Hybrid Golf System and Method for Positioning a Golf Ball or Marker at a Ball Location on a Course with the System

Abstract

The present invention is for solving the problems of the prior art as described above. After playing on a virtual golf course using a screen golf system in a hybrid golf system, when playing on an actual field, a locator can position a golf ball or a marker at a ball location, which is a position on the field corresponding to the ball position on the virtual golf course. A hybrid golf system capable of performing sensing through a camera sensing system and control thereby, and a method for positioning a golf ball or a marker at a ball location on the field in the system are provided.

Description

Technical Field

[0001] The present invention relates to a hybrid golf system that, when a virtual ball lands on or around the green during virtual golf play using a virtual golf simulation device, makes approach shots and putting the same as actual golf play on an actual course, and a method of positioning a golf ball or marker at the ball location on the course in the system.

Background Art

[0002] In recent years, as the number of golfers has increased, so-called screen golf systems that allow golf practice using a virtual golf simulation system and enjoying virtual golf rounds have emerged.

[0003] Such a screen golf system installs a screen indoors that can project images related to a virtual golf course. When a user hits a golf ball towards the screen, the system senses the speed and direction of the golf ball and displays the progress of the golf ball on the image on the screen. It has repeatedly evolved technically in terms of providing users with a sense of presence that goes beyond the level of a simple indoor golf game and allows them to play a golf round on a real golf course.

[0004] In a normal screen golf system, since the virtual golf course and the simulation video of the ball trajectory on the virtual golf course are only realized through the screen installed in front of the user when hitting the ball, there is a limit in providing the user with a sense of presence as if actually playing a golf round on a real golf course.

[0005] To overcome the limitations of such a normal screen golf system and provide users with a reality of playing a golf round on an actual golf course while being able to be realized in a space much smaller than an actual golf course, a so-called hybrid golf system has emerged.

[0006] A hybrid golf system combines an actual field where a user can play real golf and a screen golf system where a user can play virtual golf. In a certain hole, part of the golf play progresses on a virtual golf course embodied by the screen golf system, and the remaining play can progress by actually playing golf on the actual field.

[0007] For example, in the case of a PAR-4 hole, the tee shot and the second shot progress through virtual golf simulation on a virtual golf course via the screen golf system, and the third shot and putting can progress in the same way as when the user moves to the actual field and plays on an actual 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. have been published.

[0009] What is important in such a hybrid golf system is that when playing golf on the screen golf system, the position on the actual field corresponding to the position where the user's virtual ball lands on the virtual golf course, that is, the ball position on the actual field corresponding to the ball position on the virtual golf course, is accurately specified so that the user can make a golf shot at the corresponding ball position on the field.

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

[0011] That is, a laser pointer is installed around the actual field, and if the laser pointer displays the ball position on the actual field corresponding to the user's ball position on the virtual golf course with a laser, the user places his golf ball at the position indicated by the laser pointer and makes a golf shot.

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

[0013] In order for the laser of the laser pointer to display the accurate ball position, the only way is to reduce the size of the actual field, so there is a problem that the sense of presence given by the field play on the actual field is significantly reduced.

[0014] Also, when forming a wide actual field, in order to effectively specify the ball position, a large number of laser pointers must be installed around the field. Therefore, when the user plays on the field, the laser pointers installed in this way become an obstacle.

[0015] In addition, problems such as an increase in cost occur, such as the need for a separate control module to control the laser pointer, and there are problems that breakdowns, repairs, maintenance, and replacements are required.

Prior Art Documents

Patent Documents

[0016]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0017] The present invention is for solving the problems of the conventional technology as described above. After playing on a virtual golf course using a screen golf system in a hybrid golf system, when playing on an actual field, a locator can position a golf ball or a marker at a ball location on the field that corresponds to the ball position on the virtual golf course. A hybrid golf system capable of performing sensing through a camera sensing system and control thereby, and a method for positioning a golf ball or a marker at a ball location on the field in the system are provided.

