Hybrid golf system and method for marking a golf golf or a ball point on a spot in the system

Abstract

The invention is used for solving the problems in the prior art. Provided is a camera-capable of sensing by a camera in such a manner that a golf ball or a ball mark is located at a ball point that is a position on a site corresponding to a ball position on a virtual golf course when playing a ball on the virtual golf course using a screen golf system in a hybrid golf system followed by playing a ball on an actual site A hybrid golf system with sensing and corresponding control of the system and a method of marking a golf ball or ball with a ball point located on a venue in the system.

Description

Technical Field

[0001] The present invention relates to a hybrid golf system in which, when a virtual ball is placed on or around a green during a virtual golf game using a virtual golf simulation device, a putt or a putt is performed as an actual golf game on a real field, and a method for positioning a golf ball or a ball mark at a ball spot on a field in the system. Background Art

[0002] Recently, as the golf population increases, a so-called screen golf system has emerged that enables players to enjoy golf practice and a virtual round of golf using a virtual golf simulation system.

[0003] This screen golf system is a system in which a screen capable of displaying a virtual golf course is set up indoors. When a golfer hits a golf ball toward the screen, the speed, direction, etc. of the golf ball are sensed and the progress of the golf ball is displayed on the screen. The technology for providing users with a sense of presence as if they were playing a round of golf on a real golf course, which goes beyond the level of simply enjoying a golf game indoors, is constantly evolving.

[0004] Since a conventional screen golf system only realizes a virtual golf course and simulated images of the ball trajectory on the virtual golf course through a screen set in front of the user hitting the ball, it has limitations in providing a sense of presence as if the user is playing a round of golf on a real golf course.

[0005] In order to overcome this limitation, a so-called hybrid golf system has emerged that goes beyond the conventional screen golf system and provides a sense of reality as if a round of golf is being played on an actual golf course, while being implemented in a space much smaller than an actual golf course.

[0006] The hybrid golf system combines a real golf course where actual golf can be played and a screen golf system. It is a system in which a portion of the golf game on a certain hole can be played on a virtual golf course implemented in the screen golf system, while the rest of the game can be played by actually playing golf on a real golf course.

[0007] For example, in the case of a par 4 hole, the tee shot and the second shot are played through a virtual golf simulation on a virtual golf course through the screen golf system, while the third shot and putt allow the user to move to the actual course and play the same as playing on a real golf course.

[0008] As prior art documents related to the hybrid golf system, Korean Patent Publication No. 10-2013-0030536, Korean Patent Publication No. 10-2012-0036155, Korean Patent Publication No. 10-2012-0036156, Korean Patent Publication No. 10-2012-0009933, etc. are disclosed.

[0009] In such a hybrid golf system, the most critical thing is to accurately specify the position of the user's virtual ball on the virtual golf course when playing golf in the screen golf system, that is, the ball position on the actual field corresponding to the ball position on the virtual golf course, so that the user can hit the golf ball at the ball position on the field.

[0010] Conventionally, in order to specify the ball position on the actual course corresponding to the ball position on the virtual golf course, a laser pointer has been mainly used.

[0011] That is, when a laser pointer set up around the actual field irradiates a laser onto a ball position on the actual field corresponding to the user's ball position on the virtual golf course for display, the user places his golf ball at the position displayed by the laser pointer to hit the ball.

[0012] However, the method of displaying the ball position using a laser pointer as described above has various problems.

[0013] That is, since the size of the actual field has to be reduced in order for the laser light irradiated by the laser pointer to indicate the accurate ball position, there is a problem that the sense of presence brought about by playing ball on the actual field is significantly reduced.

[0014] Furthermore, when the actual field is formed wider, there is a problem that a plurality of laser pointers need to be installed around the field to effectively specify the ball position, and there is also a problem that the laser pointers installed in this way may interfere with the ball during the field play.

[0015] In addition, there is a problem that a separate control module for controlling the laser pointer is required, which increases costs, and there is a problem that a failure may occur, requiring repair and maintenance.

[0016] Prior art literature

[0017] Korean Patent Publication No. 10-2013-0030536

[0018] Korean Patent Publication No. 10-2012-0036155

[0019] Korean Patent Publication No. 10-2012-0036156

[0020] Korean Patent Publication No. 10-2012-0009933 Summary of the invention

[0021] Technical issues

[0022] The present invention is used to solve the problems of the prior art as described above, and its object is to provide a hybrid golf system in which, after playing on a virtual golf course using a screen golf system and then playing on an actual course, a golf ball or a ball mark can be located at a ball spot on the course corresponding to the position of the ball on the virtual golf course by sensing and correspondingly controlling the system through a camera sensing system, and a method for causing a golf ball or a ball mark to be located at a ball spot on the course in the system.

