CN115177931B - Visual recognition following system and method, walking device and method and golf bag - Google Patents

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 pole 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 recognition following system, and the characteristics of the real following object are acquired to be compared and matched with the simulation following object. After the following real object is subsequently locked, the running gear can follow the following real object that matches the simulated following object in the system. By means of the voice control system, the device loading the system and the action of executing the voice content can be controlled by means of sending out voice instructions.

Description

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

Technical Field

The present invention relates to the field, and in particular, to a visual recognition following system and method, a running gear and method, a golf bag, a golf club feeding mechanism control method, and a golf bag control method and storage medium based on visual following and voice control. .

Background

Golf is a sport that uses different golf clubs (club) to play golf balls into holes (holes). The golf sport is a sport with special charm, which enables people to exercise body, pottery and metallurgy intelligence, repair body and communicate skills in a beautiful natural environment, and is known as a fashionable and elegant sport.

To increase the play experience on a court, some players are equipped with "jugglers". "child" refers to a person who carries and manages a club for a player while playing a ball and helps the player in accordance with rules. But today, where labor costs are more and more expensive, the cost of "kids" is more and more high, and even the cost of a golf ball is not enough to hire a kid.

For players who prefer quietness, they do not like to hire a child, and they prefer to enjoy a quieter playing environment. However, carrying a heavy golf bag for walking, a tedious process of picking and putting is a big pain for such players. For some players who are in the entry stage or are experiencing the game of golf when they are just touching the golf, they are reluctant to have other people beside them based on shame or face considerations while practicing the game. Similarly, carrying a heavy golf bag to walk, cumbersome picking and placing, and how to select the appropriate club type is a big pain for such players.

Disclosure of Invention

In the era of the prevalence of artificial intelligence, whether a 'machine intelligent child' can be constructed in an artificial intelligence mode or not to solve the technical problems. Therefore, the invention aims to solve the technical problems in the background technology, construct a 'machine intelligent ball', reduce the playing cost of the golf, provide convenience for players and provide high-quality service for the players.

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

an acquisition module for acquiring image information and sound information of a following object;

The feature extraction module is used for extracting features from the image information and the sound information to form an image feature set and a sound feature set respectively; 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 and the sound feature set, constructing a simulation following object, and labeling the simulation 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;

And the following module is used for executing the following of the real following object matched with the simulation following object.

After the vision recognition following system extracts the characteristics of the real following object, the simulation following object can be constructed according to the characteristics of the real following object, and after the vision recognition following system is applied to the running gear, the running gear can follow the specific real following object, so that the running gear is prevented 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 includes:

acquiring image information and sound information of a real follow-up object;

Inputting the image information and the sound information into the feature extraction module, and extracting feature points from the image information and the sound information to form an image feature set and a sound feature set;

Matching the image feature set and the sound feature set to construct a simulation following object, and labeling the simulation following object with image and/or text information to form a following object label;

And executing the following of the real following object matched with the simulated following object through the following module.

After the characteristics of the real following objects are extracted, the visual recognition following system can construct a simulation following object according to the characteristics of the real following objects, and after the visual recognition following system is applied to a running gear, the running gear can follow the specific real following objects, so that the running gear is prevented 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 by 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;

A driving part for driving the base to move;

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

After the vision recognition following system extracts the characteristics of the real following object, the simulation following object can be constructed according to the characteristics of the real following object, and after the vision recognition following system is applied to the running gear, the running gear can follow the specific real following object, so that the running gear is prevented from following other real following objects.

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

The third aspect of the invention provides a running gear control method, which comprises the running gear; the running gear control method comprises the following steps:

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

In the dynamic coordinate system, the coordinates of the walking device are (R, θ).

After the vision recognition following system extracts the characteristics of the real following object, the simulation following object can be constructed according to the characteristics of the real following object, and after the vision recognition following system is applied to the running gear, the running gear can follow the specific real following object, so that the running gear is prevented from following other real following objects. Based on the walking device control method, the walking device can dynamically follow a specific position of a real following object.

