Virtual and real fused golf system ball position positioning method and system

Abstract

The invention discloses a virtual and real fused golf system ball position positioning method and system, and the method comprises the steps: building a unified real field coordinate system covering a whole real field based on a satellite positioning system, building a virtual field model under the coordinate system, and building a field attribute mapping relation; a target ball falling area is firstly limited by combining the site attribute of the virtual ball position, then coordinates of a target ball falling point are solved by fusing satellite absolute position information and relative distance measurement information of a ground reference base station in the area, and a ball holding mechanism is driven to place a ball and returns the coordinates; therefore, deviation caused by satellite positioning drifting is restrained in the two aspects of the ball position coordinates and the ball hitting scene at the same time, high-precision and consistent switching from the virtual ball position to the real ball position is achieved, and the continuity and immersion experience of the virtual and real fusion golf system are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of golf sports system technology, and in particular to a method and system for ball positioning in a golf sports system that integrates virtual and real elements. Background Technology

[0002] In existing golf systems, one approach uses a virtual golf simulator to recreate the course environment indoors, providing users with shot trajectories and score feedback, but lacks the tactile feel and course feedback of a real fairway and green. Another approach attempts to place real fairways and greens corresponding to the virtual course next to the virtual golf simulator, and use a positioning device to convert the virtual ball position into a real ball position, allowing users to switch between the virtual environment and the real course to complete the same round of shots.

[0003] In such hybrid virtual-real solutions, accurately and stably mapping virtual ball positions to specific landing locations on the real golf course, while ensuring consistency between the actual course attributes of the real ball position and the virtual ball position's corresponding fairway, green, rough, or bunker area, is crucial to user experience and system reliability. Existing technologies largely rely on satellite positioning and simple coordinate conversions, lacking a unified mapping relationship based on course attributes and target area constraints. They also fail to effectively control positioning drift and scene consistency, easily leading to deviations in position and scene between virtual and real ball positions. This makes it difficult to achieve a ball position correspondence that is both accurate and consistent during scene transitions between virtual and real environments. Summary of the Invention

[0004] The purpose of this application is to propose a ball positioning method and system for a golf sports system that integrates virtual and reality, so as to solve the technical problem that the ball position correspondence cannot be both accurate and consistent in the scene switching of virtual and reality integration.

[0005] To address the aforementioned technical problems, this application provides a method for ball positioning in a golf system that integrates virtual and real-world elements, employing the following technical solution: A method for ball positioning in a golf system that integrates virtual and real-world elements, comprising the following steps: The actual golf course is surveyed based on a satellite positioning system to obtain the geographical boundary data of each hole in the actual golf course, and a coordinate system of the actual site is established based on the geographical boundary data. In a virtual golf simulator, a virtual golf course model corresponding to the real-world field coordinate system is constructed, and a field attribute mapping relationship is established between the field attribute areas in the virtual hole and the corresponding areas in the real-world field coordinate system. When the virtual golf simulator determines the current virtual ball position, it outputs ball position information, including the coordinates of the virtual ball position and the field attributes to which it belongs, to the ball position positioning terminal. Based on the field attributes in the ball position information and the field attribute mapping relationship, the ball position positioning terminal defines the target ball landing area corresponding to the field attribute in the real field coordinate system, and uses the target ball landing area as the unique position constraint for subsequent positioning. Under the position constraint, the ball positioning terminal takes the field attributes as the priority constraint, receives absolute position information from the satellite positioning system and relative ranging information from multiple ground reference base stations, performs fusion calculation within the target ball landing area that corresponds to the field attributes and includes terrain elevation information, obtains the coordinates of the target ball landing point, and uses the target ball landing area to constrain and correct the position drift of the satellite positioning system. The ball-holding mechanism, which works in conjunction with the ball positioning terminal, places a golf ball or marker at the target landing point and feeds back the coordinates of the target landing point to the virtual golf simulator to update the current ball position, thereby enabling the switching of the ball position from the virtual scene to the real scene.

[0006] To address the aforementioned technical problems, this application also provides a ball positioning system for a golf game that integrates virtual and real-world elements, employing the following technical solution: A ball positioning system for a golf game that integrates virtual and real-world elements, comprising: The acquisition module is configured to survey the actual golf course based on a satellite positioning system, acquire the geographical boundary data of each hole in the actual golf course, and establish a real site coordinate system based on the geographical boundary data; The construction module is configured to build a virtual golf course model in a virtual golf simulator that corresponds to the real-world field coordinate system, and to establish a field attribute mapping relationship between the field attribute area in the virtual hole and the corresponding area in the real-world field coordinate system. The output module is configured to output ball position information, including the coordinates of the virtual ball and the field attributes to the ball position positioning terminal, when the virtual golf simulator determines the current virtual ball position; The limiting module is configured such that the ball position positioning terminal limits the target ball landing area corresponding to the field attribute in the real field coordinate system according to the field attribute in the ball position information and the field attribute mapping relationship, and uses the target ball landing area as the unique position constraint for subsequent positioning. The calculation module is configured such that, under the position constraint, the ball positioning terminal takes the field attributes as the priority constraint, receives absolute position information from the satellite positioning system and relative ranging information from multiple ground reference base stations, performs fusion calculation within the target ball landing area that corresponds to the field attributes and includes terrain elevation information, obtains the coordinates of the target ball landing point, and uses the target ball landing area to constrain and correct the position drift of the satellite positioning system. The control module is configured to control the ball-holding mechanism, which cooperates with the ball positioning terminal, to place a golf ball or marker at the target landing point, and to feed back the coordinates of the target landing point to the virtual golf simulator to update the current ball position and realize the ball position switching from the virtual scene to the real scene.

