Golf simulation system with reflective projectile marking

• US 9,649,545 B2
• Filed: 11/30/2015
• Issued: 05/16/2017
• Est. Priority Date: 07/30/2003
• Status: Active Grant

• Current Assignee: Interactive Sports Technologies Inc.
• Original Assignee: Interactive Sports Technologies Inc.
• Inventors: Dawe, Wayne, Zhao, Zuqiang
• Primary Examiner(s): Patel, Jay Au
• Assistant Examiner(s): Habib, Irfan
• Application Number:
  US14/953,647
• Publication Number:
  US 20160074735A1
• Time in Patent Office: 533 Days
• CPC Class Codes: A63B 2024/0028 Tracking the path of an object, e.g. a ball inside a soccer pitch
• 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 2220/05 Image processing for measuring physical parameters
• CPC Class Codes: A63B 2220/13 Relative positions
• 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 2220/62 Time or time measurement used for time reference, time stamp, master time or clock signal
• 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 24/0021 Tracking a path or terminating locations
• CPC Class Codes: A63B 47/025 Installations continuously collecting balls from the playing areas, e.g. by gravity, with conveyor belts
• CPC Class Codes: A63B 69/36 for golf
• 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: A63F 13/213 comprising photodetecting means, e.g. cameras, photodiodes or infrared cells A63F13/219, A63F13/655 take precedence
• CPC Class Codes: A63F 13/812 Ball games, e.g. soccer or baseball
• CPC Class Codes: G06F 3/017 : Gesture based interaction, e.g. based on a set of recognized hand gestures interaction based on gestures traced on a digitiser G06F3/04883
• CPC Class Codes: G06F 3/047 : using sets of wires, e.g. crossed wires
• CPC Class Codes: G06T 2207/10016 : Video; Image sequence
• CPC Class Codes: G06T 2207/30224 : Ball; Puck
• CPC Class Codes: G06T 2207/30241 : Trajectory
• CPC Class Codes: G06T 7/292 : Multi-camera tracking
• CPC Class Codes: G06V 10/255 : Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• CPC Class Codes: G09B 19/0038 : Sports
• CPC Class Codes: G09B 9/00 : Simulators for teaching or training purposes for the use of weapons F41; computing aspects G06; protocols for games, networked simulations or virtual reality H04L67/131
• CPC Class Codes: H04N 7/18 : Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

A golf simulation system includes imaging devices capturing images of a projectile tracking region in front of a display surface from different vantages to detect a launched projectile traveling through the projectile tracking region towards the display surface. A projectile spin sensing unit captures images of a region at least partially overlapping with the projectile tracking region, and each captured image includes a projectile trail representing a travel path of the projectile. A processing stage receives data from the imaging devices and the projectile spin sensing unit and determines the three-dimensional positions, velocity, acceleration and spin of the projectile, and the three-dimensional positions, velocity, acceleration and spin are used by the processing stage to calculate a trajectory of the launched projectile into a presented golf scene.

Claims

1. A golf simulator comprising:

at least one pair of imaging devices having overlapping fields of view and configured to capture images from different vantages of a launched, spinning golf ball travelling from a launch area spaced in front of said display surface towards a display surface;

a sensing unit configured to capture images of a region in front of said display surface adjacent said launch area, each captured image comprising spaced-apart, high intensity regions resulting from one or more illuminated discrete, elongate, reflective markings on said launched, spinning golf ball representing a travel path of said launched, spinning golf ball, the high intensity regions enabling determination of the spin rate and tilt of said launched, spinning golf ball;

at least one processing stage configured to process image data from the imaging devices and from said sensing unit and to determine the three-dimensional positions, velocity, acceleration, and spin rate and tilt of the launched, spinning golf ball traveling through said overlapping fields of view, wherein the three-dimensional positions, velocity, acceleration, and spin rate and tilt are used by said at least one processing stage to calculate a trajectory of said launched, spinning golf ball into a sports scene projected onto said display surface; and

a projection unit configured to present said three-dimensional sport scene on said display surface including a simulation of said launched, spinning golf ball following said calculated trajectory.

2. A golf simulator according to claim 1 wherein said sensing unit comprises at least one imaging device having a field of view aimed downwardly toward said display surface.

3. A golf simulator according to claim 2 wherein said sensing unit further comprises at least one illuminator to illuminate the field of view of said at least one imaging device at intervals.

4. A golf simulator according to claim 3 wherein said at least one illuminator comprises an array of light sources.

5. A golf simulator according to claim 4 wherein said light sources are light emitting diodes.

6. A golf simulator according to claim 4 comprising a plurality of illuminators at spaced locations with said field of view.

