CN105214288B - Golf identification locating and tracking and information communication system based on unmanned plane - Google Patents
Golf identification locating and tracking and information communication system based on unmanned plane Download PDFInfo
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- CN105214288B CN105214288B CN201510788104.8A CN201510788104A CN105214288B CN 105214288 B CN105214288 B CN 105214288B CN 201510788104 A CN201510788104 A CN 201510788104A CN 105214288 B CN105214288 B CN 105214288B
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Abstract
The present invention relates to the identification locating and tracking of the golf based on unmanned plane and information communication system, including unmanned plane, golf module, unmanned aerial vehicle station and hand-held set；The unmanned plane includes unmanned plane body, the video camera and golf radar being arranged on body, flight control units and Real Time Communication Unit；The unmanned plane connects unmanned aerial vehicle station by Real Time Communication Unit, connects golf module by golf radar；The golf module includes spheroid and antenna element；The golf hand-held set connects unmanned aerial vehicle station by wireless network.The present invention provides unmanned plane identification, positioning, tracks and finds golf and golf ball flight trajectories of taking photo by plane, unmanned plane and cruise golf course are also provided, golf entrant or sporter is set to grasp golf course 3 D stereo information, and environment such as alley wind direction information is provided, further demarcate or correct the electronic map of golf course and alley.
Description
Technical field
The present invention relates to the golf positioning field based on unmanned plane, more particularly to a kind of golf based on unmanned plane
Ball identifies locating and tracking and information communication system.
Background technology
Golf has become Olympic Games project, is a green, sunlight, the fortune of health and health preserving
It is dynamic, worldwide popularize.In recent years, golf sports had obtained rapid development in China, in the near future, high
Er Fu can also turn into a Chinese popular motion.
Golf entrant or sporter expect to have a high-tech product, and them can be helped to improve rapidly and moved into
Achievement, record and share their golf Wonderful time and life, and enjoy such a healthy motion.For example, dynamic is real
When show the actual motion track of golf, hitting distance, placement positioning, the path of each bar ball, technical movements, very
Promptly found into the court environment in complexity and find the ball of oneself.According to the ratio competition rules of United States Golf Association (USGA)
Then, if entrant lost their ball, and can not be found within the defined short time it is necessary in a wheel or the whole match
Penalized bar.
Unmanned aerial vehicle is civilian from military technological direction, and starts to popularize.For example, the limited public affairs of Shenzhen great Jiang Creative Science and Technology Co. Ltd
Take charge of and successfully research and develop and sell serial four rotor wing unmanned aerial vehicles.Unmanned aerial vehicle is widely used, including police, city management, environmental monitoring,
The industries such as forest fire protection, power-line patrolling, rescue and relief work, video capture.
However, for the golf of about 4 centimetres of sizes of diameter and rapid flight, the positioning of existing various unmanned planes and with
Track technology or helpless.The Chinese invention patent application number 201410370775.8 of inventor's application discloses a kind of insertion
The golf of antenna, Sphere symmetry, anti-fight are kept, and the positioning of golf is realized using radar communication technology.It is another
Aspect, existing golf training are all ground fixed systems, without the three-dimensional Three-dimensional tracking systems in the world.The invention discloses
The three-dimensional golf sports and data communication technology of world three-dimensional based on unmanned plane, particularly a kind of height for having antenna element
Golf ball is identified locating and tracking by unmanned plane and realizes that hand-held set communication and the world of golf information transmission in real time are stood
Body three dimension system.
The content of the invention
In order to provide a kind of actual motion track that can show golf, hitting distance, placement dynamic realtime
Positioning, the path of each bar ball, technical movements, even promptly find in the court environment of complexity and find specific golf
The system of ball, the present invention provide following technical scheme：
Golf identification locating and tracking and information communication system based on unmanned plane, including unmanned plane, golf mould
Block, unmanned aerial vehicle station and hand-held set；The unmanned plane include unmanned plane body, be arranged on body golf radar,
Flight control units and Real Time Communication Unit；The Real Time Communication Unit connect respectively unmanned aerial vehicle station, golf radar and
Flight control units, the golf radar connect golf module, and the flight control units connection unmanned plane body is used
In control body flight；The golf module includes spheroid and the antenna element being arranged in spheroid；The golf
Hand-held set connects unmanned aerial vehicle station by wireless network.
