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

Abstract

Provided are a golf cart movement control system, a golf cart movement control method, and a program that can move a golf cart to a position convenient for a player playing golf. 【Solution means】A player position specifying unit 96 specifies the player position. A target stop position determining unit 108 determines a target stop position based on the player position. An avoidance necessity determination unit 110 determines whether or not a given avoidance target area exists between the player position and the target stop position. A movement control unit 116 moves the golf cart to the target stop position when it is determined that the avoidance target area does not exist, and moves the golf cart to an alternative stop position different from the target stop position, which is a position determined based on the position of the avoidance target area, when it is determined that the avoidance target area exists.

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 Art

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

[0003] Patent Document 2 describes a technique for moving a golf cart to a lateral position of a player on the course running path only when the player moves in the direction of the green of the hole.

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

[0005] Patent Document 4 describes a technique for a golfer to be able to call a golf bag carrier vehicle. Further, Patent Document 4 describes a technique for changing a driving route to avoid an obstacle when it is recognized that there is an obstacle such as a bunker between the golfer and the golf bag carrier vehicle.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Summary of the Invention

Problems to be Solved by the Invention

[0007] When a golf cart traveling within a drivable range such as on a cart path stops near a player who is playing golf, it reduces the effort for the player to go get a golf club and is convenient.

[0008] However, even if the golf cart stops near the player, if there is an area to be avoided such as a hazard or a repair area between the golf cart and the player, it is necessary to detour around the area to be avoided in order for the player to reach the position of the golf cart, which is troublesome.

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

Means for Solving the Problems

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

[0011] (2) The above golf cart movement control system according to (1) may be such that the alternative stop position is a position determined based on a player alternative position associated with the avoidance target area.

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

[0013] (4) The above golf cart movement control system according to (2) may further include player alternative position determination means for determining the player alternative position associated with the avoidance target area based on the position of the avoidance target area.

[0014] (5) The player alternative position determination means according to (4) may determine the player alternative position associated with the avoidance target area based on the position of the avoidance target area and the position of the pin of the hole where the player is playing.

[0015] (6) The player alternative position determination means according to (5) may determine, as the player alternative position associated with the avoidance target area, the position within the avoidance target area that is closest to the position of the pin of the hole or the position within the avoidance target area that is farthest from the position of the pin of the hole.

[0016] (7) The player alternative position determination means may determine a plurality of player alternative positions associated with the avoidance target area, and further include alternative stop position determination means for determining the alternative stop position based on the position among the plurality of player alternative positions that is closest to the player position. The golf cart movement control system according to any one of (4) to (6) above may be such.

[0017] (8) The avoidance necessity determination means may be the golf cart movement control system according to any one of (1) to (7) above, which determines that the avoidance target area exists between the player position and the target stop position when a part of the line segment connecting the player position and the target stop position is included in the avoidance target area.

[0018] (9) The avoidance target area may be an area indicating a hazard or a repair area, and the golf cart movement control system according to any one of (1) to (8) above may be used.

[0019] (10) For each of the plurality of players, a boarding estimation means for estimating whether the player is on the golf cart, and a last player identification means for identifying the last player from among one or more of the players estimated not to be on the golf cart, are further included, and the target stop position determination means may be the golf cart movement control system according to any one of (1) to (9) above, which determines the target stop position based on the player position of the last player.

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

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

[0022] (13) The green arrival detection means detects, for each of the plurality of players, that the player has arrived at the green, and the movement control means moves the golf cart to the standby position in response to detecting that all of the plurality of players have arrived at the green. The golf cart movement control system according to (12) above may also be used.

[0023] (14) The green arrival detection means detects that the player has arrived at the green based on the player position of the player and the position of the green. The golf cart movement control system according to (12) or (13) above may also be used.

[0024] (15) The golf cart movement control method according to the present invention includes a step of specifying a player position that is the position of a player who is playing golf, a step of determining a target stop position within the drivable range of the golf cart used by the player based on the player position, a step of determining whether or not a given avoidance target area exists between the player position and the target stop position, a step of moving the golf cart to the target stop position when it is determined that the avoidance target area does not exist, and a step of moving the golf cart to an alternative stop position different from the target stop position, which is a position determined based on the position of the avoidance target area, when it is determined that the avoidance target area exists.

[0025] (16) The program according to the present invention includes steps of identifying a player position which is the position of a player playing golf, determining a target stop position within a drivable range of a golf cart used by the player based on the player position, determining whether a given avoidance target area exists between the player position and the target stop position, moving the golf cart to the target stop position when it is determined that the avoidance target area does not exist, and moving the golf cart to an alternative stop position different from the target stop position which is a position determined based on the position of the avoidance target area when it is determined that the avoidance target area exists, and is a program for causing a computer to execute these steps.

[0026] (17) Further, another golf cart movement control system according to the present invention includes a green arrival detection means for detecting that a player playing golf has arrived at a green included in a hole where the player is playing, and a movement control means for moving the golf cart to a standby position provided at an exit of the hole in response to the detection that the player has arrived at the green.

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

[0028] (19) Further, another program according to the present invention includes steps of detecting that a player playing golf has arrived at a green included in a hole where the player is playing, and moving the golf cart to a standby position provided at an exit of the hole in response to the detection that the player has arrived at the green, and is a program for causing a computer to execute these steps.

