Mixed reality golf training method and system based on actual field

Abstract

The invention provides a mixed reality golf training method and system based on an actual site, relates to the technical field of sports equipment, and is applied to a device composed of a plurality of independent training units, and each independent training unit comprises a golf simulation unit, a real ball hitting site, an intelligent positioning unit and a ball hole. The method comprises the following steps: sensing a ball hitting by a user in a golf simulation unit of a current independent training unit and obtaining a virtual drop point, when the drop point falls into a preset range, generating coordinates and controlling an intelligent positioning unit to automatically arrange a real golf ball in a real ball hitting field, enabling the user to really hit the ball, and updating a latest ball position until a preset condition is met, and the user is guided to enter the next independent training unit until all the independent training units are traversed. The technical problems that a traditional golf field is large in occupied area and is limited by weather, and a pure simulator lacks real ball hitting experience are solved, and the effect that comprehensive golf training experience with immersion and coherence is provided for a user is achieved.

Description

Technical Field

[0001] This invention relates to the field of sports equipment technology, and in particular to a mixed reality golf training method and system based on actual venues. Background Technology

[0002] Currently, golf, as a popular sport and training activity, suffers from problems such as low space utilization efficiency and high construction and maintenance costs due to the traditional 18-hole standard course model, which requires a large amount of land resources. Furthermore, the outdoor sports model is severely constrained by geographical environment and climate conditions, making it difficult to carry out widely.

[0003] To overcome the aforementioned limitations, indoor golf simulator technology has emerged. This technology constructs a virtual golf course environment through 3D modeling and real-time rendering, and uses high-precision sensors to capture the user's hitting parameters, thereby simulating the flight trajectory and landing point of a golf ball within a limited space, providing users with a training method that is unaffected by the external environment.

[0004] However, existing integration solutions still have significant drawbacks: First, their system architecture is mostly fixed, with the simulator permanently bound to the real course, lacking flexibility and unable to quickly adjust the layout or make mobile deployments according to needs. Second, the mapping method from virtual ball positions to the real course is relatively rudimentary, mostly using indicative methods such as light spot projection, still requiring users to find the position and place the ball themselves, resulting in a strong sense of interruption in the process and low automation, which seriously affects the immersiveness and continuity of the virtual-real transition. Third, only the real green is integrated, ignoring the importance of short game techniques such as chipping on the real fairway, which artificially breaks the complete chain of golf hitting, and the integrity and realism of the user experience are still insufficient. Summary of the Invention

[0005] In view of the above-mentioned shortcomings in the existing technology, the purpose of this invention is to provide a mixed reality golf training method based on actual venues, which provides users with a comprehensive golf training experience that combines immersion and continuity.

[0006] The above-mentioned objective of this invention is achieved through the following technical solution: A mixed reality golf training method based on actual terrain is applied to a device consisting of multiple independent training units, each including a golf simulation unit, a realistic hitting course, an intelligent positioning unit, and a hole. The method includes: In the current independent training unit, the golf simulation unit senses the user's hitting action and simulates the landing point information of the virtual golf ball in the virtual environment; Based on the landing point information, determine whether the virtual golf ball has landed within a preset range; If so, coordinate information corresponding to the landing point information is generated based on the landing point information of the virtual golf ball; The intelligent positioning unit is controlled to provide the current position of the real golf ball in the real hitting field based on the coordinate information; Respond to and obtain the shot completed by the user on the real hitting course based on the current ball position, and update the position information of the real golf ball; Determine whether the updated location information meets the preset conditions. If so, guide the user to the next independent training unit until all the independent training units have been traversed.

[0007] By adopting the above technical solution, the golf simulation unit first accurately captures the user's hitting action and generates the trajectory and landing information of the virtual ball in real time. After determining that the virtual ball has entered the preset hitting transition area, the virtual landing coordinates are automatically mapped to the real field coordinate system, and the intelligent positioning unit is controlled to perform movement and placement operations to accurately place the golf ball on the real hitting field. After the user continues to hit the ball on the real field based on the ball position, the deployed sensing unit monitors the ball's movement status in real time and updates the position information until the conditions for a hole-in-one are met, and then automatically guides the user to the next training unit. This provides a golf sports solution that combines a realistic hitting experience with immersive simulation in a limited space, retaining the real touch of outdoor sports while also having the convenience and continuity of indoor training.

[0008] Preferably, determining whether the virtual golf ball falls within a preset range based on the landing point information further includes: If not, the position of the virtual golf ball is updated in the virtual environment of the golf simulation unit based on the landing point information of the virtual golf ball; In response to a user's subsequent shot within the golf simulation unit based on the updated position, the system simulates a new landing point and then proceeds to the step of determining whether the virtual golf ball lands within a preset range based on the landing point information.

