Device, system and method for tracking multiple projectiles

• US 10,379,214 B2
• Filed: 07/11/2016
• Issued: 08/13/2019
• Est. Priority Date: 07/11/2016
• Status: Active Grant

• Current Assignee: Trackman A/S
• Original Assignee: Trackman A/S
• Inventors: Tuxen, Fredrik
• Primary Examiner(s): Pham, Timothy X
• Application Number:
  US15/206,996
• Publication Number:
  US 20180011183A1
• Time in Patent Office: 1,128 Days
• Field of Search: 342 59
• CPC Class Codes: G01S 13/06 Systems determining position data of a target
• CPC Class Codes: G01S 13/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/876 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence
• CPC Class Codes: G01S 13/88 Radar or analogous systems specially adapted for specific applications electromagnetic prospecting or detecting of objects, e.g. near-field detection, G01V3/00
• CPC Class Codes: G01S 7/06 Cathode-ray tube displays or other two dimensional or three-dimensional displays

Abstract

A system for tracking multiple projectiles includes a first radar device aimed so that a field of view of the first radar device covers at least a portion of a target area into which projectiles are to be launched from a plurality of launch locations and a processor receiving data from the radar and identifying from the data tracks of a plurality of projectiles. The processor determines for each projectile track identified a specific one of the launch locations from which the projectile was launched and provides to the launch location associated with each projectile data corresponding to a trajectory of the projectile.

Claims

1. A system for tracking multiple projectiles, comprising:

a first radar device aimed so that a first field of view of the first radar device covers at least a portion of a target volume into which projectiles are to be launched from a plurality of launch locations;

a second radar device aimed so that a second field of view of the second radar device covers at least a portion of the target volume including a portion of the target volume outside the first field of view as well as an overlap portion of the target volume also included in the first field of view; and

a processor receiving data from the first and second radar devices and identifying from data from the first and second radar devices tracks of a plurality of projectiles, the processor determining for each projectile track identified a launch location from which the projectile was launched and providing to a device associated with the launch location data corresponding to a trajectory of the projectile.

2. The system of claim 1, wherein the device associated with each location includes a screen displaying the data.

3. The system of claim 1, wherein, for each of a plurality of time frames, the processor receives from the first radar device a radar signal and calculates from this radar signal projectile data including position and speed values for each projectile identified.

4. The system of claim 3, wherein, for each time frame, the processor refers to data from at least one prior time frame and determines for each projectile identified, whether the projectile data correlates with an existing trajectory and, when the projectile data correlates with an existing trajectory, the processor updates the existing trajectory with which the current projectile data correlates to include the current projectile data.

5. The system of claim 3, wherein, when the current projectile data for an identified projectile does not correlate with an existing trajectory, initiating a new trajectory.

6. The system of claim 3, wherein for each trajectory the processor compares an initial projectile position to known launch locations and, if the initial projectile position matches a known launch location, the processor assigns this launch location to the trajectory.

7. The system of claim 6, wherein, when the initial projectile position for a trajectory does not match a known launch location, the processor, based on the trajectory, extrapolates backward in time from the initial projectile position to a launch location for the projectile.

8. The system of claim 1, wherein the multiple projectiles are golf balls being launched in a driving range and wherein the processor compares launch locations to known locations of a plurality of hitting bays from which golf balls are hit into the driving range, with each hitting bay being identified by the processor as a single launch location so that any golf balls launched from any location within a hitting bay are identified as originating from that hitting bay and provides to a device associated with the hitting bay the data corresponding to a trajectory of the projectile.

9. The system of claim 1, further comprising a third radar device aimed so that a third field of view of the third radar device covers at least a portion of the target volume including a portion of the target volume outside the first and second fields of view as well as an overlap portion of the target volume also included in one of the first and second fields of view.

10. The system of claim 9, wherein the first radar device is positioned at a first end of the target volume at which the launch locations are located with the first field of view extending into the target volume from the launch locations toward a far end of the target volume, the second radar device is positioned on a first lateral side of the target volume facing the first end of the target volume so that the second field of view includes a first portion of launch locations including a first location adjacent to the first lateral side, the third radar device is positioned on a second lateral side of the target volume facing the first end of the target volume so that the third field of view includes a second portion of launch locations including a second location adjacent to the first lateral side.

11. The system of claim 9, wherein the second and third fields of view overlap so that the entire first end of the target volume is within at least one of the second and third fields of view.

12. The system of claim 1, wherein the processor receives position data from a device associated with a user and identifies a location of the device as a known launch location.

13. The system of claim 12, wherein the position data received by the processor is GPS data from a mobile device.

14. The system of claim 12, wherein the processor identifies as known launch locations for each of a plurality of devices logged in as users of the system.

15. The system of claim 14, wherein, when the processor identifies a projectile as potentially associated with a known launch location, the processor sends to the device associated with the known launch location trajectory information for the projectile and a request to the user of the device to confirm that the projectile is associated with the known launch location.

16. The system of claim 1, wherein the first radar device is a continuous wave Doppler radar.

17. The system of claim 1, wherein the first radar device defines a first coordinate system and the second radar device defines a second coordinate system, the processor configured to convert the first and second coordinate systems into a universal coordinate system to continuously track projectiles as they pass through the first and second fields of view.

18. The system of claim 17, wherein the processor provides track data to the first and second radar devices so that each of first and second radar devices can search for projectiles entering the corresponding one of the first and second fields of view at locations predicted based on the track data, the first and second radar devices translating the track data from the universal coordinate system into the first and second coordinate systems, respectively, so that the projectiles can be tracked by the first and second radar devices through different fields of view.

19. The system of claim 17, wherein the processor correlates first track data in the first field of view to second track data in the second field of view to generate a complete trajectory, within the universal coordinate system, from the launch location, through the overlapping portion of the first and second fields of view, to a landing location for a projectile.

20. The system of claim 19, wherein as a projectile moves from a first one of the first and second fields of view to the other of the first and second fields of view, the processor continuously associates track data from the one of the first and second radar devices corresponding to the one of the first and second fields of view within which an initial part of the trajectory is located, with track data from the other of the first and second radar devices, corresponding to the field of view into which the projectile has entered, corresponding to a later part of the trajectory.

21. A system for tracking multiple projectiles, comprising:

a first radar device aimed so that a first field of view of the first radar device covers at least a portion of a target volume into which projectiles are to be launched from a plurality of launch locations; and

a processor receiving data from the first radar and identifying from data from the first radar tracks of a plurality of projectiles, the processor projecting each track back in time until the projection of each track reaches one of a plurality of known launch locations to identify a launch location associated with each projectile and providing to a device associated with a first one of the launch locations data corresponding to a trajectory of a projectile launched from the first launch location;

a second radar device aimed so that a second field of view of the second radar device covers at least a portion of the target volume including a portion of the target volume outside the first field of view as well as an overlap portion of the target volume also included in the first field of view, the processor combining data from the second radar to the data from the first radar to track each of the projectiles through the first and second fields of view.