Brief Description of the Drawings

[0029]

Figure 1

Figure 2A

Figure 2B

Figure 2C

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13A

Figure 13B

Embodiments for Carrying Out the Invention

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

[0031] FIG. 1 is a diagram showing an example of the overall configuration of a golf cart movement control system 1 according to the present embodiment. As shown in FIG. 1, the golf cart movement control system 1 according to the present 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 start and stop 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 can communicate with each other via the computer network 20.

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

[0033] The processor 30 is, for example, a program control 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. The communication unit 34 is, for example, a communication interface for wired communication or wireless communication, and exchanges data with the player terminal 12 and the golf cart terminal 14 via the computer network 20. The server 10 may be installed in a clubhouse of a golf course, or may be installed at a location such as a data center away from the golf course.

[0034] The player terminal 12 according to the present embodiment is a computer such as a mobile phone (including a smartphone) or a portable information terminal (including a tablet computer). 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 as shown in FIG. 2B. Note that the player terminal 12 may include a touch panel, a camera, or the like.

[0035] The processor 40 is a program control device such as a microprocessor that operates according to a program installed in the player terminal 12. The storage unit 42 is 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 and the like. The communication unit 44 is a communication interface for wired communication or wireless communication, and exchanges data with a computer such as the server 10 via the computer network 20. The sensor unit 46 is a sensing device such as a GPS module, an acceleration sensor, a motion sensor, or a direction sensor. In the present embodiment, the case where the sensor unit 46 is included in the player terminal 12 will be described, but the sensor unit 46 may be external to the player terminal 12.

[0036] The golf cart terminal 14 according to the present embodiment is a computer such as a mobile phone (including a smartphone) or a portable information terminal (including a tablet computer). The golf cart terminal 14 according to the present embodiment includes, for example, a processor 50, a storage unit 52, a communication unit 54, a sensor unit 56, and an output unit 58 as shown in FIG. 2C. Note that the golf cart terminal 14 may include a camera.

[0037] The processor 50 is a program control device such as a microprocessor that operates according to a program installed in the golf cart terminal 14, for example. The storage unit 52 is a storage element such as a ROM or a RAM, or a solid state drive (SSD), for example. Programs executed by the processor 50 and the like are stored in the storage unit 52. The communication unit 54 is a communication interface for wired communication or wireless communication, for example, and exchanges data with a computer such as the server 10 via the computer network 20. The sensor unit 56 is a sensing device such as a GPS module, an acceleration sensor, a motion sensor, or a direction sensor, for example. The output unit 58 is a display that displays and outputs information according to an instruction input from the processor 50, a speaker that outputs sound, or the like, for example. In the present embodiment, a case where the sensor unit 56 is included in the golf cart terminal 14 is described, but the sensor unit 56 may be outside the golf cart terminal 14. Further, the output unit 58 may include a touch panel.

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

[0039] Further, the golf cart 16 according to the present embodiment can receive an operation signal transmitted from the golf cart terminal 14 and perform an automatic operation (such as forward movement or stop) according to the operation signal without performing an explicit operation such as an operation of the control button 18 by the player.

[0040] In this embodiment, four players belong to a certain group (party), and these four players will play golf using the golf cart 16. Hereinafter, these four players will be referred to as Player A, Player B, Player C, and Player D, respectively. Also, the identifiers of Player A, Player B, Player C, and Player D (hereinafter referred to as player IDs) are "1", "2", "3", and "4", respectively. And Player A, Player B, Player C, and Player D are each carrying player terminals 12a, 12b, 12c, and 12d during the golf play.

[0041] The server 10 according to this embodiment stores map data indicating the golf course where the above four players are playing golf. The map data according to this embodiment is, for example, grid data, and is associated with cell position information (for example, latitude and longitude) and type information indicating the type of the cell (for example, fairway, rough, hazard (bunker and water hazard), repair area, green, cart path, forest, etc.).

[0042] FIG. 3 is a diagram showing an example of a map image 60 in which the map data of the hole where the player according to this embodiment is playing golf is visualized. In the map image 60 shown in FIG. 3, there are shown a drivable range 62 of the golf cart 16 (for example, a cart path), an avoidance target area 64 (64a, 64b, and 64c) which is an area indicating a hazard or a repair area, a green area 66 which is an area indicating a green, and the like.

[0043] Also, the map data includes pin position data indicating the position of the pin (hereinafter referred to as pin position 68) and standby position data indicating a standby position 70 provided in advance at the exit of each hole. In FIG. 3, the pin position 68 and the standby position 70 are shown on the map image 60.

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

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

[0046] In FIG. 4, 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 are shown on the map image 60. And the golf cart position 76, which is the position of the golf cart 16, is also shown on the map image 60.

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

[0048] And in this embodiment, for example, among one or more players estimated not to be riding on the golf cart 16, the last player (hereinafter referred to as the last player) is specified. In the example of FIG. 4, among players A, B, and C, player A is specified as the last player.

