Vision Recognition-Based Auxiliary Teaching Method, System, Device and Medium for Carrier Vehicle

Abstract

An auxiliary teaching method, system, device and medium for a carrier vehicle based on visual recognition, which relates to the technical field of image processing. The method includes: obtaining the height, club length, club angle of the target player collected by the carrier vehicle, and the position of the to-be-scored hole; determining the relative position relationship between the target player and the to-be-scored hole based on the position of the to-be-scored hole and the current position of the target player; combining the height, club length and club angle to construct a target swing trajectory of the target player under the relative position relationship; obtaining the swing video of the target player collected by the carrier vehicle, and extracting the initial swing trajectory of the target player from the swing video; comparing the target swing trajectory and the initial swing trajectory, determining the part of the action to be corrected during the swing of the target player, and controlling the carrier vehicle to output voice prompt information corresponding to the part of the action to be corrected to the target player. Implementing the technical solution provided by this application achieves the effect of improving the efficiency of auxiliary teaching.

Description

Technical Field

[0001] This application relates to the field of image processing technology, and particularly to an auxiliary teaching method, system, device and medium for a carrier vehicle based on visual recognition. Background Art

[0002] With the continuous development of carrier vehicle technology, intelligent carrier devices are increasingly widely used in the field of sports. For example, in golf, the carrier vehicle not only undertakes the functions of transportation and equipment delivery, but also gradually plays a role in assisting training.

[0003] Currently, the existing auxiliary teaching methods for carrier vehicles based on visual recognition usually use fixed prompt voices to give auxiliary guidance to players at certain time intervals. However, in actual applications, there are differences in the conditions of each player. Using only a unified fixed prompt voice for auxiliary teaching often makes it difficult to make personalized adjustments according to the actual situations of different players, thus reducing the efficiency of auxiliary teaching. Summary of the Invention

[0004] This application provides an auxiliary teaching method, system, device and medium for a carrier vehicle based on visual recognition, which can improve the efficiency of auxiliary teaching.

[0005] In a first aspect, this application provides an auxiliary teaching method for a carrier vehicle based on visual recognition, including:

[0006] Obtain the height, club length, club angle of the target player collected by the carrier vehicle, and the position of the hole to be hit;

[0007] Based on the position of the hole to be hit and the current position of the target player, determine the relative position relationship between the target player and the hole to be hit;

[0008] Combine the height, club length and club angle to construct the target swing trajectory of the target player in the relative position relationship;

[0009] 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;

[0010] Compare the target swing trajectory and the initial swing trajectory, determine the part of the action to be corrected during the swing of the target player, and control the carrier vehicle to output voice prompt information corresponding to the part of the action to be corrected to the target player.

[0011] In a second aspect of this application, an auxiliary teaching system for a carrier vehicle based on visual recognition is provided. The system includes:

[0012] A data acquisition module that acquires the height of the target player, the length of the cue, the angle of the cue, and the position of the target hole to be scored, collected by the carrier vehicle;

[0013] A position relationship determination module for determining the relative position relationship between the target player and the target hole to be scored based on the position of the target hole to be scored and the current position of the target player;

[0014] A swing trajectory determination module for constructing a target swing trajectory of the target player in the relative position relationship by combining the height, the length of the cue, and the angle of the cue; acquiring the swing video of the target player collected by the carrier vehicle, and extracting the initial swing trajectory of the target player from the swing video;

[0015] A carrier vehicle control module for comparing the target swing trajectory and the initial swing trajectory, determining the part of the action to be corrected during the swing of the target player, and controlling the carrier vehicle to output voice prompt information corresponding to the part of the action to be corrected to the target player.

[0016] In the third aspect of the present application, an electronic device is provided, including a memory, a processor, and a program stored on the memory and executable on the processor. When the program is loaded and executed by the processor, it can implement a carrier vehicle-assisted teaching method based on visual recognition.

[0017] In the fourth aspect of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements a carrier vehicle-assisted teaching method based on visual recognition.

[0018] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0019] By adopting the above technical solutions, the height of the target player, the length of the cue, the angle of the cue, and the position of the target hole to be scored are acquired, and first, the relative position relationship between the target player and the hole is accurately determined. Based on these individual parameters, a target swing trajectory that conforms to the actual situation of the player is further constructed. After acquiring the swing video collected by the carrier vehicle, by extracting the initial swing trajectory, the actual action path of the player can be captured in real time. By comparing the target swing trajectory with the initial swing trajectory, the method can accurately identify the part of the action to be corrected during the swing of the player. Finally, the carrier vehicle intelligently outputs corresponding voice prompt information according to the identified part of the action to be corrected, provides instant and personalized action correction guidance, realizes accurate adaptation to the individual differences of different players, and ensures that the player can obtain timely guidance during the training process through the dynamic feedback of the carrier vehicle, thereby improving the efficiency of assisted teaching. Description of the Drawings

[0020] Figure 1 is a schematic flowchart of a carrier vehicle assisted teaching method based on visual recognition provided by an embodiment of the present application;

[0021] Figure 2 is a schematic structural diagram of a carrier vehicle assisted teaching system based on visual recognition provided by an embodiment of the present application;

[0022] Figure 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0023] Explanation of reference numerals: 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. Detailed implementation manners

[0024] In order to enable those skilled in the art 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 accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0025] In the description of the embodiments of the present application, words such as "for example" or "for illustration" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "for example" or "for illustration" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, the use of words such as "for example" or "for illustration" is intended to present relevant concepts in a specific manner.

