GOLF ASSIST SYSTEM, GOLF ASSIST METHOD, AND SERVER DEVICE

Abstract

A golf assist system (500) assists a user on a green. A course map database (251) has stored therein green surface information (511), green speed information (512), and reference point position information (513) indicating a position of a feature reference point on a reference feature. An image-taking unit takes a green taken image (51) including the feature reference point, a cup provided in the green, and a golf ball on the green by a camera. A position calculating unit (210) calculates a ball position (62) by using the green taken image (51), the green surface information (511), and the reference point position information (513). A line calculating unit (220) calculates a putting line (22) from the ball position (62) to a cup position (61) by using the green surface information (511) and the green speed information (512).

Description

DESCRIPTION

Technical Field

The present disclosure relates to golf assist systems, golf assist methods, and golf assist programs. In particular, the present disclosure relates to a golf assist system, golf assist method, and golf assist program for assisting a user putting on the green in a golf course.

Background Art

In recent years, applications assisting users putting on the green have been developed. For example, there is an application in which a user scans the green with a smartphone, aligns a marker on the screen with the position of a cup and the position of a ball, and taps, thereby causing a putting line to be displayed.

In this application, user's operation is complex, which may become a factor in delaying the play progress. Moreover, depending on the performance of operation by the user, there is a fear that an error may occur in the shape of the green, the position of the cup, and the position of the ball.

Patent Literature 1 discloses an electronic device for predicting a putting line and causing the predicted putting line to be displayed.

Patent Literature 2 discloses a position detecting device to be inserted into a cup on the green for detecting a cup position with high accuracy.

CITATION LIST

Patent Literature

• • Patent Literature 1: JP 6714799 B2
  • Patent Literature 2: JP 6744663 B2

SUMMARY OF INVENTION

Technical Problem

In the technology of Patent Literature 1, it is required for the user to input the cup position and the ball position. Thus, there is a problem in which user's operation is complex and accuracy of the cup position and the ball position is low.

The position detecting device of Patent Literature 2 is used as being inserted into a cup on the green. In this manner, the position detecting device of Patent Literature 2 is a device for use when a golfer detects a cup position in advance with high accuracy at the time of setting up play strategy, and is not one for use during a golf play. Thus, there is a problem in which it is not possible to assist a user putting on the green. Also, in the position detecting device of Patent Literature 2, detection of a ball position is not described.

An object of the present disclosure is to quickly and accurately assist a user putting on the green by obtaining a cup position and a ball position with high accuracy by simple operation near the green.

Solution to Problem

A golf assist system according to the present disclosure is a golf assist system to assist a user on a green in a golf course, and includes:

• • a course map database having stored therein green surface information including a position of the green and a surface shape of the green, green speed information indicating a rolling speed of a golf ball on the green, and reference point position information indicating a position of a feature reference point on a reference feature fixed to the green or near the green;
  • an image-taking unit to take a green taken image including the feature reference point, a cup provided in the green, and the golf ball on the green by a camera;
  • a position calculating unit to calculate a ball position indicating a position of the golf ball by using the green taken image, the green surface information, and the reference point position information; and
  • a line calculating unit to calculate a putting line from the ball position to a cup position indicating a position of the cup in the green by using the green surface information and the green speed information.

Advantageous Effects of Invention

According to the golf assist system of the present disclosure, a cup position and a ball position can be obtained with high accuracy by simple operation near the green. Thus, according to the golf assist system of the present disclosure, an object is to quickly and accurately assist a user putting on the green.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a diagram illustrating an example of overall structure of a golf assist system according to Embodiment 1.

FIG. 2 is a diagram illustrating an example of structure of a client device according to Embodiment 1.

FIG. 3 is a diagram illustrating an example of structure of a server device according to Embodiment 1.

FIG. 4 is a flow diagram illustrating the operation of the golf assist system according to Embodiment 1.

FIG. 5 is a diagram illustrating an example of the client device according to Embodiment 1.

FIG. 6 is a diagram illustrating an example of a green taken image according to Embodiment 1.

FIG. 7 is a diagram illustrating an example of a putting line image according to Embodiment 1.

FIG. 8 is a diagram illustrating an example of a partially-enlarged view of the putting line image according to Embodiment 1.

FIG. 9 is a flow diagram illustrating the operation of a golf assist system according to Modification 1 of Embodiment 1.

FIG. 10 is a diagram illustrating an example of structure of a client device according to Modification 4 of Embodiment 1.

FIG. 11 is a diagram illustrating an example of structure of a server device according to Modification 4 of Embodiment 1.

FIG. 12 is a diagram illustrating an example of structure of a course traveling vehicle, which is a client device according to Embodiment 2.

FIG. 13 is a flow diagram illustrating the operation of a golf assist system according to Embodiment 2.

FIG. 14 is a diagram illustrating an example of a putting line image according to Embodiment 2.

