A non-dual wheel extruded golf ball launching and striking control system

Abstract

The application discloses a non-double-wheel extrusion type golf ball launching and hitting control system, which comprises a ball supply and positioning module, a flexible hitting and energy injection module, a multi-degree-of-freedom club face posture and friction regulation and control module, a ball launching parameter measurement module and a closed-loop control and parameter solving module.The application has the beneficial effects that: the application realizes highly realistic hitting touch and physical feedback through active control of the flexible hitting end and the contact time and force waveform; the application adopts decoupled precise parameter control, can independently regulate the ball speed, take-off angle, side spin and back spin, and accurately simulates the full series of hitting effects from a wood club to a draw club; the closed-loop feedback based on real-time measurement ensures the consistency and repeatability of the launched ball, and the anti-interference capability is strong; the system provides elastic, pneumatic, electromagnetic and other energy injection modes, has the functions of modular design, quick replacement, software self-calibration and hitting log.

Description

Technical Field

[0001] This invention relates to the field of golf training and simulation equipment control system technology, specifically a non-dual-wheel squeeze-type golf ball launching and striking control system. Background Technology

[0002] In golf training and simulator applications, to reproduce the effects of different clubs (such as drivers, irons, and wedges) or specific ball trajectories (such as straight shots, slices, hooks, lobs, and low shots), it is necessary to launch the golf ball with precisely specified parameters such as ball speed, launch angle, sidespin, and backspin. Currently, most mainstream golf ball launching devices on the market employ a dual-wheel compression design, where two high-speed, counter-rotating wheels clamp and rub the ball, accelerating its flight.

[0003] However, this traditional approach suffers from a series of inherent technical flaws and shortcomings. First, the contact mechanism of the double-wheel compression differs significantly in physical nature from the "collision-contact-separation" process that occurs when a real golf clubface strikes the ball. It cannot simulate the local deformation of the clubface material, the brief dwell time of the ball on the clubface (i.e., contact time), and the resulting complex force transmission process. This leads to poor realism in the feel of the shot, and the spin generation mechanism is limited, making it difficult to realistically simulate, for example, the effect of the clubface grooves "biting" the ball to produce strong backspin. Second, in this approach, there is a strong physical coupling between parameters such as the ball's launch angle, sidespin, and backspin. Adjusting the launch angle (by changing the wheel loft) often simultaneously changes the ball's spin characteristics, while expecting to independently adjust sidespin or backspin is extremely difficult. The parameters exhibit severe crosstalk, limiting the system's ability to simulate diverse shot effects. Furthermore, the repeatability and consistency of dual-wheel structures are significantly affected by factors such as mechanical wear, wheel surface contamination, and changes in ambient temperature and humidity. Ball release parameters are prone to fluctuation, making it difficult to meet the stringent requirements of high-end teaching, professional training, or simulators for long-term data stability and repeatability. Finally, most existing systems employ open-loop or simple proportional control, lacking real-time, precise closed-loop feedback control based on the final ball release result. This makes it difficult to stably and reliably achieve preset complex target parameter combinations under different environmental conditions or equipment states.

[0004] Therefore, there is a need to develop a new golf ball launch control system that can fundamentally simulate the physical process of a real ball strike, achieve precise and independent control of key ball launch parameters, and possess excellent stability and adaptability, in order to overcome the limitations of existing dual-wheel squeeze technology. Summary of the Invention

[0005] The purpose of this invention is to provide a non-double-wheel squeeze-type golf ball launching and striking control system to address the shortcomings of existing dual-wheel squeeze-type golf ball launching machines in terms of realism, parameter control independence, repeatability, and adaptive control.