7. A golf simulator according to claim 1 wherein during processing of image data from said spin sensing unit, said at least one processing stage is configured to generate a profile of the golf ball travel path over a plurality of images, determine the golf ball travel path length per image of said plurality of images, threshold each image to identify the high intensity regions corresponding to the one or more elongate, reflective markings on said launched, spinning golf ball, determine the distance between the high intensity regions in each image, calculate the spin rate and tilt of the launched, spinning golf ball using the determined distance, the golf ball travel path length and the spin sensing unit image frame rate and estimate a spin tilt axis of the golf ball using the orientation of the high intensity regions in each image and the relative angle between the longitudinal axis of the high intensity regions and the longitudinal axis of the golf ball travel path.

8. A golf simulation system comprising:

at least two digital camera devices having overlapping fields of view and capturing images from different vantages;

an overhead launch area sensing unit positioned above and aimed generally straight down onto a launch region positioned a distance in front of a display surface in which contact with a golf ball is made using a golf club and capturing images of said launch region, said overhead launch area sensing unit comprising at least one camera capturing images of said launch region and at least one illuminator adjacent said at least one camera, said at least one illuminator illuminating said launch region from above to illuminate one or more elongate, reflective markings on said golf ball;

at least one processing stage processing image data received from the camera devices and said overhead launch area sensing unit and determining the three-dimensional positions, velocity, acceleration and spin of a detected launched golf ball traveling from its launch point to said display surface, the three-dimensional positions, velocity, acceleration and spin being used by said at least one processing stage to calculate a trajectory of said launched golf ball into a golf scene projected onto said display surface, wherein during determination of the spin, said at least one processing stage processes the images captured by said overhead launch area sensing unit to determine the swing path of the golf club before, during and after contact with said golf ball, the launch angle of the golf ball after contact with said golf club, and the degree by which the head of the golf club is open or closed at the point of impact with the golf ball; and

a projection unit presenting said golf scene on said display surface including a simulation of said golf ball following said calculated trajectory.

9. A golf simulation system according to claim 8 wherein said at least one illuminator comprises a plurality of laterally spaced illuminators.

10. A golf simulation system according to claim 9 wherein said at least one camera comprises a single area-scan camera.

11. A golf simulation system according to claim 10 wherein said area-scan camera processes captured images to determine if one or more moving objects satisfying specified motion criteria are in the captured images, and if so outputs the captured images to said at least one processing stage.

12. A golf simulation system according to claim 10 wherein the optical axis of said area-scan camera is generally coincident with the center of said launch region.

13. A golf simulation system according to claim 12 wherein said area-scan camera is mounted in a generally horizontal orientation and wherein said launch area sensing unit further comprises a mirror to re-direct the field of view of said area-scan camera downwardly into said launch region.

14. A golf simulation system according to claim 8 wherein said at least one processing stage compares a club head motion vector with a club face vector to detect the degree by which the head of the golf club is open or closed.

15. A golf simulation system according to claim 14 wherein said at least one processing stage determines the tangent of the swing path at the point of impact to calculate said club head motion vector and determines a line perpendicular to the tangent of the face of the golf club at the point of impact to calculate the club face vector.

16. A golf simulation system according to claim 8 wherein the illumination provided by said at least one illuminator is sufficient for image capture without negatively affecting visibility of the golf scene presented on the display surface.

17. A golf simulator comprising:

a display surface on which a golf scene is presented;

a launch region spaced a distance from said display surface to define a golf ball travel region between said launch region and said display surface and configured to permit a user to launch a golf ball therefrom that travels through said golf ball travel region and impacts said display surface;

a launch area sensing unit above said launch region and comprising;

at least one camera mounted on said housing and capturing images of said launch region from directly above; and

at least one illuminator mounted on said housing adjacent said at least one camera, said at least one illuminator illuminating said launch region from above to illuminate one or more elongate, reflective markings on the golf ball to be launched from said launch region; and

at least one processor communicating with the launch area sensing unit and modifying the golf scene presented on said display surface in accordance with the trajectory of the golf ball launched at said display surface.

18. A golf simulator according to claim 17 wherein said at least one illuminator comprises a plurality of laterally spaced illuminators mounted on said housing.

19. A golf simulator according to claim 18 wherein said at least one camera comprises a single area-scan camera.

20. A golf simulator according to claim 19 wherein said area-scan camera processes captured images to determine if one or more moving objects satisfying specified motion criteria are in the captured images, and if so outputs the captured images to said at least one processor.

21. A golf simulator according to claim 19 wherein the optical axis of said area-scan camera is generally coincident with the center of said launch region.

22. A golf simulator according to claim 19 wherein said area-scan camera is mounted in a generally horizontal orientation and wherein said launch area sensing unit further comprises a mirror to re-direct the field of view of said area-scan camera downwardly into said launch region.

23. A golf simulator according to claim 17 wherein said launch area sensing unit comprises a housing configured to be mounted generally directly above said launch region.