[0023] Technical Solution

[0024] A hybrid golf system according to an embodiment of the present invention includes: a screen golf module disposed on one side of a field configured to enable a user to play actual golf and configured to enable the user to play golf on a virtual golf course; a simulator disposed on the screen golf module to realize a virtual golf simulation image corresponding to the virtual golf course and the user's golf play; a camera sensing system having a plurality of cameras configured to sense the field; a locator that moves on the field so that a golf ball or a ball mark is located at a ball spot of the user; and a control unit that calculates a position on the field corresponding to a ball position on the virtual golf course of the user playing golf through the simulator as the ball spot, and transmits movement path information to the locator in a manner such that the locator moves toward the ball spot while sensing the position of the locator through the camera sensing system.

[0025] In addition, preferably, the locator is implemented in the form of a running mechanism that runs on the field and a flying mechanism that flies on the field, and the locator is configured to receive the moving path information from the control unit in real time through wireless communication and move along the moving path, and hold a golf ball or ball marker and put down the held golf ball or ball marker when reaching the ball point transmitted by the control unit.

[0026] In addition, preferably, the camera sensing system is configured to divide the site into predetermined sizes, and each of the divided areas is sensed by a plurality of cameras.

[0027] In addition, preferably, the camera sensing system includes: a plurality of the cameras; and a sensing processing unit, which detects an object corresponding to the locator from the images respectively acquired by the plurality of cameras to calculate the position coordinate information of the locator on the site, and transmits the position coordinate information to the control unit.

[0028] In addition, preferably, the camera sensing system analyzes the images respectively acquired by the plurality of cameras to calculate the position coordinate information of the locator sensed on the field, and transmits the position coordinate information to the control unit, and the control unit is configured to calculate the moving path information from the transmitted position coordinates of the locator to the position coordinates of the ball point, and transmit the moving path information to the locator.

[0029] In addition, preferably, it also includes: a locator station, which is arranged on one side of the venue and is configured to dock the locator, and is configured to charge the docked locator and supply a golf ball or a ball marker to the locator, and the locator is configured to return the golf ball or the ball marker to the locator station after being located at the ball point on the venue.

[0030] In addition, preferably, the control unit is constructed as follows: when the locator is in a docking state with the locator station, the control unit calculates the movement path information from the position of the locator station to the position of the ball point, and transmits the movement path information to the locator; when the locator is not in a docking state with the locator station, the control unit calculates the movement path information from the position of the locator sensed by the camera sensing system to the position of the ball point, and transmits the movement path information to the locator.

[0031] On the other hand, an embodiment of the present invention provides a method for locating a golf ball or a ball mark at a ball spot on a course in a hybrid golf system, the hybrid golf system comprising a course configured to enable a user to play actual golf, and a screen golf module provided at one side of the course and configured to enable a user to play golf on a virtual golf course, the method for locating a golf ball or a ball mark at a ball spot on the course in the hybrid golf system comprising: calculating a position on the course corresponding to a position of a ball on a virtual golf course of the user playing golf in the screen golf module as the ball spot; sensing a locator that moves on the course and carries the golf ball or the ball mark by a camera sensing system having a plurality of cameras configured to sense the course to calculate position information of the locator, and calculating movement path information from the position of the locator to the ball spot; and transmitting the calculated movement path information to the locator so that the locator moves along the movement path and locates the golf ball or the ball mark at the ball spot.

[0032] In addition, preferably, it also includes: a step of calculating the position coordinate information of the locator sensed on the field by analyzing the image acquired by each camera of the camera sensing system; a step of determining whether the position coordinate of the locator deviates from the calculated moving path; and when the position coordinate of the locator deviates from the moving path, a step of calculating a new moving path from the position coordinate of the locator to the ball point and transmitting the moving path to the locator.

[0033] Effects of the Invention

[0034] The hybrid golf system and the method for positioning a golf ball or a ball mark at a ball spot on a course according to the present invention have the following effects: in the hybrid golf system, after playing on a virtual golf course using a screen golf system and then playing on an actual course, sensing and corresponding control can be performed by a camera sensing system in such a way that the golf ball or the ball mark is positioned at a ball spot on the course that corresponds to the ball position on the virtual golf course, thereby enabling stable hybrid golf play and improving user convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a diagram showing the structure of a hybrid golf system according to an embodiment of the present invention.

