrates player B's player position 74b, player C's player position 74c, and player D's player position 74d on the map image 60. In the example illustrated in FIG. 8, it is assumed that player B's player position 74b, player C's player position 74c, and player D's player position 74d do not change from time t1 to time t2. In the example illustrated in FIG. 8, player A is identified as the last player, and player B is identified as the second-to-last player.

[0062] 8, it is assumed that the distance from the driving range 62 to the player position 74b of player B is shorter than a predetermined distance for a predetermined period of time or more, and that player A is moving in the driving direction of the golf cart 16. In this case, the golf cart 16 will move to a target stop position 78 determined based on the history of player position 74b of player B.

[0063] 8, player B remains near the driving range 62. Therefore, it is presumed that there may be situations where player B wants the golf cart 16 to come closer, for example, to retrieve a golf club loaded on the golf cart 16.

[0064] Furthermore, Player A is moving in the direction of travel of the golf cart 16. Therefore, it can be inferred that Player A does not need the golf cart 16, that is, has no intention of riding in the golf cart 16.

[0065] In the above situation, in the example of Fig. 8, the golf cart 16 moves so as to approach player B as described above. In this way, in the example of Fig. 8, the golf cart 16 can be moved so as to approach a player who is likely to want the golf cart 16 to come closer.

[0066] The functions of the server 10 according to this embodiment and the processes executed by the server 10 according to this embodiment will be further described below.

[0067] Fig. 9 is a functional block diagram showing an example of functions implemented in the server 10 according to this embodiment. Note that the server 10 according to this embodiment does not need to implement all of the functions shown in Fig. 9, and functions other than the functions shown in Fig. 9 may also be implemented.

[0068] As shown in FIG. 9 , the server 10 according to this embodiment functionally includes, for example, a map data storage unit 90, an alternative player position determination unit 92, a position information receiving unit 94, a player position identification unit 96, a golf cart position identification unit 98, a riding estimation unit 100, a player order identification unit 102, an approach detection unit 104, a golf cart necessity determination unit 106, a target stop position determination unit 108, an avoidance necessity determination unit 110, an alternative stop position determination unit 112, a green arrival detection unit 114, and a movement control unit 116.

[0069] The map data storage unit 90 is implemented primarily in the storage unit 32. The position information receiving unit 94 and movement control unit 116 are implemented primarily in the communication unit 34. The alternative player position determination unit 92, player position identification unit 96, golf cart position identification unit 98, riding estimation unit 100, player order identification unit 102, approach detection unit 104, golf cart necessity determination unit 106, target stop position determination unit 108, avoidance necessity determination unit 110, alternative stop position determination unit 112, and green arrival detection unit 114 are implemented primarily in the processor 30.

[0070] The above functions may be implemented by executing a program including instructions corresponding to the above functions, which is installed on the server 10, which is a computer, on the server 10. The program may also be supplied to the server 10 via a computer-readable information storage medium such as an optical disk, a magnetic disk, a magnetic tape, or a magneto-optical disk, or via the Internet, for example.

[0071] In this embodiment, the map data storage unit 90 stores, for example, the map data described above.

[0072] In this embodiment, for example, the player alternative position determining unit 92 determines the player alternative position 72 associated with the avoidance target area 64 based on the position of the avoidance target area 64 shown in the map data.

[0073] The player substitute position determination unit 92 may determine a player substitute position 72 associated with the avoidance target area 64 based on the position of the avoidance target area 64 and the pin position 68. For example, the player substitute position determination unit 92 may determine a position within the avoidance target area 64a that is closest to the pin position 68 as the player substitute position 72a associated with the avoidance target area 64a. Alternatively, the player substitute position determination unit 92 may determine a position within the avoidance target area 64a that is farthest from the pin position 68 as the player substitute position 72b associated with the avoidance target area 64a. In this manner, the player substitute position determination unit 92 may determine a plurality of player substitute positions 72 associated with the avoidance target area 64. Note that it is not necessary for a plurality of player substitute positions 72 to be associated with the avoidance target area 64, and only one player substitute position 72 may be associated with the avoidance target area 64.

[0074] Furthermore, the player alternative position 72 does not need to be determined by the player alternative position determination unit 92. For example, the player alternative position 72 associated with the avoidance target area 64 may be set in advance in association with the avoidance target area 64.

[0075] In the present embodiment, the position information receiving unit 94 receives, for example, position information indicating the position of the player terminal 12. For example, in the present embodiment, a GPS module included in the sensor unit 46 of the player terminal 12 may measure the current position (e.g., latitude and longitude) of the GPS module at predetermined time intervals (e.g., every few seconds). Then, in response to the positioning, the GPS module may transmit to the server 10 position information indicating the measured current position (e.g., latitude and longitude) associated with an identifier (ID) of the player terminal 12 and time information indicating the time when the positioning was performed. Then, the position information receiving unit 94 may receive the position information transmitted from the player terminal 12 in this manner. In the following description, it is assumed that the IDs of the player terminal 12a, player terminal 12b, player terminal 12c, and player terminal 12d are "1," "2," "3," and "4," respectively.