[0009] By adopting the above technical solution, when the virtual golf ball does not fall into the preset range, the ball's position is automatically updated in the virtual environment and the user is allowed to continue hitting the ball. This creates a complete closed-loop training process from virtual hitting to position judgment to position update to hitting the ball again. This not only maintains the integrity of golf but also improves the smoothness of the training process and the immersive experience of the user. It allows golf training in a limited space to maintain the continuity of technical training while possessing the integrity of real sports.

[0010] Preferably, the preset range includes: A first preset sub-range corresponding to the green of the actual hitting course and a second preset sub-range corresponding to the fairway of the actual hitting course.

[0011] By adopting the above technical solution, the preset range is refined into a first sub-range corresponding to the real green and a second sub-range corresponding to the real fairway. This achieves a precise spatial mapping between the virtual environment and the real course, allowing users to accurately match the landing point of their shot in the virtual scene to the specific area of ​​the real course. Users can practice precise putting on the green and experience short game techniques such as chipping on the fairway. This effectively solves the technical limitation of existing simulation systems that only support putting on the green, resulting in limited training content. At the same time, by establishing a complete virtual-real correspondence, the diversity of training programs is expanded, and a smooth transition of technical movements from virtual to real is ensured, providing users with a comprehensive training environment that is closer to the experience of a real golf course.

[0012] Preferably, controlling the intelligent positioning unit to provide the current position of the real golf ball on the actual hitting course based on the coordinate information includes: The current position of the intelligent positioning unit is obtained, and based on the current position and the coordinate information, the movement path of the intelligent positioning unit on the actual hitting field is planned. Based on the movement path, the intelligent positioning unit is controlled to move to the target location, and the real golf ball is released at the target location through the actuator of the intelligent positioning unit.

[0013] By adopting the above technical solution, the intelligent positioning unit can realize autonomous path planning and precise movement control from the current position to the target position. Through its actuator, it can automatically release the real golf ball, effectively overcoming the problems of operation interruption and position deviation caused by relying on manual ball placement or simple light spot indication in traditional hybrid golf systems. It not only ensures the accuracy of the mapping from virtual coordinates to the real ball position, but also maintains the continuity of the training process through fully automated operation.

[0014] Preferably, the step of responding to and acquiring the shot completed by the user on the real hitting course based on the current ball position, and updating the position information of the real golf ball, includes: The movement status of the real golf ball is monitored by a monitoring unit on the real hitting field. When the real golf ball is detected to change from a stationary state to a moving state, the stationary position of the real golf ball after moving is obtained; The current position information of the real golf ball is updated based on the stationary position.

[0015] By adopting the above technical solution, the monitoring unit deployed on the actual hitting field is used to monitor the state of the golf ball in real time. By capturing the transition of the ball from a stationary state to a moving state, the automatic collection and updating of the new stationary position of the ball is triggered, realizing the automated and real-time collection of ball position information after the actual shot.

[0016] Preferably, the step of determining whether the updated location information meets the preset conditions further includes: If not, the updated position information is used as the new current ball position, and the process jumps to the steps of responding and obtaining the shot completed by the user on the actual hitting course based on the current ball position, and updating the position information of the actual golf ball.

[0017] By adopting the above technical solution, when the ball does not meet the conditions for entering the hole after a real shot, the updated ball position information is automatically used as the starting position for the new round of shots, and the shot monitoring and position update cycle is restarted. This maintains the continuity and natural smoothness of the real shot process, and ensures the complete collection of shot data in each training unit. This allows golf in a limited space to retain the real rhythm of outdoor sports while also possessing highly automated characteristics.

[0018] The second objective of this invention is to provide a mixed reality golf training system based on actual venues, which provides users with a comprehensive golf training experience that combines immersion and continuity.

[0019] The second objective of this invention is achieved through the following technical solution: A mixed reality golf training system based on an actual playing field is applied to a device consisting of multiple independent training units, each including a golf simulation unit, a realistic hitting course, an intelligent positioning unit, and a hole. The system includes: The ball-hitting simulation module is used to sense the user's hitting motion through the golf simulation unit in the current independent training unit and simulate the landing point information of the virtual golf ball in the virtual environment; The position determination module is used to determine whether the virtual golf ball has fallen into a preset range based on the landing point information; The coordinate mapping module is used to generate coordinate information corresponding to the landing point information of the virtual golf ball if the conditions are met. The ball position deployment module is used to control the intelligent positioning unit and provide the current ball position of the real golf ball in the real hitting field based on the coordinate information; The position update module is used to respond to and obtain the shot completed by the user on the real hitting course based on the current ball position, and update the position information of the real golf ball; The process management module is used to determine whether the updated location information meets the preset conditions. If so, it guides the user to enter the next independent training unit until all the independent training units are traversed.

