Golf cart control method and device, electronic equipment and storage medium

Abstract

The present disclosure provides a golf cart control method, device, electronic equipment and storage medium, the golf cart control method comprises: when the golf cart is in a following mode, obtaining a first image of a target player through a vehicle end camera, the vehicle end camera is arranged on the golf cart; behavior detection is performed on the first image to obtain a behavior result of the target player; when the behavior result meets a preset behavior, a second image of the target player is obtained through a field end camera, and a trajectory of the target player is predicted according to the second image to obtain a predicted trajectory of the target player, the field end camera is arranged in a golf course; based on the predicted trajectory, the golf cart is controlled to follow the target player. The present application improves the automation degree of the golf cart and reduces the labor demand in the golf course.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and specifically to a control method, device, electronic equipment, and storage medium for a golf club cart. Background Technology

[0002] A golf club cart is a mobile tool used to transport golf clubs and other related items. Existing golf club carts are usually controlled by staff, specifically via remote control to control the direction of travel. This requires staff to follow the players, which requires a large amount of manpower. Moreover, due to the increase in the number of people, it is not good for the grass on the course. Therefore, existing golf club carts have the problem of low automation. Summary of the Invention

[0003] This invention provides a control method, device, electronic equipment, and storage medium for a golf club cart, aiming to solve the problem of low automation in existing golf club carts. By detecting the behavior of a target player, when the target player's behavior matches a preset behavior, the trajectory of the target player is predicted to obtain the predicted trajectory. The golf club cart is then controlled to follow the target player based on the predicted trajectory, enabling the golf club cart to automatically follow the target player without the need for additional personnel to control it. This improves the automation level of the golf club cart and reduces the manpower requirements on the golf course.

[0004] In a first aspect, embodiments of the present invention provide a control method for a golf club cart, the method comprising:

[0005] When the golf club cart is in follow mode, the first image of the target player is acquired through a vehicle-mounted camera, which is installed on the golf club cart.

[0006] Behavior detection is performed on the first image to obtain the behavior result of the target player;

[0007] When the behavior result matches the preset behavior, a second image of the target player is acquired through the on-site camera, and the trajectory of the target player is predicted based on the second image to obtain the predicted trajectory of the target player. The on-site camera is set up inside the golf course.

[0008] Based on the predicted trajectory, the golf club cart is controlled to follow the target player.

[0009] Furthermore, prior to the step of acquiring the first image of the target player in follow mode, the method further includes:

[0010] When the target player starts the golf club cart, the vehicle-mounted camera extracts the target player's features to obtain the target player's attribute characteristics.

[0011] The golf cart is linked to the target player based on the aforementioned attribute features;

[0012] When a follow instruction is received from the target player, the golf cart is controlled to enter follow mode.

[0013] Furthermore, the step of acquiring a second image of the target player via a field camera when the behavioral result matches a preset behavior includes:

[0014] When the behavior result matches the preset behavior, the attribute feature is sent to the field camera;

[0015] Based on the aforementioned attribute features, the target player is image tracked by the on-field camera to obtain a second image of the target player.

[0016] Furthermore, the second image comprises consecutive frame images, and the step of predicting the trajectory of the target player based on the second image to obtain the predicted trajectory of the target player includes:

[0017] The target player is positionally detected to obtain its frame position in each frame image.

[0018] The frame positions are arranged according to the time sequence of the corresponding frame images to obtain the position sequence of the target player;

[0019] The predicted position sequence is obtained by predicting the position sequence.

[0020] Based on the predicted position sequence, the predicted trajectory of the target player is generated.

[0021] Furthermore, the step of controlling the golf club cart to follow the target player based on the predicted trajectory includes:

[0022] Based on the predicted trajectory, a following route for the golf club cart is generated;

[0023] Control the golf club cart to travel along the stated route.

[0024] Furthermore, the step of generating the following route of the golf club cart based on the predicted trajectory includes:

[0025] Obtain the coordinate system of the positioning system of the golf club cart;

[0026] The predicted trajectory is transformed into the coordinate system of the positioning system to obtain the following route of the golf club cart.