[0076] Similarly, in this embodiment, the position information receiving unit 94 receives, for example, position information indicating the position of the golf cart terminal 14. For example, in this embodiment, a GPS module included in the sensor unit 56 of the golf cart terminal 14 may measure the current position (e.g., latitude and longitude) of the GPS module at predetermined time intervals (e.g., every few seconds). Then, in response to this positioning, the GPS module may transmit to the server 10 position information indicating the measured current position (e.g., latitude and longitude) associated with an identifier (ID) of the golf cart terminal 14 and time information indicating the time when the positioning was performed. The position information receiving unit 94 may then receive the position information transmitted from the golf cart terminal 14 in this manner. In the following description, it is assumed that the ID of the golf cart terminal 14 is "5."

[0077] In this embodiment, for example, the player position identification unit 96 identifies the player position 74, which is the position of the player playing golf.

[0078] The player position identification unit 96 may identify the player position 74 of each of a plurality of players (for example, player A, player B, player C, and player D in this embodiment). For example, player position 74a of player A may be identified based on position information associated with ID "1". Furthermore, player position 74b of player B may be identified based on position information associated with ID "2". Furthermore, player position 74c of player C may be identified based on position information associated with ID "3". Furthermore, player position 74d of player D may be identified based on position information associated with ID "4".

[0079] Furthermore, the player position identification unit 96 may repeatedly identify the player position 74. For example, each time the player position identification unit 96 receives position information from a player terminal 12, the player position identification unit 96 may identify the position indicated by the position information as the latest player position 74 of the player using the player terminal 12.

[0080] In this embodiment, the golf cart position identification unit 98 identifies, for example, the golf cart position 76, which is the position of the golf cart 16. For example, the golf cart position 76 may be identified based on the position information associated with the ID "5."

[0081] Additionally, golf cart position determining unit 98 may repeatedly determine golf cart position 76. For example, each time golf cart position determining unit 98 receives position information from golf cart terminal 14, golf cart position determining unit 98 may determine the position indicated by the position information as the most recent golf cart position 76 of golf cart 16.

[0082] In this embodiment, for example, the riding estimation unit 100 estimates, for each of a plurality of players playing golf, whether or not the player is riding in the golf cart 16. The riding estimation unit 100 may estimate, for each of a plurality of players, whether or not the player is riding in the golf cart 16 based on the player position 74 and the golf cart position 76 of the player.

[0083] Here, the riding estimation unit 100 may estimate, for each of the multiple players, whether or not the player is riding in the golf cart 16 based on the distance between the player position 74 of the player and the golf cart position 76. For example, the riding estimation unit 100 may estimate that the player is riding in the golf cart 16 when the distance between the player position 74 of the player and the golf cart position 76 is equal to or less than a predetermined distance. Then, the riding estimation unit 100 may estimate that the player is not riding in the golf cart 16 when the distance between the player position 74 of the player and the golf cart position 76 is not equal to or less than the predetermined distance.

[0084] It should be noted that the riding estimation unit 100 does not need to estimate whether or not the player is riding on the golf cart 16 based on the player position 74 and the golf cart position 76 .

[0085] For example, the golf cart terminal 14 may transmit radio waves of a predetermined frequency. Then, each player terminal 12 may measure the radio wave intensity of that frequency. Then, each player terminal 12 may transmit data indicating the radio wave intensity to the server 10. Then, the riding estimation unit 100 may identify a player terminal 12 from which the radio wave intensity of the radio waves received from that golf cart terminal 14 remains greater than a predetermined level for a predetermined period of time or more, and estimate that the player using that player terminal 12 is a player riding in the golf cart 16. Similarly, each player terminal 12 may transmit radio waves of a predetermined frequency unique to that player terminal 12. Then, the golf cart terminal 14 may measure the radio wave intensity of the frequency unique to that player terminal 12. Then, for each player terminal 12, the golf cart terminal 14 may transmit data indicating the radio wave intensity received from that player terminal 12 to the server 10 in association with the ID of that player terminal 12. The riding estimation unit 100 may then identify a player terminal 12 for which the radio wave intensity received by the golf cart terminal 14 has been greater than a predetermined level for a predetermined period of time or more, and estimate that the player using that player terminal 12 is a player riding in the golf cart 16.

[0086] Furthermore, each player terminal 12 may include an RFID tag on which the ID of that player terminal 12 is recorded. The golf cart terminal 14 may have a function for reading RFID tags. The ID read by the golf cart terminal 14 may be transmitted to the server 10. The riding estimation unit 100 may then estimate that the player using the player terminal 12 identified by the transmitted ID is the player riding in the golf cart 16.

