JP7248330B2 - Multi-sensor tracking system and method - Google Patents

Description

The present invention relates generally to golf ball tracking systems, and more particularly, but not exclusively, to systems utilizing multiple sensors that enable the display of a golf ball's path on a display.

The game of golf has been a popular hobby and recreational activity since its invention several centuries ago. Part of the popularity of golf stems from the pursuit of mastery in its various skills. Acquisition of such skills requires frequent and consistent practice. A driving range (driving range) is a common facility utilized for such practice. recent years,
As a business, companies have opened up improved driving ranges intended to meet the desire of golfers for other forms of recreation and entertainment.
Such facilities include not only a typical driving range, but restaurants, bars and other recreational options for golfers to choose from in addition to practice rounds. Such options include various virtual games of golf swings, such as those disclosed in US patent application Ser. No. 14/321,333.

In parallel with the emergence of such new forms of golf/entertainment facilities, various techniques have been employed to assist golfers in improving their skills or enhancing their typical practice round. Such technology includes the RA for tracking the golfer's swing and the flight path of the golf ball, and providing the golfer with useful feedback of both.
Includes use of F (radio frequency) chips, radar, lasers or optical cameras. Unfortunately, while each such technique is well-suited to tracking specific parameters of the golf swing or golf ball path, none provide interference-free tracking, and the golf swing and its associated It fails to provide the golfer with a comprehensive picture of the resulting golf shot. Accordingly, there is a need for a system and method that deploys multiple sensors to utilize the parameters obtained from each such technique and provide the obtained information to the golfer in a useful form.

It is to overcome this, as well as other limiting factors in the prior art, that the present invention seeks.

In a preferred embodiment, the driving range includes a golf ball, a golf club, a hitting station, a range surface, a plurality of sensors, a computer and a display. Each of the plurality of sensors is configured (designed) to sense at least one parameter related to the golf swing or flight path of the golf ball. Furthermore, each sensor of the plurality of sensors is connected to the computer. A computer includes a processor and a database. A database is configured to store parameters relating to the hitting station, each of the plurality of sensors, the range surface and the golf club. Further, the database is configured to store parameters sensed by each of the plurality of sensors. Finally, the database is configured to store rules and methods that can be used to determine which sensor parameters should be used in displaying the golf swing and flight path on the display. All parameters and rules stored in the database are stored in a form that allows them to be retrieved and processed when required by the processor.

1 is a rear perspective view of a first embodiment of a multi-sensor tracking system in a driving range; FIG. 1 is an overhead view of a first embodiment of a multi-sensor tracking system in a driving range; FIG. Fig. 2 is an overhead view of a second embodiment of a multi-sensor tracking system in the driving range; FIG. 3 is an overhead view of a second embodiment of a multi-sensor tracking system with multiple hitting stations; Fig. 4 is a flow chart illustrating a method of determining which parameters to utilize to display a flight path;

FIG. 1 illustrates a driving range 10 including at least one hitting station 100, at least one golf ball 110, at least one golf club 120 and a range surface 200 (ball flight surface). The hitting station 100 is located at one end of a range surface 200 (range surface, driving range surface). A player 300 standing at a hitting station 100 may swing a golf club 120 to hit a golf ball 110 and propel it upward over the range surface 200 . Referring to FIG. 2, the path golf ball 110 travels from the point of impact with golf club 120 (starting point 160) to the point where golf ball 110 initially falls on range surface 200 (drop point 170) is illustrated. there is The path that golf ball 110 travels from starting point 160 to landing point 170 is flight path 130 . Ground path 140 is the path that golf ball 110 travels from drop point 170 to a point where it rests on range surface 200 (stop point 180 ). Total travel path 150 is the complete path traveled by golf ball 110 from start point 160 to stop point 180 and is equivalent to the combination of flight path 130 and ground path 140 . 2 and 3 illustrate flight path 130, ground path 140 and total travel path 150 of ball 110. FIG.