[0007] To address the aforementioned technical problems, this application also provides a computer device that employs the following technical solution: A computer device includes a memory and a processor, wherein the memory stores computer-readable instructions, and the processor executes the computer-readable instructions to implement the steps of the ball positioning method for a virtual-reality integrated golf system as described above.

[0008] To address the aforementioned technical problems, this application also provides a computer-readable storage medium, employing the technical solution described below: A computer-readable storage medium storing computer-readable instructions, which, when executed by a processor, implement the steps of the ball positioning method for a virtual-reality integrated golf system as described above.

[0009] Compared with the prior art, the embodiments of this application have the following main advantages: The ball positioning method for a virtual-real integrated golf system disclosed in this application first establishes a unified real-world field coordinate system covering the entire real-world course based on a satellite positioning system. Then, a virtual course model is constructed under this coordinate system, and a field attribute mapping relationship is established. The target landing area is first defined by combining the field attributes of the virtual ball position. Then, within this area, the absolute position information of the satellite and the relative distance measurement information of the ground reference base station are integrated to obtain the coordinates of the target landing point. The ball-handling mechanism is then driven to release the ball and transmit the coordinates back. This simultaneously suppresses the deviation caused by satellite positioning drift in terms of both ball position coordinates and the hitting scene, achieving a high-precision and consistent switching from the virtual ball position to the real ball position, and significantly improving the continuity and immersive experience of the virtual-real integrated golf system. Attached Figure Description

[0010] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a flowchart of an embodiment of the ball positioning method for a virtual-reality integrated golf system according to this application; Figure 2This is a schematic diagram of a structure of an embodiment of the ball positioning system of the virtual and reality integrated golf sports system according to this application; Figure 3 This is a schematic diagram of the structure of one embodiment of the computer device according to this application; Figure 4 This is a schematic diagram of the internal structure of an embodiment of the virtual golf simulator of this application; Figure 5 This is a schematic diagram of an embodiment of the golf sports system of this application; Figure 6 This is a schematic diagram of an embodiment of the virtual and reality-integrated golf system of this application; Figure 7 This is a schematic diagram of the structure of an embodiment of the ball positioning terminal of this application. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0013] refer to Figure 1 The diagram illustrates a flowchart of an embodiment of a ball positioning method for a virtual-reality integrated golf system according to this application. The ball positioning method for a virtual-reality integrated golf system includes the following steps: Step S101: Survey the actual golf course based on the satellite positioning system, obtain the geographical boundary data of each hole in the actual golf course, and establish the actual site coordinate system based on the geographical boundary data.

[0014] In this embodiment, the electronic device running on the virtual-reality integrated golf ball positioning system can send or receive data via wired or wireless connections. It should be noted that the aforementioned wireless connection methods may include, but are not limited to, 3G / 4G / 5G connections, WiFi connections, Bluetooth connections, WiMAX connections, Zigbee connections, UWB (ultrawideband) connections, and other currently known or future-developed wireless connection methods.

[0015] In this embodiment, the actual golf course is first surveyed using a satellite positioning system, which can be understood as a global satellite navigation system including GPS, BeiDou, GLONASS, and Galileo. Multiple samples are taken from key points such as the tee box, fairway boundaries, and green outlines of each hole to obtain the latitude, longitude, and elevation data of these points in a geographic coordinate system. Then, a "real-world coordinate system" is established based on this data. This involves selecting a reference point within the course as the origin and defining fixed coordinate axis directions, uniformly converting the discrete boundary measurement points into coordinates within this local coordinate system. In this way, subsequent calculations and comparisons, whether for virtual course modeling or motion control of the ball positioning terminal, can be performed within the same real-world coordinate system. For example, for a standard par-4 hole, the left corner of the tee box's front edge can be defined as the origin, the X-axis along the fairway direction can be defined, and the Y-axis can be defined laterally. The fairway edge and green outline of the hole are collected as a series of points with coordinate labels, forming clear geometric boundaries in the real-world coordinate system.

[0016] Step S102: Construct a virtual golf course model in the virtual golf simulator that corresponds to the real-world field coordinate system, and establish a field attribute mapping relationship between the field attribute areas in the virtual hole and the corresponding areas in the real-world field coordinate system.

[0017] In this embodiment, after establishing the real-world coordinate system, the virtual golf simulator constructs a corresponding virtual golf course model, which digitally describes the terrain of the hole under the same reference coordinates. The virtual hole is typically divided into different terrain attribute areas such as the fairway, green, rough, bunker, and green edge. These attributes not only represent geometric locations but also implicitly contain semantic information such as shot difficulty, grass height, and surface texture. By establishing a one-to-one mapping between these terrain attribute areas in the virtual model and their corresponding areas in the real-world coordinate system, it's equivalent to attaching a virtual label to each area of ​​the real-world course: for example, a 3m×3m area on the left front edge of the green in the virtual model corresponds to a specific patch of grass on the left front edge of the green in the real-world coordinate system; the outline of a virtual bunker corresponds to a depression filled with fine sand in the real-world course. In this way, any terrain attribute unit in the virtual course model can find a corresponding area in the real-world coordinate system, laying the foundation for subsequently defining candidate areas in the real-world course based on the attributes of the virtual ball position.

[0018] Step S103: When the virtual golf simulator determines the current virtual ball position, it outputs ball position information containing the coordinates of the virtual ball position and the field attributes to the ball position positioning terminal.

[0019] In this embodiment, after a user completes a shot in the virtual golf simulator, the virtual system calculates the coordinates of the virtual ball's landing point based on parameters such as ball speed, launch direction, and wind speed, and determines whether the ball belongs to the fairway, green, rough, or bunker area. The virtual ball coordinates refer to its spatial location in the virtual course coordinate system, which can be converted to the real-world course coordinate system; the course attribute is a label indicating the category of the area where the location is situated. The system packages these two pieces of information into ball position information and sends it to a ball position positioning terminal, such as a control unit installed on an automated guided vehicle or track mechanism, via wired or wireless means, so that the equipment on the real-world course knows approximately where the ball should land.

