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

Abstract

To provide a golf cart movement control system, a golf cart movement control method, and a program capable of moving a golf cart to a position convenient to a player who is playing golf.SOLUTION: A player position specification section 96 specifies a player's position. A target stop position determination section 108 determines a target stop position on the basis of the player's position. An avoidance necessity determination section 110 determines whether or not a given avoidance target area exists between the player's position and the target stop position. A movement control section 116 moves a golf cart to the target stop position when determining that the avoidance target area does not exist, and moves the golf cart to a substitution stop position that is a position determined based on a position of the avoidance target area and is different from the target stop position when determining that the avoidance object area exists.SELECTED DRAWING: Figure 9

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 stopping 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 stopping position.

[0003] Patent Document 2 describes a technique for moving a golf cart to a lateral position of a player on the course driving 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 that allows a golfer to call a golf bag carrier vehicle. Further, Patent Document 4 describes a technique for changing the driving route to avoid obstacles when it is recognized that there are obstacles such as bunkers between the golfer and the golf bag carrier vehicle.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Patent Document 3

[0007] Controlling golf carts to stop near players while they are traveling on designated cart paths or other designated areas reduces the hassle for players to retrieve their golf clubs, making the process more convenient.

[0008] However, even if a golf cart stops near a player, if there is a hazard or repair area between the golf cart and the player that needs to be avoided, the player will have to go around that area to get to the golf cart's position, which is inconvenient.

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

[0010] (1) The golf cart movement control system according to the present invention includes: player position identification means for identifying the position of a player playing golf; target stop position determination 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 a given avoidance target area exists between the player position and the target stop position; and movement control means for moving the golf cart, wherein the movement control means moves the golf cart to the target stop position if 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 determined based on the position of the avoidance target area, if it is determined that the avoidance target area exists.

[0011] (2) The alternative stopping position may be a position determined based on the alternative player position associated with the area to be avoided, as described in (1) above.

[0012] (3) The alternative player position associated with the area to be avoided may be a golf cart movement control system as described in (2) above, which is set in advance in association with the area to be avoided.

[0013] (4) The golf cart movement control system may further include a player alternative position determination means that determines 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 may be the golf cart movement control system described in (4) above, which 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 in which the player is playing.

[0015] (6) The player alternative position determination means may be the golf cart movement control system described in (5) above, which determines the player alternative position to be associated with the avoidance area as the position in the avoidance area that is closest to the position of the pin of the hole, or the position in the avoidance area that is furthest from the position of the pin of the hole.

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

[0017] (8) The avoidance necessity determination means may be a golf cart movement control system according to any of (1) to (7) above, which determines that an avoidance target area exists between the player position and the target stop position if 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 area to be avoided may be an area indicating a hazard or a repair area, and the golf cart movement control system may be as described in any of (1) to (8) above.

[0019] (10) The golf cart movement control system may further include: a passenger estimation means for estimating whether or not each of the multiple players is riding in the golf cart; and a last-place player identification means for identifying the last player from among the one or more players who are estimated not to be riding in the golf cart, wherein the target stop position determination means determines the target stop position based on the player position of the last player, and the golf cart movement control system may be as described in any of (1) to (9) above.

[0020] (11) The last player identification means may be the golf cart movement control system described in (10) above, which identifies the last player based on the distance from the position of the pin of the hole in which the plurality of players are playing, to the position of each of the players who are presumed not to be riding in the golf cart.

[0021] (12) The golf cart movement control system may further include a green arrival detection means for detecting when the player has arrived at a green included in the hole in which the player is playing, wherein the movement control means moves the golf cart to a waiting position provided at the exit of the hole in response to the detection that the player has arrived at the green, as described in any of (1) to (11) above.

[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 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 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 playing golf, a step of determining a target stop position within the travelable 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 the 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 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 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 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] This figure shows an example of the overall configuration of a golf cart movement control system according to one embodiment of the present invention. [Figure 2A] This figure shows an example of a server configuration related to one embodiment of the present invention. [Figure 2B] This figure shows an example of the configuration of a player terminal according to one embodiment of the present invention. [Figure 2C] This figure shows an example of the configuration of a golf cart terminal according to one embodiment of the present invention. [Figure 3] This is a diagram showing an example of a map image. [Figure 4] This is a diagram showing an example of a map image. [Figure 5] This is a diagram showing an example of a map image. [Figure 6] This is a diagram showing an example of a map image. [Figure 7] This is a diagram showing an example of a map image. [Figure 8] This is a diagram showing an example of a map image. [Figure 9] This is a functional block diagram showing an example of a function implemented in a server according to one embodiment of the present invention. [Figure 10] This figure shows an example of the decomposition of the direction vector of movement. [Figure 11] This figure shows an example of the decomposition of the direction vector of movement. [Figure 12] This figure shows an example of green arrival management data. [Figure 13A] This flowchart shows an example of the processing flow performed on a server related to one embodiment of the present invention. [Figure 13B] This flowchart shows an example of the processing flow performed on a server related to one embodiment of the present invention. [Modes for carrying out the invention]

[0030] One embodiment of the present invention will be described in detail below with reference to the drawings.

[0031] Figure 1 shows an example of the overall configuration of the golf cart movement control system 1 according to this embodiment. As shown in Figure 1, the golf cart movement control system 1 according to this embodiment includes a server 10, a plurality of player terminals 12 (12a, 12b, 12c, and 12d in the example of Figure 1), and a golf cart terminal 14. The player terminals 12 are terminals used by players playing golf. The golf cart terminal 14 is a terminal installed on a golf cart 16 used by players playing golf. The golf cart 16 is equipped with control buttons 18 for controlling the starting and stopping of the golf cart 16. The server 10, player terminals 12, and golf cart terminal 14 are connected to a computer network 20 such as the Internet. Therefore, the server 10, player terminals 12, and golf cart terminal 14 can communicate with each other via the computer network 20.

