Golf slope compensation measurement method, device and hand-held laser ranging telescope

Abstract

The application discloses a golf slope compensation measurement method, device and handheld laser ranging telescope, relates to the technical field of laser ranging, and the method comprises the following steps: in a first observation point, first and second distances between first and second target points and the first observation point are acquired by a laser ranging module, a gravity horizontal reference plane and first and second pitch angles of the two target points relative to the first observation point and a horizontal projection angle are determined by an attitude sensing module, and based on this, a three-dimensional coordinate system is established and the spatial coordinates of the two target points are solved, and then the actual distance between the two target points and the slope angle of a straight line formed by the two target points relative to the gravity horizontal reference plane are determined. Finally, according to the actual distance and the slope angle, a golf slope compensation value of hitting a ball from the first target point or hitting a ball from the second target point is determined. The application can acquire the distance and the slope angle between any two points in space, and the application scene of slope compensation measurement is widened.

Description

Technical Field

[0001] This application relates to the field of laser ranging technology, and in particular to a method, device and handheld laser ranging telescope for measuring golf slope compensation. Background Technology

[0002] Handheld laser rangefinders, with their portability and accuracy, have become a core piece of equipment in golf to assist in shot decision-making. Current technology typically requires the user to stand at the ball's position and directly measure the distance and pitch angle from the ball to the target flagstick, calculating a slope compensation value to guide club selection and swing force.

[0003] However, the aforementioned compensation measurement methods have inherent limitations: their slope compensation algorithms rely on the physical overlap between the observation point and the striking point, and the device can only directly output valid slope compensation data when the two are strictly aligned. Once the observation point deviates from the striking point (for example, when a player anticipates their next shot strategy from the cart path, rest area, or tee box, or when a caddie provides tactical assistance in an off-ball area), existing devices cannot directly obtain the golf slope compensation value from the actual striking point to the green target. In this case, users can only manually estimate the slope through segmented measurements, which is not only cumbersome but also yields large estimation errors, failing to meet the stringent data accuracy requirements of golf and severely restricting the application expansion of distance measuring devices in diverse scenarios.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of this application is to provide a golf course slope compensation measurement method, which aims to solve the technical problem that existing laser ranging methods cannot obtain the distance and slope between any two points in space, thus limiting the application scenarios of slope compensation.

[0006] To achieve the above objectives, this application proposes a method for measuring golf course slope compensation, comprising: At the first observation point, the first distance between the first target point and the first observation point and the second distance between the second target point and the first observation point are obtained by the laser ranging module, and the gravity horizontal reference plane is determined by the attitude sensing module. Based on the gravity horizontal reference plane, the first pitch angle of the first target point relative to the first observation point, the second pitch angle of the second target point relative to the first observation point, and the horizontal projection angle between the first target point and the second target point on the gravity horizontal reference plane are measured. A three-dimensional coordinate system is established with the first observation point as the origin and the gravity horizontal reference plane as the reference plane. Based on the first distance, the second distance, the first pitch angle, the second pitch angle and the angle between the horizontal projection, the first spatial coordinates of the first target point in the three-dimensional coordinate system and the second spatial coordinates of the second target point in the three-dimensional coordinate system are determined respectively. Based on the first spatial coordinates and the second spatial coordinates, determine the actual distance between the first target point and the second target point, and determine the slope angle of the straight line from the first target point to the second target point relative to the gravity horizontal reference plane; Based on the actual distance and the slope angle, determine a first golf slope compensation value from the first target point to the second target point, or a second golf slope compensation value from the second target point to the first target point.

[0007] In one embodiment, determining the first spatial coordinates of the first target point in the three-dimensional coordinate system and the second spatial coordinates of the second target point in the three-dimensional coordinate system includes: A three-dimensional rectangular coordinate system is established with the first observation point as the origin, the direction perpendicular to the gravity horizontal reference plane as the Z-axis, and the projection direction of the first observation point to the first target point on the gravity horizontal reference plane as the Y-axis, according to the right-hand rule. Let the first distance be denoted as The first pitch angle is denoted as The coordinate components of the first target point in the three-dimensional rectangular coordinate system are calculated based on the first preset orthogonal decomposition algorithm. ; Let the second distance be denoted as The second pitch angle is denoted as The included angle of the horizontal projection is denoted as The coordinate components of the second target point in the three-dimensional rectangular coordinate system are calculated based on the second preset orthogonal decomposition algorithm. ; The first preset orthogonal decomposition algorithm includes: ; The second preset orthogonal decomposition algorithm includes: .

[0008] In one embodiment, the formula for calculating the actual distance between the first target point and the second target point includes: ; The actual distance, Let these be the coordinate components of the first target point in the three-dimensional Cartesian coordinate system. The coordinate components of the second target point in the three-dimensional Cartesian coordinate system; The formula for calculating the slope angle of the straight line from the first target point to the second target point relative to the gravity horizontal reference plane includes:

[0009] The slope angle is denoted as .