DESCRIPTION OF EMBODIMENTS

Embodiments are described below by using the drawings. In each drawing, identical or corresponding portions are provided with the same reference character. In description of the embodiments, description of identical or corresponding portions is omitted or simplified as appropriate. Arrows in the drawing each mainly indicate a flow of data or a flow of process. Also, in the following drawings, a relation in size among components may be different from actual one. Also, in the description of the embodiments, orientations or positions may be represented, such as above, below, left, right, forward, rearward, front, and back. These representations are for the purpose of convenience of description and do not limit the arrangement, directions, and orientations of devices, equipment, components, or the like.

Embodiment 1

Description of Structure

FIG. 1 is a diagram illustrating an example of overall structure of a golf assist system 500 according to the present embodiment.

The golf assist system 500 is a system for assisting a user 20 playing golf on a golf course 40. The user 20 is also referred to as a golfer or player playing golf on the golf course 40.

In particular, the golf assist system 500 according to the present embodiment assists the user 20 putting on green 41 in the golf course 40.

The golf assist system 500 includes a client device 100 and a server device 200.

The client device 100 is, for example, a portable terminal device such as a smartphone, a portable phone, or a tablet terminal. Alternatively, the client device 100 may be a course traveling vehicle automatically driving on the golf course 40 based on a traveling route. Note that the case in which the client device 100 is a course traveling vehicle is described in Embodiment 2.

The server device 200 is implemented by, for example, a cloud computer. The server device 200 communicates with the client device 100 via a network.

FIG. 2 is a diagram illustrating an example of structure of the client device 100 according to the present embodiment.

The client device 100 is a computer. The client device 100 includes a processor 910 and also includes other pieces of hardware such as a memory 921, an auxiliary storage device 922, an input interface 930, an output interface 940, a communication device 950, a camera 961, a lidar radar 962, and a position sensor 963. The processor 910 is connected to the other pieces of hardware via a signal line or wireless connection to control these pieces of hardware.

The client device 100 includes, as functional elements, an image-taking unit 110, an information collecting unit 120, a display unit 130, and a storage unit 140. The client device 100 is a portable terminal device such as a smartphone, a portable phone, or a tablet terminal. Thus, the client device 100 has various other functions for achieving functions as a portable terminal device. However, only the functions to be used in the present embodiment are illustrated herein.

The camera 961 is, for example, an image-taking device incorporated in the portable terminal device such as a smartphone, a portable phone, or a tablet terminal. Operated by the user 20, the camera 961 takes an image of the periphery of the client device 100.

The lidar radar 962 detects a distance to a physical object around the client device 100. By the lidar radar 962, a point group image is generated.

The position sensor 963 acquires position information 53 of the client device 100. More specifically, the position sensor 963 acquires the position of the client device 100 and time as position information 53. The position sensor 963 is, for example, a GPS. GPS is an abbreviation of Global Positioning System.

The position information 53 acquired by the position sensor 963 is transmitted from the information collecting unit 120 to the server device 200.

FIG. 3 is a diagram illustrating an example of structure of the server device 200 according to the present embodiment.

The server device 200 is a computer. The server device 200 includes a processor 910 and also includes other pieces of hardware such as a memory 921, an auxiliary storage device 922, an input interface 930, an output interface 940, and a communication device 950. The processor 910 is connected to the other pieces of hardware via a signal line or wireless connection to control these pieces of hardware.

Note that, for the purpose of simplification of description, hardware having a function similar to that of the client device 100 is provided with the same reference character. However, it is evident that pieces of hardware are individually mounted on each of the client device 100 and the server device 200.

The server device 200 includes, as functional elements, a position calculating unit 210, a line calculating unit 220, an image generating unit 230, a database updating unit 240, and a storage unit 250. In the storage unit 250, a course map database 251 is stored. The course map database 251 includes green surface information 511, green speed information 512, and reference point position information 513.

The functions of the position calculating unit 210, the line calculating unit 220, the image generating unit 230, and the database updating unit 240 are implemented by software. The storage unit 250 is included in the memory 921. Note that the storage unit 250 may be included in the auxiliary storage device 922 or may be included as distributed into the memory 921 and the auxiliary storage device 922.

The processor 910 is a device for executing a golf assist program. The golf assist program is a program for achieving the function of each of the client device 100 and the server device 200. In the server device 200, the golf assist program is a program for achieving the functions of the position calculating unit 210, the line calculating unit 220, the image generating unit 230, and the database updating unit 240.

The processor 910 is an IC for performing an arithmetic process. Specific examples of the processor 910 are a CPU, a DSP, and a GPU. IC is an abbreviation of Integrated Circuit. CPU is an abbreviation of Central Processing Unit. DSP is an abbreviation of Digital Signal Processor. GPU is an abbreviation of Graphics Processing Unit.

The memory 921 is a storage device for temporarily storing data. A specific example of the memory 921 is an SRAM or a DRAM. SRAM is an abbreviation of Static Random Access Memory. DRAM is an abbreviation of Dynamic Random Access Memory.

The auxiliary storage device 922 is a storage device for storing data. A specific example of the auxiliary storage device 922 is an HDD. Also, the auxiliary storage device 922 may be a portable storage medium such as an SD (registered trademark) memory card, a CF, a NAND flash, a flexible disk, an optical disk, a compact disk, a Blu-ray (registered trademark) disk, or a DVD. Here, HDD is an abbreviation of Hard Disk Drive. SD (registered trademark) is an abbreviation of Secure Digital. CF is an abbreviation of CompactFlash (registered trademark). DVD is an abbreviation of Digital Versatile Disk.

