CN115177931A

CN115177931A - Visual identification following system and method, walking device and method and golf bag

Info

Publication number: CN115177931A
Application number: CN202210808893.7A
Authority: CN
Inventors: 李磊; 李加兵; 李静茹
Original assignee: Shenzhen Greer Technology Co ltd
Current assignee: Shenzhen Greer Technology Co ltd
Priority date: 2022-07-11
Filing date: 2022-07-11
Publication date: 2022-10-14
Anticipated expiration: 2042-07-11
Also published as: CN115177931B

Abstract

The invention relates to the technical field of voice recognition and image processing, and discloses a visual recognition following system and method, a walking device and method, a golf bag, a rod feeding mechanism control method, a golf bag control method based on visual following and voice control and a storage medium. According to the technical scheme, the simulation following object can be constructed through the visual identification following system, and the characteristics of the real following object are obtained to be compared and matched with the simulation following object. After subsequent locking of the real following object, the walking device can follow the real following object matching the simulated following object in the system. Through the voice control system, the device loading the system and the action of executing voice content can be controlled in a mode of sending out voice commands.

Description

Visual identification following system and method, walking device and method and golf bag

Technical Field

The invention relates to the field, in particular to a visual identification following system and method, a walking device and method, a golf bag, a club feeding mechanism control method, a golf bag control method based on visual following and voice control and a storage medium.

Background

The game of golf is an item of sports that uses different golf clubs (club) to drive a golf ball into a hole (hole). Golf is a sport with special charm, which makes people exercise body, cultivate temperament and temperament, repair and maintain and exchange skills in beautiful natural environment, and is known as fashionable and elegant sport.

To enhance the playing experience on the court, some players may be equipped with "caddles". "caddie" refers to a person who carries and manages a club for a player while playing a ball and helps the player according to rules. However, in the present day where labor costs are becoming more expensive, "boys" are becoming more expensive, and even the cost of a golf ball is less than the cost of hiring a boy.

For players who prefer to be quiet, they do not like to hire a caddie, and prefer to enjoy a quiet playing environment. However, walking with a heavy golf bag, the cumbersome process of putting and taking the golf club is a big pain point for such players. Some players who are just touching the golf ball, are at the goal, or as a sport for experiencing the golf ball, are reluctant to have other people nearby when practicing the ball, based on shame or facial considerations. Similarly, walking with heavy golf bags, cumbersome pick and place, and choosing the proper club type is a major pain for such players.

Disclosure of Invention

In the age of the prevalence of artificial intelligence, it is possible to construct a "machine intelligence caddy" to solve the above technical problems. Therefore, the invention aims to overcome the technical problems in the background technology and construct a 'machine intelligent ball', which reduces the playing cost of the golf game, provides convenience for players and simultaneously provides high-quality services for players.

To achieve the above object, a first aspect of the present invention provides a visual recognition following system comprising:

the acquisition module is used for acquiring image information and sound information of the following object;

the feature extraction module is used for extracting features from the image information and the sound information to respectively form an image feature set and a sound feature set; the feature extraction module comprises a feature extraction model; the characteristic extraction model is obtained by training a plurality of input images;

the processing module is used for matching the image feature set with the sound feature set, constructing a simulated following object, and labeling the simulated following object by image and/or character information to form a following object label;

a storage module for storing the following object tag;

and the following module is used for executing following of the real following object matched with the simulated following object.

The visual recognition following system can construct a simulation following object according to the features of the real following object after extracting the features of the real following object, and after the system is applied to a walking device, the walking device can follow the specific real following object to prevent the walking device from following other real following objects.

The second aspect of the present invention provides a visual recognition following method, including the visual recognition following system, the visual recognition following method including:

acquiring image information and sound information of a real following object;

inputting image information and sound information into the feature extraction module, extracting feature points from the image information and the sound information, and forming an image feature set and a sound feature set;

matching the image feature set with the sound feature set, constructing a simulated following object, and labeling the simulated following object with image and/or text information to form a following object label;

following, by the following module, a real following object matched with the simulated following object is performed.

The visual recognition following system can construct a simulation following object according to the characteristics of the real following object after extracting the characteristics of the real following object, and after the system is applied to the walking device, the walking device can follow the specific real following object to prevent the walking device from following other real following objects.

Preferably, the visual recognition following system further comprises a display module; after the object tag is formed, the object tag is displayed through the display module.

A third aspect of the present invention provides a running gear, including:

the visual recognition following system;

the displacement sensor is used for acquiring the distance between the walking device and the following object;

a base;

the driving part is used for driving the base to move;

and the energy supply module is used for providing power for the driving part.

