Carrier loader auxiliary teaching method, system and equipment based on visual identification and medium

Abstract

The invention discloses a carrier loader auxiliary teaching method, system and device based on visual identification and a medium, and relates to the technical field of image processing. The method comprises the following steps: acquiring the height of a target player, the length of a golf club, the angle of the golf club and the position of a to-be-goals hole acquired by a carrier loader; determining a relative position relationship between the target player and the to-be-gotten hole based on the position of the to-be-gotten hole and the current position of the target player; a target swing track of the target player under the relative position relation is constructed by combining the height, the length of the club and the angle of the club; acquiring a swing video of the target player acquired by the carrier loader, and extracting an initial swing trajectory of the target player from the swing video; and comparing the target swing track with the initial swing track, determining a to-be-corrected action part of the target player in the swing process, and controlling the carrier loader to output voice prompt information corresponding to the to-be-corrected action part to the target player. By implementing the technical scheme provided by the invention, the effect of improving the efficiency of auxiliary teaching is achieved.

Description

Technical Field

[0001] The present application relates to the field of image processing technology, and in particular to a vehicle-assisted teaching method, system, equipment and medium based on visual recognition. Background Art

[0002] With the continuous development of vehicle technology, intelligent transportation equipment is increasingly used in the field of sports. For example, in golf, vehicles not only serve as a means of transportation and equipment delivery, but also gradually serve as an auxiliary training tool.

[0003] At present, the existing vehicle-assisted teaching method based on visual recognition usually uses fixed prompt voices to send out at certain time intervals to assist players in guiding them. However, in actual applications, the conditions of each player are different. It is often difficult to make personalized adjustments to the actual conditions of different players by only using a unified and fixed prompt voice for auxiliary teaching, thereby reducing the efficiency of auxiliary teaching. Summary of the invention

[0004] The present application provides a vehicle-assisted teaching method, system, device and medium based on visual recognition, which can improve the efficiency of assisted teaching.

[0005] In a first aspect, the present application provides a vehicle-assisted teaching method based on visual recognition, comprising: Obtain the height, club length, club angle and position of the hole to be scored of the target player collected by the carrier vehicle; Determining a relative position relationship between the target player and the hole to be scored based on the position of the hole to be scored and the current position of the target player; Combining the height, the club length and the club angle, constructing a target swing trajectory of the target player in the relative position relationship; Acquire a swing video of a target player captured by the carrier vehicle, and extract an initial swing trajectory of the target player from the swing video; The target swing trajectory is compared with the initial swing trajectory to determine the action part to be corrected of the target player during the swing process, and the carrier is controlled to output voice prompt information corresponding to the action part to be corrected to the target player.

[0006] In a second aspect of the present application, a vehicle-assisted teaching system based on visual recognition is provided, the system comprising: The data acquisition module acquires the height, club length, club angle and the position of the hole to be scored of the target player collected by the carrier vehicle; A position relationship determination module, used to determine the relative position relationship between the target player and the hole to be scored based on the position of the hole to be scored and the current position of the target player; A swing trajectory determination module is used to construct a target swing trajectory of the target player in the relative position relationship by combining the height, the club length and the club angle; obtain a swing video of the target player collected by the carrier vehicle, and extract an initial swing trajectory of the target player from the swing video; The carrier vehicle control module is used to compare the target swing trajectory with the initial swing trajectory, determine the target player's action part to be corrected during the swing process, and control the carrier vehicle to output voice prompt information corresponding to the action part to be corrected to the target player.

[0007] In a third aspect of the present application, an electronic device is provided, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program can implement a vehicle-assisted teaching method based on visual recognition when loaded and executed by the processor.

[0008] In a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements a vehicle-assisted teaching method based on visual recognition.

[0009] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: By adopting the above technical solution, the height, club length, club angle and position of the hole to be hit of the target player are obtained, and the relative position relationship between the target player and the hole is first accurately determined. Based on these individualized parameters, a target swing trajectory that conforms to the actual situation of the player is further constructed. After obtaining the swing video collected by the carrier, the actual action path of the player can be captured in real time by extracting the initial swing trajectory. By comparing the target swing trajectory with the initial swing trajectory, the method can accurately identify the parts of the player's action to be corrected during the swing process. Finally, the carrier intelligently outputs the corresponding voice prompt information based on the identified parts of the action to be corrected, provides instant and personalized action correction guidance, and realizes accurate adaptation to the individual differences of different players. Dynamic feedback through the carrier ensures that the players can get timely guidance during the training process, thereby improving the efficiency of auxiliary teaching. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a flow chart of a method for assisting teaching of a vehicle based on visual recognition provided by an embodiment of the present application; Figure 2It is a structural schematic diagram of a vehicle-assisted teaching system based on visual recognition provided in an embodiment of the present application; Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0011] Description of reference numerals: 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. DETAILED DESCRIPTION

[0012] In order to enable technicians in this field to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0013] In the description of the embodiments of the present application, words such as "for example" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "for example" or "for example" is intended to present related concepts in a specific way.

[0014] In the description of the embodiments of the present application, the meaning of the term "multiple" refers to two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The terms "include", "comprise", "have" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0015] The present application embodiment provides a vehicle-assisted teaching method based on visual recognition. In one embodiment, please refer to Figure 1 , Figure 1 This is a flow chart of a method for visual recognition-based vehicle-assisted teaching provided by an embodiment of the present application. The method can be implemented by a computer program, which can be integrated into an application or run as an independent tool application. The method can also be implemented by a single-chip microcomputer or run on a visual recognition-based vehicle-assisted teaching system based on the von Neumann system. Specifically, the method can include the following steps: Step 101: Obtain the height, club length, club angle and position of the hole to be hit of the target player collected by the carrier vehicle.

[0016] The transport vehicle is an intelligent transport device equipped with multiple high-definition cameras. It has a dedicated club storage area that can store multiple different types of golf clubs at the same time. Multiple high-definition cameras are installed around the vehicle body, which shoot the target player's swing from different angles to ensure that the player's movement details can be captured in all directions. At the same time, the golf cart is equipped with a data acquisition system, an image processing system, and an intelligent analysis system, which can realize real-time analysis and guidance of the player's swing.

[0017] The height of the target player refers to the vertical height from the soles of the feet to the top of the head of the player receiving assisted teaching. This value directly affects the player's swing posture and joint movement trajectory. The club length refers to the actual length of the golf club used by the player from the grip end to the club head. This parameter determines the arm extension range and the hitting point position when the player swings. The club angle refers to the angle formed by the club shaft and the ground when the player is preparing to hit the ball. This angle affects the accuracy of the shot and the flight trajectory of the ball. The position of the hole to be hit refers to the specific position information of the target hole on the golf course corresponding to the current hitting stage of the target player, including the spatial coordinate data of the hole.

