TWI614048B - Golf robot - Google Patents

Abstract

A golf robot includes a self-propelled body, a display, a memory, a position sensor, a magnetic sensor, a light, a Doppler radar, and a processor. The memory is used to store a map information of a stadium. The positioning sensor senses the position of the self-propellable body to generate a position information. The magnetic sensor senses the orientation of the self-propellable body to generate a positional information. The light senses the object that can be self-propelled to generate a light sensing information. The processor automatically moves the self-propelled body to a robot target position according to the stadium map information, the location information, the orientation information, and the light sensing information, and causes the Doppler radar to transmit microwaves forward Calculating an estimated drop position of the sphere according to the reflected wave of the microwave reflected from the ball and the sphere when the ball is swung the ball; and causing the display to display the estimated drop position of the sphere The stadium map information.

Description

Golf robot

The present invention relates to a robot, and more particularly to a golf robot.

When a user performs a swing practice or competition on a golf course, the first stroke of the tee is usually started from the tee. Since the distance between the tee and the green is usually very far, the user will use all his strength to make the first shot, so that the drop point can be as close as possible to the green or even one shot. However, when the user exhausts the small white ball, the user often encounters the problem that it is not easy to find the ball because of the large size of the stadium and the complicated terrain, even the trees, bunkers, pools, and the like. Therefore, it is necessary to seek a solution.

Accordingly, it is an object of the present invention to provide a golf robot.

Therefore, the golf robot of the present invention is suitable for assisting a user to perform golfing with a ball and a ball. The golf robot comprises a self-propelled body, a display, a memory, a positioning sensor, a magnetic sensor, a light, a Doppler radar, and a processor. The display is disposed on the self-propellable body. The memory is disposed on the self-propellable body and is used for storing a map information of the stadium. The position sensor is disposed on the self-propellable body and is configured to sense a position of the self-propellable body to generate a position information. The magnetic sensor is disposed on the self-propellable body and is configured to sense an orientation of the self-propellable body to generate an orientation information. The light is disposed on the self-propellable body, and is configured to sense an object surrounding the self-propellable body to generate a light sensing information. The Doppler radar is disposed on a front surface of the self-propellable body. The processor is electrically coupled to the memory, the display, the position sensor, the magnetic sensor, the light, and the Doppler radar. The processor is configured to: according to the stadium map information, the location information, the orientation information, and the light sensing information, causing the self-propelled body to automatically walk to a robot target position, and causing the Doppler radar to move forward Transmitting a microwave; calculating a predicted drop position of the sphere according to the reflected wave of the microwave reflected from the ball and the sphere when the ball is swung the ball; and causing the display to display the estimated drop point of the sphere Location, and map information for the course.

The utility model has the advantages that the golf robot can automatically walk to the sphere by cooperative operation between the stadium map information, the positioning sensor, the magnetic sensor, the optical sensor, and the Doppler radar in the memory. The nearby robot target position, thus guiding the user to find the sphere.

Referring to Figures 1, 2, and 3, an embodiment of the golf robot 1 of the present invention is adapted to assist a user 91 in performing golfing with a ball 92 and a ball 93. In this embodiment, the golf robot 1 includes a battery 190, a self-propelled body 10, a display 14, a memory 12, a positioning sensor 13, a magnetic sensor 11, and a light up to 15, A camera 16, a Doppler radar 17, a processor 18, a touch module 193, a wireless communication module 194, a speaker 191, and a microphone 192.

The battery 190 is used to provide the power required for all of the components of the golf robot 1 of the present invention to operate.

The display 14 is disposed on the self-propellable body 10 and electrically connected to the processor 18.

The memory device 12 is disposed on the self-propelled body 10 and electrically connected to the processor 18 for storing an operation interface 120, a course map information 121, and a user hitting history data 122.

The position sensor 13 is disposed on the self-propelled body 10 and electrically connected to the processor 18 for sensing the position of the self-propelled body 10 to generate a position information.

The magnetic sensor 11 is disposed on the self-propelled body 10 and electrically connected to the processor 18 for sensing the orientation of the self-propellable body 10 to generate an orientation information.

The light 15 is disposed on the self-propelled body 10 and electrically connected to the processor 18 and configured to sense an object around the self-propellable body 10 to generate a light sensing information. As shown in FIG. 1 , in the embodiment, the light 15 is disposed on the top surface of the self-propellable body 10 to completely sense the object around the self-propellable body 10 to generate the light sensing. News.

The camera 16 is disposed on the front surface of the self-propellable body 10 and electrically connected to the processor 18 for capturing an image of the front of the self-propellable body 10, in particular, a spherical image 142 of the sphere 92.