[0027] Furthermore, after the step of controlling the golf cart to follow the target player based on the predicted trajectory, the method further includes:

[0028] Based on the first image or the second image, detect the regional slope of the area where the target player is located;

[0029] The following posture of the golf cart is adjusted according to the slope of the area.

[0030] Secondly, a control device for a golf cart is provided, the device comprising:

[0031] The first acquisition module is used to acquire a first image of the target player through a vehicle-mounted camera when the golf club cart is in follow mode; the vehicle-mounted camera is installed on the golf club cart.

[0032] The behavior detection module is used to perform behavior detection on the first image to obtain the behavior result of the target player;

[0033] The second acquisition module is used to acquire a second image of the target player through a field camera when the behavior result matches the preset behavior, and to predict the trajectory of the target player based on the second image to obtain the predicted trajectory of the target player. The field camera is set up inside the golf course.

[0034] The control module is used to control the golf club cart to follow the target player based on the predicted trajectory.

[0035] Thirdly, an electronic device is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the control method for a golf cart as described in any one of the embodiments of the present invention.

[0036] Fourthly, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the control method for a golf cart as described in any one of the embodiments of the present invention.

[0037] In this embodiment of the invention, when the golf club cart is in follow mode, a first image of the target player is acquired via a vehicle-mounted camera, which is installed on the golf club cart. Behavior detection is performed on the first image to obtain the target player's behavior result. When the behavior result matches a preset behavior, a second image of the target player is acquired via a course-mounted camera, and trajectory prediction is performed based on the second image to obtain the predicted trajectory of the target player. The course-mounted camera is installed within the golf course. Based on the predicted trajectory, the golf club cart is controlled to follow the target player. By detecting the target player's behavior and predicting their trajectory when it matches a preset behavior, the golf club cart can automatically follow the target player without requiring additional personnel to control it. This improves the automation level of the golf club cart and reduces the manpower requirements within the golf course. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a flowchart illustrating a control method for a golf club cart.

[0040] Figure 2 This is a schematic diagram of the control device for a golf club cart. Detailed Implementation

[0041] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0042] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "circumferential," and "radial," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0044] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0045] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0046] Please see Figure 1 , Figure 1 The present application provides a control method for a golf club cart, the method comprising:

[0047] 101. When the golf club cart is in follow mode, the first image of the target player is obtained through the onboard camera.

[0048] In this embodiment of the invention, the golf club cart is used for the golf clubs and other items of the target player, and the vehicle-mounted camera is installed on the golf club cart.

[0049] The aforementioned golf club cart can be set with multiple modes, such as pull mode, remote control mode, and follow mode. In pull mode, staff or target players can manually pull the golf club cart; in remote control mode, staff or target players can control the golf club cart with a remote control; and in follow mode, the golf club cart can automatically follow the target player.

[0050] When the golf club cart is in follow mode, the onboard camera can be activated to take a picture of the front of the golf club cart, thereby capturing the first image of the target player.

[0051] 102. Perform behavior detection on the first image to obtain the behavior results of the target player.

[0052] In this embodiment of the invention, the vehicle-mounted camera can be a smart camera, which embeds a behavior detection model to perform behavior detection on the first image.

[0053] The behavior detection model described above is pre-trained and is used to detect player behavior, which may include actions such as staying still, walking, and turning around.

[0054] Specifically, the behavior detection model can be a convolutional neural network-based detection model. It can be trained in a supervised manner using a first image dataset containing player behavior data to obtain a well-trained behavior detection model. By detecting the target player's behavior using this trained model, the current behavior of the target player can be determined.

[0055] In one possible embodiment, the behavior detection model described above can be set up on a server. After the vehicle-mounted camera captures the first image, it uploads the image to the server. The behavior detection model on the server then performs behavior detection to obtain the behavior result of the target player. The server can be a local server or a cloud server.

[0056] 103. When the behavior result matches the preset behavior, the second image of the target player is obtained through the field camera, and the trajectory of the target player is predicted based on the second image to obtain the predicted trajectory of the target player.

[0057] In this embodiment of the invention, the aforementioned field camera is installed inside the golf course. The field camera can be a depth camera, which can simultaneously collect the depth information of the target player. The depth information of the target player can be understood as the distance from the depth camera. Thus, the second image captured by the depth camera includes the depth information of the target player, so that a more accurate predicted trajectory can be obtained by using the depth information of the target player during the trajectory prediction process.