[0026] In the description of the embodiments of the present application, the meaning of the term "a plurality" refers to two or more. For example, a plurality of systems refers to two or more systems, and a plurality of screen terminals refers to two or more screen terminals. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the technical features indicated. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. The terms "include", "comprise", "have" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0027] The embodiments of the present application provide a carrier vehicle assisted teaching method based on visual recognition. In one embodiment, please refer to Figure 1 , Figure 1It is a schematic flowchart of an auxiliary teaching method for a carrier vehicle based on visual recognition provided by an embodiment of the present application. This method can be implemented relying on a computer program, which can be integrated into an application or run as an independent tool - type application. This method can also be implemented relying on a single - chip microcomputer and can run on a visual - recognition - based carrier - vehicle auxiliary teaching system based on the von Neumann architecture. Specifically, this method may include the following steps:

[0028] Step 101: Obtain the height of the target player, the length of the club, the angle of the club, and the position of the hole to be scored, collected by the carrier vehicle.

[0029] Among them, the carrier vehicle is an intelligent carrying device equipped with multiple high - definition cameras. This carrying device has a special club storage area and can store multiple different types of golf clubs at the same time. A plurality of high - definition cameras are installed around the body of the carrier vehicle, and these cameras take pictures of the target player's swing action from different angles to ensure that the action details of the player can be captured omnidirectionally. 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 the real - time analysis and guidance of the player's swing action.

[0030] The height of the target player refers to the vertical height value from the sole of the foot to the top of the head of the player receiving the auxiliary teaching. This value directly affects the player's swing posture and joint movement trajectory. The length of the club refers to the actual length value of the golf club used by the player from the grip end to the club head. This parameter determines the arm extension amplitude and the hitting point position when the player swings the club. The angle of the club refers to the angle value formed between the club shaft and the ground when the player is about to hit the ball. This angle affects the accuracy of hitting the ball and the flight trajectory of the ball. The position of the hole to be scored refers to the specific position information of the target hole corresponding to the current hitting stage of the target player on the golf course, including the spatial coordinate data of the hole.

[0031] Specifically, the height, club length, club angle of the target player, and the position of the hole to be scored collected by the carrier vehicle are the basic data for constructing a personalized teaching model. Among them, the carrier vehicle is provided with multiple sensors, including a laser ranging sensor for collecting the height of the target player, an image sensor for collecting club parameters, and a GPS positioning module for positioning the position of the hole to be scored. When the target player stands in the swing preparation area, the laser ranging sensor measures the height data of the target player by emitting a laser beam and receiving the 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, where 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 the satellite positioning system. The control system of the carrier vehicle comprehensively processes and stores the collected data, and these data will be used for subsequent construction of the personalized swing model of the target player. By collecting these basic data, the carrier vehicle can establish a standard action reference system that conforms to the personal characteristics of the target player, providing data support for subsequent action analysis and personalized guidance, so as to ensure the pertinence and effectiveness of the auxiliary teaching. This data collection method based on personal characteristics breaks through the limitations of traditional fixed-mode teaching and lays a foundation for realizing personalized auxiliary teaching.

[0032] On the basis of the above embodiments, as an optional embodiment, in step 101: Before obtaining the height, club length, club angle of the target player, and the position of the hole to be scored collected by the carrier vehicle, the following steps may further be included:

[0033] Step 111: Obtain the real-time position of the target player collected by the carrier vehicle; calculate the distance between the current position of the carrier vehicle and the real-time position of the target player.

[0034] Specifically, the carrier vehicle needs to monitor the distance relationship with the target player in real time because the golf cart needs to always maintain within a suitable observation and service distance range, neither being too far from the player to affect the observation accuracy nor being 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 vision sensor and positioning system installed on the carrier vehicle, and converts the player's position into three-dimensional coordinate points 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 GPS module or other positioning devices of the golf cart itself. Then, the system calculates the actual spatial distance between the golf cart and the player according to the differences in the three dimensions of the two coordinate points. This distance calculation method based on real-time coordinates can accurately reflect the spatial relationship between the golf cart and the player, providing reliable data support for subsequent following control and position adjustment.

[0035] Step 121: Determine whether the distance is within the preset safe following distance range; if the distance is less than the lower limit of the preset safe following distance range, control the carrier vehicle to perform a reverse operation.

[0036] Specifically, the carrier vehicle needs to determine whether to perform position adjustment based on the actual distance from the player, because an overly close following distance may affect the player's swing space and attention, and even pose a safety hazard. In specific implementation, the system pre-sets a safe following distance range. For example, the minimum safe distance is set to 3 meters, and the maximum effective observation distance is set 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 carrier vehicle will immediately start the reverse program. During the reverse process, the system will control the motor to reverse at a moderate speed, and at the same time ensure the safety of the reverse path through the distance sensor at the rear until the distance from the player reaches the safe range again. This automatic adjustment mechanism based on the safe distance can effectively avoid the interference caused by the golf cart being too close to the player, and at the same time ensure the safety of the training environment. Through timely reverse operations, the system can always keep the golf cart within the optimal distance range that neither affects the player's performance nor fails to accurately collect action data.

[0037] Step 131: If the distance is greater than the upper limit of the preset safe following distance range, determine the target following position of the carrier 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 carrier vehicle from the current position to the target following position.

[0038] 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, first determine an ideal target following position based on the real-time position coordinates of the player. This position is usually within a range of 5 meters from the player, and the player's orientation and swing space requirements are considered. Subsequently, the system will combine environmental information such as the terrain of the golf course and the distribution of obstacles, and use a path planning algorithm to generate an optimal path from the current position of the golf cart to the target following position. During the path generation process, the system will avoid areas such as bunkers and water hazards on the course, select a flat and safe travel route, and at the same time ensure 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 action collection, neither affecting the data collection quality due to too far a distance nor safely and smoothly completing the position adjustment. Through precise target position calculation and path planning, the system can make the golf cart approach the player in the optimal way, ensuring the continuity and reliability of the training assistance function.