[0018] Specifically, the height, club length, club angle and position of the hole to be scored of the target player collected by the carrier are the basic data for constructing a personalized teaching model. Among them, the carrier is equipped with multiple sensors, including a laser rangefinder sensor for collecting the height of the target player, an image sensor for collecting club parameters and a GPS positioning module for locating the position of the hole to be scored. When the target player stands in the swing preparation area, the laser rangefinder sensor measures the height data of the target player by emitting a laser beam and receiving a reflected signal; at the same time, the image sensor collects the image of the club used by the target player, and extracts the club length and club angle information through an image processing algorithm, wherein the club length refers to the actual length of the club from the grip end to the club head, and the club angle refers to the angle between the club shaft and the ground. In addition, the GPS positioning module obtains the specific position coordinates of the hole to be scored through a satellite positioning system. The control system of the carrier comprehensively processes and stores the collected data, which will be used to subsequently construct a personalized swing model for the target player. By collecting these basic data, the carrier can establish a standard action reference system that meets the individual characteristics of the target players, providing data support for subsequent action analysis and personalized guidance, thereby ensuring the pertinence and effectiveness of auxiliary teaching. This data collection method based on individual characteristics breaks through the limitations of traditional fixed-mode teaching and lays the foundation for the realization of personalized auxiliary teaching.

[0019] Based on the above embodiment, as an optional embodiment, in step 101: obtaining the height, club length, club angle and position of the hole to be scored of the target player collected by the carrier vehicle, the following steps may also be included before this step: Step 111: Obtain the real-time position of the target player collected by the transport vehicle; calculate the distance between the current position of the transport vehicle and the real-time position of the target player.

[0020] Specifically, the transport vehicle needs to monitor the distance relationship with the target player in real time. This is because the golf cart needs to always remain within the appropriate observation and service distance range. It should not be too far away from the player to affect the observation accuracy, nor too close to affect the player's normal swing. In specific implementation, the system collects the position information of the target player in real time through the visual sensor and positioning system installed on the transport vehicle, and converts the player's position into a three-dimensional coordinate point in a preset coordinate system; at the same time, the system obtains the three-dimensional coordinates of the current position of the golf cart through the golf cart's own GPS module or other positioning devices. Then, the system calculates the actual spatial distance between the golf cart and the player based on the difference between the two coordinate points in three dimensions. This distance calculation method based on real-time coordinates can accurately reflect the spatial relationship between the golf cart and the player, and provide reliable data support for subsequent follow-up control and position adjustment.

[0021] Step 121: Determine whether the distance is within a preset safe following distance range; if the distance is less than the lower limit of the preset safe following distance range, control the transport vehicle to perform a backward operation.

[0022] Specifically, the transport vehicle needs to determine whether it needs to perform position adjustment based on the actual distance from the player, because a too close following distance may affect the player's swing space and attention, and even cause safety hazards. In specific implementation, the system pre-sets a safe following distance range, such as setting the minimum safe distance to 3 meters and the maximum effective observation distance to 8 meters, forming a safe following distance range of 3 to 8 meters. When the system detects that the actual distance between the golf cart and the target player is less than the minimum safe distance of 3 meters, the control system of the transport vehicle will immediately start the back-up program. During the back-up process, the system will control the motor to reverse at a moderate speed, and at the same time ensure the safety of the back-up path through the distance sensor at the rear until the distance to the player is back within the safe range. This automatic adjustment mechanism based on the safe distance can effectively avoid interference caused by the golf cart being too close to the player, while ensuring the safety of the training environment. Through timely back-up operations, the system can always keep the golf cart within the optimal distance range that does not affect the player's performance and can accurately collect action data.

[0023] Step 131: If the distance is greater than the upper limit of the preset safe following distance range, the target following position of the transport vehicle is determined based on the real-time position coordinates of the target player and the preset safe following distance range, and a following path of the transport vehicle from the current position to the target following position is generated.

[0024] Specifically, when the system detects that the actual distance between the golf cart and the target player exceeds the upper limit of the preset safe following distance range of 8 meters, it first determines an ideal target following position based on the player's real-time position coordinates. This position is usually within 5 meters of the player, and takes into account the player's orientation and swing space requirements. Subsequently, the system uses a path planning algorithm to generate an optimal path from the current position of the golf cart to the target following position, combining environmental information such as the terrain of the course and the distribution of obstacles. During the path generation process, the system avoids areas such as sand pits and water obstacles in the venue, selects a flat and safe route, and ensures that the path is wide enough to meet the turning radius requirements of the golf cart. This intelligent following mechanism based on real-time position enables the golf cart to always remain within the effective range of motion collection, without affecting the quality of data collection due to excessive distance, and can complete position adjustment safely and smoothly. Through precise target position calculation and path planning, the system can allow the golf cart to approach the player in the best way, ensuring the continuity and reliability of training auxiliary functions.

[0025] Step 141: Control the vehicle to move along the following path to the target following position.

[0026] Specifically, the system first converts the planned follow-up path into a series of specific motion control instructions, including parameters such as steering angle, travel speed, and acceleration and deceleration timing. During the specific execution process, the control system of the golf cart will coordinate and control the working status of the steering motor and the drive motor according to these instructions to achieve smooth steering and speed adjustment. During the movement process, the system monitors the actual running trajectory and surrounding environmental conditions of the golf cart in real time through multiple position sensors and distance sensors. When the actual running trajectory is detected to deviate from the predetermined path, it will make fine adjustments in time; when unexpected obstacles are detected on the moving path, the emergency obstacle avoidance program will be activated. This precise path execution mechanism enables the golf cart to reach the optimal observation position safely and smoothly, avoiding the interference of violent acceleration and deceleration to the players and ensuring the safety of the movement process. Through fine motion control, the system can keep the golf cart in the ideal service position at all times, providing a stable working environment for subsequent action collection and training guidance.

[0027] Step 102: Based on the position of the hole to be scored and the current position of the target player, determine the relative position relationship between the target player and the hole to be scored.

[0028] The relative position relationship refers to the spatial geometric relationship between the current position of the target player and the position of the hole to be scored, specifically including the horizontal straight-line distance between the two points, the height difference, and the angle formed between the target player's facing direction and the direction of the hole. In the embodiment of the present application, it can be understood that the relative position relationship is a set of spatial relationship data obtained by the carrier vehicle through its high-definition camera and GPS positioning module to obtain the first spatial coordinates of the target player's position and the second spatial coordinates of the position of the hole to be scored, and calculated by the control system.