1 and 2 above, tracking the total travel path 150 of the golf ball 110 used on the driving range 10 and the total travel path 150 is shown in accordance with one preferred embodiment of the present invention.
A preferred embodiment of a multi-sensor tracking system that is specifically configured to display on player 300 is shown. This multi-sensor tracking system preferably includes a plurality of sensors 410, 420, 430, a display 450 and a computer having a processor and database.

Each sensor of the plurality of sensors is configured to record specific parameters regarding the entire travel path 150 . Such parameters are: moment of impact, starting point 150, ball ejection angle of flight path 130, lateral spin of golf ball 110, longitudinal spin of golf ball 110, initial position of golf ball 110, impact point 160, flight path 130 Velocity/ball speed of golf ball 110 above, 3D (three-dimensional) coordinates of flight path 130,
3D coordinates of ground path 140 and detection of stopping points 180 may be included without limitation. Additionally, certain sensors may be configured to sense (detect) other parameters related to the golf swing of player 300 including, but not limited to, club path and club speed/swing speed.

A person skilled in the art can use, for example, infrared sensors, radar sensors, pressure sensors, acoustic sensors, laser sensors and cameras (infrared cameras and visible light cameras) to detect parameters. It will be appreciated that there are many types of sensors and technologies available. Further, it will be appreciated that a particular sensor may sense a subset of all parameters available for the entire travel path 150 . For example, infrared sensors are particularly well suited for detecting the moment of impact, but golf ball 1
A side spin of 10, impact point 170, and other similar parameters cannot be detected or otherwise determined. On the other hand, sophisticated camera sensors are suitable for determining parameters related to flight path 130 such as golf ball direction, velocity and point of impact 170 but are not accurate for determining parameters related to ground path 140 such as stopping point 180 . Available. As another example, the radar sensor initially detects golf ball 1 on flight path 130 .
It is particularly well suited for detecting horizontal and vertical spin of 10, as well as club swing path (trajectory) and club head speed, but parameters related to ground path 140 cannot be determined.

In addition to being configured to sense specific parameters, each sensor type also has a field of sensing. The sensing field is the general area in front of the sensor from which the sensor can sense parameters. It will be appreciated that the sensing field can be adjusted for each sensor type, but may be constrained by the particular technology utilized to sense the parameter. Furthermore, the position of each sensor can affect its sensing field. For example, FIG. 2 illustrates a sensor 410 located behind the hitting station 100 with a sensing field 411 . In such a position, the sensor 410 image of the flight path 130 may be obstructed by the golfer or multiple hitting stations 10 may be blocked.
0 can be blocked by a partition between each.

An important improvement of the present invention is to position the other sensors within the plurality of sensors so that their respective sensing fields 411, 421, 431 are similarly unobstructed. It will be appreciated that such an arrangement can ensure a high probability that the combination of sensing fields 411, 421, 431 will provide an unobstructed image of the entire travel path (150). For example, in the preferred embodiment illustrated in FIG. 2, each sensor 410
, 420 and 430 are shown to cover different regions that golf ball 110 travels in full travel path 150, although they overlap.

It is understood that numerous embodiments of multi-sensor tracking systems are possible by including different types of sensors 410, 420, 430 within the plurality of sensors and placing them at different locations in the driving range 10. Will. FIG. 2 illustrates one such preferred embodiment. The driving range 10 has a plurality of hitting stations 1 arranged in a curved configuration along one edge of the range surface 200 as shown in FIG.
00 can be included. A first type of sensor 410 is the hitting station 10
0 behind each. In this embodiment, the first type of sensor 410 uses radar to detect club swing path, club face angle, launch angle, lateral spin, longitudinal spin and initial velocity. A second type of sensor 430 is located at the other end of the range surface 200 and is positioned generally facing the plurality of hitting stations 110 as shown in FIG. This second type of sensor 430 has a narrower sensing field 4
31 and is used to sense parameters for the ground route 140 . In this embodiment, the second type of sensor uses a narrow angle camera to sense the 3D coordinates of ground path 140 and the velocity/speed of golf ball 110 . Although only one sensor 430 is shown in this example, several second type sensors 430 can be used in combination for sensing parameters of the ground path 150 that occur at different locations on the range surface 200. can be done.

