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

Abstract

To provide a golf cart movement control system, a golf cart movement control method, and a program capable of moving a golf cart so as to approach a player who is highly likely to want the golf cart to come closer. An approach detection unit 104 detects the approach of a player of interest playing golf to a driving range of a golf cart used by the player of interest. In response to the detection of the approach, a movement control unit 116 moves the stopped golf cart so as to approach the player of interest.

Description

[Technical field]

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

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

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

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

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

[0006] [Patent Document 1] JP 2023-140652 A [Patent Document 2] JP 2004-329702 A [Patent Document 3] JP 2019-82910 A [Patent Document 4] JP 2023-154493 A Summary of the Invention [Problem to be solved by the invention]

[0007] During the course of playing golf, there are situations in which the player desires the golf cart to come close to the player, such as when the player wants to retrieve a golf club loaded in the golf cart.

[0008] However, even if the techniques described in Patent Documents 1 to 4 are used, it is not possible to move the golf cart so as to approach a player who is likely to want the golf cart to come closer.

[0009] The present invention has been made in consideration of the above-mentioned problems, and one of its objectives is to provide a golf cart movement control system, a golf cart movement control method, and a program that can move a golf cart so as to approach a player who is likely to want the golf cart to come closer. [Means for solving the problem]

[0010] (1) The golf cart movement control system of the present invention includes an approach detection means for detecting the approach of a player of interest who is playing golf to a driving range of a golf cart used by the player of interest, and a movement control means for moving the stopped golf cart to approach the player of interest in response to the detection of the approach.

[0011] (2) The golf cart movement control system may further include a focus player position identification means for repeatedly identifying the focus player position, which is the position of the focus player, and the approach detection means may detect the approach when it is determined that the focus player is moving toward the driving range based on a history of the focus player position.

[0012] (3) The golf cart movement control system may further include a target player position identification means for identifying a target player position, which is the position of the target player, and the approach detection means may detect the approach when the distance of the target player position from the driving range satisfies a given approach condition.

[0013] (4) The golf cart movement control system may be as described in (3) above, wherein the target player position identification means repeatedly identifies the target player position, and the approach detection means detects the approach when the short distance of the target player position from the driving range satisfies the approach condition a predetermined number of times or more in succession, or when the state in which the approach condition is satisfied continues for a predetermined period of time or more.

[0014] (5) The golf cart movement control system may be the second-to-last player among a plurality of players in a group to which the target player belongs who are presumed not to be riding in the golf cart, and the movement control means may, in response to the detection of the approach, move the golf cart to approach the target player when the last player among the plurality of players satisfies a given cart-no-required condition.

[0015] (6) The golf cart movement control system may further include a last player position identification means for repeatedly identifying a last player position, which is the position of the last player, and the movement control means may move the golf cart to approach the player of interest in response to detecting the approach when it is determined that the last player is moving in the traveling direction of the golf cart based on the history of the last player position.

[0016] (7) The golf cart movement control system may further include a focus player position identification means for identifying a focus player position, which is the position of the focus player, and a golf cart position identification means for identifying a golf cart position, which is the position of the golf cart, and the movement control means may move the golf cart to approach the focus player in response to the detection of the approach when the distance between the focus player position and the golf cart position is shorter than a given distance.

[0017] (8) The golf cart movement control system may further include a golf cart position identification means for identifying a golf cart position, which is the position of the golf cart, and a target player identification means for identifying one or more players whose distance from the golf cart position is shorter than a given distance as a target player, and the movement control means may move the golf cart to approach the target player in response to the approach being detected for any of the target players.

[0018] (9) A golf cart movement control method according to the present invention includes the steps of: detecting an approach of a player of interest playing golf to a driving range of a golf cart used by the player of interest; and, in response to the detection of the approach, moving the stopped golf cart to approach the player of interest.

[0019] (10) The program of the present invention is a program for causing a computer to execute the steps of: detecting the approach of a target player who is playing golf to a driving range of a golf cart used by the target player; and, in response to the detection of the approach, moving the stopped golf cart so as to approach the target player. [Brief description of the drawings]

[0020] [Figure 1] 1 is a diagram showing an example of the overall configuration of a golf cart movement control system according to an embodiment of the present invention; [Figure 2A] FIG. 2 is a diagram illustrating an example of a configuration of a server according to an embodiment of the present invention. [Figure 2B] FIG. 2 is a diagram showing an example of the configuration of a player terminal according to an embodiment of the present invention. [Figure 2C] FIG. 2 is a diagram showing an example of the configuration of a golf cart terminal according to an embodiment of the present invention. [Diagram 3] FIG. 2 is a diagram showing an example of a map image. [Figure 4] FIG. 2 is a diagram showing an example of a map image. [Diagram 5] FIG. 2 is a diagram showing an example of a map image. [Figure 6] FIG. 2 is a diagram showing an example of a map image. [Figure 7] FIG. 2 is a diagram showing an example of a map image. [Figure 8] FIG. 2 is a diagram showing an example of a map image. [Figure 9] FIG. 2 is a functional block diagram showing an example of functions implemented in a server according to an embodiment of the present invention. [Figure 10] FIG. 13 is a diagram illustrating an example of decomposition of a movement direction vector. [Figure 11] FIG. 13 is a diagram illustrating an example of decomposition of a movement direction vector. [Figure 12] FIG. 11 is a diagram showing an example of green arrival management data. [Figure 13A] FIG. 4 is a flow diagram showing an example of a flow of processing performed by a server according to an embodiment of the present invention. [Figure 13B] FIG. 4 is a flow diagram showing an example of a flow of a process performed by a server according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

[0022] FIG. 1 is a diagram showing an example of the overall configuration of a golf cart movement control system 1 according to this embodiment. As shown in FIG. 1, the golf cart movement control system 1 according to this embodiment includes a server 10, a plurality of player terminals 12 (12a, 12b, 12c, and 12d in the example of FIG. 1), and a golf cart terminal 14. The player terminal 12 is a terminal used by a player who plays golf. The golf cart terminal 14 is a terminal provided on a golf cart 16 used by a player who plays golf. The golf cart 16 is provided with a control button 18 for controlling the starting and stopping of the golf cart 16. The server 10, the player terminal 12, and the golf cart terminal 14 are connected to a computer network 20 such as the Internet. Therefore, the server 10, the player terminal 12, and the golf cart terminal 14 are capable of communicating with each other via the computer network 20.

[0023] The server 10 according to this embodiment is, for example, a server computer including a processor 30, a storage unit 32, and a communication unit 34, as shown in FIG. 2A.

[0024] The processor 30 is, for example, a program-controlled device such as a microprocessor that operates according to a program installed in the server 10. The storage unit 32 is, for example, a storage element such as a ROM or a RAM, or a solid-state drive (SSD). The storage unit 32 stores programs executed by the processor 30, etc. The communication unit 34 is, for example, a communication interface for wired or wireless communication, and transmits and receives data between the player terminals 12 and the golf cart terminals 14 via the computer network 20. The server 10 may be installed in a clubhouse of the golf course, or may be installed in a location such as a data center away from the golf course.