[0049] Then, as shown in FIG. 5, based on the player position 74, a target stop position 78 within the drivable range 62 is determined. Then, it is determined whether or not a given avoidance target area 64 exists between the player position 74 and the target stop position 78. In the example of FIG. 5, based on the player position 74a of player A, the target stop position 78 within the drivable range 62 is determined, and it is determined that an avoidance target area 64a exists between the player position 74a and the target stop position 78.

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

[0051] On the other hand, when it is determined that no avoidance target area 64 exists between the player position 74 and the target stop position 78, the golf cart 16 moves to the target stop position 78.

[0052] If the golf cart 16 moves to the target stop position 78 in the situation shown in FIG. 5, player A has to detour around the avoidance target area 64a to reach the position of the golf cart 16, which is troublesome. In the present embodiment, as described above, 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 the alternative stop position 80. Therefore, player A can reach the position of the golf cart 16 without detouring around the avoidance target area 64a. In this way, in the example of FIG. 5, the golf cart 16 can be moved to a position convenient for the player playing golf.

[0053] Also, in the situation shown in FIG. 5, the player farthest from the pin position 68 is player D. Here, if player D is specified as the last player among players A, B, C, and D, and the target stop position 78 is determined based on the player position 74 of player D, the golf cart 16 will never start.

[0054] In this embodiment, as described above, for each of the plurality of players, it is estimated whether the player is on the golf cart 16. Then, the last player is specified from among one or more players estimated not to be on the golf cart 16. Therefore, it is possible to prevent a situation where the golf cart 16 never starts. In this way, in the example of FIG. 5, the golf cart 16 can be moved to an appropriate position.

[0055] FIG. 6 shows a situation different from FIGS. 4 and 5. In this embodiment, as shown in FIG. 6, in response to detecting that all of the plurality of players have arrived at the green, the golf cart 16 moves to the standby position 70. By doing so, the progress of the golf play becomes smooth.

[0056] Figure 7 shows a situation different from FIGS. 4 to 6. In the example of FIG. 7, the player position 74a of player A at a certain time point t1 is shown as player position 74aa on the map image 60, and the player position 74a of player A at a time point t2, which is a predetermined time after time point t1, is shown as player position 74ab on the map image 60. Also, the player position 74b of player B at time point t1 is shown as player position 74ba on the map image 60, and the player position 74b of player B at time point t2 is shown as player position 74bb on the map image 60. Further, 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 time point t1 to time point t2. And in the example of FIG. 7, player A is specified as the last player, and player B is specified as the second last player.

[0057] In this situation, as shown in FIG. 7, it is assumed that player B is approaching the drivable range 62 and it is detected that player A is moving along the traveling direction of the golf cart 16. In this case, the golf cart 16 will move to the target stop position 78 determined based on the history of the player position 74b of player B.

[0058] In the situation shown in FIG. 7, player B is moving towards the drivable range 62. Therefore, it is inferred that there may be a situation where player B wants the golf cart 16 to come closer, for example, in a situation where player B wants to pick up a golf club loaded on the golf cart 16.

[0059] Also, player A is moving along the traveling direction of the golf cart 16. Therefore, it is inferred that player A does not need the golf cart 16, that is, player A has no intention of boarding the golf cart 16.

[0060] In the situation as described above, in the example of FIG. 7, the golf cart 16 moves so as to approach player B as described above. In this way, in the example of FIG. 7, it becomes possible to move the golf cart 16 so as to approach a player who is likely to want the golf cart 16 to come closer.

[0061] FIG. 8 shows a situation different from FIGS. 4 to 7. Also in the example of FIG. 8, the player position 74a of player A at time t1 is shown as player position 74aa on the map image 60, and the player position 74a of player A at time t2 which is a predetermined time after time t1 is shown as player position 74ab on the map image 60. Further, in FIG. 8, the player position 74b of player B, the player position 74c of player C, and the player position 74d of player D are shown on the map image 60. In the example of FIG. 8, it is assumed that the player positions 74b of player B, 74c of player C, and 74d of player D do not change from time t1 to time t2. And also in the example of FIG. 8, player A is specified as the last player, and player B is specified as the second player from the last.

[0062] In this situation, as shown in FIG. 8, it is assumed that the situation where the distance from the drivable range 62 to the player position 74b of player B is shorter than a predetermined distance has continued for a predetermined time or more, and it has been detected that player A is moving along the traveling direction of the golf cart 16. In this case, the golf cart 16 will move to the target stop position 78 determined based on the history of the player position 74b of player B.

[0063] In the situation shown in FIG. 8, player B stays near the drivable range 62. Therefore, it is inferred that there may be a situation where player B wants the golf cart 16 to come closer, such as a situation where player B wants to take a golf club loaded on the golf cart 16.

[0064] Also, player A is moving along the traveling direction of the golf cart 16. Therefore, it is inferred that player A does not need the golf cart 16, that is, player A has no intention of boarding the golf cart 16.

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

[0066] Hereinafter, 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.

[0067] FIG. 9 is a functional block diagram showing an example of the functions implemented in the server 10 according to the present embodiment. Note that it is not necessary for all of the functions shown in FIG. 9 to be implemented in the server 10 according to the present embodiment, and functions other than those shown in FIG. 9 may be implemented.

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

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

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

[0071] The map data storage unit 90 stores, for example, the above-described map data in the present embodiment.