[0036] Figure 2 It is shown Figure 1 A block diagram of the control system of the hybrid golf system is shown.

[0037] Figure 3 It is shown in Figure 1 The user inside the screen golf module is shown playing a virtual golf game while watching an image projected onto the screen.

[0038] Figure 4 This is a diagram for explaining an example of the manner in which a camera sensing system of a hybrid golf system according to an embodiment of the present invention senses a course.

[0039] Figure 5 1 is a flow chart showing a method for positioning a golf ball or a ball mark at a ball spot on a course in a hybrid golf system according to an embodiment of the present invention.

[0040] Figure 6 and Figure 7 2 is a diagram for explaining that a locator moves to a specific ball spot to place a golf ball or a ball marker and returns to the locator station according to an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The hybrid golf system of the present invention and the method for locating a golf ball or a ball mark at a ball spot on a course in the system will be described in detail below with reference to the accompanying drawings.

[0042] First, refer to Figure 1 and Figure 2 The structure of a hybrid golf system according to an embodiment of the present invention will be described.

[0043] Figure 1 is a diagram showing the structure of a hybrid golf system according to an embodiment of the present invention. Figure 2 It is shown Figure 1 A block diagram of the control system of the hybrid golf system is shown.

[0044] like Figure 1 As shown, a hybrid golf system according to an embodiment of the present invention may include: a venue 200, which is configured to allow a user to play actual golf; and a screen golf module 100, which is provided with a virtual golf simulation device on one side of the venue 200, which allows the user to play golf on a virtual golf course.

[0045] In addition, the hybrid golf system according to an embodiment of the present invention may include a camera sensing system 300 including a plurality of cameras 310 to 400 configured to sense the course 200 and a locator 500 that moves on the course 200 to locate a golf ball or a ball mark at a ball point of a user.

[0046] The screen golf module 100 includes a structure related to a common screen golf system, that is, a virtual golf course image is projected onto a screen in front, and when a user hits a ball toward the screen in a hitting area 120, a sensing device 160 senses it, and based on the sensing result, a simulated image iVG of a virtual ball moving on the virtual golf course image is realized, thereby enabling the user to enjoy a virtual golf game.

[0047] The screen golf module 100 may be provided in a box form or a shed form with an entrance 110 on one side, and may be in a form in which all surfaces are closed or in a form in which a part is open.

[0048] The screen golf module 100 may be configured to include a screen 130 on a surface facing the field 200 .

[0049] The screen 130 is a component that projects an image of a virtual golf course outputted by an image output device 140 (eg, beam projection, etc.) provided inside the screen golf module 100 and a simulation image iVG performed on the virtual golf course and provides them to a user.

[0050] Alternatively, the site 200 may be constructed as a portion of the terrain that forms the entirety of a hole of an actual golf course, such as Figure 1 The formation shown includes a green 210 and a hole cup 212, and may be set to include a fairway or a rough area, a bunker, and other peripheral areas 220 around the green 210, so that a user can actually perform a putt and a putt.

[0051] In the hybrid golf system of an embodiment of the present invention, the user is allowed to play a part of golf on a virtual golf course in the screen golf module 100 , while the rest of the golf can be played on the course 200 .

[0052] For example, when playing golf on a par-4 hole, virtual golf is played on the virtual golf course of the par-4 hole in the screen golf module 100 (the golf is played in a simulated manner in which the user hits the golf ball toward the screen in the hitting area and the sensing device senses the hit ball), and for the golf play in the rest of the par-4 hole, the user can directly move to the course 200 and play on the course 200.

[0053] For example, for the tee shot and the second shot of a par 4 hole, the virtual golf course in the screen golf module 100 is used as a virtual golf game; for the third shot (putt) and putt, the user can move from the screen golf module 100 to the venue 200 and actually play golf on the venue 200.

[0054] like Figure 1 and Figure 2 As shown, the simulator 150 disposed inside the screen golf module 100 includes a control unit 152, an image processing unit 156, and a storage unit 154 for storing data. The control unit 152 is configured to receive sensing data from the sensing device 160. The control unit 152 can control the locator 500 moving on the field through the wireless communication unit 158.