[0029] Specifically, the carrier needs to obtain the relative position relationship between the target player and the hole to be scored, because different relative position relationships will directly affect the player's swing strategy and hitting force. In specific implementation, the carrier first obtains the first spatial coordinates of the current position of the target player through the high-definition camera and image processing system carried by the carrier, and obtains the second spatial coordinates of the position of the hole to be scored through the GPS positioning module. After obtaining these two sets of spatial coordinates, the control system of the carrier calculates the horizontal distance, height distance and the angle between the target player and the hole to be scored through spatial geometry. Among them, the horizontal distance refers to the straight-line distance between the target player and the hole to be scored on the horizontal plane, the height distance refers to the vertical height difference between the two points, and the angle refers to the angle formed by the target player's hitting direction and the hole direction. These data together constitute the relative position relationship between the target player and the hole to be scored, providing a spatial reference for the subsequent construction of the target swing trajectory. By accurately grasping these spatial position relationships, the system can better evaluate the required hitting force and angle, thereby helping to determine the optimal swing strategy. This analysis method based on precise spatial positioning is more scientific and accurate than traditional empirical estimation, and can help players better plan the hitting path and improve the accuracy of hitting.

[0030] Based on the above embodiment, as an optional embodiment, in step 102: determining the relative position relationship between the target player and the hole to be scored based on the position of the hole to be scored and the current position of the target player, this step may also include the following steps: Step 201: Obtain the first spatial coordinates of the current position of the target player and the second spatial coordinates of the position of the hole to be scored.

[0031] Specifically, the carrier uses multiple high-definition cameras mounted around the vehicle to collect images of the current position of the target player, and converts the image information into the first spatial coordinates of the target player's position through an image processing system. At the same time, the GPS positioning module carried by the carrier obtains the second spatial coordinates of the position of the hole to be scored through a satellite positioning system. Among them, the first spatial coordinates and the second spatial coordinates both contain the longitude, latitude and altitude of the corresponding position point. These precise spatial coordinate data provide basic data support for the subsequent calculation of the relative position relationship. By simultaneously acquiring these two sets of spatial coordinates, the system can establish a corresponding relationship between the position of the target player and the hole to be scored in three-dimensional space.

[0032] Step 202: Calculate the horizontal distance, height distance, and angle between the target player and the hole to be scored based on the first spatial coordinate and the second spatial coordinate; and use the spatial relationship between the horizontal distance, height distance, and angle as the relative position relationship between the target player and the hole to be scored.

[0033] Specifically, the control system of the carrier vehicle calculates specific spatial relationship parameters between the target player and the hole to be scored through a spatial geometry algorithm based on the acquired first spatial coordinates and the second spatial coordinates. First, the system uses the distance formula between two points to calculate the horizontal distance based on the longitude and latitude data of the two sets of coordinates, that is, the straight-line distance between the target player and the hole to be scored on the horizontal plane; secondly, the height distance is calculated by the difference in the altitude data in the two sets of coordinates, that is, the vertical height difference between the two points; finally, the system calculates the angle between the target player and the hole to be scored based on the angular relationship between the target player's facing direction and the direction pointing to the hole. This angle essentially refers to the angle formed between the player's target hitting direction and the direction of the line from the player's current position to the hole, where the target hitting direction refers to the expected hitting direction determined by the player's body orientation when standing, and the hole direction refers to the straight-line direction from the player's current position to the hole position. Specifically, it can be understood as determining the first straight line: a straight line starting from the player's current position and extending along the expected hitting direction of the player's body on the front side, which represents the expected hitting direction, and determining the second straight line: a straight line starting from the player's current expected hitting position and pointing to the hole position, and this angle is the angle formed between the projections of these two straight lines on the horizontal plane. The calculated horizontal distance, height distance and angle together constitute the relative position relationship between the target player and the hole to be scored. This precise spatial relationship data provides a reliable basis for the subsequent formulation of personalized shot strategies. Through this calculation method based on actual spatial coordinates, the system can more accurately assess the difficulty of the shot and provide more accurate auxiliary guidance for the target player.

[0034] Step 103: Combining the height, the length of the club, and the angle of the club, a target swing trajectory of the target player in a relative position relationship is constructed.

[0035] The target swing trajectory refers to a standard swing space curve calculated by the control system of the carrier vehicle based on the target player's height, club length, club angle and other personal parameters, combined with the relative position relationship between the target player and the hole to be scored. In the embodiment of the present application, it can be understood that the target swing trajectory is a complete three-dimensional space motion trajectory starting from the preparation for the shot, through the backswing, downswing and the completion of the follow-through, which fully considers the player's physical characteristics and club parameters, and is optimized and adjusted according to the current shot environment.

[0036] Specifically, the carrier needs to construct the optimal target swing trajectory according to the personal parameters of the target player and the conditions of the venue, because the physical conditions of different players and the characteristics of the clubs used will directly affect the standard of their swing movements. In specific implementation, the carrier first collects the height data of the target player through its high-definition camera, and obtains the length parameters of the club selected by the target player and the angle information of the club currently in use from the club storage area. After obtaining these basic data, the control system of the carrier will combine the relative position relationship determined previously, based on the ergonomic principles and the golf hitting mechanics model, to calculate the swing trajectory that best suits the target player. Among them, the system will determine the optimal height range of the target player's arm swing based on the height data of the target player, calculate the optimal spatial position of the hitting point through the club length parameters, and determine the ideal angle change curve that the club should maintain with the ground during the swing based on the club angle. These parameters jointly affect the spatial curve characteristics of the swing trajectory. By comprehensively analyzing these parameters, the system constructs a complete three-dimensional spatial curve from preparing to hit the ball to completing the swing as the standard target swing trajectory of the target player. This trajectory construction method based on personal characteristic parameters and spatial position relationships can provide personalized standard movement references for players with different body characteristics. Compared with the traditional unified fixed trajectory mode, it can better adapt to the individual differences of different players and improve the pertinence and effectiveness of auxiliary teaching.

[0037] Based on the above embodiment, as an optional embodiment, in step 103: combining the height, the club length and the club angle to construct the target swing trajectory of the target player in the relative position relationship, this step may also include the following steps: Step 301: Determine multiple joint positions of the target player during the swing process based on the height.

[0038] Specifically, the carrier first collects the height data of the target player in real time through its high-definition camera, and then divides the target player's body into multiple key nodes based on the height ratio relationship in ergonomics, including shoulder joints, elbow joints, wrist joints, hip joints and knee joints. The height ratio relationship in ergonomics is obtained in advance by statistically analyzing a large number of joint measurement data of golfers in standard hitting postures. A three-dimensional coordinate system is established with the player's standing position as the origin. The height ratio relationship in ergonomics records the mapping ratio between the distribution position of multiple joint position points in the three-dimensional coordinate system and the player's height, for example, the ratio of the shoulder joint height to the height is a preset first ratio, and the ratio of the horizontal offset of the shoulder joint to the height is a preset second ratio. According to the mapping ratio and height of the different joint points, the initial joint position points of different joints in the three-dimensional coordinate system can be obtained. For different swing stages, such as the preparation stage, backswing stage, downswing stage and follow-through stage, different swing stages correspond to preset body tilt angles and tilt angles between different joints. By counting the geometric relationship between the body tilt angles and the tilt angles between different joints, the initial joint position points are corrected in space, thereby obtaining multiple joint position points of the player in different swing stages. This method of determining joint position points based on height parameters enables the system to establish a personalized standard action reference system for players of different heights, helping players to better understand and master the correct swing posture, improve the standardization of actions and the stability of shots. Compared with the traditional unified standard, this action analysis method that takes into account personal height characteristics is more targeted and can help players establish a swing action pattern that suits their own characteristics more quickly.