Means for Solving the Problems

[0018] A hybrid golf system according to an embodiment of the present invention includes a screen golf module provided on one side of a field where a user can actually play golf, the screen golf module being provided so that golf can be played on a virtual golf course; a simulator provided in the screen golf module for embodying a virtual golf simulation video of the virtual golf course and the user's golf play; a camera sensing system including a number of cameras provided to sense the field; a locator for positioning a golf ball or a marker at the user's ball location while moving on the field; and a control unit for calculating a position on the field corresponding to the ball position on the virtual golf course of the user who has played through the simulator as the ball location, and transmitting movement path information to the locator so that the locator moves to the ball location while the position of the locator is sensed by the camera sensing system.

[0019] Also, preferably, the locator is embodied in either a form of a running means that runs on the field or a flying means that flies on the field, receives the movement path information in real time from the control unit through wireless communication, is configured to move along the movement path, holds a golf ball or a marker, and is configured to drop the held golf ball or marker when it reaches the ball location transmitted by the control unit.

[0020] Also, preferably, the camera sensing system divides the field into a preset size, and each of the multiple cameras is set to sense each of the divided areas.

[0021] Also, preferably, the camera sensing system includes the multiple cameras and a sensing processing unit that detects an object corresponding to the locator from the images respectively acquired by the multiple cameras, calculates the position coordinate information of the locator on the field, and transmits it to the control unit.

[0022] Also, preferably, the camera sensing system analyzes the images respectively acquired by the multiple cameras, calculates the position coordinate information of the locator sensed on the field, and transmits it to the control unit. The control unit is configured to calculate the movement path information from the position coordinates of the transmitted locator to the position coordinates of the ball location and transmit it to the locator.

[0023] Also, preferably, it further includes a locator station provided on one side of the field and configured to dock the locator, charge the docked locator, and supply a golf ball or a marker to the locator. The locator is configured to return to the locator station after positioning a golf ball or a marker at the ball location on the field.

[0024] Further, preferably, when the locator is docked to the locator station, the control unit calculates movement route information from the position of the locator station to the position of the ball point and transmits it to the locator. When the locator is not docked to the locator station, the control unit is configured to calculate movement route information from the position of the locator sensed by the camera sensing system to the position of the ball point and transmit it to the locator.

[0025] On the other hand, a method for positioning a golf ball or a marker at a ball point on a field according to an embodiment of the present invention is a method for positioning a golf ball or a marker at a ball point on a field in a hybrid golf system including a field provided so that a user can actually play golf and a screen golf module provided on one side of the field and configured to enable golf play on a virtual golf course. The method includes calculating, as the ball point, a position on the field corresponding to the ball position on the virtual golf course of the user who played on the screen golf module; calculating, by a camera sensing system including a plurality of cameras provided to sense the field, position information of a locator that carries a golf ball or a marker while moving on the field and calculating movement route information from the position of the locator to the ball point; and transmitting the calculated movement route information to the locator so that the locator moves along the movement route to position the golf ball or the marker at the ball point.

[0026] Also, preferably, the method further includes calculating position coordinate information of the locator sensed on the field through analysis of an image acquired by each camera of the camera sensing system, determining whether the position coordinates of the locator have deviated from the calculated movement route, and when the position coordinates of the locator have deviated from the movement route, calculating a new movement route from the position coordinates of the locator to the ball point and transmitting it to the locator.

Advantages of the Invention

[0027] The hybrid golf system according to the present invention and the method of positioning a golf ball or a marker at a ball location on the field in the system are such that, following play on a virtual golf course using a screen golf system in the hybrid golf system, when playing on an actual field, the locator can position a golf ball or a marker at a ball location which is the position on the field corresponding to the ball position on the virtual golf course. By enabling sensing through a camera sensing system and control thereby, a stable hybrid golf play is possible and there is an effect of improving user convenience.

Brief Description of the Drawings

[0028]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Mode for Carrying Out the Invention

[0029] Specific details regarding a hybrid golf system according to the present invention and a method of positioning a golf ball or marker at a ball location on the field in the system will be described in detail with reference to the drawings.

