U.S. patent application number 12/015445 was filed with the patent office on 2012-09-20 for trajectory detection and feedback system for golf.
This patent application is currently assigned to PILLAR VISION CORPORATION. Invention is credited to Thomas A. Edwards, Alan W. Marty.
Application Number | 20120238380 12/015445 |
Document ID | / |
Family ID | 39668644 |
Filed Date | 2012-09-20 |
United States Patent
Application |
20120238380 |
Kind Code |
A9 |
Marty; Alan W. ; et
al. |
September 20, 2012 |
TRAJECTORY DETECTION AND FEEDBACK SYSTEM FOR GOLF
Abstract
A system that captures, analyzes and provides feedback related
to golf is described. The system is designed to capture and analyze
an initial trajectory of a golf ball and predict a subsequent
flight of the ball. The system may be configured to provide
immediate feedback that may be utilized by a player to improve
their performance as well as provide entertainment value above and
beyond what is normally associated with the play of a game of golf.
The analysis and feedback system may be portable and may be
operable for use in an area where golf is normally played, such as
a golf course or an area where golf training takes place, such as a
driving range. In one example, the analysis and feedback system may
be integrated into a golf bag. Further, the system may be designed
to be non-intrusive such that a player may use the system and
receive feedback during normal activities associated with golf,
such as out on a golf course.
Inventors: |
Marty; Alan W.; (Menlo Park,
CA) ; Edwards; Thomas A.; (Menlo Park, CA) |
Assignee: |
PILLAR VISION CORPORATION
Menlo Park
CA
|
Prior
Publication: |
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Document Identifier |
Publication Date |
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US 20080182685 A1 |
July 31, 2008 |
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Family ID: |
39668644 |
Appl. No.: |
12/015445 |
Filed: |
January 16, 2008 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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11508004 |
Aug 21, 2006 |
7854669 |
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12015445 |
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10242373 |
Sep 11, 2002 |
7094164 |
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11508004 |
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60323029 |
Sep 12, 2001 |
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60348057 |
Jan 11, 2002 |
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60395875 |
Jul 12, 2002 |
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Current U.S.
Class: |
473/407 |
Current CPC
Class: |
A63B 24/0003 20130101;
A63B 69/3623 20130101; A63B 69/38 20130101; A63B 24/0084 20130101;
A63B 2220/806 20130101; G06K 9/00342 20130101; A63B 24/0021
20130101; A63B 2225/20 20130101; A63B 55/00 20130101; A63B 2225/50
20130101; A63B 69/0071 20130101; G06F 19/3481 20130101; A63B
69/3614 20130101 |
Class at
Publication: |
473/407 |
International
Class: |
A63B 69/36 20060101
A63B069/36 |
Claims
1. A device for analyzing a trajectory of a golf ball, the device
comprising: one or more cameras for recording video frame data used
to determine at least initial conditions for predicting a
trajectory of a golf ball wherein only an initial portion of the
golf ball's trajectory is captured in the video frame data for the
purposes of predicting the trajectory and wherein the predicted
trajectory comprises at least impact with a club to a location
where the golf ball is predicted to land; a logic device designed
or configured to i) receive the video frame data, ii) identify the
golf ball in the video frame data, iii) predict the trajectory of
the golf ball accounting for a spin of the golf ball wherein the
trajectory predictions include generating trajectory parameters
that characterize one or more states of the golf ball between at
least the impact with the club and the location where the golf ball
is predicted to land and iv) generate feedback information using
the trajectory parameters; and at least one output mechanism for
providing the feedback information wherein the device is portable
and designed for use outdoors.
2. The device of claim 1, wherein the device includes two
cameras.
3. The device of claim 1, wherein the device includes a
stereoscopic camera.
4. The device of claim 1, wherein one or more portions of the
device is water-resistance or waterproof.
5. The device of claim 1, wherein the device is integrated into a
golf club bag.
6. The device of claim 1, further comprising: wheels.
7. The device of claim 1, wherein the logic device is further
designed or configured to identify a body element of a person
swinging the club.
8. The device of claim 7, wherein the logic device is further
designed or configured to determine a position of the body element,
an orientation of the body element, a velocity of the body element
or combinations thereof, as a function of time and provide feedback
information related to one or more of the position of the body
element, the orientation of the body element or the velocity of the
body element.
9. The device of claim 8, wherein logic device is further designed
or configured to incorporate the position of the body element, the
orientation of the body element, the velocity of the body element
or combinations thereof, as the function of time into an animated
model.
10. The device of claim 9, wherein the animated model is a 3-D
skeletal model.