[0039] Step 302: Based on the club length and the club angle, calculate the standard movement angle of each joint position point during the swing process.

[0040] Specifically, since the length of the club affects the distance of the force arm from the grip end to the hitting point, and thus affects the movement angle that each joint needs to achieve when transmitting force, a longer club requires a larger shoulder joint rotation angle and a smaller wrist folding angle to maintain an ideal hitting trajectory; the club angle directly affects the angle between the club and the ground when hitting the ball, thereby determining the standard angle range of trunk rotation and hip joint movement during the swing. A larger club angle requires a larger torso forward tilt angle and a smaller hip joint rotation angle to maintain body balance. By establishing a corresponding relationship between club parameters and standard movement angles, accurate guidance of the player's swing can be achieved, so that the player can maintain the optimal joint movement angle under different club conditions.

[0041] The purpose of calculating the standard motion angle of each joint position point during the swing process based on the club length and club angle is to further clarify the motion law of each joint in the swing action based on the determined joint position points. Since the length and grip angle of the golf club directly affect the player's swing posture and joint motion trajectory, it is necessary to establish a corresponding relationship between these club parameters and joint motion angles to ensure the coordination and effectiveness of the swing action. In the specific implementation, the processor of the carrier first establishes a mapping model between club parameters and joint motion. In this model, the handle end of the club is used as the reference point and a three-dimensional rectangular coordinate system is used for modeling. Assuming the length of the club is L and the angle of the club is θ, the spatial coordinates of the club head relative to the handle end can be expressed as (L·sinθ, 0, L·cosθ). Based on the determined wrist joint position point coordinates (x0, y0, z0), the cosine theorem is used to calculate the distance from the wrist joint to the handle end of the club. , where (x1, y1, z1) are the coordinates of the handle end.

[0042] In the process of swing decomposition, the entire swing is divided into four key stages. For each stage, the joint angle calculation method is used to determine the standard movement angle: Preparation phase: Based on the statistical formula for the best hitting posture, calculate the forward inclination angle of the torso α = arctan(H / L), where H is the height of the player's hip joint. The initial shoulder angle β = arccos[(d1²+h1²-l1²) / (2·d1·h1)], where h1 is the length of the upper arm and l1 is the length of the forearm.

[0043] Backward swing phase: Using the principle of conservation of angular momentum, calculate the maximum shoulder joint rotation angle γ = arcsin (L·sinθ / h1). The trunk rotation angle δ is obtained according to the equation of the club trajectory plane: , where (a, b, c) is the normal vector of the club trajectory plane.

[0044] Downswing phase: Based on the principle of optimal energy conversion, the elbow flexion and extension angle ε = arccos[(l1²+ h1²-d2²) / (2·l1·h1)] is calculated, where d2 is the dynamic distance from the elbow joint to the hitting point during the downswing. The wrist joint angular velocity ω is solved by the angular momentum equation: ω = (M·r²·ω0) / (I·R²), where M is the mass of the club, r is the radius of rotation, ω0 is the initial angular velocity, I is the moment of inertia, and R is the distance from the hitting point to the center of rotation.

[0045] Follow-up phase: Based on the principle of motion continuity, the hip joint rotation angle λ = arctan(v·t / r) is calculated, where v is the club head speed at the moment of hitting the ball, t is the follow-up time, and r is the distance from the hip joint to the grip end of the club.

[0046] This method of calculating joint motion angles based on club parameters can help players adjust their joint motion range according to the characteristics of the club used, establish more coordinated hitting movements, and improve the accuracy and consistency of hitting.

[0047] Step 303: According to the preset swing action sequence, the standard motion angles of the joint positions are sequentially connected to obtain the static swing trajectory of the target player.

[0048] Specifically, the coordinates of the position points of each joint of the target player in different swing stages such as the preparation stage, the backswing stage, the downswing stage and the follow-through stage have been obtained through calculation. Connecting these position points in time sequence can obtain a basic swing trajectory route, but this trajectory only reflects the position change of the joint in three-dimensional space, and does not contain the rotation direction information of the joint during the movement. In order to build a complete swing action model, it is necessary to vector-bind the calculated standard motion angle with the corresponding joint position point. For example, in the backswing stage, the position point coordinates of the shoulder joint at a certain moment are (x, y, z), and the corresponding standard motion angle is θ. By vector-binding the position coordinates and the angle information, the motion vector of the shoulder joint at that moment can be obtained (x·cosθ, y·cosθ, z·cosθ). This vector binding operation not only retains the spatial position information of the joint, but also gives the joint the motion direction characteristics at this position point. By performing similar angle vector binding on all joint position points during the swing process, a vector trajectory containing movement direction information can be constructed on the original basic trajectory, which can fully express the position changes and angle changes of each joint of the target player during the swing process. The standard movement angle connecting each joint position point means that the joint position points in different swing stages are bound to their corresponding standard movement angles, such as the initial angle β of the shoulder joint, the maximum rotation angle γ of the shoulder joint, and the trunk rotation angle δ, according to the timing of the swing action. Through this timing binding of the position point and the standard movement angle, a complete static swing trajectory containing both the joint movement trajectory and the joint movement direction during the entire swing process can be obtained. By organically combining the spatial position information with the movement angle information, the static swing trajectory can not only reflect the spatial movement path of the joint, but also reflect the movement direction characteristics of the joint during the movement process, providing a more comprehensive and accurate technical basis for subsequent action analysis and guidance.

[0049] Step 304: Determine the swing speed of the static swing trajectory in multiple swing stages according to the relative position relationship to obtain the target swing trajectory.

[0050] Specifically, it is necessary to set appropriate swing speeds for the obtained static swing trajectory at different swing stages based on the relative position relationship between the target player and the hole to be scored, and finally form a complete target swing trajectory. This is because different swing speed controls are required for shots at different distances and terrain conditions. In specific implementation, the control system of the carrier first analyzes the relative position information such as the distance, height difference and terrain features between the current position of the target player and the hole to be scored, and then calculates the optimal swing speed curve required to achieve the expected shot effect based on the golf shot physical model. The system divides the entire swing action into the preparation stage, the backswing stage, the downswing stage and the follow-through stage, and sets corresponding speed parameters for each stage. For example, in the backswing stage, the system will determine the maximum swing amplitude and acceleration process according to the target shot distance; in the downswing stage, the acceleration curve will be adjusted based on the terrain features to ensure that the optimal shot speed is achieved at the shot point; in the follow-through stage, the system will set a suitable deceleration curve to ensure the balance of the action. This speed planning method based on relative position relationship transforms the static swing trajectory into a dynamic target swing trajectory with practical application significance, which can help players better control the strength and rhythm of the shot and improve the accuracy of the shot. Compared with only considering the spatial characteristics of the action trajectory, this method of speed optimization combined with the hitting environment is more practical and can help players maintain a stable performance level under different field conditions.

