Positioning device, positioning method, and positioning program

Abstract

The positioning device (100) is installed on the green of a golf course and measures the position of the installation point. The antenna (110) receives satellite signals. The position acquisition unit (121) calculates the position of the antenna (110) using the satellite signals. The impact determination unit (123) determines whether or not the device acceleration (51) measured by the acceleration sensor (122) satisfies the impact determination criterion (61). If the device acceleration (51) satisfies the impact determination criterion (61), the position calculation unit (124) calculates the installation position (35), which is the position of the installation point, using the position of the antenna (110).

Description

[Technical field]

[0001] The present disclosure relates to a positioning device, a positioning method, and a positioning program, and more particularly to a positioning device, a positioning method, and a positioning program for measuring a position on a green of a golf course. [Background technology]

[0002] On a golf course, the pin position on the green, i.e. the hole position, is basically changed every day. The reasons are as follows. The grass around the holes wears down over time. -Play becomes boring if the holes are all in the same place. -Difficulty level varies depending on the location of the hole.

[0003] Accurate management of hole position information is important from the standpoint of maintaining the turf of a golf course, golfers' satisfaction with the golf course, and golfers' play strategy planning.

[0004] Patent Document 1 describes that positioning information determined by a high-precision positioning terminal detachably provided on the cup is transmitted to an external device. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-080660 A Summary of the Invention [Problem to be solved by the invention]

[0006] The golf pin position detection device of Patent Document 1 requires the operation of a physical button during measurement. The presence of a physical button poses the problem of a high failure rate due to external factors such as dirt or grass. There is also the problem of high design costs or maintenance costs for the physical button. There is also the problem that, when used by a person who is unfamiliar with operating the device, the operator may forget to press the physical button or may operate it incorrectly.

[0007] The present disclosure aims to accurately measure the hole position, which is the installation position, without requiring a physical button that serves as a trigger to start measurement. [Means for solving the problem]

[0008] The present disclosure relates to a positioning device that is installed on a golf course green and measures an installation point, An installation body to be placed at the installation site; an antenna for receiving satellite signals; a position acquisition unit that calculates a position of the antenna using the satellite signal; An acceleration sensor that measures acceleration as device acceleration; an impact determination unit that determines whether the device acceleration satisfies an impact determination criterion that is a reference value of an impact to the positioning device; a position calculation unit that calculates an installation position, which is the position of the installation point, using the position of the antenna when the device acceleration satisfies the impact determination criterion; Equipped with. Effect of the Invention

[0009] In the positioning device according to the present disclosure, the impact determination unit determines whether the device acceleration satisfies the impact determination criterion. Then, the position calculation unit calculates the installation position from the antenna position when the device acceleration satisfies the impact determination criterion. Therefore, the positioning device according to the present disclosure has an effect of being able to accurately measure the hole position, which is the installation position, without requiring a physical button that triggers the start of measurement. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram showing an example of the overall configuration of a positioning device according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing an example of a functional configuration of a positioning device according to the first embodiment. [Diagram 3] 4 is a flowchart showing an operation example of the positioning device according to the first embodiment. [Figure 4] FIG. 4 is a diagram showing a display example of a worker terminal according to the first embodiment. [Diagram 5] FIG. 2 is a diagram showing an example of a hardware configuration of a receiver according to the first embodiment. [Figure 6] FIG. 13 is a diagram showing another example of the hardware configuration of the receiver according to the first embodiment. [Figure 7] FIG. 11 is a diagram showing an example of a functional configuration of a positioning device according to a second embodiment. [Figure 8] FIG. 11 is a diagram showing an example of a functional configuration of a positioning device according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the present embodiment will be described with reference to the drawings. In each drawing, the same or corresponding parts are given the same reference numerals. In the description of the embodiment, the description of the same or corresponding parts will be omitted or simplified as appropriate. The arrows in the drawing mainly indicate the flow of data or the flow of processing. In addition, the relationship of the size of each component in the following drawings may differ from the actual one. In addition, in the description of the embodiment, directions or positions such as up, down, left, right, front, back, front, and back may be indicated. These notations are for convenience of explanation and do not limit the arrangement, direction, or orientation of devices, instruments, parts, etc.

[0012] Embodiment 1 ***Configuration Description*** FIG. 1 is a diagram showing an example of the overall configuration of a positioning device 100 according to the present embodiment. The positioning device 100 is installed on the green 20 of the golf course, and measures an installation position 35 which is the position of the installation point 30 . The positioning device 100 includes a main body 150 equipped with an antenna 110 , a receiver 120 , a battery 130 , and an installation body 140 . For example, the positioning device 100 measures the hole position, which is the position of the installation point 30, by taking a hole 31 provided on a green 20 of a golf course as the installation point 30. The positioning device 100 is also called a hole position measuring device. The positioning device 100 is operated by a worker 40 such as a groundskeeper or greenkeeper.