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

A chassis;

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

An outer bag, which is loaded on the chassis and comprises an envelope and a first containing cavity with an opening at the top, wherein the first containing cavity is defined by the envelope;

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 lever feeding mechanism includes:

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 the closed cavity formed between 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 and expand the rod rest upward against the first balloon;

The second air bags are formed on the circumferential side wall or the two opposite side walls of the ball rod groove;

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

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

The three-way electromagnetic valve is arranged on the gas 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 a following function, the golf bag can automatically send out club models required by a real following object through voice control, and is convenient and fast for taking and selecting.

Further, the cue 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; the second bladder restrains the cue slot in an uninflated state into a channel that tapers from top to bottom.

Preferably, a circular groove is formed in the end face of one side, facing the opening, 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 club groove.

As another embodiment, the golf bag includes:

A chassis;

An outer bag, which is loaded on the chassis and comprises an envelope and a first containing cavity with an opening at the top, wherein the first containing cavity is defined by the envelope;

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 can enable the golf bag to form an alpha included angle with the horizontal plane;

the lever feeding mechanism includes:

the ball rod support is provided with an upward opening, and the bottom wall of the ball rod support and the ball rod groove form a closed space;

A pneumatic pump;

The air channel comprises an air inlet communicated with the exhaust end of the pneumatic pump and an air 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 golf bag, including a golf bag, the golf bag comprising:

Delivering gas from the first bladder to the second bladder while applying downward pressure to the club support to inflate the second bladder such that the second bladder applies a wrapping force to the club to limit the club from moving in a circumferential direction and an axial direction;

When the ball rod is taken out, partial gas in the second air bag is discharged through 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 to the original state and pushes the ball rod support to move upwards, and the ball rod is sent out.

Through the technical scheme, the club model required by the real following object can be automatically sent out through voice control, and convenience is provided for taking and selecting the club.

A seventh aspect of the present invention provides a golf bag control method based on visual follow-up and voice control, comprising a voice recognition system and the golf bag; wherein, the rod feeding mechanism and the travelling device are electrically connected with the voice recognition system; the control method comprises the following steps:

s1, constructing a state GMM model voice database

Acquiring sound signals and forming a waveform diagram, windowing and framing the waveform diagram, and acquiring n frames of waveform signals; performing Fourier transform on the n-frame waveform signals to form a spectrogram; extracting feature vectors through the MFCC model and forming an acquired feature vector sequence; fitting the feature vector sequence through a Gaussian model to obtain a probability density function;

s2, obtaining effective voice instruction information

Inputting voice and extracting feature vectors 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 highest similarity with the feature vector sequence;

S3, executing the steps of

And the rod conveying mechanism and/or the walking device execute actions corresponding to the voice vocabulary item.

Through the technical scheme, the running gear or the golf bag can be better controlled.

Further, when the first condition and the second condition are satisfied at the same time, executing the voice instruction;

Wherein the first condition is a real following object matched with the simulated following object; and 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 following pattern;

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

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

FIG. 4 is a schematic view of the structure of one embodiment of a lever mechanism;

FIG. 5 is a schematic view of another embodiment of a lever mechanism;

FIG. 6 is a schematic view of a construction of yet another embodiment of a lever mechanism;

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

fig. 8 is a schematic view of an application scenario of a running gear or golf ball.

Detailed Description

The following describes specific embodiments of the present invention in detail. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.

In the present invention, unless otherwise indicated, terms of orientation such as "upper and lower" are used to generally refer to orientations in the assembled state of use. "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 the claims of the present invention and the above-described drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe 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 first aspect of the invention provides a visual recognition 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 images. The processing module is used for matching the image feature set and the sound feature set, constructing a simulation following object, and labeling the simulation 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 the following of the real following object matched with the simulation 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 by the display module. Wherein, the display module can select the display screen. After displaying the object tag on the display screen, the user can confirm whether the data corresponding to the simulated follow-up object formed is correct.