[0055] The control unit 152 as described above can be configured to calculate the position on the field corresponding to the position of the ball on the virtual golf course of the user playing through the simulator 150 as a "ball point", and sense the position of the locator 500 through the camera sensing system 300 and transmit the movement path information to the locator 500 so that the locator 500 moves to the "ball point" of each user.

[0056] Figure 3 Shown in Figure 1 The user P in the screen golf module 100 is shown playing virtual golf while watching the image iVG projected onto the screen 130 .

[0057] The sensing device 160 can be implemented as a camera-based device that senses the movement of at least one of a golf club and a golf ball as the user swings golf. Within the field of view of the camera, the user P hits the golf ball placed on the golf mat 122 in the hitting area 120 with a golf shot, captures and collects images of the hit golf ball 1, and performs image processing and other analysis on the collected images to calculate sensing information such as motion parameters of the movement of the golf ball 1 and transmits it to the control unit 152.

[0058] An operating device (not shown) may be provided as a mechanism that a user operates to set a virtual golf simulation environment or to adjust aiming during a virtual golf round.

[0059] The storage unit 154 stores all data required for realizing images of virtual golf simulation, and stores data on a virtual golf course realized by imaging an actual golf course and data on terrain information of the virtual golf course, thereby being able to provide data for realizing a virtual environment that allows a virtual round of golf to be played on a virtual golf course selected by a user.

[0060] The storage unit 154 may be configured to store all of the various data on the virtual golf course, or may be configured to receive the various data on the virtual golf course from a server (not shown) via a network and temporarily store the data.

[0061] The image processing unit 156 performs information processing to realize an image of a virtual golf course on a screen using data on the virtual golf course stored in the storage unit 154 , and performs information processing to realize an image simulating the trajectory of a golf ball hit by a user on the virtual golf course.

[0062] The image information processed by the image processing unit 156 is projected onto the screen 130 via the image output device 140 which may be implemented as a projector, etc., so that the user P can see the image iVG projected onto the screen 130 .

[0063] The image processing unit 156 may be implemented as a modular component that performs image processing functions in an independent device, or may be implemented as an independent device itself.

[0064] The control unit 152 is a component responsible for controlling all the processes for virtual golf simulation, and performs various calculations and controls for simulating the movement of a virtual ball on a virtual golf course based on the sensing information of the moving golf ball extracted from the sensing result of the sensing device 160 and the physics engine. Based on such various calculations and controls, it is possible to realize the simulation of the image iVG of the virtual ball on the virtual golf course based on the sensing result of the sensing device and the physics engine.

[0065] The control unit 152 determines whether the user's requirements for playing on the field are met during the virtual golf course. When the requirements for playing on the field are met, the screen image iVG can be used to guide the user with images / voices so that the user can move to the field 200 and play on the field.

[0066] When multiple users play a round of golf together, the above-mentioned course play can start when all users' balls (virtual balls on the image) are within a preset radius based on a preset range on the virtual golf course, such as the hole cup (the hole cup on the green of the virtual golf course).

[0067] As described above, when the field play starts, the control unit 401 of the simulator 400 can prepare each camera of the camera sensing system 300 for sensing, and can calculate the "ball point" on the field corresponding to the ball position of each user on the virtual golf course when the field play starts.

[0068] That is, the control unit 152 may use the field 200 as a coordinate space to calculate the coordinate information of the ball point corresponding to the ball position of each user on the coordinate space.

[0069] Here, the description will be made that "ball position" refers to the position of each user's ball (ball on the image) on the virtual golf course, and "ball point" refers to the position coordinates on the coordinate space of the course 200 corresponding to the above each ball position.

[0070] On the other hand, Figure 1 and Figure 2 As shown, the camera sensing system 300 of the hybrid golf system according to an embodiment of the present invention may include a plurality of cameras 310 - 400 arranged at predetermined intervals around the course 200 , and a sensing processing unit 302 .

[0071] The plurality of cameras 310-400 are as follows Figure 2 As shown, the sensing processing unit 302 is connected to the sensing processing unit 302, which can sense a specific object located on the site 200 from the images respectively acquired by multiple cameras 310~400, and in particular can detect the object corresponding to the locator 500 moving or stopping on the site 200, and calculate the position coordinate information of the locator 500 on the site 200 and transmit it to the control unit 152.

[0072] That is, the camera sensing system 300 can sense the movement of the locator 500 when monitoring the site 200 using the images respectively acquired by the plurality of cameras 310 to 400, and move the locator 500 to a correct position.