11. The device of claim 1, wherein the logic device is further
designed or configured to identify the club in the video frame
data.
12. The device of claim 11, wherein the logic device is further
designed or configured to determine a position of the club, a
velocity of at least one point on the club, an orientation of the
club or combinations thereof as a function of time.
13. The device of claim 12, wherein the at least one point on the
club is located on a club head or a clubface.
14. The device of claim 12, wherein the logic device is further
designed or configured to incorporate the position of the club, the
velocity of at least one point on the club, the orientation of the
club or combinations thereof as the function of time into an
animated model.
15. The device of claim 1, further comprising one or more sensors
for determining an orientation of the device.
16. The device of claim 15, wherein the one or more sensors
comprise accelerometers or tilt sensors.
17. The device of claim 1, wherein the output mechanism is a
wireless interface for outputting the feedback information to one
or more remote devices.
18. The device of claim 17, wherein the remote device is worn by
the player.
19. The device of claim 1, wherein the output mechanism is an audio
device coupled to the display.
20. The device of claim 1, further comprising: a housing, for the
one or more cameras, the logic device, and the at least one output
mechanism, the housing having a weight and form factor which
facilitate one or more of transport, storage, unobtrusive set-up,
calibration, or operation of the device.
21. The device of claim 1, further comprising an input
mechanism.
22. The device of claim 21, wherein the input mechanism is a touch
screen display.
23. The device of claim 21, wherein the input mechanism is a
wireless interface for receiving input from a remote device.
24. The device of claim 1, further comprising a GPS receiver.
25. The device of claim 1, wherein the logic device is a general
purpose computer comprising: a processor, a data storage device,
RAM, operating system software, device interfaces, device drivers
and trajectory analysis software.
26. The device of claim 1, wherein the device is capable of one of
autonomous set-up, autonomous calibration, autonomous operation or
combinations thereof.
27. The device of claim 1, wherein after manual input of data by a
user, a confirmation of data determined by the device, the logic
device is further designed or configured to complete a calibration
procedure.
28. The device of claim 1, further comprising: a memory storage
device for storing trajectory session information wherein the
trajectory session information comprises one or more of 1)
digitized video frame data, trajectory information and feedback
information generated for a plurality of trajectories, 2) a
trajectory session time, 3) a trajectory session date, 4) a
trajectory session location and combinations thereof.
29. The device of claim 1, wherein the device is designed to
determine for a plurality of related trajectories captured by the
device a consistency for at least one of the trajectory parameters
generated for each of the plurality of related trajectories.
30. The device of claim 29, wherein the consistency is determined
by calculating a statistical deviation.
31. The device of claim 1, wherein an actual distance the golf ball
travels in a straight line along the ground from the impact with
the club to the location where the golf ball actually lands is
greater than 10 meters.
32. The device of claim 1, wherein an actual distance the golf ball
travels in a straight line along the ground from the impact with
the club to the location where the golf ball actually lands is
greater than 50 meters.
33. The device of claim 1, wherein the device is for use on a golf
course or on a driving range.
34. The device of claim 1, further comprising: a database of club
characteristics for use in the trajectory predictions.
35. The device of claim 34, wherein the club characteristics
include club geometry parameters, club material properties and club
mass properties.
36. The device of claim 1, wherein the logic device is further
designed or configured to predict a trajectory after the location
where the golf ball is predicted to land.
37. The device of claim 36, wherein a final portion of the golf
ball's trajectory includes a prediction of one or more bounces or
rolls by the golf ball.
38. The device of claim 1, wherein logic device is further designed
or configured to account for a change in elevation between a
location where the golf ball is hit to the location to the golf
ball is predicted to land in determining where the golf ball is
predicted to land.