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

[0073] The player 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 the position within 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. Also, the player alternative position determination unit 92 may determine the position within 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. Thus, 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 there to be a plurality of player alternative positions 72 associated with the avoidance target area 64, and there may be one player alternative position 72 associated with the avoidance target area 64.

[0074] Also, the player alternative position 72 does not necessarily have 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 preset in association with the avoidance target area 64.

[0075] In this embodiment, for example, the position information reception unit 94 receives position information indicating the position of the player terminal 12. For example, in this embodiment, at a predetermined time interval (e.g., intervals of several seconds), the 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. Then, the GPS module may transmit position information indicating the measured current position (e.g., latitude and longitude) associated with the identifier (ID) of the player terminal 12 and time information indicating the time at which the measurement was performed to the server 10 in response to the measurement. Then, the position information reception unit 94 may receive the position information transmitted from the player terminal 12 in this way. In the following description, it is assumed that the IDs of the player terminals 12a, 12b, 12c, and 12d are "1", "2", "3", and "4", respectively.

[0076] Similarly, in this embodiment, the position information receiving unit 94 receives position information indicating the position of the golf cart terminal 14. For example, in this embodiment, at a predetermined time interval (e.g., several seconds), the 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. Then, according to the positioning, the GPS module may transmit position information indicating the measured current position (e.g., latitude and longitude) associated with the identifier (ID) of the golf cart terminal 14 and time information indicating the time when the positioning was performed to the server 10. And the position information receiving unit 94 may receive the position information transmitted from the golf cart terminal 14 in this way. In the following description, it is assumed that the ID of the golf cart terminal 14 is "5".

[0077] In this embodiment, for example, the player position specifying unit 96 specifies the player position 74 that is the position of the player playing golf.

[0078] The player position specifying unit 96 may specify the respective player positions 74 of a plurality of players (e.g., player A, player B, player C, and player D in this embodiment). For example, based on the position information associated with the ID "1", the player position 74a of player A may be specified. Also, based on the position information associated with the ID "2", the player position 74b of player B may be specified. Also, based on the position information associated with the ID "3", the player position 74c of player C may be specified. Also, based on the position information associated with the ID "4", the player position 74d of player D may be specified.

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

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

[0081] Also, the golf cart position specifying unit 98 may repeatedly specify the golf cart position 76. For example, each time the golf cart position specifying unit 98 receives position information from the golf cart terminal 14, the position indicated by the position information may be specified as the latest golf cart position 76 of the golf cart 16.

[0082] In this embodiment, for example, the boarding estimation unit 100 estimates, for each of a plurality of players playing golf, whether the player is boarding the golf cart 16. The boarding estimation unit 100 may estimate, for each of the plurality of players, whether the player is boarding the golf cart 16 based on the player position 74 of the player and the golf cart position 76.

[0083] Here, the boarding estimation unit 100 may estimate, for each of the plurality of players, whether the player is boarding 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 boarding estimation unit 100 may estimate that the player is boarding 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. And the boarding estimation unit 100 may estimate that the player is not boarding the golf cart 16 when the distance between the player position 74 of the player and the golf cart position 76 is not equal to or less than the predetermined distance.

[0084] Note that the boarding estimation unit 100 does not necessarily estimate whether the player is boarding the golf cart 16 based on the player position 74 and the golf cart position 76.

[0085] For example, the golf cart terminal 14 may transmit radio waves of a predetermined frequency. And each player terminal 12 may measure the radio wave intensity of the radio waves of the said frequency. And each player terminal 12 may transmit data indicating the radio wave intensity to the server 10. And the boarding estimation unit 100 may identify a player terminal 12 in which a state where the radio wave intensity of the radio waves received from the golf cart terminal 14 is greater than a predetermined magnitude continues for a predetermined time or more, and may estimate the player using the player terminal 12 as a player riding on the golf cart 16. Similarly, each player terminal 12 may transmit radio waves of a predetermined frequency unique to the player terminal 12. And the golf cart terminal 14 may measure the radio wave intensity of the radio waves of the frequency unique to each player terminal 12. And the golf cart terminal 14 may transmit, for each player terminal 12, 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. And the boarding estimation unit 100 may identify a player terminal 12 in which a state where the radio wave intensity of the radio waves received by the golf cart terminal 14 is greater than a predetermined magnitude continues for a predetermined time or more, and may estimate the player using the player terminal 12 as a player riding on the golf cart 16.

[0086] Also, each player terminal 12 may include an RFID tag in which the ID of the player terminal 12 is recorded. And the golf cart terminal 14 may be provided with an RFID tag reading function. And the golf cart terminal 14 may transmit the ID read to the server 10. And the boarding estimation unit 100 may estimate the player using the player terminal 12 identified by the transmitted ID as a player riding on the golf cart 16.

[0087] Also, the boarding estimation unit 100 may store images of the faces of a plurality of players. And the golf cart terminal 14 may be provided with a camera, and the golf cart terminal 14 may transmit the image captured by the camera to the server 10. And the boarding estimation unit 100 may estimate the player riding on the golf cart 16 based on the execution result of the face recognition process for the said image.

