Hybrid golf system and method for positioning a golf ball or marker at a ball point on a field using the system

Abstract

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

Description

[Technical Field]

[0001] The present invention relates to a hybrid golf system that allows approach shots and putting to be performed as if playing actual golf on an actual field when a virtual ball lands on or near the green during virtual golf play using a virtual golf simulation device, and a method for positioning a golf ball or a marker at the ball point on the field using the system. [Background technology]

[0002] As the number of golfers has increased in recent years, so-called screen golf systems have appeared, which allow users to practice golf or enjoy playing a virtual golf round using a virtual golf simulation system.

[0003] Such a screen golf system involves installing a screen that can project images of a virtual golf course indoors, and when a user hits a golf ball towards the screen, the system detects the speed and direction of the golf ball and displays the movement of the golf ball on the image on the screen.The system is constantly evolving technologically to go beyond the level of a simple golf game to enjoy indoors and provide users with the sense of realism of playing a round of golf on a real golf course.

[0004] Conventional screen golf systems only display a simulated image of a virtual golf course and the ball's trajectory on the virtual golf course through a screen installed in front of the user hitting the ball, so they are limited in providing the user with the same sense of realism as playing a round of golf at an actual golf course.

[0005] A so-called hybrid golf system has emerged that overcomes the limitations of conventional screen golf systems, providing users with the reality of playing a round of golf on a real golf course, while also being able to be implemented in spaces much smaller than a real golf course.

[0006] The hybrid golf system is a system that combines a real field where users can actually play golf with a screen golf system where users can play virtual golf. Part of the golf play on a hole takes place on a virtual golf course implemented in the screen golf system, and the rest of the play takes place by actually playing golf on a real field.

[0007] For example, in the case of a PAR-4 hole, the tee shot and second shot are played through a virtual golf simulation on a virtual golf course through the screen golf system, and the third shot and putting can be played as if the user were moving to the actual field and playing on a real golf course.

[0008] Prior art documents related to hybrid golf systems include Korean Patent Publication No. 10-2013-0030536, Korean Patent Publication No. 10-2012-0036155, Korean Patent Publication No. 10-2012-0036156, and Korean Patent Publication No. 10-2012-0009933.

[0009] The important thing about such a hybrid golf system is that when playing golf with a screen golf system, the user's virtual ball must be accurately positioned on the virtual golf course, i.e., the ball position on the actual field corresponding to the ball position on the virtual golf course, so that the user can make a golf shot at the corresponding ball position on the field.

[0010] Conventionally, laser pointers have been used to specify the ball position on the actual field that corresponds to the ball position on the virtual golf course.

[0011] That is, laser pointers are installed around the real field, and the laser pointers indicate the ball position on the real field that corresponds to the user's ball position on the virtual golf course. The user then places their golf ball at the position indicated by the laser pointer and takes a golf shot.

[0012] However, as mentioned above, there are various problems with using a laser pointer to display the ball position.

[0013] In order for the laser pointer's laser to accurately indicate the ball position, the size of the actual field must be reduced, which significantly reduces the sense of realism that comes from playing on an actual field.

[0014] In addition, when the actual field is large, many laser pointers must be installed around the field to effectively specify the ball position, which can cause a problem that the installed laser pointers can be a hindrance when a user plays on the field.

[0015] Furthermore, a separate control module for controlling the laser pointer must be provided, which increases costs and necessitates repairs, maintenance, and servicing. [Prior art documents] [Patent documents]

[0016] [Patent Document 1] Korean Patent Publication No. 10-2013-0030536 [Patent Document 2] Korean Patent Publication No. 10-2012-0036155 [Patent Document 3] Korean Patent Publication No. 10-2012-0036156 [Patent Document 4] Korean Patent Publication No. 10-2012-0009933 Summary of the Invention [Problem to be solved by the invention]

[0017] The present invention has been made to solve the problems of the prior art as described above, and aims to provide a hybrid golf system that can perform detection and control through a camera sensing system so that when playing on a virtual golf course using a screen golf system in a hybrid golf system and then playing on an actual field, a locator can position a golf ball or marker at a ball point, which is a position on the field that corresponds to the ball position on the virtual golf course, and a method for positioning a golf ball or marker at a ball point on the field in the system. [Means for solving the problem]

[0018] A hybrid golf system according to one embodiment of the present invention includes a screen golf module provided on one side of a field where a user can actually play golf and where the screen golf module is provided to allow the user to play golf on a virtual golf course; a simulator provided in the screen golf module and configured to create a virtual golf simulation image of the virtual golf course and the user's golf play; a camera sensing system having a number of cameras provided to sense the field; a locator that moves on the field and positions a golf ball or a marker at the user's ball position; and a control unit that calculates a position on the field corresponding to the ball position on the virtual golf course played by the user through the simulator as the ball position, and transmits movement path information to the locator so that the locator moves to the ball position while sensing the position of the locator using the camera sensing system.

