Golf ball flight monitoring system

• US 7,214,138 B1
• Filed: 01/31/2000
• Issued: 05/08/2007
• Est. Priority Date: 01/29/1999
• Status: Expired due to Fees

• Current Assignee: Mizuho Orthopedic Systems Incorporated (Mizuho Ikakogyo Co. Ltd.)
• Original Assignee: BGI Acquisition, LLC (Lion Gate LLC)
• Inventors: Stivers, Keith, Lamb, Steve R., Epstein, Allan
• Primary Examiner(s): Sager; Mark
• Assistant Examiner(s): MOSSER, ROBERT E
• Application Number:
  US09/495,407
• Time in Patent Office: 2,654 Days
• Field of Search: 473/406, 473/407, 473/233, 473/266, 473/199, 473/200, 273/317.2
• US Class Current: 473/199
• 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 2220/05 Image processing for measuring physical parameters
• CPC Class Codes: A63B 2220/30 Speed
• CPC Class Codes: A63B 2220/35 Spin
• CPC Class Codes: A63B 2220/805 Optical or opto-electronic sensors
• CPC Class Codes: A63B 2220/807 Photo cameras
• CPC Class Codes: A63B 2220/808 Microphones
• CPC Class Codes: A63B 2220/89 Field sensors, e.g. radar systems
• 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 43/008 with means for improving visibility, e.g. special markings or colours illuminating or reflecting means A63B43/06
• CPC Class Codes: A63B 69/3614 using electro-magnetic, magnetic or ultrasonic radiation emitted, reflected or interrupted by the golf club
• 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

Abstract

A system is described for monitoring the swing path of a golf club head and for monitoring flight characteristics of a golf ball following impact. A processor utilizes data from spaced apart spaced sensor arrays in determining the club head speed and head angle of a golf club during the swing phase of the club. Image capture devices captures successive images of the ball after impact, and the system processor generates data reflecting ball flight characteristics based on a comparison of the images.

Claims

1. An apparatus for monitoring a swing path and/or a golf club head angle at or near an impact location with a golf ball during a golf swing, comprising:

a golf ball impact location for receiving a golf ball;

a first array of sensors proximate to the impact location;

a second array of sensors spaced apart from the first array behind the impact position along a swing path, the first and second array positioned such that a golf club swung in preparation for contact with a golf ball at the impact location will have a swing plane in angular relation to the first and second arrays;

an image capture device consisting essentially of a single camera for capturing two or more two-dimensional images of the golf ball after impact with the golf club head and outputting visual image data generated exclusively from the two-dimensional images captured by the single camera; and

a processor for receiving signals indicative of a temporal profile of which sensors the golf club head is over during the swing and for determining at least one of a swing path and a club head angle of the golf club based on said signals indicative of the temporal profile, the processor further for determining three-dimensional velocity of the golf ball by extrapolating perimeters of the image of the golf ball utilizing data wherein the only visual image data utilized is visual image data generated exclusively from the two-dimensional images captured by the single camera in two or more images taken using the single camera, and by determining three-dimensional spatial positions of the ball utilizing data wherein the only visual image data utilized is the visual image data generated exclusively from the two-dimensional images captured by the single camera and calculating the three-dimensional velocity of said golf ball based on said three-dimensional spatial positions.

2. The apparatus of claim 1, wherein said first and second arrays include a plurality of sensors arranged substantially linearly and orthogonal to said swing plane.

3. The apparatus of any of claims 1 or 2, wherein the processor is further for using the signals indicative of the temporal profile to determine a swing path of the club head between the first and second arrays during the swing.

4. The apparatus of claim 3, wherein the processor is further for determining a take away swing path of the club head from the first array to the second array during the swing and a downswing path of the club head from the second array to the first array towards the impact location during the swing.

5. The apparatus of any one of claims 1 or 2, wherein the processor is further for using the received signals to determine the angle of the golf club head during movement of the club head across the first array toward the impact location.

6. The apparatus of claim 5, wherein the first array includes a back sensor that is positioned just behind the substantially linearly arranged sensors in the first array along a swing path of the golf club, for determining the club head angle.

11. The apparatus of claim 1 or 7, wherein said golf ball includes a marking that is at least partially in view of the camera for any rotational position of the golf ball.

12. The apparatus of claim 11, wherein said marking is substantially a stripe at least halfway circumambulatory of the surface of the golf ball.