The Doppler radar 17 is disposed on the front surface of the self-propellable body 10 and is electrically connected to the processor 18 for emitting the microwave 171 forward.

The touch module 193 is disposed on the self-propelled body 10 and electrically connected to the processor 18, and is configured by the user 91 to touch the operation interface 120 of the golf robot 1 of the present invention in a touch manner. Further, the user 91 can also interact with the golf robot 1 in a voice-activated manner using the microphone 192 and the speaker 191. Moreover, the user 91 can also communicate with the golf robot 1 through the application (APP) 321 of the mobile phone 32 to communicate with the wireless communication module 194 of the golf robot 1.

The processor 18 is configured to generate the sensing information according to the stadium map information 121, the position information generated by the positioning sensor 13, the orientation information generated by the magnetic sensor 11, and the light generated by the light 15 The self-propelled body 10 automatically walks to a robot target position 143 (shown in Figure 7).

Referring to Figures 1, 2, and 7, for example, when the user 91 wants to start a practice or competition of a certain hole of a certain course 7, the user can be commanded to automatically walk to the first one by touch or the like. The robot target position 143 (shown in Figures 1 and 7) is a first predetermined distance D directly behind the tee station 70. In the embodiment, the first predetermined distance D is, for example, about 2 m to 3 m.

At the same time, the processor 18 calculates a recommended use of the ball 93 and a ball striking position according to the course map information 121 and the user hitting history data 122, and automatically identifies the number of the ball device according to the camera 16 Or, using the user's voice indication input by the microphone 192, the actual use of the ball 93 is recorded in the cloud server 34 (shown in FIG. 8) or the memory 12.

Referring to Figures 1, 2, 3, and 4, the processor 18 causes the Doppler radar 17 to emit microwaves 171 forward, and causes the camera 16 to capture the scene in front of it and display a Doppler radar on the display 14. System boot condition area 149 (shown in Figure 3). Since the first robot target position 143 of the golf robot 1 is directly behind the tee station 70, the Doppler radar system activation condition region 149 is also aligned with the central region of the tee station 70. However, the user 91 may place the ball 92 outside of the Doppler radar system activation condition area 149 in response to actual conditions. Therefore, in the present embodiment, when the self-propelled body 10 of the golf robot 1 walks to the first robot target position 143, the processor 18 causes the camera 16 to capture the first robot target position 143. The sphere image 142 of the sphere 92 is displayed on the display 14 .

Then, the processor 18 automatically adjusts the position of the self-propelled body 10 according to the relative positional relationship between the sphere image 142 and the Doppler radar system activation condition area 149, so that the position of the sphere 92 falls into the position The Doppler radar system start condition area 149 after the self-propelled body 10 is adjusted in position, as shown in FIG. Therefore, as shown in FIG. 1, the Doppler radar 17 emits a microwave 171 to be irradiated onto the fixture 93 and the sphere 92, and receives reflected waves reflected from the fixture 93 and the sphere 92.

Referring to Figures 1, 2, 5, and 6, then, when the user 91 swings the ball 92 with the ball 93, the processor 18 is from the ball 93 and the ball during contact with the ball 92 according to the ball 93. 92 reflects the reflected wave of the microwave 171, calculates a flight path 146 of the sphere 92, an estimated landing position 141, and a flight information 147 is displayed on the display 14 to facilitate the user to find the sphere 92. In this embodiment, the flight information 147 includes a flight distance (1), a maximum height (Max Height) 1472, a club head speed (Club Speed) 1473, a ball speed (Ball Speed) 1474, and a back spin (Backspin) 1475. Wait.

Referring to Figures 1, 2, and 7, at the same time, the processor 18 calculates a suggested swipe drop location 145 based on the pitch map information 121 and the user hitting history data 122. After the user 91 hits the ball, the processor 18 calculates the next robot target position 144 according to the estimated landing position 141 and the course map information 121, and causes the self-propelled body 10 to automatically walk to the next robot. The target position 144 is such that the user 91 looks for the sphere 92. The next robot target position 144 is a second predetermined distance d from the estimated landing position 141. In the embodiment, the second predetermined distance d is, for example, about 2 m to 3 m.

Therefore, in the process in which the golf robot 1 of the present invention automatically moves to the next robot target position 144, the user 91 can follow the golf robot 1 to walk together, and thus the sphere 92 can be found relatively easily.

