CN111282256B - A control method of intelligent blind golf course system based on multi-sensor information fusion - Google Patents
A control method of intelligent blind golf course system based on multi-sensor information fusion Download PDFInfo
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- CN111282256B CN111282256B CN202010114668.4A CN202010114668A CN111282256B CN 111282256 B CN111282256 B CN 111282256B CN 202010114668 A CN202010114668 A CN 202010114668A CN 111282256 B CN111282256 B CN 111282256B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63C—SKATES; SKIS; ROLLER SKATES; DESIGN OR LAYOUT OF COURTS, RINKS OR THE LIKE
- A63C19/00—Design or layout of playing courts, rinks, bowling greens or areas for water-skiing; Covers therefor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B67/00—Sporting games or accessories therefor, not provided for in groups A63B1/00 - A63B65/00
- A63B67/02—Special golf games, e.g. miniature golf ; Putting tracks therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/19—Sporting applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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Abstract
本发明公开了一种基于多传感信息融合的智能化盲人高尔夫球场系统的控制方法,包括高尔夫球场，专用高尔夫球,洞穴定位器,专用耳机,跟踪飞行器和找球轮椅,多传感信息融合的智能化盲人高尔夫球场系统的专用高尔夫球具有GPS定位功能,洞穴定位器通过GPS定位向球员发送位置信息,专用耳机识别球员各项指令并辅助球员调整击球方向,跟踪飞行器始终跟踪球员位置，为球员提供精确的视觉定位信息,找球轮椅协助球员进行找球，有效提高找球效率和保障球员的安全,本发明定位精准，智能化程度高，为盲人高尔夫球运动提供了便利的条件。
The invention discloses a control method of an intelligent blind golf course system based on multi-sensor information fusion, including a golf course, a special golf ball, a cave locator, a special earphone, a tracking aircraft and a ball-seeking wheelchair, and multi-sensor information fusion. The special golf ball of the intelligent blind golf course system has GPS positioning function. The cave locator sends position information to the player through GPS positioning. Provide accurate visual positioning information for players, and the ball-seeking wheelchair assists players in ball-seeking, effectively improving ball-seeking efficiency and ensuring player safety.
Description
Technical Field
The invention relates to the technical field of voice broadcast blind person golf courses based on GPS positioning and visual positioning, in particular to a control method of an intelligent blind person golf course system based on multi-sensor information fusion.
Background
The golf game is a game that integrates the enjoyment of natural fun, physical exercise and games, but for the blind, it is difficult to determine the positions of golf and a cave due to lack of visual information, which causes great inconvenience to the blind. Aiming at the problems, the invention provides accurate positioning information for the blind players by combining GPS rough positioning and visual accurate positioning, and is beneficial to the development of blind golf sports.
Disclosure of Invention
The invention aims to provide a control method of an intelligent blind person golf course system with accurate positioning and high intelligent degree and capable of providing convenient conditions for blind person golf sports through multi-sensor information fusion, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a control method of an intelligent blind person golf course system based on multi-sensing information fusion comprises a golf course, special golf balls, a cave locator, special earphones, a tracking aircraft and a ball finding wheelchair, wherein the golf course comprises the special golf balls, the cave locator, the special earphones, the ball finding wheelchair and the tracking aircraft;
the control method of the intelligent blind person golf course system comprises the following steps:
a, a player sends a voice command for requesting a cave position to a special earphone, and the special earphone recognizes the voice command and analyzes the voice command into a computer language;
b, the special earphone sends a cave position request instruction to the surrounding cave localizers through the GSM communication module, and the cave localizers return the cave position information to the special earphone after receiving the instruction;
c, the special earphone receives the position information of the cave, and informs the player in a language broadcasting mode, and the player selects a proper target cave according to the cave distance;
d, identifying the direction of the player by a gyroscope sensor of the special earphone, and adjusting the hitting direction of the player according to the selected target cave;
e, after completing the batting action, the player sends a request batting instruction to a special earphone, the special earphone sends a request position instruction to the golf ball, and simultaneously sends player position information to the batting wheelchair;
f, the special golf realizes GPS positioning, and sends the rough position information to a special earphone and a ball finding wheelchair;
g, after receiving the golf position instruction, the golf finding wheelchair moves to the body of the player according to GPS positioning information sent by the player, and the player can automatically find the golf after sitting on the golf finding wheelchair;
h, tracking the position of the player by an aircraft, shooting a ground picture by a high-speed camera when the player arrives at a GPS rough positioning area, processing picture information by an FPGA (field programmable gate array) controller, acquiring the accurate positions of the golf ball and the cave, and sending the accurate positions to the player;
i, the player moves to the position near the precise position of the golf ball under the assistance of visual precise positioning of a tracking aircraft and voice broadcasting of a special earphone, and the special earphone reminds the player of the precise distance between the player and the golf ball in real time;
j, searching the specific position of the golf ball by the ball rod in the hitting range of the golf ball, analyzing a ball searching picture by a high-speed camera of a tracking aircraft, and reminding the player when the ball rod touches the ball;
and K, the player stands by taking the ball hitting point position of the ball bar as the middle point of two feet, and performs ball hitting action practice for multiple times to determine the golf position, and finally completes the ball hitting action again.