The second aspect of the invention provides a visual recognition following method, comprising the visual recognition 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, and extracting feature points from the image information and the sound information to form an image feature set and a sound feature set; matching the image feature set and the sound feature set to construct a simulation following object, and labeling the simulation following object with image and/or text information to form a following object label; and executing the following of the real following object matched with the simulated following object through the following module.

In actual use, the visual recognition following system performs feature extraction on a real following object user. The feature extraction here includes sound features, body features, face features, and the like, thereby constructing a simulated follow-up object. By comparing and matching the real following object with the simulated following object, if the matching is successful, the system locks the user and follows the user to walk. If the matching is unsuccessful, the data of the real following object is absent in the system, and at the moment, the user of the following object needs to enter the data.

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 a traveling device, the traveling device can travel along with the specific real following object and execute a voice instruction sent by the real following object. By such arrangement, the running gear can be prevented from following other real following objects, and the running gear can be prevented from executing voice instructions of other users, and the exclusivity is realized when the action is executed.

A third aspect of the present invention provides a walking device, as shown in fig. 2, which includes the visual recognition following system, a displacement sensor, a base, 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 to move. The energy supply module is used for providing power for the driving part 10. In an alternative embodiment the drive section 10 comprises a wheel and a drive motor for driving the wheel. Wherein, the power source of driving motor is the functional module.

In order to improve the running stability of the running gear on the grass, the wheels can be crawler wheels. In an alternative embodiment, the power module includes a rechargeable battery and a solar photovoltaic panel for charging the battery.

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

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

Based on the running gear control method, the running gear can dynamically follow a specific position of a real following object. Taking R as 2m and θ as 45 degrees, the running gear can always keep a distance from the user 2m (which is convenient for the user to hit the ball and walk), and meanwhile, the running gear is always positioned at the upper right corner of the running direction of the user. Therefore, the user can observe the golf bag and the carried articles at any time, and the unsafe sense of the inner core of the golf bag is eliminated. Meanwhile, in the running process of the running gear, if the running gear has a problem, the problem can be discovered by a user at the first time, and the problem can be handled in time. On the other hand, when the user hits the ball on the side, the running gear can not stay in the ball hitting direction, and the ball rod or the ball can be prevented from hitting the running gear.

The green of the golf course is not exactly a plane and some hills may be present (as shown in fig. 8). In this scenario, the running gear will travel around the hills according to the results of the inventor's field tests. This way of travel tends to cause the running gear to rollover. In order to solve this technical problem, the present invention provides a specific embodiment in which the coordinates of the running gear are (0, -a) when the component of the movement direction of the real following object (user) in the Z axis for the duration T1 reaches a predetermined value, where a is a positive number. Taking a as an example 2m, when the user and running gear travel in hills, the running gear will follow the user at 2m behind. More specifically, the running gear is "led" by the user to travel when encountering hills. The smaller the value of a, the tighter the running gear will be, and when the value of a is further reduced, the running gear will move along the travelling track of the user. Of course, in actual use, the running gear cannot be made to follow the rear of the user too closely, which may cause difficulty in the running of the user. While considering the problem of the sensitivity of the running gear, if the running gear is too closely following behind the user, the running gear will collide against the user when the user suddenly stops.

In this context, the present invention provides an alternative embodiment. This embodiment further adds a path planning system on the basis of the aforementioned automatic following system. The path planning system can enable the traveling track of the user along which the traveling device travels, and the user 'explores the path' for the traveling device, so that the occurrence of accidents is reduced. The triggering of the path planning module is, of course, if the user and the running gear travel in hills, i.e. if the component of the Z-axis, which continues the direction of movement of the object for a time T1, reaches a predetermined value. The path planning system comprises a GPS or Beidou positioning system. When the component of the movement direction of the following object in the Z axis for the time T1 reaches a preset value, the travel path of the user is acquired and recorded by the path planning system, and the travel path of the user is taken as the travel path of the traveling device.