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

[0033] The processor 30 is a program-controlled device such as a microprocessor that operates according to a program installed on the server 10. The storage unit 32 is a memory element such as ROM or RAM, or a solid-state drive (SSD). The storage unit 32 stores programs executed by the processor 30. The communication unit 34 is a communication interface for wired or wireless communication, which 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 the clubhouse of the golf course, or it may be installed in a location such as a data center away from the golf course.

[0034] The player terminal 12 according to this embodiment is, for example, a computer such as a mobile phone (including a smartphone) or a personal information terminal (including a tablet computer). The player terminal 12 according to this embodiment includes, for example, a processor 40, a storage unit 42, a communication unit 44, and a sensor unit 46, as shown in Figure 2B. The player terminal 12 may also include a touch panel, a camera, etc.

[0035] The processor 40 is a program control device such as a microprocessor that operates according to a program installed on the player terminal 12. The storage unit 42 is a memory element such as ROM or RAM, or a solid-state drive (SSD). The storage unit 42 stores programs executed by the processor 40. The communication unit 44 is a communication interface for wired or wireless communication, which 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, acceleration sensor, motion sensor, or compass sensor. In this embodiment, the case in which the sensor unit 46 is included in the player terminal 12 is described, but the sensor unit 46 may be located outside the player terminal 12.

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

[0037] The processor 50 is a program-controlled device such as a microprocessor that operates according to a program installed in the golf cart terminal 14. The storage unit 52 is a memory element such as ROM or RAM, or a solid-state drive (SSD). The storage unit 52 stores programs executed by the processor 50. The communication unit 54 is a communication interface for wired or wireless communication, which 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, acceleration sensor, motion sensor, or compass sensor. The output unit 58 is a display that outputs information according to instructions input from the processor 50, or a speaker that outputs sound. In this embodiment, the case in which the sensor unit 56 is included in the golf cart terminal 14 is described, but the sensor unit 56 may be located outside the golf cart terminal 14. Also, the output unit 58 may include a touch panel.

[0038] In this embodiment, the golf cart 16 moves along a predetermined path on the golf course. When the golf cart 16 is stopped, the player presses the control button 18, causing the golf cart 16 to move forward. Conversely, when the golf cart 16 is moving forward, the player playing golf presses the control button 18, causing the golf cart 16 to stop.

[0039] Furthermore, the golf cart 16 according to this embodiment can receive operation signals transmitted from the golf cart terminal 14 and perform automatic driving (such as moving forward or stopping) in accordance with the operation signals, without requiring any explicit operation by the player, such as operating the control buttons 18.

[0040] In this embodiment, a group (party) consists of four players, and these four players play golf using a golf cart 16. Hereinafter, these four players will be referred to as Player A, Player B, Player C, and Player D. The identifiers (hereinafter referred to as Player IDs) of Player A, Player B, Player C, and Player D will be "1", "2", "3", and "4", respectively. Furthermore, Player A, Player B, Player C, and Player D will each carry a Player Terminal 12a, Player Terminal 12b, Player Terminal 12c, and Player Terminal 12d, respectively, while playing golf.

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

[0042] Figure 3 shows an example of a map image 60 that visualizes map data of the hole where a player is playing golf according to this embodiment. The map image 60 shown in Figure 3 shows the range 62 in which the golf cart 16 can travel (for example, the cart path), the areas to be avoided 64 (64a, 64b, and 64c) which are areas indicating hazards or areas under repair, and the green area 66 which is the area indicating the green.

[0043] The map data also includes pin position data indicating the location of the pins (hereinafter referred to as pin position 68), and standby position data indicating standby positions 70 pre-set at the exits of each hole. In Figure 3, pin position 68 and standby positions 70 are shown on the map image 60.

[0044] The map data also includes player alternative position data, which will be described later. In Figure 3, two player alternative positions 72 (72a and 72b) associated with the avoidance target area 64a are shown on the map image 60. 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.

[0045] In this embodiment, for example, as described later, player positions 74, which are the positions of multiple players playing golf, and golf cart positions 76, which are the positions of the golf carts 16, are identified (see Figures 4 to 8).

[0046] In Figure 4, the player positions 74a of player A, 74b of player B, 74c of player C, and 74d of player D are shown on the map image 60. The golf cart position 76, which is the position of golf cart 16, is also shown on the map image 60.

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

[0048] In this embodiment, for example, the last player (hereinafter referred to as the last player) is identified from among one or more players who are presumed not to be riding in the golf cart 16. In the example in Figure 4, player A is identified as the last player from among players A, B, and C.

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

[0050] Then, as shown in Figure 5, if it is determined that there is an area to be avoided 64 between the player position 74 and the target stopping position 78, the golf cart 16 moves to an alternative stopping position 80, which is a position different from the target stopping position 78 and is determined based on the position of the area to be avoided 64. Here, the alternative stopping position 80 may be determined based on the player alternative position 72b, which is the closest player alternative position 72a to the player position 74a, among the player alternative positions 72a and 72b. The golf cart 16 then moves to the alternative stopping position 80 determined in this way.

[0051] On the other hand, if it is determined that there is no area to be avoided 64 between the player position 74 and the target stopping position 78, the golf cart 16 will move to the target stopping position 78.