[0051] Step 104: Obtain the swing video of the target player collected by the carrier vehicle, and extract the initial swing trajectory of the target player from the swing video.

[0052] The swing video refers to a multi-angle dynamic image recording of the entire swing action process of the target player by the high-speed camera system carried by the carrier vehicle. In the embodiment of the present application, it can be understood as a high-frame rate video sequence that records the complete action process from the player preparing to hit the ball to completing the follow-through, including the motion state of each joint of the player's body and the movement trajectory of the club and other visual information.

[0053] The initial swing trajectory refers to the three-dimensional spatial trajectory data reflecting the motion state of each joint point and the movement path of the club in the actual swing action of the player, obtained by computer vision analysis and data processing of the swing video of the target player. In the embodiment of the present application, it can be understood as a complete data set including the spatial position changes of key nodes such as the shoulder joint, elbow joint, and wrist joint during the swing process of the player, as well as the motion trajectory of the club in various stages such as preparation, backswing, downswing and follow-through.

[0054] Specifically, it is necessary to use the camera equipment it carries to capture the actual swing process of the target player and extract the initial swing trajectory. This is because only by accurately obtaining the actual hitting action data of the player can it be compared and analyzed with the target swing trajectory to evaluate the player's action standardization. In specific implementation, the carrier first uses its equipped high-speed camera system to perform multi-angle video acquisition of the entire swing process of the target player. The captured video frame rate is not less than 240 frames per second to ensure that the subtle changes in the swing process can be captured. Then, the control system uses computer vision algorithms to process the captured video, including moving target detection, key point positioning and trajectory tracking. The system identifies the various joints of the player's body through a deep learning model, while tracking the movement trajectory of the club head, and converts these spatial position information into three-dimensional coordinate data. During the data processing process, the system will perform noise filtering and smoothing to eliminate data fluctuations caused by shooting jitter or environmental interference, and finally obtain a complete initial swing trajectory. This trajectory extraction method based on high-speed camera and intelligent recognition can accurately record the actual swing action characteristics of the player and provide a reliable data basis for subsequent action analysis and improvement.

[0055] Based on the above embodiment, as an optional embodiment, in step 104: extracting the initial swing trajectory of the target player from the swing video, this step may also include the following steps: Step 401: Mark the target player's feature points and the club's feature points in the first frame of the swing video.

[0056] Specifically, it is necessary to mark the feature points of the target player and the club in the first frame of the swing video. This is because only by accurately marking these key points can a reliable reference benchmark be provided for subsequent motion trajectory tracking. In specific implementation, the system first uses a deep learning model to perform human posture recognition on the first frame of the image, automatically locates and marks the key joints of the target player, including the shoulder joint, elbow joint, wrist joint, etc.; at the same time, the system also identifies and marks the feature points of the club, including the grip end point, the midpoint of the shaft, and the end point of the club head. The markings of these feature points are visualized using specific colors and shapes, and their precise pixel coordinate positions are recorded. This feature point marking method provides a clear target for subsequent motion tracking and can improve the accuracy of trajectory extraction.

[0057] Step 402: Generate a feature point motion trajectory based on the positions of the target player feature points and the club feature points in each frame of the swing video.

[0058] Specifically, the carrier needs to track the feature points marked in step 401 in the continuous frames of the swing video and generate its motion trajectory. This is because only by accurately tracking the movement of these feature points can the actual swing action of the target player be restored. In specific implementation, the system uses computer vision algorithms such as optical flow to establish a correspondence between feature points between adjacent frames of the video and calculate the displacement vector of each feature point between continuous frames. At the same time, the system will combine prediction algorithms such as Kalman filtering to improve the robustness of feature point tracking and effectively deal with the problem of feature point loss caused by occlusion or rapid movement. By connecting the positions of corresponding feature points in each frame, the system finally generates a set of feature point motion trajectories that reflect the motion state of each joint point and club. This trajectory generation method based on video sequences can accurately record the dynamic characteristics of the target player during the swing process.

[0059] Step 403: Smoothing the feature point motion trajectory, and using the smoothed feature point motion trajectory as the target player's initial swing trajectory.

[0060] Specifically, the carrier needs to smooth the obtained feature point motion trajectory to obtain the final initial swing trajectory. This is because the original trajectory may contain noise caused by factors such as equipment jitter and environmental interference. In specific implementation, the system first uses mathematical methods such as sliding average or spline interpolation to reduce noise and smooth the feature point motion trajectory to eliminate mutations and jitters in the trajectory. Then, the system will resample the smoothed trajectory to ensure that the time intervals of the trajectory points are uniform, which is convenient for subsequent analysis and processing. Finally, the system converts the processed trajectory data into a standard three-dimensional coordinate form as the initial swing trajectory of the target player. This trajectory smoothing method not only retains the essential characteristics of the swing action, but also improves the availability of trajectory data, laying a good data foundation for subsequent action analysis.

[0061] Step 105: Compare the target swing trajectory with the initial swing trajectory, determine the target player's action position to be corrected during the swing, and control the carrier vehicle to output voice prompt information corresponding to the action position to be corrected to the target player.

[0062] The action part to be corrected refers to the player's body part or action link that is found to have obvious deviations and needs to be adjusted and improved after comparing and analyzing the target swing trajectory and the initial swing trajectory. In the embodiment of the present application, it can be understood that during the swing process, the deviation between the actual movement trajectory of the player's shoulder, arm, wrist, hip and other key parts and the standard action trajectory exceeds the preset threshold, as well as the specific links that need to be corrected in the key action stages such as the backswing, downswing, hitting point, and follow-through.

[0063] The voice prompt information refers to the targeted action improvement suggestions selected and played by the carrier from the preset professional guidance voice library according to the identified action parts to be corrected. In the embodiment of the present application, it can be understood as a set of voice instructions containing specific action parts, improvement directions and professional technical essentials, such as "please keep your left arm straight", "the hip needs to increase the rotation range", "pay attention to maintain the angle of the club face when swinging down", and other standardized and easy-to-understand voice prompts.

