KR-102961692-B1 - DEVICE FOR ANALYZING GROUND SLOPE

Abstract

The present invention discloses a device for measuring and analyzing ground slope. More specifically, the present invention relates to a ground slope analysis device and method for measuring and analyzing the slope of a ground, such as a golf course green, by combining an optical distance measuring sensor and an inertial sensor (IMU). According to an embodiment of the present invention, by placing a plurality of distance measuring sensors, including ToF sensors and lidar, at three or more locations to acquire distance data for each point and correcting the attitude using an IMU, it is possible to accurately measure the slope of the ground in various environments, including golf course greens.

Inventors

• 박주환
• 서영욱

Assignees

• 주식회사 서랩

Dates

Publication Date

20260511

Application Date

20251022

Claims (8)

1. A plurality of distance measuring sensors arranged in a specific form to measure the distance to multiple points in front and output distance data; An IMU sensor that measures the current posture of the device and outputs posture data; A calculation unit that receives the above distance data and attitude data, estimates a plane equation for the ground through one or more analysis methods, and calculates the slope of the ground including the slope for the corresponding terrain based on the estimated plane equation; and It includes an output unit that outputs calculated ground slope information for the terrain in the form of visual information, The above plurality of distance measuring sensors are, Arranged as a triangle, square, polygon, circle, or line, forming an area on the ground according to each arrangement to measure the slope of the ground, and The above operation unit is, The above distance data is preprocessed through multiple frame averaging and outlier removal, and One or more of the least squares method, regression analysis, filtering techniques, and deep learning networks are used to estimate the above plane equation, and Based on the above distance data and attitude data, derive a plane equation for a plane connecting each point, and estimate the coefficients of the plane through the above least squares method, Calculate the above slope in correspondence with a plane equation determined by the coefficients of the estimated plane, wherein the front-back slope and left-right slope of the corresponding ground are calculated, and the curvature of the ground is estimated. Angle of inclination according to the above plane equation ( ) is the following mathematical formula, A ground slope measuring device represented as (where a and b are normal vectors of the plane).
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3. In Article 1, The above plurality of distance measuring sensors are, A ground inclination measuring device arranged in a triangle, square, polygon, circle, or linear configuration, comprising one or more of a VCSEL-based ToF sensor, LiDAR, and FMCW radar.
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6. In Article 1, The above IMU sensor is, A ground inclination measuring device comprising one or more accelerometers and gyroscopes for the X, Y, and Z axis directions.
7. In Article 1, The above ground slope measuring device further includes a display including an OLED or an LCD, and The above display is, A ground slope measuring device that displays ground slope information for a current location by mapping a 3D ground map onto an electronic map in real time.
8. In Article 1, The above ground slope measuring device further includes a communication unit that performs external system data communication via a wired or wireless protocol, and The above communication unit is, A ground slope measuring device that streams the ground slope information in real time to a user terminal or cloud server located at a short or long distance via data communication.

Description

Ground Slope Analysis Device The present invention relates to a device for measuring and analyzing ground slope, and in particular to a ground slope analysis device that measures and analyzes the slope of a ground such as a golf course green by combining an optical distance measuring sensor and an inertial sensor (IMU). Golf refers to a game in which superiority is determined by the number of strokes required to strike a stationary golf ball on a grass-covered field with a club and sink it into a hole located at the end of the field; therefore, accurately assessing the slope of the green is essential to increase the success rate of putting in a golf game. Existing green slope measuring devices were predominantly based on simple spirit levels or single sensors, but they had problems such as low precision and sensitivity to the user's hand tremors or changes in the device's posture. As a related prior art document, Korean Registered Patent Publication No. 10-1836000 describes a main body comprising a receiving portion having a flat bottom surface formed to contact the green of a golf course and an upper receiving space, and a curved groove having a predetermined curvature formed on the rear surface so that a portion of the spherical surface of the golf ball is inserted to prevent the golf ball from escaping and contacts along the portion of the spherical surface of the golf ball, and a withdrawal groove formed on one side with a portion open so that a part is exposed to the outside to facilitate the withdrawal of the inserted ball marker by a user's finger, and having at least one permanent magnet on the inner surface of the receiving portion; a PCB board portion inserted and seated in the open receiving space of the main body and having a plurality of electronic components mounted thereon; an angle sensor portion mounted on the PCB board portion and including at least two axes of gyroscope sensors to detect changes in the posture of the main body and detect left/right and front/back tilt information of the main body; and an illuminance sensor portion mounted on the PCB board portion and detecting external brightness information. A golf green slope measuring device is disclosed. However, according to this prior art, the tilt information of the main body is received from the angle sensor unit, calculated, and displayed through the display unit of the main body. Since only the slope at the location where the device is directly placed can be measured, there are limitations in verifying the overall ground slope of the expected course from the current starting point of the golf ball to the target point. FIG. 1 is a schematic diagram illustrating the application form of a ground slope analysis device according to an embodiment of the present invention. FIG. 2 is a diagram showing the structure of a ground slope analysis device according to an embodiment of the present invention. FIG. 3 is a diagram showing the structure of the calculation unit of a ground slope analysis device according to an embodiment of the present invention. FIGS. 4 and 5 are schematic diagrams illustrating a ground slope measurement method of a ground slope analysis device according to an embodiment of the present invention. The present invention as described above will be explained in detail through the attached drawings and embodiments. It should be noted that the technical terms used in this invention are used merely to describe specific embodiments and are not intended to limit the invention. Furthermore, unless specifically defined otherwise in this invention, the technical terms used in this invention should be interpreted in the sense generally understood by those skilled in the art to which this invention pertains, and should not be interpreted in an overly broad or overly narrow sense. Additionally, if a technical term used in this invention is an incorrect technical term that fails to accurately express the concept of the invention, it should be replaced with a technical term that can be correctly understood by those skilled in the art. Moreover, general terms used in this invention should be interpreted according to their prior definitions or the context, and should not be interpreted in an overly narrow sense. Furthermore, singular expressions used in the present invention include plural expressions unless the context clearly indicates otherwise. In the present invention, terms such as "composed of" or "comprising" should not be interpreted as necessarily including all of the various components or steps described in the invention, and should be interpreted as meaning that some of the components or steps may not be included, or that additional components or steps may be included. Additionally, terms including ordinal numbers, such as first, second, etc., used in the present invention may be used to describe components, but the components should not be limited by these terms. The terms are used solely for the purpose of distinguishin