[0087] Alternatively, the riding estimation unit 100 may store images of the faces of each of a plurality of players. The golf cart terminal 14 may be equipped with a camera, and the golf cart terminal 14 may transmit images captured by the camera to the server 10. The riding estimation unit 100 may then estimate the player riding in the golf cart 16 based on the results of executing face recognition processing on the images.

[0088] In this embodiment, for example, the player order identification unit 102 identifies the order of one or more players who are presumed not to be riding in the golf cart 16. The player order identification unit 102 may identify the last player from among one or more players who are presumed not to be riding in the golf cart 16. The player order identification unit 102 may also identify the second-to-last player from among one or more players who are presumed not to be riding in the golf cart 16. This identification may also be performed repeatedly.

[0089] The player order identification unit 102 may identify the distance of each player position 74 of one or more players who are presumed not to be riding in the golf cart 16 from the pin position 68 of the hole on which the one or more players are playing. Then, the player order identification unit 102 may identify the last player and the second-to-last player based on the distances identified in this manner. For example, the player with the longest identified distance may be identified as the last player. Also, the player with the second-longest identified distance may be identified as the second-to-last player.

[0090] It should be noted that the player order identification unit 102 does not need to identify the order of players based on the player positions 74. For example, the player order identification unit 102 may store images of the faces of multiple players. The player order identification unit 102 may then identify the last player or the second-to-last player based on the results of face recognition of an image captured by a wide-angle surveillance camera capable of capturing the entire hall.

[0091] In this embodiment, for example, the approach detection unit 104 detects the approach of a player playing golf to the driving range 62 of the golf cart 16 used by that player. Hereinafter, the player whose approach to the driving range 62 is detected will be referred to as the player of interest. Hereinafter, the player of interest may be the second-to-last player among multiple players who are presumed not to be riding in the golf cart 16.

[0092] The approach detection unit 104 may detect the approach of the focused player to the driving range 62 when it is determined that the focused player is moving toward the driving range 62 based on the history of the focused player's player position 74.

[0093] For example, it may be detected that the player position 74 of the player of interest continues to change over a predetermined period of time (for example, several tens of seconds). For example, it may be detected that the distance between the player positions 74 indicated by the position information received at two consecutive points in time continues to be equal to or greater than a predetermined distance over several tens of seconds.

[0094] Then, when it is detected that the player position 74 of the player of interest continues to change over a predetermined period of time, a vector may be identified that points from the player position 74 at the first point in time (corresponding to the above-mentioned time t1) to the player position 74 at the last point in time (corresponding to the above-mentioned time t2) of the predetermined period of time.

[0095] For example, assume that player B is the player of interest, as shown in FIG. 7 . In this case, as shown in FIG. 10 , a movement direction vector v1 directed from player position 74ba to player position 74bb may be identified. Then, movement direction vector v1 may be decomposed into vector v2, which is a component in a direction along the driveable range 62 (e.g., a direction along the driving direction of the golf cart 16), and vector v3, which is a component in a direction perpendicular to the driveable range 62. Here, for example, for each position indicated by the map data, the direction along the driveable range 62 (the direction toward the pin position 68 is defined as positive) and the direction perpendicular to the driveable range 62 (the direction toward the driveable range 62 is defined as positive) may be set in advance. Then, movement direction vector v1 may be decomposed into vector v2 and vector v3 according to the settings.

[0096] Then, when vector v3 is directed toward the driving range 62 and the relationship between the magnitude of vector v3 and the magnitude of vector v2 satisfies a given condition, the approach of the player of interest to the driving range 62 may be detected. For example, when the value indicating the magnitude of vector v3 is positive and the value obtained by subtracting the absolute value of the value indicating the magnitude of vector v2 from the value indicating the magnitude of vector v3 is greater than a predetermined value, the approach of the player of interest to the driving range 62 may be detected. Alternatively, when the value indicating the magnitude of vector v3 is positive and the value obtained by dividing the value indicating the magnitude of vector v3 by the absolute value of the value indicating the magnitude of vector v2 is greater than a predetermined value, the approach of the player of interest to the driving range 62 may be detected.

[0097] Furthermore, the approach detection unit 104 may detect the approach of the player of interest to the travelable range 62 when the short distance between the player position 74 of the player of interest and the travelable range 62 satisfies a given approach condition.

[0098] For example, the approach detection unit 104 may detect the approach of the player of interest to the travelable range 62 when the short distance between the player position 74 of the player of interest and the travelable range 62 satisfies an approach condition a predetermined number of times or more consecutively. For example, the approach of the player of interest to the travelable range 62 may be detected when the condition that "the distance from the edge of the travelable range 62 to the player position 74 of the player of interest is shorter than a predetermined distance (for example, one meter)" is satisfied two or more predetermined number of times or more consecutively.

[0099] Alternatively, the approach detection unit 104 may detect the approach of the player of interest to the travelable range 62 when a state in which the short distance of the player position 74 of the player of interest from the travelable range 62 satisfies an approach condition continues for a predetermined time or more. For example, the approach of the player of interest to the travelable range 62 may be detected when a state in which the condition "the distance from the edge of the travelable range 62 to the player position 74 of the player of interest is shorter than a predetermined distance (for example, one meter)" is satisfied continues for a predetermined time or more (for example, several tens of seconds).