[0030] First, the configuration of a hybrid golf system according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2.

[0031] FIG. 1 shows the configuration of a hybrid golf system according to an embodiment of the present invention, and FIG. 2 shows the control system of the hybrid golf system shown in FIG. 1.

[0032] As shown in FIG. 1, a hybrid golf system according to an embodiment of the present invention includes an actual field 200 provided so that a user can play an actual golf game, and a screen golf module 100 provided on one side of the actual field 200 and including a virtual golf simulation device that enables the user to play golf on a virtual golf course.

[0033] In addition, a hybrid golf system according to an embodiment of the present invention can include a camera sensing system 300 including a number of cameras 310 to 400 provided to sense the field 200, and a locator 500 that positions a golf ball or marker at the user's ball location while moving on the field 200.

[0034] The above-described screen golf module 100 includes a configuration related to a normal screen golf system, that is, a virtual golf course image is projected onto a front screen, and when a user hits a ball from a hitting area 120 toward the screen, a sensing device 160 senses this, and based on the sensing result, a simulated image iVG in which a virtual ball moves on the virtual golf course image is embodied, so that the user can play virtual golf.

[0035] The screen golf module 100 can be provided in a box form or a booth form having an entrance / exit 110 on one side thereof, and can also be in a form in which all surfaces are closed or in a form in which a part is open.

[0036] The screen golf module 100 can be configured to include a screen 130 on a surface overlooking an actual field 200.

[0037] The screen 130 can project an image related to a virtual golf course output by an image output device 140 (e.g., a beam projector, etc.) provided inside the screen golf module 100 and a simulated image iVG performed on the virtual golf course, and provide it to the user.

[0038] On the other hand, the field 200 can be embodied as a partial area of an entire hole of an actual golf course, and can be formed to include a green 210 and a hole cup 212 as shown in FIG. 1, and can be provided to include peripheral areas 220 such as a fairway, rough, and bunker around the green 210 so that the user can perform approach shots and putting.

[0039] A hybrid golf system according to an embodiment of the present invention enables a user to perform a part of golf play through a virtual golf course in the screen golf module 100 and perform the remaining golf play on the actual field 200.

[0040] For example, when playing golf on a PAR-4 hole, the user plays virtual golf on the virtual golf course of the PAR-4 hole in the screen golf module 100 (a golf play performed in such a way that the user hits a golf shot from the tee towards the screen, and the sensing device senses the hit ball and simulates it). The golf play for the remaining part of the PAR-4 hole is carried out by the user directly moving to the actual field 200 and performing it on the actual field 200.

[0041] For example, the tee shot and the second shot of the PAR-4 hole are carried out as virtual golf plays through the virtual golf course in the screen golf module 100, and the third shot (approach shot) and putting can be continued by the user moving from the screen golf module 100 to the actual field 200 and performing the golf play on the actual field 200.

[0042] As shown in FIGS. 1 and 2, the simulator 150 provided inside the screen golf module 100 includes a control unit 152, a video 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, and the control unit 152 can control the locator 500 moving on the field through the wireless communication unit 158.

[0043] The above-mentioned control unit 152 can be configured to calculate the position on the field corresponding to the ball position on the virtual golf course of the user who played through the simulator 150 as the "ball location", and transmit movement path information to the locator 500 so that the locator 500 moves to the "ball location" of each user while the position of the locator 500 is sensed by the camera sensing system 300.

[0044] FIG. 3 shows a user (P) performing virtual golf while viewing the video iVG projected on the screen 130 inside the screen golf module 100 shown in FIG. 1.

[0045] The sensing device 160 can be embodied as a camera-based device that senses the movement of at least one of the golf club and the ball by the user's golf swing. If the user P hits the golf ball placed on the golf mat 122 at the hitting area 120 within the angle of view of the camera by a golf shot, the camera captures and collects an image of the hit golf ball 1, and the sensing device performs image processing and analysis on the collected image to calculate sensing information regarding the movement of the golf ball 1 and transmits it to the control unit 152.