[0052] In the situation shown in Figure 5, if the golf cart 16 moves to the target stopping position 78, player A would have to go around the avoidance area 64a to get to the golf cart's position, which is inconvenient. In this embodiment, as explained above, if it is determined that the avoidance area 64 exists between the player's position 74 and the target stopping position 78, the golf cart 16 moves to the alternative stopping position 80. Therefore, player A can get to the golf cart's position without going around the avoidance area 64a. In this way, in the example of Figure 5, the golf cart 16 can be moved to a position convenient for the player playing golf.

[0053] Furthermore, in the situation shown in Figure 5, the player furthest from the pin position 68 is player D. If, among players A, B, C, and D, player D is identified as the last player, and the target stopping position 78 is determined based on player D's position 74, the golf cart 16 will never depart.

[0054] In this embodiment, as described above, it is estimated whether or not each of the multiple players is riding in the golf cart 16. Then, the last player is identified from among the one or more players who are estimated not to be riding in the golf cart 16. This prevents situations where the golf cart 16 never departs. In this way, in the example shown in Figure 5, the golf cart 16 can be moved to the appropriate position.

[0055] Figure 6 shows a different situation from that in Figures 4 and 5. In this embodiment, as shown in Figure 6, the golf cart 16 moves to the waiting position 70 when it is detected that all of the multiple players have arrived at the green. This makes the progress of golf play smoother.

[0056] Figure 7 shows a different situation from Figures 4 through 6. In the example in Figure 7, the player position 74a of player A at a certain time t1 is shown as player position 74aa, and the player position 74a of player A at time t2, a predetermined time after time t1, is shown as player position 74ab on the map image 60. Also, the player position 74b of player B at time t1 is shown as player position 74ba, and the player position 74b of player B at time t2 is shown as player position 74bb on the map image 60. Furthermore, the player positions 74c of player C and 74d of player D are also shown on the map image 60 in Figure 7. In the example in Figure 7, it is assumed that the player positions 74c of player C and 74d of player D do not change from time t1 to time t2. In the example shown in Figure 7, Player A is identified as the last player in the queue, and Player B is identified as the second to last player.

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

[0058] In the situation shown in Figure 7, Player B is moving towards the drivable area 62. Therefore, it can be inferred that there is a situation where Player B wants the golf cart 16 to come closer, such as when Player B wants to pick up a golf club loaded on the golf cart 16.

[0059] Furthermore, Player A is moving in the direction of travel of the golf cart 16. Therefore, it can be inferred that Player A does not need the golf cart 16, that is, has no intention of riding in the golf cart 16.

[0060] In the situation described above, in the example in Figure 7, the golf cart 16 moves to approach player B as described above. In this way, in the example in Figure 7, the golf cart 16 can be moved to approach a player who is likely to want the golf cart to come closer.

[0061] Figure 8 shows a different situation from Figures 4 through 7. In the example in Figure 8, player A's player position 74a at time t1 is shown as player position 74aa, and player A's player position 74a at time t2, a predetermined time after time t1, is shown as player position 74ab on the map image 60. Also in Figure 8, player B's player position 74b, player C's player position 74c, and player D's player position 74d are shown on the map image 60. In the example in Figure 8, it is assumed that player B's player position 74b, player C's player position 74c, and player D's player position 74d do not change from time t1 to time t2. Furthermore, in the example in Figure 8, it is assumed that player A is identified as the last player and player B is identified as the second to last player.

[0062] In this situation, as shown in Figure 8, if the distance from the drivable range 62 to player B's player position 74b remains shorter than a predetermined distance for a predetermined period of time or longer, and it is detected that player A is moving along the direction of travel of the golf cart 16, then the golf cart 16 will move to the target stopping position 78, which is determined based on the history of player B's player position 74b.

[0063] In the situation shown in Figure 8, Player B remains near the drivable range 62. Therefore, it can be inferred that Player B needs the golf cart 16 to come closer, for example, to retrieve a golf club loaded on the golf cart 16.

[0064] Furthermore, Player A is moving in the direction of travel of the golf cart 16. Therefore, it can be inferred that Player A does not need the golf cart 16, that is, has no intention of riding in the golf cart 16.

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

[0066] The functions of the server 10 according to this embodiment and the processes performed by the server 10 according to this embodiment will be described further below.

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

[0068] As shown in Figure 9, the server 10 according to this embodiment functionally includes, for example, a map data storage unit 90, a player alternative position determination unit 92, a position information receiving unit 94, a player position identification unit 96, a golf cart position identification unit 98, a passenger 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 location information receiving unit 94 and the movement control unit 116 are mainly implemented by the communication unit 34. The player alternative position determination unit 92, player position identification unit 96, golf cart position identification unit 98, rider estimation unit 100, player order identification unit 102, proximity detection unit 104, golf cart necessity determination unit 106, target stop position determination unit 108, avoidance necessity determination unit 110, alternative stop position determination unit 112, and green arrival detection unit 114 are mainly implemented by the processor 30.

[0070] The above functions may be implemented by running a program installed on the server 10, which is a computer, that contains instructions corresponding to the above functions. This program may also be supplied to the server 10 via a computer-readable information storage medium such as an optical disc, magnetic disc, magnetic tape, or magneto-optical disc, or via the internet.

[0071] In this embodiment, the map data storage unit 90 stores, for example, the map data described above.