[0020] By adopting the above technical solution, a complete virtual-real integrated golf system was constructed. The ball-hitting simulation module accurately captures the user's movements and generates the trajectory of the virtual ball. After the position judgment module identifies the landing area that meets the conditions for virtual-real conversion, the coordinate mapping module converts the virtual coordinates into real field coordinates. The ball placement module then drives the intelligent positioning unit to automatically place the real golf ball. After the user hits the ball on the real field, the position update module continuously tracks the ball's movement and updates the position information through the monitoring unit. Finally, the process management module intelligently guides the user to switch training units based on the goal status. Within a limited space, the complete technical chain of golf from teeing to putting is realized. It retains the real touch and competitive experience of outdoor sports while also possessing the convenience and continuity of indoor training, providing users with an immersive and coherent golf solution.

[0021] The third objective of this invention is to provide an electronic device that offers users a comprehensive golf training experience that combines immersion and continuity.

[0022] The above-mentioned objective three of this invention is achieved through the following technical solution: An electronic device includes a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the mixed reality golf training method based on a real-world venue as described in any of the preceding claims.

[0023] The fourth objective of this invention is to provide a computer storage medium capable of storing corresponding programs, which facilitates the implementation of a comprehensive golf training experience that combines immersion and continuity for users.

[0024] The fourth objective of this invention is achieved through the following technical solution: A computer-readable storage medium having a computer program stored thereon, which, when executed, implements the mixed reality golf training method based on a real-world venue as described in any of the preceding claims.

[0025] The fifth objective of this invention is to provide a computer program product that can store corresponding programs and is characterized by its ease of implementation, providing users with a comprehensive golf training experience that is both immersive and seamless.

[0026] The fifth objective of this invention is achieved through the following technical solution: A computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, wherein, when executed by a computer, the program instructions cause the computer to perform a mixed reality golf training method based on a real-world venue as described in any of the preceding claims.

[0027] In summary, the present invention has at least one of the following beneficial technical effects: 1. This invention achieves efficient integration of virtual environment and real field, solving the problem of dependence of traditional golf on field and natural conditions within a limited space. At the same time, through precise coordinate mapping and automatic placement of intelligent positioning units, it ensures seamless connection between virtual landing point and real ball position, which not only retains the tactile experience of real ball hitting, but also has the immersive effect of virtual training. 2. This invention refines the preset range into sub-ranges corresponding to real greens and fairways, achieving a precise spatial mapping between the virtual environment and the real course. This allows users to practice putting on the green and experience short game techniques such as chipping on the fairway, thus increasing the diversity of training content. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating the steps of a mixed reality golf training method based on an actual playing field, as provided in Embodiment 1 of the present invention.

[0029] Figure 2 This is a schematic diagram of the overall layout of a mixed reality golf training system based on an actual venue, provided in Embodiment 1 of the present invention.

[0030] Figure 3 This is a schematic diagram of the layout of a movable screen golf simulator for a mixed reality golf training system based on an actual site, provided in Embodiment 1 of the present invention.

[0031] Figure 4 This is an internal structural diagram of a portable screen golf simulator, part of a mixed reality golf training system based on an actual playing field, provided in Embodiment 1 of the present invention.

[0032] Figure 5 This is a cross-sectional dimension and layout diagram of a movable screen golf simulator, which is part of a mixed reality golf training system based on an actual field, provided in Embodiment 1 of the present invention.

[0033] Figure 6 This is a logic flowchart of a mixed reality golf training system based on an actual venue, provided in Embodiment 1 of the present invention.

[0034] Figure 7This is a structural block diagram of another mixed reality golf training system based on an actual venue, provided in Embodiment 2 of the present invention. Detailed Implementation

[0035] This invention provides a mixed reality golf training method and system based on actual playing fields, addressing the technical problems of traditional golf courses being large in size and subject to weather restrictions, as well as the lack of a realistic hitting experience in pure simulators. It offers users a comprehensive golf training experience that is both immersive and seamless.

[0036] It should be noted that the mixed reality golf training method and system based on actual venues of the present invention are applied to a device composed of multiple independent training units. Each unit is an independently operating miniature golf course, which can completely simulate the course of a single hole. Through the flexible combination of multiple units, a complete multi-hole golf course can be constructed in a limited space. Its flexible layout and strong scalability enable it to adapt to different venue conditions and support users to move in an orderly manner between different units to complete a continuous golf game or training.