After the characteristics of the real following object are extracted, the visual recognition following system can construct a simulated following object according to the characteristics of the real following object, and after the system is applied to the walking device, the walking device can follow the specific real following object, so that the walking device is prevented from following other real following objects.

Preferably, the energy supply module comprises a rechargeable battery and a solar photovoltaic panel for charging the battery.

A third aspect of the present invention provides a running gear control method, including the running gear; the walking device control method comprises the following steps:

constructing a dynamic coordinate system by taking the following object as an origin and the moving direction of the following object as the positive direction of the X axis;

in the dynamic coordinate system, the coordinates of the traveling device are (R, θ).

The vision identification following system can construct a simulation following object according to the characteristics of the real following object after extracting the characteristics of the real following object, and the walking device can follow the specific real following object after applying the system to the walking device, so that the walking device is prevented from following other real following objects. On the basis, the walking device can dynamically follow a certain specific position of the real following object based on the walking device control method.

A fifth aspect of the present invention provides a golf bag, comprising:

a chassis;

the walking device is arranged at the bottom of the chassis;

an outer layer bag loaded on the chassis and comprising an envelope and a first accommodating cavity which is limited by the envelope and is provided with an opening at the top;

the club groove is arranged in the first accommodating cavity;

the club feeding mechanism is arranged in the outer layer bag and used for pushing a club out of the club groove;

the rod feeding mechanism comprises:

the club support is arranged in the club groove and is in sliding sealing connection with the club groove;

the first air bag is arranged in a closed chamber formed by the club support and the club groove, one end of the first air bag is fixedly connected with the club support, and the other end of the first air bag is fixedly connected with the bottom wall of the club groove;

the spring is arranged in the first air bag, one end of the spring is fixedly connected with the inner top wall of the first air bag, and the other end of the spring is fixedly connected with the inner bottom wall of the first air bag; the spring has a tendency to push the rod holder upward and to expand the first balloon;

a second air bag formed on a circumferential side wall or opposite side walls of the ball bar groove;

one end of the gas pipe is communicated with the first air bag, and the other end of the gas pipe is communicated with the second air bag;

the electromagnetic one-way valve is arranged on the gas conveying pipe;

the three-way electromagnetic valve is arranged on the gas transmission pipe and is positioned at the downstream of the electromagnetic one-way valve of the first air bag;

and the three-way electromagnetic valve and the electromagnetic one-way valve are electrically connected with the first controller.

On the basis of having the following function, the golf bag can automatically send out the model of the golf club required by the real following object through voice control, and is convenient for taking and selecting the golf club.

Further, the ball arm groove comprises a large inner diameter cavity section and a small inner diameter cavity section; a limiting step for limiting is formed between the large inner diameter cavity section and the small inner diameter cavity section, and the rod support is positioned in the large inner diameter cavity section; the second balloon is located in the small inner diameter section; and the second air bag restrains the club groove into a channel which is gradually narrowed from top to bottom in an uninflated state.

Preferably, a circular groove is formed in the end face, facing the opening, of one side of the rod support, and the diameter of the circular groove is larger than the inner diameter of the small inner diameter cavity section and is coaxial with the rod groove.

As another embodiment, the golf bag includes:

a chassis;

an outer layer bag loaded on the chassis and comprising an envelope and a first accommodating cavity defined by the envelope and provided with an opening at the top;

the ball rod groove is arranged in the first accommodating cavity;

the club feeding mechanism is arranged in the outer layer bag and used for pushing the club out of the club groove;

the walking device is used for loading the golf bag and enabling the golf bag to form an alpha included angle with the horizontal plane;

the rod feeding mechanism comprises:

the opening of the club support faces upwards, and the bottom wall of the club support and the club form a closed space;

a pneumatic pump;

the gas channel comprises a gas inlet communicated with the exhaust end of the pneumatic pump and a gas outlet arranged corresponding to the closed space;

the electric valve is arranged at the air outlet;

and the pneumatic pump and the electric valve are electrically connected with the second controller.

A sixth aspect of the present invention provides a method of controlling a club-feeding mechanism including the golf bag, the method comprising:

when downward pressure is applied to the club support, the gas in the first air bag is sent to the second air bag to fill the second air bag, so that the second air bag applies wrapping force to the club and the club is limited to rotate in the circumferential direction and move in the axial direction;

when the ball rod is taken out, partial gas in the second air bag is discharged by controlling the three-way electromagnetic valve, the wrapping force of the second air bag on the ball rod is relieved, and then the electromagnetic one-way valve is opened, so that the first air bag is restored and pushes the ball rod support to move upwards, and the ball rod is sent out.