Preferably, the dedicated golf ball comprises a microcontroller A, a GPS positioning module A and a GSM communication module A.
Preferably, the cave locator comprises a microcontroller B, a GPS locating module B and a GSM communication module B, and the cave locator is respectively arranged near each golf hole.
Preferably, the special earphone is provided with a microcontroller C, a GPS positioning module C, a GSM communication module C, a gyroscope sensor, a voice recognition module and a voice synthesis module.
Preferably, a microcontroller D, a GPS positioning module D, a GSM communication module D and an infrared obstacle avoidance sensor are arranged on the ball finding wheelchair.
Preferably, a target tracking algorithm, a GSM communication module E, a high-speed camera and an FPGA controller are built in the tracking aircraft.
Compared with the prior art, the invention has the beneficial effects that:
(1) the GPS rough positioning and the visual information precise positioning are combined, so that the positioning precision of the golf and the cave is effectively improved;
(2) the voice broadcasting mode is adopted, the golf ball position information and the cave position information are accurately informed to the players, and the defect of visual information of blind players is made up;
(3) the intelligent golf ball finding mode is realized by using the golf ball finding wheelchair, the efficiency of the blind person golf ball sport is improved, and the safety of the blind person players is guaranteed;
(4) the invention has accurate positioning and high intelligent degree and provides convenient conditions for the blind to play golf.
Drawings
FIG. 1 is a schematic structural view of a blind person golf course system of the present invention;
FIG. 2 is a hardware structure diagram of the special earphone of the present invention;
FIG. 3 is a hardware structure diagram of the ball-finding wheelchair of the present invention;
fig. 4 is a flow chart of the operation of the blind person golf course system of the present invention.
In the figure: 1, playing a player; 2, special golf balls; 3, a cave; 4, a cave locator; 5, special earphones; 6, tracking the aircraft; 7, finding a ball wheelchair; 8, a microcontroller C; 9, a GPS positioning module C; 10, a GSM communication module C; 11, a gyroscope sensor; 12, a voice recognition module; 13, a speech synthesis module; 14, a microcontroller D; 15, a GPS positioning module D; 16, a GSM communication module D; 17, an infrared obstacle avoidance sensor; 18, a mode button; 19, direction bar.
Detailed Description
The technical solutions in the embodiments of the present invention will be described below in detail and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides a technical solution: an intelligent golf course system for blind people based on multi-sensing information fusion comprises a special golf ball, a cave locator, a special earphone, a ball finding wheelchair and a tracking aircraft,
The special golf ball 2 comprises a microcontroller, a GPS positioning module and a GSM communication module, the special golf ball 2 realizes rough positioning through the GPS positioning module, and meanwhile, the microcontroller sends rough position information of the golf ball to a special earphone 5 worn by the player 1 and a ball finding wheelchair 7 through the GSM communication module.
The cave locator 4 comprises a microcontroller, a GPS positioning module and a GSM communication module, and the cave locator 4 is arranged near the cave 3. The cave locator 4 receives a cave position request instruction sent by the special earphone 5 worn by the player 1 through the GSM communication module, then realizes the rough location of the cave 3 through the GPS locator, and meanwhile, the microcontroller returns the rough location of the cave to the special earphone 5 through the GSM communication module.
Referring to fig. 2, the dedicated headset 5 includes a microcontroller C8, a GPS positioning module C9, a GSM communication module 10, a gyro sensor 11, a voice recognition module 12 and a voice synthesis module 13, the GPS positioning module C9 locates the position of the player 1, when the player 1 starts to search for a ball, the dedicated headset 5 transmits the position information of the player 1 to a ball-finding wheelchair 7 through the GSM communication module, the ball-finding wheelchair 7 moves to the vicinity of the player 1 to provide ball-finding service for the player, the gyro sensor 11 recognizes the direction of the player, the microcontroller C8 integrates the direction of the player and the position of the cave 3 to remind the player to adjust the direction of the shot, the voice recognition module 12 recognizes the natural language instruction of the player and converts the instruction into a computer instruction to transmit to the microcontroller C8 for further processing, the voice synthesis module 13 converts the position information of the golf ball 2 and the cave 3 processed by the microcontroller 8 into a natural language, and broadcast for the sportsman, provide effectual judgement for the sportsman.