The input interface 930 is a port to be connected to an input device such as a mouse, a keyboard, or a touch panel. The input interface 930 is, specifically, a USB terminal. Note that the input interface 930 may be a LAN interface or Bluetooth (registered trademark). USB is an abbreviation of Universal Serial Bus. LAN is an abbreviation of Local Area Network.

The output interface 940 is a port to be connected to a cable of an output device such as a display. Also, the output interface 940 may be a LAN interface or Bluetooth (registered trademark). The output interface 940 is, specifically, a USB terminal or an HDMI (registered trademark) terminal. The display is, specifically, an LCD. The output interface 940 is also referred to as a display device interface. HDMI (registered trademark) is an abbreviation of High Definition Multimedia Interface. LCD is an abbreviation of Liquid Crystal Display.

The communication device 950 has a receiver and a transmitter. The communication device 950 is connected to a communication network such as Wi-Fi (registered trademark), LAN, the internet, or a telephone line. The communication device 950 is, specifically, a communication chip or a NIC. NIC is an abbreviation of Network Interface Card.

The golf assist program is executed in each device of the golf assist system 500. The golf assist program is read into the processor 910 and executed by the processor 910. In the memory 921, not only the golf assist program but also an OS is stored. OS is an abbreviation of Operating System. As executing the OS, the processor 910 executes the golf assist program. The golf assist program and the OS may be stored in the auxiliary storage device 922. The golf assist 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 the golf assist program may be partially or entirely incorporated in the OS.

The server device 200 may include a plurality of processors that replace the processor 910. The plurality of these processors share execution of the golf assist program. As with the processor 910, each of these processors is a device for executing the golf assist program.

Data, information, signal values, and variable values to be used, processed, or outputted by the golf assist program are stored in the memory 921, the auxiliary storage device 922, or a register or cache memory in the processor 910.

In the server device 200, the “unit” of each of the position calculating unit 210, the line calculating unit 220, the image generating unit 230, and the database updating unit 240 may be read as “circuit”, “step”, “procedure”, “process”, or “circuitry”. The golf assist program causes a computer to execute a position calculating process, a line calculating process, an image generating process, and a database updating process. The “process” of the position calculating process, the line calculating process, the image generating process, and the database updating process may be read as “program”, “program product”, “computer-readable storage medium storing a program”, or “computer-readable recording medium recording a program”. Also, a golf assist method is a method to be performed by each device of the golf assist system 500 executing the golf assist program.

The golf assist program may be provided as stored in a computer-readable recording medium. Also, the golf assist program may be provided as a program product.

Description of Operation

The operation of the golf assist system 500 according to the present embodiment is described next. The operation procedure of the golf assist system 500 corresponds to the golf assist method. Also, a program achieving the operation of the golf assist system 500 corresponds to the golf assist program.

FIG. 4 is a flow diagram illustrating the operation of the golf assist system 500 according to the present embodiment.

The golf assist system 500 according to the present embodiment is a system assisting the user 20 who is going to putt on the green 41 in the golf course 40. The golf assist system 500 is, for example, downloaded as an application to the client device 100 for use by the user 20.

<Image-Taking Process: Step S101>

At step S101, the image-taking unit 110 takes a green taken image 51 by the camera 961. The green taken image 51 includes a feature reference point 403, a cup 42 provided in the green 41, and a golf ball 21 on the green 41.

FIG. 5 is a diagram illustrating an example of the client device 100 according to the present embodiment.

The client device 100 is, for example, a smartphone as illustrated in FIG. 6.

The user 20 starts an application downloaded to the client device 100. The client device 100 becomes in a mode of taking the green taken image 51 and, by following an instruction from the application, the user 20 takes the green taken image 51 with the camera 961.

Here, the display unit 130 of the client device 100 may cause an attention notice 55 to be displayed to call attention of the user 20 so that an image is taken including the feature reference point 403, the cup 42, and the golf ball 21.

Also, information about the wet condition and dry condition of a lawn on the green 41 may be acquired by the camera 961. Furthermore, weather information in the surrounding areas may be acquired from self position information acquired from the position sensor 963.

FIG. 6 is a diagram illustrating an example of the green taken image 51 according to the present embodiment.

As illustrated in FIG. 6, the cup 42 in which the user 20 drops the golf ball 21 is provided in the green 41. Also, the golf ball 21 to be putted by the user 20 is on the green 41.

By using the camera 961, the user 20 takes an image of the green 41 including the feature reference point 403, the cup 42 provided in the green 41, and the golf ball 21 on the green 41, as the green taken image 51.

In the case of the smartphone, the user 20 can carry it while playing. Thus, the user 20 can quickly takes the green taken image 51.

A reference feature 43 is a feature which is fixed onto the green 41 or near the green 41 and on which a predetermined position measured in advance as an accurate position is set as the feature reference point 403. That is, the feature reference point 403 indicates a predetermined position on the reference feature 43.