Can pass through speech control through above-mentioned technical scheme, the required club model of object is followed in reality to the automatic sending out, provides convenient for getting pole and select a pole.

The seventh aspect of the invention provides a golf bag control method based on visual following and voice control, which comprises a voice recognition system and the golf bag; the rod feeding mechanism and the walking device are both electrically connected with the voice recognition system; the control method comprises the following steps:

s1, constructing a state GMM model voice database

Acquiring a sound signal and forming a waveform diagram, windowing and framing the waveform diagram, and acquiring n frames of waveform signals; carrying out Fourier transform on the n frames of waveform signals to form a spectrogram; extracting a characteristic vector through an MFCC model and forming an obtained characteristic vector sequence; fitting the characteristic vector sequence through a Gaussian model to obtain a probability density function;

s2, obtaining effective voice instruction information

Inputting voice and extracting a feature vector to form a feature vector sequence; comparing and analyzing the feature vector sequence with template data in the constructed voice database to obtain a voice vocabulary with the highest similarity with the feature vector sequence;

s3, executing the step

And the rod feeding mechanism and/or the walking device execute the corresponding action under the voice vocabulary item.

Through the technical scheme, the walking device or the golf bag can be better controlled.

Further, when the first condition and the second condition are simultaneously met, executing a voice instruction;

wherein the first condition is a real follower matching the simulated follower; the second condition is that the similarity between the input voice feature vector and the template stored in the voice database reaches a set threshold value.

Additional features and advantages of the invention will be set forth in the detailed description which follows.

Drawings

FIG. 1 is a schematic diagram of one embodiment of a visual recognition follow-up;

FIG. 2 is a schematic structural view of one embodiment of the golf bag of the present invention;

FIG. 3 is a schematic structural view of another embodiment of a golf bag of the present invention;

FIG. 4 is a schematic structural view of one embodiment of a feed bar mechanism;

FIG. 5 is a schematic structural view of another embodiment of a feed bar mechanism;

FIG. 6 is a schematic structural view of yet another embodiment of a feed bar mechanism;

FIG. 7 is a schematic diagram of one embodiment of a method for controlling a golf bag based on visual follow-up and voice control in accordance with the present invention;

FIG. 8 is a schematic diagram of one application scenario for a walking device or golf ball.

Detailed Description

The following describes in detail specific embodiments of the present invention. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

In the present invention, the use of the terms of orientation such as "upper and lower" in the case where no description is made to the contrary generally means the orientation in the assembled and used state. "inner and outer" refer to the inner and outer relative to the contour of the components themselves.

It should be noted that the terms "having," "second," and the like in the description and claims of the present invention and in the foregoing drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The invention provides a visual identification following system, which comprises an acquisition module, a feature extraction module, a processing module, a storage module and a following module. The acquisition module is used for acquiring image information and sound information of the following object. The feature extraction module is used for extracting features from the image information and the sound information to respectively form an image feature set and a sound feature set; the feature extraction module comprises a feature extraction model; the feature extraction model is obtained by training a plurality of input images. The processing module is used for matching the image feature set with the sound feature set, constructing a simulated following object, and labeling the simulated following object with image and/or text information to form a following object label. The storage module is used for storing the following object tag. The following module is used for executing following of the real following object matched with the simulated following object.

In a preferred implementation, the visual recognition following system further comprises a display module. After the object tag is formed, the object tag is displayed through the display module. Wherein, the display module can select a display screen. After the object tag is displayed on the display screen, the user can confirm whether the data corresponding to the formed simulation follow-up object is correct.

The invention provides a visual identification following method, which comprises the visual identification following system. As shown in fig. 1, the visual recognition following method includes acquiring image information and sound information of a real following object; inputting the image information and the sound information into the feature extraction module, extracting feature points from the image information and the sound information, and forming an image feature set and a sound feature set; matching the image feature set with the sound feature set, constructing a simulated following object, and labeling the simulated following object with image and/or text information to form a following object label; following, by the following module, a real following object matched with the simulated following object is performed.

In actual use, the visual recognition following system performs feature extraction on a real following object user. Here, the feature extraction includes a sound feature, a body feature, a face feature, and the like, thereby constructing a simulated follower. By comparing and matching the real following object with the simulated following object, if the matching is successful, the system will lock the user and follow the user to walk. If the matching is unsuccessful, the data of the real following object is lacked in the system, and at the moment, the data entry needs to be carried out on a user of the following object.

After the system is applied to the walking device, the walking device can walk along with the specific real following object and execute a voice instruction sent by the real following object. With such an arrangement, the running gear can be prevented from following other real following objects, the running gear can be prevented from executing voice commands of other users, and "exclusivity" can be realized when executing actions.

