Path planning method and device for putting green push rod

Abstract

The invention relates to the technical field of path planning, provides a path planning method and device for putting green push rods, and solves the problem that at present, due to the fact that the terrain of a putting green is complex, details such as fluctuation and unevenness of the putting green and changes of a lawn further have important influences on the rolling path of a ball besides the gradient and the distance. The method provided by the invention is applied to the spatial multi-dimensional scanning equipment. The method comprises the following steps: scanning a putting green to be planned to obtain a spatial multi-dimensional information graph corresponding to the putting green; analyzing the spatial multi-dimensional information graph to obtain elevation information corresponding to the putting green; performing target detection on the spatial multi-dimensional information graph to determine a golf ball position and a ball hole position in the spatial multi-dimensional information graph; and generating ball hitting path information according to the elevation information, the golf ball position and the hole position so as to complete path planning of the putting green according to the ball hitting path information. Therefore, the provided method can improve the accuracy of the putter, optimize the path planning, and plan the current optimal path planning for the batter in real time.

Description

Technical Field

[0001] The present application relates to the technical field of path planning, and in particular to a path planning method and device for green putting. Background Art

[0002] When putting on the green, golfers can use visual observation to obtain the green terrain and use experience to determine the optimal putting path. Another way is to use some simple distance measuring equipment to obtain the straight-line distance and slope between the ball and the hole, and then roughly estimate a hitting path.

[0003] Because the terrain on the green is very complex, in addition to the slope and distance, it also involves the ups and downs, unevenness, changes in the lawn, etc. These details have an important impact on the rolling path of the ball, and these details may not be fully captured by the human eye or simple distance measuring equipment.

[0004] Therefore, there is an urgent need for an intelligent path planning method for putting on a golf green to accurately plan the path of putting on a golf green. Summary of the invention

[0005] This application provides a path planning method and device for putting on a green, aiming to solve the problem that the terrain on the green is very complex, which involves not only the slope and distance, but also the ups and downs, unevenness, and changes in the lawn of the green. These details have an important impact on the rolling path of the ball, and the human eye or simple distance measurement equipment may not be able to fully capture these details.

[0006] In a first aspect, the present application provides a path planning method for a green putter, which is applied to a spatial multi-dimensional scanning device; the method comprises:

[0007] Scan the planned green to obtain the spatial multi-dimensional information map corresponding to the green;

[0008] Analyze the spatial multi-dimensional information map to obtain the elevation information corresponding to the green;

[0009] Performing target detection on the spatial multi-dimensional information map to determine the location of the golf ball and the location of the hole in the spatial multi-dimensional information map;

[0010] The ball hitting path information is generated according to the elevation information, the golf ball position and the hole position, so as to complete the path planning for the green according to the ball hitting path information.

[0011] In some embodiments, the spatial multi-dimensional scanning device includes a structured light acquisition module and a visible light acquisition module; scanning the planned green to obtain a spatial multi-dimensional information map corresponding to the green includes: obtaining a structured light image scanned and collected by the structured light acquisition module on the green; obtaining a visible light image scanned and collected by the visible light acquisition module on the green; and generating the spatial multi-dimensional information map based on the structured light image and the visible light image.

[0012] Exemplarily, the spatial multi-dimensional scanning device also includes a ranging module; generating the spatial multi-dimensional information map based on the structured light image and the visible light image includes: obtaining distance information collected by the ranging module when scanning the green; generating the spatial multi-dimensional information map based on the distance information, the structured light image and the visible light image.

[0013] In some embodiments, the hitting path information includes at least an optimal hitting path, and generating the hitting path information based on the elevation information, the golf ball position and the hole position includes: constructing a digital elevation model of the green based on the elevation information; setting the golf ball position as a starting point and the hole position as an end point in the digital elevation model; and generating an optimal hitting path from the starting point to the end point in the digital elevation model according to a preset path planning algorithm.

[0014] Exemplarily, the hitting path information also includes putting force; after generating the optimal hitting path from the starting point to the end point in the digital elevation model according to a preset path planning algorithm, it also includes: obtaining the slope information and friction coefficient corresponding to the optimal hitting path in the digital elevation model; calculating the putting force corresponding to the rolling of the golf ball along the optimal hitting path in the digital elevation model according to the slope information and friction coefficient.

[0015] It should be noted that, in some embodiments, the spatial multi-dimensional scanning device also includes a display module; the method also includes: obtaining a display mark corresponding to the pushing force; adding the display mark and the optimal hitting path to the spatial multi-dimensional information map; and displaying the added spatial multi-dimensional information map on the display module.