[0020] In step S104, the ball positioning terminal defines the target ball landing area corresponding to the field attribute in the real field coordinate system based on the field attribute in the ball position information and the field attribute mapping relationship, and uses the target ball landing area as the unique position constraint for subsequent positioning.

[0021] In this embodiment, after receiving the ball position information, the ball position positioning terminal does not immediately search for the specific location across the entire course. Instead, it first uses the field attributes in the ball position information and the aforementioned field attribute mapping relationship to define a target landing area in the real-world field coordinate system. That is, if the virtual ball position is determined to be on the green, only the area corresponding to that green is taken as the target landing area in the real-world field coordinate system; if the virtual ball position is in the rough, only the area corresponding to the rough is taken. This target landing area can be a polygon or rectangle in coordinates, and its boundaries are determined by pre-recorded coordinates of the corresponding area. Using the target landing area as the sole location constraint for subsequent positioning means that all subsequent positioning calculations are limited to this small area and do not consider areas outside the fairway. For example, for the rough on the left side of a hole's green, a 2m × 4m strip can be pre-defined. When the virtual ball position falls into this rough, the ball position positioning terminal only searches for the specific landing point within this area. This ensures that the real ball position corresponds to the correct field attributes while significantly narrowing the positioning search range.

[0022] In step S105, under the position constraint, the ball positioning terminal takes the field attributes as the priority constraint, receives absolute position information from the satellite positioning system and relative ranging information from multiple ground reference base stations, performs fusion calculation within the target ball landing area that corresponds to the field attributes and includes terrain elevation information, obtains the coordinates of the target ball landing point, and uses the target ball landing area to constrain and correct the position drift of the satellite positioning system.

[0023] In this embodiment, under the constraint of the target ball landing area, the ball positioning terminal obtains its absolute position information—that is, its approximate position in the geographic coordinate system or the actual field coordinate system—through a satellite positioning system. Simultaneously, it obtains relative ranging information through multiple ground reference base stations deployed around the actual field. These ground reference base stations are fixed reference nodes installed around the field. The position of each base station in the actual field coordinate system has been accurately determined through the aforementioned survey and calibration. The distance between the ball positioning terminal and these base stations can be measured using ultra-wideband, carrier phase differential, or other wireless ranging technologies. Absolute position information typically exhibits random drift on the order of meters, while relative ranging information has high short-term stability. By inputting both into a fusion calculation algorithm—for example, constructing a constrained least squares or Kalman filter model within the finite range of the target ball landing area—a solution is obtained that simultaneously satisfies the satellite absolute position constraint and the multi-base station distance constraint, thereby obtaining a more accurate target ball landing point coordinate within the target ball landing area. Since the area of ​​the target ball landing zone is much smaller than the entire course area, the solution space will be restricted to this area during the solution process. If the satellite positioning drifts by a few meters due to obstruction, reflection, or other reasons, the fusion algorithm will also pull the solution back to a reasonable area due to the constraint of the target ball landing zone. For example, it can correct the solution that was originally off the green to the grass on the edge of the green, thereby constraining and correcting the satellite positioning drift.

[0024] It should be noted that the terminal first determines the three-dimensional range of the target ball landing area within the real-world coordinate system based on the site attribute mapping. This range includes both the planar boundary corresponding to the site attribute and the allowable elevation zone. Subsequently, within this three-dimensional range, the terminal receives and uses two types of positioning observations for fusion calculation: one is absolute position information from the satellite positioning system, i.e., coordinate solutions obtained based on global or local geodetic benchmarks and converted to the real-world coordinate system; the other is relative ranging information from multiple surrounding ground reference base stations, i.e., distances, time differences of arrival, or relative azimuth observations between the terminal and each base station. During the fusion solution process, if the calculation result is inconsistent with the site attribute or falls outside the allowable elevation of that site attribute, the solution is recalculated within the target ball landing area according to the site attribute priority rule, or the solution is adjusted to a three-dimensional position consistent with the site attribute. Based on this, the coordinates of the target ball landing point are determined, and the target ball landing area constrains and corrects the drift of satellite positioning, ensuring that the final landing point satisfies both positional accuracy and scene consistency.

[0025] Step S106: Control the ball-holding mechanism that cooperates with the ball position positioning terminal to place a golf ball or marker at the target landing point, and feed back the coordinates of the target landing point to the virtual golf simulator to update the current ball position and realize the ball position switching from the virtual scene to the real scene.

[0026] In this embodiment, after obtaining the coordinates of the target landing point, the ball positioning terminal drives its cooperating ball-holding mechanism to actually release the golf ball or a marker. The marker can be a brightly lit spherical object or emit a buzzing sound to attract attention. The ball-holding mechanism can be an electric robotic arm mounted on a cart or a ball-throwing device that moves along a guide rail. It controls its own movement and the action of its end effector based on the coordinates of the target landing point, so that the golf ball ultimately lands at the corresponding target landing point position in the real-world field coordinate system. For example, when the target landing point is located 0.5 meters to the right of the center of the green, the cart travels to that position according to the calculated path and the mechanism steadily places the ball on the grass. After releasing the ball, the ball positioning terminal also feeds back the final target landing point coordinates to the virtual golf simulator as the basis for updating the starting ball position for the next shot in the virtual system, thereby ensuring that subsequent calculations in the virtual round are based on the real landing point, truly achieving continuity and consistency in the ball position switching between the virtual and real scenes. This process—first defining the target landing area based on the field attributes, then integrating absolute and relative positioning within that area to determine the target landing point, and finally driving the ball-handling mechanism to complete the ball release and coordinate return—enables a virtual-to-real golf system to stably map the virtual ball position to the specific location on the real course while ensuring the matching of the hitting environment.