[0039] Step 141: Control the carrier vehicle to move along the following path to the target following position.

[0040] Specifically, the system first converts the planned following path into a series of specific motion control instructions, including parameters such as steering angle, traveling speed, and acceleration / deceleration timing. During the specific execution process, the control system of the golf cart will coordinate and control the working states of the steering motor and the driving motor according to these instructions to achieve smooth steering and speed adjustment. During the movement, the system uses multiple position sensors and distance sensors to continuously monitor the actual running trajectory of the golf cart and the surrounding environmental conditions. When it detects a deviation between the actual running trajectory and the predetermined path, it will make timely fine-tuning; when it detects an unexpected obstacle on the moving path, it will activate the emergency obstacle avoidance program. This precise path execution mechanism enables the golf cart to safely and smoothly reach the optimal observation position, avoiding disturbing the players with violent acceleration and deceleration and ensuring the safety of the movement process. Through fine motion control, the system can keep the golf cart always in the ideal service position, providing a stable working environment for subsequent action acquisition and training guidance.

[0041] Step 102: Based on the position of the to-be-scored hole and the current position of the target player, determine the relative position relationship between the target player and the to-be-scored hole.

[0042] Among them, the relative position relationship refers to the spatial geometric relationship between the current position of the target player and the position of the to-be-scored hole, specifically including the horizontal straight-line distance between the two points, the height difference, and the included angle formed between the direction the target player is facing and the direction of the hole. In the embodiments 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 the high-definition camera and GPS positioning module carried by it to respectively obtain the first spatial coordinates of the target player's position and the second spatial coordinates of the to-be-scored hole position and calculated by the control system.

[0043] Specifically, the carrier vehicle needs to obtain the relative position relationship between the target player and the hole to be scored. This is because different relative position relationships will directly affect the player's swing strategy and hitting force. In specific implementation, the carrier vehicle first obtains the first spatial coordinates of the current position of the target player through the high-definition camera and image processing system installed on it, and at the same time 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 vehicle calculates the horizontal distance, height distance, and the included angle between the target player and the hole to be scored through spatial geometry calculation. 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 included angle refers to the angle formed by the hitting direction of the target player and the direction of the hole. These data together constitute the relative position relationship between the target player and the hole to be scored, providing a spatial reference for constructing the target swing trajectory subsequently. 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 the traditional empirical estimation, and can help the player better plan the hitting path and improve the hitting accuracy.

[0044] Based on the above embodiments, as an alternative 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 further include the following steps:

[0045] 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.

[0046] Specifically, the carrier vehicle collects the current position image of the target player through multiple high-definition cameras installed around its body, and converts the image information into the first spatial coordinates of the target player's position through the image processing system. At the same time, the GPS positioning module installed on the carrier vehicle obtains the second spatial coordinates of the position of the hole to be scored through the satellite positioning system. Among them, both the first spatial coordinates and the second spatial coordinates include the longitude, latitude, and altitude of the corresponding position points. These precise spatial coordinate data provide basic data support for subsequent calculation of the relative position relationship. By obtaining these two sets of spatial coordinates simultaneously, the system can establish the position correspondence relationship between the target player and the hole to be scored in the three-dimensional space.

[0047] Step 202: Calculate the horizontal distance, height distance, and the included angle between the target player and the hole to be scored according to the first spatial coordinates and the second spatial coordinates; use the spatial relationships corresponding to the horizontal distance, height distance, and included angle as the relative position relationship between the target player and the hole to be scored.

[0048] Specifically, based on the acquired first spatial coordinate and second spatial coordinate, the control system of the carrier vehicle calculates the specific spatial relationship parameters between the target player and the to-be-scored hole through a spatial geometry algorithm. First, the system uses the distance formula between two points to calculate the horizontal distance according to the longitude and latitude data of the two sets of coordinates, that is, the straight-line distance between the target player and the to-be-scored hole on the horizontal plane. Second, the height distance is calculated by the difference between 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 to-be-scored hole according to the angle relationship between the facing direction of the target player and the direction pointing to the hole. This angle essentially refers to the angle formed between the target hitting direction of the player and the direction of the line connecting the player's current position to the hole. The target hitting direction is the expected hitting direction determined by the body orientation when the player stands, and the hole direction is the straight-line direction from the player's current position to the hole position. Specifically, it can be understood that the first straight line is determined: starting from the player's current position, extending along the expected hitting direction in the front of the player's body, and this straight line represents the expected hitting direction. The second straight line is determined: starting from the expected hitting position of the player's current position, pointing to the hole position. This angle is the angle formed between the projections of these two straight lines on the horizontal plane. The three parameters of the calculated horizontal distance, height distance, and angle together constitute the relative position relationship between the target player and the to-be-scored hole. This accurate spatial relationship data provides a reliable basis for formulating personalized hitting strategies later. Through this calculation method based on actual spatial coordinates, the system can more accurately evaluate the hitting difficulty and provide more accurate auxiliary guidance for the target player.

[0049] Step 103: Combine the height, club length, and club angle to construct the target swing trajectory of the target player under the relative position relationship.

[0050] Among them, the target swing trajectory refers to a standard swing space curve calculated by the control system of the carrier vehicle based on personal parameters such as the height of the target player, the length of the club used, and the club angle, in combination with the relative position relationship between the target player and the to-be-scored hole. 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 ready-to-hit posture, passing through the backward swing, the downswing to hit the ball, and until the follow-through. This trajectory fully considers the player's body characteristics and club parameters and is optimized and adjusted according to the current hitting environment.