[0016] Exemplarily, the generating an optimal hitting path from the starting point to the end point in the digital elevation model according to a preset path planning algorithm includes: forming an initial path from the starting point to the end point in the digital elevation model; extracting slope information of the green in the digital elevation model; and adjusting the initial path according to the slope information according to the path planning algorithm to generate the optimal hitting path.

[0017] Exemplarily, the generating the optimal hitting path from the starting point to the end point in the digital elevation model according to a preset path planning algorithm includes: generating multiple candidate paths from the starting point to the end point in the digital elevation model according to a preset path planning algorithm; acquiring terrain information corresponding to each of the candidate paths in the elevation model; calculating the path validity corresponding to each of the candidate paths according to the terrain information; and determining the optimal hitting path among the candidate paths according to the multiple path efficiencies.

[0018] In some embodiments, after completing the path planning for the green according to the hitting path information, it also includes: if it is detected that the golf ball position has changed and the distance from the hole position is greater than a preset distance, obtaining the changed golf ball position; updating the hitting path information according to the elevation information, the changed golf ball position and the hole position.

[0019] In a second aspect, an embodiment of the present application provides a spatial multi-dimensional scanning device, comprising: a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and implement the method provided in any embodiment of the present application when executing the computer program.

[0020] The method provided by the present application obtains a spatial multi-dimensional information map corresponding to the green by scanning the green to be planned; and obtains the elevation information, golf ball position and hole position corresponding to the green in the spatial multi-dimensional information map. The hitting path information is generated according to the elevation information, golf ball position and hole position, and the path planning of the green is completed according to the hitting path information. The technical solution provided has at least the following beneficial effects:

[0021] 1. Improve putting accuracy: By scanning the green and generating a spatial multi-dimensional information map, it is possible to accurately obtain elevation information, helping players better understand the slope and inclination of the green, thereby improving putting accuracy.

[0022] 2. Optimize path planning: Analyze the location of the golf ball and the hole, combine terrain information, and automatically generate the best putting path to reduce trial and error and uncertainty in putting.

[0023] 3. Enhance real-time analysis capabilities: Using spatial multi-dimensional scanning equipment for real-time scanning and analysis can timely adjust putting strategies according to changes in the course and improve players' adaptability.

[0024] 4. Reduce subjective judgment errors: This method relies on objective data, reducing the player's subjective judgment error on the green terrain, thereby improving the overall success rate of putting.

[0025] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 is a schematic flow chart of the steps of a path planning method for putting on a green provided in an embodiment of the present application;

[0028] Figure 2 is a schematic diagram of a digital elevation model provided in an embodiment of the present application;

[0029] Figure 3 is a schematic diagram of a scene of an optimal hitting path provided in an embodiment of the present application;

[0030] Figure 4 It is a schematic diagram of the scene of the optimal hitting path and putting force provided in the embodiment of the present application;

[0031] Figure 5 is a schematic block diagram of the structure of a path planning device provided in an embodiment of the present application;

[0032] Figure 6 It is a schematic block diagram of the structure of the spatial multi-dimensional scanning device provided in an embodiment of the present application.

[0033] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0036] It should be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0037] It should be understood that, in order to facilitate the clear description of the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, the words "first", "second", etc. are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that the words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not necessarily limit the difference.

[0038] It should be further understood that the term “and / or” used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0039] The following is an explanation of some of the terms used in the embodiments of the present invention.

[0040] 1. Greens Putting: Greens putting refers to hitting a golf ball into the hole on the green. The green is a special area on the golf course. The terrain of the green may have various slopes and undulations, which will affect the rolling trajectory of the ball. Players need to adjust the force and direction of the putt according to the changes in the terrain. The grass on the green is usually mowed very short, but the grass conditions of different courses may vary, which will also affect the rolling of the ball. Players need to have a certain degree of adaptability to different grass conditions. Greens putting plays a vital role in golf. Accurate putting can help players reduce the number of strokes on the green and improve their performance. Mastering the putting technique requires constant practice and experience accumulation.

[0041] 2. Spatial multi-dimensional scanning equipment: Spatial multi-dimensional scanning equipment refers to a scanning device that can obtain multi-dimensional information of the green space. Specifically, this device can capture the three-dimensional (3D) or multi-dimensional (such as time changes or other dimensions) data of the green with high precision and generate a detailed spatial model for subsequent analysis and path planning.

[0042] 3. Spatial multi-dimensional information map: A spatial multi-dimensional information map is a graphical representation of data obtained by a spatial multi-dimensional scanning device (such as a laser scanner, a structured light scanner, etc.). This image contains detailed spatial information of the green, not only the three-dimensional surface structure, but may also contain data in other dimensions (for example, in three dimensions, the spatial multi-dimensional information map can be called a three-dimensional / 3D topographic map, and the embodiment of the present application does not limit the dimensionality of the spatial multi-dimensional information map).