[0088] In this embodiment, for example, the player order specifying unit 102 specifies the order of one or more players who are presumed not to be riding on the golf cart 16. The player order specifying unit 102 may specify the last player among the one or more players who are presumed not to be riding on the golf cart 16. Further, the player order specifying unit 102 may specify the second last player among the one or more players who are presumed not to be riding on the golf cart 16. Also, the specification may be repeatedly executed.

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

[0090] Note that the player order specifying unit 102 does not need to specify the order of the players based on the player position 74. For example, the player order specifying unit 102 may store images of the faces of a plurality of players. Then, the player order specifying unit 102 may specify the last player or the second last player based on the face recognition result for the image captured by a wide-angle surveillance camera capable of photographing the entire hole.

[0091] In this embodiment, for example, the proximity detection unit 104 detects the approach of a player who is playing golf to the drivable range 62 of the golf cart 16 used by the player. Hereinafter, the player who is the detection target of the approach to the drivable range 62 will be referred to as the target player. Here, the target player may be the second player from the end among a plurality of players who are presumed not to be riding in the golf cart 16.

[0092] Based on the history of the player position 74 of the target player, the proximity detection unit 104 may detect the approach of the target player to the drivable range 62 when it is determined that the target player is moving toward the drivable range 62.

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

[0094] When it is detected that the player position 74 of the target player continues to change over a predetermined time, a vector from the player position 74 at the first time point (corresponding to the above-mentioned time point t1) to the player position 74 at the last time point (corresponding to the above-mentioned time point t2) of the predetermined time may be specified.

[0095] Here, for example, as shown in FIG. 7, assume that player B is the player of interest. In this case, as shown in FIG. 10, a movement direction vector v1 from player position 74ba to player position 74bb may be specified. Then, the movement direction vector v1 may be decomposed into a vector v2 that is a component in the direction along the drivable range 62 (for example, the direction along the traveling direction of the golf cart 16) and a vector v3 that is a component in the direction perpendicular to the drivable range 62. Here, for example, at each position indicated by the map data, the direction along the drivable range 62 (assuming the direction toward the pin position 68 is positive) and the direction perpendicular to the drivable range 62 (assuming the direction toward the drivable range 62 is positive) may be preset. Then, according to the setting, the movement direction vector v1 may be decomposed into the vector v2 and the vector v3.

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

[0097] Further, the approach detection unit 104 may detect an approach of the player of interest to the drivable range 62 when the length of the distance from the player position 74 of the player of interest to the drivable range 62 satisfies a given approach condition.

[0098] For example, when the distance from the travelable range 62 of the player position 74 of the target player satisfies the approach condition continuously for a predetermined number of times or more, the approach detection unit 104 may detect the approach of the target player to the travelable range 62. For example, when the condition that "the distance from the edge of the travelable range 62 to the player position 74 of the target player is shorter than a predetermined distance (for example, 1 meter)" is satisfied continuously for two or more predetermined times or more, the approach of the target player to the travelable range 62 may be detected.

[0099] Alternatively, when the state where the shortness of the distance from the travelable range 62 of the player position 74 of the target player satisfies the approach condition continues for a predetermined time or more, the approach detection unit 104 may detect the approach of the target player to the travelable range 62. For example, when the state where the condition that "the distance from the edge of the travelable range 62 to the player position 74 of the target player is shorter than a predetermined distance (for example, 1 meter)" is satisfied continues for a predetermined time (for example, several tens of seconds) or more, the approach of the target player to the travelable range 62 may be detected.

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

[0101] For example, when the approach of the target player to the travelable range 62 is detected, it may be detected that the player position 74 of the trailing player has been continuously changing over a predetermined time (for example, several tens of seconds) up to the detected time. For example, it may be detected that the state where the distance between the player positions 74 indicated by the position information received at each of two consecutive time points is equal to or greater than a predetermined distance continues for several tens of seconds up to the time when the approach of the target player to the travelable range 62 is detected.

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

[0103] Here, for example, as shown in FIGS. 7 and 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 the player position 74aa to the player position 74ab may be specified. Then, the movement direction vector v4 may be decomposed into a vector v5 that is a component in the direction along the travelable range 62 and a vector v6 that is a component in the direction perpendicular to the travelable range 62. Here, as described above, at each position indicated by the map data, the direction along the travelable range 62 (with the direction toward the pin position 68 being positive) and the direction perpendicular to the travelable range 62 (with the direction toward the travelable range 62 being positive) may be preset. Then, according to the setting, the movement direction vector v4 may be decomposed into the vector v5 and the vector v6.

[0104] When the relationship between the magnitude of the vector v5 and the magnitude of the vector v6 satisfies a given condition, it may be determined that the trailing player is moving along the traveling direction of the golf cart 16. For example, when the value obtained by subtracting the absolute value of the value indicating the magnitude of the vector v6 from the absolute value of the value indicating the magnitude of the vector v5 is greater than a predetermined value, it may be determined that the trailing player is moving along the traveling direction of the golf cart 16. Alternatively, for example, when the value obtained by dividing the absolute value of the value indicating the magnitude of the vector v5 by the absolute value of the value indicating the magnitude of the vector v6 is greater than a predetermined value, it may be determined that the trailing player is moving along the traveling direction of the golf cart 16.