[0100] In this embodiment, the golf cart necessity determination unit 106 determines whether the last player satisfies a given cart unnecessary condition, for example. For example, the golf cart necessity determination unit 106 may determine whether the last player is moving in the traveling direction of the golf cart 16 based on the history of the player position 74 of the last player.

[0101] For example, when the approach of the player of interest to the driving range 62 is detected, it may be detected that the player position 74 of the last player has continued to change over a predetermined period of time (for example, several tens of seconds) up until the time of detection. For example, it may be detected that the state in which the distance between the player positions 74 indicated by the position information received at two consecutive times is equal to or greater than a predetermined distance has continued for several tens of seconds up until the approach of the player of interest to the driving range 62 is detected.

[0102] Then, when it is detected that the player position 74 of the last player continues to change over a predetermined period of time, a vector may be identified that points from the player position 74 at the first point in time (corresponding to the above-mentioned time t1) to the player position 74 at the last point in time (corresponding to the above-mentioned time t2) of the predetermined period of time.

[0103] For example, assume that player A is the player of interest, as shown in FIGS. 7 and 8. In this case, as shown in FIG. 11, a movement direction vector v4 directed from player position 74aa to player position 74ab may be identified. Then, the movement direction vector v4 may be decomposed into vector v5, which is a component in a direction along the driving range 62, and vector v6, which is a component in a direction perpendicular to the driving range 62. Here, as described above, for each position indicated by the map data, the direction along the driving range 62 (the direction toward the pin position 68 is defined as positive) and the direction perpendicular to the driving range 62 (the direction toward the driving range 62 is defined as positive) may be set in advance. Then, the movement direction vector v4 may be decomposed into vector v5 and vector v6 according to this setting.

[0104] Then, when the relationship between the magnitude of vector v5 and the magnitude of vector v6 satisfies a given condition, it may be determined that the last player is moving in the traveling direction of the golf cart 16. For example, when the absolute value of the value indicating the magnitude of vector v5 minus the absolute value of the value indicating the magnitude of vector v6 is greater than a predetermined value, it may be determined that the last player is moving in the traveling direction of the golf cart 16. Alternatively, when the absolute value of the value indicating the magnitude of vector v5 divided by the absolute value of the value indicating the magnitude of vector v6 is greater than a predetermined value, it may be determined that the last player is moving in the traveling direction of the golf cart 16.

[0105] In this embodiment, the target stop position determining unit 108 determines, for example, the target stop position 78 within the travelable range 62 of the golf cart 16 .

[0106] 5, the target stop position determination unit 108 may determine the target stop position 78 based on the player position 74 of the last player. Here, the map data may include pass point position data that indicates the positions of a plurality of pass points along the strip-shaped travelable area 62. Then, the target stop position determination unit 108 may determine the position of the pass point closest to the player position 74 of the last player as the target stop position 78 based on the pass point position data. Alternatively, in order to prevent the golf cart 16 from getting too close to the last player, the target stop position 78 may be determined to be the position of a pass point that is farther from the pin position 68 by a predetermined distance than the position of the pass point closest to the player position 74 of the last player.

[0107] 7 and 8, the target stop position determination unit 108 may determine a target stop position 78 based on the history of the player position 74 of the player of interest in response to detection of the player of interest's approach to the driving range 62. For example, as shown in FIG. 7, the position of the pass point closest to the line obtained by extending the movement direction vector v1 may be determined as the target stop position 78. Alternatively, in order to prevent the golf cart 16 from getting too close to the player of interest, a pass point that is a predetermined distance away from the pin position 68 from the position of the pass point closest to the line obtained by extending the movement direction vector v1 may be determined as the target stop position 78. Alternatively, as shown in FIG. 8, the position of the pass point closest to the player position 74b of the player of interest may be determined as the target stop position 78. Alternatively, in order to prevent the golf cart 16 from getting too close to the player of interest, a pass point that is a predetermined distance away from the pin position 68 from the position of the pass point closest to the player position 74b of the player of interest may be determined as the target stop position 78.

[0108] In this embodiment, for example, the avoidance necessity determination unit 110 determines whether or not a given avoidance target area 64 exists between the player position 74 and the target stop position 78. For example, as shown in FIG. 5, the avoidance necessity determination unit 110 may determine that the avoidance target area 64a exists between the player position 74a and the target stop position 78 when part of a line segment connecting the player position 74a and the target stop position 78 is included in the avoidance target area 64a.