[0013] The positioning device 100 according to this embodiment includes an antenna at the upper end of an elongated main body 150. A receiver 120 and a battery 130 are provided below the antenna 110. Furthermore, an installation body 140 is provided at the lower end of the elongated main body 150, which is installed at an installation point 30 whose position is to be measured. The shape of the positioning device 100 is not limited to the shape in Fig. 1. For example, the main body 150 may be box-shaped, with the antenna 110 arranged at the top and the installation body 140 arranged at the bottom, and the receiver 120 and the battery 130 arranged inside the box. Alternatively, other shapes may be used.

[0014] When the measurement of the installation position 35 is completed, the positioning device 100 transmits the installation position 35 to the worker terminal 200 carried by the worker 40 .

[0015] FIG. 2 is a diagram showing an example of a functional configuration of the positioning device 100 according to the present embodiment. The antenna 110 receives satellite signals. The battery 130 provides power to the antenna 110 and the receiver 120 .

[0016] The installation body 140 is installed at the installation point 30 . In this embodiment, the installation body 140 is formed in a shape similar to the tip of a pin so as to fit into a pin attachment portion in the hole. Thus, the positioning device 100 is installed in the hole so as to insert a pin into the hole. The shape of the installation body 140 is not limited to the pin type. The shape of the installation body 140 may be cylindrical, conical, or prismatic so as to fit into the hole 31 . Alternatively, the installation body 140 may be a tripod that is installed around the hole 31. In the case of a tripod, it can be stably installed at three points, and since it only comes into contact with three points around the hole 31, there is a low risk of damaging the grass. Alternatively, the installation body 140 may be a pylon type that is installed around the hole 31. If the installation body 140 is a hollow pylon type, it will be in linear contact with the periphery of the hole 31, and there is a low risk of damaging the grass.

[0017] The receiver 120 includes a position acquisition unit 121 , an acceleration sensor 122 , an impact determination unit 123 , a position calculation unit 124 , a notification unit 125 , a storage unit 126 , and a communication unit 127 .

[0018] The position acquisition unit 121 calculates the position of the antenna using the satellite signal received from the antenna 110. Specifically, the position acquisition unit 121 generates satellite data such as a navigation message and observation data from the satellite signal, and calculates the position of the antenna using the satellite data. The processing of the position acquisition unit 121 is executed continuously, for example, once per second. The position acquisition unit 121 is also called a satellite data generation unit. The position calculation unit 124 may perform positioning using augmentation information, which may be obtained from a satellite or the Internet.

[0019] The acceleration sensor 122 measures acceleration as device acceleration 51. The device acceleration 51 is the acceleration of the positioning device 100. The acceleration sensor 122 calculates acceleration from a force applied to the sensor, so that an acceleration of 1 g is measured in the vertical direction even in a stationary state.

[0020] The impact determination unit 123 determines whether the device acceleration 51 satisfies an impact determination criterion 61, which is a reference value for an impact on the positioning device 100. The impact determination criterion 61 is a reference value indicating whether an impact, i.e., acceleration, exceeding a predetermined value has been applied to the positioning device 100, or whether impacts exceeding the predetermined value have been detected a predetermined number of times in succession.

[0021] When the device acceleration 51 satisfies the impact determination criterion 61, the position calculation unit 124 calculates the installation position 35, which is the position of the installation point 30, using the position of the antenna. In this embodiment, when it is determined that the impact determination criterion 61 is satisfied, the position calculation unit 124 calculates the hall position, which is the installation position 35, using the position of the antenna.

[0022] The notification unit 125 indicates that the calculation process of the installation position 35 by the position calculation unit 124 is in progress. For example, the notification unit 125 is realized by an LED. LED is an abbreviation for Light Emitting Diode. The notification unit 125 blinks the LED when the measurement process of the installation position 35 starts, and turns off the LED or lights it continuously when the measurement is completed. Alternatively, the LED may be color-coded to indicate whether measurement is in progress or measurement is completed.

[0023] The storage unit 126 stores the installation position information including the installation position 35 calculated by the position calculation unit 124 . The communication unit 127 transmits the installation location information to an external device via wired or wireless communication.

[0024] ***Explanation of Operation*** FIG. 3 is a flow diagram showing an example of the operation of the positioning device 100 according to the present embodiment. The operation of the positioning device 100 according to this embodiment will be described with reference to Fig. 3. The operation procedure of the positioning device 100 corresponds to a positioning method. Also, a program that realizes the operation of the positioning device 100 corresponds to a positioning program.