[0010] In one embodiment, determining the first golf slope compensation value from the first target point to the second target point based on the actual distance and the slope angle includes: Based on the actual distance and the slope angle, and using a first preset compensation formula, a first golf slope compensation value is determined from the first target point to the second target point. The first preset compensation formula includes:

[0011] This is the first golf course slope compensation value. The actual distance, The slope angle is denoted as .

[0012] In one embodiment, determining the second golf slope compensation value from the second target point to the first target point based on the actual distance and the slope angle includes: Based on the actual distance and the slope angle, and using the second preset compensation formula, a second golf slope compensation value is determined from the second target point to the first target point. The second preset compensation formula includes:

[0013] This is the second golf course slope compensation value. The actual distance, The slope angle is denoted as .

[0014] In one embodiment, before determining a first golf slope compensation value from the first target point to the second target point based on the actual distance and the slope angle, the method further includes: Determine whether the slope angle is within the first preset effective slope range; If the slope angle is within the first preset effective slope range, then the first golf slope compensation value is determined based on the actual distance and the slope angle from the first target point to the second target point. If the slope angle exceeds the first preset effective slope range, an abnormal prompt signal will be output.

[0015] In one embodiment, before determining the second golf slope compensation value from the second target point to the first target point based on the actual distance and the slope angle, the method further includes: Determine whether the slope angle is within the second preset effective slope range; If the slope angle is within the second preset effective slope range, then the second golf slope compensation value is determined based on the actual distance and the slope angle from the second target point to the first target point. If the slope angle exceeds the second preset effective slope range, an abnormal prompt signal will be output.

[0016] In one embodiment, the method further includes: The golf slope compensation value is displayed locally via a display module; and / or, The golf slope compensation value, the actual distance, and the slope angle are sent to an external terminal device via the communication module.

[0017] Furthermore, to achieve the above objectives, this application also proposes a golf course slope compensation measuring device, the device comprising: The laser ranging module is used to obtain the first distance between the first target point and the first observation point, and the second distance between the second target point and the first observation point, respectively, at the first observation point; An attitude sensing module is used to determine the gravity horizontal reference plane at the first observation point, and based on the gravity horizontal reference plane, to measure the first pitch angle of the first target point relative to the first observation point, the second pitch angle of the second target point relative to the first observation point, and the horizontal projection angle between the first target point and the second target point on the gravity horizontal reference plane. The processing and analysis module is connected to the laser ranging module and the attitude sensing module, respectively. It is used to establish a three-dimensional coordinate system with the first observation point as the origin and the gravity horizontal reference plane as the reference plane. Based on the first distance, the second distance, the first pitch angle, the second pitch angle, and the angle between the horizontal projection, it determines the first spatial coordinates of the first target point and the second spatial coordinates of the second target point in the three-dimensional coordinate system. Based on the first and second spatial coordinates, it determines the actual distance between the first and second target points, and the slope angle of the straight line from the first target point to the second target point relative to the gravity horizontal reference plane. Based on the actual distance and the slope angle, it determines a first golf slope compensation value from the first target point to the second target point, or a second golf slope compensation value from the second target point to the first target point.

[0018] In addition, to achieve the above objectives, this application also proposes a handheld laser rangefinder telescope, which includes the golf slope compensation measuring device described above.

[0019] One or more technical solutions proposed in this application have at least the following technical effects: At the first observation point, the first distance between the first target point and the first observation point, and the second distance between the second target point and the first observation point are obtained through the laser ranging module. The gravity horizontal reference plane is determined through the attitude sensing module, and based on the gravity horizontal reference plane, the first pitch angle of the first target point relative to the first observation point, the second pitch angle of the second target point relative to the first observation point, and the horizontal projection angle between the first target point and the second target point on the gravity horizontal reference plane are measured. A three-dimensional coordinate system is established with the first observation point as the origin and the gravity horizontal reference plane as the reference plane. Based on the first distance, the second distance... The distance, first pitch angle, second pitch angle, and the angle between the horizontal projection are used to determine the first spatial coordinates of the first target point in the three-dimensional coordinate system and the second spatial coordinates of the second target point in the three-dimensional coordinate system, respectively. Based on the first and second spatial coordinates, the actual distance between the first and second target points is determined, as well as the slope angle of the straight line from the first target point to the second target point relative to the gravity horizontal reference plane. Based on the actual distance and slope angle, the first golf slope compensation value from the first target point to the second target point, or the second golf slope compensation value from the second target point to the first target point, is determined. This application decouples slope compensation calculation from the mandatory dependence on the physical coincidence of the observation point and the hitting point, so that even if the observation point is located in a position far from the actual hitting point, such as a cart path, rest area, or tee box, it can still directly output the golf slope compensation value from the actual hitting point to the target point. This application solves the problems in the prior art where effective slope compensation data cannot be directly obtained due to the deviation of the observation point, and the cumbersome operation and large error caused by segmented measurement and manual estimation, thus expanding the application scenarios of slope compensation measurement. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A flowchart illustrating an embodiment of the golf course slope compensation measurement method of this application; Figure 2 This is a flowchart illustrating yet another embodiment of the golf course slope compensation measurement method of this application. Figure 3 A flowchart illustrating another embodiment of the golf course slope compensation measurement method of this application; Figure 4 A schematic diagram of distance and slope measurement provided for an embodiment of the golf course slope compensation measurement method of this application; Figure 5 A schematic diagram of slope compensation provided for an embodiment of the golf course slope compensation measurement method of this application; Figure 6 This is a structural schematic diagram of an embodiment of the golf slope compensation measuring device of this application.