[0006] This invention achieves the above objective through the following technical solution: a non-dual-wheel compression golf ball launch and striking control system, comprising: The ball feeding and positioning module is used to automatically or semi-automatically retrieve the golf ball from the storage device and deliver and precisely position it to a fixed, repeatable hitting reference position to prepare for subsequent accurate shots. The flexible striking and energy injection module is characterized by its non-double-wheel compression physical mechanism, used to apply a single striking or pushing action to a positioned golf ball, thereby injecting kinetic energy into it. The core component of this module is the flexible striking end, which includes a flexible layer for direct contact with the ball and capable of controlled elastic deformation under impact, and a support layer providing overall structural support and necessary stiffness for the flexible layer. This structure aims to simulate the local elasticity of a real golf club face. A multi-degree-of-freedom clubface attitude and friction control module is mechanically connected to and precisely controls the flexible striking end. This module is used to dynamically or statically adjust the multi-dimensional spatial attitude (such as normal direction and tilt angle) of the flexible striking end at the moment of impact, precisely control the spatial offset of the striking point relative to the center of the golf ball (e.g., striking directly behind, above, below, to the left, or to the right of the center), and regulate the effective frictional characteristics between the striking face and the ball. The ball launch parameter measurement module is used to measure or estimate the actual ball launch parameters during the initial flight phase after the ball is hit, or indirectly. The ball launch parameters include at least one or more of the following: ball speed, launch angle, sidespin (such as sidespin rate or axis of rotation), and backspin (such as backspin rate), providing crucial feedback information to the system. The closed-loop control and parameter calculation module is electrically connected to the ball feeding and positioning module, the flexible hitting and energy injection module, the multi-degree-of-freedom clubface attitude and friction control module, and the ball release parameter measurement module. This module receives target ball release parameters set by the user or the host system, and based on the actual ball release parameters fed back in real time by the ball release parameter measurement module, it calculates, adjusts, and outputs precise control commands online for the flexible hitting and energy injection module (e.g., hitting energy, drive waveform) and the multi-degree-of-freedom clubface attitude and friction control module (e.g., attitude angle, offset), thus forming a closed-loop control system that continuously brings the actual ball release parameters closer to the target value.

[0007] Furthermore, to more precisely simulate the feel of hitting the ball and the process of its interaction with the ball using different clubs, the flexible striking and energy injection module also includes a contact time adjustment mechanism. This mechanism is used to actively control the contact time between the ball and the flexible striking end within a target range, and to actively shape the curve (force pulse waveform) of the striking force over time, for example, to create a short, sharp, slowly rising, or waveform with a specific peak.

[0008] Furthermore, the contact time adjustment mechanism can be implemented through various physical mechanisms, including but not limited to: adjusting the pre-compression of the flexible layer through a mechanical device (adjustable pre-compression mechanism); using material or structural design to make the local stiffness of the striking end variable (variable stiffness structure); setting an adjustable damper on the movement path of the striking end to absorb some energy and prolong the contact; or indirectly controlling the time characteristics of the force by precisely controlling the input waveform of the driving energy (such as pneumatic pressure, electromagnetic current).

[0009] Furthermore, the specific implementation of energy injection in the flexible impact and energy injection module is highly flexible and can be one or a combination of the following: Elastic energy storage type: It uses elastic elements such as springs and torsion springs to store mechanical potential energy, which is released to drive the flexible striking end to strike the ball; Pneumatically assisted type: Utilizes the gas pressure generated by pneumatic components such as cylinders, linear airbags or rotary pneumatic motors to drive the flexible striking end to push or strike the ball. Electromagnetic drive type: Utilizes electromagnetic force generated by electromagnetic devices such as voice coil motors, solenoids, and linear motors to directly or indirectly drive the flexible striking end to move. Composite: Combining the advantages of the above methods, for example, using small elastic elements to simulate the compliance and rebound of the initial contact, while using high-power pneumatic or electromagnetic elements to provide the main energy injection and high-speed launch capability, balancing realism and performance limits.

[0010] Furthermore, to achieve decoupled control of the ball launch parameters, the multi-degree-of-freedom clubface attitude and friction control module typically integrates multiple control units to perform at least one of the following fine adjustments, either individually or in concert: adjusting the normal direction and static loft angle (clubface angle) of the flexible striking end, which mainly affects the ball's launch direction (launch angle) and vertical launch angle; adjusting the horizontal opening and closing angle (clubface angle) of the flexible striking end relative to the target hitting line, which mainly determines the ball's initial sidespin direction; changing the effective coefficient of friction by replacing the striking face with different materials (such as rubber, polyurethane), surface textures, or grooves, or adjusting the surface condition; controlling the three-dimensional spatial offset of the striking point relative to the center of the ball through a high-precision displacement mechanism, with upward offset (hitting the lower half of the ball) helping to generate more backspin, and left / right offset directly affecting the size of the sidespin; and coordinating with the energy injection module to control the distribution waveform of the normal and tangential force components over time during the entire contact process.

