Ball mark repair device

Abstract

To provide a ball mark repair device that can properly repair ball marks during a game and suppress the deterioration of the green. [Solution] The ball mark repair device 1 comprises a ball mark detection means for detecting the position of a ball mark, a repair work execution means 3 for performing the work of repairing the ball mark, and a control means 8 for controlling the entire ball mark repair device 1. The control means 8 comprises a detection control unit 81 for causing the ball mark detection means to detect the position of a ball mark, a movement control unit 82 for moving the ball mark repair device 1 toward the ball mark detected by the detection control unit 81, and a repair control unit 84 for causing the repair work execution means 3 to repair the ball mark detected by the detection control unit 81.

Description

Technical Field

[0004]

[0001] The present invention relates to a ball mark repair device for repairing ball marks formed on the greens of a golf course.

Background Art

[0002] Conventionally, a golf cart for repairing divots formed on the fairway of a golf course is known (see Patent Document 1). This golf cart captures an image of the road surface condition of the fairway to obtain image information, recognizes the divots formed on the fairway based on this image information, and repairs the divots by dropping turf onto the divots. By the way, in such a golf course, in addition to the divots formed on the fairway, ball marks formed on the greens are also repaired. Specifically, the ball marks formed on the greens are repaired during the game using a green fork or the like by the manual work of the players on the golf course, or after the game by the manual work of the green keepers on the golf course using a special ball mark repair tool with a claw-shaped repair tool attached to the tip of a rod-shaped body.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, if ball marks are repaired manually by the players during the competition, some players may leave them unrepaired, leading to deterioration of the green during the competition. Similarly, if ball marks are repaired manually by the greenkeeper after the competition, deterioration of the green will occur during the competition, and this deterioration will be particularly significant on hot summer days.

[0005] The objective of the present invention is to provide a ball mark repair device that can properly repair ball marks during a game and suppress the deterioration of the green. [Means for solving the problem]

[0006] The present invention relates to a ball mark repair device for repairing ball marks formed on the green of a golf course, comprising: a ball mark detection means for detecting the position of a ball mark; a repair work execution means for performing the work of repairing the ball mark; a moving means for moving the ball mark repair device; and a control means for controlling the entire ball mark repair device, wherein the control means comprises: a detection control unit for causing the ball mark detection means to detect the position of a ball mark; a moving control unit for moving the ball mark repair device toward the ball mark detected by the detection control unit using the moving means; and a repair control unit for causing the repair work execution means to repair the ball mark detected by the detection control unit.

[0007] With this configuration, the ball mark repair device can be moved by the moving means toward the ball mark detected by the ball mark detection means, and the ball mark can be repaired by the repair work execution means. This allows for proper repair of ball marks during a game on a golf course, thereby suppressing deterioration of the green.

[0008] Here, the ball mark detection means only needs to be able to detect the position of the ball mark. For example, it can capture an image of the green to obtain image information, and then detect the position of the ball mark based on this image information.

[0009] In the present invention, the control means preferably includes a repair determination unit that determines whether or not the ball mark detected by the detection control unit can be repaired, and the repair control unit, when it determines that the ball mark can be repaired, causes the ball mark detected by the detection control unit to be repaired by the repair work execution means.

[0010] Here, the repair determination unit may be configured to determine that the ball marks detected by the detection control unit can be repaired if it determines that the repair work execution unit can perform the work to repair all ball marks, based on various information such as the time required to repair the ball marks by the repair work execution unit and the time required to move the ball mark repair device calculated based on the position and number of ball marks detected by the detection control unit. Alternatively, the unit may be configured to determine that the ball marks detected by the detection control unit can be repaired if it determines that the repair work execution unit can perform the work to repair some (at least one) of the ball marks. According to the present invention, when the repair control unit determines that the ball mark can be repaired by the repair determination unit, it causes the ball mark detected by the detection control unit to be repaired by the repair work execution means. Therefore, the ball mark repair device can, for example, have the ball mark repaired by the repair work execution means at a timing that allows the repair to be completed without interrupting the game for the players, even during a game.