[0043] Spatial multidimensional information maps usually contain 3D point cloud data, which represent the 3D coordinates (X, Y, Z) of each point on the surface of the green. Through these points, a detailed 3D model of the green can be constructed.

[0044] In some advanced scanning technologies, the spatial multidimensional information map may also contain information of other dimensions, such as:

[0045] Time dimension: records the changes in the state of the green at different time points.

[0046] Light intensity: Record the light conditions in different areas.

[0047] Temperature or Humidity: Provides information on the environmental conditions of the green surface.

[0048] Software tools can visualize spatial multi-dimensional information maps to show the detailed surface and structural characteristics of the green. This image can help users better understand and analyze the topography of the green.

[0049] 4. Elevation information: Elevation information refers to the height data of each point on the surface of the green. It is extracted from the spatial multidimensional information map and describes the topography of the surface of the green.

[0050] Elevation information includes the height of each point on the green relative to a certain reference surface. These height values ​​can be absolute heights (relative to sea level) or relative heights (relative to a reference point). With elevation information, the slope of the green can be calculated, including the size and direction of the slope. This is very important for putting path planning because the ball will roll differently in areas with different slopes. Elevation information can help identify terrain features on the green, such as hills, gullies, etc., which will affect the rolling trajectory of the ball when putting.

[0051] 5. Digital Elevation Model (DEM): DEM is a physical ground model that represents ground elevation in the form of a set of ordered numerical arrays. It is a branch of Digital Terrain Model (DTM), and other terrain characteristic values ​​can be derived from it. It is generally believed that DTM describes the spatial distribution of linear and nonlinear combinations of various geomorphic factors including elevation, such as slope, aspect, slope change rate, etc. Among them, DEM is a zero-order simple single-item digital geomorphic model. Other geomorphic characteristics such as slope, aspect and slope change rate can be derived on the basis of DEM.

[0052] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0053] When putting on the green, golfers can use visual observation to obtain the green terrain and use experience to determine the optimal putting path. Another way is to use some simple distance measuring equipment to obtain the straight-line distance and slope between the ball and the hole, and then roughly estimate a hitting path.

[0054] Because the terrain on the green is very complex, in addition to the slope and distance, it also involves the ups and downs, unevenness, changes in the lawn, etc. These details have an important impact on the rolling path of the ball, and these details may not be fully captured by the human eye or simple distance measuring equipment.

[0055] Therefore, there is an urgent need for an intelligent path planning method for putting on a golf green to accurately plan the path of putting on a golf green.

[0056] Please refer to Figure 1 , Figure 1 1 is a schematic flow chart of the steps of the path planning method for putting on a green provided in an embodiment of the present application, and the provided method is applied to a spatial multi-dimensional scanning device. Figure 1 As shown, the provided method includes steps S101 to S104.

[0057] Step S101: Scan the planned green to obtain a spatial multi-dimensional information map corresponding to the green.

[0058] Specifically, the provided method uses a spatial multi-dimensional scanning device (such as one or more of a laser scanner, a structured light scanner, a monocular / binocular camera module, and a depth camera module) to comprehensively scan the green and record a large amount of point cloud data on the surface of the green, where each point contains X, Y, and Z coordinate information. In addition to the spatial coordinates, data of other dimensions may also be included, such as surface reflectivity, temperature, or humidity. The spatial multi-dimensional scanning device performs preliminary processing on the original scan data, removes noise, and performs data alignment and registration. The processed data is converted into a visualized spatial multi-dimensional information map corresponding to the green, usually a high-resolution multi-dimensional model or a digital elevation model (Digital Elevation Model, DEM).

[0059] In some embodiments, the spatial multi-dimensional scanning device includes a structured light acquisition module and a visible light acquisition module; scanning the planned green to obtain a spatial multi-dimensional information map corresponding to the green includes: obtaining a structured light image scanned and collected by the structured light acquisition module on the green; obtaining a visible light image scanned and collected by the visible light acquisition module on the green; and generating the spatial multi-dimensional information map based on the structured light image and the visible light image.

[0060] The green is scanned using a structured light acquisition module to capture a structured light image corresponding to the three-dimensional shape information of the green surface. Structured light technology generates high-precision structured light images by projecting a grating pattern and analyzing the deformed light image. At the same time, a visible light acquisition module is used to obtain a visible light image of the green, that is, the color, texture, and visual features of the green surface. The data of the structured light image and the visible light image are fused, and the three-dimensional structural information and surface visual information are combined to generate a more complete spatial multi-dimensional information map. Through the fusion of structured light and visible light, the geometric and visual features of the green can be obtained more comprehensively and accurately, providing a basis for accurate path planning.