[0025] The player terminal 12 according to the present embodiment is, for example, a computer such as a mobile phone (including a smartphone) or a mobile information terminal (including a tablet computer). As shown in FIG. 2B, the player terminal 12 according to the present embodiment includes, for example, a processor 40, a storage unit 42, a communication unit 44, and a sensor unit 46. The player terminal 12 may also include a touch panel, a camera, and the like.

[0026] The processor 40 is, for example, a program-controlled device such as a microprocessor that operates according to a program installed in the player terminal 12. The storage unit 42 is, for example, a storage element such as a ROM or a RAM, or a solid-state drive (SSD). The storage unit 42 stores programs executed by the processor 40. The communication unit 44 is, for example, a communication interface for wired or wireless communication, and transmits and receives data to and from a computer such as the server 10 via the computer network 20. The sensor unit 46 is, for example, a sensing device such as a GPS module, an acceleration sensor, a motion sensor, or a direction sensor. Note that, in this embodiment, a case will be described in which the sensor unit 46 is included in the player terminal 12, but the sensor unit 46 may be located outside the player terminal 12.

[0027] The golf cart terminal 14 according to this embodiment is, for example, a computer such as a mobile phone (including a smartphone) or a mobile information terminal (including a tablet computer). As shown in FIG. 2C, the golf cart terminal 14 according to this embodiment includes, for example, a processor 50, a storage unit 52, a communication unit 54, a sensor unit 56, and an output unit 58. The golf cart terminal 14 may include a camera.

[0028] The processor 50 is, for example, a program-controlled device such as a microprocessor that operates according to a program installed in the golf cart terminal 14. The storage unit 52 is, for example, a storage element such as a ROM or a RAM, or a solid-state drive (SSD). The storage unit 52 stores a program executed by the processor 50. The communication unit 54 is, for example, a communication interface for wired or wireless communication, and transmits and receives data to and from a computer such as the server 10 via the computer network 20. The sensor unit 56 is, for example, a sensing device such as a GPS module, an acceleration sensor, a motion sensor, or a direction sensor. The output unit 58 is, for example, a display that displays and outputs information according to an instruction input from the processor 50, or a speaker that outputs sound. In this embodiment, the case where the sensor unit 56 is included in the golf cart terminal 14 will be described, but the sensor unit 56 may be outside the golf cart terminal 14. The output unit 58 may also include a touch panel.

[0029] The golf cart 16 according to this embodiment moves along a preset route within the golf course. When the player presses the control button 18 while the golf cart 16 is stopped, the golf cart 16 moves forward. On the other hand, when the player playing golf presses the control button 18 while the golf cart 16 is moving forward, the golf cart 16 stops.

[0030] In addition, the golf cart 16 of this embodiment is capable of receiving an operation signal transmitted from the golf cart terminal 14 and performing automatic driving (forward movement, stopping, etc.) in response to the operation signal, without the player having to perform any explicit operation such as operating the control button 18.

[0031] In this embodiment, it is assumed that four players belong to a group (party), and these four players play golf using golf carts 16. Hereinafter, these four players will be referred to as player A, player B, player C, and player D, respectively. It is also assumed that the identifiers (hereinafter referred to as player IDs) of player A, player B, player C, and player D are "1", "2", "3", and "4", respectively. It is also assumed that player A, player B, player C, and player D carry player terminal 12a, player terminal 12b, player terminal 12c, and player terminal 12d, respectively, while playing golf.

[0032] The server 10 according to this embodiment stores map data showing the golf course where the above-mentioned four players are playing golf. The map data according to this embodiment is, for example, grid data, in which the position information of a cell (e.g., latitude and longitude) is associated with type information showing the type of the cell (e.g., fairway, rough, hazard (bunker and water hazard), ground under repair, green, cart path, woods, etc.).

[0033] Fig. 3 is a diagram showing an example of a map image 60 that visualizes map data of a hole where a player according to this embodiment is playing golf. The map image 60 shown in Fig. 3 shows a driving range 62 (e.g., a cart path) of the golf cart 16, avoidance areas 64 (64a, 64b, and 64c) that are areas indicating hazards or ground under repair, a green area 66 that is an area indicating the green, and the like.

[0034] The map data also includes pin position data indicating the position of the pin (hereinafter referred to as pin position 68) and standby position data indicating standby positions 70 provided in advance at the exit of each hole. In Fig. 3, the pin positions 68 and standby positions 70 are shown on the map image 60.

[0035] The map data also includes player alternative position data indicating a player alternative position 72, which will be described later. In Fig. 3, two player alternative positions 72 (72a and 72b) associated with the avoidance target area 64a are shown on the map image 60. Note that the player alternative position 72 associated with the avoidance target area 64b and the player alternative position 72 associated with the avoidance target area 64c are not shown.

[0036] Then, in this embodiment, for example, as described below, player positions 74, which are the positions of each of the multiple players playing golf, and golf cart position 76, which is the position of the golf cart 16, are identified (see FIGS. 4 to 8).

[0037] 4, player position 74a of player A, player position 74b of player B, player position 74c of player C, and player position 74d of player D are shown on map image 60. Also shown on map image 60 is golf cart position 76, which is the position of golf cart 16.

[0038] In this embodiment, for example, for each of the multiple players, it is estimated whether the player is riding in the golf cart 16. In the example of Fig. 4, it is assumed that player A, player B, and player C are not riding in the golf cart 16, and player D is riding in the golf cart 16.

[0039] Then, in this embodiment, for example, a player at the rear end (hereinafter, referred to as the rearmost player) is identified from one or more players who are presumed not to be riding on the golf cart 16. In the example of Fig. 4, from among players A, B, and C, player A is identified as the rearmost player.

[0040] 5, a target stopping position 78 within the driving range 62 is determined based on the player position 74. Then, it is determined whether or not a given avoidance target area 64 exists between the player position 74 and the target stopping position 78. In the example of FIG. 5, a target stopping position 78 within the driving range 62 is determined based on the player position 74a of player A, and it is determined that an avoidance target area 64a exists between the player position 74a and the target stopping position 78.

[0041] 5, when it is determined that an avoidance target area 64 exists between the player position 74 and the target stop position 78, the golf cart 16 moves to an alternative stop position 80 different from the target stop position 78, which is determined based on the position of the avoidance target area 64. Here, the alternative stop position 80 may be determined based on the player alternative position 72b, which is closest to the player position 74a, out of the player alternative position 72a and the player alternative position 72b. Then, the golf cart 16 may move to the alternative stop position 80 determined in this manner.

[0042] On the other hand, if it is determined that the avoidance target area 64 does not exist between the player position 74 and the target stop position 78, the golf cart 16 will move to the target stop position 78.