[0011] In the present invention, it is preferable that the repair determination unit determines whether or not the ball mark detected by the detection control unit can be repaired, based on the playing conditions of the players on the golf course.

[0012] With this configuration, the repair determination unit determines whether or not the ball mark detected by the detection control unit can be repaired based on the player's playing status on the golf course. Therefore, the ball mark repair device can have the ball mark repaired by the repair execution means at a timing that allows the player to repair the ball mark without interrupting their play, even during a competition.

[0013] Here, the competition status of players on the golf course can be acquired by any method. For example, it may be acquired by having players carry a device to notify the ball mark repair device of their position, or by mounting a device on the cart to notify the ball mark repair device of the position of the cart used by the player, or by predicting the player's position based on the player's start time, or by capturing images of the player to acquire image information and then detecting the player's position based on this image information.

[0014] In the present invention, it is preferable that the repair determination unit determines whether or not the ball mark detected by the detection control unit can be repaired, based on whether or not there is a golf ball on the green.

[0015] With this configuration, the repair determination unit determines whether or not the ball mark detected by the detection control unit can be repaired based on whether or not there is a golf ball on the green. Therefore, even during a competition, the ball mark repair device can have the ball mark repaired by the repair execution means at a timing that allows for the repair of the ball mark without interrupting the competition for the players.

[0016] Here, whether or not there is a golf ball on the green can be determined by any method. For example, it may be determined by mounting a device on the golf ball to notify a ball mark repair device of the golf ball's position, or by taking an image of the golf ball to acquire image information and then detecting the golf ball's position based on this image information.

[0017] In this invention, it is preferable that the ball mark detection means predicts and detects the position of a ball mark formed on the green by predicting the trajectory of the golf ball as it reaches the green.

[0018] With this configuration, the ball mark detection means predicts and detects the position of the ball mark formed on the green by predicting the trajectory of the golf ball as it reaches the green. As a result, the ball mark repair device can move quickly towards the predicted ball mark, and the repair work execution means can efficiently repair the ball mark.

[0019] In the present invention, it is preferable that the control means includes a collision determination unit that determines whether or not the ball mark repair device and the golf ball will collide based on the trajectory of the golf ball predicted by the ball mark detection means, and an avoidance control unit that causes the ball mark repair device to avoid colliding with the golf ball if the collision determination unit determines that a collision will occur.

[0020] With this configuration, if the collision detection unit determines that a collision is imminent, the avoidance control unit will instruct the ball mark repair device to avoid colliding with the golf ball. This allows the golf ball to avoid reaching the green while the ball mark is efficiently repaired by the repair execution means.

[0021] In the present invention, it is preferable to include a remote control means for repairing ball marks formed on the green by remotely operating the ball mark repair device.

[0022] With this configuration, the ball mark repair device is equipped with a remote control means that repairs ball marks formed on the green by remotely operating the ball mark repair device. Therefore, golfers and greenkeepers on the golf course can remotely operate the ball mark repair device at an opportune moment to have the ball mark repaired by the repair work execution means. [Brief explanation of the drawing]

[0023] [Figure 1] An external perspective view showing a ball mark repair device according to an embodiment of the present invention and a green on a golf course [Figure 2] An enlarged perspective view of the appearance of the ball mark repair device [Figure 3] A bottom view of the ball mark repair device [Figure 4] A diagram showing the operating state of the repair work execution means [Figure 5] A block diagram showing the schematic configuration of the ball mark repair device [Figure 6] An external perspective view showing the trajectory of a golf ball reaching the green [Figure 7] A flowchart showing the process of repairing a ball mark with the ball mark repair device

Embodiments for Carrying Out the Invention

[0024] Hereinafter, an embodiment of the present invention will be described based on the drawings. FIG. 1 is an external perspective view showing a ball mark repair device according to an embodiment of the present invention and a green on a golf course. As shown in FIG. 1, the ball mark repair device 1 is a device for repairing a ball mark BM formed on a green G of a golf course.