[0046] An operating device (not shown) may further be provided as a means for the user to operate to set a virtual golf simulation environment or to operate for aiming adjustment during the virtual golf course process.

[0047] The data storage unit 154 stores all the data necessary for the visualization of the virtual golf simulation, such as data regarding a virtual golf course that visualizes an actual golf course and data regarding the terrain information of the virtual golf course, and provides data that can embody a virtual environment in which a virtual golf round can be played on the virtual golf course selected by the user.

[0048] The data storage unit 154 may be configured to store all various data regarding the virtual golf course, or may be configured to temporarily store various data regarding the virtual golf course transmitted from a server (not shown) through a network.

[0049] The video processing unit 156 performs information processing to visualize a video regarding the virtual golf course using the data regarding the virtual golf course stored in the data storage unit 154, and performs information processing so that the trajectory of the golf ball hit by the user is visualized in a video simulated on the virtual golf course.

[0050] The video processed by the video processing unit 156 is output through a video output device 140 such as a projector and projected onto the screen 130, enabling the user P to view the video iVG projected onto the screen 130.

[0051] The video processing unit 156 can be embodied as a modularized component that performs video processing functions in a single independent device, or it can be embodied as a single independent device itself.

[0052] The control unit 152 is responsible for controlling all processes for virtual golf simulation. It performs various operations and controls to enable sensing information for the golf ball that moves based on the sensing results of the sensing device 160 and a simulation of the virtual ball moving on the virtual golf course based on the physics engine. Based on such various operations and controls, a video iVG is embodied in which the virtual ball on the virtual golf course is simulated by the sensing results of the sensing device and the physics engine.

[0053] The control unit 152 determines whether the requirements for the user to play on the actual field during the virtual golf play process using the virtual golf course are met. If the requirements for field play are met, the user can be guided by video / audio through the screen video iVG to move to the field 200 and play on the field.

[0054] When multiple users play a golf round together, the above-described field play can be disclosed when all users' balls (virtual balls in the video) are located within a preset range on the virtual golf course, for example, within a preset radius range based on the hole cup (the hole cup on the green of the virtual golf course).

[0055] When the field play starts as described above, the control unit 152 of the simulator 150 can cause each camera of the camera sensing system 300 to prepare 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.

[0056] That is, the control unit 152 can calculate the coordinate information of the ball point corresponding to the ball position of each user described above on the corresponding coordinate space with the field 200 as the coordinate space.

[0057] Here, "ball position" means the position of the ball (the ball on the video) of each user on the virtual golf course, and "ball point" means the position coordinates on the field 200 coordinate space corresponding to each of the above-described ball positions.

[0058] On the other hand, as shown in FIGS. 1 and 2, the camera sensing system 300 of the hybrid golf system according to an embodiment of the present invention can be configured to include a number of cameras 310 to 400 arranged and installed at predetermined intervals around the field 200 and a sensing processing unit 302.

[0059] As shown in FIG. 2, the above-described number of cameras 310 to 400 are connected to the sensing processing unit 302, and the sensing processing unit 302 can sense a specific object on the field 200 from the videos respectively acquired by the number of cameras 310 to 400. In particular, it can detect the object corresponding to the locator 500 moving or stopped on the field 200, calculate the position coordinate information of the locator 500 on the field 200, and transmit it to the control unit 152.

[0060] That is, the control unit uses the videos acquired by each of the number of cameras 310 to 400 of the camera sensing system 300 to monitor the field 200 and senses the movement of the locator 500 so that the locator 500 can move to the correct position.

[0061] The camera sensing system 300 can divide the field 200 into preset sizes, and each camera installed around the field 200 can be set to sense each of the divided areas.

[0062] For example, as shown in FIG. 4, the field 200 is 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). The first camera 310 senses the first divided area (R1), the second camera 320 senses the second divided area (R2), the third camera 330 senses the third divided area (R3), the fourth camera 340 senses the fourth divided area (R4), the fifth camera 350 senses the fifth divided area (R5), the sixth camera 360 senses the sixth divided area (R6), the seventh camera 370 senses the seventh divided area (R7), and the eighth camera 380 senses the eighth divided area (R8).