[0061] Exemplarily, the spatial multi-dimensional scanning device also includes a distance measurement module; the generating of the spatial multi-dimensional information map according to the structured light image and the visible light image includes: obtaining the distance information collected by the distance measurement module when scanning the green; generating the spatial multi-dimensional information map according to the distance information, the structured light image and the visible light image. By combining a distance measurement module such as a laser radar or other distance measurement modules with a distance measurement function, the distance information in the finally generated spatial multi-dimensional information map can be made more accurate, ensuring the accuracy of the path planning results and providing accurate data for functions such as force analysis.

[0062] It should be noted that the provided spatial multi-dimensional scanning device may also include a binocular / multi-eye camera module and a depth camera module, and can further enrich the content of the spatial multi-dimensional information map by combining methods such as collecting RGB-D images of the green with the depth camera module. Therefore, the embodiment of the present application does not limit the composition of the spatial multi-dimensional scanning device.

[0063] In some embodiments, the spatial multi-dimensional scanning device includes a 3D scanning / imaging module, an image processor, a touch screen, a battery, buttons, etc. The device can be handheld or mounted on a tripod. It can be carried by the player himself, assisted by a caddy, or fixedly installed on the side of a green training field. The embodiment of the present application does not limit the position of the spatial multi-dimensional scanning device, which can face the player end, the golf course end, or both ends at the same time.

[0064] For example, when the spatial multi-dimensional scanning device is handheld and used, the user can perform a 3D scan / image of the local space between the current golf ball position and the hole (e.g. Figure 3 The spatial multi-dimensional scanning device can also be mounted on a tripod and fixed at the edge of the green. After obtaining the green terrain information for the first time, the new landing point of the golf ball can be dynamically tracked, and the new hitting path can be updated and planned in real time.

[0065] It should be noted that in some embodiments, the spatial multi-dimensional scanning device can be combined with wireless networks, mobile phones or PADs, APPs and other mobile terminal displays when facing the golf course to provide players with a more intuitive display. It can also be integrated with 3D camera equipment such as a rangefinder telescope when facing the players, with external screen display, local photography (multi-dimensional photos), path planning and other functions.

[0066] Step S102: Analyze the spatial multi-dimensional information graph to obtain the elevation information corresponding to the green.

[0067] Specifically, the spatial multi-dimensional scanning device extracts data such as height from the spatial multi-dimensional information map, usually using a special image processing algorithm or GIS tool. The extracted height data is converted into a continuous elevation model, such as a digital elevation model (DEM) or a triangulated irregular network (TIN). For areas with sparse data, an interpolation algorithm (such as Kriging or inverse distance weighted method) is used to estimate the elevation value. The slope and aspect of the green surface are then calculated, which is crucial for subsequent path planning. At the same time, the provided method can also perform precision checks on the generated elevation information to ensure its accuracy and reliability.

[0068] Step S103: Perform target detection on the spatial multi-dimensional information map to determine the position of the golf ball and the position of the hole in the spatial multi-dimensional information map.

[0069] Specifically, the spatial multi-dimensional scanning device divides the spatial multi-dimensional information map into different areas in order to identify specific targets. Extract the characteristics of the golf ball and the hole, such as shape, size, color, etc. (the hole is identified by landmarks such as flagpoles). Use machine learning or deep learning algorithms (such as convolutional neural networks CNN) to identify and locate the golf ball and the hole, and determine the precise coordinates of the golf ball and the hole in the spatial multi-dimensional information map. Ensure the accuracy of target detection through multiple tests or other verification methods.

[0070] In some embodiments, performing target detection on the spatial multi-dimensional information map to determine the golf ball position and the hole position in the spatial multi-dimensional information map includes:

[0071] Step S103a: Perform preliminary detection in the spatial multi-dimensional information map using the color features of the golf ball and the hole, and further identify the ball and the hole from the extracted color region using shape features (such as the round shape of the golf ball and the edge contour of the hole).

[0072] Step S103b: Collect and annotate a sufficient number of golf green image datasets, including golf balls and holes in different environments, lighting and angles.

[0073] Step S103c: Use a target detection algorithm (such as YOLO, Faster R-CNN or SSD) for training. Through back propagation and multiple iterations, adjust the model parameters to improve the detection accuracy.

[0074] Step S103d. Input the constructed spatial multi-dimensional information graph into the trained target detection model, and the model will output a bounding box including the location information of the golf ball and the hole.

[0075] Step S103e. Classify the detected bounding boxes and determine the positions of the golf ball and the hole respectively. Enhance the recognition accuracy through multi-view and multi-frame detection. Combine the results of different angles and multiple frames for comprehensive analysis to reduce false detection and missed detection.