[0072] In this embodiment, the player alternative position determination unit 92 determines, for example, 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 avoided area 64 based on the position of the avoided area 64 and the pin position 68. For example, the player alternative position determination unit 92 may determine the position within the avoided area 64a closest to the pin position 68 as the player alternative position 72a associated with the avoided area 64a. Alternatively, the player alternative position determination unit 92 may determine the position within the avoided area 64a furthest from the pin position 68 as the player alternative position 72b associated with the avoided area 64a. In this way, the player alternative position determination unit 92 may determine multiple player alternative positions 72 associated with the avoided area 64. Note that there is no need for multiple player alternative positions 72 associated with the avoided area 64; there may be only one player alternative position 72 associated with the avoided area 64.

[0074] Furthermore, the player alternative position 72 does not need to be determined by the player alternative position determination unit 92. For example, the player alternative position 72 associated with the avoidance target area 64 may be pre-set in association with the said avoidance target area 64.

[0075] In this embodiment, the location information receiving unit 94 receives location information indicating the location of the player terminal 12. For example, in this embodiment, the GPS module included in the sensor unit 46 of the player terminal 12 may determine its current location (e.g., latitude and longitude) at predetermined time intervals (e.g., every few seconds). The GPS module may then transmit to the server 10 location information indicating the determined current location (e.g., latitude and longitude), which is associated with the identifier (ID) of the player terminal 12 and time information indicating the time the positioning was performed. The location information receiving unit 94 may then receive the location information transmitted from the player terminal 12 in this manner. In the following description, the IDs of player terminals 12a, 12b, 12c, and 12d are assumed to be "1", "2", "3", and "4", respectively.

[0076] Similarly, in this embodiment, the location information receiving unit 94 receives location information indicating the location of the golf cart terminal 14. For example, in this embodiment, the GPS module included in the sensor unit 56 of the golf cart terminal 14 may determine its current location (e.g., latitude and longitude) at predetermined time intervals (e.g., intervals of a few seconds). The GPS module may then transmit to the server 10 location information indicating the determined current location (e.g., latitude and longitude), which is associated with the identifier (ID) of the golf cart terminal 14 and time information indicating the time the positioning was performed. The location information receiving unit 94 may then receive the location information transmitted from the golf cart terminal 14 in this manner. In the following description, the ID of the golf cart terminal 14 is assumed to be "5".

[0077] In this embodiment, the player position identification unit 96 identifies, for example, the player position 74, which is the position of a player playing golf.

[0078] The player position identification unit 96 may identify the player positions 74 of multiple players (for example, player A, player B, player C, and player D in this embodiment). For example, player A's player position 74a may be identified based on the position information associated with ID "1". Player B's player position 74b may be identified based on the position information associated with ID "2". Player C's player position 74c may be identified based on the position information associated with ID "3". Player D's player position 74d may be identified based on the position information associated with ID "4".

[0079] Furthermore, the player location identification unit 96 may repeatedly identify the player location 74. For example, each time the player location identification unit 96 receives location information from the player terminal 12, it may identify the location indicated by that location information as the latest player location 74 of the player using the player terminal 12.

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

[0081] Furthermore, the golf cart location identification unit 98 may repeatedly identify the golf cart location 76. For example, each time the golf cart location identification unit 98 receives location information from the golf cart terminal 14, it may identify the location indicated by that location information as the latest golf cart location 76 of the golf cart 16.

[0082] In this embodiment, the passenger estimation unit 100 estimates, for example, whether each of the multiple players playing golf is riding in the golf cart 16. The passenger estimation unit 100 may estimate whether each of the multiple players is riding in the golf cart 16 based on the player's position 74 and the golf cart's position 76.

[0083] Here, the riding estimation unit 100 may estimate for each of the multiple players whether or not the player is riding in the golf cart 16 based on the distance between the player's position 74 and the golf cart position 76. For example, the riding estimation unit 100 may estimate that the player is riding in the golf cart 16 if the distance between the player's position 74 and the golf cart position 76 is less than or equal to a predetermined distance. Conversely, the riding estimation unit 100 may estimate that the player is not riding in the golf cart 16 if the distance between the player's position 74 and the golf cart position 76 is not less than or equal to a predetermined distance.

[0084] Furthermore, the passenger estimation unit 100 does not need to estimate whether or not the player is riding in the golf cart 16 based on the player's position 74 and the golf cart's position 76.

[0085] For example, the golf cart terminal 14 may emit radio waves at a predetermined frequency. Each player terminal 12 may measure the strength of the radio waves at that frequency. Each player terminal 12 may then transmit data indicating the strength of the radio waves to the server 10. The occupancy estimation unit 100 may identify a player terminal 12 whose radio wave strength received from the golf cart terminal 14 remains above a predetermined level for a predetermined period of time or longer, and estimate that the player using that player terminal 12 is the player riding in the golf cart 16. Similarly, each player terminal 12 may emit radio waves at a predetermined frequency unique to that player terminal 12. The golf cart terminal 14 may then measure the strength of the radio waves at a frequency unique to that player terminal 12. The golf cart terminal 14 may then transmit data indicating the strength of the radio waves received from each player terminal 12 to the server 10, associating it with the ID of that player terminal 12. The rider estimation unit 100 may then identify a player terminal 12 in which the radio wave intensity received by the golf cart terminal 14 remains above a predetermined level for a predetermined period of time or longer, and estimate that the player using that player terminal 12 is a player riding in the golf cart 16.

[0086] Furthermore, each player terminal 12 may contain an RFID tag on which the ID of the player terminal 12 is recorded. The golf cart terminal 14 may also be equipped with an RFID tag reading function. The golf cart terminal 14 may transmit the ID it has read to the server 10. The passenger estimation unit 100 may then estimate that the player using the player terminal 12 identified by the transmitted ID is the player riding in the golf cart 16.