[0019] Preferably, the locator is embodied in the form of either a moving means for moving on the field or a flying means for flying on the field, configured to receive the movement path information from the control unit in real time via wireless communication, move along the movement path, and hold a golf ball or a marker and, when the locator reaches the ball point transmitted by the control unit, drop the golf ball or the marker it is holding.

[0020] Preferably, the camera sensing system divides the field into areas of a predetermined size, and each of the multiple cameras is configured to sense each of the divided areas.

[0021] Preferably, the camera sensing system includes the plurality of cameras and a sensing processing unit that detects an object corresponding to the locator from images acquired by each of the plurality of cameras, calculates position coordinate information of the locator on the field, and transmits the calculated position coordinate information to the control unit.

[0022] Preferably, the camera sensing system analyzes images captured by the multiple cameras, calculates position coordinate information of the locator detected on the field, and transmits the calculated position coordinate information to the control unit, and the control unit is configured to calculate movement path information from the transmitted position coordinates of the locator to the position coordinates of the ball point and transmit the calculated position coordinate information to the locator.

[0023] Preferably, the system further includes a locator station provided on one side of the field, configured to dock with the locator, charging the docked locator, and supplying golf balls or markers to the locator, and the locator is configured to return to the locator station after placing the golf ball or marker at a ball point on the field.

[0024] Preferably, the control unit is configured to calculate movement path information from the position of the locator station to the position of the ball point when the locator is docked to the locator station and transmit the information to the locator, and to calculate movement path information from the position of the locator sensed by the camera sensing system to the position of the ball point when the locator is not docked to the locator station and transmit the information to the locator.

[0025] Meanwhile, according to one embodiment of the present invention, a method for positioning a golf ball or a marker at a ball point on a field in a hybrid golf system including a field provided so that a user can actually play golf and a screen golf module provided on one side of the field so that the user can play golf on a virtual golf course includes the steps of calculating a position on the field corresponding to a ball position on the virtual golf course played by the user using the screen golf module as the ball point; detecting a locator carrying the golf ball or marker while moving on the field using a camera sensing system having a plurality of cameras provided to sense the field, calculating position information of the locator, and calculating movement path information from the position of the locator to the ball point; and transmitting the calculated movement path information to the locator so that the locator moves along the movement path to position the golf ball or marker at the ball point.

[0026] Preferably, the method further includes the steps of: calculating position coordinate information of the locator sensed on the field through analysis of images acquired by each camera of the camera sensing system; determining whether the position coordinates of the locator have deviated from the calculated movement path; and, if the position coordinates of the locator have deviated from the movement path, calculating a new movement path to the ball location from the position coordinates of the locator and transmitting the new movement path to the locator. [Effects of the Invention]

[0027] The hybrid golf system and method for positioning a golf ball or marker at a ball position on a field using the hybrid golf system according to the present invention enable stable hybrid golf play and improved user convenience by detecting and controlling through a camera sensing system so that when playing on a virtual golf course using a screen golf system in the hybrid golf system and then playing on an actual field, a locator can position the golf ball or marker at a ball position, which is a position on the field that corresponds to the ball position on the virtual golf course. [Brief explanation of the drawings]

[0028] [Figure 1] 1 is a diagram showing the configuration of a hybrid golf system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram showing the control system of the hybrid golf system shown in FIG. 1. [Figure 3] 2 is a diagram showing a user playing virtual golf while watching an image projected on a screen inside the screen golf module shown in FIG. 1. [Figure 4] 1 is a diagram illustrating an example of a method for detecting a field by a camera sensing system of a hybrid golf system according to an embodiment of the present invention. [Figure 5] 1 is a flowchart illustrating a method for positioning a golf ball or marker at a ball location on a field in a hybrid golf system according to one embodiment of the present invention. [Figure 6] 10 is a diagram illustrating a locator moving to a specific ball location, dropping off a golf ball or marker, and returning to the locator station according to one embodiment of the present invention. [Figure 7]10 is a diagram illustrating a locator moving to a specific ball location, dropping off a golf ball or marker, and returning to the locator station according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0029] The hybrid golf system according to the present invention and a method for positioning a golf ball or a marker at a ball point on a field using the system will now be described in detail with reference to the accompanying drawings.