[0043] If the golf cart 16 moves to the target stop position 78 in the situation shown in Fig. 5, player A must detour around the avoidance target area 64a to reach the position of the golf cart 16, which is troublesome. In this embodiment, as described above, when it is determined that the avoidance target area 64 exists between the player position 74 and the target stop position 78, the golf cart 16 moves to the alternative stop position 80. Therefore, player A can reach the position of the golf cart 16 without detouring the avoidance target area 64a. In this way, in the example of Fig. 5, the golf cart 16 can be moved to a position that is convenient for the player playing golf.

[0044] 5, the player farthest from the pin position 68 is player D. If player D is identified as the last player among players A, B, C, and D and target stop position 78 is determined based on player position 74 of player D, the golf cart 16 will never start.

[0045] In this embodiment, as described above, for each of the multiple players, it is estimated whether the player is riding on the golf cart 16. Then, the rearmost player is identified from one or more players who are estimated not to be riding on the golf cart 16. This makes it possible to prevent a situation in which the golf cart 16 never departs. In this way, in the example of FIG. 5, the golf cart 16 can be moved to an appropriate position.

[0046] Figure 6 shows a situation different from Figures 4 and 5. In this embodiment, as shown in Figure 6, the golf cart 16 moves to a standby position 70 in response to detection of arrival of all of the players at the green. This allows the golf play to proceed smoothly.

[0047] FIG. 7 shows a situation different from FIG. 4 to FIG. 6. In the example of FIG. 7, the player position 74a of player A at a certain time t1 is shown as player position 74aa, and the player position 74a of player A at a time t2, which is a predetermined time after the time t1, is shown as player position 74ab on the map image 60. In addition, the player position 74b of player B at the time t1 is shown as player position 74ba, and the player position 74b of player B at the time t2 is shown as player position 74bb on the map image 60. In addition, FIG. 7 shows the player position 74c of player C and the player position 74d of player D on the map image 60. In the example of FIG. 7, it is assumed that the player position 74c of player C and the player position 74d of player D do not change from the time t1 to the time t2. In the example of FIG. 7, player A is identified as the last player, and player B is identified as the second last player.

[0048] In this situation, as shown in Fig. 7, it is assumed that player B is approaching the driving range 62 and player A is moving along the driving direction of the golf cart 16. In this case, the golf cart 16 moves to a target stop position 78 that is determined based on the history of player position 74b of player B.

[0049] 7, player B is moving toward the driving range 62. Therefore, it is presumed that there may be a situation where player B wants the golf cart 16 to come closer, for example, to retrieve a golf club loaded on the golf cart 16.

[0050] Moreover, Player A is moving along the traveling direction of the golf cart 16. Therefore, it is presumed that Player A does not need the golf cart 16, that is, Player A has no intention of riding the golf cart 16.

[0051] In the above situation, in the example of Fig. 7, the golf cart 16 moves so as to approach the player B as described above. In this way, in the example of Fig. 7, the golf cart 16 can be moved so as to approach the player who is likely to want the golf cart 16 to come closer.

[0052] FIG. 8 shows a situation different from FIG. 4 to FIG. 7. In the example of FIG. 8, the player position 74a of the player A at time t1 is shown as a player position 74aa, and the player position 74a of the player A at time t2, which is a predetermined time after time t1, is shown as a player position 74ab on the map image 60. In addition, in FIG. 8, the player position 74b of the player B, the player position 74c of the player C, and the player position 74d of the player D are shown on the map image 60. In the example of FIG. 8, it is assumed that the player position 74b of the player B, the player position 74c of the player C, and the player position 74d of the player D do not change from time t1 to time t2. In the example of FIG. 8, it is assumed that the player A is identified as the last player, and the player B is identified as the second-to-last player.

[0053] 8, it is assumed that the distance from the driving range 62 to the player position 74b of player B is shorter than a predetermined distance for a predetermined period of time or more, and that player A is detected to be moving along the driving direction of the golf cart 16. In this case, the golf cart 16 moves to the target stop position 78 determined based on the history of the player position 74b of player B.

[0054] 8, player B remains near the driving range 62. Therefore, it is presumed that there are situations where player B wants the golf cart 16 to come closer, for example, to retrieve a golf club loaded on the golf cart 16.

[0055] Moreover, Player A is moving along the traveling direction of the golf cart 16. Therefore, it is presumed that Player A does not need the golf cart 16, that is, Player A has no intention of riding the golf cart 16.

[0056] In the above situation, in the example of Fig. 8, the golf cart 16 moves so as to approach the player B as described above. In this way, in the example of Fig. 8, the golf cart 16 can be moved so as to approach the player who is likely to want the golf cart 16 to come closer.

[0057] The functions of the server 10 according to the present embodiment and the processes executed by the server 10 according to the present embodiment will be further described below.

[0058] Fig. 9 is a functional block diagram showing an example of functions implemented in the server 10 according to this embodiment. Note that it is not necessary for the server 10 according to this embodiment to implement all of the functions shown in Fig. 9, and functions other than the functions shown in Fig. 9 may also be implemented.

[0059] As shown in FIG. 9, the server 10 according to this embodiment functionally includes, for example, a map data storage unit 90, an alternative player position determination unit 92, a position information receiving unit 94, a player position identification unit 96, a golf cart position identification unit 98, a riding estimation unit 100, a player order identification unit 102, an approach detection unit 104, a golf cart necessity determination unit 106, a target stop position determination unit 108, an avoidance necessity determination unit 110, an alternative stop position determination unit 112, a green arrival detection unit 114, and a movement control unit 116.

[0060] The map data storage unit 90 is implemented mainly in the storage unit 32. The position information receiving unit 94 and the movement control unit 116 are implemented mainly in the communication unit 34. The player alternative position determining unit 92, the player position identifying unit 96, the golf cart position identifying unit 98, the riding estimation unit 100, the player order identifying unit 102, the approach detection unit 104, the golf cart necessity determining unit 106, the target stop position determining unit 108, the avoidance necessity determining unit 110, the alternative stop position determining unit 112, and the green arrival detecting unit 114 are implemented mainly in the processor 30.

[0061] The above functions may be implemented by executing a program including instructions corresponding to the above functions, which is installed on the server 10, which is a computer, on the server 10. The program may also be supplied to the server 10 via a computer-readable information storage medium, such as an optical disk, a magnetic disk, a magnetic tape, or a magneto-optical disk, or via the Internet, for example.

[0062] In this embodiment, the map data storage unit 90 stores, for example, the map data described above.

[0063] In this embodiment, for example, the player alternative position determining unit 92 determines a player alternative position 72 associated with an avoidance target area 64 based on the position of the avoidance target area 64 shown in the map data.