[0087] Furthermore, the passenger estimation unit 100 may store images of the faces of multiple players. The golf cart terminal 14 may also be equipped with a camera, and the golf cart terminal 14 may transmit images captured by the camera to the server 10. The passenger estimation unit 100 may then estimate the players riding in the golf cart 16 based on the results of face recognition processing performed on these images.

[0088] In this embodiment, the player order identification unit 102 identifies the order of one or more players who are presumed not to be riding in the golf cart 16. The player order identification unit 102 may identify the last player from among the one or more players who are presumed not to be riding in the golf cart 16. Alternatively, the player order identification unit 102 may identify the second-to-last player from among the one or more players who are presumed not to be riding in the golf cart 16. Furthermore, this identification may be performed repeatedly.

[0089] The player order identification unit 102 may identify the distance from the pin position 68 of the hole in which one or more players who are presumed not to be riding in a golf cart 16 are playing to the player position 74 of each player. The player order identification unit 102 may then identify the last player and the second to last player based on the distances identified in this way. For example, the player whose distance is identified the longest may be identified as the last player. Alternatively, the player whose distance is identified the second longest may be identified as the second to last player.

[0090] Furthermore, the player order identification unit 102 does not need to identify the order of players based on the player positions 74. For example, the player order identification unit 102 may store images of the faces of multiple players. The player order identification unit 102 may then identify the last player and the second-to-last player based on the face recognition results from images captured by a wide-angle surveillance camera capable of capturing the entire hall.

[0091] In this embodiment, the proximity detection unit 104 detects, for example, the approach of a golfer to the drivable range 62 of the golf cart 16 being used by that player. Hereinafter, the player whose approach to the drivable range 62 is detected will be referred to as the player of interest. Here, the player of interest may be the second to last player among a group of players who are presumed not to be riding in the golf cart 16.

[0092] The proximity detection unit 104 may detect the approach of the player of interest to the drivable range 62 if it determines, based on the history of the player position 74 of the player of interest, that the player of interest is moving toward the drivable range 62.

[0093] For example, it may be detected that the player position 74 of the player of interest has been continuously changing over a predetermined period of time (for example, several tens of seconds). For example, it may be detected that the distance between the player positions 74 indicated by the position information received at each of two consecutive points in time has been greater than or equal to a predetermined distance for several tens of seconds.

[0094] Furthermore, if it is detected that the player position 74 of the player under consideration has been continuously changing over a predetermined period of time, a vector may be identified that points from the player position 74 at the first point in time (corresponding to the above-mentioned time t1) to the player position 74 at the last point in time (corresponding to the above-mentioned time t2).

[0095] Here, for example, let's assume that player B is the player of interest, as shown in Figure 7. In this case, as shown in Figure 10, a movement direction vector v1 from player position 74ba to player position 74bb may be identified. The movement direction vector v1 may then be decomposed into a vector v2, which is the component in the direction along the drivable range 62 (for example, the direction along the direction of travel of the golf cart 16), and a vector v3, which is the component in the direction perpendicular to the drivable range 62. Here, for example, for each position indicated by the map data, a direction along the drivable range 62 (the direction toward the pin position 68 is considered positive) and a direction perpendicular to the drivable range 62 (the direction toward the drivable range 62 is considered positive) may be predetermined. Then, according to this setting, the movement direction vector v1 may be decomposed into vector v2 and vector v3.

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

[0097] Furthermore, the proximity detection unit 104 may detect the approach of the player of interest to the drivable range 62 when the distance of the player position 74 of the player of interest from the drivable range 62 is short enough to satisfy a given proximity condition.

[0098] For example, the proximity detection unit 104 may detect the approach of the player of interest to the drivable range 62 when the shortness of the distance between the player position 74 of the player of interest and the drivable range 62 satisfies the proximity condition for a predetermined number of consecutive times. For example, the proximity of the player of interest to the drivable range 62 may be detected when the condition that "the distance from the edge of the drivable range 62 to the player position 74 of the player of interest is shorter than a predetermined distance (e.g., 1 meter)" is satisfied for two or more predetermined times consecutively.

[0099] Alternatively, the proximity detection unit 104 may detect the approach of the player of interest to the drivable range 62 if the short distance of the player position 74 of the player of interest from the drivable range 62 satisfies the proximity condition for a predetermined time or longer. For example, the proximity of the player of interest to the drivable range 62 may be detected if the condition that "the distance from the edge of the drivable range 62 to the player position 74 of the player of interest is shorter than a predetermined distance (e.g., 1 meter)" is satisfied for a predetermined time (e.g., several tens of seconds) or longer.

[0100] In this embodiment, the golf cart necessity determination unit 106 determines, for example, whether the last player in line meets a given condition for not needing a cart. For example, the golf cart necessity determination unit 106 may determine, based on the history of the last player's player position 74, whether the last player is moving along the direction of travel of the golf cart 16.

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

[0102] Furthermore, if it is detected that the player position 74 of the last player has been continuously changing over a predetermined period of time, a vector may be identified that points from the player position 74 at the first point in time (corresponding to the above-mentioned time t1) to the player position 74 at the last point in time (corresponding to the above-mentioned time t2).