[0023] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0025] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0026] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0027] In existing technologies, handheld laser rangefinders have become core equipment for assisting shot decision-making in golf due to their portability and accuracy. These devices typically require the user to stand at the ball's position and directly measure the distance and pitch angle from the ball to the target flagstick, calculating the slope compensation value to guide club selection and swing force. However, this compensation measurement method has inherent limitations: its slope compensation algorithm relies on the physical overlap between the observation point and the impact point; the device can only directly output valid slope compensation data when the two are strictly aligned. Once the observation point deviates from the impact point (e.g., when a player anticipates their next shot strategy from the cart path, rest area, or tee box, or when a caddie provides tactical assistance outside the ball's position), existing devices cannot directly obtain the golf slope compensation value from the actual impact point to the green target. In this case, the user can only manually estimate the slope through segmented measurements. This method is not only cumbersome but also suffers from significant errors due to the lack of precise geometric calculations based on three-dimensional spatial coordinates, failing to meet the stringent data accuracy requirements of golf and severely restricting the application expansion of rangefinders in diverse tactical scenarios.

[0028] This application proposes a method for measuring golf course slope compensation.

[0029] Please see Figure 1 and Figure 4 In one embodiment of this application, the golf course slope compensation measurement method includes steps S10 to S40: Step S10: At the first observation point, the first distance between the first target point and the first observation point and the second distance between the second target point and the first observation point are obtained by the laser ranging module. The gravity horizontal reference plane is determined by the attitude sensing module. Based on the gravity horizontal reference plane, the first pitch angle of the first target point relative to the first observation point, the second pitch angle of the second target point relative to the first observation point, and the horizontal projection angle between the first target point and the second target point on the gravity horizontal reference plane are measured.

[0030] It should be noted that the first observation point is the first target point, the second target point, or any other location different from the first target point and the second target point; the first target point and the second target point are respectively the hitting point and the green target position, or respectively the green target position and the hitting point.

[0031] It should be noted that the first distance and the second distance in this step refer to the physical lengths measured by the laser ranging module emitting lasers from the first observation point to the two target points and receiving the echoes. The pitch angle is the angle of inclination of the line connecting the observation point to the target point relative to the horizontal reference plane of gravity. The horizontal projection angle is the angle between the projections of the azimuth lines of the two target points onto the horizontal plane with the first observation point as the origin. In this embodiment, two sets of distance data are obtained using the laser ranging module at the same observation point. At the same time, the attitude sensing module locks the gravity direction to establish a horizontal reference plane, thereby determining the pitch angle of each target point and the horizontal projection angle between the two points.

[0032] It should be noted that the laser ranging module can include a laser emitting circuit, a time-to-digital converter, and a laser receiving circuit. It operates based on the time-of-flight principle. The laser emitting circuit drives an internal laser to emit a laser beam towards the target, simultaneously triggering the time-to-digital converter to start timing. The weak echo signal reflected from the target is converted into an electrical signal by a photoelectric receiving circuit (which internally contains photodiodes, amplification, and filtering circuits). The time-to-digital converter then acquires this electrical signal and quantifies the time interval of the laser pulse's round-trip propagation with high precision. Combined with the speed of light, the distance between the two points is calculated. The attitude sensing module can employ a gyroscope module or a combination of a geomagnetic azimuth module and a gravity accelerometer. When using a gyroscope module, the gravity horizontal reference plane is determined through initial alignment or external assistance as the starting reference for integration. Then, the internal sensing element measures and integrates the angular velocity of the carrier around the horizontal axis in real time to obtain the pitch angles of the first and second target points relative to the first observation point. Simultaneously, the angular velocity of the carrier around the vertical axis (i.e., the direction of gravity) is measured and integrated to obtain the relative azimuth change of the two target points on the gravity horizontal reference plane, which is the horizontal projection angle. When the geomagnetic azimuth module is combined with the gravity accelerometer, the gravity accelerometer directly senses the direction of the gravity vector to calculate the pitch angle of the first and second target points relative to the gravity horizontal reference plane in real time; at the same time, the geomagnetic azimuth module senses the horizontal component of the geomagnetic field in the direction of the two target points respectively, calculates the heading angle relative to magnetic north for each target point, and then subtracts the two target points to obtain the horizontal projection angle between the two target points on the gravity horizontal reference plane.