[0051] Specifically, the carrier vehicle needs to construct an optimal target swing trajectory based on the personal parameters of the target player and the field conditions. This is because the physical conditions of different players and the characteristics of the clubs they use will directly affect the standardization of their swing actions. When specifically implemented, the carrier vehicle first collects the height data of the target player through the high-definition camera it carries, and obtains the length parameter of the club selected by the target player and the club angle information during current use from the club storage area. After obtaining these basic data, the control system of the carrier vehicle will combine the previously determined relative position relationship, and based on ergonomic principles and the golf hitting mechanics model, calculate the swing trajectory that is most suitable for the target player. Among them, the system will determine the optimal height range of the arm swing according to the height data of the target player, calculate the optimal spatial position of the hitting point through the club length parameter, 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. The system constructs a complete three-dimensional space curve from the preparation for hitting to the completion of the follow-through as the standard target swing trajectory of the target player by comprehensively analyzing these parameters. This trajectory construction method based on personal characteristic parameters and spatial position relationships can provide personalized standard action 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.

[0052] Based on the above embodiments, as an optional embodiment, in step 103: Combining the height, club length, and club angle to construct the target swing trajectory of the target player under the relative position relationship. This step may further include the following steps:

[0053] Step 301: Determine multiple joint position points of the target player during the swing according to the height.

[0054] Specifically, the carrier vehicle first collects the height data of the target player in real time through the high-definition camera it carries, and then divides the body of the target player into multiple key nodes based on the height ratio relationship in ergonomics, including the shoulder joint, elbow joint, wrist joint, hip joint, knee joint, etc. The height ratio relationship in ergonomics is obtained in advance by statistically analyzing the joint measurement data of a large number of golf players in the standard hitting posture. Taking the standing position of the player as the origin to establish a three-dimensional coordinate system, this height ratio relationship in ergonomics records the mapping ratio between the distribution positions of multiple joint position points in the three-dimensional coordinate system and the height of the player. 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 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, the backswing stage, the downswing stage, and the follow-through stage, etc., different swing stages correspond to preset body tilt angles and tilt angles between different joints. By statistically analyzing the geometric relationships corresponding to the body tilt angles and the tilt angles between different joints, the initial joint position points are corrected in terms of spatial position, so as to obtain multiple joint position points of the player in different swing stages. This method for 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 better understand and master the correct swing posture, and improving the standardization of movements and the stability of hitting. Compared with the traditional unified standard, this action analysis method considering individual height characteristics is more targeted and can help players establish a swing action mode suitable for their own characteristics faster.

[0055] Step 302: Calculate the standard movement angles of each joint position point during the swing based on the club length and club angle.

[0056] Specifically, since the club length affects the lever arm distance from the grip end to the hitting point, and thus affects the movement angles that each joint needs to reach 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 during hitting, thereby determining the standard angle range of torso 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 the correspondence between club parameters and standard movement angles, precise guidance for the player's swing action can be achieved, enabling the player to maintain the optimal joint movement angles under different club conditions.

[0057] Calculating the standard motion angles of each joint position point during the swing based on the club length and club angle is to further clarify the motion laws of each joint in the swing action on the basis of the determined joint position points. Since the length and grip angle of the golf club directly affect the player's swing posture and joint movement trajectory, it is necessary to establish a corresponding relationship between these club parameters and the joint movement angles to ensure the coordination and effectiveness of the swing action. Specifically, when implementing, the processor of the carrier vehicle first establishes a mapping model between the club parameters and the joint movement. In this model, taking the grip end of the club as the reference point, a three-dimensional rectangular coordinate system is used for modeling. Let the club length be L and the club angle be θ, then the spatial coordinates of the club head relative to the grip 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 grip end of the club , where (x1, y1, z1) are the grip end coordinates.

[0058] During the process of decomposing the swing action, the entire swing action is divided into four key stages. For each stage, the joint angle calculation method is used to determine the standard motion angle:

[0059] Preparation stage: Based on the statistical optimal hitting posture operation formula, calculate the torso forward tilt angle α = arctan(H / L), where H is the height of the player's hip joint. The initial shoulder joint 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.

[0060] Backswing stage: Using the principle of conservation of angular momentum, calculate the maximum shoulder joint rotation angle γ = arcsin(L·sinθ / h1). The torso rotation angle δ is obtained according to the club trajectory plane equation: , where (a, b, c) is the normal vector of the club trajectory plane.

[0061] Downswing stage: Based on the principle of optimal energy conversion, calculate the elbow joint flexion and extension angle ε = arccos[(l1² + h1² - d2²) / (2·l1·h1)], 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.

[0062] Follow-through stage: Based on the principle of motion continuity, calculate the hip joint rotation angle λ = arctan(v·t / r), where v is the club head speed at the moment of hitting, t is the follow-through time, and r is the distance from the hip joint to the grip end of the club.

[0063] This method for calculating the joint movement angle based on club parameters can help players adjust the amplitude of their joint movements according to the characteristics of the club used, establish a more coordinated hitting action, and improve the accuracy and consistency of hitting.

[0064] Step 303: According to the preset swing action time sequence, connect the standard movement angles of each joint position point in sequence to obtain the static swing trajectory of the target player.