[0037] It is worth mentioning that each independent training unit contains four core components that work together: 1. The golf simulation unit (A1), as the core of virtual interaction, adopts a semi-closed or open structure, integrating a projector (A101), a ball-hitting sensor (A102), internal anti-ball-rebound decorations (A103), a large display screen (A104), and a hitting table (A105). It is responsible for constructing a realistic virtual scene and accurately capturing the user's hitting motion, simulating the flight trajectory and landing point of the golf ball in real time. Understandably, inside the golf simulation unit (A1), the projector (A101) displays an image of a virtual golf course on the large display screen (A104). The user faces the virtual golf course, i.e., faces the screen, to hit the ball. The ball-hitting sensor (A102) can accurately capture the data at the moment of impact using high-speed cameras, radar, infrared arrays, and other devices. Simultaneously, the sensing device (A102) can also display the real-time simulated image of the virtual golf ball moving on the virtual golf course on the large display screen (A104).

[0038] 2. The real hitting course (E1), serving as the physical training area, is adjacent to the simulation unit and comprises two functional zones: a real fairway (C1) and a real green (B1). The fairway area is covered with artificial turf for short game practice such as chipping, while the green area simulates the real slope and grain of the grass and includes holes for putting. This real hitting course maintains a precise spatial correspondence with the virtual scene in the golf simulation unit. Through a combination of 3D digital modeling and on-site surveying, it ensures a 1:1 high-precision match between the terrain features, obstacle layout, and slope direction and area division of the virtual environment and the real course. Simultaneously, the real hitting course is equipped with monitoring units, such as wide-angle cameras, ground pressure sensors, and microwave radar sensors. These monitoring units are distributed and installed above or around the real fairways and greens, covering the entire hitting course, to monitor golf balls that have rolled and come to rest on the real course.

[0039] 3. The intelligent positioning unit (D1), as a key component connecting the virtual and real environments, can be set up using drones or robots, equipped with a mobile unit, communication unit, positioning unit, actuator, central processor, and vision unit. The actuator can be a ball-holding robotic arm, etc. The communication unit establishes a real-time data connection with the golf simulation unit (A1) to obtain location information and starts working according to the status of the golf simulation unit (A1). The mobile module is used to move on the real course such as fairways and greens, and can overcome obstacles and terrain, adapting to bunkers, rough areas, water hazards, etc. The positioning unit integrates GPS and Beidou technology to obtain its own position coordinates, and the actuator completes the precise placement of the golf ball based on the final positioning data. The central processor module is used to control the overall operation of the intelligent positioning unit. The vision unit is composed of a stereo vision camera, a laser scanner, and an image processing chip, which can collect high-resolution 3D point cloud data of the real hitting course in real time, and combine it with the surface topology information obtained by the laser scanner to construct a 3D digital model.

[0040] 4. The hole (B101) is located on the green (B1) and is the ultimate goal of each training unit. It is equipped with sensors, such as photoelectric or pressure sensors, to automatically detect whether the golf ball has been holed.

[0041] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0042] It should be noted that the terms "first," "second," etc., used in this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this disclosure.

[0043] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0044] Example 1: Please see Figure 1-6 This invention provides a mixed reality golf training method based on an actual playing field, applied to a device consisting of multiple independent training units. Each independent training unit includes a golf simulation unit, a realistic hitting course, an intelligent positioning unit, and a hole. The method includes: Step 101: In the current independent training unit, the golf simulation unit senses the user's hitting action and simulates the landing point information of the virtual golf ball in the virtual environment.

[0045] A golf simulation unit refers to a semi-enclosed, movable simulation chamber used to collect real-time data including, but not limited to, the speed and direction of the golf ball, the movement of the club, and the movement of the player.

[0046] Virtual environment refers to a digital golf course scene constructed through a 3D graphics engine, which includes terrain, obstacle distribution, and weather environment simulation that correspond to the real course in a 1:1 ratio.

[0047] Landing point information refers to the final stationary position data of the virtual golf ball in the virtual environment, obtained through sensing and simulation by the golf simulation unit, including but not limited to three-dimensional spatial coordinates, terrain elevation, and surface material properties.

[0048] It is worth mentioning that the golf simulation unit adopts a mobile design and can be configured with modular structures such as container type, capsule type, component quick assembly type or integral molding type, which supports rapid hoisting and transfer and flexible deployment. This not only improves the utilization rate of site space and equipment reuse rate, but also provides great convenience for temporary activities, seasonal site adjustments and multi-scenario applications.