In a fifth aspect, the present invention provides a golf bag comprising a chassis 20, a running gear, an overpack 30, a club groove 40, and a club feed mechanism. Fig. 2 and 3 show two running gear respectively. Fig. 2 shows that the running gear is disposed at the bottom of the chassis 20, and is integrally formed with the outer bag 30. Fig. 3 shows a running gear as a carrier for carrying golf bags. In the embodiment illustrated in fig. 3, the running gear is preferably used to carry a golf bag and is capable of forming an angle alpha with the horizontal plane. Based on the setting of this contained angle, can convenient to use person get the pole and put the pole.

The overpack 30 is carried on the chassis 20 and includes an enclosure and a first receiving cavity defined by the enclosure and having an opening at the top. The ball rod groove 40 is disposed in the first receiving cavity. The cue feed mechanism is disposed within the overpack 30 for pushing a cue out of the cue slot 40.

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

The club support 51 is disposed in the club groove 40 and is in sliding and sealing connection with the club groove 40. The rod support 51 and the ball rod groove 40 form a closed space. The spring 53 is disposed in the closed space. One end of the spring 53 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 second bladder 54 is formed on a circumferential side wall or on opposite side walls of the ball groove 40. One end of the air pipe 55 is communicated with the closed space, and the other end is communicated with the second air bag 54. The electromagnetic check valve 57 is provided on the gas delivery pipe 55.

When the cue stick is inserted into the cue stick groove 40 and the cue stick support 51 is pressed further downward, the gas in the closed space enters the second air bag 54 along the gas pipe 55, and the second air bag 54 is inflated to wrap around the circumference of the cue stick. The cue stick is therefore not able to rotate and move in the circumferential and axial directions.

The advantages of confining the cue in the circumferential direction are: can prevent the collision between the club heads, and the damage of the club heads. In the prior art, golf clubs are typically equipped with corresponding club head covers. In actual use, however, the cover is often lost. Of course, some users have no habit of putting the cover again after the end of the play. Under the condition that the club is not sleeved with a club head sleeve, the club head is easy to collide with the club head in the transportation process, so that the club head is scratched or even damaged. The inventor proposes the above-mentioned technical solution for restricting the rotation of the club in the circumferential direction by the second air bag 54. Of course, the second bladder 54 also serves as a protection for the club shaft.

When the cue is required to be taken out, the unidirectional air flow restriction of the electromagnetic unidirectional valve 57 is released, and the cue is sent out by pushing the cue holder 51 to move upwards under the action of the spring 53.

In a second embodiment, the golf bag comprises: chassis 20, overpack 30, ball groove 40, and rod feeding mechanism.

The running gear is arranged at the bottom of the chassis 20. The overpack 30 is carried on the chassis 20 and includes an enclosure and a first receiving cavity defined by the enclosure and having an opening at the top. The ball rod groove 40 is disposed in the first receiving cavity. The cue feed mechanism is disposed within the overpack 30 for pushing a cue out of the cue slot 40.

As shown in fig. 5, the rod feeding mechanism includes a rod support 51, a first air bag 52, a spring 53, a second air bag 54, an air pipe 55, an electromagnetic check valve 57, a three-way electromagnetic valve 56, and a first controller. The club support 51 is disposed in the club groove 40 and is in sliding and sealing connection with the club groove 40. The first air bag 52 is disposed in a closed cavity 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, one end of the spring 53 is fixedly connected with the inner top wall of the first air bag 52, and the other end is fixedly connected with the inner bottom wall of the first air bag 52. The spring 53 has a tendency to push and expand the stem tray 51 upward against the first balloon 52; the second air pockets 54 are formed on the circumferential side wall or the opposite side walls of the ball rod 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 check valve 57 is provided on the gas delivery pipe 55. The three-way electromagnetic valve 56 is provided on the gas delivery pipe 55 downstream of the electromagnetic check valve 57 of the first airbag. The three-way electromagnetic valve 56 and the electromagnetic check valve 57 are electrically connected with the first controller.