13. The apparatus of claim 11, wherein said marking is a closed loop around the surface of the golf ball.

14. The apparatus of claim 13, wherein said marking separates substantially equal hemispheres of the golf ball.

15. The apparatus of claim 12, wherein said marking separates substantially equal hemispheres of the golf ball.

16. The apparatus of claim 12, wherein said processor automatically finds said marking on at least two images of the golf ball and calculates a linear extrapolation of said marking for each of said images of the golf ball.

17. The apparatus of claim 16, wherein said processor calculates backspin on said ball based on a comparison of said linear extrapolation from at least two of said images.

18. The apparatus of claim 17, wherein said processor calculates sidespin on said ball based at least in part on curvatures of said marking in the images of the golf ball on at least two of said images.

22. The apparatus of claim 12, wherein said processor automatically finds a perimeter of the image of the golf ball in said at least two images and calculates a circumferential extrapolation of the image of the golf ball in said images.

23. The apparatus of claim 22, wherein said processor determines diameters of the image of the golf ball in said two or more images based on said circumferential extrapolations of the image of the golf ball from said two or more images and calculates a three-dimensional velocity of said ball based in part on a comparison of said diameters.

24. The apparatus of claim 22, wherein said processor calculates a diameter of the image of the golf ball based on said circumferential extrapolation and calculates a three dimensional velocity of said ball based in part on said diameter.

25. The apparatus of claim 12, wherein said processor calculates sidespin on said ball based in part on curvatures of said marking on said images.

26. The apparatus of claim 25, wherein said processor calculates a circumferential extrapolation of the image of the golf ball in two or more of said images.

27. The apparatus of claim 26, wherein said processor calculates three-dimensions of velocity based in part on a comparison of diameters of the image of the golf ball in two or more of said circumferential extrapolations.

28. The apparatus of claim 27, wherein said processor calculates sidespin based in part on curvatures of said marking on said images.

29. The apparatus of claim 27, wherein said processor is further for determining three dimensional velocity based upon said three-dimensional spatial positions.

60. The apparatus of any one of claims 1, 7, 30, 56, or 58, wherein said apparatus also captures an image of said golf ball and said golf club at impact such that a relative orientation of said club with respect to said ball may be evaluated.

7. An apparatus for monitoring a golf club head angle at or near an impact location of the club head with a golf ball during a golf swing, comprising:

an array of sensors arranged at an angle to a plane of a golf swing of a golf club head;

an image capture device consisting essentially of a single camera for capturing two or more two-dimensional images of a golf ball after impact with the golf club head and outputting visual image data generated exclusively from the two-dimensional images captured by the single camera; and

a processor for receiving signals indicative of a temporal profile of which sensors the golf club head is over during the swing and for determining a club head angle of the golf club based on the signals indicative of the temporal profile, the processor further for determining three-dimensional displacement of the golf ball by extrapolating perimeters of the image of the golf ball utilizing data wherein the only visual image data utilized is visual image data generated exclusively from the two-dimensional images captured by the single camera in two of more images taken using the single camera, by determining three-dimensional spatial positions of the ball utilizing data wherein the only visual image data utilized is the visual image data generated exclusively from the two-dimensional images captured by the single camera and calculating the three-dimensional displacement of said golf ball based on said three-dimensional spatial positions.

8. The apparatus of claim 7, wherein said array includes a plurality of sensors arranged substantially linearly and orthogonal to a swing path of the golf club head.

9. The apparatus of claim 8, wherein said array further includes a back sensor behind said plurality of substantially linearly arranged sensors.

10. The apparatus of any one of claims 7–

9, wherein the processor is for determining the club head angle and swing path.

19. The apparatus of claim 7, wherein said processor automatically finds a perimeter of each of said images of the golf ball and calculates a circumferential extrapolation of each of said images of the golf ball.

20. The apparatus of claim 19, wherein said processor determines diameters of said two or more images of the golf ball based on said circumferential extrapolations of said two or more images of the golf ball and calculates a three-dimensional velocity of said ball based in part on a comparison of said diameters.

21. The apparatus of claim 19, wherein said processor calculates a diameter based on said circumferential extrapolation and calculates a three-dimensional velocity of said ball based in part on said diameter.

