Determination of spin parameters of a sports ball

• US 10,393,870 B2
• Filed: 03/17/2017
• Issued: 08/27/2019
• Est. Priority Date: 03/03/2005
• Status: Active Grant

• Current Assignee: Trackman A/S
• Original Assignee: Trackman A/S
• Inventors: Tuxen, Fredrik
• Primary Examiner(s): Renwick, Reginald A
• Application Number:
  US15/461,926
• Publication Number:
  US 20170254892A1
• Time in Patent Office: 893 Days
• CPC Class Codes: G01S 13/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• 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

Abstract

A method of determining spin parameters of a sports ball, such as spin axis and rotation velocity of a golf ball. The spin axis is determined solely from the trajectory of the flying ball, and the rotational velocity is determined from a frequency analysis of a signal provided by a radar, which signal comprises spectrum traces positioned equidistantly in frequency, which frequency distance relates to the spin velocity.

Claims

1. A method for estimating a spin frequency of a rotating sports ball in flight, comprising:

receiving, using a receiver of a radar arrangement, electromagnetic waves reflected from the rotating sports ball;

deriving, without regard to any marking on the rotating sports ball, from the received electromagnetic waves, via the radar arrangement, a signal having a first frequency corresponding to a velocity of the rotating sports ball, the signal being modulated by a modulation frequency; and

estimating, without regard to any marking on the rotating sports ball, via the radar arrangement, at at least a single point in time, the spin frequency of the rotating sports ball based on at least one frequency distance between a harmonic of the modulation frequency and one of the first frequency and an additional harmonic of the modulation frequency.

2. The method of claim 1, wherein the spin frequency is determined by dividing the frequency distance by one a harmonic number of the harmonic and a difference in harmonic number of the harmonics.

3. The method of claim 1, further comprising the step of performing a frequency analysis comprising detecting a plurality of harmonics disposed symmetrically about the first frequency.

4. The method of claim 3, wherein the step of performing a frequency analysis comprises:

identifying the first frequency as a 0th harmonic, the first frequency corresponding to the velocity of the rotating sports ball in a direction toward or away from the receiver, tracking a plurality of harmonics of the modulation frequency of the signal over time, qualifying the tracked plurality of harmonics by requiring that the tracked plurality of harmonics are equally spaced in frequency, and solving the qualified harmonics for their corresponding harmonic number, wherein the step of estimating comprises estimating, at at least one point in time, the spin frequency from two of the qualified harmonics by dividing the frequency distance by a difference between respective corresponding harmonic numbers of the two qualified harmonics.

5. The method of claim 1, wherein the spin frequency of the rotating sports ball is estimated based on the at least one frequency distance between the first frequency and each of the harmonic and the additional harmonic.

6. The method of claim 1, wherein the harmonic and the additional harmonic comprise harmonics symmetric about the first frequency.

7. The method of claim 1, wherein the first harmonic and the additional harmonic comprise two adjacent harmonics.

8. The method of claim 1, wherein the first frequency corresponds to the velocity of the rotating sports ball in a direction toward or away from the receiver.

9. The method of claim 1, wherein the estimating step is repeated at at least one additional point in time during the flight of the rotating sports ball.

10. A system for estimating a spin frequency of a rotating sports ball in flight, comprising:

a receiver of a radar arrangement configured to, at at least a single point in time, receive electromagnetic waves reflected from the rotating sports ball and provide a corresponding signal, which is modulated by a modulation frequency, wherein the radar arrangement is configured to perform, without regard to any marking on the rotating sports ball, a frequency analysis of the modulated signal and detect at least one harmonic of the modulation frequency, the radar arrangement being further configured to estimate, without regard to any marking on the rotating sports ball, the spin frequency from a frequency distance between the at least one harmonic and one of a first frequency corresponding to a velocity of the rotating sports ball and an additional harmonic of the modulation frequency.

11. The system of claim 10, wherein the spin frequency is determined by dividing the frequency distance by one of a harmonic number of the harmonic and a difference in harmonic number of the harmonics.

12. The system of claim 10, wherein the radar arrangement is further configured to identify, subsequent to the frequency analysis, the first frequency as a 0th harmonic, the first frequency corresponding to the velocity of the rotating sports ball in a direction toward or away from the receiver, track a plurality of harmonics of the modulation frequency of the signal over time, qualify the tracked plurality of harmonics by requiring that the tracked plurality of harmonics are equally spaced in frequency, solve the qualified harmonics for their corresponding harmonic number, and estimate the spin frequency from two of the qualified harmonics by dividing the frequency distance by a difference between respective corresponding harmonic numbers of the two qualified harmonics.

13. A system for estimating a spin frequency of a rotating sports ball in flight, comprising:

a radar arrangement configured to, at at least a single point in time, receive electromagnetic waves reflected from a rotating sports ball and provide a corresponding signal, which is modulated by a modulation frequency, wherein the radar arrangement is configured to perform, without regard to any marking on the sports ball, a frequency analysis of the modulated signal and detect at least one harmonic of the modulation frequency, the radar arrangement being further configured to estimate the spin frequency from a frequency distance between the at least one harmonic and one or more of a first frequency corresponding to a velocity of the rotating sports ball and an additional harmonic of the modulation frequency.

14. The system of claim 13, wherein the spin frequency is determined by dividing the frequency distance by a harmonic number of the harmonic in the first case or a difference in harmonic number of the harmonics in the second case.

15. The system of claim 13, wherein the radar arrangement is further configured to identify, subsequent to the frequency analysis, the first frequency as a 0th harmonic, the first frequency corresponding to the velocity of the rotating sports ball in a direction toward or away from a receiver of the radar arrangement, track a plurality of harmonics of the modulation frequency of the signal over time, qualify the tracked plurality of harmonics by requiring that the tracked plurality of harmonics are equally spaced in frequency, solve the qualified harmonics for their corresponding harmonic number, and estimate the spin frequency from two of the qualified harmonics by dividing the frequency distance by a difference between respective corresponding harmonic numbers of the two qualified harmonics.

16. The system of claim 13, wherein the at least one harmonic and the additional harmonic comprise two adjacent harmonics.

17. The system of claim 13, wherein the at least one harmonic and the additional harmonic comprise harmonics symmetric about the first frequency.

18. The system of claim 13, wherein the spin frequency of the rotating sports ball is estimated based on the frequency distance between the first frequency and each of the at least one harmonic and the additional harmonic.

19. The system of claim 13, wherein the first frequency corresponds to the velocity of the rotating sports ball in a direction toward or away from a receiver of the radar arrangement.

20. A system for estimating a spin frequency of a rotating sports ball in flight, comprising:

a radar arrangement; and

a computer-readable medium storing instructions which, when executed on the radar arrangement, cause the radar arrangement to perform operations comprising;

receiving electromagnetic waves reflected from the rotating sports ball;

deriving from the electromagnetic waves without regard to any marking on the sports ball, a signal having a first frequency corresponding to a velocity of the rotating sports ball, the signal being modulated by a modulation frequency; and

estimating, at a point in time, the spin frequency of the rotating sports ball based on a frequency distance between a harmonic of the modulation frequency and one of the first frequency and an additional harmonic of the modulation frequency.

21. The system of claim 20, wherein the spin frequency is determined by dividing the frequency distance by one of a harmonic number of the harmonic and a difference in harmonic number of the harmonics.