[0011] Furthermore, the closed-loop control and parameter calculation module is its intelligent core. Internally, it has a pre-built or online-learning model that maps and calculates a set of target parameters to a set of control variables. The target parameter set includes at least the target ball speed, target launch angle, target sidespin, and target backspin. The control variable set is a composite vector, including at least the hitting energy (or equivalent driving force), clubface opening and closing angle, equivalent clubface tilt angle (launch angle), hitting point offset vector, effective friction parameters, target contact time, and multiple terms from the time waveform functions of force, driving current, or air pressure. Based on the error between the actual value and the target value fed back by the ball parameter measurement module, this module uses adaptive control algorithms (such as PID, model predictive control, data-driven correction, etc.) to perform online correction of the model and updates the control variable for the next hit in real time, thereby achieving precise and stable tracking control.

[0012] Furthermore, to enhance the system's environmental adaptability and long-term stability, an environmental sensing unit is included to sense environmental parameters such as temperature and humidity in real time. The closed-loop control and parameter calculation module can dynamically correct key parameters in the control set, particularly the effective friction parameter and target contact time, based on these environmental parameter inputs, to compensate for the impact of environmental changes on the material friction coefficient, aerodynamics, and system mechanical properties.

[0013] Furthermore, to improve the reliability and robustness of the measurement results, the ball parameter measurement module preferably adopts a multi-sensor fusion technology approach. It can simultaneously or selectively integrate at least two of the following: high-speed visual sensors (such as high-speed cameras for binocular vision or optical flow analysis), photoelectric gate arrays (measuring transit time to calculate speed), acoustic sensor arrays (analyzing the sound characteristics of the ball during impact), and vibration sensors (monitoring vibrations at the moment of impact). Through the fusion processing of multi-source information, the ball parameters can be estimated more accurately.

[0014] Furthermore, to maintain the system's accuracy during long-term use, a calibration and drift compensation module is also included. This module can update the key parameters of the internal model of the closed-loop control and parameter calculation module periodically or automatically or semi-automatically, based on historical impact data accumulated during system operation and its corresponding control and feedback information, or when performance changes are detected. This can effectively compensate for system performance changes caused by mechanical structure wear, elastic fatigue of flexible materials, performance degradation of drive components, or long-term environmental drift, ensuring its sustained high accuracy.

[0015] Compared with existing technologies, the advantages of this invention are as follows: This invention achieves a highly realistic hitting feel and physical feedback through the flexible hitting end and active control of contact time and force waveform; it adopts decoupled precise parameter control, which can independently adjust ball speed, launch angle, sidespin and backspin, accurately simulating the hitting effect of the entire range of clubs from woods to wedges; the closed-loop feedback based on real-time measurement ensures the consistency and repeatability of the ball release, and has strong anti-interference ability; the system provides multiple energy injection methods such as elastic, aerodynamic and electromagnetic, and has modular design, quick replacement, software self-calibration and hitting log functions, taking into account the flexibility, maintainability and expansion needs of long-term commercial operation. Attached Figure Description

[0016] Figure 1 This is a block diagram of the overall structure of the system of the present invention; Figure 2 This is a flowchart of the launch control closed loop in this invention; Figure 3 This is a schematic diagram of the flexible contact time and waveform shaping in this invention; Figure 4 This is a schematic diagram of variable decoupling for independent control of four parameters in this invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0019] Combination Figures 1 to 4 The golf ball launch and impact control system shown includes: a ball supply and positioning module, a flexible impact and energy injection module, a multi-degree-of-freedom clubface attitude and friction control module, a ball launch parameter measurement module, a closed-loop control and parameter calculation module, and an optional safety interlock and protection module.