[0063] The sensing processing unit 302 of the camera sensing system 300 can convert the coordinate systems of the images obtained by the respective cameras as described above into the coordinate system with respect to the entire field 200 as shown in FIG. 4, and calculate the coordinate information of the position of the ball point and the position of the locator in the coordinate space with respect to the entire field 200, and transmit it to the control unit.

[0064] That is, each camera of the camera sensing system 300 senses the corresponding divided area in the coordinate system of the corresponding camera, and the sensing processing unit 302 can calculate the coordinate information of the specific position in the entire field coordinate system by making the entire field 200 into one coordinate system (the x-y coordinate system as shown in FIG. 4) from the images transmitted by the respective cameras.

[0065] For example, when the locator is sensed in the image obtained by the first camera 310 in the R1 area, the sensing processing unit can convert the image obtained by the first camera 310 into the x-y coordinate system which is the coordinate system of the entire field, and calculate the position coordinate information of the locator.

[0066] On the one hand, as shown in FIGS. 1 and 2, a hybrid golf system according to an embodiment of the present invention can include a locator 500 that can carry and position a golf ball or a marker at a specific position on the field.

[0067] The locator 500 can be embodied in the form of a running means (e.g., a mini vehicle, etc.) that runs on the field 200 or a flying means (e.g., a drone, etc.) that flies and moves on the field.

[0068] The locator 500 can include a driving unit 520 that enables movement (including flight) and a steering unit 540 that can adjust the moving direction of the locator 500, and is configured to accommodate a golf ball or a marker to be carried, and can include a ball / marker handler 550 that can handle the accommodated golf ball or marker so as to place it at a specific position (i.e., the user's ball location).

[0069] Since the configuration of such a locator itself is already a configuration disclosed as a conventional technology, a specific description thereof will be omitted.

[0070] The locator 500 can include a communication module 530 that can wirelessly transmit and receive data with the wireless communication unit 158 of the simulator 150, and can receive movement path information wirelessly from the control unit 152 of the simulator 150. The locator control unit 510 controls the driving unit 520 and the steering unit 540 according to the movement path information transmitted through the communication module 530 so that the locator 500 can move to a position determined by the movement path.

[0071] That is, the locator 500 is configured to be transmitted with movement path information in real time from the control unit 152 through wireless communication, move along the path, hold a golf ball or a marker, and when reaching the ball position along the path, release the held golf ball or marker, and this can be controlled by the locator control unit 510.

[0072] Also, as shown in FIGS. 1 and 2, a locator station 170 is provided on one side of the field 200, and the locator 500 can be docked to the locator station 170.

[0073] As shown in FIG. 2, the locator station 170 can include a ball / marker supply unit 174, a charging unit 172, and a charging terminal 176. When the locator 500 is docked to the locator station 170, the connecting portion 560 of the locator 500 is connected to the charging terminal 176 of the locator station so that the locator 500 can be charged, and a golf ball or a marker can be supplied from the ball / marker supply unit 174 of the locator station 170 to the locator 500.

[0074] After the locator 500 moves on the field 200 and drops a golf ball or a marker at the required position, it can return to the locator station 170 again and wait as shown in FIG. 1 until it moves to the next position in the docked state.

[0075] On the other hand, referring to FIGS. 5 to 7, in a hybrid golf system according to an embodiment of the present invention, a method of positioning a golf ball or a marker at a ball position on the field will be described.

[0076] FIG. 5 is a flowchart showing a method of positioning a golf ball or marker at a ball position on the field in a hybrid golf system according to an embodiment of the present invention, and FIGS. 6 and 7 are drawings for explaining that a locator moves to a specific ball position, drops a golf ball or marker, and returns to the locator station according to an embodiment of the present invention.

[0077] As shown in FIG. 5, one or more users first use the screen golf module to proceed with a golf play on a virtual golf course (S110).