[0109] In this embodiment, the alternative stop position determination unit 112 determines the alternative stop position 80 based on, for example, the alternative player position 72. For example, the alternative stop position determination unit 112 may determine the position of the pass point closest to the alternative player position 72 as the alternative stop position 80 based on the pass point position data. Alternatively, in order to prevent the golf cart 16 from getting too close to the last player, the alternative stop position 80 may be determined to be the position of a pass point that is farther from the pin position 68 by a predetermined distance than the position of the pass point closest to the alternative player position 72.

[0110] Furthermore, as shown in FIG. 5, the alternative stop position determination unit 112 may determine the alternative stop position 80 based on the position (player alternative position 72b in the example of FIG. 5) closest to the player position 74 (player position 74a in the example of FIG. 5) among a plurality of player alternative positions 72 (72a and 72b in the example of FIG. 5).

[0111] In this embodiment, for example, the green arrival detection unit 114 detects that a player has arrived at a green included in the hole on which the player is playing. Here, the green arrival detection unit 114 may detect that a player has arrived at the green based on the player's player position 74 and the position of the green included in the hole on which the player is playing. Alternatively, the green arrival detection unit 114 may detect that a player has arrived at the green for each of multiple players based on the player's player position 74 and the position of the green included in the hole on which the multiple players are playing. For example, the green arrival detection unit 114 detects that a player has arrived at the green when it is confirmed that the player's player position 74 is within the green area 66.

[0112] The green arrival detection unit 114 may store green arrival management data associated with holes, as shown in FIG. 12. As shown in FIG. 12, the green arrival management data includes hole number data, multiple player IDs, and multiple green arrival flags each associated with a player ID. The hole number data included in the green arrival management data is the number of the hole for which the player's arrival at the green is managed by the green arrival management data. The player ID is an identifier for the player, and as described above, the player IDs for Player A, Player B, Player C, and Player D are assumed to be "1," "2," "3," and "4," respectively. The green arrival flag is a flag indicating whether the player identified by the player ID associated with the green arrival flag has arrived at the green of the hole.

[0113] The initial value of the green arrival flag is 0, and when it is detected that a player has arrived at the green, the value of the green arrival flag associated with the player ID of that player is changed from 0 to 1. Note that in this embodiment, even if it is later confirmed that the player's player position 74 is outside the green area 66, the value of the green arrival flag associated with the player ID of that player remains 1.

[0114] The green arrival management data shown in FIG. 12 indicates that Player A and Player B have already been detected as having arrived at the green of the 9th hole, while Player C and Player D have not yet been detected as having arrived at the green of the 9th hole.

[0115] It should be noted that the green arrival detection unit 114 does not need to detect that a player has arrived at the green based on the player's player position 74. For example, the green arrival detection unit 114 may store images of the faces of multiple players. The green arrival detection unit 114 may then detect that a player has arrived at the green based on the results of facial recognition of an image captured by a surveillance camera that captures the green.

[0116] In this embodiment, the movement control unit 116, for example, moves the golf cart 16. Here, for example, an operation signal indicating "go forward" or "stop" may be transmitted to the golf cart terminal 14. Then, upon receiving the operation signal, the golf cart terminal 14 may transmit the operation signal to the golf cart 16. Then, upon receiving the operation signal, the golf cart 16 may operate in accordance with the operation signal. Furthermore, the movement control unit 116 according to this embodiment monitors the golf cart position 76 and is capable of moving the golf cart 16 to any position within the drivable range 62.

[0117] For example, the movement control unit 116 may move the golf cart 16 to the target stopping position 78 .

[0118] For example, the movement control unit 116 may move the golf cart 16 to the target stopping position 78 when the avoidance necessity determination unit 110 determines that a given avoidance target area 64 does not exist between the player position 74 and the target stopping position 78.

[0119] On the other hand, when the avoidance necessity determination unit 110 determines that a given avoidance target area 64 exists between the player position 74 and the target stop position 78, the movement control unit 116 may move the golf cart 16 to an alternative stop position 80 that is different from the target stop position 78 and is determined based on the avoidance target area 64. In the example of FIG. 5 , the golf cart 16 will move to the alternative stop position 80.

[0120] Furthermore, the movement control unit 116 may move the golf cart 16 to the standby position 70 in response to detection that a player has arrived at the green. As shown in Fig. 6, the movement control unit 116 may move the golf cart 16 to the standby position 70 in response to detection that all of a plurality of players have arrived at the green. For example, the movement control unit 116 may move the golf cart 16 to the standby position 70 in response to the values ​​of all of the green arrival flags included in the green arrival management data for the hole on which the plurality of players are playing golf becoming 1. In the example of Fig. 6, the golf cart 16 moves to the standby position 70.

[0121] In addition, the movement control unit 116 may move the stopped golf cart 16 so as to approach the player of interest in response to the approach detection unit 104 detecting the approach of the player of interest to the driving range 62.

[0122] Here, when the last player satisfies the above-described cart-no-necessary condition, the movement control unit 116 may move the stopped golf cart 16 closer to the player of interest in response to detection of the player of interest approaching the drivable range 62. For example, when it is determined that the last player is moving in the traveling direction of the golf cart 16 based on the history of the position of the last player, the movement control unit 116 may move the stopped golf cart 16 closer to the player of interest in response to detection of the player of interest approaching the drivable range 62. Here, as shown in FIGS. 7 and 8, the golf cart 16 may move to a target stop position 78.