For the feature reference point 403, its accurate position is measured in advance by high-precision positioning, and that position is set in the reference point position information 513 in the course map database 251.

A specific example of the reference feature 43 is a plant planted near the green 41, an installation such as a sprinkler or gutter provided near the green 41, a bunker near the green 41, or the like. Also, the reference feature 43 may be the cup 42 provided in the green 41. On the other hand, a movable object as a pin or flag on the green is not suitable as the reference feature 43. The reference feature 43 is a feature fixed onto the green 41 or near the green 41.

The feature reference point 403 is a predetermined position on the reference feature 43. For example, a lowermost portion of a plant nearest to the green, a center portion of an installation such as a sprinkler or gutter, a portion of the edge of a banker nearest to the green, or the like may be set as the feature reference point 403. Also, when the reference feature 43 is the cup 42, a center portion of the cup 42 may be set as the feature reference point 403. Since an accurate position of the feature reference point 403 is measured in advance by high-precision positioning, the feature reference point 403 may be marked as the reference feature 43 at the time of its high-precision positioning.

Note that as for the cup 42, the cup position on the green 41 is normally changed regularly or irregularly. Thus, when the reference feature 43 is the cup 42, every time the cup position is changed, its feature reference point 403 (for example, the center portion of the cup 42) is subjected to high-precision positioning. Then, every time the cup position is changed, the position of the feature reference point 403 as a result of high-precision positioning is re-registered in the course map database 251.

Also, the reference feature 43 may vary for every hole. For example, there may be a case in which a sprinkler is the reference feature 43 in the first hole and a plant is the reference feature 43 in the third hole. Alternatively, there may be a case in which the cup 42 is the reference feature 43 in all holes.

When the user 20 takes the green taken image 51, the display unit 130 notifies the user 20 of where the feature reference point 403 of the reference feature 43 is in the hole as being included in the attention notice 55.

For example, the display unit 130 causes the attention notice 55 to be displayed, such as “Please take an image including the feature reference point, the cup, and the golf ball. The feature reference point in the first hole is a center portion of the sprinkler at back left.”

The attention notice 55 may be transmitted from the server device 200 in an image-taking mode in which the user 20 takes the green taken image 51. Here, information as to in which hole the user 20 is present on the green is determined based on the position information 53 transmitted from the client device 100.

Alternatively, the attention notice 55 may be generated and caused by the display unit 130 to be displayed in the image-taking mode in which the user 20 takes the green taken image 51.

When the user 20 takes the green taken image 51 by following the attention notice 55 displayed on the client device 100, the image-taking unit 110 transmits the taken green taken image 51 to the server device 200.

<Position Calculating Process: Step S102>

At step S102, by using the green taken image 51, the green surface information 511, and the reference point position information 513, the position calculating unit 210 calculates the position of the cup 42 and the position of the golf ball 21 on the green 41. The position of the cup 42 calculated by the position calculating unit 210 is set as a cup position 61, and the position of the golf ball 21 is set as a ball position 62.

Note that when the feature reference point 403 is, for example, at a center portion of the cup 42, the cup position 61 can be acquired from the reference point position information 513. Thus, the position calculating unit 210 may calculate the cup position 61 and the ball position 62 in a case in which the feature reference point 403 is other than the cup position 61.

As illustrated in FIG. 3, the course map database 251 stores the green surface information 511, the green speed information 512, and the reference point position information 513.

The green surface information 511 includes the position of the green 41 and the surface shape of the green 41. The green surface information 511 is high-precision three-dimensional spatial information. For example, the course map database 251 may store high-precision three-dimensional map information of the entire golf course, and its green surface portion may be set as the green surface information 511.

The green speed information 512 includes a ball's rolling speed on the green 41. In the golf course, the ball's rolling distance on the green 41 is measured in advance by a stimpmeter.

The reference point position information 513 includes the position of the feature reference point 403 on the reference feature 43 fixed to the green 41 or near the green 41. As described above, the position of the feature reference point 403 is assumed to be accurately measured in advance by high-precision positioning.

The position calculating unit 210 performs matching between the shape of the green 41 and the cup 42 in the green taken image 51 and the green shape and the cup in the green surface information 511 to calculate the cup position 61. Furthermore, the position calculating unit 210 extracts the position information of the feature reference point 403 in the green taken image 51 from the reference point position information 513. The position calculating unit 210 corrects the cup position 61 by using the position information of the feature reference point 403.

Also, similarly, the position calculating unit 210 performs matching between the shape of the green 41 and the cup 42 in the green taken image 51 and the green shape and the cup in the green surface information 511 to calculate the ball position 62 in the green taken image 51. Furthermore, the position calculating unit 210 corrects the ball position 62 by using the position information of the feature reference point 403.

<Putting Line Calculating Process: Step S103>

At step S103, by using the green surface information 511 and the green speed information 512, the line calculating unit 220 calculates a putting line 22 from the ball position 62 to the cup position 61.

Specifically, the line calculating unit 220 inputs the green surface information 511, the green speed information 512, the ball position 62, and the cup position 61 to a prediction algorithm to calculate the putting line 22 from the ball position 62 to the cup position 61.