[0027] In this embodiment, as Figure 4 and Figure 5 As shown, the movable screen golf simulator A1 is arranged in conjunction with the real fairway C1 and the real green B1. The ball positioning terminal D1 moves within the area of ​​the real fairway C1 and the real green B1 and performs the ball placement. Players complete tee shots and mid-to-long-range shots in the golf simulator A1, and chip shots and putts on the real green B1 or the real fairway C1, allowing the same round to be conducted continuously between virtual and reality.

[0028] like Figure 5 and Figure 6 As shown, after determining the current virtual ball position, golf simulator A1 sends ball position information to intelligent positioning terminal D1. The ball position information includes at least the position of the virtual ball in the virtual coordinate system and the field attributes to which it belongs. Based on a pre-established field attribute mapping relationship, ball position positioning terminal D1 defines the target landing area E0 corresponding to the field attribute in the real field coordinate system, and uses the target landing area E0 as the sole position constraint for subsequent positioning and actions.

[0029] like Figure 7As shown, the ball positioning terminal D1 consists of a communication module, a positioning module, a movement module, a central processing unit, and a ball-holding robotic arm. The positioning module includes a satellite positioning unit and a relative positioning unit; the relative positioning unit communicates with ground reference base stations P1 and P2 deployed around the field to obtain ranging information. The system performs fusion positioning within the target ball landing area E0: the satellite positioning unit provides absolute position constraints to ensure that the activity range of the ball positioning terminal D1 is within the boundary of the corresponding hole; the relative positioning unit combines the ranging results from reference base stations P1 and P2 for calculation; and the central processing unit fuses the absolute position information and relative ranging information within the target ball landing area E0 to obtain the target ball landing point coordinates E1.

[0030] After obtaining the target ball landing point coordinates E1 and before actually releasing the ball, the ball positioning terminal D1 collects environmental parameters of the neighborhood of the target ball landing point coordinates E1 to verify the consistency of attributes between the real field and the virtual scene; if there is a discrepancy, the target ball landing point coordinates E1 are adjusted within a small range in the target ball landing area E0 and rechecked until the consistency meets the preset conditions.

[0031] The mobile module drives the ball positioning terminal D1 to position E1, and the ball-holding robotic arm places the golf ball at E1. Then, the ball positioning terminal D1 writes back the final target landing point coordinates E1 to the golf simulator A1 as the starting ball position for the next shot, so that the virtual end and the real end are aligned, thereby completing the switch from the virtual scene to the real scene.

[0032] This application first establishes a unified real-world field coordinate system based on a satellite positioning system, covering the entire real-world golf course. Then, it constructs a virtual golf course model within this coordinate system and establishes a mapping relationship of field attributes. Combining the field attributes of the virtual ball position, it first defines the target landing area. Then, within this area, it integrates the absolute position information of the satellite and the relative distance measurement information of the ground reference base station to obtain the coordinates of the target landing point. It then drives the ball-handling mechanism to release the ball and transmit the coordinates back. This simultaneously suppresses the deviation caused by satellite positioning drift in terms of both ball position coordinates and the hitting scenario, achieving a high-precision and consistent switching from the virtual ball position to the real ball position. This significantly improves the continuity and immersive experience of the virtual-real integrated golf system.

[0033] In some optional implementations of this embodiment, the steps of surveying the actual golf course based on a satellite positioning system, obtaining the geographical boundary data of each hole in the actual golf course, and establishing a real-world coordinate system based on the geographical boundary data include: Obtain the geographic coordinates of various ground reference base stations deployed around the actual stadium; The geographical coordinates of various ground reference base stations are transformed and calibrated to the actual site coordinate system for the purpose of unifying the coordinate benchmark.

[0034] In this embodiment, not only are satellite measurements performed on the boundaries of the holes, fairways, and green outlines, but the geographical coordinates of ground reference base stations deployed around the actual golf course are also acquired simultaneously. These base stations' latitude and longitude coordinates are then uniformly converted and calibrated to the same actual field coordinate system. These ground reference base stations can be understood as reference nodes fixedly installed around the golf course, such as RTK or ultra-wideband base station poles, whose positions are accurately measured during construction using high-precision methods. By projecting the positions of these base stations into the actual field coordinate system, a unified coordinate benchmark is provided for all subsequent relative distance measurement information. This facilitates the direct conversion of the terminal's distance from the base station into the terminal's coordinates in the golf course coordinate system. For example, if four reference base stations are installed at the four corners of a green, their coordinates in the actual field coordinate system are fixed through the conversion and calibration described in this claim. Subsequently, as long as the distance between the terminal and the four base stations is measured, geometric calculations can be performed in the same coordinate system, eliminating the need for frequent conversions between latitude / longitude and local coordinates, thus reducing error accumulation.

[0035] This application transforms and calibrates the geographic coordinates of various ground reference base stations deployed around the actual field into the actual field coordinate system while establishing the actual field coordinate system. This ensures that the relative ranging information provided by the ground reference base stations is based on the same coordinate benchmark for fusion calculation. This fundamentally avoids the transformation error and algorithm complexity caused by mixing latitude and longitude coordinates with local coordinates, and improves the accuracy and stability of solving the target ball landing point coordinates by fusing absolute and relative positioning.

[0036] In some optional implementations of this embodiment, in the step of constructing a virtual golf course model corresponding to the real-world coordinate system in a virtual golf simulator and establishing a mapping relationship between the field attribute areas in the virtual hole and the corresponding areas in the real-world coordinate system, the field attributes at least include the teeing area, fairway, sand, trees, bunkers, rough, water, areas where the ball is lost or cannot be hit, marked areas, and drop areas. The step further includes: The virtual court model divides each field attribute area into multiple field units with unique numbers; Each field unit records the boundary coordinates of its corresponding area in the real field coordinate system, so that when the ball positioning terminal limits the target ball landing area based on the field attributes and number in the ball position information, it can directly lock the candidate area corresponding to the current virtual ball position.

