Golf ball launch monitor target alignment method and system

• US 9,737,757 B1
• Filed: 04/29/2017
• Issued: 08/22/2017
• Est. Priority Date: 11/16/2016
• Status: Active Grant

• Current Assignee: Wawgd Newco LLC
• Original Assignee: Wawgd, Inc.
• Inventors: Kiraly, Chris
• Primary Examiner(s): Legesse, Nini
• Application Number:
  US15/582,657
• Time in Patent Office: 115 Days
• Field of Search: 473131, 473140, 473141, 473151, 473199, 473200, 473219-226
• CPC Class Codes: A63B 2024/0031 at the starting point
• CPC Class Codes: A63B 2071/0625 Emitting sound, noise or music
• CPC Class Codes: A63B 2220/807 Photo cameras
• 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: A63B 71/0622 Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
• 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 13/573 using trajectories of game objects, e.g. of a golf ball according to the point of impact
• CPC Class Codes: A63F 13/812 Ball games, e.g. soccer or baseball
• CPC Class Codes: G06T 2207/30204 Marker
• CPC Class Codes: G06T 2207/30224 Ball; Puck
• CPC Class Codes: G06T 2207/30244 Camera pose
• CPC Class Codes: G06T 7/73 using feature-based methods

Abstract

A golf ball launch monitor is disclosed that may be used with an alignment stick. The monitor has a default alignment and an image sensor adapted to capture an image of the alignment stick and communicate that image to a processor. The processor is configured to perform the following steps: (a) detect a horizontal edge within the image representative of the alignment stick by detecting large contrast changes; (b) convert each edge to a vector that starts at the sensor'"'"'s focal point and projects into space based on the sensor'"'"'s calibration; (c) locate the plane formed by the vectors by applying standard outlier removal and best fit analysis (d) determine the intersection of the plane and an earth tangential plane; and (e) calculate an azimuth alignment angle offset based on the line and the monitor'"'"'s default alignment. The calculated azimuth alignment angle can then be used to adjust ball flight trajectory calculations.

Claims

1. A golf ball launch monitor to be used with an alignment stick, the monitor comprising:

a default alignment;

at least two image sensors each adapted to capture an image of the alignment stick and communicate that image to a processor, each sensor has a known calibration;

a processor configured to perform the following steps;

a. for each image from each sensor, detect horizontal edges within the images representative of the alignment stick by detecting large contrast changes;

b. for the first sensor;

(1) convert each edge to a vector that starts at the first sensor and projects into space based on the first sensor'"'"'s calibration; and

(2) locate a first plane formed by the vectors by applying an outlier removal and best fit analysis;

c. for the second sensor;

(1) convert each edge to a vector that starts at the second sensor and projects into space based on the second sensor'"'"'s calibration; and

(2) locate a second plane formed by the vectors by applying an outlier removal and best fit analysis;

d. determine the intersection of the first and second planes;

e. calculate an azimuth alignment angle offset based on the intersection and the default alignment.

2. The monitor of claim 1, wherein the steps performed by the processor further comprise:

f. determine if the set of edges detected in step (a) is greater than a predefined threshold;

g. if the determination of step (f) is affirmative, then calculate ball flight trajectory calculations based on the azimuth alignment angle offset calculated in step (e).

3. The monitor of claim 2, further comprising a button constructed to transmit a signal to the processor, wherein the processor awaits the signal before beginning steps (a)-(e).

4. The monitor of claim 1, wherein the steps performed by the processor further comprise:

f. determine if the azimuth alignment angle offset calculated in step (e) is within a predefined range;

g. if the determination of step (f) is affirmative, then calculate ball flight trajectory calculations based on the azimuth alignment angle offset calculated in step (e).

5. The monitor of claim 4, wherein the predefine range is +/−

20 degrees from the default alignment.

6. The monitor of claim 1, wherein the steps performed by the processor further comprise:

f. perform step (a) for multiple images over a predetermined period of time;

g. determine if the edges detected in step (a) are present for the multiple images;

h. if the determination of step (g) is affirmative, then calculate ball flight trajectory calculations based on the azimuth alignment angle offset calculated in step (e).