[0103] Here, for example, as shown in Figures 7 and 8, let's assume that player A is the player of interest. In this case, as shown in Figure 11, a movement direction vector v4 from player position 74aa to player position 74ab may be identified. The movement direction vector v4 may then be decomposed into a vector v5, which is the component in the direction along the drivable range 62, and a vector v6, which is the component in the direction perpendicular to the drivable range 62. Here, as described above, for each position indicated by the map data, a direction along the drivable range 62 (the direction toward the pin position 68 is considered positive) and a direction perpendicular to the drivable range 62 (the direction toward the drivable range 62 is considered positive) may be predetermined. The movement direction vector v4 may then be decomposed into vector v5 and vector v6 according to these predetermined settings.

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

[0105] In this embodiment, the target stopping position determination unit 108 determines, for example, a target stopping position 78 within the drivable range 62 of the golf cart 16.

[0106] The target stopping position determination unit 108 may determine the target stopping position 78 based on the player position 74 of the last player, for example, as shown in Figure 5. Here, the map data may include how-to point position data indicating the positions of multiple how-to points along the strip-shaped drivable range 62. The target stopping position determination unit 108 may then determine the target stopping position 78 to be the how-to point closest to the player position 74 of the last player, based on the how-to point position data. Alternatively, to prevent the golf cart 16 from getting too close to the last player, the target stopping position 78 may be determined to be a how-to point that is a predetermined distance away from the pin position 68 from the how-to point closest to the player position 74 of the last player.

[0107] Furthermore, as shown in Figures 7 and 8, the target stop position determination unit 108 may determine the target stop position 78 based on the history of the player's position 74 in response to the detection of the player's approach to the drivable range 62. For example, as shown in Figure 7, the target stop position 78 may be determined to be the position of the passing point closest to the straight line extended from the direction of movement vector v1. Alternatively, to prevent the golf cart 16 from getting too close to the player, the target stop position 78 may be determined to be 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 extended from the direction of movement vector v1. Also, as shown in Figure 8, the target stop position 78 may be determined to be the position of the passing point closest to the player's position 74b. Alternatively, to prevent the golf cart 16 from getting too close to the player, the target stop position 78 may be determined to be 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's position 74b.

[0108] In this embodiment, the avoidance necessity determination unit 110 determines, for example, whether a given avoidance target area 64 exists between the player position 74 and the target stop position 78. The avoidance necessity determination unit 110 may also determine that an avoidance target area 64a exists between the player position 74a and the target stop position 78 if, for example, as shown in Figure 5, 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, the alternative stopping position determination unit 112 determines the alternative stopping position 80 based on, for example, the alternative stopping position 72 of the player. For example, the alternative stopping position determination unit 112 may determine the alternative stopping position 80 to be the position of the pass point closest to the player alternative position 72, based on the pass point position data. Alternatively, in order to prevent the golf cart 16 from getting too close to the last player, the alternative stopping position 80 may be determined to be a pass point that is a predetermined distance away from the pin position 68 from the pass point closest to the player alternative position 72.

[0110] Alternatively, as shown in Figure 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 Figure 5) that is closest to the player position 74 (player position 74a in the example of Figure 5) among the multiple alternative player positions 72 (72a and 72b in the example of Figure 5).

[0111] In this embodiment, the green arrival detection unit 114 detects, for example, when a player arrives at the green included in the hole in which they are playing. Here, the green arrival detection unit 114 may detect when a player has arrived at the green based on the player's position 74 and the location of the green included in the hole in which the player is playing. Alternatively, the green arrival detection unit 114 may detect when a player has arrived at the green for each of multiple players based on the player's position 74 and the location of the green included in the hole in which the multiple players are playing. For example, the green arrival detection unit 114 detects when it is confirmed that the player's position 74 is within the green area 66.

[0112] The green arrival detection unit 114 may store green arrival management data associated with holes, as shown in Figure 12. As shown in Figure 12, the green arrival management data includes hole number data, multiple player IDs, and multiple green arrival flags associated with each player ID. The hole number data included in the green arrival management data is the hole number for which the arrival of players to the green is managed by the green arrival management data. The player ID is a player identifier, and as described above, the player IDs of player A, player B, player C, and player D are "1", "2", "3", and "4", respectively. The green arrival flag is a flag that indicates whether or not the player identified by the player ID associated with the green arrival flag has arrived at the green of that hole.

[0113] The initial value of the green arrival flag is 0, and when it is detected that a player has arrived at the green, the value of the green arrival flag associated with that player's player ID changes from 0 to 1. In this embodiment, even if it is later confirmed that the player's player position 74 is outside the green area 66, the value of the green arrival flag associated with that player's player ID remains 1.

[0114] The green arrival management data shown in Figure 12 indicates that players A and B have already been detected as having arrived at the 9th hole green, while players C and D have not yet been detected as having arrived at the 9th hole green.

[0115] Furthermore, the green arrival detection unit 114 does not need to detect that a player has arrived at the green based on the player's position 74. For example, the green arrival detection unit 114 may store images of the faces of multiple players. The green arrival detection unit 114 may then detect that a player has arrived at the green based on the face recognition results of images captured by a surveillance camera that photographs the green.

[0116] In this embodiment, the movement control unit 116 moves the golf cart 16, for example. Here, it may send an operation signal indicating, for example, "forward" or "stop" to the golf cart terminal 14. The golf cart terminal 14 that receives the operation signal may then send an operation signal to the golf cart 16. The golf cart 16 that receives the operation signal may then perform an action corresponding to the operation signal. In addition, the movement control unit 116 in this embodiment monitors the golf cart position 76 and is able to move the golf cart 16 to any position within the drivable range 62.

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

[0118] For example, the movement control unit 116 may move the golf cart 16 to the target stop position 78 if 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.