[0025] In this embodiment, a worker 40 carries the positioning device 100 when constructing a new hole. After drilling holes on the green 20, the worker 40 installs an installation body 140 of the positioning device 100 on the hole 31. At this time, the hole is the installation point 30, and the hole position is the installation position 35. In this state, the following process is executed.

[0026] In step S100, the power of the positioning device is turned on. The measurement of the installation position (hole position) does not start just by turning on the positioning device. The power of the positioning device may be turned on and off by a physical button or the like. In step S101, the antenna 110 receives satellite signals. In step S102, the position acquisition unit 121 uses the satellite signals to calculate the position of the antenna 110. Specifically, the position acquisition unit 121 acquires observation data and a navigation message from the satellite signals. Then, the position acquisition unit 121 calculates the position of the antenna using the observation data and the navigation message. The process of step S102 is performed continuously, such as once per second.

[0027] In step S103, the position acquisition unit 121 determines whether to start measuring the installation position (hole position). In this embodiment, when the positioning device 100 receives a predetermined impact, it is determined that the measurement of the installation position is to be started. Whether or not a predetermined impact has been applied to the positioning device 100 is determined as follows.

[0028] The impact determination unit 123 determines whether or not a predetermined impact has occurred. Specifically, the impact determination unit 123 determines whether or not the device acceleration 51 detected by the acceleration sensor 122 satisfies an impact determination criterion 61, which is a reference value of an impact on the positioning device 100. When the device acceleration 51 satisfies the impact determination criterion 61, the impact determination unit 123 determines that the predetermined impact has occurred. More specifically, it is as follows.

[0029] As described above, the predetermined impact indicates the timing at which the positioning device 100 starts measuring the installation position. The timing at which the position calculation unit 124 starts the position calculation process. The positioning device 100 determines that the application of the predetermined impact is a trigger for starting measurement of the installation position. The shock determination criterion 61 is a reference value for determining whether the positioning device 100 has been subjected to a shock, ie, acceleration, exceeding a predetermined value, and whether shocks exceeding the predetermined value have been detected a predetermined number of times in succession.

[0030] In order to avoid erroneous detection, for example, multiple (two or more) impacts in a short time are detected as the predetermined impact as a trigger to start measurement. In this embodiment, multiple (two or more) impacts in a short time are detected as the predetermined impact. Multiple (two or more) impacts in a short time are hereinafter referred to as double clicks. The predetermined impact is not limited to a double click, and any impact may be adopted as the predetermined impact as long as it is an impact that can suppress erroneous detection.

[0031] If it is determined that the device acceleration 51 satisfies the shock determination criterion 61, that is, that a predetermined shock has occurred, the process proceeds to step S104.

[0032] In step S104, the notification unit 125 notifies that the location calculation unit 124 is performing calculation processing of the installation location. For example, the notification unit 125 notifies that the installation location is being measured by blinking an LED. The calculation processing of the installation location by the location calculation unit 124 may also be called measurement of the installation location.

[0033] In step S105, the position calculation unit 124 calculates the installation position, which is the position of the installation point, using the position of the antenna. Specifically, the position calculation unit 124 calculates the installation position 35 from information on the position of the antenna, the length of the positioning device 100, and the tilt of the positioning device 100. When the positioning device 100 stands vertically, the position calculation unit 124 calculates the installation position 35 as the position obtained by subtracting the length of the positioning device 100 from the position of the antenna.

[0034] In step S106, the position calculation unit 124 determines whether or not the measurement of the installation position has been completed. For example, the position calculation unit 124 automatically ends the measurement by a method such as ending the measurement after 10 measurements have been made in Fix. This makes it possible to automatically end the measurement without the need to perform an action such as pressing a physical button. If it is determined that the measurement of the installation position is completed, the process proceeds to step S107. The process of step S106 is repeated until it is determined that the measurement of the installation position is completed.

[0035] In step S107, the notification unit 125 notifies the completion of the measurement of the installation position. Specifically, the notification unit 125 notifies the completion of the measurement of the installation position by turning off or continuously lighting the LED. The worker 40 can know the completion of the measurement of the installation position by turning off or continuously lighting the LED. If the measurement does not end automatically, the worker 40 may be able to forcefully end it. For example, the positioning device 100 may have a function of ending the measurement when it detects that the positioning device 100 has been turned over. As a result, if the measurement does not end automatically (the LED is turned off or does not light up continuously), the worker 40 can end the measurement by turning the positioning device 100 over on its side.

[0036] In step S108, the storage unit 126 stores installation position information including the installation position 35 calculated by the position calculation unit 124. In this embodiment, the installation position 35 is a hall position, and the installation position information is hall position information.

