Ball tracking system and methods

• US 6,320,173 B1
• Filed: 05/15/2000
• Issued: 11/20/2001
• Est. Priority Date: 02/12/1996
• Status: Expired due to Term

• Current Assignee: Tv-Arise, LLC
• Original Assignee: Curtis A. Vock, Dennis M. Darcy, Joseph Bianco, Kevin J. Grealish, Robert D. Frey
• Inventors: Darcy, Dennis, Vock, Curtis A., Bianco, Joseph, Grealish, Kevin J., Frey, Robert D.
• Primary Examiner(s): Lee, John R.
• Application Number:
  US09/571,100
• Time in Patent Office: 554 Days
• Field of Search: 250/206.1, 250/206.2, 250/208.1, 473/131, 473/152, 473/153, 473/159, 473/156, 473/168, 473/169, 473/180, 473/190, 473/192, 473/198, 473/199, 473/151, 473/154, 473/155
• US Class Current: 250/206.1
• CPC Class Codes: A63B 2024/0031 at the starting point
• CPC Class Codes: A63B 2024/0034 during flight
• CPC Class Codes: A63B 2024/0037 on a target surface or at impact on the ground
• CPC Class Codes: A63B 2220/05 Image processing for measuring physical parameters
• CPC Class Codes: A63B 2220/805 Optical or opto-electronic sensors
• CPC Class Codes: A63B 2220/806 Video cameras
• CPC Class Codes: A63B 2220/807 Photo cameras
• CPC Class Codes: A63B 2225/74 with powered illuminating means, e.g. lights
• 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 69/3658 Means associated with the ball for indicating or measuring, e.g. speed, direction
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems

Abstract

The invention monitors the driving range and tracks golf balls from users at the driving range and informs those users of characteristics such as driving distance. A solid state camera images the range, and preferably one or more tee-off positions, and collects frames of image data to track a ball'"'"'s motion through space. Simulation routines augment that track and assist in isolating the start location as well as where the ball lands, or would have landed had it not been obstructed (e.g., by a net). Preferably, the invention also determines the ball'"'"'s position in 3-D to increase the accuracy. In one technique, two or more solid state cameras are used, and synchronized, to specify stereoscopic imaging. In another technique, the ball'"'"'s energy or physical extent is used to determine an absolute distance between the camera and the ball. A computer at the club house monitors the entire system and further manages a network including an array of displays at the several tee off positions. The computer thus sends information such as distance to the several users via the network.

Claims

1. A method for tracking a ball within a playing field, comprising:

imaging at least a portion of the playing field onto a solid-state detector focal plane array with a plurality of detectors, the focal plane being constructed within a solid state camera;

sequentially capturing, from the array, frames of data corresponding to an image of the playing field;

detecting frame-to-frame movement of ball images through one or more detectors;

determining distances between the camera and the ball; and

tracking ball motion to determine characteristics of ball travel.

2. A method according to claim 1, further comprising the steps of measuring reflected energy of the ball at a first position, storing the energy, and determining a distance between the ball and the camera by determining the change of energy reflected by the ball during motion through the frames.

3. A method according to claim 1, further comprising the step of determining a distance between the camera and the ball by comparing the image of the ball to one or more detector elements.

4. A method according to claim 1, further comprising the step of determining a distance between the ball and the camera and whether the distance is approximately equal to a distance between the camera and playing field, thereby determining whether the ball is airborne or on the ground.

5. A method according to claim 1, further comprising the step of utilizing a plurality of solid state cameras to image the playing field so as to determine a three-dimensional position of the ball.

6. A method according to claim 5, further comprising the step of utilizing the three-dimensional position to determine whether the ball is airborne or on the ground.

7. A method according to claim 5, further comprising the step of synchronizing the cameras in time so that ball images can be correlated between the cameras.

8. A method according to claim 1, further comprising the step of determining a distance traveled beyond the playing field by estimating ball motion along an arc, the arc being determined by discrete points representing ball detections through a plurality of frames.

9. A method according to claim 1, further comprising the step of determining a three-dimensional location of the ball and tracking ball motion to determine an angle of ball motion.

10. A method according to claim 9, further comprising graphically displaying the characteristics.

11. A method according to claim 10, further comprising displaying information such as peak height and speed of the ball.

12. A method according to claim 1, further comprising storing information relative to a plurality of ball tracks so as to compile statistical information of ball travel for the playing field.

13. A method according to claim 1, further comprising mounting a camera housing the solid state focal plane onto a pole so as to image the playing field and the position from a selected altitude.

14. A method according to claim 1, further comprising the steps of detecting the ball within each frame, transmitting detect information to a computer connected to the focal plane, and utilizing a computer to track ball motion based upon the detect information.

15. A method of tracking a ball on a playing field, comprising the steps of mounting a plurality of solid-state cameras adjacent to the field so as to concurrently image the field and a ball traveling on or over the field, and correlating data from the cameras to determine peak ball speed for a ball track.

16. A system for determining ball apogee over a playing field, comprising a plurality of cameras arranged to image the field and the ball traveling over the field, and a processor linked with the cameras for combining ball images to determine a three dimensional position of the ball over the field, the processor determining the apogee based upon the position over time during a ball flight.