[0064] The player alternative position determination unit 92 may determine a player alternative position 72 associated with the avoidance target area 64 based on the position of the avoidance target area 64 and the pin position 68. For example, the player alternative position determination unit 92 may determine a position in the avoidance target area 64a that is closest to the pin position 68 as the player alternative position 72a associated with the avoidance target area 64a. The player alternative position determination unit 92 may also determine a position in the avoidance target area 64a that is farthest from the pin position 68 as the player alternative position 72b associated with the avoidance target area 64a. In this manner, the player alternative position determination unit 92 may determine a plurality of player alternative positions 72 associated with the avoidance target area 64. Note that it is not necessary for a plurality of player alternative positions 72 to be associated with the avoidance target area 64, and there may be only one player alternative position 72 associated with the avoidance target area 64.

[0065] Furthermore, the player alternative position 72 does not need to be determined by the player alternative position determination unit 92. For example, the player alternative position 72 associated with the avoidance target area 64 may be set in advance in association with the avoidance target area 64.

[0066] In the present embodiment, the position information receiving unit 94 receives, for example, position information indicating the position of the player terminal 12. For example, in the present embodiment, a GPS module included in the sensor unit 46 of the player terminal 12 may measure the current position (e.g., latitude and longitude) of the GPS module at a predetermined time interval (e.g., every few seconds). Then, the GPS module may transmit, in response to the positioning, to the server 10, position information indicating the measured current position (e.g., latitude and longitude) associated with an identifier (ID) of the player terminal 12 and time information indicating the time when the positioning was performed. Then, the position information receiving unit 94 may receive the position information transmitted from the player terminal 12 in this manner. In the following description, it is assumed that the IDs of the player terminal 12a, the player terminal 12b, the player terminal 12c, and the player terminal 12d are "1", "2", "3", and "4", respectively.

[0067] Similarly, the position information receiving unit 94 receives, for example, position information indicating the position of the golf cart terminal 14 in this embodiment. For example, in this embodiment, a GPS module included in the sensor unit 56 of the golf cart terminal 14 may measure the current position (e.g., latitude and longitude) of the GPS module at a predetermined time interval (e.g., every few seconds). Then, the GPS module may transmit to the server 10, in response to the positioning, position information indicating the measured current position (e.g., latitude and longitude) associated with an identifier (ID) of the golf cart terminal 14 and time information indicating the time when the positioning was performed. Then, the position information receiving unit 94 may receive the position information transmitted from the golf cart terminal 14 in this manner. In the following description, it is assumed that the ID of the golf cart terminal 14 is "5".

[0068] In this embodiment, for example, the player position identifying unit 96 identifies the player position 74 which is the position of the player playing golf.

[0069] The player position identification unit 96 may identify the player position 74 of each of a plurality of players (for example, player A, player B, player C, and player D in this embodiment). For example, the player position 74a of player A may be identified based on the position information associated with ID "1". Furthermore, the player position 74b of player B may be identified based on the position information associated with ID "2". Furthermore, the player position 74c of player C may be identified based on the position information associated with ID "3". Furthermore, the player position 74d of player D may be identified based on the position information associated with ID "4".

[0070] Furthermore, the player position identifying unit 96 may repeatedly identify the player position 74. For example, each time the player position identifying unit 96 receives position information from a player terminal 12, the player position identifying unit 96 may identify the position indicated by the position information as the latest player position 74 of the player using the player terminal 12.

[0071] In this embodiment, the golf cart position identifying unit 98 identifies, for example, the golf cart position 76, which is the position of the golf cart 16. For example, the golf cart position 76 may be identified based on the position information associated with the ID "5."

[0072] Additionally, the golf cart position identifying unit 98 may repeatedly identify the golf cart position 76. For example, each time the golf cart position identifying unit 98 receives position information from the golf cart terminal 14, the golf cart position identifying unit 98 may identify the position indicated by the position information as the latest golf cart position 76 of the golf cart 16.

[0073] In this embodiment, for example, the riding estimation unit 100 estimates, for each of a plurality of players playing golf, whether or not the player is riding in the golf cart 16. The riding estimation unit 100 may estimate, for each of a plurality of players, whether or not the player is riding in the golf cart 16 based on the player position 74 and the golf cart position 76 of the player.

[0074] Here, the riding estimation unit 100 may estimate whether or not each of the multiple players is riding on the golf cart 16 based on the distance between the player position 74 of the player and the golf cart position 76. For example, the riding estimation unit 100 may estimate that the player is riding on the golf cart 16 when the distance between the player position 74 of the player and the golf cart position 76 is equal to or less than a predetermined distance. Then, the riding estimation unit 100 may estimate that the player is not riding on the golf cart 16 when the distance between the player position 74 of the player and the golf cart position 76 is not equal to or less than the predetermined distance.

[0075] It should be noted that the riding estimation unit 100 does not need to estimate whether or not the player is riding on the golf cart 16 based on the player position 74 and the golf cart position 76 .

[0076] For example, the golf cart terminal 14 may transmit radio waves of a predetermined frequency. Then, each player terminal 12 may measure the radio wave intensity of the frequency. Then, each player terminal 12 may transmit data indicating the radio wave intensity to the server 10. Then, the riding estimation unit 100 may identify a player terminal 12 in which the radio wave intensity of the radio waves received from the golf cart terminal 14 continues to be greater than a predetermined magnitude for a predetermined period of time or more, and estimate that the player using the player terminal 12 is a player riding the golf cart 16. Similarly, each player terminal 12 may transmit radio waves of a predetermined frequency specific to the player terminal 12. Then, the golf cart terminal 14 may measure the radio wave intensity of the frequency specific to each player terminal 12. Then, the golf cart terminal 14 may transmit data indicating the radio wave intensity received from the player terminal 12 to the server 10 in association with the ID of the player terminal 12. The riding estimation unit 100 may then identify a player terminal 12 in which the radio wave strength of the radio waves received by the golf cart terminal 14 remains greater than a predetermined level for a predetermined period of time or more, and estimate that the player using that player terminal 12 is a player riding in the golf cart 16.

[0077] Furthermore, each player terminal 12 may include an RFID tag on which the ID of the player terminal 12 is recorded. The golf cart terminal 14 may have a function for reading RFID tags. The ID read by the golf cart terminal 14 may be transmitted to the server 10. The riding estimation unit 100 may then estimate that a player using the player terminal 12 identified by the transmitted ID is a player riding on the golf cart 16.

[0078] The riding estimation unit 100 may also store images of the faces of each of the multiple players. The golf cart terminal 14 may be equipped with a camera, and the golf cart terminal 14 may transmit images captured by the camera to the server 10. The riding estimation unit 100 may then estimate the player riding on the golf cart 16 based on the results of face recognition processing performed on the images.

[0079] In this embodiment, for example, the player order identification unit 102 identifies the order of one or more players who are presumed not to be riding in the golf cart 16. The player order identification unit 102 may identify the last player from among one or more players who are presumed not to be riding in the golf cart 16. The player order identification unit 102 may also identify the second last player from among one or more players who are presumed not to be riding in the golf cart 16. Furthermore, this identification may be performed repeatedly.