Referring to fig. 3, the wheelchair 7 for finding a ball is characterized in that: including microcontroller D14, GPS orientation module D15, GSM communication module D16, infrared obstacle-avoiding sensor 17, mode button 18, steering yoke 19, look for the position information that ball wheelchair 7 sent through GSM communication module D16 receipt special golf 2 and the ball instruction information of looking for that special earphone 5 sent to automatically move the position that the sportsman located, assist the sportsman to look for the ball, look for ball wheelchair 7 includes two kinds of mode: an automatic mode and a manual mode, the operation of which is switched by the mode button 18. Under the automatic working mode, the sportsman controls to look for ball wheelchair 7 through operating steering column 19, under the automatic mode, look for ball wheelchair 7 will be automatic go forward according to the positional information that special golf 2 sent, infrared obstacle avoidance sensor 17 ensures to look for ball wheelchair 7 can effectually avoid the barrier, guarantees sportsman's personal safety.
The tracking aircraft 6 comprises a built-in target tracking algorithm, a GSM communication module, a high-speed camera and an FPGA controller, and because the GPS positioning accuracy is not high, the tracking aircraft 6 adopts visual information to assist in accurately positioning the special golf ball 2 and the cave 3, receives the position of a player through the GSM communication module and tracks the player in real time, when the player reaches the GPS positioning area of the golf ball or the cave, the image in the GPS positioning area is shot through the high-speed camera, the FPGA controller processes picture information and calculates the accurate position of the golf ball and the cave, the accurate position information is sent to the special earphone 5 through the GSM communication module, and the special earphone 5 reminds the precise hitting position of the player through voice broadcast.
A control method of an intelligent blind person golf course system based on multi-sensing information fusion comprises the following working procedures:
a, a player sends a voice command for requesting a cave position to a special earphone, and the special earphone recognizes the voice command and analyzes the voice command into a computer language;
b, the special earphone sends a cave position request instruction to the surrounding cave localizers through the GSM communication module, and the cave localizers return the cave position information to the special earphone after receiving the instruction;
c, the special earphone receives the position information of the cave, and informs the player in a language broadcasting mode, and the player selects a proper target cave according to the cave distance;
d, identifying the direction of the player by a gyroscope sensor of the special earphone, and adjusting the hitting direction of the player according to the selected target cave;
e, after completing the batting action, the player sends a request batting instruction to a special earphone, the special earphone sends a request position instruction to the golf ball, and simultaneously sends player position information to the batting wheelchair;
f, the special golf realizes GPS positioning, and sends the rough position information to a special earphone and a ball finding wheelchair;
g, after receiving the golf position instruction, the golf finding wheelchair moves to the body of the player according to GPS positioning information sent by the player, and the player can automatically find the golf after sitting on the golf finding wheelchair;
h, tracking the position of the player by an aircraft, shooting a ground picture by a high-speed camera when the player arrives at a GPS rough positioning area, processing picture information by an FPGA (field programmable gate array) controller, acquiring the accurate positions of the golf ball and the cave, and sending the accurate positions to the player;
i, the player moves to the position near the precise position of the golf ball under the assistance of visual precise positioning of a tracking aircraft and voice broadcasting of a special earphone, and the special earphone reminds the player of the precise distance between the player and the golf ball in real time;
j, searching the specific position of the golf ball by the ball rod in the hitting range of the golf ball, analyzing a ball searching picture by a high-speed camera of a tracking aircraft, and reminding the player when the ball rod touches the ball;
and K, the player stands by taking the ball hitting point position of the ball bar as the middle point of two feet, and performs ball hitting action practice for multiple times to determine the golf position, and finally completes the ball hitting action again.