In the illustrated embodiment, two third type sensors 430 are located at opposite ends of the plurality of hitting stations 100 . This third type of sensor faces inwardly toward range surface 200 and is configured to have overlapping sensing fields 421 . Such overlapping sensing fields 421 may be necessary for certain types of sensors or may optionally be employed to improve the accuracy of sensed parameters.

3 and 4, another preferred embodiment of a multi-sensor tracking system is illustrated wherein the first type of sensor 410 of the first preferred embodiment shown in FIGS. 1 and 2 is the fourth type of sensor. Replaced by sensor 460 . In another preferred embodiment shown, the fourth type sensor 460 is configured to be a simple infrared directional trip sensor.
Such sensors 460 include beam emitters and beam detectors located on opposite sides of the hitting station 100 . In the simplest embodiment, sensor 460
beam emitter sends an infrared light beam to the other side of the hitting station 100,
There it is detected by a beam detector. It will be appreciated that when golf ball 110 is struck, it will move between the beam detector and beam emitter of sensor 460 and intercept (block) the infrared light beam detected by the beam detector. Thus, while sensor 460 can identify when flight path 130 begins, it cannot detect other more advanced parameters associated with full travel path 150 .

A computer database stores all the parameters required for a multi-sensor tracking system, including the size, shape and position of the hitting station, the position of each of the multiple sensors, and the location of each of the multiple sensors. Detectable parameters, position and boundaries of range surface 200 and golf club 12
Includes number of shots hit at 0, expected distance and flight trajectory. Such parameters can be obtained by the processor as needed to operate the multi-sensor tracking system.

By utilizing multiple sensors 410 , 420 , 430 (or 460 , 420 , 430 ), the multiple sensor tracking system can acquire specific desired parameters of the entire travel path 150 . Since the sensors 410 , 420 , 430 sense the same parameters, a method of determining which parameters should be selected is needed to display the full travel path 150 on the display 450 . FIG. 5 illustrates how such determinations are made.

The method of FIG.
Start at 00. The moment of impact will be detected by sensor 410 (or by sensor 460 as described above) at step 504 . If the sensor 410 detects the instant of impact, processing moves to step 506 . At step 506 the computer utilizes the launch angle, initial velocity and starting position of the golf ball to predict the 3D coordinates of the flight path 130 and the predicted impact point 170 . In the first preferred embodiment, the ejection angle, initial velocity and starting position are all parameters that can be sensed by sensor 410 . Processing then proceeds to step 508 .

The purpose of step 508 is to determine whether sensor 420 has detected a golf shot that corresponds to the golf shot detected by sensor 410 in step 504 . This is done by comparing the 3D parameters predicted in step 506 with the actual 3D parameters sensed by sensor 420 . It will be appreciated that in a typical driving range 10 there are several different golf shots being tracked at any given time, as shown in FIG. In this preferred embodiment, sensor 420 detects a number of (
would sense the actual 3D parameters of the flight path 130 (if not each). Thus, in step 508, the computer first determines the actual flight path 130 associated with each flight path 130 sensed by sensor 420 during the time window when sensor 410 acquired the parameters processed in step 506. Collect 3D parameters. The specific duration of that time window may be the type of sensors used, weather conditions, the specific placement of multiple hitting stations in the driving range 10, the size and shape of the range surface, the placement of multiple sensors, or the Detection fields 411, 42
1, 431 depending on any other conditions assumed to affect the amount of time golf ball 110 is expected to travel. After obtaining the actual 3D parameters of the flight path 130 for the suitable time window, the computer calculates each flight path 13
comparing such actual 3D parameters for 0 with the predicted 3D coordinates of the flight path 130;
Determine if any of the actual 3D parameters correspond to the predicted 3D parameters.