[0080] The player order identification unit 102 may identify the distance of each player position 74 of one or more players who are presumed not to be riding on the golf cart 16 from the pin position 68 of the hole on which the one or more players are playing. The player order identification unit 102 may then identify the last player and the second-to-last player based on the distances identified in this manner. For example, the player with the longest identified distance may be identified as the last player. Also, the player with the second longest identified distance may be identified as the second-to-last player.

[0081] It should be noted that the player order identification unit 102 does not need to identify the order of players based on the player positions 74. For example, the player order identification unit 102 may store images of the faces of each of a plurality of players. The player order identification unit 102 may then identify the last player or the second-to-last player based on the results of face recognition on an image captured by a wide-angle surveillance camera capable of capturing an image of the entire hall.

[0082] In this embodiment, for example, the approach detection unit 104 detects the approach of a player playing golf to the driving range 62 of the golf cart 16 used by the player. Hereinafter, a player who is the target of detection of approach to the driving range 62 will be referred to as a player of interest. Hereinafter, the player of interest may be the second-to-last player among a plurality of players who are presumed not to be riding in the golf cart 16.

[0083] The approach detection unit 104 may detect the approach of the focused player to the driving range 62 when it is determined that the focused player is moving toward the driving range 62 based on the history of the focused player's player position 74.

[0084] For example, it may be detected that the player position 74 of the player of interest continues to change over a predetermined period of time (e.g., several tens of seconds). For example, it may be detected that a state in which the distance between the player positions 74 indicated by the position information received at two consecutive points in time is equal to or greater than a predetermined distance continues for several tens of seconds.

[0085] Then, when it is detected that the player position 74 of the player of interest continues to change over a predetermined period of time, a vector may be identified that points from the player position 74 at the first point in time (corresponding to the above-mentioned time t1) to the player position 74 at the last point in time (corresponding to the above-mentioned time t2).

[0086] Here, for example, as shown in FIG. 7, it is assumed that the player B is the player of interest. In this case, as shown in FIG. 10, a movement direction vector v1 from the player position 74ba toward the player position 74bb may be specified. Then, the movement direction vector v1 may be decomposed into a vector v2 that is a component in a direction along the travelable range 62 (for example, a direction along the travel direction of the golf cart 16) and a vector v3 that is a component in a direction perpendicular to the travelable range 62. Here, for example, at each position indicated by the map data, the direction along the travelable range 62 (the direction toward the pin position 68 is set as positive) and the direction perpendicular to the travelable range 62 (the direction toward the travelable range 62 is set as positive) may be set in advance. Then, the movement direction vector v1 may be decomposed into the vector v2 and the vector v3 according to the setting.

[0087] Then, when vector v3 is in a direction toward the travelable range 62 and the relationship between the magnitude of vector v3 and the magnitude of vector v2 satisfies a given condition, the approach of the player of interest to the travelable range 62 may be detected. For example, when a value indicating the magnitude of vector v3 is positive and a value obtained by subtracting the absolute value of the value indicating the magnitude of vector v2 from the value indicating the magnitude of vector v3 is greater than a predetermined value, the approach of the player of interest to the travelable range 62 may be detected. Alternatively, when a value indicating the magnitude of vector v3 is positive and a value obtained by dividing the value indicating the magnitude of vector v3 by the absolute value of the value indicating the magnitude of vector v2 is greater than a predetermined value, the approach of the player of interest to the travelable range 62 may be detected.

[0088] Furthermore, the approach detection unit 104 may detect the approach of the focused player to the travelable range 62 when the short distance of the player position 74 of the focused player from the travelable range 62 satisfies a given approach condition.

[0089] For example, the approach detection unit 104 may detect the approach of the player of interest to the runnable range 62 when the short distance of the player position 74 of the player of interest from the runnable range 62 satisfies an approach condition a predetermined number of times or more consecutively. For example, the approach of the player of interest to the runnable range 62 may be detected when the condition "the distance from the edge of the runnable range 62 to the player position 74 of the player of interest is shorter than a predetermined distance (for example, one meter)" is satisfied two or more predetermined times or more consecutively.

[0090] Alternatively, the approach detection unit 104 may detect the approach of the player of interest to the running range 62 when a state in which the short distance of the player position 74 of the player of interest from the running range 62 satisfies an approach condition continues for a predetermined time or more. For example, the approach of the player of interest to the running range 62 may be detected when a state in which the condition "the distance from the edge of the running range 62 to the player position 74 of the player of interest is shorter than a predetermined distance (e.g., one meter)" is satisfied continues for a predetermined time or more (e.g., several tens of seconds).

[0091] In this embodiment, for example, the golf cart necessity determination unit 106 determines whether the last player satisfies a given cart unnecessary condition. For example, the golf cart necessity determination unit 106 may determine whether the last player is moving along the traveling direction of the golf cart 16 based on the history of the player position 74 of the last player.

[0092] For example, when the approach of the player of interest to the driving range 62 is detected, it may be detected that the player position 74 of the rearmost player continues to change for a predetermined time (e.g., several tens of seconds) until the detection time. For example, it may be detected that a state in which the distance between the player positions 74 indicated by the position information received at two consecutive points in time is equal to or greater than a predetermined distance continues for several tens of seconds until the approach of the player of interest to the driving range 62 is detected.

[0093] Then, when it is detected that the player position 74 of the last player continues to change over a predetermined period of time, a vector may be identified that points from the player position 74 at the first point in time (corresponding to the above-mentioned time t1) to the player position 74 at the last point in time (corresponding to the above-mentioned time t2).

[0094] Here, for example, as shown in FIG. 7 and FIG. 8, it is assumed that player A is the player of interest. In this case, as shown in FIG. 11, a movement direction vector v4 from player position 74aa to player position 74ab may be specified. Then, the movement direction vector v4 may be decomposed into vector v5, which is a component of a direction along the driving range 62, and vector v6, which is a component of a direction perpendicular to the driving range 62. Here, as described above, for each position indicated by the map data, the direction along the driving range 62 (the direction toward the pin position 68 is set as positive) and the direction perpendicular to the driving range 62 (the direction toward the driving range 62 is set as positive) may be set in advance. Then, the movement direction vector v4 may be decomposed into vector v5 and vector v6 according to the setting.

[0095] Then, when the relationship between the magnitude of vector v5 and the magnitude of vector v6 satisfies a given condition, it may be determined that the last player is moving along the running direction of the golf cart 16. For example, when the absolute value of the value indicating the magnitude of vector v5 minus the absolute value of the value indicating the magnitude of vector v6 is greater than a predetermined value, it may be determined that the last player is moving along the running direction of the golf cart 16. Alternatively, when the absolute value of the value indicating the magnitude of vector v5 divided by the absolute value of the value indicating the magnitude of vector v6 is greater than a predetermined value, it may be determined that the last player is moving along the running direction of the golf cart 16.