[0049] Understandably, the user stands on the hitting table, facing a virtual golf course displayed on the screen, and performs a standard swing. A high-speed camera captures the initial state of the ball at the moment of impact at a sampling rate of 2000 frames per second. The radar simultaneously measures the initial velocity of the ball, and an infrared optical motion capture array acquires the three-dimensional biomechanical trajectory of the user's entire swing. This data is then input into a motion trajectory model, which can calculate the complete motion trajectory in real time, including flight height, landing angle, and roll distance. Finally, the ball's flight process is dynamically presented on the projection screen, and the landing point information with three-dimensional coordinates is output.

[0050] It should be noted that the motion trajectory model is a machine learning model trained based on a large amount of actual ball-hitting data. It is not limited here, as long as it can achieve the corresponding function.

[0051] It's worth noting that the current independent training unit doesn't specifically refer to the first training unit, but rather dynamically points to any independent unit where the user is currently training. Once the user completes the game process of any training unit, the next unit to be trained will be automatically marked as the new current independent training unit, guiding the user to transfer to that unit to continue training. This allows users to move freely between multiple training units, enabling a personalized training mode that starts from any hole and proceeds in any order. This not only ensures the continuity of the training process but also provides flexible and varied training path options.

[0052] In this embodiment of the invention, in the current independent training unit, the golf simulation unit senses the user's hitting action and simulates the landing point information of the virtual golf ball in the virtual environment.

[0053] Step 102: Based on the landing point information, determine whether the virtual golf ball has landed within the preset range.

[0054] Preset range: refers to the total geographical area that is pre-defined in the virtual golf environment and can trigger the device to switch from virtual mode to real mode.

[0055] Understandably, when the virtual ball falls into this range, it means that the user has a field in the real world where they can continue to hit the ball, and the independent training unit can then start the virtual-to-real conversion process.

[0056] Furthermore, the preset range includes: a first preset sub-range corresponding to the green of the actual hitting course and a second preset sub-range corresponding to the fairway of the actual hitting course.

[0057] The first preset sub-range refers to the area in the virtual environment that is precisely mapped 1:1 to the physical boundaries, shape, and slope of the real green. When the landing point of the virtual golf ball is determined to be within this sub-range, it is determined that the user's next shot should be a putt on the real green, and the intelligent positioning unit is triggered to place the real golf ball at the corresponding coordinate position on the real green.

[0058] The second preset sub-range refers to the area in the virtual environment that is precisely mapped 1:1 to the physical boundaries and terrain of the real fairway. When the landing point of the virtual golf ball is determined to be within this sub-range, it is determined that the user's next shot should be a short shot such as a chip shot on the real fairway, and the intelligent positioning unit will be triggered to place the real golf ball at the corresponding coordinate position on the real fairway.

[0059] In this embodiment of the invention, a spatial coordinate comparison algorithm is used to compare the landing coordinates of the virtual golf ball with the preset boundary in real time. The first preset sub-range precisely corresponds to the planar projection of the real green area, and its boundary is established by collecting the contour feature points of the real green to create a polygonal fence. The second preset sub-range corresponds to the real fairway area, and a variable-width strip area is set according to the actual direction of the fairway using Bézier curve fitting technology. When the (X,Y) value of the landing coordinates is detected to enter the boundary constraint condition of either preset sub-range, the corresponding mode switching mechanism is triggered: if it falls into the first preset sub-range, it prepares to switch to the green putting mode; if it falls into the second preset sub-range, it prepares to switch to the fairway chipping mode. This judgment process is completed within the same cycle of virtual environment rendering, ensuring the real-time performance and accuracy of virtual-real scene switching.

[0060] In the above optional embodiments, step 102 may further include the following sub-steps: Step 11: If not, update the position of the virtual golf ball in the virtual environment of the golf simulation unit based on the landing point information of the virtual golf ball.

[0061] Step 12: Respond to the user's next shot within the golf simulation unit based on the updated position, simulate a new landing point, and then proceed to the step of determining whether the virtual golf ball has landed within the preset range based on the landing point information.

[0062] In this embodiment of the invention, when the landing point information of the virtual golf ball is detected to be outside the preset range, the virtual training loop mode is automatically entered. That is, based on the current landing point coordinates, the ball position is regenerated in the virtual course environment, including simulating the ball's stopping posture in complex terrains such as rough, bunkers, or water hazards. After the user observes the updated ball position displayed on the screen on the dynamic hitting table, they use a club adapted to the current terrain to hit the ball again. Then, the new hitting data is collected by the hitting sensor, the landing point position is calculated, and the preset range judgment process is re-executed. This not only ensures the logical integrity of the game process for a single hole, but also effectively improves the user's technical ability to cope with complex course conditions through continuous virtual training.

[0063] Step 103: If so, generate coordinate information corresponding to the landing point information based on the landing point information of the virtual golf ball.