The control method of the intelligent blind person golf course system with multi-sensing information fusion adopts the combination of GPS rough positioning and visual information precise positioning, effectively improves the positioning precision of a golf ball and a cave, adopts a voice broadcasting mode on a golf course control system, accurately informs the position information of the golf ball and the position information of the cave to a player, makes up the deficiency of the visual information of the blind person player, realizes an intelligent ball finding mode of the golf ball by using a ball finding wheelchair, improves the efficiency of the blind person golf game, and ensures the safety of the blind person player.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a control method of intelligent blind person's golf course system based on many sensory information fusion, includes golf course, special golf, cave locator, special earphone, tracks aircraft and looks for a ball wheelchair which characterized in that: the golf course comprises a special golf ball, a cave locator, a special earphone, a ball finding wheelchair and a tracking aircraft;
the control method of the intelligent blind person golf course system comprises the following steps:
a, a player sends a voice command for requesting a cave position to a special earphone, and the special earphone recognizes the voice command and analyzes the voice command into a computer language;
b, the special earphone sends a cave position request instruction to the surrounding cave localizers through the GSM communication module, and the cave localizers return the cave position information to the special earphone after receiving the instruction;
c, the special earphone receives the position information of the cave, and informs the player in a language broadcasting mode, and the player selects a proper target cave according to the cave distance;
d, identifying the direction of the player by a gyroscope sensor of the special earphone, and adjusting the hitting direction of the player according to the selected target cave;
e, after completing the batting action, the player sends a request batting instruction to a special earphone, the special earphone sends a request position instruction to the golf ball, and simultaneously sends player position information to the batting wheelchair;
f, the special golf realizes GPS positioning, and sends the rough position information to a special earphone and a ball finding wheelchair;
g, after receiving the golf position instruction, the golf finding wheelchair moves to the body of the player according to GPS positioning information sent by the player, and the player can automatically find the golf after sitting on the golf finding wheelchair;
h, tracking the position of the player by an aircraft, shooting a ground picture by a high-speed camera when the player arrives at a GPS rough positioning area, processing picture information by an FPGA (field programmable gate array) controller, acquiring the accurate positions of the golf ball and the cave, and sending the accurate positions to the player;
i, the player moves to the position near the precise position of the golf ball under the assistance of visual precise positioning of a tracking aircraft and voice broadcasting of a special earphone, and the special earphone reminds the player of the precise distance between the player and the golf ball in real time;
J. a player searches for the specific position of the golf ball through the club in the hitting range of the golf ball, analyzes the ball searching picture through a high-speed camera of a tracking aircraft, and gives a prompt to the player when the club touches the ball;
and K, the player stands by taking the ball hitting point position of the ball bar as the middle point of two feet, and performs ball hitting action practice for multiple times to determine the golf position, and finally completes the ball hitting action again.
2. The control method of the intelligent blind person golf course system based on multi-sensing information fusion as claimed in claim 1, characterized in that: the special golf ball comprises a microcontroller A, a GPS positioning module A and a GSM communication module A.
3. The control method of the intelligent blind person golf course system based on multi-sensing information fusion as claimed in claim 1, characterized in that: the cave locator comprises a microcontroller B, a GPS locating module B and a GSM communication module B, and the cave locator is respectively arranged near each golf cave.
4. The control method of the intelligent blind person golf course system based on multi-sensing information fusion as claimed in claim 1, characterized in that: the special earphone is provided with a microcontroller C, a GPS positioning module C, a GSM communication module C, a gyroscope sensor, a voice recognition module and a voice synthesis module.
5. The control method of the intelligent blind person golf course system based on multi-sensing information fusion as claimed in claim 1, characterized in that: and the ball finding wheelchair is provided with a microcontroller D, a GPS positioning module D, a GSM communication module D and an infrared obstacle avoidance sensor.
6. The control method of the intelligent blind person golf course system based on multi-sensing information fusion as claimed in claim 1, characterized in that: and a target tracking algorithm, a GSM communication module E, a high-speed camera and an FPGA controller are arranged in the tracking aircraft.
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| US5482278A (en) * | 1995-04-14 | 1996-01-09 | Hill; David H. | Handicapped-accessible golf course |
| US6236940B1 (en) * | 1995-09-08 | 2001-05-22 | Prolink, Inc. | Display monitor for golf cart yardage and information system |
| US20050101411A1 (en) * | 2003-11-10 | 2005-05-12 | Sharon Stiller | Golf ball locator |
| KR101741544B1 (en) * | 2015-04-14 | 2017-05-30 | 이병인 | System and Method for tracing location of golf ball in real time using pilotless aircraft |
| CN109211262A (en) * | 2018-08-29 | 2019-01-15 | 合肥市徽马信息科技有限公司 | A kind of blind person's trip accurate positioning speech guide system in real time |
| CN109126059B (en) * | 2018-09-11 | 2020-05-26 | 太原科技大学 | A golf ball with GPS positioning function |
| CN109223346B (en) * | 2018-11-16 | 2023-06-06 | 彭子桂 | Voice-controlled navigation wheelchair for blind people and control method thereof |
| CN111571618B (en) * | 2020-06-11 | 2024-07-23 | 深圳款款科技有限公司 | Autonomous pickup robot based on visual algorithm and pickup method thereof |
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