30. An apparatus for determining spin characteristics of a golf ball after impact with a golf club head comprising:

an image capture device consisting essentially of a single camera for capturing two or more two-dimensional images of the golf ball after impact with the golf club head and outputting visual image data generated exclusively from the two-dimensional images captured by the single camera; and

a processor connected with said image capture device and configured to receive data wherein the only visual image data received is visual image data generated exclusively from the two-dimensional images captured by the single camera;

wherein said golf ball has at least one marking that is at least halfway circumambulatory of the surface of said golf ball such that said marking is at least partially within the view of said camera for any rotational position of said golf ball when said images are taken; and

wherein said processor determines spin of said ball based on an automatic determination of at least one characteristic of only one of said markings on images captured only with said camera;

said at least one characteristic including curvature of said marking.

31. The apparatus of claim 30, further comprising one or more sensors for triggering the capturing of the images by the camera.

32. The apparatus of claim 31, wherein the one or more sensors are one or more photosensors that sense the club head as the club head moves past the one or more sensors during a downswing prior to impact with the ball.

33. The apparatus of any one of claims 30 or 31, wherein said marking is a closed loop around the surface of the golf ball.

34. The apparatus of claim 33, wherein said marking separates substantially equal hemispheres of the golf ball.

35. The apparatus of any one of claims 30 or 31, wherein said marking separates substantially equal hemispheres of the golf ball.

36. The apparatus of any one of claims 30 or 31, wherein said processor automatically finds said marking and calculates a linear extrapolation of said marking for each of said images.

37. The apparatus of claim 36, wherein said processor calculates backspin on said ball based on a comparison of linear extrapolations from at least two of said images.

38. The apparatus of claim 37, wherein said processor calculates sidespin on said ball based at least in part on curvatures of said markings on said images.

39. The apparatus of claim 30, wherein said processor automatically finds a perimeter of the image of the golf ball utilizing data wherein the only visual image data utilized is visual image data generated exclusively from the two-dimensional images captured by the single camera in at least one image and calculates a circumferential extrapolation of said image.

40. The apparatus of claim 39, wherein said processor determines diameters of the image of the golf ball in said two or more images based on circumferential extrapolations from said two or more images and calculates a three-dimensional velocity of said ball based in part on a comparison of said diameters, and wherein said calculation is independent of an orientation of the circumambulatory marking on said images.

41. The apparatus of claim 39, wherein said processor calculates a diameter of the image of the golf ball based on said circumferential extrapolation and calculates a three dimensional velocity of said ball based in part on said diameter.

42. The apparatus of claim 31, wherein said processor automatically finds a perimeter of the image of the golf ball in at least one image and calculates a circumferential extrapolation of said image.

43. The apparatus of claim 42, wherein said processor determines diameters of the image of the golf ball in said two or more images based on circumferential extrapolations from said two or more images and calculates a three-dimensional velocity of said ball based in part on a comparison of said diameters.

44. The apparatus of claim 42, wherein said processor calculates a diameter of the image of the golf ball based on said circumferential extrapolation and calculates a three dimensional velocity of said ball based in part on said diameter.

45. The apparatus of any one of claims 30 or 31, wherein said processor calculates sidespin on said ball based in part on curvatures of said marking on said images.

46. The apparatus of claim 45, wherein said processor calculates a circumferential extrapolation of the image of the golf ball utilizing data wherein the only visual image data utilized is visual image data generated exclusively from the two-dimensional images captured by the single camera in two or more of said images.

47. The apparatus of claim 46, wherein said processor calculates three-dimensions of velocity based in part on a comparison of diameters of circumferential extrapolations from two or more of said images, and wherein said calculation is independent of any determined characteristic of the marking on said images.

48. The apparatus of any one of claims 30 or 31, wherein said spin is a type of spin selected from a group consisting of backspin and sidespin.

49. The apparatus of any one of claims 30 or 31, wherein said spin is backspin.

50. The apparatus of any one of claims 30 or 31, wherein said spin is sidespin.

51. The apparatus of any one of claims 30 or 31, wherein said processor is further for determining three-dimensional velocity of said ball.

52. The apparatus of claim 30, further comprising two sensors, said processor for receiving signals indicative of when the golf club is detected by each of the two sensors and estimating when the golf ball will be within a view of said camera for capturing said one or more images based on the received signals.

53. The apparatus of any one of claims 31–

32, wherein said one or more sensors include at least two sensors, wherein said processor receives signals indicative of when the golf club is detected by each of the at least two sensors and estimates when the golf ball will be within a view of said camera for capturing said one or more images based on the received signals.