In a third aspect, the invention provides a walking device, as shown in fig. 2, the walking device comprises the visual identification following system, a displacement sensor, a base 20, a driving part 10 and an energy supply module. The displacement sensor is used for acquiring the distance between the walking device and the following object. The driving part 10 is used for driving the base 20 to move. The energy supply module is used for providing power for the driving part 10. In an alternative embodiment the drive part 10 comprises wheels and a drive motor for driving the wheels. Wherein, the power source of the driving motor is a functional module.

The wheels may be crawler wheels to improve the stability of the running gear in running on the grass. In an alternative embodiment, the energy supply module comprises a rechargeable battery and a solar photovoltaic panel for charging the battery.

In the present invention, the walking device is mainly used for loading golf bags and articles carried by users, such as mobile phones, sun protection articles, etc. If the running gear follows behind the user, the user cannot observe the running gear all the time during the traveling process due to the limitation of the visual field range of the user. On the one hand, if the user cannot observe the golf bag and the articles carried with him, the user's mind may be insecure. On the other hand, if the running gear encounters difficulty in traveling (e.g., a toppling occurs), it cannot be timely resolved.

Against this background, a third aspect of the present invention provides a running gear control method including the running gear described above. Further specifically, the walking device control method includes the steps of constructing a dynamic coordinate system by taking the following object as an origin and taking the moving direction of the following object as the positive direction of the X axis. In the dynamic coordinate system, the coordinates of the traveling device are (R, θ). Preferably, θ is between 30 ° -75 °.

Based on the walking device control method, the walking device can dynamically follow a certain specific position of a real following object. Taking the example that R is 2m and θ is 45 °, the walking device can always keep a distance of 2m from the user (which is convenient for the user to hit and walk), and meanwhile, the walking device is always located at the upper right corner of the user's traveling direction. Therefore, the user can observe the golf bag and the articles carried by the user at any time, and the insecurity of the user can be eliminated. Meanwhile, in the process of advancing of the walking device, if the walking device has problems, the walking device can be found by a user at the first time, and the problem is timely treated. On the other hand, when the user hits a ball by leaning, the walking device does not stay in the hitting direction, and the ball rod or the ball can be prevented from hitting the walking device.

The green of a golf course is not completely flat and there may be some hills (as shown in fig. 8). In this scenario, it was shown from the inventors field test results that the running gear would travel in a detour fashion over a hill. This type of travel tends to cause the running gear to roll over. In order to solve this technical problem, the present invention provides a specific embodiment, that is, when the component of the Z-axis of the movement direction of the real following object (user) for the time T1 reaches a predetermined value, the coordinate of the walking device is (0, -a), where a is a positive number. Taking a as an example 2m, when the user and the walking device travel on a hill, the walking device will follow 2m behind the user. More specifically, the user "leads" the walking device to travel when encountering a hill. The smaller the value of a is, the tighter the walking device follows, and when the value of a is further reduced, the walking device moves along the traveling track of the user. Of course, in actual use, the walking device cannot be made to follow the user too closely, which may cause difficulty in traveling of the user. Considering the problem of the sensitivity of the walking device, if the walking device follows behind the user too tightly, the walking device will collide with the user when the user stops suddenly.

In this context, the invention provides alternative embodiments. The embodiment further adds a path planning system on the basis of the automatic following system. The path planning system can enable the walking device to move along the moving track of the user, and the user can 'explore the path' for the walking device, so that the occurrence of accidents is reduced. Of course, the triggering of the path planning module is premised on the user and the walking device traveling on a hill, i.e. when the component in the Z-axis following the movement direction of the object for a time T1 reaches a predetermined value. The path planning system comprises a GPS or a Beidou positioning system. When the component of the movement direction of the following object in the Z axis lasts for T1 time and reaches a preset value, the traveling path of the user is obtained and recorded through a path planning system, and the traveling path of the user is taken as the traveling path of the walking device.

A fifth aspect of the present invention provides a golf bag comprising a chassis 20, a walking device, an outer bag 30, a club slot 40, and a club feed mechanism. Fig. 2 and 3 show two kinds of running gear, respectively. Fig. 2 shows that the walking device is arranged at the bottom of the chassis 20 and is integrally formed with the outer layer bag 30. Fig. 3 shows the walking device as a carrier for carrying golf bags. In the embodiment shown in fig. 3, the walking device is preferably used for loading the golf bag and can enable the golf bag to form an angle alpha with the horizontal plane. Based on the setting of this contained angle, can be convenient for the user to get the pole and put the pole.