[0025] FIG. 2 is an enlarged perspective view of the appearance of the ball mark repair device. FIG. 3 is a bottom view of the ball mark repair device. Here, the arrow in FIG. 3 indicates the straight-ahead direction of the ball mark repair device 1. As shown in FIG. 2, this ball mark repair device 1 includes a disk-shaped device body 2, a repair work execution means 3 for performing work to repair the ball mark BM, and a moving means 4 for moving the ball mark repair device 1. Here, the repair work execution means 3 is a rod-shaped instrument attached so as to stand up from the center of the device body 2, and as shown in FIG. 3, it is attached to the device body 2 so as to penetrate the device body 2.

[0026] Figure 4 shows the operating state of the repair work execution means. As shown in Figures 3 and 4(A), the repair work execution means 3 includes a cross-shaped cross column portion 31 that is exposed from the device body 2 and attached to the device body 2 so as to be able to move up and down along the axial direction, a cylindrical shaft 32 that is slidably attached along the axial direction of the cross column portion 31, a disc portion 33 that is fixed to the tip of the shaft 32 (the tip on the bottom side of the ball mark repair device 1) and also fixed to the bottom surface of the device body 2, and four claw portions 34 provided at the tip of the cross column portion 31 (the tip on the bottom side of the ball mark repair device 1).

[0027] Here, the four claw portions 34 are positioned to correspond to the four through holes 33A (see Figure 3) formed in the disc portion 33. As shown in Figure 4(B), the repair work execution means 3 is configured to allow each claw portion 34 to be inserted into the green G by lowering the cross-shaped column portion 31 in the direction of pushing against the green G (see arrow A in the figure), passing through each through hole 33A formed in the disc portion 33. Then, as shown in Figure 4(C), the repair work execution means 3 can move each claw portion 34 toward the central axis of the cross-shaped column 31 (see arrow B in the figure) by further lowering the cross-shaped column 31 in the direction of pushing toward the green G (see arrow C in the figure), and each claw portion 34 that has been inserted into the green G can be gripped by the green G. In this way, the repair work execution means 3 can perform the work of repairing the ball mark BM.

[0028] Figure 5 is a block diagram showing the schematic configuration of a ball mark repair device. The ball mark repair device 1 comprises the aforementioned device body 2, repair work execution means 3, and moving means 4, as shown in Figure 5, an imaging means 5, a communication means 6, a position acquisition means 7, and a control means 8. The means of transport 4 includes a drive unit 41 such as a motor and wheels 42 that are rotationally driven by this drive unit 41.

[0029] The imaging means 5 captures an image of the area surrounding the green G. For example, a CCD (Charge Coupled Device) camera can be used as this imaging means 5. Communication means 6 is a device that enables the transmission and reception of information to and from the remote controller 9, which remotely operates the ball mark repair device 1. For example, communication standards such as Wi-Fi (Wireless Fidelity) can be used for this communication means 6. Here, the remote controller 9 is a device lent to golfers at the golf course and can be mounted on the golf cart used by the players. The position acquisition means 7 is a device that acquires positional information of the ball mark repair device 1. For example, a GPS (Global Positioning System) can be used as this position acquisition means 7.

[0030] The control means 8 controls the entire ball mark repair device 1. This control means 8 includes a detection control unit 81, a movement control unit 82, a repair determination unit 83, a repair control unit 84, a collision determination unit 85, an avoidance control unit 86, and a communication control unit 87. The detection control unit 81 causes the imaging means 5 to detect the position of the ball mark BM. Specifically, the detection control unit 81 predicts and detects the position of the ball mark BM formed on the green G by predicting the trajectory of the golf ball that will reach the green G.

[0031] Figure 6 is an external perspective view showing the trajectory of a golf ball as it reaches the green. As shown in Figure 6, the detection control unit 81 predicts the position of the ball mark BM formed on the green G by predicting the trajectory (r1, r2, etc.) of the golf ball B reaching the green G, and detects the predicted positions P1 and P2. Here, the detection control unit 81 captures an image of the golf ball B using the imaging means 5 to acquire image information, and based on this image information, detects the position of the golf ball B in real time. Then, based on the change in the position of the golf ball B, the detection control unit 81 calculates the direction and speed of movement of the golf ball B and predicts the trajectory (r1, r2, etc.) of the golf ball B that will reach the green G. Thus, in this embodiment, the imaging means 5 and the detection control unit 81 function as ball mark detection means for detecting the position of the ball mark BM.