Golf identifies positioning and tracing method, comprises the following steps：
After S1, golf are impacted, it is connected by antenna with golf radar, receives the radio frequency from golf radar
Information；
S2, antenna-reflected launch electromagnetic wave to radar again；Radar obtains radio frequency signal and parameter；
S3, unmanned plane are by golf radar and Real Time Communication Unit these real-time information transmissions to unmanned aerial vehicle station
With golf hand-held set；
The special algorithm positioning golf of S4, unmanned aerial vehicle station according to alley electronic map and comprising Doppler effect
Ball, golf ball flight parameter is calculated, and real time information is returned into flight control units；
S5, flight control units utilize real time information control unmanned plane during flying route, tracking golf.
Positional information is sent to golf hand-held set, guiding linksman and finds oneself by unmanned aerial vehicle station simultaneously
Ball.
Further, video camera is additionally provided with the unmanned plane body, the video camera will by Real Time Communication Unit
Aerial images file is transmitted to unmanned aerial vehicle station.Video camera is set to shoot the motion image of golf, moreover it is possible to
Linksman is enough set to grasp golf course 3 D stereo information.
Further, the golf hand-held set includes wireless positioning unit, court and alley electronic map unit, wireless
Network communication unit and Golf training analogue unit, the wireless positioning unit connection satellite are used for auxiliary positioning golf
Sportsman position；The court and alley electronic map unit obtain court and alley network by wireless communication unit
Map, the amendment map by unmanned aerial vehicle station acquisition court and alley, can be on the basis of existing electronic map to it
Demarcate and correct in real time；The golf simulation training unit includes track record part and track record part, institute
State track record part to be manually entered by sportsman, the track record part is connected with unmanned aerial vehicle station, for receiving Gao Er
Husband's ball movement locus and aerial images, be advantageous to help sportsman quickly to carry out trajectory analysis to improve sports achievement.
Further, the golf hand-held set can be by wireless communication unit by Golf training analogue unit
Data sharing can share the Wonderful time of golf sports to the network platform.
Further, golf radar, antenna element, golf hand-held set, unmanned aerial vehicle station and unmanned plane lead in real time
The communications protocol of letter unit can be any one in RFID, WIFI, bluetooth, UWB, GSM, 4G LTE, and communication system is penetrated
Frequency centre frequency does not limit, and can be multiband, typical frequencies 13.56MHz, 430MHz, 900MHz, 1.8GHz,
2.4GHz, 5.0GHz, 24GHz, and millimeter wave frequency band, i.e., equal to or higher than 30GHz, such as 60GHz.
The beneficial effects of the present invention are：Golf is identified, positions, tracks and found by unmanned plane and height of taking photo by plane
Golf ball flight path, realize the intelligent management of golf.Meanwhile also provide unmanned plane and cruise golf
, golf entrant or sporter is grasped golf course 3 D stereo information, and environment such as alley wind direction information is provided,
Further demarcation or the electronic map of amendment golf course and alley.