[0064] Coordinate information refers to the two-dimensional planar coordinates of the virtual landing point, which are generated by transforming the virtual landing point through a spatial mapping relationship and are applicable to the real hitting field. It includes the horizontal X-axis coordinate and the vertical Y-axis coordinate in the real field coordinate system. The coordinate mapping relationship refers to the spatial transformation matrix between the virtual environment and the real field established by calibrating control points. This matrix is ​​obtained by registering the corresponding feature points of the virtual scene and the real field using the least squares method to ensure the consistency between the virtual and real spaces.

[0065] It is understandable that the initial stopping point of the intelligent positioning unit in the previous independent training unit is used as the origin of the coordinate system to establish a plane rectangular coordinate system of the real site. The spatial mapping algorithm is used to convert the elevation data in the virtual environment into the horizontal projection coordinates of the real site, and finally outputs (X,Y) coordinate values.

[0066] In this embodiment of the invention, when it is determined that the virtual golf ball has fallen into the preset range, the three-dimensional spatial coordinates and terrain elevation data of the landing point are extracted, and then converted into two-dimensional planar coordinates in the coordinate system of the real hitting field through a pre-calibrated affine transformation matrix.

[0067] Step 104: Control the intelligent positioning unit to provide the current position of the real golf ball on the actual hitting course based on coordinate information.

[0068] Preferably, step 104 may further include the following sub-steps: Step 21: Obtain the current position of the intelligent positioning unit, and plan the movement path of the intelligent positioning unit on the actual hitting field based on the current position and coordinate information.

[0069] Step 22: Based on the movement path, control the intelligent positioning unit to move to the target location, and release the real golf ball at the target location through the actuator of the intelligent positioning unit.

[0070] The movement path refers to the optimal trajectory generated based on the current location and target coordinates, taking into account terrain obstacles and motion constraints.

[0071] The actuator refers to the specialized mechanical device mounted on the intelligent positioning unit, which completes the precise placement of the golf ball through controlled clamping and releasing actions.

[0072] Understandably, the positioning unit of the intelligent positioning unit can obtain its own current position coordinates, combine them with the target coordinates, and use an improved A* algorithm that takes into account terrain passability to plan the optimal movement path. Then, the control unit autonomously navigates to the target position along the planned path. When it arrives at the target coordinates, it controls the ball-holding robotic arm to descend to a preset height. Through the pressure sensor set on the inner contact surface of the ball-holding robotic arm gripper, it feeds back the control gripping force and releases the golf ball in a zero-impact manner, ensuring that the error between the ball's landing point and the target coordinates is controlled within ±1.5 cm, thus completing the precise placement of a real golf ball.

[0073] It is worth mentioning that the intelligent positioning unit can continuously monitor the environmental status during movement. When an unexpected obstacle is detected on the path, a dynamic replanning mechanism is activated in real time. During the sphere placement stage, the placement result is verified a second time through the vision unit to ensure the consistency of the virtual and real spatial positions and to ensure the accuracy of the starting sphere position.

[0074] In this embodiment of the invention, the intelligent positioning unit is controlled to provide the current position of the real golf ball on the actual hitting field based on coordinate information.

[0075] Step 105: Respond to and obtain the shot completed by the user on the real hitting course based on the current ball position, and update the position information of the real golf ball.

[0076] Preferably, step 105 may include the following sub-steps: Step 31: Monitor the motion status of a real golf ball using a monitoring unit on a real hitting course.

[0077] Step 32: When the real golf ball is detected to change from a stationary state to a moving state, the stationary position of the real golf ball after moving is obtained.

[0078] Step 33: Update the current position information of the real golf ball based on its stationary position.

[0079] Motion state refers to the physical changes of a real golf ball on the field, including the identification and judgment of motion patterns such as stationary, moving, rolling, and jumping.

[0080] The stationary position refers to the three-dimensional spatial coordinates of a golf ball when it finally comes to a stop after moving.

[0081] When a user hits the ball on a real golf course, visual sensors deployed around the course continuously capture the ball's trajectory, ground pressure sensors simultaneously monitor the impact signal of the ball landing, and microwave radar sensors accurately measure the ball's real-time speed. When any change is detected, the ball is determined to have changed from a stationary state to a moving state. After the ball finally stops, the visual sensors acquire a real image of the golf ball, and combined with preset ground markers, a 3D reconstruction is performed to obtain the 3D coordinates of the ball's stationary position, which is then used as the new current position information.

[0082] It should be noted that the preset ground markers are an array of reference points with known world coordinates laid out on the surface of the actual hitting course. These markers are evenly distributed in the green and fairway areas.