[0076] Step S103f. Perform secondary confirmation through the unique physical characteristics of the golf ball and the hole (such as size ratio, surrounding environment) (a golf ball generally has a fixed diameter (about 42.67 mm), and the diameter of the hole is fixed at 108 mm, and further confirmation is performed by comparing these known dimensions).

[0077] Step S103g. Map the detected 2D image coordinates into a multi-dimensional (eg, 3D) coordinate system through perspective conversion and depth information to obtain the precise positions of the golf ball and the hole.

[0078] Exemplarily, after step S103g, the method further includes:

[0079] S103h. Consider the distortion and perspective error of the image acquisition device, and correct it through the algorithm to ensure the accuracy of the converted multi-dimensional coordinates. Finally, the accurate position of the golf ball and the hole in the spatial multi-dimensional information map is generated, and the output provides basic data for subsequent path planning.

[0080] Step S103i. Verify the algorithm detection results in a simulated environment or in an actual field to ensure that the location detection of the golf ball and the hole is accurate and reliable. According to the verification results, adjust and optimize the model and algorithm to further improve the accuracy of the detection.

[0081] Step S104: Generate ball hitting path information according to the elevation information, the golf ball position and the hole position, so as to complete the path planning for the green according to the ball hitting path information.

[0082] Specifically, the present application establishes a physical model of a golf ball rolling on a green, taking into account factors such as gravity, friction, and slope. Based on the principle of fluid mechanics, a physical model is used to simulate the motion trajectory of the ball in different directions. Possible hitting paths are generated by using a path planning algorithm (such as an A* algorithm and an RRT algorithm). Through multiple iterations and optimizations, the best hitting path is selected. The calculated optimal path information can also be visualized for easy understanding and application by users. The method finally provided can generate specific hitting parameters, such as hitting direction, strength, etc., to guide actual putting movements. Furthermore, the method provided comprehensively uses multiple technologies such as spatial scanning, image processing, machine learning, and physical simulation, aiming to provide an accurate path planning solution for green putting and improve the putting accuracy and efficiency of golfers.

[0083] In some embodiments, the hitting path information includes at least an optimal hitting path, and generating the hitting path information based on the elevation information, the golf ball position and the hole position includes: constructing a digital elevation model of the green based on the elevation information; setting the golf ball position as a starting point and the hole position as an end point in the digital elevation model; and generating an optimal hitting path from the starting point to the end point in the digital elevation model according to a preset path planning algorithm.

[0084] like Figure 2 As shown in FIG. 1 , the provided method constructs a digital elevation model (DEM) of the green terrain according to the elevation information corresponding to the green. The location of the golf ball and the location of the hole are marked as the starting point and the end point ( Figure 2 In the figure, 001 represents a spatial multi-dimensional scanning device, 002 represents a digital elevation model, 003 represents a golf ball, 004 represents a hole, 005 represents a flagpole, A represents the starting point, B represents the end point, o represents the position of the spatial multi-dimensional scanning device, and L represents the straight-line distance between A and B measured by the spatial multi-dimensional scanning device). At the same time, the starting point and the end point can also be set manually by the user (at this time, it is not necessary to scan the golf ball and the hole position, or the user can select after scanning). The slope (slope size and direction) of each point on the green surface is calculated through the elevation model. Such features as steep slope areas, gullies, obstacles, etc. will affect the path and force requirements of the putter. And by selecting a suitable path planning algorithm (such as the optimized A* algorithm, Di jkstra algorithm or the shortest path algorithm based on physical simulation), the optimal path from the golf ball position to the hole position can be found.

[0085] Furthermore, the provided method sets a straight line path from the golf ball position to the hole position. According to the elevation information, the moving trajectory of the ball is simulated in combination with the principle of fluid mechanics, and the path is adjusted through multiple iterations. The terrain slope, rolling resistance and other factors are considered to find the optimal path.

[0086] Exemplarily, the hitting path information also includes putting force; after generating the optimal hitting path from the starting point to the end point in the digital elevation model according to a preset path planning algorithm, it also includes: obtaining the slope information and friction coefficient corresponding to the optimal hitting path in the digital elevation model; calculating the putting force corresponding to the rolling of the golf ball along the optimal hitting path in the digital elevation model according to the slope information and friction coefficient.