[0033] Step S20: Establish a three-dimensional coordinate system with the first observation point as the origin and the gravity horizontal reference plane as the reference plane. Based on the first distance, the second distance, the first pitch angle, the second pitch angle and the angle between the horizontal projection, determine the first spatial coordinates of the first target point in the three-dimensional coordinate system and the second spatial coordinates of the second target point in the three-dimensional coordinate system.

[0034] It should be noted that the three-dimensional coordinate system in this step is a spatial rectangular coordinate system constructed with the first observation point as the origin and the gravity horizontal reference plane as the reference plane. In this embodiment, the spherical coordinate data obtained in step S10, namely distance, pitch angle, and horizontal projection angle, are converted into first and second spatial coordinates in the rectangular coordinate system through trigonometric functions. In this way, distance and angle measurement data can be uniformly incorporated into a standardized spatial framework.

[0035] Step S30: Based on the first spatial coordinates and the second spatial coordinates, determine the actual distance between the first target point and the second target point, and determine the slope angle of the straight line from the first target point to the second target point relative to the gravity horizontal reference plane.

[0036] It should be noted that the actual distance in this step refers to the true straight-line length between the two target points in three-dimensional space. The slope angle refers to the directed angle formed between the spatial straight-line vector connecting the first and second target points and the gravity horizontal reference plane passing through the first target point. Its value can be positive or negative. When the second target point is higher than the first target point, it is considered an uphill slope relative to the first target point and a positive value is taken; conversely, it is considered a downhill slope and a negative value is taken. In this embodiment, the actual distance is calculated based on two sets of spatial coordinates, and the precise slope angle is calculated by the arctangent of the Z-axis elevation difference and the horizontal projected distance. This eliminates the influence of the observation point as an intermediate variable, directly quantifies the true geographical topological relationship between the serving point and the target point, and ensures the objective accuracy of the slope parameter.

[0037] Step S40: Based on the actual distance and slope angle, determine the first golf slope compensation value from the first target point to the second target point, or the second golf slope compensation value from the second target point to the first target point.

[0038] It should be noted that the golf slope compensation value in this step refers to the equivalent flat-ground shot distance calculated by combining the actual distance and slope angle factors. This value guides players in selecting the appropriate club and adjusting the shot power when on non-flat surfaces. In this embodiment, the calculated actual distance is used as the base range. Based on the positive and negative directions of the slope angle, the ballistic physics model or empirical compensation curve is substituted to generate the required compensation values ​​for the shot from the first target point to the second target point or vice versa. Thus, this embodiment improves the accuracy of shots on slopes.

[0039] In this embodiment, the distances of the first and second target points relative to the observation point are obtained using a laser ranging module at the first observation point. The pitch angles of the first and second target points relative to the observation point are obtained using an attitude sensing module, as well as the horizontal projection angle between the two target points on the gravity horizontal reference plane. A three-dimensional coordinate system is established with the first observation point as the origin and the gravity horizontal reference plane as the reference plane. The spherical coordinate data is converted into rectangular coordinates of the two target points within a unified spatial framework using trigonometric functions. Based on these spatial coordinates, the actual distance between the first and second target points, independent of the observation point's location, and the directional slope angle (with positive uphill and negative downhill directions) are directly calculated, using the gravity horizontal reference plane passing through the first target point as the reference. Finally, an accurate golf slope compensation value is generated. This embodiment decouples the slope compensation calculation from the mandatory dependence on the physical coincidence of the observation point and the hitting point, allowing the golf slope compensation value from the actual hitting point to be directly output even if the observation point is located in a location such as a cart path, rest area, or tee box, which deviates from the actual hitting point. Thus, when using a handheld laser rangefinder to measure the distance between the striking point and the target position on a golf course, there is no longer just one scenario. It could be a scenario where the golfer measures the distance and angle between the striking point and the target position on the golf cart, calculates the slope compensation value, selects the club, and then hits the ball at the striking point; or it could be a scenario where the caddie measures the distance and angle between the striking point and the target position on another part of the course, calculates the slope compensation value, and transmits it to the golfer. This provides a better and higher-level user experience for handheld laser rangefinders in golf, meeting the needs of users in various scenarios. This embodiment solves the problems in existing technologies where the inability to directly obtain effective slope compensation data due to observation point deviation, and the cumbersome operation and large errors caused by segmented measurement and manual estimation, expanding the application boundaries of slope compensation measurement in diverse tactical scenarios.