[0065] Specifically, the coordinate positions of each joint of the target player in different swing phases such as the preparation phase, backswing phase, downswing phase, and follow-through phase have been obtained through calculation. Connecting these position points in sequence can obtain a basic swing trajectory line, but this trajectory only reflects the position changes of the joints in three-dimensional space and does not contain the rotation direction information of the joints during movement. To construct a complete swing action model, it is necessary to vector-bind the calculated standard movement angles with the corresponding joint position points. For example, in the backswing phase, at a certain moment, the coordinate position of the shoulder joint is (x, y, z), and its corresponding standard movement angle is θ. By vector-binding the position coordinates with the angle information, the movement vector of the shoulder joint at this moment can be obtained as (x·cosθ, y·cosθ, z·cosθ). This vector-binding operation not only retains the spatial position information of the joint but also endows the joint with the movement direction characteristics at this position point. By performing similar angle vector-binding on all joint position points during the swing process, a vector trajectory line containing movement direction information can be constructed on the original basic trajectory. This trajectory can completely express the position changes and angle changes of each joint of the target player during the swing process. Connecting the standard movement angles of each joint position point means binding the joint position points in different swing phases with their corresponding standard movement angles, such as the initial angle β of the shoulder joint, the maximum rotation angle γ of the shoulder joint, the trunk rotation angle δ, etc., in sequence according to the swing action time sequence. Through this time-sequence binding of the position points and the standard movement angles, a complete static swing trajectory that includes both the joint movement trajectory and the joint movement direction can be obtained during the entire swing process. By organically combining the spatial position information and 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 movement, providing a more comprehensive and accurate technical basis for subsequent action analysis and guidance.

[0066] Step 304: Determine the swing speed of the static swing trajectory in multiple swing phases according to the relative position relationship to obtain the target swing trajectory.

[0067] Specifically, based on the relative position relationship between the target player and the hole to be scored, appropriate swing speeds need to be set for the obtained static swing trajectory at different swing stages, and finally a complete target swing trajectory is formed. This is because different hitting requirements under different distances and terrain conditions require different swing speed controls. When specifically implemented, the control system of the carrier vehicle first analyzes the relative position information such as the distance, height difference, and terrain characteristics 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 hitting effect based on the golf hitting physical model. The system divides the entire swing motion into a preparation stage, a backswing stage, a downswing stage, and a follow-through stage, and sets corresponding speed parameters for each stage. For example, in the backswing stage, the system determines the maximum amplitude and acceleration process of the swing according to the target hitting distance; in the downswing stage, the acceleration curve is adjusted based on the terrain characteristics to ensure the best hitting speed at the hitting point; in the follow-through stage, the system sets an appropriate deceleration curve to ensure the balance of the movement. This speed planning method based on the relative position relationship transforms the static swing trajectory into a dynamic target swing trajectory with practical application significance, which can help the player better control the hitting force and rhythm and improve the hitting accuracy. Compared with only considering the spatial characteristics of the movement trajectory, this method of optimizing the speed by combining the hitting environment is more practical and can help the player maintain a stable performance level under different field conditions.

[0068] 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.

[0069] Among them, the swing video refers to the multi-angle dynamic image recording of the entire swing process of the target player by the carrier vehicle through its equipped high-speed camera system. In the embodiment of the present application, it can be understood as a high-frame-rate video sequence that records the complete movement process from the player's preparation for hitting to the completion of the follow-through, including the movement states of each joint point of the player's body and the movement trajectory of the club and other visual information.

[0070] The initial swing trajectory refers to the three-dimensional space trajectory data of the movement states of each joint point and the movement path of the club in the actual swing action of the player obtained through 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 that includes the spatial position changes of key nodes such as the shoulder joint, elbow joint, and wrist joint of the player during the swing, and the movement trajectories of the club in each stage of preparation, backswing, downswing, and follow-through.

[0071] Specifically, it is necessary to collect the actual swing process of the target player through the on-board camera device 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, so as to evaluate the standardization of the player's actions. In specific implementation, the carrier vehicle first conducts multi-angle video collection of the entire swing process of the target player through its equipped high-speed camera system, and the frame rate of the collected video is not less than 240 frames per second to ensure that the subtle action changes during the swing process can be captured. Then, the control system uses computer vision algorithms to perform image processing on the collected video, including moving target detection, key point positioning, and trajectory tracking, etc. The system identifies each joint point of the player's body through a deep learning model, simultaneously tracks the movement trajectory of the club head, and converts this spatial position information into three-dimensional coordinate data. During the data processing process, the system will perform noise filtering and smoothing processing 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 photography 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.

[0072] Based on the above embodiments, as an optional embodiment, in step 104: Extracting the initial swing trajectory of the target player from the swing video, this step may further include the following steps:

[0073] Step 401: Mark the feature points of the target player and the club in the first frame image of the swing video.

[0074] Specifically, it is necessary to mark the feature points of the target player and the club in the first frame image of the swing video. This is because only by accurately marking these key points can a reliable reference benchmark be provided for subsequent movement trajectory tracking. In specific implementation, the system first performs human pose recognition on the first frame image through a deep learning model, automatically locates and marks the key joint points 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 head end point. The marking of these feature points is visually displayed using specific colors and shapes, and their precise pixel coordinate positions are recorded. This feature point marking method provides a clear target for subsequent movement tracking and can improve the accuracy of trajectory extraction.

[0075] Step 402: Generate the feature point movement trajectory based on the positions of the feature points of the target player and the club in each frame image of the swing video.

[0076] Specifically, the carrier vehicle needs to track the feature points marked in step 401 in consecutive frames of the swing video and generate their motion trajectories. This is because only by accurately tracking the motion of these feature points can the actual swing motion of the target player be restored. In specific implementation, the system uses computer vision algorithms such as the optical flow method to establish the correspondence of feature points between adjacent frames of the video and calculate the displacement vectors of each feature point between consecutive 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 handle the problem of feature point loss caused by occlusion or rapid movement. By connecting the positions of the corresponding feature points in each frame, the system finally generates a set of feature point motion trajectories that reflect the motion states of each joint point and the club. This trajectory generation method based on video sequences can accurately record the dynamic features during the swing of the target player.

