Systems and methods for illustrating the flight of a projectile

• US 10,315,093 B2
• Filed: 03/16/2017
• Issued: 06/11/2019
• Est. Priority Date: 01/29/2009
• Status: Active Grant

• Current Assignee: Trackman A/S
• Original Assignee: Trackman A/S
• Inventors: Tuxen, Fredrik, Brink, Frederik Ettrup
• Primary Examiner(s): Fitzpatrick, Atiba O
• Application Number:
  US15/461,058
• Publication Number:
  US 20170182361A1
• Time in Patent Office: 817 Days
• Field of Search: None
• CPC Class Codes: A63B 2024/0031 at the starting point
• CPC Class Codes: A63B 2024/0034 during flight
• CPC Class Codes: A63B 2071/0636 3D visualisation
• CPC Class Codes: A63B 2071/065 Visualisation of specific exercise parameters
• CPC Class Codes: A63B 2102/02 Tennis
• CPC Class Codes: A63B 2102/16 Table tennis
• CPC Class Codes: A63B 2102/18 Baseball, rounders or similar games
• CPC Class Codes: A63B 2102/20 Cricket
• CPC Class Codes: A63B 2102/32 Golf
• CPC Class Codes: A63B 2220/05 Image processing for measuring physical parameters
• CPC Class Codes: A63B 2220/12 Absolute positions, e.g. by using GPS
• CPC Class Codes: A63B 2220/20 Distances or displacements
• CPC Class Codes: A63B 2220/30 Speed
• CPC Class Codes: A63B 2220/35 Spin
• CPC Class Codes: A63B 2220/806 Video cameras
• CPC Class Codes: A63B 2220/807 Photo cameras
• CPC Class Codes: A63B 2220/89 Field sensors, e.g. radar systems
• CPC Class Codes: A63B 2243/0025 Football American football A63B2243/007
• CPC Class Codes: A63B 2243/0033 Handball
• CPC Class Codes: A63B 2243/0037 Basketball
• CPC Class Codes: A63B 2243/0095 : Volleyball
• CPC Class Codes: A63B 24/0003 : Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
• CPC Class Codes: A63B 24/0021 : Tracking a path or terminating locations
• CPC Class Codes: A63B 60/46 : Measurement devices associated with golf clubs, bats, rackets or the like for measuring physical parameters relating to sporting activity, e.g. baseball bats with impact indicators or bracelets for measuring the golf swing
• CPC Class Codes: A63B 69/36 : for golf
• CPC Class Codes: A63B 69/3623 : for driving A63B69/3608, A63B69/3658, A63B69/3661, A63B69/3667 and A63B69/3691 take precedence
• CPC Class Codes: A63B 69/3658 : Means associated with the ball for indicating or measuring, e.g. speed, direction
• CPC Class Codes: A63B 71/06 : Indicating or scoring devices for games or players , or for other sports activities
• CPC Class Codes: A63B 71/0605 : Decision makers and devices using detection means facilitating arbitration
• CPC Class Codes: A63B 71/0619 : Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
• CPC Class Codes: G06F 18/22 : Matching criteria, e.g. proximity measures
• CPC Class Codes: G06T 2207/10044 : Radar image
• CPC Class Codes: G06T 2207/30221 : Sports video; Sports image
• CPC Class Codes: G06T 2207/30224 : Ball; Puck
• CPC Class Codes: G06T 2207/30241 : Trajectory
• CPC Class Codes: G06T 3/02 : Affine transformations for image registration G06T3/147; for image mosaicing G06T3/4038
• CPC Class Codes: G06T 7/246 : using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06T 7/248 : involving reference images or patches
• CPC Class Codes: G06T 7/32 : using correlation-based methods
• CPC Class Codes: G06T 7/60 : Analysis of geometric attributes
• CPC Class Codes: G06T 7/73 : using feature-based methods
• CPC Class Codes: G06T 7/74 : involving reference images or patches
• CPC Class Codes: H04N 23/00 : Cameras or camera modules comprising electronic image sensors; Control thereof

Abstract

A system for illustrating the flight of a sports ball includes a radar, an imager, and a controller. The imager is configured to image a moving sports ball. The controller is configured to (i) receive, from the imager, an image including the moving sports ball, (ii) receive, from the radar, radar data associated with the moving sports ball, (iii) determine, from the radar data, a portion of a trajectory of the moving sports ball, (iv) alter the image to illustrate the portion of the trajectory relative to the moving sports ball, and (v) output the altered image.