[0058] The aforementioned preset behavior can be walking. When the target player's behavior result is walking, it means that the target player is in a walking state, and the golf cart needs to follow the target player.

[0059] The trajectory prediction described above can be determined based on the target player's walking patterns, specifically, based on changes in the target player's position. First, the target player's position in the second image can be detected. Based on changes in the target player's position in the second image, changes in the target player's position over a future period can be predicted. Therefore, based on these future position changes, the target player's predicted trajectory can be obtained.

[0060] 104. Based on the predicted trajectory, control the golf club cart to follow the target player.

[0061] In this embodiment of the invention, the predicted trajectory represents the target player's positional changes over a future period. In follow mode, the golf cart can exhibit the same positional changes as the target player over a future period.

[0062] Specifically, the golf club cart's route can be generated based on the predicted trajectory, and as the golf club cart travels along the route, it can follow the target player.

[0063] In this embodiment of the invention, when the golf club cart is in follow mode, a first image of the target player is acquired via a vehicle-mounted camera, which is installed on the golf club cart. Behavior detection is performed on the first image to obtain the target player's behavior result. When the behavior result matches a preset behavior, a second image of the target player is acquired via a course-mounted camera, and trajectory prediction is performed based on the second image to obtain the predicted trajectory of the target player. The course-mounted camera is installed within the golf course. Based on the predicted trajectory, the golf club cart is controlled to follow the target player. By detecting the target player's behavior and predicting their trajectory when it matches a preset behavior, the golf club cart can automatically follow the target player without requiring additional personnel to control it. This improves the automation level of the golf club cart and reduces the manpower requirements within the golf course.

[0064] Furthermore, before acquiring the first image of the target player in follow mode, when the target player starts the golf club cart, the vehicle's camera can be used to extract the target player's features to obtain the target player's attribute features; the golf club cart can then be bound to the target player using these attribute features; and when the target player's follow command is received, the golf club cart can be controlled to enter follow mode.

[0065] In this embodiment of the invention, the target player can interact with the golf cart through a player terminal to start the golf cart. For example, after registering and authenticating as a player through an APP, the target player can start the golf cart by scanning a code through the APP.

[0066] When the target player starts the golf cart, the onboard camera is activated simultaneously to capture an image of the player. A feature extraction model then extracts features from this image to determine the player's attributes. These attributes include at least one of the following: the player's clothing, pants, body type, height, player number, and hat.

[0067] Tying a golf cart to a target player can prevent other people from controlling the golf cart, thus improving the safety of controlling the golf cart.

[0068] The aforementioned follow-up instructions can be voice commands, gesture commands, or commands based on physical buttons on the golf cart.

[0069] The aforementioned feature extraction model can be embedded in the vehicle-mounted camera. Features can be extracted directly from the vehicle-mounted camera using this embedded model to obtain and store the target player's attribute features. Alternatively, the feature extraction model can be set up on a server. When the target player starts the golf club cart, the vehicle-mounted camera is simultaneously activated, capturing an image of the target player. This image is then uploaded to the server for feature extraction, yielding and storing the target player's attribute features.

[0070] Furthermore, in the step of acquiring the second image of the target player through the field camera when the behavior result meets the preset behavior, the attribute features can be sent to the field camera when the behavior result meets the preset behavior; based on the attribute features, the target player is image tracked through the field camera to obtain the second image of the target player.

[0071] In this embodiment of the invention, the on-course camera is installed inside the golf course and can be adjusted by rotation and zoom to track the target player. Unlike vehicle-mounted cameras, which typically capture a first image close to the target player and lack sufficient spatial information for trajectory analysis, the on-course camera can capture a second image at a greater distance from the target player. This second image contains sufficient spatial information that can be used for trajectory analysis.

[0072] Specifically, when the target player's behavior matches a preset behavior, it indicates that the target player is walking. The vehicle-mounted camera or server can send the target player's attribute features to the on-field camera, which then locates the corresponding target player based on these attribute features and performs image tracking. More specifically, the second image includes multiple players, and the on-field camera also embeds the same feature extraction model. The model extracts the attribute features of each player, compares these features with those of the target player, and thus determines the target player to be tracked. Adjustments are made using rotation and zoom to perform image tracking of the target player.