[0040] In one embodiment, the method further includes step S50: The golf slope compensation value is displayed locally via the display module; and / or, The communication module sends the golf slope compensation value, actual distance, and slope angle to the external terminal device.

[0041] In this embodiment, the display module provides local display, allowing players to obtain slope compensation values ​​immediately after measurement without relying on external devices. The compensation value, actual distance, and slope angle are simultaneously sent to an external terminal device (such as a smartphone app or cloud platform). Based on these parameters, the external terminal device can generate a personal shot profile, create a course slope heatmap, and analyze the club selection deviation trend under different slopes, thereby transforming a single measurement into data assets for long-term technical diagnosis and training optimization.

[0042] In one embodiment of this application, step S20, which determines the first spatial coordinates of the first target point in the three-dimensional coordinate system and the second spatial coordinates of the second target point in the three-dimensional coordinate system, includes steps S21 to S23: Step S21: Establish a three-dimensional rectangular coordinate system with the first observation point as the origin, the direction perpendicular to the horizontal gravity reference plane as the Z-axis, and the projection direction of the first observation point to the first target point on the horizontal gravity reference plane as the Y-axis, according to the right-hand rule. Step S22, record the first distance as The first pitch angle is denoted as The coordinate components of the first target point in the three-dimensional rectangular coordinate system are calculated based on the first preset orthogonal decomposition algorithm. ; Step S23, record the second distance as The second pitch angle is denoted as The horizontal projection angle is denoted as The coordinate components of the second target point in the three-dimensional rectangular coordinate system are calculated based on the second preset orthogonal decomposition algorithm. ; The first preset orthogonal decomposition algorithm includes: ; The second preset orthogonal decomposition algorithm includes: .

[0043] In this embodiment, after establishing a coordinate system with the first observation point as the origin, the vertical line of gravity as the Z-axis, and following the right-hand rule, the first distance is substituted into the coordinate system. With the first pitch angle Second distance With pitch angle and the included angle of horizontal projection The (X1, Y1, Z1) of the two target points are obtained through the first and second preset orthogonal decomposition algorithms. Thus, by constructing a standardized spatial rectangular coordinate framework, distance and angle observations are uniformly transformed into absolute position information that can be directly used for vector operations. Furthermore, using the direction of the first target point as the Y-axis reference effectively reduces the computational complexity of subsequent slope angle calculations, providing a data foundation for calculating the actual distance and slope angle between the first and second target points in non-co-located scenarios.

[0044] In one embodiment, the formula for calculating the actual distance between the first target point and the second target point in step S30 includes: ; This is the actual distance. Let these be the coordinate components of the first target point in a three-dimensional Cartesian coordinate system. These are the coordinate components of the second target point in a three-dimensional rectangular coordinate system. The formula for calculating the slope angle of the straight line from the first target point to the second target point relative to the horizontal gravity reference plane includes:

[0045] The slope angle is denoted by .

[0046] In this embodiment, based on the Cartesian coordinates (X1, Y1, Z1) of the two target points obtained in step S20, and The actual distance L is calculated using the three-dimensional Euclidean distance formula, and further utilized the Z-axis elevation difference (Z2). The slope angle can be accurately obtained by relating Z1 to the arcsine function of the actual distance L. This provides a data foundation for calculating golf course slope compensation.

[0047] Please see Figure 2 and Figure 5 In one embodiment of this application, step S40, which determines the first golf slope compensation value from the first target point to the second target point based on the actual distance and slope angle, includes step S41: Based on the actual distance and slope angle, and using the first preset compensation formula, the first golf slope compensation value is determined from the first target point to the second target point.

[0048] The first preset compensation formula includes:

[0049] This is the first golf course slope compensation value. This is the actual distance. The slope angle is denoted by .