[0037] In step S109, the communication unit 127 transmits the installation location information to the external device. For example, the communication unit 127 transmits the installation position information to the worker terminal 200. The worker terminal 200 is, for example, a smartphone, a tablet terminal, or a smart watch.

[0038] FIG. 4 is a diagram showing an example of a display on the worker terminal 200 according to the present embodiment. As shown in Figure 4, the installation position 35, which is the measurement position of the hole, is displayed on a map. At this time, the display is color-coded according to the positioning quality. For example, the positioning quality is displayed as follows: orange indicates independent positioning, light blue indicates FLOAT, and dark blue indicates FIX. Although not shown, it displays GGA in NMEA format. NMEA is an abbreviation for National Marine Electronics Association. When the groundskeeper terminal 200 is not used, the terminal may be connected to a PC via a wire or may be directly transmitted to a server. PC is an abbreviation for Personal Computer.

[0039] ***Hardware Configuration Description*** The receiver 120 is a computer. The functions of the receiver 120 may be realized by software using a processor 910, or may be realized by hardware using an electronic circuit 909. First, an example in which the functions of the various parts of the receiver 120 are realized by software will be described.

[0040] <Realized through software> FIG. 5 is a diagram showing an example of a hardware configuration of receiver 120 according to the present embodiment. The receiver 120 is a computer. The receiver 120 includes a processor 910 and other hardware such as a memory 921, an auxiliary storage device 922, an input / output interface 930, and a communication interface 950. The processor 910 is connected to the other hardware via a signal line 80 and controls the other hardware.

[0041] As described above, receiver 120 includes, as functional elements, position acquisition unit 121, impact determination unit 123, position calculation unit 124, notification unit 125, storage unit 126, and communication unit 127. The functions of position acquisition unit 121, impact determination unit 123, position calculation unit 124, and notification unit 125 are realized by software. The functions of the position acquisition unit 121, the impact determination unit 123, the position calculation unit 124, and the notification unit 125 may be referred to as functions of the receiver 120. Also, the functions of the position acquisition unit 121, the impact determination unit 123, the position calculation unit 124, and the notification unit 125 may be referred to as the receiver 120 or each unit of the receiver 120.

[0042] The processor 910 is a device that executes a positioning program. The positioning program is a program that realizes the functions of the receiver 120. The processor 910 is an IC that performs arithmetic processing. Specific examples of the processor 910 are a CPU, a DSP, and a GPU. IC is an abbreviation for Integrated Circuit. CPU is an abbreviation for Central Processing Unit. DSP is an abbreviation for Digital Signal Processor. GPU is an abbreviation for Graphics Processing Unit.

[0043] The memory 921 is a storage device that temporarily stores data. Specific examples of the memory 921 are SRAM and DRAM. SRAM is an abbreviation for Static Random Access Memory. DRAM is an abbreviation for Dynamic Random Access Memory. The auxiliary storage device 922 is a storage device that stores data. A specific example of the auxiliary storage device 922 is a HDD. The auxiliary storage device 922 may also be a portable storage medium such as an SD (registered trademark) memory card, CF, NAND flash, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD. Note that HDD is an abbreviation for Hard Disk Drive. SD (registered trademark) is an abbreviation for Secure Digital. CF is an abbreviation for CompactFlash (registered trademark). DVD is an abbreviation for Digital Versatile Disk.

[0044] The input / output interface 930 is an interface for connecting an input / output device. Specific examples of the input / output interface 930 include a USB and an HDMI (registered trademark) port. USB is an abbreviation for Universal Serial Bus. HDMI (registered trademark) is an abbreviation for High-Definition Multimedia Interface.

[0045] The communication interface 950 is an interface for communicating with an external device. Specific examples of the communication interface 950 include an Ethernet (registered trademark) port, or a device for performing wireless communication.

[0046] The positioning program is executed in the receiver 120. The positioning program is loaded into the processor 910 and executed by the processor 910. Memory 921 stores not only the positioning program but also the OS. OS is an abbreviation for Operating System. Processor 910 executes the positioning program while executing the OS. The positioning program and the OS may be stored in an auxiliary storage device 922. The positioning program and the OS stored in the auxiliary storage device 922 are loaded into the memory 921 and executed by the processor 910. Note that a part or the whole of the positioning program may be incorporated into the OS.

[0047] The receiver 120 may include a plurality of processors replacing the processor 910. These plurality of processors share the execution of the positioning program. Each of the processors is a device that executes the positioning program, like the processor 910.

[0048] Data, information, signal values ​​and variable values ​​used, processed or output by the positioning program are stored in memory 921 , secondary storage device 922 , or in registers or cache memory within processor 910 .