[0123] In addition, when the distance between the player position 74 of the focused player and the golf cart position 76 is shorter than a given distance (e.g., 100 yards), the movement control unit 116 may move the stopped golf cart 16 to approach the focused player in response to detecting the focused player's approach to the driving range 62.

[0124] Furthermore, the player of interest does not have to be the second-to-last player among multiple players who are presumed not to be riding in the golf cart 16. For example, the player order identification unit 102 may identify a player whose distance from the golf cart position 76 is shorter than a given distance (e.g., 100 yards) as the player of interest. Here, multiple players of interest may be identified. Then, in response to detecting that any of the players of interest is approaching the drivable range 62, the movement control unit 116 may move the stopped golf cart 16 so as to approach the player of interest.

[0125] Here, an example of the flow of processing performed by the server 10 according to this embodiment will be described with reference to the flow diagrams shown in FIGS. 13A and 13B.

[0126] In this processing example, it is assumed that the position information receiving unit 94 repeatedly receives position information indicating the positions of the player terminal 12a, the player terminal 12b, the player terminal 12c, the player terminal 12d, and the golf cart terminal 14 at predetermined time intervals. Then, each time the position information receiving unit 94 receives this position information, the processing shown in Figures 13A and 13B is executed. It is also assumed that player A, player B, player C, and player D are playing golf on a specific hole (e.g., the 9th hole). It is also assumed that the golf cart 16 is stopped.

[0127] First, in response to the reception of position information by the position information receiving unit 94, the player position identifying unit 96 identifies the player position 74a of player A, the player position 74b of player B, the player position 74c of player C, and the player position 74d of player D (S101), and the golf cart position identifying unit 98 identifies the golf cart position 76 (S102).

[0128] Then, the green arrival detection unit 114 checks whether or not a player has newly arrived on the green based on the player position 74 identified in the process shown in S101 and the position of the green area 66 (S103).

[0129] If it is confirmed that a player has newly arrived on the green (S103: Y), the green arrival detection unit 114 updates the value of the green arrival flag associated with the player ID of the player who has newly arrived on the green in the green arrival management data for the hole (e.g., the 9th hole) to 1 (S104).

[0130] Then, the green arrival detection unit 114 checks whether all players have arrived at the green (S105). For example, it checks whether the value of all green arrival flags included in the green arrival management data for the hole has become 1.

[0131] If it is confirmed that all players have arrived at the green (S105: Y), the movement control unit 116 moves the golf cart 16 to the waiting position 70 of the hole (S106), and the processing shown in this processing example is terminated.

[0132] If the process shown in S103 confirms that no new players have arrived at the green (S103), or if the process shown in S105 does not confirm that all players have arrived at the green (S105: N), the riding estimation unit 100 estimates whether each of the four players is riding in a golf cart 16 (S107).

[0133] Then, the player order determination unit 102 determines the last player and the player of interest (here, for example, the second player from the back) from among one or more players who are estimated not to be riding in the golf cart 16 (S108).

[0134] Then, the approach detection unit 104 checks whether or not it has detected the approach of the player of interest identified in the process shown in S108 to the travelable range 62 (S109).

[0135] If an approach is detected (S109: Y), the golf cart necessity determining unit 106 checks whether the rearmost player satisfies the cart unnecessary condition (S110).

[0136] If it is confirmed that the rearmost player satisfies the condition that a cart is not required (S110: Y), the target stop position determination unit 108 determines the target stop position 78 based on the history of the player position 74 of the player of interest (S111).

[0137] If the process shown in S109 does not detect the approach of the target player to the driving range 62 (S109: N), or if the process shown in S110 confirms that the last player does not satisfy the cart-free condition (S110: N), the target stop position determination unit 108 checks whether the distance between the player position 74 of the last player and the golf cart position 76 is equal to or greater than a predetermined distance (e.g., 10 meters) (S112).

[0138] If it is confirmed that the distance between the player position 74 of the rearmost player and the golf cart position 76 is not equal to or greater than the predetermined distance (S112: N), the process shown in this processing example is terminated.

[0139] If it is confirmed that the distance between the player position 74 of the last player and the golf cart position 76 is equal to or greater than a predetermined distance (S112: Y), the target stop position determination unit 108 determines the target stop position 78 based on the player position 74 of the last player (S113).

[0140] When the processing shown in S111 or S113 is executed, the avoidance necessity determination unit 110 determines whether or not a given avoidance target area 64 exists between the player position 74 and the target stop position 78 (S114). When the processing shown in S111 is executed, the processing shown in S114 determines whether or not the avoidance target area 64 exists between the player position 74 of the player of interest and the target stop position 78 determined in the processing shown in S111. On the other hand, when the processing shown in S113 is executed, the processing shown in S114 determines whether or not the avoidance target area 64 exists between the player position 74 of the last player and the target stop position 78 determined in the processing shown in S113.