[0073] The camera sensing system 300 may be configured to divide the site 200 into predetermined sizes and enable each camera disposed around the site 200 to sense each of the divided areas.

[0074] For example, Figure 4 As shown, the venue 200 can be divided into a first divided area R1, a second divided area R2, a third divided area R3, a fourth divided area R4, a fifth divided area R5, a sixth divided area R6, a seventh divided area R7 and an eighth divided area R8, and the first divided area R1 is sensed by the first camera 310, the second divided area R2 is sensed by the second camera 320, the third divided area R3 is sensed by the third camera 330, the fourth divided area R4 is sensed by the fourth camera 340, the fifth divided area R5 is sensed by the fifth camera 350, the sixth divided area R6 is sensed by the sixth camera 360, the seventh divided area R7 is sensed by the seventh camera 370, and the eighth divided area R8 is sensed by the eighth camera 380.

[0075] The sensing processing unit 302 of the camera sensing system 300 can convert each camera coordinate system of the image acquired by each camera as described above into Figure 4The coordinate system of the entire field 200 shown in the figure calculates the coordinate information of the position of the ball point or the position of the locator on the coordinate space of the entire field 200 and transmits it to the control unit.

[0076] That is, each camera of the camera sensing system 300 senses the segmented area it is responsible for as a coordinate system of the corresponding camera, and the sensing processing unit 302 can use the entire site 200 as a coordinate system (such as Figure 4 The xy coordinate system shown in the figure is used to calculate the coordinate information of a specific position corresponding to the overall coordinate system of the site.

[0077] For example, when a locator is sensed in the image acquired by the first camera 310 in the R1 area, the sensing processing unit converts the image acquired by the first camera 310 into an xy coordinate system as a coordinate system of the entire site to calculate the position coordinate information of the locator.

[0078] On the other hand, Figure 1 and Figure 2 As shown, the hybrid golf system according to an embodiment of the present invention may include a locator 500 for carrying a golf ball or a ball marker to a specific location on the course for positioning.

[0079] The locator 500 may be implemented in the form of a running mechanism (eg, a micro vehicle, etc.) running on the site 200 or a flying mechanism (eg, a drone, etc.) moving by flying on the site.

[0080] The locator 500 may include a drive unit 520 that enables movement (including flight) and a steering unit 540 that can adjust the direction of movement of the locator 500, and may be configured to accommodate a golf ball or ball marker to be transported, and may include a ball / ball marker holder 550 that can hold the golf ball or ball marker in a manner that enables the accommodated golf ball or ball marker to be placed at a specific position (i.e., the user's ball spot).

[0081] Since the components of this positioner itself are components that have been disclosed as prior art, a detailed description thereof will be omitted.

[0082] The locator 500 may include a communication module 530 capable of wirelessly transmitting and receiving data with the wireless communication unit 158 ​​of the simulator 150, so as to receive movement path information from the control unit 152 of the simulator 150 through wireless communication. The locator control unit 510 may control the driving unit 520 and the steering unit 540 according to the movement path information received through the communication module 530, so that the locator 500 moves to the position determined by the movement path.

[0083] That is, the locator 500 is configured to receive movement path information from the control unit 152 in real time via wireless communication and move along the path, and is configured to hold a golf ball or ball marker, and then put down the held golf ball or ball marker when reaching a ball point along the path, which can be controlled by the locator control unit 510.

[0084] In addition, if Figure 1 and Figure 2 As shown, a locator station 170 may be provided at one side of the site 200 , so that the locator 500 can be docked with the locator station 170 .

[0085] like Figure 2 As shown, the locator station 170 may be provided with a ball / ball marker supply unit 174, a charging unit 172, and a charging terminal 176. When the locator 500 is docked with the locator station 170, the connection unit 560 of the locator 500 is connected to the charging terminal 176 of the locator station 170, so that the locator 500 can be charged and a golf ball or ball marker can be supplied from the ball / ball marker supply unit 174 of the locator station 170 to the locator 500.

[0086] The locator 500 can move on the field 200, and then return to the locator station 170 after placing the golf ball or ball marker at the required location, and in the docked state as shown in FIG. Figure 1 The display will stand by until it moves to the next position.

[0087] On the other hand, referring to Figures 5 to 7 A method for positioning a golf ball or a ball marker at a ball spot on a course in a hybrid golf system according to an embodiment of the present invention is described.