The algorithm for predicting a putting line is, for example, the prediction program described in Patent Literature 1. Also, the line calculating unit 220 may calculate a putting line in consideration of lawn's moisture information or weather information.

<Image Generating Process: Step S104>

At step S104, the image generating unit 230 generates a putting line image 54 with the putting line 22 superposed on the green taken image 51.

FIG. 7 is a diagram illustrating an example of the putting line image 54 according to the present embodiment.

In FIG. 7, the putting line image 54 with the putting line 22 superposed on the green taken image 51 is illustrated.

As illustrated in FIG. 7, the image generating unit 230 may superpose a perfect shot 22a and a perfect hitting direction 22b for achieving the putting line 22 on the putting line image 54.

Also, as illustrated in FIG. 7, the image generating unit 230 may superpose a putting line (firm) 22c at the time of hitting firmly and a putting line (soft) 22d at the time of hitting softly on the putting line image 54.

The image generating unit 230 calculates the perfect shot 22a and the perfect hitting direction 22b based on the green surface information 511 and the putting line 22 predicted by the line calculating unit 220. Alternatively, the line calculating unit 220 may calculate the perfect shot 22a and the perfect hitting direction 22b.

The image generating unit 230 adds a plurality of hitting directions to the putting line image 54. In FIG. 7, hitting directions at three stages at the time of hitting with a perfect feeling of distance, hitting firmly, and hitting softly, respectively, are illustrated.

Specifically, the image generating unit 230 calculates the putting line (firm) 22c and the putting line (soft) 22d based on the green surface information 511 and the putting line 22 predicted by the line calculating unit 220. Alternatively, the line calculating unit 220 may calculate the putting line (firm) 22c and the putting line (soft) 22d.

FIG. 8 is a diagram illustrating an example of a partially-enlarged view of the putting line image 54 according to the present embodiment.

As illustrated in FIG. 8, a hitting direction when a hit is made with a perfect feeling of distance, a hitting direction when a hit is made firmly, and a hitting direction when a hit is made softly may be indicated by arrows and superposed on the putting line image 54. Here, the degree of firmness or softness with respect to the case of a perfect hit may be indicated by the length of an arrow.

Also, the image generating unit 230 may cause a numerical value of a specific hitting angle to be displayed on the putting line image 54. For example, an indication may be “rightward at a degrees from the perfect hitting direction when a hit is made firmly”. While it is difficult for the user 20 to perform putting as measuring a numerical value, the numerical value allows the user 20 to intuitively determine a hitting direction.

When the strength of putting is displayed, the image generating unit 230 may cause the strength of putting to be displayed by using an index such as, for downhill, 70% of the strength on the flat and, for uphill, 20% increase.

Also, information such as a coefficient of restitution of a putter of the user 20 may be registered in the client device 100, and the line calculating unit 220 may calculate a putting line in consideration of the coefficient of restitution of the putter. Also, the image generating unit 230 may cause a display to be displayed on the putting line image 54 to give an advice about the strength of putting in consideration of the coefficient of restitution of the putter.

Also, the image generating unit 230 may cause a display to be displayed to give an advice about the strength of putting in consideration of lawn's moisture information on that day.

The image generating unit 230 transmits the generated putting line image 54 to the client device 100. Note that the image generating unit 230 may set, as the putting line image 54, simulation video until the golf ball 21 goes into the cup 42.

<Display Process: Step S105>

The display unit 130 of the client device 100 causes the putting line image 54 to be displayed on a display device 941.

The display unit 130 may cause the putting line image 54 to be displayed as AR display. AR is an abbreviation of Augmented Reality.

Also, when the putting line image 54 is a moving image, the display unit 130 causes that moving image to be reproduced on the display device 941.

Other Structures

<Modification 1>

FIG. 9 is a flow diagram illustrating the operation of the golf assist system 500 according to Modification 1 of the present embodiment.

At step S101a, the image-taking unit 110 takes a green point group image 52 including the feature reference point 403, the cup 42 provided in the green 41, and the golf ball 21 on the green 41 by the lidar radar 962. The image-taking unit 110 transmits the green point group image 52 to the server device 200.

By further using the green point group image 52 in addition to the green taken image 51, the position calculating unit 210 corrects the cup position 61 and the ball position 62.

Using the green point group image 52 provides an effect of improving accuracy of the cup position 61 and the ball position 62.

Also at step S101b, the information collecting unit 120 acquires, by the position sensor 963, the position information 53 of the client device 100 and transmits the position information 53 to the server device 200.

By using the position information 53 of the device having the camera 961 and the lidar radar 962 mounted thereon, that is, the client device 100, the position calculating unit 210 corrects the cup position 61 and the ball position 62.

Using the position information 53 of the client device 100 further provides an effect of allowing accuracy of the cup position 61 and the ball position 62 to be improved.

At step S102a, based on the green point group image 52, the database updating unit 240 updates the surface shape of the green 41 included in the green surface information 511.

By utilizing the green taken image 51, the green point group image 52, and the position of the feature reference point 403, the database updating unit 240 generates the latest undulation information of the green surface as three-dimensional spatial information and updates the green surface information 511.