[0077] Step 403: Smooth the feature point motion trajectory and use the smoothed feature point motion trajectory as the initial swing trajectory of the target player.

[0078] Specifically, the carrier vehicle 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 moving average or spline interpolation to perform noise reduction and smoothing processing on 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 processing method not only retains the essential features of the swing motion but also improves the usability of the trajectory data, laying a good data foundation for subsequent motion analysis.

[0079] Step 105: Compare the target swing trajectory and the initial swing trajectory, determine the parts of the action to be corrected during the swing of the target player, and control the carrier vehicle to output voice prompt information corresponding to the parts of the action to be corrected to the target player.

[0080] Among them, the parts of the action to be corrected refer to the parts of the player's body or action links that are found to have obvious deviations and need to be adjusted and improved after comparing and analyzing the target swing trajectory and the initial swing trajectory. In the embodiments of the present application, it can be understood as the positions where the actual motion trajectories of the key parts such as the player's shoulders, arms, wrists, and hips deviate from the standard action trajectories by more than a preset threshold during the swing, and the specific links that need to be corrected in the key action stages such as the backswing, downswing, hitting point, and follow-through.

[0081] The voice prompt information refers to the targeted action improvement suggestions selected and played by the carrier vehicle from a preset professional guidance voice library according to the identified action parts to be corrected. In the embodiments of the present application, it can be understood as a set of voice instructions including specific action parts, improvement directions, and professional technical essentials, such as standardized and easy-to-understand voice prompt contents like "Please keep your left arm straight", "The hip needs to increase the rotation range", "Pay attention to keeping the club face angle when swinging down", etc.

[0082] Specifically, the carrier vehicle needs to compare the initial swing trajectory of the target player with the target swing trajectory generated by the system to find the parts of the action that need to be improved and provide timely feedback. This is because only by accurately identifying the action deviation and giving targeted guidance can it help the player effectively improve their hitting technique. When specifically implemented, the control system of the carrier vehicle first aligns the initial swing trajectory and the target swing trajectory in the same coordinate system, and uses the dynamic time warping algorithm to perform temporal matching on the two trajectories. Then, the system calculates the spatial position deviation of each key node at the corresponding moment, and combines it with the preset action scoring standard to identify the body parts and action stages where the deviation exceeds the threshold. For example, the system may find problems such as the player's left arm bending too much during the backswing stage or insufficient hip rotation during the downswing stage. Based on the detected action deviation, the system will select the corresponding guidance voice from the pre-constructed voice prompt library and play the prompt information to the target player through the speaker system of the carrier vehicle, such as specific guidance suggestions like "Please keep your left arm straight" or "Pay attention to increasing hip rotation". This method of real-time action analysis and voice feedback can help the player timely discover and correct the deficiencies in the action and avoid forming wrong action habits.

[0083] Based on the above embodiments, as an alternative embodiment, in step 105: comparing the target swing trajectory and the initial swing trajectory to determine the action parts to be corrected of the target player during the swing process, this step may further include the following steps:

[0084] Step 501: Perform temporal alignment on the target swing trajectory and the initial swing trajectory in a preset coordinate system, and determine the position deviation corresponding to multiple time points after the temporal alignment of the target swing trajectory and the initial swing trajectory.

[0085] 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 perform temporal matching on the two trajectories, and divides the swing action into standardized temporal stages such as preparation, backswing, downswing, and follow-through, ensuring that the two trajectories can accurately correspond at key action nodes. After completing the temporal alignment, the system calculates the Euclidean distance between the corresponding feature points on the target swing trajectory and the initial swing trajectory at multiple sampling time points, obtaining a quantitative index reflecting the degree of action deviation. For example, the system will calculate the differences between parameters such as the wrist position and elbow joint angle of the player at each moment during the downswing stage and the standard trajectory. This trajectory comparison method based on temporal alignment not only considers the temporal characteristics of the action but also ensures the accuracy of the spatial position deviation calculation, providing reliable data support for subsequent action evaluation. Compared with simple point-to-point comparison, this analysis method considering temporal relationships is more in line with the continuous characteristics of the golf swing action and can more accurately reflect the problems of the player at different action stages.

[0086] Step 502: Use the joint parts corresponding to the time points with position deviation exceeding the position deviation threshold as the action parts to be corrected.

[0087] Specifically, the carrier vehicle needs to identify the joint parts 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, and only the deviations exceeding the allowable range will significantly affect the hitting effect. In specific implementation, the system first sets corresponding position deviation thresholds for different joint parts according to the experience of professional coaches and the action data of a large number of excellent players. For example, the deviation threshold for the wrist part may be set to 5 cm, while the deviation threshold for the hip part may be set to 10 cm. The setting of these thresholds takes into account the importance and allowable change range of different joints in the swing action. Then, the system compares the position deviation values calculated at each time point with the position deviation thresholds of the corresponding joint parts. When the position deviation at a certain time point exceeds the preset threshold, the system will mark the joint part corresponding to this time point as the action part to be corrected. For example, if the system finds that the position deviation of the player's left wrist during the downswing stage continuously exceeds 5 cm, the left wrist will be listed as the action part to be corrected. This method of screening action parts based on threshold judgment can effectively identify the key links that need to be improved in the player's action, avoid giving too many correction requirements due to overly strict standards, and ensure the focus and pertinence of teaching feedback. The action parts to be corrected screened in this way can help the player focus on the most critical technical problems and improve the practice efficiency.

[0088] 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 differences based on the swing speeds corresponding to each time point.