When the cue stick is inserted into the cue stick groove 40 and the cue stick 51 is pressed further down, the gas in the first gas bladder 52 enters the second gas bladder 54 along the gas delivery tube 55, and the second gas bladder 54 is thereby inflated to wrap around the cue stick. The cue stick is therefore not able to rotate and move in the circumferential and axial directions. When the cue is required to be taken out, the three-way electromagnetic valve 56 is controlled to discharge part of the air in the second air bag 54, so that the wrapping force of the second air bag 54 on the cue is released. At this time, the lever bracket 51 is still in the initial position. The unidirectional air flow restriction of the electromagnetic check valve 57 is then released, so that the first air bag 52 is restored and pushes the club support 51 to move upward, and the club is sent out.

After the unidirectional air flow restriction of the electromagnetic unidirectional valve 57 is released, the first air bag 52 does not suck air from the second air bag 54 during the recovery process, but sucks external air through the three-way electromagnetic valve 56.

Of course, after the unidirectional air flow restriction of the electromagnetic unidirectional valve 57 is released, the first air bag 52 may be sucked from the second air bag 54 during the restoration process. If so arranged, after the multiple stick feed actions are performed, the total amount of gas in the first and second air bags 52, 54 will be continuously reduced because a portion of the gas is exhausted each time a stick feed action is performed. In this context, the present invention provides a third embodiment in which a one-way valve is provided on either the first balloon 52 or the second balloon 54, which allows only gas from the outside into either the first balloon 52 or the second balloon 54. In this way, when it is necessary to take out the cue, the three-way electromagnetic valve 56 is controlled to discharge a part of the gas in the second air bag 54, thereby releasing the wrapping force of the second air bag 54 on the cue. The unidirectional air flow restriction of the electromagnetic check valve 57 is then released, so that the first air bag 52 is restored and pushes the club support 51 to move upward, and the club is sent out. Part of the exhausted gas can be supplemented by a one-way valve. In this way, the total amount of gas in the first and second air bags 52, 54 will be maintained in dynamic balance, meeting the rod feed requirements.

In the above embodiment, the effect and beneficial effect of discharging the "part of gas" first are: it is contemplated that if the cue stick 51 is moved upward immediately while releasing the wrapping force on the cue stick, a cue stick feeding action is performed. The friction between the club and the second bladder 54 will be greatly increased. In this way, the wear of the cue and the second bladder 54 will be increased and the life of the cue and the second bladder 54 will be greatly shortened.

Further, as shown in fig. 4 or 5, the sipe 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 located 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 ball groove 40 into a channel that tapers from top to bottom.

With the above arrangement, the range of upward movement of the stem support 51 is limited based on the formation of the restriction step and the arrangement of the second air bag 54, and in the first embodiment, the first air bag 52 does not suck out the air in the second air bag 54, that is, a part of the air remains in the second air bag 54. This part of gas can play an important role in putting the pole. Specifically, based on the formation of channels that still retain some of the gas in the second bladder 54 and taper from top to bottom, the club will slowly slide into the club groove as the user places the club. In the prior art, in order to quickly release the club, the user usually releases his hand at the club notch, and this release causes a significant impact of the club on the bottom of the club groove. Another function of the limiting step is that: the length of the driver, i.e., the length of the driver that drives the club out of the golf groove, may be limited.

In an alternative specific embodiment, a circular groove 501 is provided on an end surface of the shaft support 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 club groove 40. In an alternative embodiment, a clamp may be provided in the circular recess 501 to automatically clamp the cue when the tail of the cue falls into the circular recess 501.

Taking 14 club grooves as an example, each club groove is numbered, and a corresponding club is placed in the corresponding club groove. In use, for example, the user wants to remove club No.1, the first controller controls the club No.1 slot to deliver club No. 1. The execution instruction of the first controller can be from a wireless signal (such as a signal sent by a remote controller) or from a voice signal sent by a user.

In a third embodiment, the golf bag includes a chassis 20, an overpack 30, a club groove 40, and a club feed mechanism. The overpack 30 is carried on the chassis 20 and includes an enclosure and a first receiving cavity defined by the enclosure and having an opening at the top. The ball rod groove 40 is disposed in the first receiving cavity. The cue feed mechanism is disposed within the overpack 30 for pushing a cue out of the cue slot 40. The walking device is used for loading golf bags.