[0064] Specifically, the carrier needs to compare the initial swing trajectory of the target player with the target swing trajectory generated by the system, find out the parts that need to be improved in the action and provide feedback in time. This is because only by accurately identifying the action deviation and giving targeted guidance can the player effectively improve his batting technique. In specific implementation, the control system of the carrier first aligns the initial swing trajectory and the target swing trajectory in the same coordinate system, and uses the dynamic time warping algorithm to match the two trajectories in time sequence. Then, the system calculates the spatial position deviation of each key node at the corresponding time, and combines the preset action scoring criteria to identify the body parts and action stages whose deviations exceed the threshold. For example, the system may find that the player's left arm is bent too much in the backswing stage, or the hip rotation is insufficient in the downswing stage. Based on the detected action deviation, the system will select the corresponding guidance voice from the pre-built voice prompt library, and play the prompt information to the target player through the speaker system of the carrier, such as "Please keep your left arm straight" or "Pay attention to increase hip rotation" and other specific guidance suggestions. This method of real-time action analysis and voice feedback can help players find and correct deficiencies in their actions in a timely manner and avoid forming wrong action habits.

[0065] Based on the above embodiment, as an optional embodiment, in step 105: comparing the target swing trajectory with the initial swing trajectory to determine the target player's action position to be corrected during the swing process, this step may also include the following steps: Step 501: timing-aligning the target swing trajectory and the initial swing trajectory in a preset coordinate system, and determining position deviations corresponding to a plurality of timing points of the target swing trajectory and the initial swing trajectory after the timing alignment.

[0066] Specifically, the system first maps the two trajectories into the same three-dimensional rectangular coordinate system, and establishes a unified spatial reference system with the player's standing position as the origin. Then, the system uses the existing dynamic time warping algorithm to match the two trajectories in time sequence, and divides the swing action into standardized time sequence stages such as preparation, backswing, downswing and follow-through, ensuring that the two trajectories can accurately correspond at key action nodes. After completing the time sequence alignment, the system calculates the Euclidean distance between the corresponding feature points in the target swing trajectory and the initial swing trajectory at multiple sampling time sequence points to obtain a quantitative indicator of the degree of deviation of the reaction action. For example, the system calculates the difference between the player's wrist position, elbow angle and other parameters at each moment in the downswing phase and the standard trajectory. This trajectory comparison method based on time sequence alignment not only takes into account the time sequence characteristics of the action, but also ensures the accuracy of the calculation of spatial position deviation, and can provide reliable data support for subsequent action evaluation. Compared with simple point-to-point comparison, this analysis method that considers the time sequence relationship is more in line with the continuity characteristics of the golf swing action, and can more accurately reflect the problems of the player at different action stages.

[0067] Step 502: The joint part corresponding to the timing point where the position deviation exceeds the position deviation threshold is taken as the action part to be corrected.

[0068] Specifically, the carrier needs to identify the joints that need to be corrected based on the calculation results of the position deviation. This is because not all trajectory deviations in the swing action need to be adjusted. Only deviations that exceed the allowable range will significantly affect the hitting effect. In specific implementation, the system first sets corresponding position deviation thresholds for different joints based on the experience of professional coaches and the action data of a large number of excellent players. For example, the deviation threshold of the wrist may be set to 5 cm, while the deviation threshold of the hip may be set to 10 cm. The setting of these thresholds takes into account the importance of different joints in the swing action and the allowable range of variation. Then, the system compares the position deviation value calculated at each timing point with the position deviation threshold of the corresponding joint. When the position deviation of a certain timing point exceeds the preset threshold, the system will mark the joint corresponding to the timing point as the action part to be corrected. For example, if the system finds that the position deviation of the player's left wrist in the downswing phase continues to exceed 5 cm, the left wrist will be included in the action part to be corrected. This action part screening method based on threshold judgment can effectively identify the key links in the player's action that need to be improved most, avoid giving too many correction requirements due to overly harsh standards, and ensure the focus and pertinence of teaching feedback. The movement parts to be corrected screened out in this way can help players focus on the most critical technical issues and improve practice efficiency.

[0069] Step 503: Obtain the swing speeds corresponding to the target swing trajectory and the initial swing trajectory at each time point, and calculate the corresponding speed difference based on the swing speeds corresponding to each time point.

[0070] Specifically, the carrier needs to analyze the speed control of the target player during the swing process, because the reasonable swing speed change not only directly affects the distance and accuracy of the shot, but is also closely related to the coordination of the overall action. In the specific implementation, the system first calculates the instantaneous speed of the target swing trajectory and the initial swing trajectory at each time point respectively. The calculation method is to use the position difference of adjacent sampling points and the corresponding time interval to obtain the motion speed vector of the club head in three-dimensional space. Then, the system calculates the difference between the speeds of the two trajectories at the corresponding time points to obtain a quantitative indicator of the reaction speed control deviation. For example, the system may find that the speed curve of the player in the acceleration phase of the downswing has a significant lag compared with the target trajectory, or the speed peak near the hitting point is lower than the ideal level. This speed difference-based analysis method can not only reflect the player's power transfer and speed control ability in the key action stage, but also help discover dynamic problems that may be ignored by position analysis. Compared with the analysis method that only focuses on position deviation, adding the evaluation of the speed dimension can more comprehensively understand the player's action characteristics and provide a richer basis for subsequent technical guidance, thereby helping players to maintain the correct action trajectory while mastering a reasonable speed rhythm.

[0071] Step 504: The joint part corresponding to the timing point where the speed difference exceeds the speed difference threshold is used as the action part to be corrected.

[0072] Specifically, the carrier needs to identify the joint parts with improper speed control based on the speed difference analysis results. This is because the speed change during the swing must follow a specific rhythm law. Too fast or too slow will affect the quality of the shot. In specific implementation, the system sets corresponding speed difference thresholds for different action stages based on the statistical data of a large number of excellent players and the experience of professional coaches. For example, the speed difference threshold in the backswing stage may be set to 1 meter / second, while the speed difference threshold in the downswing acceleration stage may be set to 2 meters / second. The setting of these thresholds takes into account the different requirements for speed control in different action stages. When the system detects that the speed difference of a certain timing point exceeds the corresponding threshold, the joint part related to the timing point will be marked as the action part to be corrected. For example, if the system finds that the player's wrist speed in the downswing acceleration stage is 3 meters / second slower than the standard action, exceeding the preset speed difference threshold, the wrist part will be added to the list of action parts to be corrected. This screening method based on speed difference threshold can effectively identify the weak links in the player's action rhythm and force transmission chain, and combine with the previous position deviation analysis to form a more complete action evaluation system. The movement parts to be corrected determined in this way not only focus on static position accuracy, but also include dynamic speed control requirements, which can help players improve their technical movements more comprehensively.

[0073] Based on the above embodiment, as an optional embodiment, in step 105: controlling the carrier vehicle to output voice prompt information corresponding to the action part to be corrected to the target player, this step may also include the following steps: Step 505: Determine a plurality of candidate correction guidance voice packages corresponding to the action parts to be corrected in a preset correction voice library.