[0078] If the start requirement for the field play is satisfied during the process of proceeding with the virtual golf play in the screen golf module, the field play is started (S120). If the field play is started, the user can move from the screen golf module to the field and proceed with the play on the field.

[0079] For example, when four users proceed with a virtual golf play on the first hole of the virtual golf course and all four users put the ball on the green of the first hole or the ball lands within a predetermined range around the green, the start requirement for the field play is satisfied and the field play can be started.

[0080] If the field play is started, the control unit activates the camera sensing system, and the camera sensing system causes each of a number of cameras to acquire an image including the corresponding divided area on the field (S210).

[0081] On the other hand, when the field play is started, the control unit calculates, for each user, a "ball position" which is the position on the field corresponding to the ball position on the virtual golf course of each user (S120).

[0082] Since the green and its surrounding area on the virtual golf course have different fields and terrains formed in front of the screen golf module, the above-mentioned "ball position" and "ball location" do not exactly match. However, the "ball position" and "ball location" can be matched in various ways. For example, a reference position (e.g., the hole cup position) can be determined, and based on this position, the "ball position" and "ball location" can be matched according to the relative positional relationship.

[0083] In this way, by calculating the "ball position" of the user on the virtual golf course and the "ball location" on the corresponding field, when the field play starts, the control unit can recognize the position coordinates of the ball location of each user on the field.

[0084] On the other hand, the camera sensing system collects and analyzes the images acquired by each of a number of cameras, and by detecting the object corresponding to the locator in the image (S220), it can calculate the position information of where the locator is located (S230).

[0085] The control unit is transmitted the position information of the locator from the camera sensing system, calculates the movement path information from the position of the locator to the ball location, and transmits it to the locator control unit (S140). The locator is waiting (S310), and if it receives the movement path information to the ball location from the control unit (S320), it can move along that movement path (S330).

[0086] If the locator is in a state of being docked at the locator station, even if the camera sensing system does not sense the locator, the control unit can recognize that it is in a state of being docked at the locator station. Therefore, the control unit can also calculate the movement path information from the locator station to the ball location and transmit it to the locator control unit.

[0087] The locator control unit controls the locator to move along the movement path transmitted from the control unit. When it arrives at the ball location (S340), it can position the held golf ball or marker at the ball location (S350) and move the locator back to the locator station (S360).

[0088] After the locator control unit positions the golf ball or marker at the ball location, it can notify the control unit that the golf ball or marker has been positioned at the ball location. When the control unit determines that the locator has positioned the golf ball or marker at the ball location (S150), it waits until the user takes a shot at the ball location, and after the shot is taken, it can proceed with the process of enabling the locator to position the golf ball or marker at the next ball location in the manner described above (S160).

[0089] After transmitting the movement path information to the locator control unit in step S140, the control unit can monitor whether the locator deviates from the movement path during the movement process while sensing the position information of the locator in real time through the camera sensing system (S230). If the control unit determines that the locator has deviated from the movement path through the sensing of the camera sensing system, it can grasp the position information of the locator at that time through the camera sensing system, recalculate the movement path to the ball location, and transmit it to the locator control unit, so that the locator can complete the movement to the ball location.

[0090] In connection with this, referring to FIG. 6 for explanation, in the example shown in FIG. 6, a case where a locator station 170 is provided on one side of the screen golf module 100 and the locator 500 is docked to the locator station 170 is shown.

[0091] In FIG. 6, the ball locations on the field 200 of each of the four users (the ball location of user 1 is P1, the ball location of user 2 is P2, the ball location of user 3 is P3, and the ball location of user 4 is P4) are illustrated.

[0092] In FIG. 6, the illustration of the camera sensing system is omitted.

[0093] As described above, since the control unit calculated each of the above-described ball locations (P1 to P4) as the position on the field corresponding to the ball position of each user on the virtual golf course, the position coordinates of each of the above-described ball locations are recognized.

[0094] The control unit can control so that the locator can sequentially position the golf ball or marker at each ball location according to the shot order from the positions of each ball location (P1, P2, P3, P4).