As shown in fig. 6, the rod feeding mechanism includes a ball rod holder 63, a pneumatic pump 61, a gas passage 62, and a second controller. The club support 63 is opened upwards, 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 exhaust end of the pneumatic pump 61 and a gas outlet provided corresponding to the closed space. The electric valve 65 is disposed at the air outlet. The pneumatic pump 61 and the electrically operated valve are electrically connected to the second controller. Which may be replaced by a hydraulic pump.

Taking 14 club grooves as an example, numbering each club groove, placing corresponding club in the corresponding club groove, arranging a total air inlet 64 on the air channel 62, arranging 14 air outlets, and each air outlet corresponds to a closed space of the club groove. When the club is used, for example, when a user wants to take out the club No. 1, the second controller controls to open the electric valve corresponding to the club No. 1 groove (other electric valves are closed), and air is supplied into the closed space to push the club support 63 to move upwards, so that the club is sent out.

A sixth aspect of the present invention provides a golf bag, including a golf bag, the golf bag comprising: when downward pressure is applied to the cue stick 51, the gas in the first bladder 52 is sent to the second bladder 54 to inflate the second bladder 54, such that the second bladder 54 applies a wrapping force to the cue stick, limiting the cue stick from moving in the circumferential and axial directions.

When the cue is taken out, part of the air in the second air bag 54 is discharged by controlling the three-way electromagnetic valve 56, the wrapping force of the second air bag 54 on the cue is relieved, and then the electromagnetic one-way valve 57 is opened, so that the first air bag 52 is restored to the original state and pushes the cue holder 51 to move upwards, and the cue is sent out.

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

Constructing a state GMM model voice database, acquiring sound signals, forming a waveform diagram, windowing and framing the waveform diagram, and acquiring n frames of waveform signals; performing Fourier transform on the n-frame waveform signals to form a spectrogram; extracting feature vectors through the MFCC model and forming an acquired feature vector sequence; fitting the feature vector sequence through a Gaussian model to obtain a probability density function.

Acquiring effective voice instruction information, inputting voice and extracting feature vectors to form a feature vector sequence; and 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.

And executing the action corresponding to the voice vocabulary item by the rod feeding mechanism and/or the running gear.

Further, when the first condition and the second condition are satisfied at the same time, the voice instruction is executed. Wherein the first condition is a real following object that matches the simulated following object. And 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 real following object and the simulation following object in the system in the image and the voice reaches the set value, the golf bag will walk along with the user, and the voice instruction of the user will be executed.

When the driver takes or puts the golf club, the driver or the golf ball can be controlled to move towards the user by the voice command, and the driver or the golf ball approaches the user. After the pole is taken or put, the user can send out voice instructions, such as reset, and the walking device or the golf bag returns to the original position to keep a distance of a meters from the user.

In addition, the invention also provides a storage medium, wherein computer execution instructions are stored in the storage medium, and when the computer execution instructions are executed by a processor, the processor can execute a visual recognition following method, a walking device and method, a pole feeding mechanism control method or a golf bag control method based on visual follow-up and voice control, and the storage medium.

The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the simple modifications belong to the protection scope of the present invention.

In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition.

Moreover, any combination of the various embodiments of the invention can be made without departing from the spirit of the invention, which should also be considered as disclosed herein.