[0074] Specifically, it is necessary to find the corresponding voice guidance content according to the identified action part to be corrected, because different action parts require targeted technical guidance. In specific implementation, the system sets up candidate correction guidance voice packages corresponding to each joint part in the preset correction voice library. For example, when the action part to be corrected is the left wrist, the system will filter out multiple possible guidance voices including "keep the left wrist straight", "reduce the left wrist bend", "increase the left wrist bend" and so on from the voice library; when the action part to be corrected is the hip, it will filter out relevant voice content such as "increase hip rotation", "control the hip rotation speed", and "keep the hip stable". This voice package screening method based on the action part ensures that the most suitable content can be selected from professional and standardized guidance voices in the future.

[0075] Step 506: Obtain the position deviation or speed difference corresponding to the motion part to be corrected, and determine the corresponding motion correction amplitude based on the position deviation or speed difference.

[0076] Specifically, the carrier needs to determine the correction strength according to the specific degree of the action deviation, because the same action problem may require different degrees of adjustment suggestions. In specific implementation, the system first obtains the position deviation or speed difference of the action part to be corrected at the corresponding timing point, and then maps these deviation values ​​to the preset correction amplitude level. For example, the system may divide the position deviation into slight deviation (0-5 cm), medium deviation (5-10 cm) and severe deviation (above 10 cm), or divide the speed difference into slight difference (0-1 m / s), medium difference (1-2 m / s) and significant difference (above 2 m / s) levels. Based on this grading mechanism, the system can determine the corresponding action correction amplitude for each action part to be corrected, thereby providing a basis for the subsequent selection of appropriate guidance voice.

[0077] Step 507: According to the action correction amplitude, determine the corresponding target correction guidance voice package in each candidate correction guidance voice package, and use the target correction guidance voice package as the voice prompt information corresponding to the action part to be corrected; control the carrier vehicle to output the voice prompt information.

[0078] Specifically, the carrier needs to select and play the most appropriate guidance voice according to the correction amplitude, because the teaching feedback needs to be both accurate and easy to accept. In specific implementation, the system first matches the action correction amplitude with the guidance intensity in the candidate correction guidance voice package. For example, for a slight wrist position deviation, the system may choose a gentle prompt voice such as "Please slightly straighten your left wrist"; for severe hip rotation deficiency, it may choose a stronger guidance voice such as "The hip rotation amplitude needs to be significantly increased." After determining the target correction guidance voice package, the system plays these guidance contents to the target player in a clear voice through the audio output device of the carrier. This method of selecting guidance voice based on the degree of deviation not only ensures the accuracy of technical guidance, but also adjusts the tone and intensity of the prompt according to the severity of the problem, making it easier for players to accept and implement these suggestions, thereby improving the effect of auxiliary teaching.

[0079] Reference Figure 2 , is a vehicle-assisted teaching system based on visual recognition provided by an embodiment of the present application, the system comprises: a data acquisition module, a position relationship determination module, a swing trajectory determination module, and a vehicle control module, wherein: The data acquisition module acquires the height, club length, club angle and the position of the hole to be scored of the target player collected by the carrier vehicle; A position relationship determination module, used to determine the relative position relationship between the target player and the hole to be scored based on the position of the hole to be scored and the current position of the target player; The swing trajectory determination module is used to construct the target swing trajectory of the target player in the relative position relationship by combining the height, the length of the club and the angle of the club; obtain the swing video of the target player collected by the carrier vehicle, and extract the initial swing trajectory of the target player from the swing video; The carrier vehicle control module is used to compare the target swing trajectory with the initial swing trajectory, determine the target player's action position to be corrected during the swing, and control the carrier vehicle to output voice prompt information corresponding to the action position to be corrected to the target player.

[0080] On the basis of the above embodiment, the position relationship determination module is also used to obtain the first spatial coordinates of the current position of the target player and the second spatial coordinates of the position of the hole to be scored; based on the first spatial coordinates and the second spatial coordinates, the horizontal distance, height distance and angle between the target player and the hole to be scored are calculated; and the spatial relationship corresponding to the horizontal distance, height distance and angle is used as the relative position relationship between the target player and the hole to be scored.

[0081] On the basis of the above-mentioned embodiment, the swing trajectory determination module is further used to determine multiple joint position points of the target player during the swing process according to the height; calculate the standard movement angle of each joint position point during the swing process based on the club length and the club angle; connect the standard movement angles of each joint position point in sequence according to a preset swing action sequence to obtain the static swing trajectory of the target player; determine the swing speed of the static swing trajectory in multiple swing stages according to the relative position relationship to obtain the target swing trajectory.

[0082] Based on the above embodiment, the swing trajectory determination module is further used to mark the target player feature points and the club feature points in the first frame image of the swing video; generate the feature point motion trajectory based on the positions of the target player feature points and the club feature points in each frame image of the swing video; smooth the feature point motion trajectory, and use the smoothed feature point motion trajectory as the target player's initial swing trajectory.

[0083] On the basis of the above-mentioned embodiment, the carrier vehicle control module is also used to perform time alignment on the target swing trajectory and the initial swing trajectory in a preset coordinate system, and determine the position deviations corresponding to multiple timing points of the target swing trajectory and the initial swing trajectory after the time alignment; the joint parts corresponding to the timing points where the position deviations exceed the position deviation threshold are used as the action parts to be corrected; the swing speeds corresponding to the target swing trajectory and the initial swing trajectory at each timing point are obtained, and the corresponding speed differences are calculated based on the swing speeds corresponding to each timing point; the joint parts corresponding to the timing points where the speed difference exceeds the speed difference threshold are used as the action parts to be corrected.

[0084] On the basis of the above embodiments, the carrier vehicle control module is also used to determine multiple candidate correction guidance voice packages corresponding to the action part to be corrected in a preset correction voice library; obtain the position deviation or speed difference corresponding to the action part to be corrected, and determine the corresponding action correction amplitude based on the position deviation or speed difference; determine the corresponding target correction guidance voice package in each candidate correction guidance voice package according to the action correction amplitude, and use the target correction guidance voice package as the voice prompt information corresponding to the action part to be corrected; control the carrier vehicle to output voice prompt information.

[0085] Based on the above embodiment, the transport vehicle control module is also used to obtain the real-time position of the target player collected by the transport vehicle; calculate the distance between the current position of the transport vehicle and the real-time position of the target player; determine whether the distance is within a preset safe following distance range; if the distance is less than the lower limit of the preset safe following distance range, control the transport vehicle to perform a backward operation; if the distance is greater than the upper limit of the preset safe following distance range, determine the target following position of the transport vehicle based on the real-time position coordinates of the target player and the preset safe following distance range, and generate a following path for the transport vehicle from the current position to the target following position; control the transport vehicle to move along the following path to the target following position.

[0086] It should be noted that: when the device provided in the above embodiment realizes its function, only the division of the above functional modules is used as an example. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0087] The present application also discloses an electronic device. Figure 3 , Figure 3 The electronic device 300 may include: at least one processor 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .

[0088] The communication bus 302 is used to realize the connection and communication between these components.

[0089] The user interface 303 may include a display interface and a camera interface. Optionally, the user interface 303 may also include a standard wired interface and a wireless interface.

[0090] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0091] Among them, the processor 301 may include one or more processing cores. The processor 301 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the processor 301 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 301 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface diagrams and applications, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 301, and it can be implemented separately through a chip.

[0092] Among them, the memory 305 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 305 may optionally also be at least one storage device located away from the aforementioned processor 301. Refer to Figure 3 , the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module and an application program of a vehicle-assisted teaching method based on visual recognition.

[0093] exist Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain the data input by the user; and the processor 301 can be used to call the application program stored in the memory 305 for a carrier vehicle assisted teaching method based on visual recognition. When executed by one or more processors 301, the electronic device 300 executes one or more methods in the above-mentioned embodiments. It should be noted that for the aforementioned method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0094] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0096] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0097] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0098] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, 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, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0099] The above are only exemplary embodiments of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the disclosure of the specification and practice, those skilled in the art will easily think of other embodiments of the present disclosure.

[0100] This application is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art not recorded in the present disclosure. The description and examples are to be regarded as exemplary only.

Claims

1. A vehicle-assisted teaching method based on visual recognition, characterized in that: include: Obtain the height, club length, club angle and position of the hole to be scored of the target player collected by the carrier vehicle; Determining a relative position relationship between the target player and the hole to be scored based on the position of the hole to be scored and the current position of the target player; Combining the height, the club length and the club angle, constructing a target swing trajectory of the target player in the relative position relationship; Acquire a swing video of a target player captured by the carrier vehicle, and extract an initial swing trajectory of the target player from the swing video; The target swing trajectory is compared with the initial swing trajectory to determine the action part to be corrected of the target player during the swing process, and the carrier is controlled to output voice prompt information corresponding to the action part to be corrected to the target player.

2. The vehicle-assisted teaching method based on visual recognition according to claim 1 is characterized in that: The step of determining the relative position relationship between the target player and the hole to be scored based on the position of the hole to be scored and the current position of the target player includes: Obtain the first spatial coordinates of the current position of the target player and the second spatial coordinates of the position of the hole to be scored; Calculate the horizontal distance and height distance between the target player and the hole to be scored, and the angle between the target player and the hole to be scored, according to the first spatial coordinates and the second spatial coordinates; The spatial relationship between the horizontal distance, the height distance and the angle is used as the relative position relationship between the target player and the hole to be scored.

3. The vehicle-assisted teaching method based on visual recognition according to claim 1 is characterized in that: The step of combining the height, the club length, and the club angle to construct a target swing trajectory of the target player in the relative position relationship includes: Determining multiple joint position points of the target player during a swing according to the height; Calculating the standard movement angle of each of the joint positions during the swing process based on the club length and the club angle; According to a preset swing action sequence, the standard motion angles of the joint positions are sequentially connected to obtain a static swing trajectory of the target player; The swing speeds of the static swing trajectory in multiple swing stages are determined according to the relative position relationship to obtain a target swing trajectory.

4. The vehicle-assisted teaching method based on visual recognition according to claim 1 is characterized in that: The step of extracting the initial swing trajectory of the target player from the swing video includes: Marking the target player feature points and the club feature points in the first frame image of the swing video; Generate a feature point motion trajectory based on the positions of the target player feature points and the club feature points in each frame image of the swing video; The feature point motion trajectory is smoothed, and the smoothed feature point motion trajectory is used as the initial swing trajectory of the target player.

5. The vehicle-assisted teaching method based on visual recognition according to claim 1 is characterized in that: The step of comparing the target swing trajectory with the initial swing trajectory to determine the target player's action position to be corrected during the swing process includes: Performing time-series alignment on the target swing trajectory and the initial swing trajectory in a preset coordinate system, and determining position deviations corresponding to a plurality of time-series points between the target swing trajectory and the initial swing trajectory after the time-series alignment; The joint part corresponding to the timing point at which the position deviation exceeds the position deviation threshold is used as the action part to be corrected; Obtaining the swing speeds corresponding to the target swing trajectory and the initial swing trajectory at each of the time points, and calculating corresponding speed differences based on the swing speeds corresponding to each of the time points; The joint part corresponding to the timing point at which the speed difference exceeds the speed difference threshold is used as the action part to be corrected.

6. The vehicle-assisted teaching method based on visual recognition according to claim 1 is characterized in that: The controlling the transport vehicle to output voice prompt information corresponding to the action part to be corrected to the target player includes: Determine, in a preset correction voice library, a plurality of candidate correction guidance voice packages corresponding to the action part to be corrected; Obtaining a position deviation or a speed difference corresponding to the action part to be corrected, and determining a corresponding action correction amplitude based on the position deviation or the speed difference; According to the action correction amplitude, determining a corresponding target correction guidance voice package in each of the candidate correction guidance voice packages, and using the target correction guidance voice package as voice prompt information corresponding to the action part to be corrected; The transport vehicle is controlled to output the voice prompt information.

7. The vehicle-assisted teaching method based on visual recognition according to claim 1 is characterized in that: Before obtaining the target player's height, club length, club angle and the position of the hole to be scored collected by the carrier vehicle, the method further includes: Obtaining the real-time position of the target player collected by the carrier vehicle; Calculating the distance between the current position of the carrier and the real-time position of the target player; Determining whether the distance is within a preset safe following distance range; If the distance is less than the lower limit of the preset safe following distance range, controlling the transport vehicle to perform a backward operation; If the distance is greater than the upper limit of the preset safe following distance range, then based on the real-time position coordinates of the target player and the preset safe following distance range, a target following position of the transport vehicle is determined, and a following path of the transport vehicle from the current position to the target following position is generated; The carrier vehicle is controlled to move along the following path to the target following position.

8. A vehicle-assisted teaching system based on visual recognition, characterized in that: The system comprises: The data acquisition module acquires the height, club length, club angle and the position of the hole to be scored of the target player collected by the carrier vehicle; A position relationship determination module, used to determine the relative position relationship between the target player and the hole to be scored based on the position of the hole to be scored and the current position of the target player; A swing trajectory determination module is used to construct a target swing trajectory of the target player in the relative position relationship by combining the height, the club length and the club angle; obtain a swing video of the target player collected by the carrier vehicle, and extract an initial swing trajectory of the target player from the swing video; The carrier vehicle control module is used to compare the target swing trajectory with the initial swing trajectory, determine the target player's action part to be corrected during the swing process, and control the carrier vehicle to output voice prompt information corresponding to the action part to be corrected to the target player.

9. An electronic device, characterized in that: It includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes the visual recognition-based carrier assisted teaching method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the vehicle-assisted teaching method based on visual recognition as described in any one of claims 1-7 is executed.

Images