[0037] In this embodiment, each fairway, green, rough, and bunker area in the virtual golf course is further divided into multiple uniquely numbered course units. This can be understood as dividing the virtual green into a grid and the rough into several smaller blocks, each with an independent number. Simultaneously, the boundary coordinates of the corresponding area in the real-world course coordinate system are recorded for each course unit. Thus, when the virtual golf simulator outputs ball position information, it includes not only the course attributes (e.g., the green area) but also the number of the course unit. Upon receiving the ball position information, the ball position positioning terminal can directly index the corresponding small area in the real-world course coordinate system using the attributes and number, using it as a candidate target landing area, significantly narrowing the search range. For example, if the virtual green is divided into 6×6 (36 course units), when the virtual ball lands in a square to the right rear of the green, the ball position information includes the unit number, allowing the terminal to directly find the corresponding square area on the real green without needing to perform fuzzy matching across the entire green, thus improving the speed and accuracy of defining the target landing area.

[0038] This application subdivides each field attribute region in the virtual court model into field units with unique numbers, and pre-records the boundary coordinates of the corresponding region in the real field coordinate system for each field unit. This allows the ball positioning terminal to directly lock a small candidate area corresponding to the current virtual ball position in the real field coordinate system as the target landing area after receiving the field attributes and number of the virtual ball position. This significantly reduces the positioning search range while maintaining the consistency of field attributes, and improves the accuracy and response speed of the target landing area definition.

[0039] In some optional implementations of this embodiment, before the steps described above, whereby the ball positioning terminal, under the position constraint, prioritizes the field attributes, receives absolute position information from the satellite positioning system and relative ranging information from multiple ground reference base stations, performs fusion calculations within the target ball landing area corresponding to the field attributes and containing terrain elevation information to obtain the target ball landing point coordinates, and uses the target ball landing area to constrain and correct the position drift of the satellite positioning system, the method further includes: Based on the current position of the virtual hole in the real field coordinate system and the spatial range of the target ball landing area, at least two ground reference base stations whose geometric positional relationship meets the positioning accuracy requirements are selected from the plurality of ground reference base stations as the effective reference base stations for this ball position positioning. It only receives relative ranging information from the effective reference base station to participate in subsequent fusion calculations.

[0040] In this embodiment, not all reference base stations deployed around the golf course participate in the positioning of a single ball position. Instead, based on the current position of the virtual hole in the real-world field coordinate system and the spatial range of the target landing area, at least two base stations with geometrically compatible positioning accuracy are selected from among numerous base stations as effective reference base stations for this positioning. Meeting the positioning accuracy requirements in terms of geometrically compatible positioning accuracy can be understood as: preferably, a combination of base stations with relatively wide angles and appropriate distances distributed around the target landing area, avoiding multiple base stations on the same straight line or too close together, which would cause an excessively large geometric accuracy factor, thus affecting the calculation accuracy. By only receiving relative ranging information from these effective reference base stations for subsequent fusion calculations, the computational burden can be reduced while ensuring accuracy, and data from distant or heavily obstructed base stations can be avoided, reducing the interference of abnormal ranging on the results. For example, for a given green, only two base stations located to the left front and right rear of the green are needed to obtain a good geometric configuration; it is unnecessary to simultaneously introduce base station data from the far end of the fairway.

[0041] This application optimizes the base station geometry based on the location of the current virtual hole and the spatial range of the target ball landing area before fusing absolute position information and relative ranging information. It selects at least two valid reference base stations with reasonable geometric relationships from multiple ground reference base stations and only receives their ranging information for calculation. This can dynamically optimize the base station geometry according to the specific hole and landing area, reduce the impact of geometric accuracy factor on the solution, and improve the accuracy and stability of the target ball landing point coordinate solution while reducing invalid or interfering ranging data.

[0042] In some optional implementations of this embodiment, the target ball landing area is defined as a three-dimensional spatial region corresponding to the field attributes, the planar boundary of which is determined by the field attribute mapping relationship, and the elevation range of which is determined by the elevation model of the actual golf course or the green slope surface. When the candidate coordinates obtained by the fusion calculation exceed the three-dimensional spatial region or are inconsistent with the field attributes, the ball positioning terminal re-solves the problem in the three-dimensional spatial region according to the rule of prioritizing field attributes, and adjusts the candidate coordinates to coordinates that meet the consistency condition of the field attributes, and uses them as the coordinates of the target ball landing point.

[0043] In this embodiment, the target ball landing area is expanded from a plane to a three-dimensional spatial region corresponding to the field attributes: the plane boundary is derived from the field attribute mapping relationship, and the elevation range is given by the elevation model of the actual golf course or the green slope surface, so that the feasible region for fusion calculation is constrained not only by the plane but also by the elevation. Within this three-dimensional feasible region, the ball positioning terminal receives and fuses absolute position information and relative distance measurement information to first obtain candidate coordinates; if the candidate coordinates cross any boundary of the three-dimensional feasible region, or if the scene to which they belong is inconsistent with the target field attributes, the field attribute priority rule is activated, and the candidate coordinates are re-solved or adjusted within the three-dimensional feasible region until the field attribute consistency condition is met, and then the coordinates that meet the condition are determined as the target ball landing point coordinates. Taking the green as an example, the green has obvious elevation differences. The target site attribute is the green area and the allowable elevation zone is given by the green surface. When the candidate point obtained by the fusion calculation falls on the flat zone of the green ring or falls outside the allowable elevation of the surface, the system determines that there is an inconsistency. Then, it searches again along the slope in the three-dimensional feasible domain of the green surface or adjusts the solution to the allowable elevation zone of the surface and checks the scene attributes again until the location and scene meet the requirements at the same time.