<Modification 2>

In the present embodiment, the position information of the feature reference point 403 is accurately measured in advance by high-precision positioning and stored in the reference point position information 513.

In Modification 2, a device such as a Bluetooth (registered trademark) pendant may be installed at the feature reference point 403 and, with the reference point position information subjected to high-precision positioning in advance being taken as data, a position beacon may be issued. In this case, for example, the information collecting unit 120 receives the reference point position information included in the position beacon issued from the feature reference point 403, and transmits the reference point position information to the server device 200. Then, the server device 200 calculates the cup position 61 and the ball position 62 by using the reference point position information transmitted from the information collecting unit 120, in place of the reference point position information 513 stored in the course map database 251.

<Modification 3>

The functions of the golf assist system 500 according to the present embodiment may be provided as an application to be downloaded to the client device 100 such as a smartphone, a portable phone, or a tablet terminal as described above. Alternatively, the functions of the golf assist system 500 may be provided on a web basis.

Also, in the golf assist system 500, the client device 100 may be provided with the course map database 251 including the green surface information 511, the green speed information 512, and the reference point position information 513. With the course map database 251 provided to the client device 100, it is possible to achieve the functions of the golf assist system 500 solely by the client device 100.

<Modification 4>

In the present embodiment, the function of each of the client device 100 and the server device 200 is implemented by software. As a modification, the function of each of the client device 100 and the server device 200 may be implemented by hardware.

Specifically, each of the client device 100 and the server device 200 includes an electronic circuit 909 in place of the processor 910.

FIG. 10 is a diagram illustrating an example of structure of the client device 100 according to the modification of the present embodiment.

FIG. 11 is a diagram illustrating an example of structure of the server device 200 according to the modification of the present embodiment.

In the following, the server device 200 is described by way of example. Note that the same goes for the client device 100.

The electronic circuit 909 is a dedicated electronic circuit for achieving the functions of the position calculating unit 210, the line calculating unit 220, the image generating unit 230, and the database updating unit 240. The electronic circuit 909 is, specifically, 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 of Gate Array. ASIC is an abbreviation of Application Specific Integrated Circuit. FPGA is an abbreviation of Field-Programmable Gate Array.

The functions of the position calculating unit 210, the line calculating unit 220, the image generating unit 230, and the database updating unit 240 may be implemented by one electronic circuit or may be implemented as distributed into a plurality of electronic circuits.

As another modification, the functions of the position calculating unit 210, the line calculating unit 220, the image generating unit 230, and the database updating unit 240 may be partially implemented by an electronic circuit, and the remaining functions may be implemented by software. Also, the functions of the position calculating unit 210, the line calculating unit 220, the image generating unit 230, and the database updating unit 240 may be partially or entirely implemented by firmware.

Each of the processor and the electronic circuit is also referred to as processing circuitry. That is, the functions of the position calculating unit 210, the line calculating unit 220, the image generating unit 230, and the database updating unit 240 are implemented by processing circuitry.

Description of Effects of the Present Embodiment

As described above, according to the golf assist system of the present embodiment, it is possible to acquire the cup position and the ball position with high accuracy by simple operation near the green. That is, all the user has to do is to take an image having the ball, the cup, and the feature reference point and, with the user operation simplified, the accuracy of the cup position and the ball position can be improved.

Thus, according to the golf assist system of the present embodiment, it is possible to quickly and accurately assist a user putting on the green.

Embodiment 2

In the present embodiment, points different from Embodiment 1 and to be added to Embodiment 1 are mainly described.

In the present embodiment, structures having the same functions as those of Embodiment 1 are provided with the same reference characters and their description is omitted.

In Embodiment 1, a case has been described in which the client device 100 is a portable terminal device such as a smartphone, a portable phone, or a tablet terminal.

In the present embodiment, a case is described in which the client device 100 is a course traveling vehicle, which is a movable body to be operated in a golf course.

Description of Structure

FIG. 12 is a diagram illustrating an example of structure of the course traveling vehicle, which is the client device 100 according to the present embodiment.

The course traveling vehicle, which is the client device 100, is an autonomous-type vehicle that has a golf bag of the user 20 playing in a golf course loaded thereon and automatically drives on the golf course by following a traveling route transmitted from the server device 200.

The course traveling vehicle has devices mounted thereon, such as the display device 941, a vehicle camera 961, the lidar radar 962, and the position sensor 963.

Also, since the course traveling vehicle is the client device 100 in the present embodiment, the course traveling vehicle has the functions described in Embodiment 1.

Also, although not illustrated, the course traveling vehicle has mounted thereon an automatic driving system for automatic driving by following a traveling route. The traveling route is an example of a movement route for a movable body to move.

The course traveling vehicle is, for example, a PMV capable of traveling with a person onboard. PMV is an abbreviation of Personal Mobility Vehicle. In a use mode with no person onboard, the course traveling vehicle may be an AMR. AMR is an abbreviation of Autonomous Mobile Robot.