[0096] In this embodiment, for example, the target stop position determination unit 108 determines the target stop position 78 within the travelable range 62 of the golf cart 16 .

[0097] The target stop position determination unit 108 may determine the target stop position 78 based on the player position 74 of the last player, for example, as shown in Fig. 5. Here, the map data may include pass-point position data indicating the positions of a plurality of pass-points along the belt-shaped travelable range 62. Then, the target stop position determination unit 108 may determine the position of the pass-point closest to the player position 74 of the last player as the target stop position 78 based on the pass-point position data. Alternatively, in order to prevent the golf cart 16 from getting too close to the last player, the position of the pass-point farther from the pin position 68 by a predetermined distance than the position of the pass-point closest to the player position 74 of the last player may be determined as the target stop position 78.

[0098] 7 and 8, the target stop position determination unit 108 may determine the target stop position 78 based on the history of the player position 74 of the focused player in response to the detection of the approach of the focused player to the travelable range 62. For example, as shown in FIG. 7, the position of the pass point closest to the straight line obtained by extending the movement direction vector v1 may be determined as the target stop position 78. Alternatively, in order to prevent the golf cart 16 from approaching too close to the focused player, the position of the pass point farther from the pin position 68 by a predetermined distance from the position of the pass point closest to the straight line obtained by extending the movement direction vector v1 may be determined as the target stop position 78. Also, as shown in FIG. 8, the position of the pass point closest to the player position 74b of the focused player may be determined as the target stop position 78. Alternatively, in order to prevent the golf cart 16 from approaching too close to the focused player, the position of the pass point farther from the pin position 68 by a predetermined distance from the position of the pass point closest to the player position 74b of the focused player may be determined as the target stop position 78.

[0099] In this embodiment, for example, the avoidance necessity determination unit 110 determines whether or not a given avoidance target area 64 exists between the player position 74 and the target stop position 78. The avoidance necessity determination unit 110 may determine that the avoidance target area 64a exists between the player position 74a and the target stop position 78 when a part of a line segment connecting the player position 74a and the target stop position 78 is included in the avoidance target area 64a, as shown in Fig. 5, for example.

[0100] In this embodiment, the alternative stop position determination unit 112 determines the alternative stop position 80 based on, for example, the player alternative position 72. For example, the alternative stop position determination unit 112 may determine the position of the pass point closest to the player alternative position 72 as the alternative stop position 80 based on the pass point position data. Alternatively, in order to prevent the golf cart 16 from getting too close to the last player, the position of a pass point that is farther from the pin position 68 by a predetermined distance than the position of the pass point closest to the player alternative position 72 may be determined as the alternative stop position 80.

[0101] In addition, as shown in FIG. 5, the alternative stop position determination unit 112 may determine the alternative stop position 80 based on the position (player alternative position 72b in the example of FIG. 5) that is closest to the player position 74 (player position 74a in the example of FIG. 5) among multiple player alternative positions 72 (72a and 72b in the example of FIG. 5).

[0102] In this embodiment, for example, the green arrival detection unit 114 detects that a player has arrived at a green included in a hole where the player is playing. Here, the green arrival detection unit 114 may detect that a player has arrived at the green based on the player's player position 74 and the position of the green included in the hole where the player is playing. Also, the green arrival detection unit 114 may detect that a player has arrived at the green for each of a plurality of players based on the player's player position 74 and the position of the green included in the hole where the plurality of players are playing. The green arrival detection unit 114 detects that a player has arrived at the green when, for example, it is confirmed that the player's player position 74 is within the green area 66.

[0103] The green arrival detection unit 114 may store green arrival management data associated with a hole as shown in FIG. 12. As shown in FIG. 12, the green arrival management data includes hole number data, a plurality of player IDs, and a plurality of green arrival flags associated with the player IDs, respectively. The hole number data included in the green arrival management data is the number of a hole for which the arrival of a player at the green is managed by the green arrival management data. The player ID is an identifier of a player, and as described above, the player IDs of player A, player B, player C, and player D are "1", "2", "3", and "4", respectively. The green arrival flag is a flag indicating whether or not a player identified by a player ID associated with the green arrival flag has arrived at the green of the hole.

[0104] The initial value of the green arrival flag is 0, and in response to detection of a player's arrival at the green, the value of the green arrival flag associated with the player ID of that player is changed from 0 to 1. Note that in this embodiment, even if it is later confirmed that the player position 74 of the player is outside the green area 66, the value of the green arrival flag associated with the player ID of that player remains 1.

[0105] The green arrival management data shown in FIG. 12 indicates that for Player A and Player B, arrival at the green of the 9th hole has already been detected, while for Player C and Player D, arrival at the green of the 9th hole has not yet been detected.

[0106] It is not necessary for the green arrival detection unit 114 to detect that a player has arrived at the green based on the player's player position 74. For example, the green arrival detection unit 114 may store images of the faces of multiple players. The green arrival detection unit 114 may then detect that a player has arrived at the green based on the results of face recognition of an image captured by a surveillance camera that captures the green.

[0107] In this embodiment, the movement control unit 116, for example, moves the golf cart 16. Here, for example, an operation signal indicating "forward" or "stop" may be transmitted to the golf cart terminal 14. Then, the golf cart terminal 14 that receives the operation signal may transmit the operation signal to the golf cart 16. Then, the golf cart 16 that receives the operation signal may perform an operation according to the operation signal. Also, the movement control unit 116 according to this embodiment monitors the golf cart position 76, and is capable of moving the golf cart 16 to any position within the drivable range 62.

[0108] For example, the movement control unit 116 may move the golf cart 16 to the target stopping position 78 .

[0109] For example, the movement control unit 116 may move the golf cart 16 to the target stopping position 78 when the avoidance necessity determination unit 110 determines that a given avoidance target area 64 does not exist between the player position 74 and the target stopping position 78.

[0110] On the other hand, when the avoidance necessity determining unit 110 determines that a given avoidance target area 64 exists between the player position 74 and the target stop position 78, the movement control unit 116 may move the golf cart 16 to an alternative stop position 80 different from the target stop position 78, which is a position determined based on the avoidance target area 64. In the example of FIG. 5, the golf cart 16 moves to the alternative stop position 80.

[0111] Furthermore, the movement control unit 116 may move the golf cart 16 to the standby position 70 in response to detection of arrival of a player on the green. As shown in Fig. 6, the movement control unit 116 may move the golf cart 16 to the standby position 70 in response to detection of arrival of all of a plurality of players on the green. For example, the movement control unit 116 may move the golf cart 16 to the standby position 70 in response to the values ​​of all of the green arrival flags included in the green arrival management data of the hole where the plurality of players are playing golf becoming 1. In the example of Fig. 6, the golf cart 16 moves to the standby position 70.

[0112] In addition, in response to the approach of the focused player to the driving range 62 being detected by the approach detection unit 104, the movement control unit 116 may move the stopped golf cart 16 so as to approach the focused player.