[0032] In this embodiment, the detection control unit 81 predicts the trajectories of all golf balls B that reach the green G (for example, both trajectories r1 and r2) and predicts the position of the ball marks BM formed on the green G. Alternatively, the detection control unit 81 may predict the position of the ball marks BM formed on the green G by only considering the trajectories of golf balls B that are high enough to form a ball mark BM on the green G (for example, trajectory r1) and not considering the trajectories of golf balls B that are not high enough to form a ball mark BM on the green G (for example, trajectory r2).

[0033] The movement control unit 82 moves the ball mark repair device 1 towards the ball mark BM detected by the detection control unit 81 using the movement means 4.

[0034] The repair determination unit 83 determines whether or not the ball mark BM detected by the detection control unit 81 can be repaired, based on the player's playing status on the golf course. Here, the repair determination unit 83 acquires the player's position relative to the green G and the cart's position as the player's playing status on the golf course, based on the position information of the remote controller 9 received via the communication means 6 and the position information of the ball mark repair device 1 acquired by the position acquisition means 7. Then, the repair determination unit 83 determines whether or not the ball mark BM detected by the detection control unit 81 can be repaired, based on the player's position relative to the green G and the cart's position. Specifically, the repair determination unit 83 determines that the ball mark BM detected by the detection control unit 81 can be repaired if the player's position or the cart's position is far from the green G, and determines that the ball mark BM detected by the detection control unit 81 cannot be repaired if the player's position or the cart's position is close to the green G.

[0035] Furthermore, the repair determination unit 83 determines whether the ball mark BM detected by the detection control unit 81 can be repaired based on whether or not there is a golf ball B on the green G. Specifically, if there is no golf ball B on the green G, the repair determination unit 83 determines that the ball mark BM detected by the detection control unit 81 can be repaired, and if there is a golf ball B on the green G, it determines that the ball mark BM detected by the detection control unit 81 cannot be repaired.

[0036] In this embodiment, the golf ball B is imaged by the imaging means 5 to acquire image information, and the position of the golf ball B is detected based on this image information. However, for example, the position of the golf ball may be acquired by mounting a device on the golf ball to notify a ball mark repair device of the golf ball's position. In short, whether or not a golf ball is on the green can be acquired by any method.

[0037] If the repair control unit 83 determines that the ball mark BM can be repaired, the repair control unit 84 instructs the repair work execution means 3 to repair the ball mark BM detected by the detection control unit 81. The collision determination unit 85 determines whether or not the ball mark repair device 1 and the golf ball B will collide, based on the trajectory of the golf ball B predicted by the imaging means 5. If the collision determination unit 85 determines that a collision is imminent, the avoidance control unit 86 instructs the ball mark repair device 1 to avoid colliding with the golf ball B.

[0038] The communication control unit 87 controls the communication means 6 to send and receive information to and from the remote controller 9 that remotely operates the ball mark repair device 1. Here, as shown in Figure 5, the remote controller 9 includes an operating means 91, a communication means 92, a position acquisition means 93, and a remote control means 94.

[0039] The operating means 91 accepts input from players on the golf course, and can employ, for example, a touch panel or operating keys. The communication means 92 is a device that enables the transmission and reception of information to and from the ball mark repair device 1. For example, the communication means 92 can employ a device using a communication standard such as Wi-Fi (Wireless Fidelity). The position acquisition means 93 is a device that acquires the position information of the remote controller 9. For example, GPS (Global Positioning System) can be used as this position acquisition means 93.

[0040] The remote control means 94 controls the entire remote controller 9. This remote control means 94 has functions such as transmitting a remote control signal to the ball mark repair device 1 via the communication means 92 based on the player's input to the operation means 91, and transmitting the position information of the remote controller 9 acquired by the position acquisition means 93 to the ball mark repair device 1 via the communication means 92. Thus, the remote controller 9 functions as a remote control means for repairing ball marks BM formed on the green G by remotely operating the ball mark repair device 1.