[0105] The target stop position determination unit 108 determines, for example, a target stop position 78 within the travelable range 62 of the golf cart 16 in the present embodiment.

[0106] The target stop position determination unit 108 may determine the target stop position 78 based on, for example, the player position 74 of the trailing player as shown in FIG. 5. Here, the map data may include passing point position data indicating the positions of a plurality of passing points along the strip-shaped drivable range 62. Then, the target stop position determination unit 108 may determine the position of the passing point closest to the player position 74 of the trailing player as the target stop position 78 based on the passing point position data. Alternatively, in order to prevent the golf cart 16 from approaching the trailing player too closely, the position of the passing point that is a predetermined distance away from the pin position 68 from the position of the passing point closest to the player position 74 of the trailing player may be determined as the target stop position 78.

[0107] Further, as shown in FIGS. 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 target player in response to detecting the approach of the target player to the drivable range 62. For example, as shown in FIG. 7, the position of the passing point closest to the straight line 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 the target player too closely, the position of the passing point that is a predetermined distance away from the pin position 68 from the position of the passing point closest to the straight line 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 passing point closest to the player position 74b of the target player may be determined as the target stop position 78. Alternatively, in order to prevent the golf cart 16 from approaching the target player too closely, the position of the passing point that is a predetermined distance away from the pin position 68 from the position of the passing point closest to the player position 74b of the target player may be determined as the target stop position 78.

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

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

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

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

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

[0113] The initial value of the green arrival flag is 0. In response to detecting that a certain player has arrived at the green, the value of the green arrival flag associated with the player ID of the player is changed from 0 to 1. In this embodiment, even if it is subsequently 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 the player remains 1.

[0114] In the green arrival management data shown in FIG. 12, for player A and player B, it has already been detected that they have arrived at the green of hole 9, and for player C and player D, it is shown that they have not yet been detected as having arrived at the green of hole 9.

[0115] Note that the green arrival detection unit 114 does not necessarily need to detect that the player has arrived at the green based on the player position 74 of the player. For example, the green arrival detection unit 114 may store images of the faces of a plurality of players. Then, the green arrival detection unit 114 may detect that the player has arrived at the green based on the face recognition result for the image captured by the surveillance camera that captures the green.

[0116] In this embodiment, for example, the movement control unit 116 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 has received the operation signal may transmit the operation signal to the golf cart 16. Then, the golf cart 16 that has received the operation signal may perform an operation corresponding 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 an arbitrary position within the travelable range 62.

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

[0118] For example, when the avoidance necessity determination unit 110 determines that there is no given avoidance target area 64 between the player position 74 and the target stop position 78, the movement control unit 116 may move the golf cart 16 to the target stop position 78.

[0119] On the other hand, when the avoidance necessity determination unit 110 determines that there is a given avoidance target area 64 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 80, which is a position determined based on the avoidance target area 64. In the example of FIG. 5, the golf cart 16 will move to the alternative stop position 80.

[0120] Further, the movement control unit 116 may move the golf cart 16 to the standby position 70 in response to detecting that the player has arrived at the green. As shown in FIG. 6, the movement control unit 116 may move the golf cart 16 to the standby position 70 in response to detecting that all of a plurality of players have arrived at the green. For example, when the values of all the green arrival flags included in the green arrival management data of the hole where the plurality of players are playing golf become 1, the movement control unit 116 may move the golf cart 16 to the standby position 70. In the example of FIG. 6, the golf cart 16 will move to the standby position 70.

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

[0122] Here, when the last player satisfies the above-mentioned cart-unnecessary condition, the movement control unit 116 may move the stopped golf cart 16 closer to the target player in response to detecting the approach of the target player to the drivable range 62. For example, when it is determined based on the history of the last player's position that the last player is moving along the traveling direction of the golf cart 16, the movement control unit 116 may move the stopped golf cart 16 closer to the target player in response to detecting the approach of the target player to the drivable range 62. Here, as shown in FIGS. 7 and 8, the golf cart 16 may move to the target stop position 78.

[0123] Further, when the distance between the player position 74 of the target player and the golf cart position 76 is shorter than a given distance (for example, 100 yards), the movement control unit 116 may move the stopped golf cart 16 closer to the target player in response to detecting the approach of the target player to the drivable range 62.

[0124] Also, the target player may not be the second last player among the plurality of players estimated not to be riding on the golf cart 16. For example, the player order specifying unit 102 may specify a player whose distance from the golf cart position 76 is shorter than a given distance (for example, 100 yards) as the target player. Here, a plurality of target players may be specified. Then, the movement control unit 116 may move the stopped golf cart 16 closer to the relevant target player in response to detecting the approach of any of the target players to the drivable range 62.

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

[0126] In this processing example, it is assumed that the position information receiving unit 94 repeatedly receives position information indicating the positions of the player terminals 12a, 12b, 12c, 12d, and the golf cart terminal 14 at predetermined time intervals. And each time the position information receiving unit 94 receives this position information, the processes shown in FIGS. 13A and 13B are executed. Also, it is assumed that players A, B, C, and D are playing golf at a specific hole (for example, hole 9). Also, it is assumed that the golf cart 16 is stopped.