[0087] The provided method establishes a ball motion model based on the energy and dynamics principles in physics. Combined with the law of conservation of energy, friction and acceleration formulas, the friction and slope changes on the surface of the green are taken into account to simulate the rolling of the golf ball on the green. The optimal path is divided into segments according to the terrain features, and the required putting force is calculated on each segment. For example, going uphill requires more force, and the steeper the slope, the greater the force required; going downhill requires less force, and the steeper the slope, the less force required. And adjust according to the friction coefficient of different areas. For each segment of the path, according to the formula F = m*g*h 坡度比例 +f. The resultant force F of each path of the golf ball can be calculated. Where f is the friction force, g is the proportionality coefficient, m is the mass of the golf ball, h is the mass of the golf ball, 坡度比例 is the slope height corresponding to the path. Then, the optimal push rod force can be calculated based on the total length of the path and the combined force of each segment. Then, the generated path and force can be optimally matched.

[0088] At the same time, the provided method can also dynamically simulate and correct the force of the putter, simulate multiple hitting paths with different forces, analyze the effect of each path, and select the path with the best effect. According to the simulation results, the hitting force is corrected to make it more consistent with the actual terrain characteristics.

[0089] It should be noted that, in some embodiments, the spatial multi-dimensional scanning device also includes a display module; the method also includes: obtaining a display mark corresponding to the pushing force; adding the display mark and the optimal hitting path to the spatial multi-dimensional information map; and displaying the added spatial multi-dimensional information map on the display module.

[0090] Please refer to Figure 3 and Figure 4 (The provided methods can be customized according to your needs. Figure 3 Performs local scans and displays local shot suggestions or Figure 4 The corresponding suggestions are displayed under the global terrain corresponding to the green), and the corresponding optimal hitting path is pointed to by the length of the line segment corresponding to the arrow (or Figure 4 In addition, a corresponding strength bar is generated) and the corresponding hitting strength is displayed in the spatial multi-dimensional information map and displayed in the display module (such as Figure 4 15N), and the golfer can view the current optimal hitting path and strength in real time. At the same time, the combination of the display mark and the optimal hitting path can also be adopted in any other form, which can be adjusted according to the display requirements, and the embodiment of the present application is not limited.

[0091] At the same time, if Figure 4 When multiple golf balls are included, you can manually specify the batting path strength planning for a certain ball or plan the batting paths for multiple balls at the same time.

[0092] Exemplarily, the generating an optimal hitting path from the starting point to the end point in the digital elevation model according to a preset path planning algorithm includes: forming an initial path from the starting point to the end point in the digital elevation model; extracting slope information of the green in the digital elevation model; and adjusting the initial path according to the slope information according to the path planning algorithm to generate the optimal hitting path.

[0093] Then, an initial path is set, usually a straight path, from the golf ball to the hole. The initial path is modified according to the elevation information. Considering the influence of the slope, the movement trajectory of the ball is simulated, and the path is adjusted through multiple iterations. The ball is simulated to roll on different paths, and the path search algorithm is used to perform global optimization considering the slope information of the green to find the optimal hitting path. The optimal hitting path can be expressed as a comprehensive optimal under factors such as the rolling distance of the ball, the resistance consumption, and the difficulty of the path after considering the slope change.

[0094] Exemplarily, the generating the optimal hitting path from the starting point to the end point in the digital elevation model according to a preset path planning algorithm includes: generating multiple candidate paths from the starting point to the end point in the digital elevation model according to a preset path planning algorithm; acquiring terrain information corresponding to each of the candidate paths in the elevation model; calculating the path validity corresponding to each of the candidate paths according to the terrain information; and determining the optimal hitting path among the candidate paths according to the multiple path efficiencies.

[0095] Generate multiple candidate paths for parallel evaluation. Simulate each candidate path and evaluate the rolling effect of the ball on these paths, taking into account factors such as path length, rolling resistance, and reliability. Score the candidate paths by setting a path validity calculation function. Select the path with the highest score as the optimal hitting path. This ensures that the optimal hitting path can be obtained in real time.

[0096] In some embodiments, after the path planning for the green is completed according to the hitting path information, the method further includes: if it is detected that the position of the golf ball has changed and the distance from the hole position is greater than a preset distance, obtaining the changed position of the golf ball; and updating the hitting path information according to the elevation information, the changed position of the golf ball and the hole position. When the player fails to putt the ball into the hole once according to the hitting path information, the method provided at this time can update the hitting path information in real time according to the changed position of the golf ball. Ensure that the provided method can provide the user with the best hitting path planning in real time.

[0097] In order to execute the method corresponding to the above method embodiment, the corresponding functions and technical effects can be achieved. Figure 5 , Figure 5 The structure block diagram of a path planning device 200 provided in an embodiment of the present application is shown, which is applied to a spatial multi-dimensional scanning device. For ease of description, only the parts related to the present embodiment are shown. The path planning device 200 provided in an embodiment of the present application includes:

[0098] The green scanning unit 201 is used to scan the green to be planned and obtain a spatial multi-dimensional information map corresponding to the green.