[0041] Figure 7 is a flowchart showing the process of repairing ball marks using a ball mark repair device. When the ball mark repair device 1 repairs a ball mark BM formed on the green G, it repeatedly performs steps S1 to S6 as shown in Figure 7.

[0042] First, in step S1, the detection control unit 81 of the ball mark repair device 1 causes the imaging means 5 to detect the position of the ball mark BM. Specifically, the detection control unit 81 predicts and detects the position of the ball mark BM formed on the green G by predicting the trajectory of the golf ball that will reach the green G.

[0043] After detecting the position of the ball mark BM in step S1, the repair determination unit 83 determines in step S2 whether or not there is a player on the green G. Specifically, the repair determination unit 83 determines that there is no player on the green G if the player's position or the cart's position is far from the green G (for example, more than 100m away from the green G), and determines that there is a player on the green G if the player's position or the cart's position is close to the green G (for example, not more than 100m away from the green G).

[0044] If the control means 8 determines in step S2 that there is a competitor on the green G, it terminates the various processes without executing the processes from step S3 onwards. In contrast, if step S2 determines that there are no players on the green G, the repair determination unit 83 determines in step S3 whether or not there is a golf ball B on the green G.

[0045] If step S3 determines that there is no golf ball B on the green G, the control means 8 executes the processes from step S5 onwards, which are described below. In response to this, if step S3 determines that there is a golf ball B on the green G, the control means 8 determines in step S4 whether or not it has received a remote control signal from the remote controller 9 to remotely operate the ball mark repair device 1.

[0046] If the control means 8 determines in step S4 that it has not received a remote control signal from the remote controller 9, it terminates the various processes without executing the processes from step S5 onward. In response to this, if step S4 determines that a remote control signal has been received from the remote controller 9, the control means 8 executes the processes described later in step S5 and beyond.

[0047] As described above, if the control means 8 determines in step S2 that there are no players on the green G and in step S3 that there are no golf balls B on the green G, or if it determines in step S2 that there are no players on the green G and in step S3 that there are golf balls B on the green G, but in step S4 it determines that it has received a remote control signal from the remote controller 9, then it executes the processing from step S5 onwards. In other words, if the control means 8 determines in the repair determination unit 83 that the ball mark BM detected by the detection control unit 81 can be repaired, it executes the process from step S5 onward.

[0048] In this embodiment, in order to prioritize the safety of the competitor, if the control means 8 determines in step S2 that there is a competitor on the green G, the repair determination unit 83 determines that the ball mark BM detected by the detection control unit 81 cannot be repaired, regardless of whether or not it has received a remote control signal from the remote controller 9. Conversely, even if the control means 8 determines in step S2 that there is a competitor on the green G, if it determines in step S4 that it has received a remote control signal from the remote controller 9, the repair determination unit 83 may determine that the ball mark BM detected by the detection control unit 81 can be repaired.

[0049] In step S5, the movement control unit 82 moves the ball mark repair device 1 towards the ball mark BM detected by the detection control unit 81 using the movement means 4. In step S6, the repair control unit 84 causes the repair work execution means 3 to repair the ball mark BM detected by the detection control unit 81. After that, the control means 8 terminates various processes.

[0050] Furthermore, since the ball mark repair device 1 is equipped with a collision determination unit 85 and an avoidance control unit 86, when it is moving toward the ball mark BM detected by the detection control unit 81, or when the ball mark BM detected by the detection control unit 81 is being repaired by the repair work execution means 3, the collision determination unit 85 determines whether the ball mark repair device 1 and the golf ball B will collide based on the trajectory of the golf ball B predicted by the imaging means 5, and the avoidance control unit 86, if the collision determination unit 85 determines that a collision will occur, causes the ball mark repair device 1 to avoid colliding with the golf ball B.

[0051] According to this embodiment, the following actions and effects can be achieved. (1) The ball mark repair device 1 can be moved by the moving means 4 toward the ball mark BM detected by the ball mark detection means, and the ball mark BM can be repaired by the repair work execution means 3. This allows for the proper repair of ball marks BM during a game on a golf course, thereby suppressing deterioration of the green G. (2) When the repair control unit 83 determines that the ball mark BM can be repaired, the repair control unit 84 instructs the repair work execution means 3 to repair the ball mark BM detected by the detection control unit 81. Therefore, the ball mark repair device 1 can, for example, even during a game, have the repair work execution means 3 repair the ball mark BM at a timing that allows the player to repair the ball mark BM without interrupting the game.