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

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

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

[0033] In addition, the hybrid golf system according to one embodiment of the present invention may include a camera sensing system 300 having a number of cameras 310-400 installed to sense the field 200, and a locator 500 that moves on the field 200 and positions a golf ball or marker at the user's ball location.

[0034] The above-mentioned screen golf module 100 includes the configuration of a typical screen golf system, i.e., the configuration of a virtual golf simulation device that projects a virtual golf course image onto a screen in front of the user, senses the user's hitting of the ball towards the screen from the hitting box 120 using the sensing device 160, and implements a simulation image iVG in which a virtual ball moves on the virtual golf course image based on the sensing result, thereby allowing the user to play virtual golf.

[0035] The screen golf module 100 may be provided in a box or booth shape with an entrance 110 on one side, and may be in a shape with all sides closed or partially open.

[0036] The screen golf module 100 can be configured to include a screen 130 on the surface from which the actual field 200 is viewed.

[0037] The screen 130 can project images of the virtual golf course output by the image output device 140 (e.g., a beam projector) installed inside the screen golf module 100 and a simulation image iVG of the virtual golf course, and provide it to the user.

[0038] Meanwhile, the field 200 may be embodied as a portion of an entire hole on an actual golf course, and may be formed to include a green 210 and a hole cup 212 as shown in FIG. 1, and may also include surrounding areas 220 such as the fairway, rough, and bunkers around the green 210, allowing users to play approach shots and putts.

[0039] The hybrid golf system according to an embodiment of the present invention allows a user to play part of a golf game on a virtual golf course using a screen golf module 100 and the rest of the golf game on a real field 200 .

[0040] For example, when playing golf on a PAR-4 hole, the user plays virtual golf on the virtual golf course of the PAR-4 hole using the screen golf module 100 (the user hits a golf shot from the hitting box toward the screen, and the sensing device detects the hit ball to simulate the golf play), and the user moves directly to the actual field 200 to play golf on the remaining part of the PAR-4 hole.

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

[0042] As shown in Figures 1 and 2, the simulator 150 provided inside the screen golf module 100 includes a control unit 152, an image processing unit 156, and a storage unit 154 for storing data, and the control unit 152 is configured to receive sensing data from the sensing device 160, and the control unit 152 can control the locator 500 moving on the field through a wireless communication unit 158.

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

[0044] FIG. 3 shows a user (P) playing virtual golf while watching an image iVG projected on a screen 130 inside the screen golf module 100 shown in FIG.

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

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

[0047] The data storage unit 154 stores all data necessary for visualizing the virtual golf simulation, including data related to the virtual golf course that visualizes an actual golf course and data related to the topography of the virtual golf course, and can provide data that can realize a virtual environment in which a user can play a virtual golf round on a virtual golf course selected by the user.

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

[0049] The image processor 156 processes information to display an image of the virtual golf course on the screen using data about the virtual golf course stored in the data storage unit 154, and processes information to display the trajectory of the golf ball hit by the user in an image that is simulated on the virtual golf course.

[0050] The image processed by the image processor 156 is output through an image output device 140 such as a projector and projected onto a screen 130, allowing the user P to view the image iVG projected onto the screen 130.

[0051] The image processor 156 may be implemented as a modularized component that performs image processing functions in an independent device, or may be implemented as an independent device itself.

[0052] The control unit 152 is responsible for controlling all processes for the virtual golf simulation, and performs various calculations and controls to simulate the movement of the virtual ball on the virtual golf course based on sensing information about the moving golf ball and a physics engine, which are sensed by the sensing results of the sensing device 160. Based on these various calculations and controls, an image iVG is realized in which the virtual ball is simulated on the virtual golf course based on the sensing results of the sensing device and the physics engine.

[0053] The control unit 152 determines whether the requirements for playing field on an actual field are met during the process of playing virtual golf using a virtual golf course, and if the requirements for playing field are met, the control unit 152 can provide visual / audio guidance through the screen image iVG to encourage the user to move to the field 200 and play field.

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

[0055] As described above, when field play begins, the control unit 152 of the simulator 150 can cause each camera of the camera sensing system 300 to prepare for sensing, and can calculate the ball position on the field corresponding to each user's ball position on the virtual golf course when field play begins.