[0020] The ball feeding and positioning module typically includes a ball compartment, a ball-retrieval robotic arm or wheel, and a precision positioning seat or V-gripper. Its workflow is as follows: a golf ball is reliably separated from the ball compartment, transported to the hitting area via a guide rail or conveyor belt, and finally precisely clamped or placed at a known hitting reference position using a servo motor or pneumatic device, ensuring consistent ball height and position before each shot.

[0021] The flexible striking and energy injection module is characterized by employing a non-double-wheel compression physical mechanism to apply a single striking or pushing action to a positioned golf ball, thereby injecting kinetic energy. The core component of this module is the flexible striking end, which includes a flexible layer for direct contact with the ball and capable of controlled elastic deformation upon impact, and a support layer providing overall structural support and necessary stiffness for the flexible layer. This structure aims to simulate the local elasticity of a real golf club face; the energy injection method of this module is one or a combination of the following: Elastic striking mechanism: Includes a preload spring, a release electromagnet, and a guide rod. Energy E is stored by setting the spring compression level via a servo motor. When released, the spring pushes the flexible striking end to accelerate the ball.

[0022] Pneumatic-assisted striking: Includes a high-speed switching valve, cylinder, and piston. The controller generates a specific air pressure curve w(t) to drive the piston movement by adjusting the valve's opening and closing timing and duty cycle.

[0023] Electromagnetic-assisted striking: Includes a voice coil motor (coil and permanent magnet). A specific waveform drive current w(t) is output through a power amplifier, causing the coil to generate a precise electromagnetic force.

[0024] Composite type: elastic energy storage is responsible for simulated contact and rebound, while pneumatic or electromagnetic drive is responsible for main energy injection and speed limit, balancing realism and controllability.

[0025] In addition, the module integrates a contact time adjustment mechanism, such as changing the pre-compression gap on the back of the flexible layer by adjusting the screw, or changing the contact stiffness by replacing the flexible pads of different thicknesses, thereby adjusting the contact time τ_contact to the target value (e.g., 1-5 milliseconds).

[0026] The multi-degree-of-freedom rod surface attitude and friction control module is a high-precision mechatronic mechanism. It is typically built upon a multi-axis motion platform (such as a combination of a two- or three-axis rotary table and a linear module) to support and drive the entire flexible impact and energy injection module. This module specifically implements the following control functions: Normal / Loop Control: The pitch angle (equivalent loft angle α_loft) and yaw angle of the flexible hitting end are adjusted by rotating the axis to control the normal direction of the shot.

[0027] Opening / closing angle control: The rotation angle of the flexible striking end about its normal (opening / closing angle ψ_face) is adjusted by another rotating axis.

[0028] Friction control: The flexible striking end is designed with a quick-change interface, allowing the operator to replace striking plates with different surface textures (simulating different bar surface roughness or grooves) to change the effective coefficient of friction μ_eff.

[0029] Hit point offset control: By using a high-precision XY (left-right-up-down) linear displacement platform, the position of a flexible hitting end relative to the fixed ball center is finely adjusted before firing to achieve a hit point offset Δc (Δc_x, Δc_y).

[0030] Waveform shaping control: This unit works in conjunction with the driver of the energy injection module, for example, to pre-calculate and store a specific current waveform w(t) for electromagnetic drives, or to design specific valve control timing for pneumatic drives, in order to shape the desired force pulse shape.

[0031] The ball launch parameter measurement module is located in front of the launch direction. It can employ a high-speed stereo vision system to capture the ball's trajectory in the first few milliseconds after leaving the striking end, calculate the ball speed and two-dimensional launch angle, and analyze the rotation rate and axis through marker points on the ball's surface. Simultaneously, one or more pairs of photoelectric gates can be used for redundant verification of the ball speed, improving reliability.

[0032] The closed-loop control and parameter calculation module is the brain of the system, typically implemented by an industrial computer or a high-performance embedded controller. Its internal control logic is shown below: Step S1: Receive the target parameter set T*={target ball speed V, target takeoff angle θ, target sidespin S_side, target backspin S_back}.