The outer pack 30 is loaded on the base pan 20 and includes an envelope and a first receiving cavity defined by the envelope and having an opening at the top. The club groove 40 is disposed within the first receiving cavity. The club feeding mechanism is disposed in the outer bag 30 and pushes the club out of the club slot 40.

In the first embodiment, as shown in fig. 4, the rod feeding mechanism comprises a rod support 51, a spring 53, a second air bag 54, an air pipe 55 and an electromagnetic one-way valve 57.

The hosel 51 is disposed within the hosel 40 and is in sliding sealing engagement with the hosel 40. The hosel 51 forms a closed space with the hosel 40. The spring 53 is disposed in the closed space. One end of the spring 53 is fixedly connected with the rod support 51, and the other end is fixedly connected with the bottom wall of the club groove 40. The second bladder 54 is formed on a circumferential side wall or opposite side walls of the hosel 40. One end of the gas pipe 55 is communicated with the closed space, and the other end is communicated with the second air bag 54. The electromagnetic one-way valve 57 is arranged on the air pipe 55.

When the club is inserted into the club slot 40 and the butt 51 is pressed further downward, the gas in the closed space enters the second air cell 54 along the gas pipe 55, and the second air cell 54 is expanded to wrap the circumference of the club. The cue stick is thus not able to rotate and move in the circumferential and axial directions.

The advantage of limiting the cue in the circumferential direction is: the collision between the club heads can be prevented, and the club heads are prevented from being damaged. In the prior art, golf clubs are typically provided with corresponding head covers. In practice, however, the club head cover is often lost. Of course, some users do not have the habit of putting on the club head cover again after playing the ball. Under the condition that the club is not sleeved with the club head sleeve, the club head and the club head are very easy to collide in the transportation process, so that the club head is scratched or even damaged. The inventor proposes the technical proposal that the club is limited to rotate in the circumferential direction by the second air bag 54. Of course, the second bladder 54 also plays a role in protecting the club shaft.

When the club needs to be taken out, the one-way air flow restriction of the electromagnetic one-way valve 57 is released, and the spring 53 pushes the bar holder 51 to move upward, so that the club is sent out.

In a second embodiment, as shown in fig. 5, the golf bag comprises: chassis 20, outer package 30, club groove 40 and a feed bar mechanism.

The running gear is arranged at the bottom of the chassis 20. The outer bag 30 is carried on the base pan 20 and includes an envelope and a first receiving cavity defined by the envelope and having an opening at the top. The club groove 40 is disposed within the first receiving cavity. The club feeding mechanism is disposed in the outer bag 30 and pushes the club out of the club slot 40.

The rod feeding mechanism comprises a rod support 51, a first air bag 52, a spring 53, a second air bag 54, an air pipe 55, an electromagnetic one-way valve 57, a three-way electromagnetic valve 56 and a first controller. The hosel 51 is disposed within the hosel 40 and is in sliding sealing engagement with the hosel 40. The first air bag 52 is arranged in a closed chamber formed by the club support 51 and the club groove 40, one end of the first air bag 52 is fixedly connected with the club support 51, and the other end is fixedly connected with the bottom wall of the club groove 40. The spring 53 is disposed in the first air bag 52, and one end of the spring 53 is fixedly connected to the inner top wall of the first air bag 52, and the other end is fixedly connected to the inner bottom wall of the first air bag 52. The spring 53 has a tendency to push the rod holder 51 upwards and to prop open the first balloon 52; the second bladder 54 is formed on a circumferential side wall or opposite side walls of the club groove 40. One end of the air pipe 55 is communicated with the first air bag 52, and the other end is communicated with the second air bag 54. The electromagnetic one-way valve 57 is arranged on the gas pipe 55. The three-way electromagnetic valve 56 is arranged on the air pipe 55 and is positioned at the downstream of the electromagnetic one-way valve 57 of the first air bag. The three-way electromagnetic valve 56 and the electromagnetic one-way valve 57 are both electrically connected with the first controller.

When the club is inserted into the club groove 40 and the butt 51 is pressed further downward, the gas in the first air bag 52 enters the second air bag 54 along the gas pipe 55, and the second air bag 54 is expanded to wrap around the circumference of the club. The cue stick is thus not able to rotate and move in the circumferential and axial directions. When the club needs to be taken out, the three-way electromagnetic valve 56 is controlled to discharge part of the gas in the second air bag 54, and the wrapping force of the second air bag 54 on the club is relieved. At this time, the lever stay 51 is still in the initial position. Then, the one-way air flow restriction of the electromagnetic one-way valve 57 is released, so that the first air bag 52 is restored and pushes the club holder 51 to move upward, and the club is sent out.