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

[0057] Here, "ball position" refers to the position of each user's ball (ball on the image) on the virtual golf course, and "ball point" refers to the position coordinates on the field 200 coordinate space corresponding to each of the aforementioned ball positions.

[0058] Meanwhile, as shown in FIGS. 1 and 2, the camera sensing system 300 of the hybrid golf system according to one embodiment of the present invention may be configured to include a plurality of cameras 310-400 installed at predetermined intervals around the field 200, and a sensing processing unit 302.

[0059] The above-mentioned cameras 310 to 400 are connected to the sensing processing unit 302 as shown in FIG. 2, and the sensing processing unit 302 can detect a specific object on the field 200 from the images acquired by the cameras 310 to 400, and in particular, can detect an object corresponding to a locator 500 moving or standing still on the field 200, calculate position coordinate information of the locator 500 on the field 200, and transmit the calculated position coordinate information to the control unit 152.

[0060] That is, the control unit monitors the field 200 using images captured by each of the cameras 310 to 400 of the camera sensing system 300, detects the movement of the locator 500, and moves the locator 500 to the correct position.

[0061] The camera sensing system 300 can be configured to divide the field 200 into predetermined areas and have each camera installed around the field 200 sense each of the divided areas.

[0062] For example, as shown in FIG. 4, the field 200 can be divided into a first divided region (R1), a second divided region (R2), a third divided region (R3), a fourth divided region (R4), a fifth divided region (R5), a sixth divided region (R6), a seventh divided region (R7), and an eighth divided region (R8), and the first divided region (R1) can be sensed by the first camera 310, the second divided region (R2) by the second camera 320, the third divided region (R3) by the third camera 330, the fourth divided region (R4) by the fourth camera 340, the fifth divided region (R5) by the fifth camera 350, the sixth divided region (R6) by the sixth camera 360, the seventh divided region (R7) by the seventh camera 370, and the eighth divided region (R8) by the eighth camera 380.

[0063] The sensing processing unit 302 of the camera sensing system 300 converts each camera coordinate system of the image acquired by each camera as described above into a coordinate system for the entire field 200 as shown in FIG. 4, calculates coordinate information for the position of the ball point and the position of the locator in the coordinate space for the entire field 200, and transmits the calculated coordinate information to the control unit.

[0064] That is, each camera of the camera sensing system 300 senses the divided area it is responsible for in the coordinate system of the corresponding camera, and the sensing processing unit 302 can calculate the coordinate information of a specific position in the entire field coordinate system by treating the entire field 200 as a single coordinate system (xy coordinate system as shown in Figure 4) from the images transmitted by each camera.

[0065] For example, if a locator is detected in the image acquired by the first camera 310 in the R1 area, the sensing processing unit can convert the image acquired by the first camera 310 into an xy coordinate system, which is the coordinate system of the entire field, and calculate the position coordinate information of the locator.

[0066] Meanwhile, as shown in FIGS. 1 and 2, a hybrid golf system according to an embodiment of the present invention may include a locator 500 that can transport and place a golf ball or a marker at a specific location on the field.

[0067] The locator 500 may be implemented in the form of a vehicle (e.g., a mini vehicle) that travels on the field 200 or an aircraft (e.g., a drone) that flies and moves on the field.

[0068] The locator 500 may include a drive unit 520 that enables movement (including flight) and a steering unit 540 that can adjust the direction of movement of the locator 500, and may include a ball / marker handler 550 that is configured to store the golf ball or marker to be transported and can handle the stored golf ball or marker so that it can be placed at a specific location (i.e., the user's ball location).

[0069] The configuration of such a locator itself has already been disclosed as a conventional technique, so a detailed description thereof will be omitted.

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

[0071] That is, the locator 500 is configured to receive movement route information from the control unit 152 in real time via wireless communication, move along that route, hold a golf ball or marker, and drop the golf ball or marker when it reaches a ball point along that route, which can be controlled by the locator control unit 510.

[0072] Also, as shown in FIGS. 1 and 2, a locator station 170 may be provided on one side of the field 200 so that the locator 500 can dock with the locator station 170 .

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

[0074] Locator 500 moves over field 200, drops golf balls or markers at the required locations, and then returns to locator station 170, docked, and waits as shown in FIG. 1 until it moves to the next location.

[0075] Meanwhile, a method for positioning a golf ball or a marker at a ball point on a field in a hybrid golf system according to an embodiment of the present invention will be described with reference to FIGS.