[0073] In one possible embodiment, the images captured by the on-field camera can be sent to a server, where a feature extraction model extracts the attribute features of each player. The attribute features of each player are then compared with those of the target player to determine the location of the target player to be tracked. Based on the location of the target player, corresponding control parameters are generated, including rotation and zoom parameters. These control parameters are then sent to the on-field camera, which is adjusted by rotating and zooming the camera to achieve image tracking of the target player.

[0074] Furthermore, the second image includes consecutive frame images. In the step of predicting the trajectory of the target player based on the second image to obtain the predicted trajectory of the target player, the target player's position can be detected to obtain the frame position of the target player in each frame image; the frame positions can be arranged according to the time order of the corresponding frame images to obtain the position sequence of the target player; the position sequence can be predicted to obtain the predicted position sequence; and the predicted trajectory of the target player can be generated based on the predicted position sequence.

[0075] In this embodiment of the invention, the second image can be a video image, which includes consecutive frame images. For each frame image, the position of the target player is detected to obtain the frame position of the target player in each frame image. Specifically, the target player can be detected by a target detection model to obtain the detection box of the target player, where (x, y) is the center position of the detection box, w is the width of the detection box, h is the height of the detection box, d is the depth of the center of the detection box, and γ is the confidence level of the detection box. The frame position (x, y, d) of the target player in each frame image can be determined according to the detection box (x, y, w, h, d, γ). The frame positions (x, y, d) are arranged in the time order of the corresponding frame images to obtain the position sequence of the target player an = [(x1, y1, d1), ..., (xi, yi, di), ..., (xn, yn, dn)], where n represents the number of n frames and i represents the i-th frame image.

[0076] Position sequences can be predicted using a time-series prediction model. This model can be based on a recurrent neural network or a long short-term memory network. The position sequence an is input into the time-series prediction model, and the output is the predicted position sequence bm = [(xn+1, yn+1, dn+1), ..., (xn+j, yn+j, dn+j), ..., (xn+m, yn+m, dn+m)], where the prediction time period is from time n+1 to time n+m, n+j represents the predicted position of the target player at time n+j, j is greater than or equal to 1, and m is greater than or equal to j.

[0077] A trained temporal prediction model can be used to predict the position sequence 'an' to obtain the predicted trajectory of the target player. Specifically, using the position sequence processing method described above, multiple player position sequences are collected and divided into two segments: a sample position sequence and a label position sequence, with the label position sequence's time following that of the sample position sequence. The sample position sequence is input into the temporal prediction model, which outputs a predicted position sequence. The error loss between the predicted and label position sequences is calculated, and the temporal prediction model is trained to minimize this error loss, ensuring its output matches the label position sequence. This completes the training, resulting in a well-trained temporal prediction model. In use, the position sequence 'an' is input into the trained temporal prediction model, which outputs a predicted position sequence 'bm'.

[0078] By connecting the predicted positions in the predicted position sequence bm, the predicted trajectory of the target player can be obtained.

[0079] Furthermore, in the step of controlling the golf club cart to follow the target player based on the predicted trajectory, a following route for the golf club cart can be generated according to the predicted trajectory; and the golf club cart can be controlled to travel along the following route.

[0080] In this embodiment of the invention, the predicted trajectory is generated by a predicted position sequence bm, which includes the target player's position in the image. The target player's position in the image is converted into a real-world position, and the real-world positions are connected to obtain the golf cart's following route. The golf cart is controlled to follow the route.

[0081] Specifically, based on the projection relationship between the coordinate system of the on-field camera and the coordinate system of the real world, the position of the target player in the image can be converted into the position in the real world, and the positions in the real world can be connected.

[0082] Furthermore, in the step of generating the following route of the golf club cart based on the predicted trajectory, the positioning system coordinate system of the golf club cart can be obtained; the predicted trajectory is transformed into the positioning system coordinate system to obtain the following route of the golf club cart.

[0083] In this embodiment of the invention, the positioning system of the golf club cart can be a UWB (Ultra Wideband) positioning system. The UWB positioning system can perform high-precision positioning of the golf club cart, thereby making the following route more accurate and improving the following accuracy of the golf club cart.