Brief description of the drawings
Fig. 1, golf identification, positioning, the acquisition of data transfer and golf ball flight trajectories based on unmanned plane are shown
It is intended to
Fig. 2, unmanned plane golf course and alley cruise shooting process schematic
Fig. 3, the golf identification positioning and tracing method schematic diagram based on unmanned plane
Embodiment
Golf identification locating and tracking and information communication system based on unmanned plane, including unmanned plane 101, golf
100th, unmanned aerial vehicle station 108 and hand-held set 109；The unmanned plane 101 includes unmanned plane body, the height being arranged on body
That husband radar 103, flight control units 201 and Real Time Communication Unit 301；The Real Time Communication Unit 301 connects nobody respectively
Machine earth station 108, golf radar 103 and flight control units 201, the golf radar 103 connect golf 100,
The flight control units 201 connect the body of unmanned plane 101 and are used to control body to fly；The golf 100 includes spheroid
And it is arranged at the antenna element in spheroid；The golf hand-held set 109 connects unmanned aerial vehicle station by wireless network
108。
After golf 100 is impacted, it is connected by antenna with golf radar 103, golf radar 103 will receive
Data transmitted by Real Time Communication Unit 301 to unmanned aerial vehicle station 108, unmanned aerial vehicle station 108 positions golf
100, and location data is transmitted to the flight control units 201 of unmanned plane 101, the flight control units 201 of unmanned plane 101 control nothing
Man-machine 101 tracking golf 100 flies, and to realize the track and localization of golf 100, while unmanned aerial vehicle station 108 will
Positional information is sent to golf hand-held set 109, guides 100 Yuans balls for finding oneself of golf.
The flight path of golf 100 of the present embodiment obtains as described in Figure 1, and the golf 100 that will be impacted is located at
Position 202, the golf 100 of the flush antenna to that will impact first is identified, positions and real-time Transmission, is passed by information
Defeated chain 212 and 210 is completed jointly.When 100 flight of golf, such as air position 203 and 204, golf 100 is entered
Row identification positioning is completed by information transfer chain 214 and 210, information transfer chain 216 and 210 respectively.When golf 100 drops to
Target location, such as greens position 205, positioning is identified to golf 100 and is realized by information transfer chain 218 and 210.Nothing
Man-machine 101 can hover above alley, can also tracking golf 100.Finally, the golf 100 of each bar impact
Movement locus 220, it can collect, store, being shown on earth station 108 or/and golf hand-held set 109.
Video camera 102 is additionally provided with the body of unmanned plane 101, the video camera 102 passes through Real Time Communication Unit 301
Aerial images file is transmitted to unmanned aerial vehicle station 108.Video camera 102 is set to shoot the fortune of golf 100
Dynamic image, additionally it is possible to make 100 Yuans grasp 3 D stereo information of golf 100 of golf.Clap in navigation channel in the present embodiment
Take the photograph process as shown in Fig. 2 unmanned plane 101 by video camera 102 to service platform (not indicating), greens 510,511,512,513
Alley 520,521,522,523 Deng between etc. and whole golf 100 are taken photo by plane and scouted, and pass through Data-Link 502
Real-time Transmission image and positional information are to unmanned aerial vehicle station 108 and golf hand-held set 109.These devices can be stored and shown
Show these data, help golf player to be familiar with court, alley, greens, the critical positions such as platform of serving a ball, and sand pit, pool,
The barriers such as the woods (do not indicate).Golf player grasps the 3 D stereo information and environmental information of golf 100
Deng.Unmanned plane 101, which cruises, can also realize the intelligent management of golf 100, for example, it was discovered that where lawn needs to pour
Water.Unmanned plane 101 cruises and data transfer, is positioned by Airborne GPS, the alley of 109 wireless auxiliary positioning of golf hand-held set
Deng precise position information, it is further used for demarcating or corrects the electronic map of golf 100 and alley, makes golf
100 tracking and positioning are more accurate.
The golf hand-held set 109 includes wireless positioning unit, court and alley electronic map unit, wireless network and led to
Believe unit and Golf training analogue unit, the wireless positioning unit connection satellite is used for auxiliary positioning golf 100
Member position；The court and alley electronic map unit are by wireless communication unit acquisition court and alley network
Figure, the amendment map by the acquisition court of unmanned aerial vehicle station 108 and alley, can be on the basis of existing electronic map to it
Demarcate and correct in real time；The golf simulation training unit includes track record part and track record part, institute
State track record part to be manually entered by sportsman, the track record part is connected with unmanned aerial vehicle station 108, for receiving height
The movement locus of golf ball 100 and aerial images, be advantageous to help sportsman quickly to carry out trajectory analysis to improve sports achievement.