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

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

[0078] If the requirements for starting field play are met while playing virtual golf in the screen golf module, field play begins (S120). Once field play has begun, the user can move from the screen golf module to the field and continue playing on the field.

[0079] For example, if four users are playing virtual golf on the first hole of a virtual golf course and all four users land their balls on the green of the first hole or within a predetermined range around the green, the requirements for starting field play are met and field play can begin.

[0080] When a field play starts, the control unit activates the camera sensing system, and the camera sensing system causes each of the cameras to capture an image including a corresponding divided area on the field (S210).

[0081] Meanwhile, play on the field is started, and the control unit calculates the "ball location" which is the location on the field corresponding to the ball location on the virtual golf course for each user (S120).

[0082] Since the green and its surrounding area on the virtual golf course have different topography from the field formed before the screen golf module, the "ball position" and "ball point" mentioned above do not exactly match, but there are various ways to match the "ball position" and "ball point." For example, a reference position (e.g., hole cup position) can be determined, and the "ball position" and "ball point" can be matched based on the relative positional relationship based on that position.

[0083] By calculating the user's "ball position" on the virtual golf course and the corresponding "ball point" on the field in this way, when field play begins, the control unit can recognize the position coordinates of each user's ball point on the field.

[0084] Meanwhile, the camera sensing system collects and analyzes images captured by multiple cameras to detect objects corresponding to locators in the images (S220), and calculates the location information of the locators (S230).

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

[0086] If the locator is docked at the locator station, the control unit can recognize that the locator is docked at the locator station even if the camera sensing system does not detect the locator, and the control unit can calculate movement path information from the locator station to the ball location and transmit it to the locator control unit.

[0087] The locator control unit controls the locator to move along the movement path transmitted from the control unit, and when it arrives at the ball location (S340), it positions the golf ball or marker it is holding at the ball location (S350) and moves the locator to return to the locator station (S360).

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

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

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

[0091] Figure 6 illustrates the ball locations on the field 200 for each of the four users (user 1's ball location is P1, user 2's ball location is P2, user 3's ball location is P3, and user 4's ball location is P4).

[0092] In Figure 6, the camera sensing system is omitted.

[0093] As mentioned above, the control unit calculates each of the ball locations (P1 to P4) as a position on the field corresponding to each user's ball position on the virtual golf course, and therefore recognizes the position coordinates of each of the ball locations.

[0094] The control unit can control the locator to position the golf ball or marker at each ball point (P1, P2, P3, P4) in sequence according to the shot order.

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

[0096] The control unit determines the location of the locator 500 in order to position the golf ball or marker at the P1 ball point, and can first determine whether the locator 500 is docked to the locator station 170, and if the locator 500 is not docked to the locator station 170, can determine the location of the locator 500 through the camera sensing system.

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

[0098] The locator control unit receives information about the movement path (Wd1) to the P1 ball point, and controls the driving unit and steering unit along the movement path (Wd1) to control the locator 500 to move.

[0099] The camera sensing system detects the position of the locator 500 in real time as the locator 500 moves along the movement path (Wd1) and transmits the position to the control unit, so that the control unit can monitor whether the locator 500 is moving correctly along the movement path (Wd1).

[0100] If the locator 500 deviates from the movement path (Wd1) during the movement, the camera sensing system detects the position information of the locator 500 in real time, and the control unit recalculates the movement path from the position of the locator 500 detected by the camera sensing system to the P1 ball point and transmits it to the locator control unit, so that the locator control unit can continue moving along the recalculated movement path.

[0101] In this manner, when the locator 500 arrives at the P1 ball point, the locator control unit controls the ball / marker handle unit to position the golf ball or marker at the P1 ball point, and then returns along the return path (Wr1) from the P1 ball point position to the locator station 170 position.

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

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

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

[0105] Meanwhile, as mentioned above, the locator 500 proceeds to return to the locator station 170 after placing a golf ball or marker at the ball location, but for any reason, the locator 500 may not be able to return to the locator station 170 and may end up at any position on the field 200.

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

[0107] Although omitted in Figure 7, a camera sensing system detects the position of the locator 500 in real time using multiple cameras installed around the field, so the control unit can calculate movement path (Wd2) information from the current position of the locator 500 detected by the camera sensing system to the P2 ball position and transmit it to the locator control unit, and the locator control unit can move the locator 500 to the P2 ball position along the movement path (Wd2).