[0095] In the example shown in FIG. 6, after a shot is taken at the P1 ball location, which is the farthest from the hole cup 212, a shot is taken at the P3 ball location, and putting is sequentially performed from the point farthest from the hole cup 212 on the green 210.

[0096] The control unit grasps where the position of the locator 500 is in order to position the golf ball or marker at the P1 ball location. First, it can be grasped whether the locator 500 is in a state of being docked to the locator station 170. If it is not docked to the locator station 170, the position of the locator 500 can be grasped through the camera sensing system.

[0097] In the example shown in FIG. 6, since the locator 500 is in a state of being docked to the locator station 170, the control unit can calculate the movement path (Wd1) information from the position of the locator station 170 to the P1 ball location and transmit it to the locator control unit.

[0098] The locator control unit can receive the movement path (Wd1) information to the P1 ball point, and control the drive unit, the steering unit, etc. along the movement path (Wd1) to control the movement of the locator 500.

[0099] During the process of the locator 500 moving along the movement 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 is moving correctly along the movement path (Wd1).

[0100] If the locator 500 deviates from the movement path (Wd1) during the movement process, since the camera sensing system senses the position information of the locator 500 in real time, the control unit recalculates the movement 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, and the locator control unit can continue to move along the recalculated movement path.

[0101] When the locator 500 arrives at the P1 ball point in such a manner, the locator control unit controls the ball / marker handle unit to position the golf ball or the marker at the P1 ball point, and can return along the return path (Wr1) from the P1 ball point position to the position of the locator station 170.

[0102] At this time, the return path (Wr1) from the position of the ball point to the position of the locator station 170 is calculated by the control unit and transmitted to the locator control unit, and the locator control unit can move the locator 500 to return to the position of the locator station 170 along the transmitted return path (Wr1).

[0103] Alternatively, the locator control unit can recognize the map information of the field, calculate the return path (Wr1) by itself, and return.

[0104] In this way, through the sensing of the camera sensing system, the control unit can control the locator to move along the movement path and position the golf ball or marker at the ball location, and can also control the locator to return to the locator station. In the manner described above, golf balls or markers can be positioned at the ball locations of all users. If a golf ball is placed (by the locator) at the user's own ball location, the user can make an approach shot or putting with that golf ball. If a marker is placed (by the locator) at the user's own ball location, the user can place the golf ball he or she has at the marker position and make an approach shot or putting. Therefore, the user can play on the field stably and conveniently.

[0105] On the other hand, as described above, after the locator 500 places a golf ball or marker at the ball location, the process proceeds for the locator 500 to return to the locator station 170. However, for any reason, the locator 500 may not be able to return to the locator station 170 and may be at any position on the field 200.

[0106] FIG. 7 shows a case where the locator 500 moves to place a golf ball or marker at the P2 ball location. However, the locator 500 is not at the locator station 170 but at an arbitrary position on the field 200, and the case where it moves from that position to the P2 ball location is shown.

[0107] Although omitted in FIG. 7, since the camera sensing system senses the position of the locator 500 in real time using a number of cameras installed around the field, the control unit can calculate the movement path (Wd2) information from the current position of the locator 500 sensed by the camera sensing system to the P2 ball location and transmit it to the locator control unit. The locator control unit can move the locator 500 along the movement path (Wd2) to the P2 ball location.

[0108] If the locator 500 deviates from the moving path (Wd2) during the moving process, since the camera sensing system senses the position information of the locator 500 in real time, 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, and the locator control unit can continue to move along the recalculated moving path.

[0109] In such a manner, when the locator 500 arrives at the P2 ball point, the locator control unit controls the ball / marker handle unit to position a golf ball or a marker at the P2 ball point. The control unit that recognizes this calculates the return path (Wr2) from the P2 ball point position to the locator station 170 and transmits it to the locator control unit, and the locator control unit can move the locator 500 to return to the position of the locator station 170 according to the transmitted return path (Wr2).