Since the actual 3D coordinates partially overlap the predicted D coordinates, such a correspondence is readily apparent. Alternatively, if the actual 3D coordinates do not start at the actual starting position, the computer can calculate the predicted starting position 160 by extrapolating the 3D parameters of the flight path 130 in the opposite direction. Subsequently, the predicted starting positions 160 for each flight path 130 (and the actual starting positions 160 sensed by the sensors 420 to the extent they exist) are compared with the actual starting positions 160 sensed by the sensors 410. be compared. If a corresponding actual/predicted start position 160 sensed by sensor 420 is found for the actual start position 160 sensed by sensor 410 , processing proceeds to step 510 . If no actual/predicted starting position 160 is sensed by sensor 420 , processing proceeds to step 514 .

At step 514 , flight path 130 is mapped to the 3D image sensed by sensor 420 .
The parameters are used and displayed on display 450 . At step 510, flight path 130 is displayed on display 450 using the 3D parameters sensed by sensor 410, or if sensor 410 did not sense the 3D parameters of the entire flight path. The computer will predict by estimating the sensed 3D parameters along a parabolic curve.

Processing then moves to step 516 where sensor 430 will sense parameters related to ground path 140 of golf ball 120 . If sensor 430 senses a parameter related to ground path 140, then at step 520, entire travel path 150 is
is displayed following from the flight path 130 displayed using the parameters for ground path 140 sensed by sensors 430 . In a typical driving range 10, sensors 430 can sense parameters for ground paths 140 of many different golf shots (shown in FIG. 4). Accordingly, at step 516 the computer will attempt to match the parameters for ground path 140 with the corresponding flight path 130 . This is accomplished by utilizing the 3D parameters used to display flight path 130 and calculating predicted impact points 170 . If sensor 430 senses parameters for surface path 140 that correspond to the predicted impact point, then processing continues to step 520 . If sensor 430 does not detect a parameter corresponding to predicted impact point 170 , processing continues at step 518 .

At step 518 , the computer calculates parameters for ground path 140 and displays the ground path 130 on display 450 . This calculation is based on the flight path 130
is performed by using the parameters used to display the
Actual/Predicted Velocity/Pitch Velocity and Direction, and Range Surface 200 and Golf Ball 13
A parameter that describes the effect of friction between 0 and 0 can be included. At step 520 , ground path 130 is displayed on display 450 using the actual parameters for ground path 130 sensed by sensors 430 .

If sensor 410 was unable to detect the moment of impact at step 504 , processing moves to step 512 where sensor 420 will detect parameters associated with flight path 130 . If sensor 410 fails to detect the moment of impact and sensor 420 detects parameters related to flight path 130, processing proceeds to step 514. If sensor 410 cannot detect the moment of impact, sensor 4
If 20 fails to detect parameters related to flight path 130 , processing returns to step 500 .

Although numerous features and advantages of various embodiments of the present invention have been described above, along with details of the structure and function of various embodiments of the present invention, this disclosure is for the purpose of illustration only, and the claims that follow. Variations in details, particularly in terms of construction and arrangement of parts, are possible within the principles of the invention within the full scope indicated by the broad general meaning of the terms expressed in . Those skilled in the art will appreciate that the teachings of the present invention can be applied to other systems without departing from the scope and spirit of the invention.

Claims (20)