[0088] Figure 5 is a flow chart showing a method for positioning a golf ball or a ball mark at a ball spot on a course in a hybrid golf system according to an embodiment of the present invention. Figure 6 and Figure 7 2 is a diagram for explaining that a locator moves to a specific ball spot to place a golf ball or a ball marker and returns to the locator station according to an embodiment of the present invention.

[0089] like Figure 5 As shown, one or more users first use the screen golf module to play golf on a virtual golf course (S110).

[0090] During the virtual golf playing in the screen golf module, if the field play start requirement is met, the field play starts (S120). When the field play starts, the user can move from the screen golf module to the field and play on the field.

[0091] For example, when four users are playing virtual golf on hole No. 1 of a virtual golf course, and then all four users place the ball on the green of hole No. 1, or the ball is placed within a predetermined range around the green, the requirements for starting on-site play are met, and live play can begin.

[0092] When the court ball game starts, the control unit starts the camera sensing system, and the camera sensing system enables the plurality of cameras to respectively acquire an image including each corresponding divided area on the court (S210).

[0093] On the other hand, as the field play starts, the control section calculates “ball points” which are positions on the field corresponding to the ball positions on the virtual golf course of each user, respectively ( S120 ).

[0094] Since the topography of the green and its surrounding area on the virtual golf course is different from the field formed in front of the screen golf module, the above-mentioned "ball position" and "ball point" will not be exactly consistent, but the "ball position" and "ball point" can be matched by various methods. For example, a reference position (e.g., hole position) can be set, and the "ball position" and "ball point" can be matched based on the relative position relationship with this position as the reference.

[0095] By calculating the user's "ball position" on the virtual golf course and the corresponding "ball point" on the course in this way, the control unit can recognize the position coordinates of the ball point on the course of each user when the course golfing starts.

[0096] On the other hand, the camera sensing system detects an object corresponding to the locator in the image by collecting and analyzing images respectively acquired by a plurality of cameras ( S220 ), thereby calculating position information about where the locator is located ( S230 ).

[0097] The control unit receives the position information of the locator from the camera sensing system, calculates the moving path information from the position of the locator to the ball point, and transmits it to the locator control unit (S140). The locator is on standby (S310), and then when the moving path information to the ball point is received from the control unit (S320), it can move along the moving path (S330).

[0098] If the locator is in the docking state with the locator station, even if the camera sensing system cannot sense the locator, the controller can recognize that it is in the docking state with the locator station. Therefore, the control unit can also calculate the moving path information points from the locator station to the ball point and transmit them to the locator control unit.

[0099] The locator control unit may control the locator to move along the moving path transmitted from the control unit, and when reaching the ball point (S340), the held golf ball or ball mark is located at the ball point (S350), and the locator is moved back to the locator station (S360).

[0100] After the locator controls the golf ball or ball mark at the ball spot, it may notify the control unit that the golf ball or ball mark has been located at the ball spot. When the controller determines that the locator has located the golf ball or ball mark at the ball spot (S150), the controller waits until the user hits the ball at the ball spot. Then, after the hit, the controller may perform the process (S160) of enabling the locator to locate the golf ball or ball mark at the next ball spot in the same manner as described above.

[0101] After the moving path information is transmitted to the locator control unit according to step S140, the control unit can also monitor whether the locator deviates from the moving path during the movement while sensing the position information of the locator in real time through the camera sensing system (S230). If the camera sensing system determines that the locator has deviated from the moving path, the camera sensing system will grasp the position information of the locator at that time, recalculate the moving path from this position to the ball point, and transmit it to the locator control unit, thereby completing the movement of the locator to the ball point.

[0102] In this regard, refer to Figure 6 ,exist Figure 6 The illustrated example shows a case where the locator station 170 is provided at one side of the screen golf module 100 , and the locator 500 is in a state of docking with the locator station 170 .

[0103] Figure 6 2 , ball points on the field 200 of four respective users are illustrated (the ball point of user one is referred to as P1 , the ball point of user two is referred to as P2 , the ball point of user three is referred to as P3 , and the ball point of user four is referred to as P4 ).

[0104] exist Figure 6 In the figure, the illustration of the camera sensing system is omitted.

[0105] As described above, since the control unit calculates each of the ball points P1 to P4 as a position on the field corresponding to the ball position of each user on the virtual golf course, the position coordinates of each of the ball points are recognized.

[0106] The controller may be controlled so that the positioner can sequentially position the golf ball or the ball mark at each ball point according to the shot order from the position of each ball point P1, P2, P3, P4.