[0119] On the other hand, if the avoidance necessity determination unit 110 determines that a given avoidance target area 64 exists between the player position 74 and the target stopping position 78, the movement control unit 116 may move the golf cart 16 to an alternative stopping position 80, which is determined based on the avoidance target area 64 and is different from the target stopping position 78. In the example in Figure 5, the golf cart 16 will move to the alternative stopping position 80.

[0120] Furthermore, the movement control unit 116 may move the golf cart 16 to the standby position 70 in response to the detection that a player has arrived at the green. As shown in Figure 6, the movement control unit 116 may also move the golf cart 16 to the standby position 70 in response to the detection that all of the multiple players have arrived at the green. For example, the movement control unit 116 may move the golf cart 16 to the standby position 70 in response to the value of all the green arrival flags included in the green arrival management data for the hole in which the multiple players are playing golf becoming 1. In the example in Figure 6, the golf cart 16 will move to the standby position 70.

[0121] Furthermore, the movement control unit 116 may move the stationary golf cart 16 closer to the player of interest in response to the proximity detection unit 104 detecting the approach of the player of interest into the drivable range 62.

[0122] Here, the movement control unit 116 may move the stationary golf cart 16 closer to the player of interest when it detects that the player of interest is approaching the drivable range 62, provided that the last player in line satisfies the above-mentioned conditions for not needing a cart. For example, if the movement control unit 116 determines, based on the history of the last player's position, that the last player is moving along the direction of travel of the golf cart 16, it may move the stationary golf cart 16 closer to the player of interest when it detects that the player of interest is approaching the drivable range 62. Here, as shown in Figures 7 and 8, the golf cart 16 may move to the target stopping position 78.

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

[0124] Furthermore, the player of interest does not have to be the second-to-last player among multiple players who are presumed not to be riding in the golf cart 16. For example, the player order identification unit 102 may identify as the player of interest any player whose distance from the golf cart position 76 is shorter than a given distance (e.g., 100 yards). Multiple players of interest may be identified. Then, the movement control unit 116 may move the stationary golf cart 16 closer to the player of interest if it detects that any of the players of interest is approaching the drivable range 62.

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

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

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

[0128] Then, the green arrival detection unit 114 checks whether or not a player has newly arrived on the green based on the player position 74 identified in the process shown in S101 and the position of the green area 66 (S103).

[0129] If it is confirmed that a new player has arrived on the green (S103:Y), the green arrival detection unit 114 updates the value of the green arrival flag, which is associated with the player ID of the new player on the green in the green arrival management data for that hole (for example, the 9th hole), to 1 (S104).

[0130] Then, the green arrival detection unit 114 checks whether all players have arrived at the green (S105). For example, it checks whether the value of all green arrival flags included in the green arrival management data for that hole has become 1.

[0131] Once 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 example is terminated.

[0132] If the process shown in S103 confirms that no new players have arrived on the green (S103), or if the process shown in S105 does not confirm that all players have arrived on the green (S105:N), the boarding estimation unit 100 estimates for each of the four players whether or not they are riding in the golf cart 16 (S107).

[0133] Then, the player order identification unit 102 identifies the last player and the player of interest (in this case, for example, the second to last player) from among the one or more players who are presumed not to be riding in the golf cart 16 (S108).

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

[0135] If approach is detected (S109:Y), the golf cart necessity determination unit 106 checks whether the last player in line meets the conditions for not needing a cart (S110).

[0136] If it is confirmed that the last player does not need a cart (S110:Y), the target stopping position determination unit 108 determines the target stopping position 78 based on the history of the player position 74 of the player of interest (S111).

[0137] If the process shown in S109 does not detect the player of interest approaching the drivable range 62 (S109:N), or if the process shown in S110 confirms that the last player does not meet the conditions for not needing a cart (S110:N), the target stopping position determination unit 108 checks whether the distance between the last player's player position 74 and the golf cart position 76 is greater than or equal to a predetermined distance (for example, 10 meters) (S112).

[0138] If it is confirmed that the distance between the last player's position 74 and the golf cart position 76 is not greater than or equal to a predetermined distance (S112:N), the process shown in this example is terminated.

[0139] If it is confirmed that the distance between the last player's position 74 and the golf cart position 76 is greater than or equal to a predetermined distance (S112:Y), the target stopping position determination unit 108 determines the target stopping position 78 based on the last player's position 74 (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 stopping position 78 (S114). If the process shown in S111 is executed, the process shown in S114 determines whether an avoidance target area 64 exists between the player position 74 of the player of interest and the target stopping position 78 determined in the process shown in S111. On the other hand, if the process shown in S113 is executed, the process shown in S114 determines whether an avoidance target area 64 exists between the player position 74 of the last player and the target stopping 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 an alternative stop position 80 based on the alternative player 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 stopping position 80 determined in the process shown in S115 (S116), and the process shown in this example is completed.

[0143] If the process shown in S114 confirms that there is no area to be avoided 64 between the player position 74 and the target stopping position 78 (S114:N), the movement control unit 116 moves the golf cart 16 to the target stopping position 78 determined in the process shown in S111 or S113 (S117), and the process shown in this example is terminated.

[0144] Furthermore, if the process shown in S107 determines that all players are riding in the golf cart 16, the process shown in this example may be terminated without executing the processes shown in S108 and beyond.

[0145] Furthermore, if the process shown in S107 determines that three players are riding in the golf cart 16, then in the process shown in S108, one player who is not believed to be riding in the golf cart 16 may be identified as the last player in the line. The process may then proceed to the process shown in S112.

[0146] However, the present invention is not limited to the embodiments described above.