A driving range for hitting golf balls,
range surface and
a computer;
Hitting stations located at a first end of the range surface, each hitting station comprising:
a golf ball and
golf club and
a plurality of hitting stations comprising: a display connected to the computer;
a first sensor having a first type of sensor and a first sensing field, said first sensor being located at said hitting station, said first sensor being connected to said computer; a first sensor configured to sense a first plurality of parameters associated with the entire travel path of
A second sensor located adjacent to the range surface, the second sensor having a second type sensor and a second sensing field, the second type sensor being the first type wherein the second sensing field is different from the first sensing field, the second sensor being connected to the computer and measuring a second plurality of sensors associated with the overall travel path of the golf ball; a second sensor configured to sense the parameter;
Using the first plurality of parameters from each of the hitting stations or the second plurality of parameters, the computer determines the number of golf balls coming from each of the hitting stations of the plurality of hitting stations. calculating the total travel path;
The computer evaluates both the first plurality of parameters and the second plurality of parameters, and if both the first plurality of parameters and the second plurality of parameters are available, further configured to determine whether to use the first plurality of parameters or the second plurality of parameters or both;
The computer is further configured to calculate the total travel path of the golf ball using the first plurality of parameters when the second plurality of parameters are unavailable. range. The first plurality of parameters includes a starting point of the golf ball, an ejection angle of the golf ball, a lateral spin of the golf ball, a vertical spin of the golf ball, an initial position of the golf ball, and an impact point of the golf ball. , an ejection velocity of the golf ball, an ejection velocity of the golf ball, or a combination thereof. 3. The driving range of claim 2, wherein the first plurality of parameters further comprises golf club head path, club head velocity, golf club head fastball, or a combination thereof. The second plurality of parameters are the 3D coordinates of the flight path of the golf ball , the launch angle of the golf ball, the lateral spin of the golf ball, the vertical spin of the golf ball, the initial position of the golf ball, and the golf ball. 3. The driving range of claim 1, further comprising: impact point of , release velocity of said golf ball, release velocity of said golf ball, or combinations thereof. further comprising a third sensor having a third type of sensor, said third type of sensor being different from said first type of sensor and said second type of sensor, said third sensor having a third type of sensor; 2. The driving range of claim 1, configured to sense a third plurality of parameters including ground route. 6. The driving range of claim 5, wherein said third plurality of parameters further comprises 3D coordinates of said ground path, stopping points of said golf ball, or a combination thereof. the computer is configured to calculate the total travel path of the golf ball using the first plurality of parameters, the second plurality of parameters, and the third plurality of parameters; A driving range according to claim 6. 2. The driving range of claim 1, wherein the first type of sensors are infrared sensors, radar sensors, pressure sensors, acoustic sensors, laser sensors, infrared cameras, visible light cameras, and combinations thereof. 9. The driving range of claim 8, wherein said first type of sensor is an infrared directional trip sensor. 10. The driving range of Claim 9, wherein said first type of sensor further comprises an infrared light beam emitter and an infrared light beam detector. 2. The driving range of claim 1, wherein the second type of sensors are infrared sensors, radar sensors, pressure sensors, acoustic sensors, laser sensors, infrared cameras, visible light cameras, and combinations thereof. The driving range of Claim 1, wherein said second type of sensor is a radar sensor. 6. The driving range of claim 5 , wherein said third type of sensor is a narrow angle camera for detecting 3D coordinates of said ground path. the first sensor configured to sense the first plurality of parameters associated with a first sensing field at the moment of impact of the golf ball, the first sensor being a plurality of driving range sensors; said first sensor located at at least one of the hitting stations of said golf ball, said first sensing field having a substantially unobstructed image of said moment of impact of said golf ball;
the second sensor configured to sense the second plurality of parameters associated with a second sensing field of the flight path of the golf ball, the second sensor being at the hitting station; 3. The driving range of claim 1, wherein said second sensor is laterally located, said second sensing field having a substantially unobstructed image of said flight path of said golf ball. 15. The driving range of claim 14, wherein the first sensing field and the second sensing field have no overlapping sensing fields. 15. The driving range of claim 14, wherein the first sensing field and the second sensing field have overlapping sensing fields. further comprising a third sensor having a third type of sensor, said third type of sensor being different from said first type of sensor and said second type of sensor, said third sensor having a third sensing field; 15. The driving range of claim 14, configured to sense a third plurality of parameters associated with , wherein the third sensing field comprises a substantially unobstructed image of the ground path of the golf ball. 18. The driving range of claim 17, wherein the first sensing field, the second sensing field, and the third sensing field comprise unobstructed images of the full travel path of the golf ball. 19. The driving range of claim 18, wherein the first sensing field, the second sensing field and the third sensing field have overlapping sensing fields. 19. The driving range of claim 18, wherein said first sensing field, said second sensing field and said third sensing field have no overlapping sensing fields.

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