[0050] It should be noted that the first golf course slope compensation value This refers to the combination of actual distance L and slope angle. The equivalent flat-ground shot distance, calculated after conversion, is used to guide players in selecting the club and adjusting the force when hitting the ball from the first target point to the second target point. The first preset compensation formula is an empirical formula obtained by fitting a large amount of measured data. In the first preset compensation formula, For horizontal projection reference, it represents the purely geometric horizontal distance between the first target point and the second target point on the gravity horizontal reference plane; The correction term is a dimensionless nonlinear scaling factor used to quantify the slope angle. The overall impact on the actual hitting distance. When When greater than 0, When the value is positive, the denominator decreases, the correction term is greater than 1, which amplifies the compensation value and accurately reflects the increased equivalent flat-ground hitting distance required when hitting the ball uphill from the first target point to the second target point (i.e., a longer hitting distance is needed on flat ground to achieve the same landing point effect); when When less than 0, When the value is negative, the denominator increases, the correction term is less than 1, and the compensation value decreases, accurately reflecting the reduction in the equivalent flat-ground hitting distance actually required when hitting the ball downhill from the first target point to the second target point (on flat ground, only a shorter hitting distance is needed to achieve the same landing point effect). When the value is 0, the correction term is 1, and the first golf slope compensation value is the actual distance. Therefore, even under non-co-located measurement conditions, this embodiment can still output high-precision slope compensation values ​​that strictly match the actual terrain.

[0051] In one embodiment, before step S21, the method further includes steps S2101 to S2103: Step S2101: Determine whether the slope angle is within the first preset effective slope range; Step S2102: If the slope angle is within the first preset effective slope range, then determine the first golf slope compensation value from the first target point to the second target point based on the actual distance and slope angle. In step S2103, if the slope angle exceeds the first preset effective slope range, an abnormal prompt signal is output.

[0052] It should be noted that most golf courses have slopes within ±45°. The second preset compensation formula is an empirical physical model obtained by fitting measured data within the effective slope range of ±45°. Therefore, the applicability and accuracy of this formula are limited by this slope boundary; when the slope angle is detected... When the temperature exceeds ±45°, the current operating condition is determined to have deviated from the model's effective domain, and an error message is output. This only applies when the temperature exceeds ±45°. The formula calculation is only performed when the angle is within ±45° to ensure the accuracy and effectiveness of the compensation results.

[0053] Please see Figure 3 and Figure 5 In one embodiment of this application, determining the second golf slope compensation value from the second target point to the first target point based on the actual distance and slope angle in step S40 includes step S42: Based on the actual distance and slope angle, and using the second preset compensation formula, the second golf slope compensation value from the second target point to the first target point is determined.

[0054] The second preset compensation formula includes:

[0055] This is the second golf course slope compensation value. This is the actual distance. The slope angle is denoted by .

[0056] It should be noted that the second golf course slope compensation value This refers to the combination of actual distance L and slope angle. The equivalent flat-ground shot distance, calculated after conversion, is used to guide players in selecting the club and adjusting the force when hitting the ball from the second target point to the first target point. The second preset compensation formula is an empirical formula obtained by fitting a large amount of measured data. In the second preset compensation formula, For horizontal projection reference, it represents the purely geometric horizontal distance between the second target point and the first target point on the gravity horizontal reference plane; The correction term is a dimensionless nonlinear scaling factor used to quantify the slope angle. The overall impact on the actual hitting distance. When When less than 0, When the value is negative, the denominator decreases, the correction term is greater than 1, which amplifies the compensation value and accurately reflects the increased equivalent flat-ground hitting distance actually required when hitting the ball uphill from the second target point to the first target point (i.e., a longer hitting distance is needed on flat ground to achieve the same landing point effect); when When greater than 0, When the value is positive, the denominator increases, the correction term is less than 1, and the compensation value decreases, accurately reflecting the reduction in the equivalent flat-ground hitting distance actually required when hitting the ball downhill from the second target point to the first target point (on flat ground, only a shorter hitting distance is needed to achieve the same landing point effect). When the value equals 0, the correction term is 1, and the second golf slope compensation value is the actual distance. Therefore, even under non-co-located measurement conditions, this embodiment can still output high-precision slope compensation values ​​that strictly match the actual terrain.

[0057] In one embodiment, before step S22, the method further includes steps S2201 to S2203: Step S2201: Determine whether the slope angle is within the second preset effective slope range; Step S2202: If the slope angle is within the second preset effective slope range, then determine the second golf slope compensation value from the second target point to the first target point based on the actual distance and slope angle. In step S2203, if the slope angle exceeds the second preset effective slope range, an abnormal prompt signal is output.

[0058] It should be noted that most golf courses have slopes within ±45°. The second preset compensation formula is an empirical physical model obtained by fitting measured data within the effective slope range of ±45°. Therefore, the applicability and accuracy of this formula are limited by this slope boundary; when the slope angle is detected... When the temperature exceeds ±45°, the current operating condition is determined to have deviated from the effective domain of the model, and an error message is output. This only applies when the temperature exceeds ±45°. The formula calculation is only performed when the angle is within ±45° to ensure the accuracy and effectiveness of the compensation results.