[0052] (3) The repair determination unit 83 determines whether or not the ball mark BM detected by the detection control unit 81 can be repaired based on the player's playing status on the golf course. Therefore, the ball mark repair device 1 can have the repair work execution means 3 repair the ball mark BM at a timing that allows the player to repair the ball mark BM without interrupting the game, even during a competition. (4) The repair determination unit 83 determines whether or not the ball mark BM detected by the detection control unit 81 can be repaired based on whether or not there is a golf ball B on the green G. Therefore, even during a competition, the ball mark repair device 1 can have the repair work execution means 3 repair the ball mark BM at a timing that allows the player to repair the ball mark BM without interrupting the competition.

[0053] (5) The ball mark detection means predicts and detects the position of the ball mark BM formed on the green G by predicting the trajectory of the golf ball B that will reach the green G. As a result, the ball mark repair device 1 can move quickly toward the predicted ball mark BM, and the repair work execution means 3 can efficiently repair the ball mark BM.

[0054] (6) When the collision determination unit 85 determines that a collision is imminent, the avoidance control unit 86 causes the ball mark repair device 1 to avoid colliding with the golf ball B. This allows the repair work execution means 3 to efficiently repair the ball mark BM while avoiding the golf ball B reaching the green G. (7) The ball mark repair device 1 is equipped with a remote controller 9 that repairs ball marks BM formed on the green G by remotely operating the ball mark repair device 1. Therefore, golfers and greenkeepers on the golf course can remotely operate the ball mark repair device 1 at an opportune time to repair the ball marks BM and have the repair work execution means 3 repair the ball marks BM.

[0055] [Modification of the embodiment] Furthermore, the present invention is not limited to the embodiments described above, and any modifications, improvements, etc., that can achieve the objectives of the present invention are included within the scope of the present invention. For example, in the above embodiment, the imaging means 5 and the detection control unit 81 function as ball mark detection means for detecting the position of a ball mark BM. The detection control unit 81 predicts the position of the ball mark BM formed on the green G by predicting the trajectory of the golf ball B reaching the green G, and detects the predicted positions P1 and P2. In contrast, the ball mark detection means only needs to be able to detect the position of the ball mark. For example, it may acquire image information by imaging the green from above using a drone or the like, and then directly detect the position of the ball mark based on this image information without predicting it.

[0056] Furthermore, in the above embodiment, the repair determination unit 83 acquires the player's position relative to the green G and the position of the cart as the player's playing status on the golf course, based on the position information of the remote controller 9 received via the communication means 6 and the position information of the ball mark repair device 1 acquired by the position acquisition means 7, and determines whether or not the ball mark BM detected by the detection control unit 81 can be repaired based on the player's playing status on the golf course. In contrast, the player's playing status on the golf course can be acquired by any method, for example, by predicting the player's position based on the player's start time, or by capturing images of the player to acquire image information and detecting the player's position based on this image information.

[0057] Furthermore, in the above embodiment, the control means 8 would have the repair work execution means 3 repair the ball mark BM detected by the detection control unit 81 if it determined in step S2 that there were no players on the green G and in step S3 that there were no golf balls B on the green G (i.e., if the repair determination unit 83 determined that the ball mark BM detected by the detection control unit 81 could be repaired). In contrast, the control means 8 may also have the repair work execution means 3 repair the ball mark BM detected by the detection control unit 81 if it determined in step S2 that there were no players on the green G, or in step S3 that there were no golf balls B on the green G. In short, the repair determination unit only needs to be able to determine whether or not the ball mark detected by the detection control unit can be repaired, and it may determine whether or not the ball mark detected by the detection control unit can be repaired based on criteria different from the playing status of players on the golf course or whether or not there is a golf ball on the green.