[0113] Here, when the last player satisfies the above-mentioned cart unnecessary condition, the movement control unit 116 may move the stopped golf cart 16 to approach the focused player in response to detection of the focused player's approach to the driveable range 62. For example, when it is determined that the last player is moving along the driving direction of the golf cart 16 based on the history of the last player's position, the movement control unit 116 may move the stopped golf cart 16 to approach the focused player in response to detection of the focused player's approach to the driveable range 62. Here, as shown in Figs. 7 and 8, the golf cart 16 may move to the target stop position 78.

[0114] In addition, when the distance between the player position 74 of the focused player and the golf cart position 76 is shorter than a given distance (e.g., 100 yards), the movement control unit 116 may move the stopped golf cart 16 closer to the focused player in response to detecting the focused player's approach to the driving range 62.

[0115] Furthermore, the focused player does not have to be the second-to-last player among the multiple players estimated not to be riding on the golf cart 16. For example, the player order identification unit 102 may identify a player whose distance from the golf cart position 76 is shorter than a given distance (e.g., 100 yards) as the focused player. Here, multiple focused players may be identified. Then, in response to detection of the approach of any focused player to the driving range 62, the movement control unit 116 may move the stopped golf cart 16 to approach the focused player.

[0116] Here, an example of the flow of processing performed by the server 10 according to this embodiment will be described with reference to the flow diagrams shown in FIGS. 13A and 13B.

[0117] In this processing example, it is assumed that the position information receiving unit 94 repeatedly receives position information indicating the positions of the player terminal 12a, the player terminal 12b, the player terminal 12c, the player terminal 12d, and the golf cart terminal 14 at a predetermined time interval. Then, every time the position information receiving unit 94 receives this position information, the processing shown in Fig. 13A and Fig. 13B is executed. It is also assumed that player A, player B, player C, and player D are playing golf on a specific hole (e.g., the 9th hole). It is also assumed that the golf cart 16 is stopped.

[0118] First, in response to receiving position information by the position information receiving unit 94, the player position identification unit 96 identifies the player position 74a of player A, the player position 74b of player B, the player position 74c of player C, and the player position 74d of player D (S101), and the golf cart position identification unit 98 identifies the golf cart position 76 (S102).

[0119] Then, the green arrival detection unit 114 checks whether or not any player has newly arrived on the green, based on the player position 74 identified in the process shown in S101 and the position of the green area 66 (S103).

[0120] If it is confirmed that a player has newly arrived on the green (S103: Y), the green arrival detection unit 114 updates the value of the green arrival flag associated with the player ID of the player who has newly arrived on the green in the green arrival management data for the hole (e.g., the 9th hole) to 1 (S104).

[0121] Then, the green arrival detection unit 114 checks whether all the players have arrived at the green (S105). For example, it checks whether the values ​​of all the green arrival flags included in the green arrival management data for the hole have become 1.

[0122] If it is confirmed that all players have arrived at the green (S105: Y), the movement control unit 116 moves the golf cart 16 to the waiting position 70 of the hole (S106), and the processing shown in this processing example is terminated.

[0123] If the process shown in S103 confirms that no new players have arrived at the green (S103), or if the process shown in S105 does not confirm that all players have arrived at the green (S105:N), the riding estimation unit 100 estimates whether or not each of the four players is riding on the golf cart 16 (S107).

[0124] Then, the player order identification unit 102 identifies the last player and a player of interest (here, for example, the second player from the back) from among one or more players who are presumed not to be riding in the golf cart 16 (S108).

[0125] Then, the approach detection unit 104 checks whether or not it has detected the approach of the focused player identified in the process shown in S108 into the travelable range 62 (S109).

[0126] If an approach is detected (S109: Y), the golf cart necessity determining unit 106 checks whether the rearmost player satisfies the condition that a cart is not required (S110).

[0127] If it is confirmed that the rearmost player satisfies the condition that a cart is not required (S110: Y), the target stop position determination unit 108 determines the target stop position 78 based on the history of the player position 74 of the focused player (S111).

[0128] If the process shown in S109 does not detect the approach of the target player to the driving range 62 (S109:N), or if the process shown in S110 confirms that the last player does not satisfy the cart-free condition (S110:N), the target stopping position determination unit 108 checks whether the distance between the player position 74 of the last player and the golf cart position 76 is a predetermined distance (e.g., 10 meters) or more (S112).

[0129] If it is confirmed that the distance between the player position 74 of the rearmost player and the golf cart position 76 is not equal to or greater than the predetermined distance (S112: N), the process shown in this processing example is terminated.

[0130] If it is confirmed that the distance between the player position 74 of the last player and the golf cart position 76 is equal to or greater than a predetermined distance (S112: Y), the target stop position determination unit 108 determines the target stop position 78 based on the player position 74 of the last player (S113).

[0131] When the process shown in S111 or S113 is executed, the avoidance necessity determination unit 110 determines whether or not a given avoidance target area 64 exists between the player position 74 and the target stop position 78 (S114). When the process shown in S111 is executed, the process shown in S114 determines whether or not the avoidance target area 64 exists between the player position 74 of the focused player and the target stop position 78 determined in the process shown in S111. On the other hand, when the process shown in S113 is executed, the process shown in S114 determines whether or not the avoidance target area 64 exists between the player position 74 of the rearmost player and the target stop position 78 determined in the process shown in S113.

[0132] If it is confirmed that a given avoidance target area 64 exists between the player position 74 and the target stop position 78 (S114: Y), the alternative stop position determination unit 112 determines an alternative stop position 80 based on the player alternative position 72 that corresponds to the avoidance target area 64 (S115).

[0133] Then, the movement control unit 116 moves the golf cart 16 to the alternative stop position 80 determined in the process shown in S115 (S116), and the process shown in this processing example is terminated.

[0134] If it is confirmed in the process shown in S114 that there is no avoidance area 64 between the player position 74 and the target stop position 78 (S114:N), the movement control unit 116 moves the golf cart 16 to the target stop position 78 determined in the process shown in S111 or S113 (S117), and the process shown in this processing example is terminated.

[0135] It should be noted that, if it is estimated in the process shown in S107 that all the players are riding on the golf carts 16, the process shown in this process example may be ended without executing the processes shown in S108 and onwards.

[0136] Also, if it is estimated in the process shown in S107 that three players are riding on the golf cart 16, one player who is estimated not to be riding on the golf cart 16 may be specified as the rearmost player in the process shown in S108. Then, the process may proceed to the process shown in S112.

[0137] It should be noted that the present invention is not limited to the above-described embodiment.

[0138] For example, the map data may include passing point data in which a range of distances from the pin position 68 (or a range of ratios of distances from the pin position 68 to the length of the hole) is associated with each of a plurality of passing points along the strip-shaped drivable range 62. Then, the target stop position determination unit 108 may determine, as the target stop position 78, a passing point associated with a distance range including the distance from the pin position 68 to the player position 74. Furthermore, the alternative stop position determination unit 112 may determine, as the alternative stop position 80, a passing point associated with a distance range including the distance from the pin position 68 to the alternative player position 72.