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

[0128] Then, based on the player positions 74 specified in the process shown in S101 and the position of the green area 66, the green arrival detection unit 114 checks whether there is a player who has newly arrived at the green (S103).

[0129] If it is confirmed that there is a player who has newly arrived at 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 at the green in the green arrival management data of the relevant hole (for example, hole 9) to 1 (S104).

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

[0131] When 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 process shown in this processing example ends.

[0132] If it is confirmed in the process shown in S103 that there is no newly arrived player on the green (S103), or if it is not confirmed in the process shown in S105 that all players have arrived at the green (S105: N), the boarding estimation unit 100 estimates for each of the four players whether the player is boarding the golf cart 16 (S107).

[0133] Then, the player order specifying unit 102 specifies the last player and the target player (here, for example, the second player from the last) from among one or more players estimated not to be boarding the golf cart 16 (S108).

[0134] Then, the approach detection unit 104 checks whether it has detected the approach of the target player specified in the process shown in S108 to the travelable range 62 (S109).

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

[0136] If it is confirmed that the last player satisfies the cart-unnecessary condition (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 target player (S111).

[0137] If the approach to the travelable range 62 of the target player is not detected in the process shown in S109 (S109: N), or if it is confirmed in the process shown in S110 that the trailing player does not satisfy the cart-unnecessary condition (S110: N), the target stop position determination unit 108 checks whether the distance between the player position 74 of the trailing player and the golf cart position 76 is equal to or greater than a predetermined distance (for example, 10 meters) (S112).

[0138] If it is confirmed that the distance between the player position 74 of the trailing 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 ends.

[0139] If it is confirmed that the distance between the player position 74 of the trailing player and the golf cart position 76 is equal to or greater than the 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 trailing player (S113).

[0140] When the process shown in S111 or S113 is executed, the avoidance necessity determination unit 110 determines whether 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, in the process shown in S114, it is determined whether an avoidance target area 64 exists between the player position 74 of the target 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, in the process shown in S114, it is determined whether an avoidance target area 64 exists between the player position 74 of the trailing player and the target stop position 78 determined in the process shown in S113.

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

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

[0143] If it is confirmed in the process shown in S114 that there is no avoidance target 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 process example ends.

[0144] Note that if it is estimated in the process shown in S107 that all players are on board the golf cart 16, the process shown in this process example may end without executing the processes shown after S108.

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

[0146] Note that the present invention is not limited to the above-described embodiments.

[0147] For example, the map data may include passing point data in which a range of distances from the pin position 68 (or a range of ratios of the 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 range of distances including the distance from the pin position 68 to the player position 74. Also, the alternative stop position determination unit 112 may determine, as the alternative stop position 80, a passing point associated with a range of distances including the distance from the pin position 68 to the player alternative position 72.

[0148] Alternatively, the map data may include line segment data indicating a plurality of line segments along the strip-shaped drivable range 62. Then, the target stop position determination unit 108 may determine the foot of the perpendicular to the line segment closest to the player position 74 as the target stop position 78. Further, the alternative stop position determination unit 112 may determine the foot of the perpendicular to the line segment closest to the player alternative position 72 as the target stop position 78. Also, in this case, the direction of the line segment closest to the player position 74 may be defined as the direction along the drivable range 62, and the direction perpendicular to the said direction may be defined as the direction perpendicular to the drivable range 62.

[0149] Further, the golf cart 16 does not necessarily have to move along a preset path within a golf course such as a cart path. For example, the golf cart 16 may be able to drive onto the fairway. In this case, the drivable range 62 is not a linear (strip-shaped) area but a planar area.

[0150] Also, the player position 74 and the golf cart position 76 may be specified by sensors other than the GPS module.

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

[0152] Further, in response to the golf cart 16 stopping due to the operation of the control button 18 and a predetermined time (e.g., 10 seconds) elapsing, it may switch to an automatic driving mode in which automatic driving as described above is executable. And when switching to the automatic driving mode, for example, a character string such as "Switched to the automatic driving mode." may be displayed and output on the display of the golf cart terminal 14 or the spoken voice of the character string may be output as sound from the speaker of the golf cart terminal 14. Also, when the golf cart 16 starts in the automatic driving mode, for example, a character string such as "Starting automatic driving." may be displayed and output on the display of the golf cart terminal 14 or the spoken voice of the character string may be output as sound from the speaker of the golf cart terminal 14. Here, for example, the golf cart 16 may start a few seconds after the character string is displayed and output on the display of the golf cart terminal 14 or the spoken voice of the character string is output as sound from the speaker of the golf cart terminal 14.

[0153] Also, when the golf cart 16 moves so as to approach the target player rather than the last player, for example, a character string such as "Overtake player A who is the last player and move to the vicinity of player B who is the player before that." may be displayed and output on the display of the golf cart terminal 14 or the spoken voice of the character string may be output as sound from the speaker of the golf cart terminal 14.

[0154] Also, some or all of the functions shown in FIG. 9 may be implemented not in the server 10 but in the player terminal 12 or the golf cart terminal 14. In this case, communication may be performed between the player terminal 12 and the golf cart terminal 14.