Claims

1. A method for tracking a moving object comprising the steps of:

calibrating data from an imaging device to data from a radar device, where a field of view of the imaging device at least partially overlaps with a field of view of the radar device in a common field of view; and

tracking the moving object as it moves through the common field of view simultaneously using both the imaging device and the radar device where the moving object is one of a sports ball and a sports ball striking implement.

2. The method of claim 1, wherein tracking includes determining one of at least a portion of a trajectory of a sports ball and at least a portion of a path of movement of the striking implement.

3. The method of claim 1, further comprising calibrating data from the radar device to a world based coordinate system relating to locations within the common field of view.

4. The method of claim 3, further comprising defining an imaging device coordinate system relating data from the imaging device to physical locations within the field of view of the imaging device and defining a radar coordinate system relating data from the radar device to physical locations within the field of view of the radar device, and correlating the imaging device coordinate system to the radar device coordinate system.

5. The method of claim 3, further comprising correlating data from the imaging device to the world based coordinate system.

6. The method of claim 1, further comprising altering images from the imaging device to illustrate one of a position, trajectory and velocity of the one of the sports ball and the sports ball striking implement and an orientation of the sports ball striking implement.

7. The method of claim 6, wherein the images from the imaging device are altered to include at correct positions in the images a graphic representation of one of the position, trajectory and velocity of the one of the sports ball and the sports ball striking implement.

8. The method of claim 1, wherein positions of the one of the sports ball and the sports ball striking implement as it is tracked are determined based on data from the radar device and the imaging device.

9. The method of claim 8, further comprising determining a launch location of the sports ball based on data from the imaging device before the sports ball is launched.

10. The method of claim 8, further comprising determining a launch location of the sports ball based on data from the radar device after the sports ball has been launched.

11. The method of claim 8, further comprising identifying a target location in the image at which the sports ball is to be launched.

12. The method of claim 11, wherein the target location is identified by pattern recognition.

13. The method of claim 1, further comprising identifying an impact location at which a striking implement impacts the sports ball at launch.

14. The method of claim 13, wherein the identification of the impact location is based on data from both the radar device and the imaging device.

15. The method of claim 13, further comprising determining an impact time at which the sports ball striking implement impacts the sports ball, further comprising determining one of a position on the sports ball striking implement at which the sports ball impacts the sports ball striking implement and an angle at which the sports ball striking implement impacts the sports ball by interpolating between positions of the sports ball striking implement in images before and after the impact time.

16. The method of claim 15, further comprising determining an orientation of the sports ball striking implement at the impact time by interpolating between positions of the sports ball striking implement in images before and after the impact time.

17. The method of claim 13, wherein the striking implement is a golf club and the sports ball is a golf ball.

18. The method of claim 1, wherein the sports ball is tracked using angular measurements based on data from the imaging device, and wherein distance and velocity measurements of the sports ball are based on data from the radar device.

19. The method of claim 1, further comprising predicting a landing location of the sports ball at which the sports ball will contact the ground based.

20. The method of claim 19, further comprising altering an image from the imaging device to illustrate the landing location.

21. The method of claim 20, further comprising reducing a size of the predicted landing location as the sports ball approaches the ground.

22. A device for tracking a moving object comprising:

an imaging device having an imaging device field of view; and

a radar device having a radar field of view at least partially overlapping with the imaging field of view in a common field of view; and

a control device coordinating data from the imaging device and data from the radar device in space and time to track the moving object as it moves through the common field of view, wherein the moving object is one of a sports ball and a sports ball striking implement.

23. The device of claim 22, wherein the control device correlates data from the radar device to a world based coordinate system relating to locations within the common field of view.

24. The device of claim 22, wherein the control device defines an imaging device coordinate system relating data from the imaging device to physical locations within the field of view of the imaging device and defines a radar coordinate system relating data from the radar device to physical locations within the field of view of the radar device, and correlating the imaging device coordinate system to the radar device coordinate system.

25. The device of claim 23, wherein the control device correlates data from the imaging device to the world based coordinate system.

26. The device of claim 22, further comprising a data storage device storing image data and wherein the control device alters one of data from the imaging device and image data from the data storage device to match a predetermined reference perspective.

27. The device of claim 26, wherein the control device scales one of data from the imaging device and image data from the data storage device so that a pre-determined element of known dimensions represented in the one of the data from the imaging device and the image data from the data storage device has a predetermined extent.