[0033] Step S2: The controller invokes its internal physical model (based on collision mechanics and tribology) and / or data-driven model (such as a neural network) to solve the target parameter T* into a set of specific executable control quantities U. This solution establishes a general mapping relationship: the ball speed V is mainly affected by the energy E and the waveform w(t); the takeoff angle θ is mainly controlled by the tilt angle α_loft and the normal direction; the backspin S_back is mainly determined by the vertical offset Δc_y, friction μ_eff, and contact time τ_contact; the sidespin S_side is mainly determined by the opening and closing angle ψ_face, left and right offset Δc_x, and friction μ_eff. The initial control quantity U={E,ψ_face,α_loft,Δc,μ_eff,τ_contact,w(t)}.

[0034] Steps S3-S4: The system sequentially performs ball feeding and positioning, and then drives each module to strike with control quantity U.

[0035] Step S5: The ball release parameter measurement module works to obtain the actual ball release parameter T.

[0036] Step S6: Calculate the error e = T * - T.

[0037] Step S7: This is the key to closed-loop control. Based on the error e, the controller uses an optimization algorithm (such as gradient descent) to fine-tune the model parameters online and updates the control quantity U` for the next strike. Simultaneously, all data (T, U, T) from this strike are bound and recorded in the database for long-term analysis and model iterative learning.

[0038] Step S8: Output the updated parameters, prepare for the next strike, or complete the mission.

[0039] Through this closed-loop process, the system can continuously learn and compensate for its own nonlinearity, hysteresis, and environmental interference, ultimately causing the actual ball-launching parameters T to converge to the target value T.

[0040] Example 1: Basic Elastic Hit Training: The user selects the "7-iron" preset. The system calls the corresponding configuration file, setting targets of medium-high ball speed, medium launch angle, high backspin, and zero sidespin. The closed-loop module calculates: medium spring compression E, a specific loft angle α_loft, a slightly upward impact point offset Δc_y, and a standard friction surface (μ_eff). After the hit, the measurement module finds the backspin is slightly below the target. In the next round, the closed-loop module will slightly increase the upward offset of Δc_y and may slightly adjust the contact time τ_contact to optimize until the backspin is achieved.

[0041] Example 2: Pneumatic Two-Stage Putter Simulation: Simulated putters require extremely low ball speeds and almost no spin. The system employs a pneumatic approach and executes a "two-stage" motion: In the first stage, extremely low pressure causes the flexible striking end to lightly contact the ball, eliminating gaps; in the second stage, a short, low-pressure pulse completes the putt. By precisely controlling the amplitude and interval (w(t)) of the two pressure stages, combined with a near-vertical loft angle and zero offset, an extremely smooth and stable putter simulation can be achieved.

[0042] Example 3: Electromagnetic-driven high-frequency simulator gameplay: In commercial simulators, rapid and continuous launches of balls with varying parameters are required. Electromagnetic drives are ideal due to their fast response capabilities. The system rapidly switches control variables U between shots based on the requirements of each shot on the virtual course: the drive current waveform w(t) alters the shot force and feel, and the multi-degree-of-freedom platform moves at high speed to the new loft angle α_loft and opening / closing angle ψ_face. The closed-loop module runs continuously in the background, using feedback data from each shot to make subtle but crucial fine-tuning adjustments to the model, ensuring stability across hundreds of shots throughout the day.

[0043] In addition, data from environmental sensing units (such as temperature and humidity sensors) is input into the closed-loop model. When a humid environment is detected, the model automatically increases the nominal value of μ_eff to compensate for the potential decrease in friction. The calibration and drift compensation module periodically runs a self-test program, such as launching a series of standard test balls. By analyzing the deviation between historical and current data, it automatically updates the gain coefficient or offset in the model to combat long-term drift.

[0044] Safety interlocking and protection modules ensure safe operation. They continuously monitor the transmission area via an infrared light curtain or camera, and immediately cut off the driver's enable signal and issue an alarm if unauthorized personnel enter. The time, parameters, and device status of all impact events are recorded, forming an auditable safety log.