[0049] The "part" of each part of receiver 120 may be read as a "circuit," "step," "procedure," "process," or "circuitry." The positioning program causes a computer to execute each process, with the "part" of each part of receiver 120 read as a "process." The "process" of each process of receiver 120 may be read as a "program," "program product," "computer-readable storage medium storing a program," or "computer-readable recording medium recording a program." The positioning method is a method performed by receiver 120 executing the positioning program. The positioning program may be provided in a state stored in a computer-readable recording medium, or as a program product.

[0050] <Realized by hardware> Next, an example in which the functions of each unit of the receiver 120 are realized by hardware will be described. Specifically, the receiver 120 includes an electronic circuit 909 instead of a processor 910 .

[0051] FIG. 6 is a diagram showing another example of the hardware configuration of the receiver 120 according to a modification of this embodiment. The electronic circuit 909 is a dedicated electronic circuit that realizes the functions of each part of the receiver 120. Specifically, the electronic circuit 909 is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, a logic IC, a GA, an ASIC, or an FPGA. GA is an abbreviation for Gate Array. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field-Programmable Gate Array.

[0052] The functions of each unit of receiver 120 may be realized by one electronic circuit, or may be distributed across multiple electronic circuits.

[0053] As another modification, some of the functions of each unit of receiver 120 may be implemented by electronic circuits and the remaining functions may be implemented by software, or some or all of the functions of each unit of receiver 120 may be implemented by firmware.

[0054] Each of the processor and electronic circuits is also called a processing circuitry, that is, the functions of each part of the receiver 120 are realized by the processing circuitry.

[0055] ***Other configurations*** <Variation 1> In this embodiment, the positioning device 100 has been described as measuring the hole position or a specific position on the green. In the first modification, multiple installation positions may be measured by the positioning device 100, and the shape of the green may be calculated based on the multiple installation positions. Specifically, multiple installation positions are measured by the positioning device 100, and the multiple installation positions on the green are stored in the memory unit 126. The positioning device 100 also includes a green calculation unit that calculates the shape of the green, i.e., the slope of the green, based on the multiple installation positions.

[0056] For example, the positioning device 100 is installed perpendicular to the green surface using a tripod as the installation body 140. In this state, the positions of multiple points on the green are measured, and the slope of the green surface is measured from the position information. This method of measuring the green surface is less expensive than using LiDAR to measure the green surface.

[0057] Furthermore, measuring one installation point using the positioning device 100 takes several seconds to several tens of seconds per location. Therefore, the positioning device 100 may use the acceleration sensor 122 mounted thereon to measure the acceleration of multiple installation points on the green and store the acceleration of the multiple installation points in the memory unit 126. The green calculation unit then calculates the position information of the installation points by integrating the acceleration of each installation point twice, and uses this position information to calculate the shape of the green, i.e., the slope of the green. This allows the shape of the green, i.e., the slope of the green, to be calculated cheaply and quickly.

[0058] <Variation 2> In this embodiment, the position acquisition unit calculates the antenna position from the observation data and the navigation message, and the position calculation unit calculates the installation position. However, the position acquisition unit may acquire the observation data and the navigation message from the satellite signal, and the position calculation unit may calculate the antenna position from the observation data and the navigation message to calculate the installation position.

[0059] <Modification 3> In the present embodiment, the positioning device has been described in which the shape of the installation body of the positioning device is made the same as the tip of a pin used on a golf course, for example, so that the positioning device itself is installed in a cup. On the other hand, the positioning device may be configured to be attachable to a pin used on a golf course. If the positioning device is attachable to a pin, it is sufficient that an antenna, a receiver, and a battery are mounted, and an installation body is not required. For example, a positioning device equipped with an antenna, a receiver, and a battery may be miniaturized, and the miniature positioning device may be attached near the tip of the pin for use.

[0060] ***Explanation of the Effects of the Present Embodiment*** As described above, the positioning device 100 according to the present embodiment is equipped with an acceleration sensor, and starts positioning when it detects that a predetermined impact (acceleration) has been applied. Therefore, the positioning device 100 according to the present embodiment can measure the installation position quickly, simply, inexpensively, and accurately. Furthermore, positioning device 100 according to this embodiment does not require a physical device such as a physical button that serves as a trigger for starting measurement, making it possible to realize a device that is less prone to breakdowns.

[0061] Embodiment 2 In this embodiment, differences from and additions to the first embodiment will be mainly described. In this embodiment, components having the same functions as those in the first embodiment are given the same reference numerals, and the description thereof will be omitted.