[0084] Specifically, based on the projection relationship between the coordinate system of the on-field camera and the coordinate system of the real world, the position of the target player in the image can be converted into the position in the real world. Then, based on the projection relationship between the coordinate system of the real world and the coordinate system of the UWB positioning system, the position in the real world can be converted into the position in the UWB positioning system. By connecting the positions in the UWB positioning system, the following route of the golf cart can be obtained.

[0085] In one possible embodiment, the golf cart's positioning system is a UWB positioning system. The installation location of the on-field camera is the same as the positioning base station in the UWB positioning system. In this way, the projection relationship between the coordinate system of the on-field camera and the coordinate system of the UWB positioning system can be directly established. Based on the projection relationship between the coordinate system of the on-field camera and the coordinate system of the UWB positioning system, the position of the target player in the image can be converted into the position of the UWB positioning system. By connecting the positions of the UWB positioning system, the following route of the golf cart can be obtained.

[0086] Furthermore, after controlling the golf cart to follow the target player based on the predicted trajectory, the slope of the area where the target player is located can be detected based on the first image or the second image; and the following posture of the golf cart can be adjusted according to the slope of the area.

[0087] In this embodiment of the invention, the regional slope of the area where the target player is located can be calculated based on the optical axis of the vehicle-mounted camera and the proportion of the lawn area in the first image. Alternatively, the regional slope of the area where the target player is located can be calculated based on the optical axis of the field-mounted camera and the proportion of the lawn area in the second image.

[0088] Of course, in some possible embodiments, the slope of the area where the target player is located can also be detected by using an angle sensor installed on the golf cart.

[0089] Adjusting the following posture of the golf club cart according to the slope of the area can prevent the clubs or items from falling off the cart and improve the stability of the golf club cart during the following process.

[0090] Please see Figure 2 , Figure 2 A control device for a golf club cart provided in this application includes:

[0091] The first acquisition module 201 is used to acquire a first image of the target player through a vehicle-mounted camera when the golf club cart is in follow mode. The vehicle-mounted camera is installed on the golf club cart.

[0092] Behavior detection module 202 is used to perform behavior detection on the first image to obtain the behavior result of the target player;

[0093] The second acquisition module 203 is used to acquire a second image of the target player through a field camera when the behavior result matches the preset behavior, and to predict the trajectory of the target player based on the second image to obtain the predicted trajectory of the target player. The field camera is set up inside the golf course.

[0094] The control module 204 is used to control the golf club cart to follow the target player based on the predicted trajectory.

[0095] Furthermore, the device also includes:

[0096] The feature extraction module is used to extract the attributes of the target player by using the vehicle-mounted camera when the target player starts the golf club cart.

[0097] The player binding module is used to bind the golf cart to the target player based on the attribute characteristics.

[0098] The receiving control module is used to control the golf cart to enter the follow mode when it receives the follow instruction from the target player.

[0099] Furthermore, the second acquisition module 203 is also used to send the attribute features to the field camera when the behavior result matches the preset behavior; based on the attribute features, the target player is image tracked by the field camera to obtain a second image of the target player.

[0100] Furthermore, the second image includes consecutive frame images, and the second acquisition module 203 is also used to perform position detection on the target player to obtain the frame position of the target player in each frame image; arrange the frame positions according to the time order of the corresponding frame images to obtain the position sequence of the target player; predict the position sequence to obtain a predicted position sequence; and generate a predicted trajectory of the target player based on the predicted position sequence.

[0101] Furthermore, the control module 204 is also used to generate a following route for the golf club cart based on the predicted trajectory; and to control the golf club cart to travel along the following route.

[0102] Furthermore, the control module 204 is also used to obtain the positioning system coordinate system of the golf club cart; and to convert the predicted trajectory into the positioning system coordinate system to obtain the following route of the golf club cart.

[0103] Furthermore, the device also includes:

[0104] The slope detection module is used to detect the regional slope of the area where the target player is located based on the first image or the second image;

[0105] The attitude adjustment module is used to adjust the following attitude of the golf club cart according to the slope of the area.