[0044] This application, through three-dimensional site attribute constraints and attribute-first solution, ensures both position accuracy and scene consistency in scenarios with terrain undulations, and effectively suppresses satellite drift and ranging noise, thereby improving positioning stability and convergence efficiency.

[0045] In some optional implementations of this embodiment, before the step of controlling the ball-holding mechanism that cooperates with the ball positioning terminal to place a golf ball or marker at the target landing point and feeding back the coordinates of the target landing point to the virtual golf simulator to update the current ball position and realize the ball position switching from the virtual scene to the real scene, the method further includes: By using environmental sensors installed near the ball positioning terminal and / or the target ball landing area, at least one of the following environmental parameters is collected: grass height, surface material, and ground slope in the vicinity of the target ball landing point. The collected environmental parameters are compared with the preset scene parameters corresponding to the field attributes of the virtual ball position in the ball position information. If the comparison result does not meet the preset consistency conditions, the coordinates of the target ball landing point are adjusted within the target ball landing area and the environmental parameter collection and comparison are re-executed.

[0046] In this embodiment, environmental sensors located near the ball positioning terminal and / or the target ball landing area collect at least one environmental parameter of the neighborhood of the target ball landing point. For example, the height of the grass is sensed using ultrasound or mechanical probes, the surface material is identified as grass or fine sand using contact or non-contact sensors, and the ground slope is obtained using tilt sensors or laser scanning. These measured environmental parameters are then compared with preset scene parameters corresponding to the field attributes of the virtual ball position in the ball position information. For example, if the virtual ball position is marked as a bunker area, the preset scene parameters require a sandy surface, near-zero grass height, and a certain range of edge slope. If the measured environment does not meet these characteristics, the current target ball landing point is considered inconsistent in scene attributes. At this point, without changing the overall framework of the target ball landing area, the ball positioning terminal makes small adjustments to the coordinates of the target ball landing point within this area, such as moving it a few tens of centimeters along the edge of the green, re-collecting environmental parameters, and comparing them again until the comparison results meet the preset consistency conditions before releasing the ball. This mechanism ensures that not only the coordinate positions match, but the surface type and shape of the real environment are also consistent with the virtual ball position.

[0047] This application, after obtaining the coordinates of the target ball landing point but before actually releasing the ball, uses environmental sensors set up at the ball positioning terminal and / or near the target ball landing area to collect environmental parameters such as grass height, surface material, and ground slope. These parameters are then compared with preset scene parameters corresponding to the field attributes of the virtual ball position. If there is a discrepancy, the coordinates of the target ball landing point are finely adjusted within the target ball landing area and re-compared. This allows for further verification of the physical scene of the actual ball landing point, provided that the coordinate accuracy meets the requirements. This ensures that the final ball placement position matches the virtual ball position scene in terms of surface type and shape, reducing scene inconsistencies caused by changes in field maintenance or modeling errors.

[0048] In some optional implementations of this embodiment, in the steps of adjusting the coordinates of the target ball landing point and re-executing environmental parameter acquisition and comparison within the target ball landing area, if the preset consistency condition is not met after multiple consecutive comparisons, the range of the target ball landing area in the real field coordinate system is reduced or the target ball landing area is redefined. The system then recalculates the target ball landing point coordinates within the updated target ball landing area and performs environmental parameter collection and comparison to improve the consistency between the ball positioning results and the actual field attributes when switching from the virtual scene to the real scene.

[0049] In this embodiment, during the repeated collection and comparison of environmental parameters for the adjusted target ball landing point coordinates, if the preset consistency condition is still not met after multiple consecutive comparisons, it indicates that the current target ball landing area may be set too large or that some areas have been temporarily modified (e.g., lawn maintenance, sand trap backfilling), resulting in the inability to find a landing point that meets the requirements of the virtual scene. At this time, by narrowing the range of the target ball landing area in the real field coordinate system, or by re-limiting the target ball landing area (e.g., selecting only one side of the green or a part of the rough), new target ball landing point coordinates are obtained again within the updated, smaller, or redefined area, and environmental parameter collection and comparison are performed again. This forms a closed loop of area adjustment, repositioning, and re-comparison, improving the system's ability to find a real ball landing point consistent with the virtual scene even under complex or abnormal field conditions. This further enhances the consistency and robustness of the ball positioning results with the actual field attributes of the real course during the transition from the virtual scene to the real scene.

[0050] This application constructs an adaptive adjustment mechanism for field anomalies or model deviations by automatically narrowing or redefining the target ball landing area when environmental parameters are collected and scene comparisons are inconsistent multiple times. The target ball landing point coordinates are recalculated within the updated area and the environment is checked again. This enables the system to find the real ball landing point consistent with the virtual scene through area re-delineation and repositioning when encountering complex conditions such as local turf modification and sandpit backfilling. This improves the robustness and fault tolerance of ball positioning and field attribute matching during the transition from virtual scene to real scene.

[0051] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing related hardware through computer-readable instructions. These computer-readable instructions can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The aforementioned storage medium can be a non-volatile storage medium such as a magnetic disk, optical disk, or read-only memory (ROM), or random access memory (RAM).

[0052] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0053] Further reference Figure 2 As a response to the above Figure 1 The implementation of the method shown in this application provides an embodiment of a ball positioning system for a golf sports system that integrates virtual and reality. This system embodiment is similar to... Figure 1 Corresponding to the method embodiments shown, the system can be specifically applied to various electronic devices.