39. The device of claim 1, wherein feedback information is related
to one or more of the following: 1) a predicted straight-line
distance of the shot, 2) a measured straight-line distance of the
shot based, 3) a predicted height of the shot, 4) a measured height
of the shot, 5) a predicted landing speed of the shot, 6) the
location where the shot is predicted to land, 7) a predicted
direction vector of the shot, 8) a measured landing speed of the
shot, 9) a measured landing location of the shot, 10) a measured
direction vector of the shot, 11) a parameter quantifying
trajectory consistency of a plurality of shots with an identical
club, 12) a parameter quantifying trajectory spacing of a series of
clubs, 13) a measured initial speed of the shot, 14) a measured
initial angle of the shot, 15) a measured initial spin of the shot,
16) a measured initial direction vector of the shot, 17) a
predicted time aloft, 18) a measured time aloft, 19) a predicted
quantification of the amount of draw of the shot, 20) a measured
quantification of the amount of the draw of the shot, 21) a
predicted quantification of an amount of fade, 22) a measured
quantification of an amount of fade, 23) a predicted distance
traveled along trajectory of the golf ball, 24) a predicted
distance traveled along the ground track of ball, 25) a predicted
distance traveled along a line between the shot starting point and
a another position, 26) a predicted initial distance from a pin
prior to shot minus a final distance from the pin after the shot,
27) a measured initial distance from the pin prior to the shot
minus the final distance from the pin after the shot, 28) a
predicted distance accounting for a surface with which the golf
ball makes contact including one or more of a fairway surface, a
green surface, a rough surface, a water surface, a sand surface, a
tree surface or combinations thereof, 29) a predicted club head
speed at the impact with golf ball, 30) a measured club head speed
at the impact with the golf ball, 31) a length of time of a
backswing, 32) a length of time of a forward swing or 33)
combinations thereof.
40. The device of claim 1, wherein the logic device is further
designed or configured to store data related to one or the
trajectory of the golf ball, movements of a person swinging the
club, movements of the club captured in the video frame data for
use in a video simulation related to golf.
41. The device of claim 40, a video simulation of the player is
generated using the stored data.
42. The device of claim 1, where the logic device is further
designed or configured to facilitate a game played between two or
more persons separate from the play of a golf game.
43. the device of claim 1, wherein a first person of the two or
more persons is remotely located relative to the device.
44. A device for analyzing a trajectory of a golf ball, the device
comprising: one or more cameras for recording video frame data used
to determine at least initial conditions for predicting a
trajectory of a golf ball wherein only an initial portion of the
golf ball's trajectory is captured in the video frame data for the
purposes of predicting the trajectory and wherein the predicted
trajectory comprises at least impact with a club to a location
where the golf ball is predicted to land; a logic device designed
or configured to i) receive the video frame data, ii) identify the
golf ball in the video frame data, iii) predict the trajectory of
the golf ball accounting for a spin of the golf ball wherein the
trajectory predictions include generating trajectory parameters
that characterize one or more states of the golf ball between at
least the impact with the club and the location where the golf ball
is predicted to land and iv) generate feedback information using
the trajectory parameters for a person swinging the club; and at
least one output mechanism for providing the feedback information
to the person in real-time wherein the device is portable and
designed for use outdoors.
45. A device for analyzing a trajectory of a golf ball, the device
comprising: one or more cameras for recording video frame data used
to determine at least initial conditions for predicting a
trajectory of a golf ball wherein only an initial portion of the
golf ball's trajectory is captured in the video frame data for the
purposes of predicting the trajectory and wherein the predicted
trajectory comprises at least impact with a club to a location
where the golf ball is predicted to land; a logic device designed
or configured to i) receive the video frame data, ii) identify the
golf ball in the video frame data, iii) predict the trajectory of
the golf ball accounting for a spin of the golf ball wherein the
trajectory predictions include generating trajectory parameters
that characterize one or more states of the golf ball between at
least the impact with the club and the location where the golf ball
is predicted to land and iv) generate feedback information using
the trajectory parameters for a person swinging the club; and at
least one output mechanism for providing the feedback information
to the person in real-time wherein the device is portable and
designed for use outdoors wherein the one or more cameras, the
logic device and the at least one output mechanism are integrated
into a golf bag for carrying golf clubs.
Description
RELATED APPLICATION DATA
[0001] This application claims priority to U.S. Provisional Patent
Application No. 60/880,773, filed on Jan. 16, 2007, entitled
"Trajectory Detection and Feedback System for Golf," which is
incorporated herein by reference in its entirety and for all
purposes.
[0002] This application is related to U.S. application Ser. Nos.
11/507,886 and 11/508,004, both filed Aug. 21, 2006 and both
titled, "TRAJECTORY DETECTION AND FEEDBACK SYSTEM," each of which
is incorporated herein in their entirety and for all purposes.
[0003] This application is related to U.S. application Ser. No.
11/972,553, by Marty, et al., filed Jan. 10, 2008, titled
"Trajectory Detection and Feedback System for Tennis," which is
incorporated herein by reference in its entirety and for all
purposes.
TECHNICAL FIELD
[0004] The present invention relates generally to devices and
systems for sports training and entertainment and more specifically
to a trajectory detection and feed back systems and associated
methods for golf.