[0141] If it is confirmed that a given avoidance target area 64 exists between the player position 74 and the target stop position 78 (S114: Y), the alternative stop position determination unit 112 determines an alternative stop position 80 based on the player alternative position 72 associated with the avoidance target area 64 (S115).

[0142] Then, the movement control unit 116 moves the golf cart 16 to the alternative stop position 80 determined in the process shown in S115 (S116), and the process shown in this process example ends.

[0143] If it is confirmed in the process shown in S114 that there is no avoidance area 64 between the player position 74 and the target stop position 78 (S114: N), the movement control unit 116 moves the golf cart 16 to the target stop position 78 determined in the process shown in S111 or S113 (S117), and the process shown in this processing example is terminated.

[0144] If it is estimated in the process shown in S107 that all players are riding on the golf carts 16, the process shown in this process example may be ended without executing the processes shown in S108 and onwards.

[0145] Furthermore, if it is estimated in the process shown in S107 that three players are riding on the golf cart 16, one player who is estimated not to be riding on the golf cart 16 may be identified as the last player in the process shown in S108. Then, the process may proceed to the process shown in S112.

[0146] The present invention is not limited to the above-described embodiment.

[0147] For example, the map data may include passing point data in which a range of distances from the pin position 68 (or a range of ratios of the distance from the pin position 68 to the length of the hole) is associated with each of a plurality of passing points along the strip-shaped drivable area 62. The target stop position determination unit 108 may then determine, as the target stop position 78, a passing point associated with a distance range that includes the distance from the pin position 68 to the player position 74. The alternative stop position determination unit 112 may also determine, as the alternative stop position 80, a passing point associated with a distance range that includes the distance from the pin position 68 to the alternative player position 72.

[0148] Alternatively, the map data may include line segment data that indicates a plurality of line segments that extend along the strip-shaped driving range 62. The target stop position determination unit 108 may then determine the foot of a perpendicular line to the line segment that is closest to the player position 74 as the target stop position 78. The alternative stop position determination unit 112 may also determine the foot of a perpendicular line to the line segment that is closest to the alternative player position 72 as the target stop position 78. In this case, the direction of the line segment that is closest to the player position 74 may be determined to be the direction along the driving range 62, and the direction perpendicular to that direction may be determined to be the direction perpendicular to the driving range 62.

[0149] Furthermore, the golf cart 16 does not have to travel on a predetermined route within the golf course, such as a cart path. For example, the golf cart 16 may be able to enter the fairway. In this case, the drivable range 62 is not a linear (strip) area, but a planar area.

[0150] Additionally, the player position 74 and the golf cart position 76 may be identified by a sensor other than the GPS module.

[0151] Also, when a player is playing golf alone, the golf cart 16 may be moved to the waiting position 70 in response to detection that the player has arrived at the green.

[0152] Furthermore, when golf cart 16 is stopped by operating control button 18 and a predetermined time (e.g., 10 seconds) has elapsed, the golf cart may switch to an automatic driving mode in which automatic driving as described above can be performed. When switching to the automatic driving mode, for example, a character string such as "Switched to automatic driving mode" may be displayed on the display of golf cart terminal 14, or a voice reading of the character string may be output from the speaker of golf cart terminal 14. When golf cart 16 starts moving in the automatic driving mode, for example, a character string such as "Automatic driving will begin" may be displayed on the display of golf cart terminal 14, or a voice reading of the character string may be output from the speaker of golf cart terminal 14. Here, for example, golf cart 16 may start moving a few seconds after the character string is displayed on the display of golf cart terminal 14 or the voice reading of the character string is output from the speaker of golf cart terminal 14.

[0153] Furthermore, when the golf cart 16 moves to approach a player of interest rather than the last player, a string such as "Skip over Player A, the last player, and move to the vicinity of Player B, the player in front of him" may be displayed on the display of the golf cart terminal 14, or the string may be read aloud and output from the speaker of the golf cart terminal 14.

[0154] 9 may be implemented in the player terminal 12 or the golf cart terminal 14, rather than in the server 10. In this case, communication may be performed between the player terminal 12 and the golf cart terminal 14.