[0083] Understandably, during the site construction phase, a total station is used to measure the precise three-dimensional coordinates of each marker point to establish a world coordinate system for the marker points. Then, camera calibration technology is used to establish the transformation relationship between image pixel coordinates and marker point world coordinates. After the vision sensor acquires an image containing the marker points and the golf ball, a feature extraction algorithm is used to identify the pixel coordinates of the marker points. The camera pose is solved using a perspective n-point positioning algorithm. Finally, a coordinate transformation matrix is ​​used to convert the image pixel coordinates of the golf ball into three-dimensional coordinates in the world coordinate system.

[0084] In this embodiment of the invention, the system responds to and obtains the shot completed by the user on the actual hitting course based on the current ball position, and updates the position information of the actual golf ball.

[0085] Step 106: Determine whether the updated location information meets the preset conditions. If so, guide the user to the next independent training unit until all independent training units have been traversed.

[0086] Preset conditions refer to the conditions for determining entry into the cave.

[0087] Understandably, the pressure sensor and infrared grating sensor are located at the bottom of the hole. When the pressure value detected by the pressure sensor exceeds a preset threshold, and the infrared grating is continuously blocked for more than a preset time, the conditions for entering the hole are confirmed. The preset threshold can be 2.5N, and the preset time can be 500ms; these can be set according to actual needs and are not specifically limited here.

[0088] Once the conditions for entering the hole are confirmed, the built-in intelligent voice unit can announce that the training for the current independent training unit has been completed. It can prompt the user to enter the next training unit and simultaneously wake up or start the golf simulation unit of the next training unit, putting it into standby or ready state. This process continues until all independent training units have been traversed, ending the training.

[0089] It is worth mentioning that after each training session, the device will automatically record and store the performance data for that session, including but not limited to the user's total score, number of putts, greens-reaching accuracy, and special shot data.

[0090] The method for recording scores is as follows: collecting users' shot data in the golf simulation unit, including virtual indicators such as driving distance and fairway hit rate, and recording users' shot data in the real golf course, including physical indicators such as chipping strokes and putting strokes. Finally, the shot data from the virtual and real stages are correlated and integrated to form a complete unit score report.

[0091] In this embodiment of the invention, it is determined whether the updated location information meets the preset conditions. If so, the user is guided to enter the next independent training unit until all independent training units are traversed.

[0092] In the above optional embodiments, step 106 may further include the following sub-steps: Step 31: If not, use the updated position information as the new current ball position, and proceed to the response step to obtain the user's shot on the actual hitting course based on the current ball position, and update the position information of the actual golf ball.

[0093] In this embodiment of the invention, when it is determined that the updated ball position information does not meet the conditions for entering the hole, the device automatically enters the real-field shooting cycle mode, that is, the latest obtained ball stationary coordinates are set as the new valid ball position, and then prompts the user to prepare for the next shot. The user continues to shoot according to the new ball position, and the device then restarts the shot monitoring process, collects a new round of shot data through the sensor array, and makes a new round of judgment, effectively ensuring the user's continuous experience in the real-field training phase.

[0094] Example 2: Please see Figure 7 The present invention provides a mixed reality golf training system based on an actual venue, comprising: The ball-hitting simulation module 101 is used to sense the user's hitting action through the golf simulation unit in the current independent training unit and simulate the landing point information of the virtual golf ball in the virtual environment.

[0095] The position determination module 102 is used to determine whether the virtual golf ball has fallen into the preset range based on the landing point information.

[0096] The coordinate mapping module 103 is used to generate coordinate information corresponding to the landing point information based on the landing point information of the virtual golf ball if the conditions are met.

[0097] The ball position deployment module 104 is used to control the intelligent positioning unit to provide the current ball position of the real golf ball on the actual hitting course based on coordinate information.

[0098] The position update module 105 is used to respond to and obtain the shot completed by the user on the real hitting course based on the current ball position, and update the position information of the real golf ball.

[0099] The process management module 106 is used to determine whether the updated location information meets the preset conditions. If so, it guides the user to enter the next independent training unit until all independent training units are traversed.

[0100] Since the above is a system corresponding to a mixed reality golf training method based on an actual venue, its implementation principle is the same as that of a mixed reality golf training method based on an actual venue. For the sake of convenience and brevity, those skilled in the art can clearly understand that the specific working process of the system and modules described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0101] Example 3: An electronic device according to an embodiment of the present invention includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the mixed reality golf training method based on a real-world venue as described in any one of claims 1-6.

[0102] The memory can be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. The memory has storage space for program code used to perform any of the method steps described above. For example, the storage space for program code may include individual program codes for implementing the various steps in the methods described above. This program code can be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact discs (CDs), memory cards, or floppy disks. The program code may be compressed, for example, in a suitable form. When run by a computing processing device, this code causes the computing processing device to perform the various steps in the methods described above.