[0058] Furthermore, in the above embodiment, the control means 8 included a repair determination unit 83 that determined whether or not the ball mark BM detected by the detection control unit 81 could be repaired based on whether or not there was a golf ball B on the green G. In contrast, the control means does not have to include a repair determination unit, in which case the ball mark repair device may repair the ball mark, for example, when it receives a remote control signal or at a predetermined date and time.

[0059] Furthermore, in the above embodiment, the collision determination unit 85 determined whether or not the ball mark repair device 1 and the golf ball B would collide based on the trajectory of the golf ball B predicted by the imaging means 5. However, by using a distance sensor or the like, it may be possible to determine whether or not the ball mark repair device 1 and the golf ball B will collide without predicting the trajectory of the golf ball B. Furthermore, in the above embodiment, the avoidance control unit 86 caused the ball mark repair device 1 to avoid a collision with the golf ball B when the collision determination unit 85 determined that a collision was imminent. However, the collision determination unit 85 and the avoidance control unit 86 do not necessarily have to be provided. In this case, the ball mark repair device may cause the repair work execution means to repair the ball mark at a timing that allows for the avoidance of the risk of collision.

[0060] Furthermore, in the above embodiment, the ball mark repair device 1 was equipped with a remote controller 9 that repaired the ball marks BM formed on the green G by remotely operating the ball mark repair device 1, but it is not necessary to have such a remote controller 9. [Industrial applicability]

[0061] As described above, the present invention can be widely applied to a ball mark repair device for repairing ball marks formed on the greens of a golf course. [Explanation of Symbols]

[0062] 1. Ball Mark Repair Device 2. Main unit of the device 3. Means for executing repair work 4. Means of transportation 5. Imaging means (ball mark detection means) 6. Means of communication 7 Location acquisition means 8 Control means 9. Remote controller (remote control means) 81 Detection control unit (ball mark detection means) 82 Mobile Control Unit 83 Repair judgment section 84 Repair Control Unit 85 Collision determination section 86 Avoidance Control Unit 87 Communication Control Unit

Claims

1. A ball mark repair device for repairing ball marks formed on the greens of a golf course, A ball mark detection means for detecting the position of the ball mark, A repair work execution means for performing the work of repairing the ball marks, A means of moving the ball mark repair device, The ball mark repair device comprises control means for controlling the entire device, The control means is A detection control unit that causes the ball mark detection means to detect the position of the ball mark, A movement control unit moves the ball mark repair device using the moving means toward the ball mark detected by the detection control unit, A ball mark repair device characterized by comprising a repair control unit that causes the ball mark detected by the detection control unit to be repaired by the repair work execution means.

2. In the ball mark repair device described in claim 1, The control means is The system includes a repair determination unit that determines whether or not the ball mark detected by the detection control unit can be repaired. The ball mark repair device is characterized in that, when the repair control unit determines that the ball mark can be repaired, the ball mark detected by the detection control unit is instructed to be repaired by the repair work execution means.

3. In the ball mark repair device described in claim 2, The ball mark repair device is characterized in that the repair determination unit determines whether or not the ball mark detected by the detection control unit can be repaired based on the playing conditions of the players at the golf course.

4. In the ball mark repair device described in claim 2, The ball mark repair device is characterized in that the repair determination unit determines whether or not the ball mark detected by the detection control unit can be repaired based on whether or not there is a golf ball on the green.

5. In the ball mark repair device described in claim 1, The ball mark repair device is characterized in that the ball mark detection means predicts and detects the position of a ball mark formed on the green by predicting the trajectory of a golf ball reaching the green.

6. In the ball mark repair device described in claim 5, The control means is Based on the trajectory of the golf ball predicted by the ball mark detection means, a collision determination unit determines whether or not the ball mark repair device and the golf ball will collide. A ball mark repair device characterized in that, when the collision determination unit determines that a collision is imminent, the ball mark repair device is equipped with an avoidance control unit that causes the device to avoid a collision with the golf ball.

7. In a ball mark repair device according to any one of claims 1 to 6, A ball mark repair device characterized by comprising a remote control means for repairing ball marks formed on the green by remotely operating the ball mark repair device.

Images