[0099] The elevation acquisition unit 202 is used to analyze the spatial multi-dimensional information map and acquire the elevation information corresponding to the green.

[0100] The target detection unit 203 is used to perform target detection on the spatial multi-dimensional information map to determine the position of the golf ball and the position of the hole in the spatial multi-dimensional information map.

[0101] The planning completion unit 204 is used to generate the ball hitting path information according to the elevation information, the golf ball position and the hole position, so as to complete the path planning of the green according to the ball hitting path information.

[0102] The above-mentioned path planning device 200 can implement the path planning method of the above-mentioned method embodiment. The options in the above-mentioned method embodiment are also applicable to this embodiment and will not be described in detail here. The rest of the contents of the embodiment of this application can refer to the contents of the above-mentioned method embodiment, and will not be repeated in this embodiment.

[0103] See also Figure 6 , Figure 6 1 is a schematic block diagram of the structure of a spatial multi-dimensional scanning device provided in an embodiment of the present application. The spatial multi-dimensional scanning device includes a processor, a memory and a network interface connected via a device bus, wherein the memory may include a storage medium and an internal memory.

[0104] The storage medium can store an operating device and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any path planning method.

[0105] The processor is used to provide computing and control capabilities to support the operation of the entire space multi-dimensional scanning equipment.

[0106] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any path planning method.

[0107] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will appreciate that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present application, and does not constitute a limitation on the terminal to which the scheme of the present application is applied. The specific spatial multi-dimensional scanning device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0108] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0109] In one embodiment, the processor is used to run a computer program stored in the memory to implement the following steps:

[0110] Scan the planned green to obtain the spatial multi-dimensional information map corresponding to the green;

[0111] Analyze the spatial multi-dimensional information map to obtain the elevation information corresponding to the green;

[0112] Performing target detection on the spatial multi-dimensional information map to determine the location of the golf ball and the location of the hole in the spatial multi-dimensional information map;

[0113] The ball hitting path information is generated according to the elevation information, the golf ball position and the hole position, so as to complete the path planning for the green according to the ball hitting path information.

[0114] In some embodiments, the spatial multi-dimensional scanning device includes a structured light acquisition module and a visible light acquisition module; scanning the planned green to obtain a spatial multi-dimensional information map corresponding to the green includes: obtaining a structured light image scanned and collected by the structured light acquisition module on the green; obtaining a visible light image scanned and collected by the visible light acquisition module on the green; and generating the spatial multi-dimensional information map based on the structured light image and the visible light image.

[0115] Exemplarily, the spatial multi-dimensional scanning device also includes a ranging module; generating the spatial multi-dimensional information map based on the structured light image and the visible light image includes: obtaining distance information collected by the ranging module when scanning the green; generating the spatial multi-dimensional information map based on the distance information, the structured light image and the visible light image.

[0116] In some embodiments, the hitting path information includes at least an optimal hitting path, and generating the hitting path information based on the elevation information, the golf ball position and the hole position includes: constructing a digital elevation model of the green based on the elevation information; setting the golf ball position as a starting point and the hole position as an end point in the digital elevation model; and generating an optimal hitting path from the starting point to the end point in the digital elevation model according to a preset path planning algorithm.

[0117] Exemplarily, the hitting path information also includes putting force; after generating the optimal hitting path from the starting point to the end point in the digital elevation model according to a preset path planning algorithm, it also includes: obtaining the slope information and friction coefficient corresponding to the optimal hitting path in the digital elevation model; calculating the putting force corresponding to the rolling of the golf ball along the optimal hitting path in the digital elevation model according to the slope information and friction coefficient.

[0118] It should be noted that, in some embodiments, the spatial multi-dimensional scanning device also includes a display module; the method also includes: obtaining a display mark corresponding to the pushing force; adding the display mark and the optimal hitting path to the spatial multi-dimensional information map; and displaying the added spatial multi-dimensional information map on the display module.

[0119] Exemplarily, the generating an optimal hitting path from the starting point to the end point in the digital elevation model according to a preset path planning algorithm includes: forming an initial path from the starting point to the end point in the digital elevation model; extracting slope information of the green in the digital elevation model; and adjusting the initial path according to the slope information according to the path planning algorithm to generate the optimal hitting path.

[0120] Exemplarily, the generating the optimal hitting path from the starting point to the end point in the digital elevation model according to a preset path planning algorithm includes: generating multiple candidate paths from the starting point to the end point in the digital elevation model according to a preset path planning algorithm; acquiring terrain information corresponding to each of the candidate paths in the elevation model; calculating the path validity corresponding to each of the candidate paths according to the terrain information; and determining the optimal hitting path among the candidate paths according to the multiple path efficiencies.