[0155] Furthermore, the specific character strings and numerical values ​​described above and the specific character strings and numerical values ​​in the drawings are examples, and the present invention is not limited to these character strings and numerical values. [Explanation of symbols]

[0156] 1 golf cart movement control system, 10 server, 12, 12a, 12b, 12c, 12d player terminal, 14 golf cart terminal, 16 golf cart, 18 control button, 20 computer network, 30 processor, 32 memory unit, 34 communication unit, 40 processor, 42 memory unit, 44 communication unit, 46 sensor unit, 50 processor, 52 memory unit, 54 communication unit, 56 sensor unit, 58 output unit, 60 map image, 62 Driving range, 64, 64a, 64b, 64c avoidance target area, 66 green area, 68 pin position, 70 waiting position, 72, 72a, 72b player alternative position, 74, 74a, 74aa, 74ab, 74b, 74ba, 74bb, 74c, 74d player position, 76 golf cart position, 78 target stopping position, 80 alternative stopping position, 90 map data storage unit, 92 player alternative position determination unit, 94 position information receiving unit, 96 player position identification unit, 98 golf cart position identification unit, 100 boarding estimation unit, 102 player order identification unit, 104 approach detection unit, 106 golf cart necessity determination unit, 108 target stopping position determination unit, 110 avoidance necessity determination unit, 112 alternative stopping position determination unit, 114 green arrival detection unit, 116 movement control unit.

Claims

1. a player position specifying means for specifying a player position that is the position of a player playing golf; a target stop position determining means for determining a target stop position within a travelable range of the golf cart used by the player based on the player's position; an avoidance necessity determination means for determining whether or not a given avoidance target area exists between the player position and the target stop position; a movement control means for moving the golf cart; The movement control means When it is determined that the avoidance target area does not exist, the golf cart is moved to the target stop position; When it is determined that the avoidance target area exists, the golf cart is moved to an alternative stopping position that is determined based on the location of the avoidance target area and is different from the target stopping position. Golf cart movement control system.

2. the alternative stop position is a position determined based on an alternative player position associated with the avoidance target area.

10. The golf cart motion control system of claim 1.

3. the player alternative position associated with the area to be avoided is set in advance in association with the area to be avoided; 3. The golf cart motion control system of claim 2.

4. a player alternative position determination means for determining the player alternative position associated with the avoidance target area based on the position of the avoidance target area, 3. The golf cart motion control system of claim 2.

5. the player alternative position determining means determines the player alternative position associated with the avoidance target area based on the position of the avoidance target area and the position of the pin of the hole on which the player is playing; 5. The golf cart motion control system of claim 4.

6. the player alternative position determination means determines a position in the avoidance target area that is closest to the position of the pin of the hole, or a position in the avoidance target area that is farthest from the position of the pin of the hole, as the player alternative position associated with the avoidance target area; 6. The golf cart motion control system of claim 5.

7. the player alternative position determination means determines a plurality of player alternative positions associated with the avoidance target area; an alternative stop position determination means for determining the alternative stop position based on a position among a plurality of alternative player positions that is closest to the player position, 5. The golf cart motion control system of claim 4.

8. the avoidance necessity determining means determines that an avoidance target area exists between the player position and the target stop position when a part of a line segment connecting the player position and the target stop position is included in the avoidance target area, 10. The golf cart motion control system of claim 1.

9. The area to be avoided is an area indicating a hazard or ground under repair.

10. The golf cart motion control system of claim 1.

10. a riding estimation means for estimating whether each of the plurality of players is riding on the golf cart; and a last player specifying means for specifying a last player from among the one or more players who are presumed not to be riding in the golf cart, the target stop position determination means determines the target stop position based on the player position of the last player.

10. The golf cart motion control system of claim 1.

11. the last player identifying means identifies the last player based on a distance of each of the player positions of one or more of the players who are presumed not to be riding in the golf cart from a pin position of the hole on which the plurality of players are playing, 11. The golf cart motion control system of claim 10.

12. further comprising green arrival detection means for detecting that the player has arrived at a green included in the hole on which the player is playing; the movement control means moves the golf cart to a waiting position provided at an exit of the hole in response to detection that the player has arrived at the green.

10. The golf cart motion control system of claim 1.

13. the green arrival detection means detects, for each of the plurality of players, that the player has arrived at the green; the movement control means moves the golf cart to the waiting position in response to detection of arrival of all of the plurality of players at the green.

13. The golf cart motion control system of claim 12.

14. the green arrival detection means detects that the player has arrived at the green based on the player position of the player and the position of the green; 13. The golf cart motion control system of claim 12.

15. Identifying a player position, which is the position of a player playing golf; determining a target stopping position within a travelable range of a golf cart used by the player based on the player's position; determining whether a given avoidance target area exists between the player position and the target stop position; a step of moving the golf cart to the target stop position when it is determined that the avoidance target area does not exist; When it is determined that the avoidance target area exists, moving the golf cart to an alternative stopping position that is different from the target stopping position and that is determined based on the location of the avoidance target area; A golf cart movement control method comprising:

16. Identifying a player position, which is the position of a player playing golf; determining a target stopping position within a travelable range of a golf cart used by the player based on the player's position; determining whether a given avoidance target area exists between the player position and the target stop position; a step of moving the golf cart to the target stop position when it is determined that the avoidance target area does not exist; When it is determined that the avoidance target area exists, moving the golf cart to an alternative stopping position that is different from the target stopping position and that is determined based on the location of the avoidance target area; A program that causes a computer to execute the following.

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