[0062] ***Configuration Description*** FIG. 7 is a diagram showing an example of the configuration of a positioning device 100 according to this embodiment. In this embodiment, in addition to the configuration described in the first embodiment, a vertical determination unit 128 is provided. The vertical determination unit 128 determines whether the device acceleration 51 satisfies a vertical determination criterion 62, which is a reference value indicating that the orientation of the installation body 140 is vertical. Note that when the vertical determination criterion 62 is satisfied, the orientation of the installation body 140 does not have to be completely vertical, and it is sufficient that the orientation of the installation body 140 is approximately vertical. The position calculation unit 124 calculates the installation position 35 when the device acceleration 51 satisfies both the impact determination criterion 61 and the vertical determination criterion 62 .

[0063] ***Explanation of Operation*** An example of the operation of the positioning device 100 according to this embodiment will be described. The operation of the positioning device 100 according to this embodiment is basically the same as the operation of the positioning device 100 described in the first embodiment illustrated in FIG. 3, except for the criterion for determining whether to start measuring the installation position in step S103. Specifically, the following applies:

[0064] In this embodiment, when the positioning device 100 receives a predetermined impact and is vertical, the position calculation unit 124 determines to start measuring the installation position. Whether or not the positioning device 100 is vertical is determined as follows.

[0065] The vertical determination unit 128 determines whether the device acceleration 51 satisfies a vertical determination criterion 62. The vertical determination criterion 62 is a reference value that can determine that the direction of the detected acceleration is the same as the direction of the gravitational acceleration. Specifically, the vertical determination criterion 62 is a reference value that can determine that the direction of the detected acceleration is approximately the same as the direction of the gravitational acceleration. The position calculation unit 124 determines to start measuring the installation position when the device acceleration 51 satisfies both the impact determination criterion 61 and the vertical determination criterion 62 (YES in step S103).

[0066] ***Explanation of the Effects of the Present Embodiment*** As described above, in the positioning device 100 according to this embodiment, in addition to the effect of the first embodiment, it is possible to measure the installation position with higher accuracy.

[0067] Embodiment 3 In this embodiment, differences from the first and second embodiments and additional features to the first and second embodiments will be mainly described. In this embodiment, components having the same functions as those in the first and second embodiments are given the same reference numerals, and the description thereof will be omitted.

[0068] ***Configuration Description*** FIG. 8 is a diagram showing an example of the configuration of a positioning device 100 according to this embodiment. In this embodiment, in addition to the configuration described in the second embodiment, an angular velocity sensor 122a and a vibration determination unit 129 are provided.

[0069] The angular velocity sensor 122a measures the angular velocity as the device angular velocity 52. ​​The acceleration sensor 122 and the angular velocity sensor 122a may be the same device. The vibration determination unit 129 determines whether the device angular velocity 52 satisfies a vibration determination criterion 63 which is a reference value indicating that the positioning device 100 is not vibrating. The position calculation unit 124 calculates the installation position when the device acceleration 51 satisfies both the impact determination criterion 61 and the vertical determination criterion 62 and the device angular velocity 52 satisfies the vibration determination criterion 63 . The position calculation unit 124 may calculate the installation position when the device acceleration 51 satisfies the impact determination criterion 61 and the device angular velocity 52 satisfies the vibration determination criterion 63 .

[0070] ***Explanation of Operation*** An example of the operation of the positioning device 100 according to this embodiment will be described. The operation of the positioning device 100 according to this embodiment is basically the same as the operation of the positioning device 100 described in the first embodiment illustrated in FIG. 3, except for the criterion for determining whether to start measuring the installation position in step S103. Specifically, the following applies:

[0071] In this embodiment, when the positioning device 100 receives a predetermined impact, the positioning device 100 is vertical, and the positioning device 100 is not vibrating, the position calculation unit 124 determines to start measuring the installation position. Whether or not the positioning device 100 is shaking is determined as follows.

[0072] The vibration determination unit 129 determines whether the device angular velocity 52 satisfies a vibration determination criterion 63, which is a reference value indicating that the positioning device 100 is not vibrating. The vibration determination criterion 63 is a reference value indicating whether the device angular velocity 52 is in a state without rotation (vibration). The position calculation unit 124 determines to start measuring the installation position when the device acceleration 51 satisfies both the impact determination criterion 61 and the vertical determination criterion 62 and the device angular velocity 52 satisfies the vibration determination criterion 63 (YES in step S103).

[0073] ***Explanation of the Effects of the Present Embodiment*** As described above, in addition to the effects of the first and second embodiments, positioning device 100 according to this embodiment can measure the installation position with higher accuracy.