[0107] exist Figure 6In the example shown, the ball is hit at the P1 point farthest from the hole 212 , and then the ball is hit at the P3 point, and putts are made in sequence from the point farthest from the hole 212 on the green 210 .

[0108] The control unit grasps the position of the locator 500 so that the golf ball or ball mark is located at the P1 ball point, and can first grasp whether the locator 500 is in a docking state with the locator station 170. When it is not docked with the locator station 170, the position of the locator 500 can be grasped through the camera sensing system.

[0109] exist Figure 6 In the example shown, since the locator 500 is in a docked state with the locator station 170, the control unit can calculate information on the moving path Wd1 from the position of the locator station 170 to the P1 ball point and transmit it to the locator control unit.

[0110] The locator control unit may control the movement of the locator 500 by receiving information of the moving path Wd1 of the ball point P1 and controlling the driving unit and the steering unit along the moving path Wd1.

[0111] During the movement of the locator 500 along the moving path Wd1 , the camera sensing system senses the position of the locator 500 in real time and transmits it to the control unit, so that the control unit can monitor whether the locator 500 moves correctly along the moving path Wd1 .

[0112] If the locator 500 deviates from the moving path Wd1 during movement, the camera sensing system senses the position information of the locator 500 in real time, so the control unit recalculates the moving path from the position of the locator 500 sensed by the camera sensing system to the P1 ball point, and transmits it to the locator control unit. The locator control unit can continue to move along the recalculated moving path.

[0113] In this way, when the locator 500 reaches the P1 ball point, the locator control unit can control the ball / ball mark holding unit to position the golf ball or ball mark at the P1 ball point and return along the return path Wr1 from the P1 ball point to the position of the locator station 170.

[0114] At this time, the control unit calculates the return path Wr1 from the position of the ball point to the position of the locator station 170 and transmits it to the locator control unit, which can move the locator 500 to return to the position of the locator station 170 along the received return path Wr1.

[0115] Alternatively, the locator control unit may recognize the map information of the site and calculate the return path Wr1 by itself to return.

[0116] In this way, the control unit can control the locator to move along the moving path through the sensing of the camera sensing system so that the golf ball or ball mark is located at the ball spot, and can control the locator to return to the locator station. In the manner described above, the golf ball or ball mark can be located at the ball spot of all users. When the golf ball (through the locator) is placed at one's own ball spot, the user can use the golf ball to hit the ball or putt; or when the ball mark (through the locator) is placed at one's own ball spot, the golf ball can be placed at the ball mark position to hit the ball or putt, so that field 00 play can be carried out stably and conveniently.

[0117] On the other hand, as described above, although the process is performed in a manner in which the locator 500 returns to the locator station 170 after placing the golf ball or ball marker on the ball spot, it is also possible that the locator 500 cannot return to the locator station 170 for any reason and is located at a certain position on the course 200.

[0118] Figure 7 The situation where the locator 500 moves to place the golf ball or ball marker at the P2 ball point is shown, and the situation where the locator 500 is located at a certain position on the field 200 that is not the locator station 170 and then moves from this position to the P2 ball point is shown.

[0119] Although Figure 7 Since the camera sensing system uses multiple cameras set up around the venue to sense the position of the locator 500 in real time, the control unit can calculate the position of the moving path Wd2 from the current position of the locator 500 sensed by the camera sensing system to the P2 ball point, and transmit it to the locator control unit. The locator control unit can make the locator 500 move toward the P2 ball point along the moving path Wd2.

[0120] If the locator 500 deviates from the moving path Wd2 during movement, the camera sensing system senses the position information of the locator 500 in real time, so the control unit recalculates the moving path from the position of the locator 500 sensed by the camera sensing system to the P2 ball point, and transmits it to the locator control unit. The locator control unit can continue to move along the recalculated moving path.

[0121] In this way, when the locator 500 reaches the P2 ball point, the locator control unit controls the ball / ball mark holding unit so that the golf ball or ball mark is located at the P2 ball point. The control unit that recognizes it calculates the return path Wr2 from the position of the P2 ball point to the position of the locator station 170 and transmits it to the locator control unit. The locator control unit can move the locator 500 so that it returns to the position of the locator station 170 along the received return path Wr2.