Then, when the golf robot 1 self-goes to the next robot target position 144 so that the user 91 finds the sphere 92, the golf robot 1 can automatically fine-tune the position by the assistance of the image recognition of the camera 16, so that the golf robot 1 The position of the ball 92 falls within the Doppler radar system activation condition area 149 after the golf robot adjustment position to prepare to sense the swing of the next shot of the user 91.

Referring to FIGS. 2 and 8, in addition, the golf robot 1 of the present invention can download and update the stadium map information 121 by using the wireless communication module 194 (for example, a WIFI module or a mobile communication module). Moreover, the user 9 performs the data during the golfing process with the assistance of the golf robot 1, and can be uploaded to the cloud server 34 by various means, so that the subsequent reusable golf robot 1 can be connected to the cloud server 34 for inquiry. Statistics, for example, the golf robot 1 can be connected to the mobile communication network 35 by its own mobile communication function, and then connected to the Internet 33, and then connected to the cloud server 34; or, the golf ball The robot 1 can also be connected to the cloud server 34 via the computer 31, the mobile phone 32, or the wireless base station 36 via its wireless communication module 194.

In summary, the effectiveness of the golf robot 1 of the present invention lies in:

(1) Automatically operated by the cooperative operation between the stadium map information 121, the positioning sensor 13, the magnetic sensor 11, the light up to 15, the camera 16, and the Doppler radar 17 in the memory 12. Walking to the next robot target position 144 near the estimated drop position 141 of the sphere 92, the user 91 can be directed to find the sphere 92.

(2) The processor 18 records the user's hitting history data 122 in the cloud server 34 or the memory 12, and when the user 91 reaches the pre-hitting point (ie, the estimated landing position 141), the historical data can be transmitted. 122 is informed to recommend the use of the ball 93 and the hitting direction, and before the user 91 hits the ball, the camera 16 automatically recognizes the number of the actual use of the ball 93 or the user 91 voice instruction, and records the actual use of the ball 93 To update the user's batting history data 122. Therefore, the object of the present invention can be achieved.

However, the above is only the embodiment of the present invention, and the scope of the invention is not limited thereto, and all the simple equivalent changes and modifications according to the scope of the patent application and the patent specification of the present invention are still Within the scope of the invention patent.

1‧‧‧Golf Robot

10‧‧‧ Self-propelled ontology

11‧‧‧Magnetic sensor

12‧‧‧ memory

120‧‧‧Operator interface

121‧‧‧Site map information

122‧‧‧User hitting history data

13‧‧‧ Positioning Sensor

14‧‧‧ display

141‧‧‧ Estimated location

142‧‧‧Spherical image

143‧‧‧Robot target position

144‧‧‧Next robot target position

145‧‧‧Recommended to swipe the location

146‧‧‧ Flight path

147‧‧‧ Flight Information

1471‧‧‧ Flight distance

1472‧‧‧Maximum height

1473‧‧‧ head speed

1474‧‧‧speed

1475‧‧‧ rear spin

149‧‧‧Doppler radar system start-up condition area

15‧‧‧ ‧

16‧‧‧ camera

17‧‧‧Doppler radar

171‧‧‧ microwave

18‧‧‧ processor

190‧‧‧Battery

191‧‧‧ Speaker

192‧‧‧ microphone

193‧‧‧Touch Module

194‧‧‧Wireless communication module

31‧‧‧ computer

32‧‧‧Mobile phones

321‧‧‧Application (APP)

33‧‧‧Internet

34‧‧‧Cloud Server

35‧‧‧Mobile communication network

36‧‧‧Wireless base station

7‧‧‧ Stadium

70‧‧‧Terry

91‧‧‧Users

92‧‧‧ sphere

93‧‧‧Balls

D‧‧‧First predetermined distance

D‧‧‧second predetermined distance

Other features and advantages of the present invention will be apparent from the embodiments of the present invention. FIG. 1 is a schematic diagram illustrating an embodiment of the golf robot of the present invention. FIG. 2 is a functional block diagram illustrating the present embodiment. FIG. 3 is a schematic diagram showing a display screen when the golf robot just reaches the target position of the robot in the embodiment, wherein the spherical image placed by the user does not fall into the Doppler radar system start condition area. FIG. 4 is a schematic diagram showing a display screen in which the golf robot fine-tunes the position by the assistance of the camera, so that the spherical image placed by the user has fallen into the Doppler radar system starting condition area; FIG. 5 is A display screen diagram illustrating that the display in the embodiment can display an estimated landing position, a flight path, and flight information of the sphere; FIG. 6 is a schematic diagram of the display screen, illustrating that the display in the embodiment can display a bird's eye view from the sky. The predicted landing position and flight distance of the sphere; FIG. 7 is a schematic diagram showing the display in the embodiment. The device can display the robot target position, the estimated drop position, the recommended swipe drop position, and the relative position between the next robot target position; and FIG. 8 is a system architecture diagram illustrating that the embodiment has a wireless communication function. Upload the user's swing statistics to the cloud server.