[0045] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0046] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A non-dual-wheel compression type golf ball launching and striking control system, characterized in that, include: The ball feeding and positioning module is used to feed and position the golf ball to the hitting reference position; The flexible striking and energy injection module, employing a non-dual-wheel extrusion structure, is used to apply a striking or pushing action to the golf ball to inject kinetic energy. The module includes a flexible striking end, which comprises at least a flexible layer for contacting the ball and generating controllable deformation, and a support layer for supporting the flexible layer. A multi-degree-of-freedom clubface attitude and friction control module is connected to and controls the flexible striking end, used to adjust the spatial attitude, striking point offset and surface friction characteristics of the flexible striking end at the moment of impact. The ball launch parameter measurement module is used to measure or estimate at least one ball launch parameter of the golf ball after it has been hit, said ball launch parameter including ball speed, launch angle, sidespin and backspin; The closed-loop control and parameter calculation module is electrically connected to the ball supply and positioning module, the flexible hitting and energy injection module, the multi-degree-of-freedom clubface attitude and friction control module, and the ball release parameter measurement module. It is used to adjust the control parameters of the flexible hitting and energy injection module and the multi-degree-of-freedom clubface attitude and friction control module online based on the target ball release parameters and the feedback from the ball release parameter measurement module.

2. The non-dual-wheel compression type golf ball launching and striking control system according to claim 1, characterized in that: The flexible striking and energy injection module also includes a contact time adjustment mechanism, which is used to control the contact time between the ball and the flexible striking end within the target range and to shape the time waveform of the striking force.

3. The non-dual-wheel compression type golf ball launching and striking control system according to claim 2, characterized in that: The contact time adjustment mechanism is implemented by at least one of the following methods: an adjustable preload mechanism, a variable stiffness structure, an adjustable damper, or waveform control of the energy injection driving medium.

4. The non-dual-wheel compression type golf ball launching and striking control system according to claim 1, characterized in that: The energy injection method of the flexible impact and energy injection module is one of the following or a combination thereof: elastic energy storage type, pneumatic assist type, electromagnetic drive type, and composite type combining elastic element and pneumatic or electromagnetic drive element.

5. The non-dual-wheel compression type golf ball launching and striking control system according to claim 1, characterized in that: The multi-degree-of-freedom rod surface attitude and friction control module includes a control unit for performing at least one of the following adjustments: adjusting the normal direction and tilt angle of the flexible striking end; adjusting the opening and closing angle of the flexible striking end relative to the target line; and adjusting the friction coefficient of the contact surface of the flexible striking end. Control the spatial offset of the striking point relative to the center of the ball; control the temporal distribution waveform of the force during the striking process.

6. The non-dual-wheel compression type golf ball launching and striking control system according to claim 1, characterized in that: The closed-loop control and parameter calculation module is equipped with a mapping and calculation model from the target parameter set to the control quantity set, and performs online correction on the model based on the feedback error of the ball launch parameter measurement module. The target parameter set includes at least the target ball speed, target launch angle, target sidespin, and target backspin, and the control quantity set includes at least several of the following: hitting energy, clubface opening and closing angle, equivalent clubface loft angle, hitting point offset, effective friction parameters, target contact time, and time waveform functions of force, current, or pressure.

7. A non-dual-wheel compression type golf ball launching and striking control system according to claim 6, characterized in that: It also includes an environmental sensing unit for sensing environmental temperature and humidity; the closed-loop control and parameter calculation module dynamically corrects the effective friction parameters and target contact time in the control quantity set based on the input of the environmental sensing unit.

8. The non-dual-wheel compression type golf ball launching and striking control system according to claim 1, characterized in that: The ball-out parameter measurement module adopts a multi-sensor fusion approach, including at least two of the following: high-speed visual sensor, photoelectric gate, acoustic sensor, and vibration sensor.

9. A non-dual-wheel compression type golf ball launching and striking control system according to claim 1, characterized in that: It also includes a calibration and drift compensation module, which is used to update the model parameters in the closed-loop control and parameter calculation module based on historical impact data in order to compensate for system performance drift.

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