[0139] Alternatively, the map data may include line segment data indicating a plurality of line segments along the strip-shaped driving range 62. Then, the target stop position determination unit 108 may determine the foot of a perpendicular line to the line segment that is closest to the player position 74 as the target stop position 78. Furthermore, the alternative stop position determination unit 112 may determine the foot of a perpendicular line to the line segment that is closest to the player alternative position 72 as the target stop position 78. In this case, the direction of the line segment that is closest to the player position 74 may be determined as the direction along the driving range 62, and the direction perpendicular to that direction may be determined as the direction perpendicular to the driving range 62.

[0140] Furthermore, the golf cart 16 does not have to move along a preset route within a golf course, such as a cart path. For example, the golf cart 16 may be capable of entering a fairway. In this case, the drivable range 62 is not a linear (strip) area, but a planar area.

[0141] Additionally, the player position 74 and the golf cart position 76 may be identified by a sensor other than the GPS module.

[0142] Also, when a player is playing golf alone, the golf cart 16 may be moved to the waiting position 70 in response to detection of the player's arrival at the green.

[0143] In addition, the golf cart 16 may be switched to an automatic driving mode in which automatic driving as described above can be performed in response to the passage of a predetermined time (e.g., 10 seconds) after the golf cart 16 is stopped by the operation of the control button 18. When switching to the automatic driving mode, for example, a character string "Switched to automatic driving mode" may be displayed and output on the display of the golf cart terminal 14, or a voice reading the character string may be output from the speaker of the golf cart terminal 14. In addition, when the golf cart 16 starts moving in the automatic driving mode, for example, a character string "Starting automatic driving" may be displayed and output on the display of the golf cart terminal 14, or a voice reading the character string may be output from the speaker of the golf cart terminal 14. Here, for example, the golf cart 16 may start moving several seconds after the character string is displayed and output on the display of the golf cart terminal 14, or the voice reading the character string is output from the speaker of the golf cart terminal 14.

[0144] In addition, when golf cart 16 moves to approach a player of interest rather than the last player, a string such as "Skip over Player A, the last player, and move to the vicinity of Player B, the player in front of him" may be displayed on the display of golf cart terminal 14, or the string may be read aloud and output from the speaker of golf cart terminal 14.

[0145] 9 may be implemented in the player terminal 12 or the golf cart terminal 14, rather than in the server 10. In this case, communication may be performed between the player terminal 12 and the golf cart terminal 14.

[0146] Furthermore, the specific character strings and numerical values ​​described above and the specific character strings and numerical values ​​in the drawings are merely examples, and the present invention is not limited to these character strings and numerical values. [Explanation of symbols]

[0147] 1 Golf cart movement control system, 10 Server, 12, 12a, 12b, 12c, 12d Player terminal, 14 Golf cart terminal, 16 Golf cart, 18 Control button, 20 Computer network, 30 Processor, 32 Memory unit, 34 Communication unit, 40 Processor, 42 Memory unit, 44 Communication unit, 46 Sensor unit, 50 Processor, 52 Memory unit, 54 Communication unit, 56 Sensor unit, 58 Output unit, 60 Map image, 62 Driving range, 64, 64a, 64b, 64c Avoidance target area, 66 Green area, 68 Pin position, 70 Waiting position, 72, 72a, 72b Player alternative position, 74, 74a, 74aa, 74ab, 74b, 74ba, 74bb, 74c, 74d Player position, 76 Golf cart position, 78 Target stopping position, 80 alternative stopping position, 90 map data storage unit, 92 player alternative position determination unit, 94 position information receiving unit, 96 player position identification unit, 98 golf cart position identification unit, 100 boarding estimation unit, 102 player order identification unit, 104 approach detection unit, 106 golf cart necessity determination unit, 108 target stopping position determination unit, 110 avoidance necessity determination unit, 112 alternative stopping position determination unit, 114 green arrival detection unit, 116 movement control unit.

Claims

1. an approach detection means for detecting an approach of a target player playing golf to a driving range of a golf cart used by the target player; a movement control means for moving the stopped golf cart so as to approach the player of interest in response to the detection of the approach; 1. A golf cart motion control system comprising:

2. a target player position specifying means for repeatedly specifying a target player position which is the position of the target player, the approach detection means detects the approach when it is determined that the focused player is moving toward the travelable range based on a position history of the focused player; 10. The golf cart motion control system of claim 1.

3. a target player position specifying means for specifying a target player position which is a position of the target player, the approach detection means detects the approach when a short distance of the target player position from the running range satisfies a given approach condition; 10. The golf cart motion control system of claim 1.

4. The target player position specifying means repeatedly specifies the target player position, the approach detection means detects the approach when the shortness of the distance from the running range of the focused player position satisfies the approach condition a predetermined number of times or more consecutively, or when the state in which the approach condition is satisfied continues for a predetermined period of time or more.

4. The golf cart motion control system of claim 3.

5. the target player is the second-to-last player among a plurality of players in a group to which the target player belongs who are presumed not to be riding in the golf cart, the movement control means, in a case where a rearmost player among the plurality of players satisfies a given cart unnecessary condition, moves the golf cart so as to approach the target player in response to the detection of the approach; 10. The golf cart motion control system of claim 1.

6. a last player position specifying means for repeatedly specifying a last player position which is the position of the last player, when it is determined based on the history of the position of the last player that the last player is moving along the traveling direction of the golf cart, the movement control means moves the golf cart so as to approach the target player in response to the detection of the approach.

6. The golf cart motion control system of claim 5.

7. a target player position specifying means for specifying a target player position which is the position of the target player; and a golf cart position identifying means for identifying a golf cart position that is the position of the golf cart, the movement control means, in response to the detection of the approach, moves the golf cart so as to approach the player of interest when a distance between the position of the player of interest and the position of the golf cart is shorter than a given distance; 10. The golf cart motion control system of claim 1.

8. a golf cart position identifying means for identifying a golf cart position, which is the position of the golf cart; and a target player specifying means for specifying one or more players whose distance to the golf cart position is shorter than a given distance as a target player, the movement control means, in response to the detection of the approach of any one of the focused players, moves the golf cart so as to approach the focused player; 10. The golf cart motion control system of claim 1.

9. A golf cart movement control system comprising: a step of detecting an approach of a target player who is playing golf to a driving range of a golf cart used by the target player; a step of the golf cart movement control system moving the stopped golf cart to approach the target player in response to the detection of the approach; A method for controlling movement of a golf cart comprising:

10. A step of detecting an approach of a player of interest who is playing golf to a driving range of a golf cart used by the player of interest; In response to the detection of the approach, moving the stopped golf cart so as to approach the player of interest; A program for causing a computer to execute the following.

Images