1‧‧‧Golf Robot

10‧‧‧ Self-propelled ontology

14‧‧‧ display

15‧‧‧ ‧

16‧‧‧ camera

17‧‧‧Doppler radar

171‧‧‧ microwave

70‧‧‧Terry

91‧‧‧Users

92‧‧‧ sphere

93‧‧‧Balls

D‧‧‧First predetermined distance

Claims (13)

A golf robot, which is suitable for assisting a user to perform golf ball with a ball and a ball. The golf robot includes: a self-propellable body; a display disposed on the self-propellable body; and a memory body disposed on the The self-propelled body is configured to store a stadium map information; a positioning sensor is disposed on the self-propellable body, and is configured to sense a position of the self-propellable body to generate a position information; a magnetic sensor The self-propelled body is disposed to sense the orientation of the self-propellable body to generate a position information; the light is disposed on the self-propellable body, and is configured to sense the self-propellable body a surrounding object to generate a light sensing information; a Doppler radar disposed on the front surface of the self-propellable body; a processor electrically connected to the memory, the display, the positioning sensor, the magnetic force a sensor, the light, and the Doppler radar, wherein the processor is configured to: cause the self-propelled according to the stadium map information, the location information, the orientation information, and the light sensing information Automatically walking to a robot target position, and causing the Doppler radar to emit a microwave forward; calculating one of the spheres according to the reflected wave of the microwave reflected from the ball and the sphere when the ball is swung the ball Estimated point And causing the display to display the estimated location of the sphere and the map information of the stadium; a camera, before the user hits the ball, the processor first based on the map information and a user's hitting history data The operation 1 suggests using the ball and a ball hitting direction, and recording the actual use of the ball according to the actual use of the ball number or a user voice indication automatically recognized by the camera, and then according to the course map information and the use The hitting history data, calculating a recommended swing position, and then, after the user hits the ball, calculating the next robot target position based on the estimated landing position and the stadium map information, and causing the self-propellable body The robot is automatically moved to the next robot target position so that the user can find the sphere, and the next robot target position is a second predetermined distance from the estimated landing position. The golf robot of claim 1, further comprising a camera, wherein the camera is disposed on the front surface of the self-propellable body and electrically connected to the processor, and the self-propelled body walks to the robot target In position, the processor causes the camera to capture a sphere image of the sphere, and then adjusts the position of the self-propellable body according to a relative positional relationship between the sphere image and a scanning area of the microwave, such that the sphere The location falls within the scanning area of the microwave after the self-propelled body adjustment position. The golf robot of claim 1, wherein the processor further calculates a flight information of the sphere displayed on the display, the flight information is selected from a flight distance, a maximum height, a head speed, a ball speed, and a rear Rotary group Into a group. The golf robot of claim 1, wherein the robot target position is a first predetermined distance behind a tee. The golf robot of claim 4, wherein the first predetermined distance is about 2 m to 3 m. The golf robot of claim 1, wherein the second predetermined distance is about 2 m to 3 m. The golf robot of claim 1, wherein the light is disposed on a top surface of the self-propellable body to completely sense the surrounding object of the self-propellable body to generate the light sensing information. The golf robot of claim 1, wherein the memory further stores an operation interface, and the golf robot further includes a touch module, wherein the user can use the touch module to manipulate the operation in a touch manner. interface. The golf robot of claim 1, further comprising a microphone and a speaker, wherein the user can use the microphone and the speaker to interact with the golf robot in a voice-activated manner. The golf robot of claim 1, further comprising a wireless communication module connectable to an internet to download and update the stadium map information. The golf robot of claim 1 is further adapted to upload the data during the golfing process to a cloud server through a mobile communication network, and the golf robot further includes a wireless communication module. The golf robot can be connected to a mobile communication network by the wireless communication module, and then connected to an internet network, and then connected to the cloud servo. Device. The golf robot of claim 1 is further adapted to upload the data during the golfing process to a cloud server through a mobile communication network, and the golf robot further includes a wireless communication module. The golf robot can be connected to the cloud server through a wireless communication module through a computer, a mobile phone, or a wireless base station. The golf robot of claim 1, further comprising a wireless communication module, wherein the user can communicate with the wireless communication module through an application of a mobile phone to interact with the golf robot.