Claims (9)

1. A golf bag, the golf bag comprising:

a chassis (20);

The walking device is arranged at the bottom of the chassis (20);

an outer bag (30) carried on said chassis (20) and comprising an envelope and a first containing cavity with an opening at the top defined by said envelope;

A ball rod groove (40) arranged in the first accommodating cavity;

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

the lever feeding mechanism includes:

the club support (51) is arranged in the club groove (40) and is in sliding sealing connection with the club groove (40);

the first air bag (52) is arranged in a closed cavity formed by the rod support (51) and the club 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 club 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 is fixedly connected with the inner bottom wall of the first air bag (52); the spring (53) has a tendency to push and expand the first balloon (52) upwards by the lever bracket (51);

A second balloon (54) formed on a circumferential side wall or opposite side walls of the ball rod 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);

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

A three-way electromagnetic valve (56) arranged on the gas pipe (55) and positioned 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 electrically connected with the first controller;

The running gear includes:

The visual recognition following system 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 a 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 and the sound feature set, constructing a simulation following object, and labeling the simulation 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 the following of a real following object matched with the simulated following object;

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

a base;

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

and the energy supply module is used for providing power for the driving part (10).

2. The golf bag of claim 1, wherein the power module comprises a rechargeable battery and a solar photovoltaic panel for charging the battery.

3. Golf bag according to claim 1, wherein the club groove (40) 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 (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) restrains the cue slot (40) in an uninflated condition into a channel that tapers from top to bottom.

4. A golf bag according to claim 3, characterized in that a circular groove (501) is provided on the end face of the shaft support (51) facing the opening, the circular groove (501) having a diameter larger than the inner diameter of the small inner diameter cavity section and being arranged coaxially with the club groove (40).

5. A golf bag, the golf bag comprising:

a chassis (20);

an outer bag (30) carried on said chassis (20) and comprising an envelope and a first containing cavity with an opening at the top defined by said envelope;

A ball rod groove (40) arranged in the first accommodating cavity;

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

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

the lever feeding mechanism includes:

A ball rod support (63) with an upward opening, and a closed space is formed between the bottom wall of the ball rod support and the ball rod groove (40);

A pneumatic pump (61);

a gas passage (62) including a gas inlet (64) communicating with the exhaust end of the pneumatic pump (61) and a gas outlet provided corresponding to the closed space;

An electric valve (65) arranged at the air outlet;

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

The running gear includes:

the visual recognition following system 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 a 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 and the sound feature set, constructing a simulation following object, and labeling the simulation 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 the following of a real following object matched with the simulated following object;

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

a base;

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

and the energy supply module is used for providing power for the driving part (10).

6. The golf bag of claim 5, wherein the power module comprises a rechargeable battery and a solar photovoltaic panel for charging the battery.

7. A golf bag according to claim 1, wherein the method comprises:

Feeding the gas in the first bladder (52) into the second bladder (54) while applying downward pressure to the club support (51) to inflate the second bladder (54) such that the second bladder (54) applies a wrapping force to the club limiting the club from moving in the circumferential and axial directions;

When the ball rod is taken out, partial gas in the second air bag (54) is discharged through controlling the three-way electromagnetic valve (56), the wrapping force of the second air bag (54) on the ball rod is relieved, then the electromagnetic one-way valve (57) is opened, the first air bag (52) is restored to the original state, the ball rod support (51) is pushed to move upwards, and the ball rod is sent out.

8. A golf bag control method based on visual follow-up and voice control, characterized by comprising a voice recognition system and the golf bag of any one of claims 1-6; wherein, the rod feeding mechanism and the travelling device are electrically connected with the voice recognition system; the control method comprises the following steps:

s1, constructing a state GMM model voice database

Acquiring sound signals and forming a waveform diagram, windowing and framing the waveform diagram, and acquiring n frames of waveform signals; performing Fourier transform on the n-frame waveform signals to form a spectrogram; extracting feature vectors through the MFCC model and forming an acquired feature vector sequence; fitting the feature vector sequence through a Gaussian model to obtain a probability density function;

s2, obtaining effective voice instruction information

Inputting voice and extracting feature vectors 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 highest similarity with the feature vector sequence;

S3, executing the steps of

And the rod conveying mechanism and/or the walking device execute actions corresponding to the voice vocabulary item.

9. The golf bag control method based on visual follow-up and voice control according to claim 8, wherein the voice command is executed when the first condition and the second condition are simultaneously satisfied;

Wherein the first condition is a real following object matched with the simulated following object; and 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.