[0103] Example 4: This invention provides a computer-readable storage medium storing a computer program thereon, which, when executed, implements the mixed reality golf training method based on a real-world venue as described in any of the above embodiments.

[0104] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0105] Example 5: Embodiment 5 of the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions, wherein when the program instructions are executed by a computer, the computer performs the mixed reality golf training method based on the actual venue as described in any of the above embodiments.

[0106] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0107] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0108] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0109] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0110] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mixed reality golf training method based on actual terrain, characterized in that, The method, applied to a device comprising multiple independent training units, wherein each independent training unit includes a golf simulation unit, a realistic hitting course, an intelligent positioning unit, and a hole, includes: In the current independent training unit, the golf simulation unit senses the user's hitting action and simulates the landing point information of the virtual golf ball in the virtual environment; Based on the landing point information, determine whether the virtual golf ball has landed within a preset range; If so, coordinate information corresponding to the landing point information is generated based on the landing point information of the virtual golf ball; The intelligent positioning unit is controlled to provide the current position of the real golf ball in the real hitting field based on the coordinate information; Respond to and obtain the shot completed by the user on the real hitting course based on the current ball position, and update the position information of the real golf ball; Determine whether the updated location information meets the preset conditions. If so, guide the user to the next independent training unit until all the independent training units have been traversed.

2. The mixed reality golf training method based on actual venues according to claim 1, characterized in that, The step of determining whether the virtual golf ball falls within the preset range based on the landing point information further includes: If not, the position of the virtual golf ball is updated in the virtual environment of the golf simulation unit based on the landing point information of the virtual golf ball; In response to a user's subsequent shot within the golf simulation unit based on the updated position, the system simulates a new landing point and then proceeds to the step of determining whether the virtual golf ball lands within a preset range based on the landing point information.

3. The mixed reality golf training method based on actual venues according to claim 1, characterized in that, The preset range includes: a first preset sub-range corresponding to the green of the actual hitting course and a second preset sub-range corresponding to the fairway of the actual hitting course.

4. The mixed reality golf training method based on actual venues according to claim 1, characterized in that, The control of the intelligent positioning unit, based on the coordinate information, provides the current position of the real golf ball on the actual hitting course, including: The current position of the intelligent positioning unit is obtained, and based on the current position and the coordinate information, the movement path of the intelligent positioning unit on the actual hitting field is planned. Based on the movement path, the intelligent positioning unit is controlled to move to the target location, and the real golf ball is released at the target location through the actuator of the intelligent positioning unit.

5. The mixed reality golf training method based on actual venues according to claim 1, characterized in that, The response and acquisition of the user's shot based on the current ball position on the real hitting course, and updating the position information of the real golf ball, include: The movement status of the real golf ball is monitored by a monitoring unit on the real hitting field. When the real golf ball is detected to change from a stationary state to a moving state, the stationary position of the real golf ball after moving is obtained; The current position information of the real golf ball is updated based on the stationary position.

6. The mixed reality golf training method based on actual venues according to claim 1, characterized in that, The step of determining whether the updated location information meets the preset conditions also includes: If not, the updated position information is used as the new current ball position, and the process jumps to the steps of responding and obtaining the shot completed by the user on the actual hitting course based on the current ball position, and updating the position information of the actual golf ball.

7. A mixed reality golf training system based on actual terrain, characterized in that, A system applicable to a device comprising multiple independent training units, wherein each independent training unit includes a golf simulation unit, a realistic hitting course, an intelligent positioning unit, and a hole, the system comprising: The ball-hitting simulation module is used to sense the user's hitting motion through the golf simulation unit in the current independent training unit and simulate the landing point information of the virtual golf ball in the virtual environment; The position determination module is used to determine whether the virtual golf ball has fallen into a preset range based on the landing point information; The coordinate mapping module is used to generate coordinate information corresponding to the landing point information of the virtual golf ball if the conditions are met. The ball position deployment module is used to control the intelligent positioning unit and provide the current ball position of the real golf ball in the real hitting field based on the coordinate information; The position update module is used to respond to and obtain the shot completed by the user on the real hitting course based on the current ball position, and update the position information of the real golf ball; The process management module is used to determine whether the updated location information meets the preset conditions. If so, it guides the user to enter the next independent training unit until all the independent training units are traversed.

8. An electronic device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the mixed reality golf training method based on a real-world venue as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, It stores a computer program, characterized in that, when the computer program is executed, it implements the mixed reality golf training method based on the actual field as described in any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, wherein when the program instructions are executed by a computer, the computer performs the mixed reality golf training method based on a real-world venue as described in any one of claims 1-6.

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