[0054] like Figure 2 As shown, the virtual and reality-integrated golf ball positioning system 200 described in this embodiment includes: an acquisition module 201, a construction module 202, an output module 203, a limiting module 204, a calculation module 205, and a control module 206. Wherein: The acquisition module 201 is configured to conduct a survey of the actual golf course based on a satellite positioning system, acquire the geographical boundary data of each hole in the actual golf course, and establish a real site coordinate system based on the geographical boundary data; Module 202 is configured to construct a virtual golf course model in a virtual golf simulator that corresponds to the real-world field coordinate system, and to establish a field attribute mapping relationship between the field attribute areas in the virtual hole, including the fairway area, green area, rough area, bunker area and green ring, and the corresponding areas in the real-world field coordinate system. The output module 203 is configured to output ball position information, including the coordinates of the virtual ball position and the field attributes to the ball position positioning terminal, when the virtual golf simulator determines the current virtual ball position; The limiting module 204 is configured to limit the target ball landing area corresponding to the field attribute in the real field coordinate system based on the field attribute in the ball position information and the field attribute mapping relationship, and use the target ball landing area as the unique position constraint for subsequent positioning. The calculation module 205 is configured to, under the position constraint, the ball positioning terminal takes the field attribute as the priority constraint, receive absolute position information from the satellite positioning system and relative ranging information from multiple ground reference base stations, perform fusion calculation within the target ball landing area that corresponds to the field attribute and includes terrain elevation information, obtain the coordinates of the target ball landing point, and constrain and correct the position drift of the satellite positioning system by the target ball landing area. The control module 206 is configured to control the ball-holding mechanism that cooperates with the ball positioning terminal to place a golf ball or marker at the target landing point, and to feed back the coordinates of the target landing point to the virtual golf simulator to update the current ball position and realize the ball position switching from the virtual scene to the real scene.

[0055] The ball positioning system for a golf system that integrates virtual and reality provided in this embodiment of the invention can realize all the processes of the ball positioning method for a golf system that integrates virtual and reality in the above embodiments. The functions and technical effects of each module in the device are the same as those of the ball positioning method for a golf system that integrates virtual and reality in the above embodiments, and will not be repeated here.

[0056] To address the aforementioned technical problems, embodiments of this application also provide a computer device. Please refer to [link / reference needed]. Figure 3 , Figure 3 This is a basic structural block diagram of the computer device in this embodiment.

[0057] The computer device 3 includes a memory 31, a processor 32, and a network interface 33 that are interconnected via a system bus. It should be noted that only the computer device 3 with components 31-33 is shown in the figure; however, it should be understood that it is not required to implement all the shown components, and more or fewer components can be implemented alternatively. Those skilled in the art will understand that the computer device described here is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0058] The computer device can be a desktop computer, laptop, handheld computer, or cloud server, etc. The computer device can interact with the user via a keyboard, mouse, remote control, touchpad, or voice control.

[0059] The memory 31 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 31 may be an internal storage unit of the computer device 3, such as the hard disk or memory of the computer device 3. In other embodiments, the memory 31 may also be an external storage device of the computer device 3, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 3. Of course, the memory 31 may also include both the internal storage unit and its external storage device of the computer device 3. In this embodiment, the memory 31 is typically used to store the operating system and various application software installed on the computer device 3, such as computer-readable instructions for a ball positioning method in a virtual and real-world golf system. In addition, the memory 31 can also be used to temporarily store various types of data that have been output or will be output.

[0060] In some embodiments, the processor 32 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip. The processor 32 is typically used to control the overall operation of the computer device 3. In this embodiment, the processor 32 is used to execute computer-readable instructions stored in the memory 31 or to process data, for example, to execute computer-readable instructions for the ball positioning method of the virtual-reality integrated golf system.

[0061] The network interface 33 may include a wireless network interface or a wired network interface, which is typically used to establish communication connections between the computer device 3 and other electronic devices.

[0062] This application also provides another embodiment, namely, providing a computer-readable storage medium storing computer-readable instructions that can be executed by at least one processor to cause the at least one processor to perform the steps of the ball positioning method of the virtual and reality integrated golf sports system as described above.

[0063] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0064] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for ball positioning in a golf system that integrates virtual and real-world elements, characterized in that, Includes the following steps: The actual golf course is surveyed based on a satellite positioning system to obtain the geographical boundary data of each hole in the actual golf course, and a coordinate system of the actual site is established based on the geographical boundary data. In a virtual golf simulator, a virtual golf course model corresponding to the real-world field coordinate system is constructed, and a field attribute mapping relationship is established between the field attribute areas in the virtual hole and the corresponding areas in the real-world field coordinate system. When the virtual golf simulator determines the current virtual ball position, it outputs ball position information, including the coordinates of the virtual ball position and the field attributes to which it belongs, to the ball position positioning terminal. Based on the field attributes in the ball position information and the field attribute mapping relationship, the ball position positioning terminal defines the target ball landing area corresponding to the field attribute in the real field coordinate system, and uses the target ball landing area as the unique position constraint for subsequent positioning. Under the position constraint, the ball positioning terminal takes the field attributes as the priority constraint, receives absolute position information from the satellite positioning system and relative ranging information from multiple ground reference base stations, performs fusion calculation within the target ball landing area that corresponds to the field attributes and includes terrain elevation information, obtains the coordinates of the target ball landing point, and uses the target ball landing area to constrain and correct the position drift of the satellite positioning system. The ball-holding mechanism, which works in conjunction with the ball positioning terminal, places a golf ball or marker at the target landing point and feeds back the coordinates of the target landing point to the virtual golf simulator to update the current ball position, thereby enabling the switching of the ball position from the virtual scene to the real scene.

2. The ball positioning method for a virtual and real-world integrated golf system according to claim 1, characterized in that, The steps of surveying the actual golf course using a satellite positioning system, obtaining the geographical boundary data of each hole in the actual golf course, and establishing a coordinate system for the actual site based on the geographical boundary data include: Obtain the geographic coordinates of various ground reference base stations deployed around the actual stadium; The geographical coordinates of various ground reference base stations are transformed and calibrated to the actual site coordinate system for the purpose of unifying the coordinate benchmark.