BACKGROUND
[0005] There is an on-going interest in providing training methods
that allow golfers, both professional players and casual players to
improve their game. Currently, simple, non-intrusive, cost
effective ways don't exist that allow golfers to train muscle
memory for trajectory at the driving range or while playing a round
on the course. In particular, to enable confident club
selection/shot execution for a needed distance on the course, it is
desirable to provide golfers with method and apparatus 1) to train
muscle memory for trajectory across a series of clubs, 2) to know
whether the range training for trajectory is being correctly
reproduced while on the golf course, 3) to measure muscle memory
consistency in their swing when ball results are impacted by
in-situ environmental conditions, and 4) to make training/practice
more entertaining. Methods and apparatus designed or configured to
meet these desires are described as follows.
SUMMARY
[0006] A system that captures, analyzes and provides feedback
related to golf is described. The system may be designed to capture
and analyze an initial trajectory of a golf ball and predict a
subsequent flight of the ball. The system may be configured to
provide immediate feedback that may be utilized by a player to
improve their performance as well as provide entertainment value
above and beyond what is normally associated with the play of a
game of golf. The analysis and feedback system may be portable and
usable outdoors. For instance, the analysis and feedback system may
be operable for use on a golf course or a driving range.
[0007] One aspect of the invention relates to a device for
analyzing a trajectory of a golf ball. The device may be generally
characterized as comprising: 1) one or more cameras for recording
video frame data used to determine at least initial conditions for
predicting a trajectory of a golf ball where only an initial
portion of the golf ball's trajectory is captured in the video
frame data for the purposes of predicting the trajectory and where
the predicted trajectory comprises at least impact with a club to a
location where the golf ball is predicted to land; 2) a logic
device designed or configured to i) receive the video frame data,
ii) identify the golf ball in the video frame data, iii) predict
the trajectory of the golf ball accounting for a spin of the golf
ball where the trajectory predictions include generating trajectory
parameters that characterize one or more states of the golf ball
between at least the impact with the club and the location where
the golf ball is predicted to land and iv) generate feedback
information using the trajectory parameters; and 3) at least one
output mechanism for providing the feedback information wherein the
device is portable and designed for use outdoors. The device may
include two cameras or a stereoscopic camera. One or more portions
of the device may be water-resistance or waterproof. Further, the
device may be integrated into a golf club bag which may include
wheels. The device may be for use on a golf course or on a driving
range.
[0008] In particular embodiments, the logic device is further
designed or configured 1) to identify a body element of a person
swinging the club, 2) to determine a position of the body element,
an orientation of the body element, a velocity of the body element
or combinations thereof, as a function of time and provide feedback
information related to one or more of the position of the body
element, the orientation of the body element or the velocity of the
body element, 3) to incorporate the position of the body element,
the orientation of the body element, the velocity of the body
element or combinations thereof, as the function of time into an
animated model or combinations thereof. The animated model may be a
3-D skeletal model.
[0009] In particular embodiments, the logic device is further
designed or configured to 1) identify the club in the video frame
data, 2) determine a position of the club, a velocity of at least
one point on the club, an orientation of the club or combinations
thereof as a function of time wherein the at least one point on the
club may be located on a club head or a clubface, 3) to incorporate
the position of the club, the velocity of at least one point on the
club, the orientation of the club or combinations thereof as the
function of time into an animated model or combinations
thereof.
[0010] In yet other embodiments, the device may comprise one or
more sensors for determining an orientation of the device where the
one or more sensors comprise accelerometers or tilt sensors. The
output mechanism may be a wireless interface for outputting the
feedback information to one or more remote devices where the remote
device may be worn by the player. Further, the output mechanism may
be an audio device coupled to the display.
[0011] In particular embodiments, the device may further comprise:
a housing, for the one or more cameras, the logic device, and the
at least one output mechanism, the housing having a weight and form
factor which facilitate one or more of transport, storage,
unobtrusive set-up, calibration, or operation of the device. The
device may further comprise an input mechanism where the input
mechanism is a touch screen display. The input mechanism may be a
wireless interface for receiving input from a remote device. The
device may further comprise a GPS receiver for determining a
location of the device. The logic device may be is a general
purpose computer comprising: a processor, a data storage device,
RAM, operating system software, device interfaces, device drivers
and trajectory analysis software.
[0012] In other embodiments, the device may be capable of one of
autonomous set-up, autonomous calibration, autonomous operation or
combinations thereof. After manual input of data by a user, a
confirmation of data determined by the device, the logic device is
further designed or configured to complete a calibration
procedure.