[0059] Please see Figure 6 This application also proposes a golf course slope compensation measuring device, which includes: The laser ranging module is used to obtain the first distance between the first target point and the first observation point, and the second distance between the second target point and the first observation point, respectively, at the first observation point; The attitude sensing module is used to determine the gravity horizontal reference plane at the first observation point, and based on the gravity horizontal reference plane, to measure the first pitch angle of the first target point relative to the first observation point, the second pitch angle of the second target point relative to the first observation point, and the horizontal projection angle between the first target point and the second target point on the gravity horizontal reference plane. The processing and analysis module is used to establish a three-dimensional coordinate system with the first observation point as the origin and the gravity horizontal reference plane as the reference plane. Based on the first distance, the second distance, the first pitch angle, the second pitch angle and the angle between the horizontal projection, it determines the first spatial coordinates of the first target point and the second spatial coordinates of the second target point in the three-dimensional coordinate system. According to the first spatial coordinates and the second spatial coordinates, it determines the actual distance between the first target point and the second target point, and the slope angle of the straight line from the first target point to the second target point relative to the gravity horizontal reference plane. According to the actual distance and the slope angle, it determines the first golf slope compensation value from the first target point to the second target point, or the second golf slope compensation value from the second target point to the first target point.

[0060] In this embodiment, the distances of the first and second target points relative to the observation point are obtained using a laser ranging module at the first observation point. The pitch angles of the first and second target points relative to the observation point are obtained using an attitude sensing module, as well as the horizontal projection angle between the two target points on the gravity horizontal reference plane. A three-dimensional coordinate system is established using the first observation point as the origin and the gravity horizontal reference plane as the reference plane. The spherical coordinate data is converted into rectangular coordinates of the two target points within a unified spatial framework using trigonometric functions. Based on these spatial coordinates, the actual distance between the first and second target points, independent of the observation point's location, and the directional slope angle (positive for uphill and negative for downhill) are directly calculated, using the gravity horizontal reference plane passing through the first target point as the reference. Finally, an accurate golf slope compensation value is generated. This embodiment decouples the slope compensation calculation from the mandatory dependence on the physical coincidence of the observation point and the hitting point, allowing the golf slope compensation value from the actual hitting point to be directly output even if the observation point is located in a location such as a cart path, rest area, or tee box, which deviates from the actual hitting point. Thus, when using a handheld laser rangefinder to measure the distance between the striking point and the target position on a golf course, there is no longer just one scenario. It could be a scenario where the golfer measures the distance and angle between the striking point and the target position on the golf cart, calculates the slope compensation value, selects the club, and then strikes the ball at the striking point; or it could be a scenario where the caddie measures the distance and angle between the striking point and the target position on another part of the course, calculates the slope compensation value, and transmits it to the golfer. This provides a better and higher-level user experience for handheld laser rangefinders in golf, meeting the needs of users in various scenarios. This embodiment solves the problems in existing technologies where the inability to directly obtain effective slope compensation data due to observation point deviation, and the cumbersome operation and significant errors caused by segmented measurement and manual estimation. It expands the application boundaries of slope compensation measurement in diverse tactical scenarios.

[0061] In one embodiment, the golf slope compensation measuring device further includes a display module to locally display the golf slope compensation value. And / or, the golf slope compensation measuring device further includes a communication module to transmit the golf slope compensation value, the actual distance, and the slope angle to an external terminal device via the communication module.

[0062] In this embodiment, the display module can be implemented using a display screen or the like, and the communication module can be implemented using Wi-Fi, Bluetooth, or the like.

[0063] This application also proposes a handheld laser rangefinder telescope, which includes a golf slope compensation measuring device. The specific structure of the golf slope compensation measuring device is as described in the above embodiments. Since this handheld laser rangefinder telescope adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0064] The above description is merely an exemplary embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the technical concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A method for measuring golf course slope compensation, characterized in that, include: At the first observation point, the first distance between the first target point and the first observation point and the second distance between the second target point and the first observation point are obtained by the laser ranging module, and the gravity horizontal reference plane is determined by the attitude sensing module. Based on the gravity horizontal reference plane, the first pitch angle of the first target point relative to the first observation point, the second pitch angle of the second target point relative to the first observation point, and the horizontal projection angle between the first target point and the second target point on the gravity horizontal reference plane are measured. A three-dimensional coordinate system is established with the first observation point as the origin and the gravity horizontal reference plane as the reference plane. Based on the first distance, the second distance, the first pitch angle, the second pitch angle and the angle between the horizontal projection, the first spatial coordinates of the first target point in the three-dimensional coordinate system and the second spatial coordinates of the second target point in the three-dimensional coordinate system are determined respectively. Based on the first spatial coordinates and the second spatial coordinates, determine the actual distance between the first target point and the second target point, and determine the slope angle of the straight line from the first target point to the second target point relative to the gravity horizontal reference plane; Based on the actual distance and the slope angle, determine a first golf slope compensation value from the first target point to the second target point, or a second golf slope compensation value from the second target point to the first target point.