After the one-way air flow restriction of the electromagnetic check valve 57 is released, the air is sucked from the outside through the three-way electromagnetic valve 56 without being sucked from the second air bag 54 in the process of returning the first air bag 52 to the original state.

Of course, after the one-way air flow restriction of the electromagnetic check valve 57 is released, the first air bag 52 may be sucked from the second air bag 54 while it is restored. With this arrangement, after a plurality of lever actions are performed, the total amount of gas in the first and

second air cells

52 and 54 is continuously reduced because a portion of the gas is discharged each time the lever action is performed. Against this background, the present invention provides a third embodiment in which a check valve is provided on the first airbag 52 or the second airbag 54, the check valve allowing only gas from the outside to enter the first airbag 52 or the second airbag 54. When the club needs to be taken out, the three-way solenoid valve 56 is controlled to discharge part of the gas in the second air bag 54, so that the wrapping force of the second air bag 54 on the club is released. Then, the one-way air flow restriction of the electromagnetic one-way valve 57 is released, so that the first air bag 52 is restored and pushes the club holder 51 to move upward, and the club is sent out. Part of the exhaust gas may be supplemented by a one-way valve. In this way, the total amount of gas in the first and

second air cells

52 and 54 will be dynamically balanced to meet the rod feeding requirement.

In the above embodiment, the function and beneficial effect of first discharging the "partial gas" is that: it is supposed that if the club holder 51 is immediately moved upward while releasing the wrapping force on the club, the club feeding operation is performed. The friction between the club and the second bladder 54 is greatly increased. Over time, wear of the club and the second bladder 54 will be accelerated and the service life of the club and the second bladder 54 will be greatly shortened.

Further, as shown in fig. 4 or 5, the club shaft groove 40 includes a large inner diameter cavity section and a small inner diameter cavity section. A limiting step for limiting is formed between the large inner diameter cavity section and the small inner diameter cavity section, and the rod support 51 is positioned in the large inner diameter cavity section. The second balloon 54 is located in the small inner diameter section. The second bladder 54, in an uninflated state, constrains the club slot 40 into a channel that narrows from top to bottom.

With the above arrangement, the range of upward movement of the lever bracket 51 is limited based on the formation of the limit step and the arrangement of the second air bag 54, and in the first embodiment, the first air bag 52 does not suck up the gas in the second air bag 54, that is, a part of the gas in the second air bag 54 remains. This gas can play an important role in putting the rod. Specifically, due to the formation of the channel in the second bladder 54 that still retains some gas and narrows from top to bottom, the club will slowly slide into the club slot as the user places the club. In the prior art, in order to quickly release the club, the user usually looses his hand at the club slot, which causes the club to have a significant impact on the bottom of the club slot. Another effect of spacing step lies in: the feed length, i.e., the length of the club that is fed out of the golf ball slot, may be limited.

In an alternative embodiment, a circular groove 501 is provided on the end surface of the rod holder 51 facing the opening, and the diameter of the circular groove 501 is larger than the inner diameter of the small inner diameter cavity section and is coaxially arranged with the ball rod groove 40. In an alternative embodiment, a clamp may be provided in the circular recess 501 to automatically clamp the club after the tail of the club has fallen into the circular recess 501.

Taking the example of arranging 14 club grooves, each club groove is numbered, and the corresponding club is placed in the corresponding club groove. In use, for example, when the user wants to take out the number 1 club, the first controller controls the number 1 club slot to feed out the number 1 club. The execution instruction of the first controller can come from a wireless signal (such as a signal sent by a remote controller) or a voice signal sent by a user.

In a third embodiment, as shown in FIG. 6, the golf bag includes a chassis 20, an outer bag 30, a hosel 40, and a hosel mechanism. The outer pack 30 is loaded on the base pan 20 and includes an envelope and a first receiving cavity defined by the envelope and having an opening at the top. The club groove 40 is disposed within the first receiving cavity. The club feeding mechanism is disposed in the outer bag 30 and pushes the club out of the club slot 40. The walking device is used for loading the golf bag.

The club feeding mechanism comprises a club support 63, a pneumatic pump 61, a gas channel 62 and a second controller. The opening of the club support 63 faces upward, and the bottom wall and the club groove 40 form a closed space. The gas passage 62 includes a gas inlet 64 communicating with the gas discharge end of the pneumatic pump 61 and a gas outlet provided corresponding to the closed space. The electrically operated valve 65 is provided at the air outlet. The pneumatic pump 61 and the electric valve are electrically connected to the second controller. Which may be replaced by a hydraulic pump.