[0074] In the above first to third embodiments, each unit of the positioning device has been described as an independent functional block. However, the configuration of the positioning device does not have to be as in the above-mentioned embodiments. The functional blocks of the positioning device may have any configuration as long as they can realize the functions described in the above-mentioned embodiments. In addition, the positioning device may not be a single device, but may be a system composed of multiple devices. In addition, it is possible to combine a plurality of parts of the first to third embodiments. Alternatively, it is possible to implement only one part of these embodiments. In addition, it is possible to implement any combination of these embodiments, either as a whole or in part. That is, in the first to third embodiments, the embodiments can be freely combined, any of the components in each embodiment can be modified, or any of the components in each embodiment can be omitted.

[0075] The above-described embodiment is essentially a preferred example, and is not intended to limit the scope of the present disclosure, the scope of application of the present disclosure, and the scope of use of the present disclosure. The above-described embodiment can be modified in various ways as necessary. For example, the procedure described using a flow chart or sequence chart may be modified as appropriate. [Explanation of symbols]

[0076] 20 green, 30 installation location, 31 hole, 35 installation position, 40 worker, 51 device acceleration, 52 device angular velocity, 61 impact determination criterion, 62 vertical determination criterion, 63 vibration determination criterion, 80 signal line, 100 positioning device, 110 antenna, 120 receiver, 121 position acquisition unit, 122 acceleration sensor, 122a angular velocity sensor, 123 impact determination unit, 124 position calculation unit, 125 notification unit, 126 memory unit, 127 communication unit, 128 vertical determination unit, 129 vibration determination unit, 130 battery, 140 installation body, 150 main body, 200 worker terminal, 909 electronic circuit, 910 processor, 921 memory, 922 auxiliary storage device, 930 input / output interface, 950 communication interface.

Claims

1. A positioning device installed on a green of a golf course for measuring the position of the installation point, comprising: An installation body disposed at the installation point; An antenna for receiving satellite signals; A position acquisition unit for calculating the position of the antenna using the satellite signals; An acceleration sensor for measuring acceleration as device acceleration; An impact determination unit for determining whether the device acceleration satisfies an impact determination criterion that is a reference value for an impact on the positioning device; An angular velocity sensor for measuring angular velocity as device angular velocity; A shake determination unit for determining whether the device angular velocity satisfies a shake determination criterion that is a reference value indicating that the positioning device is not shaking; A position calculation unit for calculating the installation position, which is the position of the installation point, using the position of the antenna when the device acceleration satisfies the impact determination criterion and the device angular velocity satisfies the shake determination criterion; A positioning device comprising the above components.

2. The positioning device further comprises: A vertical determination unit for determining whether the device acceleration satisfies a vertical determination criterion that is a reference value indicating that the posture of the installation body is vertical; The position calculation unit: Calculates the installation position when the device acceleration satisfies both the impact determination criterion and the vertical determination criterion and the device angular velocity satisfies the shake determination criterion. The positioning device according to Claim 1.

3. The positioning device further comprises: A notification unit for indicating during the calculation process of the installation position. The positioning device according to Claim 2.

4. The installation body is installed in a hole formed on the green as the installation point. The positioning device according to any one of Claims 1 to 3.

5. The positioning device further comprises: A storage unit for storing the positions of a plurality of installation points on the green as a plurality of installation positions; A green calculation unit for calculating the shape of the green based on the plurality of installation positions. The positioning device according to any one of Claims 1 to 3.

6. In a positioning method used for a positioning device installed on a green of a golf course for measuring the position of the installation point, The positioning device comprises a computer, an installation body disposed at the installation point, an antenna for receiving satellite signals, an acceleration sensor for measuring acceleration as device acceleration, and an angular velocity sensor for measuring angular velocity as device angular velocity. The positioning device comprises the above components. The computer calculates the position of the antenna using the satellite signals. The computer determines whether the device acceleration satisfies an impact determination criterion that is a reference value for an impact on the positioning device. The computer determines whether the device angular velocity satisfies a sway determination criterion that is a reference value indicating that the positioning device is not swaying. A positioning method in which, when the device acceleration satisfies the impact determination criterion and the device angular velocity satisfies the sway determination criterion, the computer calculates an installation position, which is the position of the installation point, using the position of the antenna.

7. In a positioning program used for a positioning device installed on a green of a golf course to measure the position of an installation point, the positioning device includes a computer, an installation body disposed at the installation point, an antenna that receives satellite signals, an acceleration sensor that measures acceleration as device acceleration, and an angular velocity sensor that measures angular velocity as device angular velocity and includes: a position acquisition process that calculates the position of the antenna using the satellite signals; an impact determination process that determines whether the device acceleration satisfies an impact determination criterion that is a reference value for an impact on the positioning device; a sway determination process that determines whether the device angular velocity satisfies a sway determination criterion that is a reference value indicating that the positioning device is not swaying; and a position calculation process that calculates an installation position, which is the position of the installation point, using the position of the antenna when the device acceleration satisfies the impact determination criterion and the device angular velocity satisfies the sway determination criterion is a positioning program that causes the computer to execute.