[0121] In some embodiments, after completing the path planning for the green according to the hitting path information, it also includes: if it is detected that the golf ball position has changed and the distance from the hole position is greater than a preset distance, obtaining the changed golf ball position; updating the hitting path information according to the elevation information, the changed golf ball position and the hole position.

[0122] A computer-readable storage medium is also provided in an embodiment of the present application, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the path planning method provided in the above embodiments of the present application.

[0123] The computer-readable storage medium may be an internal storage unit of the spatial multi-dimensional scanning device described in the foregoing embodiment, such as a hard disk or memory of the spatial multi-dimensional scanning device. The computer-readable storage medium may also be an external storage device of the spatial multi-dimensional scanning device, such as a plug-in hard disk, a smart memory card (Smart Med ia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the spatial multi-dimensional scanning device.

[0124] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A path planning method for putting on a green, characterized in that: Applied to spatial multi-dimensional scanning equipment; the method includes: Scanning the green to be planned to obtain a spatial multi-dimensional information map corresponding to the green; Analyze the spatial multi-dimensional information graph to obtain elevation information corresponding to the green; Performing target detection on the spatial multi-dimensional information map to determine the location of the golf ball and the location of the hole in the spatial multi-dimensional information map; The ball hitting path information is generated according to the elevation information, the golf ball position and the hole position, so as to complete the path planning of the green according to the ball hitting path information.

2. The method according to claim 1, characterized in that The spatial multi-dimensional scanning device includes a structured light acquisition module and a visible light acquisition module; the scanning of the green to be planned to obtain the spatial multi-dimensional information map corresponding to the green includes: Acquire a structured light image acquired by scanning the green by the structured light acquisition module; Acquire a visible light image of the green acquired by scanning the visible light acquisition module; The spatial multi-dimensional information map is generated according to the structured light image and the visible light image.

3. The method according to claim 2, characterized in that The spatial multi-dimensional scanning device further includes a distance measurement module; the generating the spatial multi-dimensional information map according to the structured light image and the visible light image includes: Acquire distance information of the green scanned and collected by the distance measuring module; The spatial multi-dimensional information map is generated according to the distance information, the structured light image and the visible light image.

4. The method according to claim 1, characterized in that The hitting path information at least includes an optimal hitting path, and the generating of the hitting path information according to the elevation information, the golf ball position and the hole position includes: constructing a digital elevation model of the green according to the elevation information; In the digital elevation model, the golf ball position is set as a starting point, and the hole position is set as an end point; An optimal hitting path from the starting point to the end point is generated in the digital elevation model according to a preset path planning algorithm.

5. The method according to claim 4, characterized in that The hitting path information also includes the force of the putter; after the optimal hitting path from the starting point to the end point is generated in the digital elevation model according to the preset path planning algorithm, it also includes: Obtaining the slope information and friction coefficient corresponding to the optimal hitting path in the digital elevation model; The putting force corresponding to the rolling of the golf ball along the optimal hitting path is calculated in the digital elevation model according to the slope information and the friction coefficient.

6. The method according to claim 5, characterized in that The spatial multi-dimensional scanning device further includes a display module; the method further includes: Obtain a display mark corresponding to the push rod force; Adding the display mark and the optimal hitting path to the spatial multi-dimensional information map; The added spatial multi-dimensional information graph is displayed on the display module.

7. The method according to claim 4, characterized in that Generating an optimal hitting path from the starting point to the end point in the digital elevation model according to a preset path planning algorithm includes: forming an initial path from the starting point to the end point in the digital elevation model; extracting slope information of the green from the digital elevation model; The initial path is adjusted according to the path planning algorithm using the slope information to generate the optimal ball hitting path.

8. The method according to claim 4, characterized in that Generating an optimal hitting path from the starting point to the end point in the digital elevation model according to a preset path planning algorithm includes: Generating a plurality of candidate paths from the starting point to the end point in the digital elevation model according to a preset path planning algorithm; Acquire terrain information corresponding to each candidate path in the elevation model; Calculating the path validity corresponding to each candidate path according to the terrain information; The optimal hitting path is determined from among the candidate paths according to a plurality of path efficiencies.

9. The method according to claim 1, characterized in that: After completing the path planning for the green according to the hitting path information, the method further includes: If it is detected that the position of the golf ball changes and the distance from the hole position is greater than a preset distance, obtaining the changed position of the golf ball; The ball hitting path information is updated according to the elevation information, the changed golf ball position and the hole position.

10. A spatial multi-dimensional scanning device, characterized in that: include: A memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and implement the method according to any one of claims 1 to 9 when executing the computer program.

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