The course traveling vehicle according to the present embodiment has a seat where a person rides, as a golfcart in a golf course, and can be automatically driven in a state in which the user is seated. Since the user can move as riding, an effect is provided in which the play time can be reduced compared with the case of walking.

Also, the course traveling vehicle according to the present embodiment has a function of taking an image of a trajectory of a golf ball hit by the user 20 by the camera 961 and predicting the trajectory of the golf ball by using the trajectory image. Also, the course traveling vehicle has a function of calculating a predicted drop position, which is a golf-ball drop position, by using the predicted trajectory and calculating a movement route to the predicted drop position. Furthermore, the course traveling vehicle has a function of automatic traveling to the predicted drop position by following the movement route.

Note that even when the client device 100 is a course traveling vehicle, the functional structure diagram of the client device 100 according to the present embodiment is similar to that of Embodiment 1.

Description of Operation

FIG. 13 is a flow diagram illustrating the operation of the golf assist system 500 according to the present embodiment.

At step S100, the course traveling vehicle, which is the client device 100, determines whether the golf ball of the user 20 has been on the green.

For example, the course traveling vehicle may determine whether the golf ball has been on the green by determining whether the predicted drop position is on the green. Alternatively, it may be determined whether the golf ball has been on the green in cooperation with an autonomous flying object such as a drone.

If the golf ball has been on the green, the process proceeds to step S101.

The processes at step S101 onward are similar to the processes described in FIG. 4 or FIG. 9. In FIG. 13, the processes at step S101 onward are similar to those of FIG. 9.

The course traveling vehicle, which is the client device 100, may take the green taken image 51 by operation of the user 20. Alternatively, the course traveling vehicle may automatically calculate an appropriate position for taking an image of putting by the user, move to the appropriate position by automatic traveling, and automatically take the green taken image 51. The course traveling vehicle takes the green taken image 51 before putting by the user, and transmits the green taken image 51 to the server device 200.

Also, at step S104, the server device 200 transmits the generated putting line image 54 to the course traveling vehicle, which is the client device 100.

Then, at step S105, the display unit 130 of the course traveling vehicle causes the putting line image 54 to be displayed on the display device.

Here, the server device 200 may transmit the generated putting line image 54 to a portable terminal device of the user 20 registered in advance. With this, the user 20 can perform putting with reference to the putting line image 54 displayed on his/her portable terminal device, and does not have to go to the display device 941 of the course traveling vehicle to see the putting line image 54. Thus, this can contribute to quick play progress.

FIG. 14 is a diagram illustrating an example of the putting line image 54 according to the present embodiment.

Also in the present embodiment, the putting line image 54 illustrated in FIG. 7 is displayed. Further, in the present embodiment, it is possible to provide the user 20 with an image with not only the putting line image 54 illustrated in FIG. 7 but also the putting line along which the user 20 has actually hit superposed on the putting line image 54.

This allows the user 20 to look back his/her putting.

Also in the present embodiment, the course traveling vehicle may be provided with the course map database 251 including the green surface information 511, the green speed information 512, and the reference point position information 513. With the course map database 251 provided to the course traveling vehicle, it is possible to achieve the functions of the golf assist system 500 solely by the client device 100.

Other Structures

<Modification 5>

The golf assist system 500 according to the present embodiment may have functions as follows.

• • Utilize the actual shot video as teacher data and calculate a putting line not by physical arithmetic operation but as a learning model.
  • Provide a simulation video until the ball goes into a cup as a moving image.
  • Cause a simulation video until the ball goes into a cup to be displayed on the green, as lighting such as projection mapping. This allows the user 20 to easily know at how many degrees of speed he/she should hit.
  • In cooperation with a drone, from the drone, transmit the green taken image, the green point group image, and the position information of the drone to the server device. Also, by using the drone, cause the putting line image to be displayed on the green by a scheme such as projection mapping.
  • Update the undulation information of the green surface with the green taken image and green point group image taken by the drone.
  • Superpose the path of the actual putting on the image, and provide a moving image for the user 20 to look back how far the actual putting is shifted from the putting line.

<Modification 6>

The course traveling vehicle, which is the client device 100, may take an image of a shot scene and a putting scene of the user 20 and provide assistance in generating a user's moving image such as a play movie. This allows a user's moving image such as a play movie to be generated without involving a film crew.

Description of Effects of the Present Embodiment

As described above, according to the golf assist system of the present embodiment, the user operation can be more simplified.

In Embodiments 1 and 2 described above, each unit of each device of the golf assist system has been described as an independent functional block. However, the structure of each device of the golf assist system may not have a structure as that of the above-described embodiments. The functional block of each device of the golf assist system may have any structure that can achieve the functions described in the above-described embodiments. Also, each device of the golf assist system may not be a single device but may be a system configured of a plurality of devices.

For example, the functions of the server device 200 may be partially provided to the client device 100. Alternatively, the functions of the client device 100 may be partially provided to the server device 200.

Also, of Embodiments 1 and 2, a plurality of portions may be combined for implementation. Alternatively, of these embodiments, only one portion may be implemented. In addition, these embodiments may be implemented by being combined in any manner, as a whole or partially.