The golf hand-held set 109 can be divided Golf training analogue unit data by wireless communication unit
Enjoy to the network platform, the Wonderful time of golf sports can be shared.
The golf radar 103, antenna element, golf hand-held set 109, unmanned aerial vehicle station 108 and unmanned plane
The communications protocol of 101 Real Time Communication Units 301 can be any one in RFID, WIFI, bluetooth, UWB, GSM, 4G LTE,
The RF center frequency of communication system does not limit, and can be multiband, typical frequencies 13.56MHz, 430MHz, 900MHz,
1.8GHz, 2.4GHz, 5.0GHz, 24GHz, and millimeter wave frequency band, i.e., equal to or higher than 30GHz, such as 60GHz.
Fig. 3 is that the golf based on unmanned plane 101 identifies positioning and tracing method schematic diagram.The Gao Er of flush antenna unit
Husband's ball 100, the radio-frequency information 611 from golf radar 103 is received, reflect or transmitting electromagnetic wave passes through the quilt of link 612 again
Radar 103 receives.Golf radar 103 obtains various radio frequency signals and parameter, for example, back wave or echo strength, phase
Angle, Doppler effect, wavelength, frequency, time difference etc..Unmanned plane 101 passes through the interface of golf radar 103 and Real Time Communication Unit
301 these real time information are transferred to earth station 108 and golf hand-held set 109 by Data-Link 610.The basis of earth station 108
Alley electronic map 612 and the positioning golf 100 of special algorithm 611 comprising Doppler effect, calculate golf 100 and fly
Row parameter etc., by the return information of Data-Link 610 to flight control units 201.Real-time communication information be used for control flight path, with
Track golf 100, the functions such as golf 100 are found, realize golf hand-held set 109app or apk interface function.
Claims (3)
1. golf identification locating and tracking and information communication system based on unmanned plane, it is characterised in that：Including unmanned plane, height
Golf ball module, unmanned aerial vehicle station and hand-held set；The unmanned plane includes unmanned plane body, the Gao Er being arranged on body
Husband's radar, flight control units and Real Time Communication Unit；The Real Time Communication Unit connects unmanned aerial vehicle station, golf respectively
Radar and flight control units, the golf radar connect golf module, and the flight control units connect unmanned plane
Body is used to control body to fly；The golf module includes spheroid and the antenna element being arranged in spheroid；It is described
Golf hand-held set connects unmanned aerial vehicle station by wireless network；Video camera is additionally provided with the unmanned plane body, it is described
Video camera is transmitted aerial images file to unmanned aerial vehicle station by Real Time Communication Unit；
The golf hand-held set includes wireless positioning unit, court and alley electronic map unit, wireless communication unit
And Golf training analogue unit, it is in place that the wireless positioning unit connection satellite is used for auxiliary positioning linksman institute
Put；The court and alley electronic map unit obtain court and alley network map by wireless communication unit, passed through
Unmanned aerial vehicle station obtains the amendment map of court and alley；The golf simulation training unit include track record part and
Track record part, the track record part are manually entered by sportsman, and the track record part connects with unmanned aerial vehicle station
Connect, for receiving golf track and aerial images；The golf hand-held set will by wireless communication unit
Golf training analogue unit data sharing is to the network platform.
2. golf identification locating and tracking and information communication system based on unmanned plane as claimed in claim 1, its feature
It is：The communication of golf radar, antenna element, golf hand-held set, unmanned aerial vehicle station and unmanned plane Real Time Communication Unit
Agreement is any one in RFID, WIFI, bluetooth, UWB, GSM, 4G LTE, and the RF center frequency of communication system does not limit
System, typical frequencies 13.56MHz, 430MHz, 900MHz, 1.8GHz, 2.4GHz, 5.0GHz, 24GHz, and millimeter wave frequency
Section, i.e., equal to or higher than 30GHz.