[0155] Also, the above specific character strings, numerical values, and the specific character strings and numerical values in the drawings are examples and are not limited to these character strings and numerical values.

Explanation of Signs

[0156] 1 Golf cart movement control system, 10 Server, 12, 12a, 12b, 12c, 12d Player terminal, 14 Golf cart terminal, 16 Golf cart, 18 Control button, 20 Computer network, 30 Processor, 32 Memory unit, 34 Communication unit, 40 Processor, 42 Memory unit, 44 Communication unit, 46 Sensor unit, 50 Processor, 52 Memory unit, 54 Communication unit, 56 Sensor unit, 58 Output unit, 60 Map image, 62 Travelable 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 stop position, 80 Alternative stop position, 90 Map data storage unit, 92 Player alternative position determination unit, 94 Position information receiving unit, 96 Player position specifying unit, 98 Golf cart position specifying unit, 100 Riding estimation unit, 102 Player order specifying unit, 104 Approach detection unit, 106 Golf cart necessity determination unit, 108 Target stop position determination unit, 110 Avoidance necessity determination unit, 112 Alternative stop position determination unit, 114 Green arrival detection unit, 116 Movement control unit.

Claims

1. Player position specifying means for specifying a player position which is the position of a player playing golf, Target stop position determining means for determining a target stop position within the drivable range of a golf cart used by the player based on the player position, Avoidance necessity determination means for determining whether or not a given avoidance target area exists between the player position and the target stop position, Movement control means for moving the golf cart, and including, The movement control means, When it is determined that the avoidance target area does not exist, move the golf cart to the target stop position, When it is determined that the avoidance target area exists, move the golf cart to an alternative stop position different from the target stop position, which is a position determined based on the position of the avoidance target area, Golf cart movement control system.

2. The alternative stop position is a position determined based on a player alternative position associated with the avoidance target area, The golf cart movement control system according to claim 1.

3. The player alternative position associated with the avoidance target area is preset in association with the avoidance target area, The golf cart movement control system according to claim 2.

4. Further including player alternative position determining means for determining the player alternative position associated with the avoidance target area based on the position of the avoidance target area, The golf cart movement control system according to claim 2.

5. The player alternative position determining means determines the player alternative position associated with the avoidance target area based on the position of the avoidance target area and the position of the pin of the hole where the player is playing, The golf cart movement control system according to claim 4.

6. The player alternative position determining means determines the position closest to the player position among the plurality of player alternative positions determined for the avoidance target area, or the position farthest from the position of the pin of the hole within the avoidance target area as the player alternative position associated with the avoidance target area, The golf cart movement control system according to claim 5.

7. The player alternative position determining means determines a plurality of player alternative positions associated with the avoidance target area, Further including alternative stop position determining means for determining the alternative stop position based on the position closest to the player position among the plurality of player alternative positions, The golf cart movement control system according to claim 4.

8. When a part of the line segment connecting the player position and the target stop position is included in the avoidance target area, the avoidance necessity determination means determines that the avoidance target area exists between the player position and the target stop position. The golf cart movement control system according to claim 1.

9. The avoidance target area is an area indicating a hazard or a repair area. The golf cart movement control system according to claim 1.

10. For each of the plurality of players, boarding estimation means for estimating whether the player is boarding the golf cart, and trailing player identification means for identifying a trailing player from among one or more of the players estimated not to be boarding the golf cart, and the target stop position determination means determines the target stop position based on the player position of the trailing player. The golf cart movement control system according to claim 1.

11. The trailing player identification means identifies the trailing player based on the distance from the position of the pin of the hole on which the plurality of players are playing to the player position of each of the one or more players estimated not to be boarding the golf cart. The golf cart movement control system according to claim 10.

12. Further including green arrival detection means for detecting that the player has arrived at the green included in the hole on which the player is playing, and the movement control means moves the golf cart to a standby position provided at the exit of the hole in response to detecting that the player has arrived at the green. The golf cart movement control system according to claim 1.

13. The green arrival detection means detects that each of the plurality of players has arrived at the green, and the movement control means moves the golf cart to the standby position in response to detecting that all of the plurality of players have arrived at the green. The golf cart movement control system according to claim 12.

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

15. A step of identifying a player position, which is the position of a player playing golf, by the golf cart movement control system; A step of the golf cart movement control system determining a target stop position within the drivable range of the golf cart used by the player based on the player position; A step of the golf cart movement control system determining whether a given avoidance target area exists between the player position and the target stop position; A step of the golf cart movement control system moving the golf cart to the target stop position when it is determined that the avoidance target area does not exist; A step of the golf cart movement control system moving the golf cart to an alternative stop position different from the target stop position, which is a position determined based on the position of the avoidance target area, when it is determined that the avoidance target area exists; A golf cart movement control method including the above.

16. A step of identifying a player position, which is the position of a player playing golf; A step of determining a target stop position within the drivable range of the golf cart used by the player based on the player position; A step of determining whether a given avoidance target area exists between the player position and the target stop position; A step of moving the golf cart to the target stop position when it is determined that the avoidance target area does not exist; A step of moving the golf cart to an alternative stop position different from the target stop position, which is a position determined based on the position of the avoidance target area, when it is determined that the avoidance target area exists; A program for causing a computer to execute the above.

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