[0147] For example, the map data may include how-to point data in which each of several how-to points along a strip-shaped drivable area 62 is associated with a range of distances from the pin position 68 (or a range of ratios of the distance from the pin position 68 to the length of the hole). The target stop position determination unit 108 may then determine the target stop position 78 as a how-to point associated with a range of distances including the distance from the pin position 68 to the player position 74. Alternatively, the alternative stop position determination unit 112 may determine the alternative stop position 80 as a how-to point associated with a range of distances including the distance from the pin position 68 to the alternative player position 72.

[0148] Alternatively, the map data may include line segment data showing multiple line segments along the strip-shaped drivable area 62. 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. The alternative stop position determination unit 112 may also determine the foot of the perpendicular to the line segment closest to the alternative player position 72 as the target stop position 78. In this case, the direction of the line segment closest to the player position 74 may be defined as the direction along the drivable area 62, and the direction perpendicular to that direction may be defined as the direction perpendicular to the drivable area 62.

[0149] Furthermore, the golf cart 16 does not necessarily have to move along a predetermined path within the 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 area 62 will be a planar area rather than a linear (strip-shaped) area.

[0150] Furthermore, the player's position 74 and the golf cart's position 76 may be determined by sensors other than the GPS module.

[0151] Furthermore, if a player is playing golf alone, the golf cart 16 may be configured to move to the waiting position 70 when it is detected that the player has arrived at the green.

[0152] Furthermore, if the golf cart 16 stops due to the operation of the control button 18 and a predetermined time (for example, 10 seconds) has elapsed, it may switch to an automatic driving mode in which the automatic driving described above can be performed. When switching to automatic driving mode, for example, the string "Switched to automatic driving mode." may be displayed on the display of the golf cart terminal 14, or the string may be read aloud from the speaker of the golf cart terminal 14. Also, when the golf cart 16 starts moving in automatic driving mode, for example, the string "Starting automatic driving." may be displayed on the display of the golf cart terminal 14, or the string may be read aloud from the speaker of the golf cart terminal 14. Here, for example, the golf cart 16 may start moving a few seconds after the string is displayed on the display of the golf cart terminal 14 or the string is read aloud from the speaker of the golf cart terminal 14.

[0153] Furthermore, when the golf cart 16 moves to approach the player of interest rather than the last player in line, a string of text such as, "We will skip player A, who is the last player in line, and move to the vicinity of player B, who is the player in front of him," may be displayed on the display of the golf cart terminal 14, or the text may be read aloud and output from the speaker of the golf cart terminal 14.

[0154] Furthermore, some or all of the functions shown in Figure 9 may be implemented on the player terminal 12 or the golf cart terminal 14 instead of the server 10. In this case, communication may be established between the player terminal 12 and the golf cart terminal 14.

[0155] Furthermore, the specific strings and numbers mentioned above, as well as those in the drawings, are examples only and are not limited to these. [Explanation of symbols]

[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 Driving range, 64, 64a, 64b, 64c Avoidance target area, 66 Green area, 68 Pin position, 70 Standby position, 72, 72a, 72b Player alternative position, 74, 74a, 74aa, 74ab, 74b, 74ba, 74bb, 74c, 74d Player position, 76 Golf cart position, 78 Target stopping position, 80 Alternative stopping position, 90 Map data storage unit, 92 Player alternative position determination unit, 94 Position information receiving unit, 96 Player position identification unit, 98 Golf cart position identification unit, 100 Rider estimation unit, 102 Player order identification unit, 104 Proximity detection unit, 106 Golf cart necessity determination unit, 108 Target stopping position determination unit, 110 Avoidance necessity determination unit, 112 Alternative stopping position determination unit, 114 Green arrival detection unit, 116 Movement control unit.

Claims

1. A green arrival management data storage means that stores green arrival management data indicating whether or not a player has arrived at the green for each of several players playing golf, For each of the aforementioned plurality of players, a green arrival detection means for detecting when the player has arrived at the green, Green arrival management data modification means for each of the aforementioned multiple players, which, in response to detection that the player has arrived at the green, changes the green arrival management data from indicating that the player has not arrived at the green to indicating that the player has arrived at the green, In response to the green arrival management data indicating that all of the aforementioned players have arrived at the green, a movement control means moves the golf carts used by the players to a pre-arranged waiting position. A golf cart movement control system including...

2. The system further includes a player position identification means for identifying the player's position, which is the position of the player. The green arrival detection means detects that the player has arrived at the green based on the player's position and the green's position. The golf cart movement control system according to claim 1.

3. A golf cart movement control system that stores green arrival management data indicating whether or not a player has arrived at the green for each of the multiple players playing golf, includes the step of detecting that the player has arrived at the green for each of the multiple players, The golf cart movement control system, in response to the detection that each of the plurality of players has arrived at the green, changes the green arrival management data from indicating that the player has not arrived at the green to indicating that the player has arrived at the green. The golf cart movement control system, in response to the green arrival management data indicating that all of the multiple players have arrived at the green, moves the golf carts used by the players to a pre-arranged waiting position. Includes a method for controlling the movement of a golf cart.

4. A computer that stores green arrival management data indicating whether or not a player has arrived at the green for each of several players playing golf, For each of the aforementioned players, the step of detecting that the player has arrived at the green, For each of the aforementioned players, the step of changing the green arrival management data from indicating that the player has not arrived at the green to indicating that the player has arrived at the green, in response to the detection that the player has arrived at the green, In response to the green arrival management data indicating that all of the aforementioned players have arrived at the green, the golf carts used by the players are moved to a pre-arranged waiting position. A program to execute.

Images