8. In a positioning device installed on a green of a golf course to measure the position of an installation point, an installation body disposed at the installation point; an antenna that continuously receives satellite signals while the power of the positioning device is on; a position acquisition unit that calculates the position of the antenna using the satellite signals; an acceleration sensor that measures acceleration as device acceleration; an impact determination unit that determines whether the device acceleration satisfies an impact determination criterion that is a reference value for an impact on the positioning device; and a position calculation unit that calculates an installation position, which is the position of the installation point, using the position of the antenna when the device acceleration satisfies the impact determination criterion is a positioning device comprising.

9. The position calculation unit ends the measurement when a Fix solution has been calculated a predetermined number of times The positioning device according to claim 8.

10. Further comprising a notification unit that notifies of the end of the measurement The positioning device according to claim 9. **Claim 11**: Further comprising a physical button enabling turning on and off the power supply of the positioning device The positioning device according to any one of claims 8 to 10 **Claim 12** In a positioning device installed on a golf course green for measuring the position of the installation location, An installation body disposed at the installation location, An antenna for receiving satellite signals, A position acquisition unit for calculating the position of the antenna using the satellite signals, An acceleration sensor for measuring acceleration as device acceleration, An impact determination unit for determining whether the device acceleration satisfies an impact determination criterion which is a reference value of impact on the positioning device, A position calculation unit for calculating an installation position which is the position of the installation location using the position of the antenna when the device acceleration satisfies the impact determination criterion Comprising The impact determination unit determines that the device acceleration satisfies the impact determination criterion when it continuously detects that the device acceleration measured by the acceleration sensor exceeds the impact determination criterion a predetermined number of times. A positioning device **Claim 13** In a positioning method used for a positioning device installed on a golf course green for measuring the position of the installation location, The positioning device includes a computer, an installation body disposed at the installation location, an antenna that continuously receives satellite signals while the power supply of the positioning device is on, and an acceleration sensor for measuring acceleration as device acceleration Comprising The computer calculates the position of the antenna using the satellite signals, The computer determines whether the device acceleration satisfies an impact determination criterion which is a reference value of impact on the positioning device, The computer calculates an installation position which is the position of the installation location using the position of the antenna when the device acceleration satisfies the impact determination criterion. A positioning method **Claim 14** In a positioning method used for a positioning device installed on a golf course green for measuring the position of the installation location, The positioning device includes a computer, an installation body disposed at the installation location, an antenna for receiving satellite signals, and an acceleration sensor for measuring acceleration as device acceleration Comprising The computer calculates the position of the antenna using the satellite signals, The computer determines whether the device acceleration satisfies an impact determination criterion which is a reference value of impact on the positioning device, A positioning method in which the computer calculates an installation position, which is the position of the installation point, using the position of the antenna when the device acceleration satisfies the impact determination criterion. A positioning method in which the computer determines that the device acceleration satisfies the impact determination criterion when it continuously detects that the device acceleration exceeds the impact determination criterion a predetermined number of times.

15. In a positioning program used for a positioning device installed on a green of a golf course to measure the position of the installation point, the positioning device includes a computer, an installation body disposed at the installation point, an antenna that continuously receives satellite signals while the power of the positioning device is on, and an acceleration sensor that measures acceleration as device acceleration. and a position acquisition process for calculating the position of the antenna using the satellite signal; an impact determination process for determining whether the device acceleration satisfies an impact determination criterion that is a reference value for an impact on the positioning device; and a position calculation process for calculating an installation position, which is the position of the installation point, using the position of the antenna when the device acceleration satisfies the impact determination criterion. A positioning program that causes the computer to execute the above processes.

16. In a positioning program used for a positioning device installed on a green of a golf course to measure the position of the installation point, the positioning device includes a computer, an installation body disposed at the installation point, an antenna that receives satellite signals, and an acceleration sensor that measures acceleration as device acceleration. and a position acquisition process for calculating the position of the antenna using the satellite signal; an impact determination process for determining whether the device acceleration satisfies an impact determination criterion that is a reference value for an impact on the positioning device; and a position calculation process for calculating an installation position, which is the position of the installation point, using the position of the antenna when the device acceleration satisfies the impact determination criterion. A positioning program that causes the computer to execute the above processes, wherein the impact determination process causes the computer to execute a process of determining that the device acceleration satisfies the impact determination criterion when it continuously detects that the device acceleration exceeds the impact determination criterion a predetermined number of times.

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