[0089] Specifically, the carrier vehicle needs to analyze the speed control of the target player during the swing process. This is because reasonable changes in swing speed not only directly affect the hitting distance and accuracy, but also are closely related to the coordination of the overall movement. In specific implementation, the system first calculates the instantaneous speeds of the target swing trajectory and the initial swing trajectory at each time sequence point respectively. The calculation method is to use the position difference between 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 sequence points to obtain a quantitative index reflecting the speed control deviation. For example, the system may find that the speed curve of the player during the downswing acceleration phase lags significantly compared to the target trajectory, or the speed peak near the hitting point is lower than the ideal level. This analysis method based on speed difference can not only reflect the player's power transfer and speed regulation capabilities during key movement phases, but also help discover dynamic problems that may be overlooked 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 movement characteristics, provide richer basis for subsequent technical guidance, and thus help the player master a reasonable speed rhythm while maintaining the correct movement trajectory.

[0090] Step 504: Take the joint part corresponding to the time sequence point where the speed difference exceeds the speed difference threshold as the action part to be corrected.

[0091] Specifically, the carrier vehicle needs to identify the joint part with improper speed control according to the analysis result of the speed difference. This is because the speed change during the swing process must follow a specific rhythm rule, and being too fast or too slow will affect the hitting quality. In specific implementation, the system sets corresponding speed difference thresholds for different movement phases based on the statistical data of a large number of excellent players and the experience of professional coaches. For example, the speed difference threshold for the backswing phase may be set to 1 m / s, and the speed difference threshold for the downswing acceleration phase may be set to 2 m / s. The setting of these thresholds takes into account the different requirements for speed control in different movement phases. When the system detects that the speed difference at a certain time sequence point exceeds the corresponding threshold, it will mark the joint part related to this time sequence point as the action part to be corrected. For example, if the system finds that the wrist speed of the player during the downswing acceleration phase is 3 m / s 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 the speed difference threshold can effectively identify the weak links in the player's movement rhythm and power transfer chain, and combined with the previous position deviation analysis, form a more complete movement evaluation system. The action parts to be corrected determined in this way not only focus on the static position accuracy, but also include the dynamic speed control requirements, which can help the player improve the technical movement more comprehensively.

[0092] Based on the above embodiments, as an alternative embodiment, in step 105: controlling the carrier vehicle to output voice prompt information corresponding to the action part to be corrected, this step may further include the following steps:

[0093] Step 505: In the preset correction voice library, determine multiple candidate correction guidance voice packs corresponding to the action part to be corrected.

[0094] Specifically, it is necessary to search for the corresponding voice guidance content according to the identified action part to be corrected, because different action parts require targeted technical guidance. When specifically implemented, the system sets candidate correction guidance voice packs 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 screen out multiple possible guidance voices from the voice library, such as "Keep the left wrist straight", "Reduce the bending of the left wrist", "Increase the bending of the left wrist", etc.; when the action part to be corrected is the hip, relevant voice contents such as "Increase hip rotation", "Control the hip rotation speed", "Keep the hip stable" will be screened out. This method of screening voice packs based on the action part ensures that the most suitable content can be selected from professional and standardized guidance voices subsequently.

[0095] Step 506: 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.

[0096] Specifically, the carrier vehicle needs to determine the correction strength according to the specific degree of the action deviation, because the same action problem may require adjustment suggestions of different degrees. When specifically implemented, the system first obtains the position deviation or speed difference of the action part to be corrected at the corresponding time sequence point, and then maps these deviation values to the preset correction amplitude levels. 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 selecting the appropriate guidance voice subsequently.

[0097] Step 507: According to the action correction amplitude, determine the corresponding target correction guidance voice pack among the candidate correction guidance voice packs, and use the target correction guidance voice pack as the voice prompt information corresponding to the action part to be corrected; control the carrier vehicle to output the voice prompt information.

[0098] Specifically, the carrier vehicle needs to select the most appropriate guiding voice according to the calibration amplitude and play it, because the teaching feedback needs to be both accurate and easily acceptable. In specific implementation, the system first matches the action calibration amplitude with the guiding intensity in the candidate calibration guiding voice package. For example, for a slight deviation in the wrist position, the system may select a gentle prompt voice such as "Please straighten your left wrist slightly"; while for a severe lack of hip rotation, it may select a stronger guiding voice such as "It is necessary to significantly increase the hip rotation amplitude". After determining the target calibration guiding voice package, the system plays these guiding contents to the target player in a clear voice through the audio output device of the carrier vehicle. This method of selecting the guiding 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 the player to accept and execute these suggestions, thereby improving the auxiliary teaching effect.

[0099] Referring to Figure 2 , a carrier vehicle-assisted teaching system based on visual recognition provided by an embodiment of the present application, the system includes: a data acquisition module, a position relationship determination module, a swing trajectory determination module, and a carrier vehicle control module, where:

[0100] The data acquisition module acquires the height, club length, club angle of the target player collected by the carrier vehicle, and the position of the hole to be scored.

[0101] The position relationship determination module is 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.

[0102] The swing trajectory determination module is used to combine the height, club length, and club angle to construct the target swing trajectory of the target player under the relative position relationship; acquire 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.

[0103] The carrier vehicle control module is used to compare the target swing trajectory and the initial swing trajectory, determine the part of the action to be corrected during the swing of the target player, and control the carrier vehicle to output voice prompt information corresponding to the part of the action to be corrected to the target player.

[0104] On the basis of the above embodiment, the position relationship determination module is further used to acquire the first spatial coordinate of the current position of the target player and the second spatial coordinate of the position of the hole to be scored; calculate the horizontal distance, 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 coordinate and the second spatial coordinate; and use the spatial relationship corresponding to the horizontal distance, height distance, and angle as the relative position relationship between the target player and the hole to be scored.