3. the golf identification positioning and tracing method based on unmanned plane, using system as claimed in claim 1 or 2, including
Following steps：
After S1, golf are impacted, it is connected by antenna with golf radar, receives the radio frequency letter from golf radar
Breath；
S2, antenna-reflected launch electromagnetic wave to radar again；Radar obtains radio frequency signal and parameter；
S3, unmanned plane are by golf radar and Real Time Communication Unit these real-time information transmissions to unmanned aerial vehicle station and height
That husband's hand-held set；
The special algorithm positioning golf of S4, unmanned aerial vehicle station according to alley electronic map and comprising Doppler effect, meter
Golf ball flight parameter is calculated, and real time information is returned into flight control units；
S5, flight control units utilize real time information control unmanned plane during flying route, tracking golf.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510788104.8A CN105214288B (en) | 2015-11-17 | 2015-11-17 | Golf identification locating and tracking and information communication system based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510788104.8A CN105214288B (en) | 2015-11-17 | 2015-11-17 | Golf identification locating and tracking and information communication system based on unmanned plane |
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| CN105214288B true CN105214288B (en) | 2018-01-05 |
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| US9715009B1 (en) | 2014-12-19 | 2017-07-25 | Xidrone Systems, Inc. | Deterent for unmanned aerial systems |
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| CN105963951A (en) * | 2016-05-03 | 2016-09-28 | 北京高携科技发展有限公司 | Golf ball positioning method and device |
| CN105938372A (en) * | 2016-06-03 | 2016-09-14 | 南京奇蛙智能科技有限公司 | Combined type wearable unmanned aerial vehicle controller |
| US10379214B2 (en) | 2016-07-11 | 2019-08-13 | Trackman A/S | Device, system and method for tracking multiple projectiles |
| KR101778890B1 (en) * | 2016-08-05 | 2017-09-14 | 안중은 | Drone for measuring distance of golf links |
| WO2018053849A1 (en) | 2016-09-26 | 2018-03-29 | 深圳市大疆创新科技有限公司 | Antenna and unmanned aerial vehicle |
| US10907940B1 (en) | 2017-12-12 | 2021-02-02 | Xidrone Systems, Inc. | Deterrent for unmanned aerial systems using data mining and/or machine learning for improved target detection and classification |
| CN108114450B (en) * | 2018-01-18 | 2020-04-14 | 牡丹江师范学院 | Movable volleyball training table |
| CN108303995B (en) * | 2018-03-02 | 2023-08-25 | 三峡大学 | Substation inspection unmanned aerial vehicle flight safety system and use method |
| CN108363411A (en) * | 2018-04-23 | 2018-08-03 | 济南大学 | A kind of system design of golf course intelligent ball collecting unmanned vehicle |
| CN110548276A (en) * | 2018-05-30 | 2019-12-10 | 深圳市掌网科技股份有限公司 | Court auxiliary penalty system |
| CN108525231A (en) * | 2018-06-13 | 2018-09-14 | 洪立立 | Golf monitors system |
| CN110559633B (en) * | 2019-08-07 | 2021-01-05 | 广东科学技术职业学院 | Golf positioning system and method |
| CN111530044A (en) * | 2020-05-11 | 2020-08-14 | 杭州鹤鸣堂文化创意有限公司 | Badminton training system based on unmanned aerial vehicle high-speed photography |
| CN112090043B (en) * | 2020-09-12 | 2021-09-14 | 广东寻夏科技有限公司 | Golf ball recovery method based on unmanned aerial vehicle |
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| CN104965522A (en) * | 2015-07-17 | 2015-10-07 | 深圳市浩瀚卓越科技有限公司 | GPS-based automatic multi-rotor unmanned aerial vehicle tracking system |
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