[0122] As described above, the hybrid golf system of the present invention and the method for positioning a golf ball or a ball mark at a ball spot on a course in the system have the following features and advantages, namely, in the hybrid golf system, after playing on a virtual golf course using a screen golf system and then playing on an actual course, sensing and corresponding control can be performed by a camera sensing system in such a way that a golf ball or a ball mark is positioned at a ball spot on the course that corresponds to the ball position on the virtual golf course, thereby enabling stable hybrid golf play and improving user convenience.

[0123] Industrial Application Possibility

[0124] The hybrid golf system of the present application and the method of positioning a golf ball or a ball mark at a ball spot on a course in the system can be utilized in golf-related industries and the so-called screen golf industry that performs golf games based on virtual golf simulations.

Claims

1. A hybrid golf system, characterized in that: include: A screen golf module, which is provided at one side of a field configured to enable a user to play actual golf, and is configured to enable playing golf on a virtual golf course; A simulator, which is provided in the screen golf module to realize a virtual golf simulation image corresponding to the virtual golf course and the golf playing of the user; a camera sensing system having a plurality of cameras configured to sense the venue; a locator that moves on the course to position a golf ball or ball marker at the user's ball spot; as well as A control unit calculates a position on the field corresponding to a position of a ball on a virtual golf course of the user playing golf through the simulator as the ball point, and transmits movement path information to the locator in a manner that causes the locator to move toward the ball point while sensing the position of the locator through the camera sensing system.

2. The hybrid golf system according to claim 1, characterized in that The locator is implemented in the form of a running mechanism running on the field and a flying mechanism flying on the field. The locator is configured to receive the movement path information from the control unit in real time through wireless communication and move along the movement path, and hold a golf ball or ball marker and put down the held golf ball or ball marker when reaching the ball point transmitted by the control unit.

3. The hybrid golf system according to claim 1, characterized in that: The camera sensing system is configured to divide the site into preset sizes, and each of the divided areas is sensed by a plurality of cameras.

4. The hybrid golf system according to claim 1, characterized in that The camera sensing system comprises: a plurality of said cameras; and A sensing processing unit detects an object corresponding to the locator from the images respectively acquired by the plurality of cameras to calculate the position coordinate information of the locator on the field, and transmits the position coordinate information to the control unit.

5. The hybrid golf system according to claim 1, wherein: The camera sensing system analyzes the images respectively acquired by the plurality of cameras to calculate the position coordinate information of the locator sensed on the site, and transmits the position coordinate information to the control unit. The control unit is configured to calculate movement path information from the transmitted position coordinates of the locator to the position coordinates of the ball point, and transmit the movement path information to the locator.

6. The hybrid golf system according to claim 1, wherein: Also includes: A locator station is provided at one side of the field and is configured to dock the locator, charge the docked locator, and supply the locator with a golf ball or a ball marker, and The locator is configured to return the golf ball or ball mark to the locator station after being located at the ball spot on the course.

7. The hybrid golf system according to claim 6, characterized in that: The control unit is composed of: When the locator is in a docking state with the locator station, calculating the moving path information from the position of the locator station to the position of the ball point, and transmitting the moving path information to the locator; When the locator is not in a docking state with the locator station, movement path information from the position of the locator sensed by the camera sensing system to the position of the ball point is calculated and transmitted to the locator.

8. A method for positioning a golf ball or a ball mark at a ball spot on a course in a hybrid golf system, the hybrid golf system comprising a course configured to enable a user to play actual golf, and a screen golf module provided at one side of the course and configured to enable a user to play golf on a virtual golf course, the method for positioning a golf ball or a ball mark at a ball spot on the course in the hybrid golf system comprising: a step of calculating a position on the field corresponding to a ball position on a virtual golf course of the user playing golf in the screen golf module as the ball point; The steps of sensing a locator moving on the course to carry a golf ball or a ball marker by a camera sensing system having a plurality of cameras configured to sense the course to calculate position information of the locator, and calculating movement path information from the position of the locator to the ball point; as well as The step of transmitting the calculated movement path information to the locator so that the locator moves along the movement path and positions the golf ball or ball mark at the ball point.

9. The method for locating a golf ball or a ball marker at a ball spot on a course in a hybrid golf system according to claim 8, wherein: Also includes: The step of calculating the position coordinate information of the locator sensed on the site by analyzing the images acquired by each camera of the camera sensing system; A step of determining whether the position coordinates of the locator deviate from the calculated moving path; as well as When the position coordinates of the locator deviate from the movement path, a new movement path from the position coordinates of the locator to the ball point is calculated and the movement path is transmitted to the locator.

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