[0105] Based on the above embodiments, the swing trajectory determination module is further configured to determine multiple joint position points of the target player during the swing according to the height; calculate the standard movement angles of each joint position point during the swing based on the club length and the club angle; connect the standard movement angles of each joint position point in sequence according to the preset swing action timing sequence to obtain the static swing trajectory of the target player; and 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.

[0106] Based on the above embodiments, the swing trajectory determination module is further configured 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 movement trajectory based on the positions of the target player feature points and the club feature points in each frame image of the swing video; perform smoothing processing on the feature point movement trajectory, and use the smoothed feature point movement trajectory as the initial swing trajectory of the target player.

[0107] Based on the above embodiments, the carrier vehicle control module is further configured to perform timing alignment on the target swing trajectory and the initial swing trajectory in a preset coordinate system, and determine the position deviation corresponding to multiple timing points after the timing alignment of the target swing trajectory and the initial swing trajectory; use the joint part corresponding to the timing point with the position deviation exceeding the position deviation threshold as the part of the action to be corrected; obtain the swing speeds corresponding to each timing point of the target swing trajectory and the initial swing trajectory, and calculate the corresponding speed difference based on the swing speeds corresponding to each timing point; use the joint part corresponding to the timing point with the speed difference exceeding the speed difference threshold as the part of the action to be corrected.

[0108] Based on the above embodiments, the carrier vehicle control module is further configured to determine multiple candidate correction guidance voice packs corresponding to the part of the action to be corrected in a preset correction voice library; obtain the position deviation or speed difference corresponding to the part of the action 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 pack in each candidate correction guidance voice pack according to the action correction amplitude, and use the target correction guidance voice pack as the voice prompt information corresponding to the part of the action to be corrected; control the carrier vehicle to output the voice prompt information.

[0109] Based on the above embodiments, the carrier vehicle control module is further configured to obtain the real-time position of the target player collected by the carrier vehicle; calculate the distance between the current position of the carrier 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 value of the preset safe following distance range, control the carrier vehicle to perform a backward operation; if the distance is greater than the upper limit value of the preset safe following distance range, determine the target following position of the carrier 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 carrier vehicle to move from the current position to the target following position; control the carrier vehicle to move along the following path to the target following position.

[0110] It should be noted that: when the device provided in the above embodiments realizes its functions, only the above-mentioned division of each functional module is used for illustration. In actual applications, the above functions can be allocated to different functional modules according to needs, 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 embodiments belong to the same concept, and the specific implementation process can be seen in the method embodiments, which will not be repeated here.

[0111] This application also discloses an electronic device. Refer to Figure 3 , Figure 3 which is a schematic structural diagram of an electronic device disclosed in an embodiment of this application. 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.

[0112] Among them, the communication bus 302 is used to realize the connection and communication between these components.

[0113] Among them, the user interface 303 may include a display interface and a camera interface. Optionally, the user interface 303 may further include a standard wired interface and a wireless interface.

[0114] Among them, the network interface 304 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0115] Among them, the processor 301 may include one or more processing cores. The processor 301 connects various parts within the entire server through various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling the data stored in the memory 305, it performs various functions of the server and processes data. Optionally, the processor 301 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 301 may integrate a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface graphics, and application programs, 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 may be implemented separately by a single chip.

[0116] Among them, the memory 305 may include random access memory (RAM) and may also include 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, code, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store the data involved in the above-mentioned various method embodiments. The memory 305 is optionally also at least one storage device located far from the aforementioned processor 301. Refer to Figure 3 , in the memory 305 as a computer storage medium, there may be included an operating system, a network communication module, a user interface module, and an application program for an auxiliary teaching method for a vision recognition-based carrier vehicle.

[0117] In Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an interface for the user to input and obtain the data input by the user; and the processor 301 can be used to call an application program stored in the memory 305 for a vision recognition-based carrier vehicle auxiliary teaching method. When executed by one or more processors 301, the electronic device 300 is caused to execute the method in one or more of the above-mentioned embodiments. It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, certain steps can be performed in other sequences 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 essential to this application.

[0118] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0119] In several implementation manners provided by this application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there can be other division methods. For example, 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 displayed or discussed coupling or direct coupling or communication connection to each other can be through some service interfaces. The indirect coupling or communication connection of the device or unit can be in an electrical or other form.

[0120] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0121] In addition, the functional units in the various embodiments of this application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0122] When 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, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned memory includes various media such as USB flash drives, mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0123] The above are only exemplary embodiments of the present disclosure and should not be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure still fall within the scope covered by the present disclosure. Those skilled in the art will readily think of other embodiments of the present disclosure after considering the specification and the practice of the disclosure.

[0124] The present application aims to cover any variations, uses, or adaptive changes of the present disclosure that follow the general principles of the present disclosure and include well-known common knowledge or conventional technical means in the technical field not recorded in the present disclosure. The specification and the embodiments are only regarded as exemplary.

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; Comparing the target swing trajectory with the initial swing trajectory, determining the action part to be corrected of the target player during the swing, and controlling the carrier vehicle to output voice prompt information corresponding to the action part to be corrected to the target player; 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.

2. The method for teaching a vehicle-assisted vehicle based on visual recognition according to claim 1, 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 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 motion trajectory of the feature points based on the positions of the target player feature points and the club feature points in each frame image of the swing video; The motion trajectory of the feature points is smoothed, and the smoothed motion trajectory of the feature points is used as the initial swing trajectory of the target player.

4. 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.

5. 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.

6. 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.

7. 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; A carrier vehicle control module, used for comparing the target swing trajectory with the initial swing trajectory, determining the target player's action part to be corrected during the swing, and controlling the carrier vehicle to output voice prompt information corresponding to the action part to be corrected to the target player; 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.

8. 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 1-6.

9. 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 1-6 is executed.

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