Taking the example of arranging 14 club grooves, each club groove is numbered, the corresponding club is arranged in the corresponding club groove, the air channel 62 is provided with a total air inlet 64 and 14 air outlets, and each air outlet corresponds to the closed space of one club groove. When the user wants to take out the No. 1 club, for example, the second controller controls to open the electric valve corresponding to the No. 1 club slot (other electric valves are closed), and air is supplied into the closed space to push the rod support 63 to move upwards, so that the club is delivered out.

A sixth aspect of the present invention provides a method of controlling a club-feeding mechanism including the golf bag, the method comprising: when downward pressure is applied to the club support 51, the gas in the first air bag 52 is sent to the second air bag 54 to fill the second air bag 54, so that the second air bag 54 applies wrapping force to the club and the club is limited to rotate in the circumferential direction and move in the axial direction.

When the club is taken out, the three-way electromagnetic valve 56 is controlled to discharge part of the gas in the second air bag 54, the wrapping force of the second air bag 54 on the club is relieved, and then the electromagnetic one-way valve 57 is opened, so that the first air bag 52 is restored and pushes the club support 51 to move upwards, and the club is sent out.

As shown in fig. 7, a seventh aspect of the present invention provides a golf bag control method based on visual tracking and voice control, comprising a voice recognition system and the golf bag; the rod feeding mechanism and the walking device are both electrically connected with the voice recognition system; the control method comprises the following steps:

constructing a state GMM model voice database, acquiring a sound signal, forming a oscillogram, windowing and framing the oscillogram, and acquiring n frames of waveform signals; fourier transform is carried out on the n frames of waveform signals to form a spectrogram; extracting a characteristic vector through an MFCC model and forming an obtained characteristic vector sequence; and fitting the characteristic vector sequence through a Gaussian model to obtain a probability density function.

Obtaining effective voice instruction information, inputting voice and extracting a characteristic vector to form a characteristic vector sequence; and comparing and analyzing the feature vector sequence and the template data in the constructed voice database to obtain the voice vocabulary with the highest similarity with the feature vector sequence.

And executing, wherein the rod feeding mechanism and/or the walking device execute the corresponding action under the voice vocabulary item.

Further, when the first condition and the second condition are simultaneously satisfied, the voice instruction is executed. Wherein the first condition is a real follower matched to the simulated follower. The second condition is that the similarity between the input voice feature vector and the template stored in the voice database reaches a set threshold value. That is, only when the matching degree of the image and the voice of the real following object and the simulated following object in the system reaches the set value, the golf bag can walk along with the user, and the voice instruction of the user can be executed.

It should be noted that, when taking or putting a golf club, the walking device or the golf ball may be controlled by voice commands to move toward the user and approach the user. After the club-taking or club-releasing action is finished, the user can send out a voice command, such as 'reset', and the walking device or the golf bag returns to the original position and keeps a meter away from the user.

In addition, the present invention also provides a storage medium having stored therein computer-executable instructions that, when executed by a processor, enable the processor to perform a visual recognition following method, a walking device and method, a club feed mechanism control method, or a golf bag control method based on visual following and voice control, and a storage medium.

The preferred embodiments of the present invention have been described in detail, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.

In addition, any combination of the various embodiments of the present invention can be made, and the same should be considered as the disclosure of the present invention as long as the idea of the present invention is not violated.

Claims

1. A visual recognition following system, comprising:

the feature extraction module is used for extracting features from the image information and the sound information to respectively form an image feature set and a sound feature set; the feature extraction module comprises a feature extraction model; the feature extraction model is obtained by training a plurality of input images;

the processing module is used for matching the image feature set with the sound feature set, constructing a simulated following object, and labeling the simulated following object with image and/or text information to form a following object label;

the storage module is used for storing the following object tag;

2. A visual recognition following method comprising the visual recognition following system of claim 1, the visual recognition following method comprising:

acquiring image information and sound information of a real following object;

matching the image characteristic set with the sound characteristic set, constructing a simulated following object, and labeling the simulated following object with image and/or character information to form a following object label;

performing, by the following module, following a real following object matched with the simulated following object;

3. A walking device, characterized in that the walking device comprises:

the visual recognition following system of claim 1;

a base (20);

a driving part (10) for driving the base (20) to move;

the energy supply module is used for supplying power to the driving part (10);

4. A running gear control method, characterized by comprising: the walking device of claim 3; the walking device control method comprises the following steps:

5. A golf bag, comprising:

a chassis (20);

the walking device of claim 3, disposed at the bottom of the chassis (20);

an outer layer bag (30) loaded on the chassis (20) and comprising an envelope and a first containing cavity defined by the envelope and having an opening at the top;

a club slot (40) disposed within the first receiving cavity;

a club feeding mechanism arranged in the outer layer bag (30) and used for pushing the club out of the club groove (40);

the rod feeding mechanism comprises:

the rod support (51) is arranged in the rod groove (40) and is connected with the rod groove (40) in a sliding and sealing mode;

the first air bag (52) is arranged in a closed chamber formed by the rod support (51) and the ball rod groove (40), one end of the first air bag (52) is fixedly connected with the rod support (51), and the other end of the first air bag is fixedly connected with the bottom wall of the ball rod groove (40);

the spring (53) is arranged in the first air bag (52), one end of the spring (53) is fixedly connected with the inner top wall of the first air bag (52), and the other end of the spring (53) is fixedly connected with the inner bottom wall of the first air bag (52); the spring (53) having a tendency to push the rod holder (51) upwards and to expand the first air bag (52);

a second air bag (54) formed on a circumferential side wall or opposite side walls of the club groove (40);

a gas pipe (55) having one end communicating with the first air bag (52) and the other end communicating with the second air bag (54);

the electromagnetic one-way valve (57) is arranged on the gas transmission pipe (55);

the three-way electromagnetic valve (56) is arranged on the air conveying pipe (55) and is positioned at the downstream of the electromagnetic one-way valve (57) of the first air bag;

and the three-way electromagnetic valve (56) and the electromagnetic one-way valve (57) are electrically connected with the first controller.

6. The golf bag of claim 5, wherein the club slot (40) includes a large inner diameter cavity section and a small inner diameter cavity section; a limiting step for limiting is formed between the large inner diameter cavity section and the small inner diameter cavity section, and the rod support (51) is positioned in the large inner diameter cavity section; the second balloon (54) is located in the small inner diameter section; the second air bag (54) restrains the club groove (40) into a channel which is gradually narrowed from top to bottom in an uninflated state;

preferably, a circular groove (501) is arranged on one side end face, facing the opening, of the rod support (51), and the diameter of the circular groove (501) is larger than the inner diameter of the small inner diameter cavity section and is coaxially arranged with the ball rod groove (40).

7. A golf bag, comprising:

a chassis (20);

an outer layer bag (30) loaded on the chassis (20) and comprising an envelope and a first accommodating cavity which is limited by the envelope and is provided with an opening at the top;

a club slot (40) disposed within the first receiving cavity;

the walking device of claim 4, used for carrying a golf bag and enabling the golf bag to form an angle α with a horizontal plane;

the rod feeding mechanism comprises:

a ball bar support (63) with an upward opening, the bottom wall of which forms a closed space with the ball bar groove (40);

a pneumatic pump (61);

the gas channel (62) comprises a gas inlet (64) communicated with the exhaust end of the pneumatic pump (61) and a gas outlet arranged corresponding to the closed space;

an electrically operated valve (65) disposed at the air outlet;

and the pneumatic pump (61) and the electric valve are electrically connected with the second controller.

8. A method of controlling a club feeding mechanism comprising the golf bag of claim 5 or 6, the method comprising:

when downward pressure is applied to the club support (51), gas in the first air bag (52) is sent to the second air bag (54) to fill the second air bag (54), so that the second air bag (54) applies wrapping force to the club and the club is limited to rotate in the circumferential direction and move in the axial direction;

when the ball rod is taken out, the three-way electromagnetic valve (56) is controlled to discharge part of gas in the second air bag (54), the wrapping force of the second air bag (54) on the ball rod is relieved, and then the electromagnetic one-way valve (57) is opened, so that the first air bag (52) is restored and pushes the ball rod support (51) to move upwards, and the ball rod is sent out.

9. A golf bag control method based on visual follow and voice control, characterized by comprising a voice recognition system and the golf bag of any one of claims 5-8; the rod feeding mechanism and the walking device are both electrically connected with the voice recognition system; the control method comprises the following steps:

s1, constructing a state GMM model voice database

Acquiring a sound signal and forming a waveform diagram, windowing and framing the waveform diagram, and acquiring n frames of waveform signals; fourier transform is carried out on the n frames of waveform signals to form a spectrogram; extracting a characteristic vector through an MFCC model and forming an obtained characteristic vector sequence; fitting the characteristic vector sequence through a Gaussian model to obtain a probability density function;

s2, obtaining effective voice instruction information

s3, executing the step

10. The visual follow and voice control based golf bag control method according to claim 9, wherein the voice command is executed when the first condition and the second condition are simultaneously satisfied;