7. The monitor of claim 6, wherein predetermine period of time is at least 0.5 seconds.

8. The monitor of claim 1, wherein the steps performed by the processor further comprise:

f. calculate ball flight trajectory calculations based on the azimuth alignment angle offset.

9. The monitor of claim 1, further comprising:

an information output device selected from the group consisting of an indicator, a display, and a speaker;

the steps performed by the processor further comprise;

f. activate the information output device after the azimuth alignment angle offset has been calculated.

10. The monitor of claim 1, further comprising a tilt sensor connected to the processor, the tilt sensor generates an alignment offset based on the orientation of the monitor relative to earth tangential, and the processor calculates the azimuth alignment angle offset based on the alignment offset.

11. The monitor of claim 1, wherein the default alignment comprises a horizontal alignment, and the steps performed by the processor further comprise:

f. project the intersection of step (d) onto a plane that is orthogonal to the earth tangential plane;

g. calculate an elevation alignment angle offset based on the intersection and the horizontal alignment.

12. The monitor of claim 1, wherein the steps performed by the processor further comprise:

f. if the processor cannot detect horizontal edges within the images representative of the alignment stick in step (a), the processor uses the last calculated azimuth alignment angle offset to calculate ball flight trajectory calculations.

13. The monitor of claim 1, wherein the alignment stick is a retroreflective stick or a golf club shaft.

14. A golf ball launch monitor to be used with an alignment stick, the monitor comprising:

a default alignment;

an image sensor adapted to capture an image of the alignment stick and communicate that image to a processor, the image sensor having a known calibration;

a processor configured to perform the following steps;

a. detect horizontal edges within the images representative of the alignment stick by detecting large contrast changes;

b. convert each edge to a vector that starts at the sensor and projects into space based on the sensor'"'"'s calibration;

c. locate a plane formed by the vectors by applying an outlier removal and best fit analysis;

d. determine the intersection between the plane and an earth tangential plane;

e. calculate an azimuth alignment angle offset based on the intersection and the default alignment.

15. The monitor of claim 14, wherein the steps performed by the processor further comprise:

f. determine if the set of edges detected in step (a) is greater than a predefined threshold;

g. if the determination of step (f) is affirmative, then calculate ball flight trajectory calculations based on the azimuth alignment angle offset calculated in step (e).

16. The monitor of claim 15, further comprising a button constructed to transmit a signal to the processor, wherein the processor awaits the signal before beginning steps (a)-(f).

17. The monitor of claim 14, wherein the steps performed by the processor further comprise:

f. determine if the azimuth alignment angle offset calculated in step (e) is within a predefined range;

g. if the determination of step (f) is affirmative, then calculate ball flight trajectory calculations based on the azimuth alignment angle offset calculated in step (e).

18. The monitor of claim 17, wherein the predefine range is +/−

20 degrees from the default alignment.

19. The monitor of claim 14, wherein the steps performed by the processor further comprise:

f. perform step (a) for multiple images over a predetermined period of time;

g. determine if the edges detected in step (a) are present for the multiple images;

h. if the determination of step (g) is affirmative, then calculate ball flight trajectory calculations based on the azimuth alignment angle offset calculated in step (e).

20. The monitor of claim 19, wherein predetermine period of time is at least 0.5 seconds.

21. The monitor of claim 14, wherein the steps performed by the processor further comprise:

f. calculate ball flight trajectory calculations based on the azimuth alignment angle offset.

22. The monitor of claim 14, further comprising:

an information output device selected from the group consisting of an indicator, a display, and a speaker;

the steps performed by the processor further comprise;

f. activate the information output device after the azimuth alignment angle offset has been calculated.

23. The monitor of claim 14, wherein the steps performed by the processor further comprise:

f. if the processor cannot detect horizontal edges within the images representative of the alignment stick in step (a), the processor uses the last calculated azimuth alignment angle offset to calculate ball flight trajectory calculations.

24. The monitor of claim 14, wherein the alignment stick is a retroreflective stick or a golf club shaft.