[0108] If the locator 500 deviates from the movement path (Wd2) during the movement, the camera sensing system detects the position information of the locator 500 in real time, and the control unit recalculates the movement path from the position of the locator 500 detected by the camera sensing system to the P2 ball point and transmits it to the locator control unit, so that the locator control unit can continue moving along the recalculated movement path.

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

[0110] As described above, the hybrid golf system and the method for positioning a golf ball or marker at a ball position on a field in the hybrid golf system according to the present invention have the advantage of enabling stable hybrid golf play and improving user convenience by detecting through a camera sensing system and performing control accordingly so that when playing on a real field after playing on a virtual golf course using a screen golf system in the hybrid golf system, a locator can position the golf ball or marker at a ball position, which is a position on the field corresponding to the ball position on the virtual golf course. [Industrial Applicability]

[0111] The hybrid golf system and the method for positioning a golf ball or a marker at a ball point on a field using the hybrid golf system according to the present invention can be used in golf-related industries and the so-called screen golf industry, which allows people to enjoy playing golf based on virtual golf simulations.

Claims

1. a screen golf module provided on one side of a field where a user can actually play golf and where the user can play golf on a virtual golf course; a simulator provided in the screen golf module for implementing a virtual golf simulation image of the virtual golf course and the user's golf play; a camera sensing system comprising a number of cameras arranged to sense the field; a locator that moves on the field and positions a golf ball or a marker at the user's ball location; a control unit that calculates a position on the field corresponding to a ball position on the virtual golf course played by the user through the simulator as the ball position, and transmits movement path information to the locator so that the locator moves to the ball position while detecting the position of the locator using the camera sensing system; Hybrid golf system including.

2. The locator The vehicle is embodied in the form of either a moving means that moves on the field or a flying means that flies on the field, 2. The hybrid golf system of claim 1, wherein the hybrid golf system is configured to receive the movement path information from the control unit in real time via wireless communication, move along the movement path, and, when holding a golf ball or a marker and reaching the ball point transmitted by the control unit, drop the golf ball or marker it is holding.

3. The camera sensing system includes:

2. The hybrid golf system of claim 1, wherein the field is divided into areas of a predetermined size, and each of the multiple cameras is set to sense a respective one of the divided areas.

4. The camera sensing system includes:

2. The hybrid golf system of claim 1, further comprising: a sensing processing unit that detects an object corresponding to the locator from the images captured by the cameras, calculates position coordinate information of the locator on the field, and transmits the calculated position coordinate information to the control unit.

5. the camera sensing system analyzes images captured by the plurality of cameras, calculates position coordinate information of the locator detected on the field, and transmits the calculated position coordinate information to the control unit; The hybrid golf system according to claim 1 , wherein the control unit is configured to calculate movement path information from the transmitted position coordinates of the locator to the position coordinates of the ball point and transmit the movement path information to the locator.

6. a locator station provided on one side of the field and configured to dock with the locator, charging the docked locator, and supplying golf balls or markers to the locator; The hybrid golf system of claim 1 , wherein the locator is configured to return to the locator station after placing a golf ball or a marker at a ball spot on the field.

7. The control unit When the locator is docked to the locator station, calculating movement path information from the position of the locator station to the position of the ball point and transmitting the information to the locator; 7. The hybrid golf system of claim 6, wherein when the locator is not docked to the locator station, movement path information from the position of the locator sensed by the camera sensing system to the position of the ball point is calculated and transmitted to the locator.

8. In a hybrid golf system including a field where a user can actually play golf and a screen golf module provided on one side of the field where a user can play golf on a virtual golf course, a method for positioning a golf ball or a marker at a ball point on the field includes: calculating a position on the field corresponding to a ball position on the virtual golf course played by the user using the screen golf module as the ball position; a camera sensing system including a plurality of cameras that sense the field, and a locator that moves on the field and carries a golf ball or a marker is sensed to calculate position information of the locator, and movement path information from the position of the locator to the ball location is calculated; transmitting the calculated movement path information to the locator so that the locator moves along the movement path to position the golf ball or marker at the ball point; A method for positioning a golf ball or marker at a ball spot on a field in a hybrid golf system including:

9. calculating position coordinate information of the locator sensed on the field through analysis of images acquired by each camera of the camera sensing system; determining whether the position coordinates of the locator have deviated from the calculated movement path; 9. The method of claim 8, further comprising: if the position coordinates of the locator deviate from the movement path, calculating a new movement path to the ball location from the position coordinates of the locator and transmitting the new movement path to the locator.

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