54. The apparatus of claim 30 wherein said marking is a stripe.

55. The apparatus of claim 30 wherein said at least one characteristic further includes orientation of said marking.

56. An apparatus for determining ball velocity in three dimensions of a golf ball after impact with a golf club head, comprising:

an image capture device consisting essentially of a single camera for capturing two or more two-dimensional images of the golf ball after impact with the golf club head and outputting visual image data generated exclusively from the two-dimensional images captured by the single camera; and

a processor connected with said image capture device for calculating a three-dimensional ball velocity by determining circumferential extrapolations of perimeters of the image of the golf ball utilizing data wherein the only visual image data utilized is visual image data generated exclusively from the two-dimensional images captured by the single camera in two or more images obtained only by using the single camera, by automatically determining and comparing three-dimensional spatial positions of the image of the golf ball in said two or more images, and by calculating three-dimensional velocity using said three-dimensional spatial position determination and comparison.

57. The apparatus of claim 56, wherein said three-dimensional spatial positions are determined based in part on a determination of diameters of the image of the golf ball in said images.

58. The apparatus of claim 56 wherein the processor is further for determining a three-dimensional spatial position of the geometric center of at least one image and for calculating the three-dimensional velocity based in part on said three-dimensional spatial position determination.

59. The apparatus of claim 56, wherein said processor is further for determining three-dimensional displacement of said ball.

61. The apparatus of claim 56, wherein said three-dimensional velocity is also based at least in part on a timing of the ball impact and the capturing of said images.

62. The apparatus of claim 61, wherein said three-dimensional velocity is also based on a three-dimensional spatial position of said ball at said impact location.

63. The apparatus of any one of claims 56 or 58, wherein said golf ball has a marking that is at least halfway circumambulatory of the surface of said golf ball such that said marking is at least partially within the view of said camera for any rotational position of said golf ball when said images are taken.

64. The apparatus of claim 63, wherein sidespin on said golf ball is determined based on curvatures of said marking in said images.

65. The apparatus of claim 63, wherein said processor automatically finds said marking and calculates linear extrapolations of said marking in said images and determines backspin based on a comparison of said linear extrapolations.

66. The apparatus of claim 63, wherein said processor automatically determines a circumferential extrapolation of the image of the golf ball in at least one image, calculates a three-dimensional spatial position from said circumferential extrapolation and determines a three-dimensional velocity based at least in part on said three-dimensional spatial position.

67. The apparatus of claim 66, wherein said processor calculates a diameter of the image of the golf ball in said at least one image from said circumferential extrapolation and calculates a three-dimensional extrapolation based in part on said diameter.

68. The apparatus of claim 63, wherein said marking is substantially a straight line within a plane of the surface of the ball.

69. A system for monitoring spin of a golf ball following impact by a golf club, the system comprising:

a golf ball having an elongated stripe thereon;

an image capture device consisting essentially of a single camera positioned to capture at least two two-dimensional images of the golf ball following impact by a golf club and outputting visual image data generated exclusively from the two-dimensional images captured by the single camera; and

a processor for finding the stripe utilizing data wherein the only visual image data utilized is visual image data generated exclusively from the two-dimensional images captured by the single camera in images captured only by the single camera and for determining a spin of the ball based on at least one characteristic of the stripe in said images;

said at least one characteristic including curvature of said stripe.

70. The system of claim 69 wherein only one camera captures images of the golf ball following impact by a golf club.

71. The system of claim 69 wherein the ball includes only one stripe.

72. The system of claim 69, wherein the processor is further for determining three-dimensional velocity of the ball following impact based on the position and dimensions of the ball in said images.

73. The system of claim 72 wherein said processor is further for determining said three-dimensional velocity independent of characteristics of the stripe on said images of the ball.

74. The system of claim 69 wherein said processor calculates a linear extrapolation of said marking in at least two of said images, and calculates backspin on said ball based on a comparison of said linear extrapolations.

75. The system of claim 69 wherein said processor calculates sidespin on said ball based in part on curvatures of said marking on said images.

76. The system of claim 69 wherein the processor is further for determining three-dimensional displacement of the ball following impact based on the position and dimensions of the ball in said images.

77. The apparatus of claim 69 said at least one characteristic further includes orientation of said stripe.