[0106] This invention also provides a computer storage medium storing a computer program for electronic data exchange, which causes a computer to perform some or all of the steps of any of the golf cart control methods described in the above method embodiments.

[0107] This invention also provides an electronic device, which includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the golf club cart control methods described in the above method embodiments.

[0108] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0109] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0110] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical or other forms.

[0111] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0112] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software program module.

[0113] If the integrated unit is implemented as a software program module and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0114] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0115] The embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A control method for a golf club cart, characterized in that, The method includes: When the target player starts the golf club cart, the target player's features are extracted by the vehicle-mounted camera to obtain the target player's attribute features. The vehicle-mounted camera is installed on the golf club cart. The golf cart is linked to the target player based on the aforementioned attribute features; When the target player's follow instruction is received, the golf cart is controlled to enter follow mode; When the golf club cart is in follow mode, the first image of the target player is acquired through the onboard camera; Behavior detection is performed on the first image to obtain the behavior result of the target player; When the behavior result matches a preset behavior, a second image of the target player is acquired through a course-end camera, and the trajectory of the target player is predicted based on the second image to obtain the predicted trajectory of the target player. The course-end camera is located inside the golf course. The step of acquiring the second image of the target player through the course-end camera when the behavior result matches the preset behavior includes: sending the attribute features to the course-end camera; and performing image tracking of the target player through the course-end camera based on the attribute features to obtain the second image of the target player. Based on the predicted trajectory, controlling the golf club cart to follow the target player includes: generating a following route for the golf club cart according to the predicted trajectory; and controlling the golf club cart to travel along the following route. The step of generating the following route for the golf cart based on the predicted trajectory includes: Obtain the coordinate system of the positioning system of the golf club cart; The predicted trajectory is transformed into the coordinate system of the positioning system to obtain the following route of the golf club cart.

2. The method according to claim 1, characterized in that, The second image comprises consecutive frame images, and the step of predicting the trajectory of the target player based on the second image to obtain the predicted trajectory of the target player includes: The target player is positionally detected to obtain its frame position in each frame image. The frame positions are arranged according to the time sequence of the corresponding frame images to obtain the position sequence of the target player; The predicted position sequence is obtained by predicting the position sequence. Based on the predicted position sequence, the predicted trajectory of the target player is generated.

3. The method according to claim 2, characterized in that, After the step of controlling the golf cart to follow the target player based on the predicted trajectory, the method further includes: Based on the first image or the second image, detect the regional slope of the area where the target player is located; The following posture of the golf cart is adjusted according to the slope of the area.

4. A control device for a golf cart, characterized in that, The device includes: The feature extraction module is used to extract the attributes of the target player by using the vehicle-mounted camera when the target player starts the golf club cart. The player binding module binds the golf cart to the target player based on the attribute characteristics. The receiving control module, upon receiving a follow instruction from the target player, controls the golf cart to enter follow mode; The first acquisition module is used to acquire a first image of the target player through a vehicle-mounted camera when the golf club cart is in follow mode; the vehicle-mounted camera is installed on the golf club cart. The behavior detection module is used to perform behavior detection on the first image to obtain the behavior result of the target player; The second acquisition module is used to acquire a second image of the target player through a course-end camera when the behavior result matches a preset behavior, and to predict the trajectory of the target player based on the second image to obtain the predicted trajectory of the target player. The course-end camera is set up inside the golf course. The step of acquiring the second image of the target player through the course-end camera when the behavior result matches the preset behavior includes: sending the attribute features to the course-end camera when the behavior result matches the preset behavior; and performing image tracking of the target player through the course-end camera based on the attribute features to obtain the second image of the target player. A control module is configured to control the golf club cart to follow the target player based on the predicted trajectory; including: generating a following route for the golf club cart according to the predicted trajectory; and controlling the golf club cart to travel along the following route; The step of generating the following route of the golf club cart based on the predicted trajectory includes: obtaining the positioning system coordinate system of the golf club cart; and converting the predicted trajectory into the positioning system coordinate system to obtain the following route of the golf club cart.

5. An electronic device, characterized in that, include: The memory, the processor, and the computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the control method for the golf cart as described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the control method for the golf cart as described in any one of claims 1 to 3.

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