2. The method as described in claim 1, characterized in that, Determining the first spatial coordinates of the first target point in the three-dimensional coordinate system and the second spatial coordinates of the second target point in the three-dimensional coordinate system includes: A three-dimensional rectangular coordinate system is established with the first observation point as the origin, the direction perpendicular to the gravity horizontal reference plane as the Z-axis, and the projection direction of the first observation point to the first target point on the gravity horizontal reference plane as the Y-axis, according to the right-hand rule. Let the first distance be denoted as The first pitch angle is denoted as The coordinate components of the first target point in the three-dimensional rectangular coordinate system are calculated based on the first preset orthogonal decomposition algorithm. ; Let the second distance be denoted as The second pitch angle is denoted as The included angle of the horizontal projection is denoted as The coordinate components of the second target point in the three-dimensional rectangular coordinate system are calculated based on the second preset orthogonal decomposition algorithm. ; The first preset orthogonal decomposition algorithm includes: ； The second preset orthogonal decomposition algorithm includes: 。 3. The method as described in claim 2, characterized in that, The formula for calculating the actual distance between the first target point and the second target point includes: ； The actual distance, Let these be the coordinate components of the first target point in the three-dimensional Cartesian coordinate system. The coordinate components of the second target point in the three-dimensional Cartesian coordinate system; The formula for calculating the slope angle of the straight line from the first target point to the second target point relative to the gravity horizontal reference plane includes: The slope angle is denoted as .

4. The method as described in claim 1, characterized in that, The step of determining the first golf slope compensation value from the first target point to the second target point based on the actual distance and the slope angle includes: Based on the actual distance and the slope angle, and using a first preset compensation formula, a first golf slope compensation value is determined from the first target point to the second target point. The first preset compensation formula includes: This is the first golf course slope compensation value. The actual distance, The slope angle is denoted as .

5. The method as described in claim 1, characterized in that, The step of determining the second golf slope compensation value from the second target point to the first target point based on the actual distance and the slope angle includes: Based on the actual distance and the slope angle, and using the second preset compensation formula, a second golf slope compensation value is determined from the second target point to the first target point. The second preset compensation formula includes: This is the second golf course slope compensation value. The actual distance, The slope angle is denoted as .

6. The method as described in claim 4, characterized in that, Before determining the first golf slope compensation value from the first target point to the second target point based on the actual distance and the slope angle, the method further includes: Determine whether the slope angle is within the first preset effective slope range; If the slope angle is within the first preset effective slope range, then the first golf slope compensation value is determined based on the actual distance and the slope angle from the first target point to the second target point. If the slope angle exceeds the first preset effective slope range, an abnormal prompt signal will be output.

7. The method as described in claim 5, characterized in that, Before determining the second golf slope compensation value from the second target point to the first target point based on the actual distance and the slope angle, the method further includes: Determine whether the slope angle is within the second preset effective slope range; If the slope angle is within the second preset effective slope range, then the second golf slope compensation value is determined based on the actual distance and the slope angle from the second target point to the first target point. If the slope angle exceeds the second preset effective slope range, an abnormal prompt signal will be output.

8. The method as described in claim 1, characterized in that, Also includes: The golf slope compensation value is displayed locally via the display module; And / or, The golf slope compensation value, the actual distance, and the slope angle are sent to an external terminal device via the communication module.

9. A golf course slope compensation measuring device, characterized in that, The device includes: The laser ranging module is used to obtain the first distance between the first target point and the first observation point, and the second distance between the second target point and the first observation point, respectively, at the first observation point; An attitude sensing module is used to determine the gravity horizontal reference plane at the first observation point, and based on the gravity horizontal reference plane, to measure the first pitch angle of the first target point relative to the first observation point, the second pitch angle of the second target point relative to the first observation point, and the horizontal projection angle between the first target point and the second target point on the gravity horizontal reference plane. The processing and analysis module is connected to the laser ranging module and the attitude sensing module, respectively. It is used to establish a three-dimensional coordinate system with the first observation point as the origin and the gravity horizontal reference plane as the reference plane. Based on the first distance, the second distance, the first pitch angle, the second pitch angle, and the angle between the horizontal projection, it determines the first spatial coordinates of the first target point and the second spatial coordinates of the second target point in the three-dimensional coordinate system. Based on the first and second spatial coordinates, it determines the actual distance between the first and second target points, and the slope angle of the straight line from the first target point to the second target point relative to the gravity horizontal reference plane. Based on the actual distance and the slope angle, it determines a first golf slope compensation value from the first target point to the second target point, or a second golf slope compensation value from the second target point to the first target point.

10. A handheld laser rangefinder, characterized in that, The handheld laser rangefinder includes the golf slope compensation measuring device as described in claim 9.

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