That is, in Embodiments 1 and 2, free combination of the embodiments,. deformation of any component of each embodiment, or omission of any component in each embodiment can be made.

Note that the above-described embodiments are intrinsically preferable examples and are not intended to limit the scope of the present disclosure, the scope of applications of the present disclosure, and the scope of use of the present disclosure. The above-described embodiments can be variously changed, as necessary. For example, the procedures described by using a flow diagram or a sequence diagram may be changed as appropriate.

REFERENCE SIGNS LIST

• • 20: user; 21: golf ball; 22: putting line; 22a: perfect shot; 22b: perfect hitting direction; 22c: putting line (firm); 22d: putting line (soft); 40: golf course; 41: green; 42: cup; 43: reference feature; 403: feature reference point; 51: green taken image; 52: green point group image; 53: position information; 54: putting line image; 55: attention notice; 61: cup position; 62: ball position; 100: client device; 110: image-taking unit; 120: information collecting unit; 130: display unit; 200: server device; 210: position calculating unit; 220: line calculating unit; 230: image generating unit; 240: database updating unit; 140, 250: storage unit; 251: course map database; 511: green surface information; 512: green speed information; 513: reference point position information; 500: golf assist system; 909: electronic circuit; 910: processor; 921: memory; 922: auxiliary storage device; 930: input interface; 940: output interface; 941: display device; 950: communication device; 961: camera; 962: lidar radar; 963: position sensor

Claims

1. A golf assist system to assist a user on a green in a golf course, the golf assist system comprising:

a course map database having stored therein green surface information including a position of the green and a surface shape of the green, green speed information indicating a rolling speed of a golf ball on the green, and reference point position information indicating a position of a feature reference point on a reference feature fixed to the green or near the green, and

processing circuitry

to take a green taken image including the feature reference point, a cup provided in the green, and the golf ball on the green by a camera,

to calculate a ball position indicating a position of the golf ball by using the green taken image, the green surface information, and the reference point position information, and

to calculate a putting line from the ball position to a cup position indicating a position of the cup in the green by using the green surface information and the green speed information.

2. The golf assist system according to claim 1, wherein the processing circuitry

calculates the cup position by using the green taken image, the green surface information, and the reference point position information when the feature reference point is other than the cup position.

3. The golf assist system according to claim 1, wherein the processing circuitry:

generates a putting line image with the putting line superposed on the green taken image, and

causes the putting line image to be displayed on a display device.

4. The golf assist system according to claim 3, wherein the processing circuitry

adds a plurality of hitting directions to the putting line image.

5. The golf assist system according to claim 1, wherein the processing circuitry

takes a green point group image including the feature reference point, the cup provided in the green, and the golf ball on the green by a lidar radar, and

corrects the cup position and the ball position by using the green point group image.

6. The golf assist system according to claim 5, wherein the processing circuitry:

updates the surface shape of the green included in the green surface information based on the green point group image.

7. The golf assist system according to claim 1, comprising:

a position sensor to detect a position of a device having the camera mounted thereon, wherein

the processing circuitry corrects the cup position and the ball position by using the position of the device having the camera mounted thereon.

8. The golf assist system according to claim 1, wherein the processing circuitry

causes an attention notice to be displayed to call attention so that the green taken image includes, when taken, the feature reference point, the cup, and the golf ball.

9. The golf assist system according to claim 1, comprising:

a client device carried by the user; and

a server device to communicate with the client device, wherein

the server device includes the course map database, and the processing circuitry, and

the client device includes the camera, and transmits the green taken image taken by the user to the server device.

10. The golf assist system according to claim 1, comprising:

a client device having the camera mounted thereon and being a movable body to be operated in the golf course; and

a server device to communicate with the client device, wherein

the server device includes the course map database, and the processing circuitry, and

the client device transmits the green taken image taken by the camera to the server device.

11. A golf assist method for use in a golf assist system to assist a user on a green in a golf course, in which

a computer includes a course map database having stored therein green surface information including a position of the green and a surface shape of the green, green speed information indicating a rolling speed of a golf ball on the green, and reference point position information indicating a position of a feature reference point on a reference feature fixed to the green or near the green,

the golf assist method comprising:

taking a green taken image including the feature reference point, a cup provided in the green, and the golf ball on the green by a camera;

calculating a ball position indicating a position of the golf ball by using the green taken image, the green surface information, and the reference point position information; and

calculating a putting line from the ball position to a cup position indicating a position of the cup in the green by using the green surface information and the green speed information.

12. (canceled)

13. A server device to communicate with a client device to be carried by a user on a green in a golf course, the server device comprising:

a course map database having stored therein green surface information including a position of the green and a surface shape of the green, green speed information indicating a rolling speed of a golf ball on the green, and reference point position information indicating a position of a feature reference point on a reference feature fixed to the green or near the green, and

processing circuitry

to acquire, from the client device, a green taken image including the feature reference point, a cup provided in the green, and the golf ball on the green and to calculate a ball position indicating a position of the golf ball by using the green taken image, the green surface information, and the reference point position information, and

to calculate a putting line from the ball position to a cup position indicating a position of the cup in the green by using the green surface information and the green speed information.