[0110] As described above, the hybrid golf system according to the present invention and the method for positioning a golf ball or a marker at a ball point on the field in the system enable stable hybrid golf play and improve user convenience by performing sensing through a camera sensing system and control thereby so that the locator can position a golf ball or a marker at the ball point which is the position on the field corresponding to the ball position on the virtual golf course when playing on the actual field following play on the virtual golf course using the screen golf system in the hybrid golf system.

Industrial Applicability

[0111] The hybrid golf system according to the present invention and the method for positioning a golf ball or a marker at a ball point on the field in the system can be used in golf-related industrial fields and so-called screen golf industrial fields where golf play can be enjoyed based on virtual golf simulations.

Claims

1. A screen golf module provided on one side of a field where a user can actually play golf, and provided so that golf can be played on a virtual golf course; A simulator provided in the screen golf module, which embodies a virtual golf simulation video of the virtual golf course and the user's golf play; A camera sensing system provided to sense the field, comprising a number of cameras; A locator that positions a golf ball or marker at the user's ball location while moving on the field; A control unit that calculates the position on the field corresponding to the ball position on the virtual golf course of the user who has played through the simulator as the ball location, and transmits movement route information to the locator so that the locator moves to the ball location while the position of the locator is sensed by the camera sensing system; A hybrid golf system including the above.

2. The locator is: Implemented in either a form of a running means that runs on the field or a flying means that flies on the field, Transmits the movement route information in real time through wireless communication from the control unit, is configured to move along the movement route, holds a golf ball or marker, and is configured to drop the held golf ball or marker when reaching the ball location transmitted by the control unit. The hybrid golf system according to claim 1.

3. The camera sensing system is: The field is divided into a preset size, and each of the number of cameras is set to sense each of the divided areas. The hybrid golf system according to claim 1.

4. The camera sensing system is: Including the number of cameras and a sensing processing unit that detects an object corresponding to the locator from the videos respectively acquired by the number of cameras, calculates the position coordinate information of the locator on the field, and transmits it to the control unit. The hybrid golf system according to claim 1.

5. The camera sensing system analyzes the videos respectively acquired by the number of cameras, calculates the position coordinate information of the locator sensed on the field, and transmits it to the control unit. The hybrid golf system according to claim 1, wherein the control unit is configured to calculate movement path information from the position coordinates of the locator to be transmitted to the position coordinates of the ball point and transmit the same to the locator.

6. The hybrid golf system further includes a locator station configured to be provided on one side of the field for docking the locator, charging the docked locator, and supplying a golf ball or a marker to the locator. The hybrid golf system according to any one of claims 1 to 5, wherein the locator is configured to return to the locator station after positioning a golf ball or a marker at a ball point on the field.

7. The control unit when the locator is docked at the locator station, calculates movement path information from the position of the locator station to the position of the ball point and transmits the same to the locator. The hybrid golf system according to claim 6, wherein when the locator is not docked at 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. In a hybrid golf system including a field provided so that a user can actually play golf and a screen golf module provided on one side of the field so that a user can play golf on a virtual golf course, as a method of positioning a golf ball or a marker at a ball point on the field, calculating, as the ball point, a position on the field corresponding to a ball position on a virtual golf course of the user who played on the screen golf module; calculating, by a camera sensing system including a plurality of cameras provided to sense the field, position information of a locator that transports a golf ball or a marker while moving on the field and calculating movement path information from the position of the locator to the ball point; transmitting the calculated movement path information to the locator so that the locator moves along the movement path and positions a golf ball or a marker at the ball point. In a hybrid golf system including, a method of positioning a golf ball or a marker at a ball location on a field. **Claim 9** Calculating position coordinate information of the locator sensed on the field through analysis of images acquired by each camera of the camera sensing system; Determining whether the position coordinates of the locator have deviated from the calculated movement path; The method according to claim 8, further comprising, when the position coordinates of the locator have deviated from the movement path, calculating a new movement path from the position coordinates of the locator to the ball location and transmitting the new movement path to the locator, in a hybrid golf system for positioning a golf ball or a marker at a ball location on a field.

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