3. The ball positioning method for a virtual and real-world integrated golf system according to claim 2, characterized in that, In the step of constructing a virtual golf course model corresponding to the real-world coordinate system in a virtual golf simulator, and establishing a mapping relationship between the course attribute areas in the virtual holes and the corresponding areas in the real-world coordinate system, the course attributes at least include the teeing ground, fairway, sand, trees, bunkers, rough, water, areas where the ball is lost or cannot be hit, marked areas, and drop areas. The step further includes: The virtual court model divides each field attribute area into multiple field units with unique numbers; Each field unit records the boundary coordinates of its corresponding area in the real field coordinate system, so that when the ball positioning terminal limits the target ball landing area based on the field attributes and number in the ball position information, it can directly lock the candidate area corresponding to the current virtual ball position.

4. The ball positioning method for a virtual and real-world integrated golf system according to claim 1, characterized in that, The Under the aforementioned position constraints, the ball positioning terminal prioritizes site attributes, receives absolute position information from the satellite positioning system and relative ranging information from multiple ground reference base stations, performs fusion calculations within the target ball landing area corresponding to the site attributes and containing terrain elevation information, calculates the target ball landing point coordinates, and before the step of constraining and correcting the position drift of the satellite positioning system using the target ball landing area, the system further includes: Based on the current position of the virtual hole in the real field coordinate system and the spatial range of the target ball landing area, at least two ground reference base stations whose geometric positional relationship meets the positioning accuracy requirements are selected from the plurality of ground reference base stations as the effective reference base stations for this ball position positioning. It only receives relative ranging information from the effective reference base station to participate in subsequent fusion calculations.

5. The ball positioning method for a virtual and real-world integrated golf system according to claim 4, characterized in that, The target ball landing area is defined as a three-dimensional spatial area corresponding to the field attributes. Its planar boundary is determined by the mapping relationship of the field attributes, and its elevation range is determined by the elevation model of the actual golf course or the green slope surface. When the candidate coordinates obtained by the fusion calculation exceed the three-dimensional spatial region or are inconsistent with the field attributes, the ball positioning terminal re-solves the problem in the three-dimensional spatial region according to the rule of prioritizing field attributes, and adjusts the candidate coordinates to coordinates that meet the consistency condition of the field attributes, and uses them as the coordinates of the target ball landing point.

6. The ball positioning method for a virtual and real-world integrated golf system according to claim 1, characterized in that, Before the step of controlling the ball-holding mechanism in conjunction with the ball positioning terminal to place a golf ball or marker at the target landing point and feeding back the coordinates of the target landing point to the virtual golf simulator to update the current ball position and realize the ball position switching from the virtual scene to the real scene, the following steps are also included: By using environmental sensors installed near the ball positioning terminal and / or the target ball landing area, at least one of the following environmental parameters is collected: grass height, surface material, and ground slope in the vicinity of the target ball landing point. The collected environmental parameters are compared with the preset scene parameters corresponding to the field attributes of the virtual ball position in the ball position information. If the comparison result does not meet the preset consistency conditions, the coordinates of the target ball landing point are adjusted within the target ball landing area and the environmental parameter collection and comparison are re-executed.

7. The ball positioning method for a virtual and real-world integrated golf system according to claim 6, characterized in that, In the step of adjusting the coordinates of the target ball landing point and re-performing environmental parameter acquisition and comparison within the target ball landing area, if the preset consistency condition is not met after multiple consecutive comparisons, the range of the target ball landing area in the real field coordinate system is reduced or the target ball landing area is redefined. The system then recalculates the target ball landing point coordinates within the updated target ball landing area and performs environmental parameter collection and comparison to improve the consistency between the ball positioning results and the actual field attributes when switching from the virtual scene to the real scene.

8. A ball positioning system for a golf game that integrates virtual and real-world elements, characterized in that, include: The acquisition module is configured to survey the actual golf course based on a satellite positioning system, acquire the geographical boundary data of each hole in the actual golf course, and establish a real site coordinate system based on the geographical boundary data; The construction module is configured to build a virtual golf course model in the virtual golf simulator that corresponds to the real-world field coordinate system, and to establish a field attribute mapping relationship between the field attribute areas in the virtual hole, including the fairway area, green area, rough area, bunker area and green ring, and the corresponding areas in the real-world field coordinate system. The output module is configured to output ball position information, including the coordinates of the virtual ball and the field attributes to the ball position positioning terminal, when the virtual golf simulator determines the current virtual ball position; The limiting module is configured such that the ball position positioning terminal limits the target ball landing area corresponding to the field attribute in the real field coordinate system according to the field attribute in the ball position information and the field attribute mapping relationship, and uses the target ball landing area as the unique position constraint for subsequent positioning. The calculation module is configured such that, under the position constraint, the ball positioning terminal takes the field attributes as the priority constraint, receives absolute position information from the satellite positioning system and relative ranging information from multiple ground reference base stations, performs fusion calculation within the target ball landing area that corresponds to the field attributes and includes terrain elevation information, obtains the coordinates of the target ball landing point, and uses the target ball landing area to constrain and correct the position drift of the satellite positioning system. The control module is configured to control the ball-holding mechanism, which cooperates with the ball positioning terminal, to place a golf ball or marker at the target landing point, and to feed back the coordinates of the target landing point to the virtual golf simulator to update the current ball position and realize the ball position switching from the virtual scene to the real scene.

9. A computer device, characterized in that, The system includes a memory and a processor, wherein the memory stores computer-readable instructions, and the processor executes the computer-readable instructions to implement the steps of the ball positioning method for a virtual and real-world fusion golf system as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-readable instructions, which, when executed by a processor, implement the steps of the ball positioning method for a virtual-reality fusion golf sports system as described in any one of claims 1 to 7.

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