[0013] The device may comprise a memory storage device for storing
trajectory session information wherein the trajectory session
information comprises one or more of 1) digitized video frame data,
trajectory information and feedback information generated for a
plurality of trajectories, 2) a trajectory session time, 3) a
trajectory session date, 4) a trajectory session location and
combinations thereof. The device may be designed to determine for a
plurality of related trajectories captured by the device a
consistency for at least one of the trajectory parameters generated
for each of the plurality of related trajectories where the
consistency is determined by calculating a statistical deviation.
The device of may include: a database of club characteristics for
use in the trajectory predictions. The club characteristics include
club geometry parameters, club material properties and club mass
properties.
[0014] The logic device is further designed or configured to
predict a trajectory after the location where the golf ball is
predicted to land where a final portion of the golf ball's
trajectory includes a prediction of one or more bounces or rolls by
the golf ball. The logic device may be further designed or
configured to account for a change in elevation between a location
where the golf ball is hit to the location to the golf ball is
predicted to land in determining where the golf ball is predicted
to land.
[0015] The feedback information may be related to one or more of
the following: 1) a predicted straight-line distance of the shot,
2) a measured straight-line distance of the shot based, 3) a
predicted height of the shot, 4) a measured height of the shot, 5)
a predicted landing speed of the shot, 6) the location where the
shot is predicted to land, 7) a predicted direction vector of the
shot, 8) a measured landing speed of the shot, 9) a measured
landing location of the shot, 10) a measured direction vector of
the shot, 11) a parameter quantifying trajectory consistency of a
plurality of shots with an identical club, 12) a parameter
quantifying trajectory spacing of a series of clubs, 13) a measured
initial speed of the shot, 14) a measured initial angle of the
shot, 15) a measured initial spin of the shot, 16) a measured
initial direction vector of the shot, 17) a predicted time aloft,
18) a measured time aloft, 19) a predicted quantification of the
amount of draw of the shot, 20) a measured quantification of the
amount of the draw of the shot, 21) a predicted quantification of
an amount of fade, 22) a measured quantification of an amount of
fade, 23) a predicted distance traveled along trajectory of the
golf ball, 24) a predicted distance traveled along the ground track
of ball, 25) a predicted distance traveled along a line between the
shot starting point and a another position, 26) a predicted initial
distance from a pin prior to shot minus a final distance from the
pin after the shot, 27) a measured initial distance from the pin
prior to the shot minus the final distance from the pin after the
shot, 28) a predicted distance accounting for a surface with which
the golf ball makes contact including one or more of a fairway
surface, a green surface, a rough surface, a water surface, a sand
surface, a tree surface or combinations thereof, 29) a predicted
club head speed at the impact with golf ball, 30) a measured club
head speed at the impact with the golf ball, 31) a length of time
of a backswing, 32) a length of time of a forward swing or 33)
combinations thereof.
[0016] Another aspect of the invention pertains to computer program
products including a machine-readable medium on which is stored
program instructions for implementing any of the methods described
above. Any of the methods of this invention may be represented as
program instructions and/or data structures, databases, etc. that
can be provided on such computer readable media.
[0017] Aspects of the invention may be implemented by networked
gaming machines, game servers and other such devices. These and
other features and benefits of aspects of the invention will be
described in more detail below with reference to the associated
drawings. In addition, other methods, features and advantages of
the invention will be or will become apparent to one with skill in
the art upon examination of the following figures and detailed
description. It is intended that all such additional methods,
features and advantages be included within this description, be
within the scope of the invention, and be protected by the
accompanying claims.
BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The included drawings are for illustrative purposes and
serve only to provide examples of possible structures and process
steps for the disclosed inventive systems and methods for providing
game services to remote clients. These drawings in no way limit any
changes in form and detail that may be made to the invention by one
skilled in the art without departing from the spirit and scope of
the invention.
[0019] FIG. 1 is a diagram illustrating an in-situ use of
trajectory detection and analysis system for golf.
[0020] FIGS. 2A and 2B are a side perspective view and a top
perspective view illustrating a use of a trajectory detection and
analysis system for golf that is integrated in a golf club bag.
[0021] FIG. 3 is an example of a wearable feedback interface for a
trajectory detection and analysis system for golf.
[0022] FIGS. 4 and 5 are examples of interface screens for a
trajectory detection and analysis system for golf.
[0023] FIG. 6 is a block diagram illustrating exemplary components
of a trajectory detection and analysis system.
[0024] FIGS. 7A-7C are perspective drawings illustrating exemplary
components of a trajectory detection and analysis system.
[0025] FIG. 8 is an information flow diagram for exemplary
components of a trajectory detection and analysis system.
[0026] FIG. 9 is a diagram illustrating a coordinate system for an
in-situ determination of a golf ball trajectory including a
calculated trajectory distance.
DETAILED DESCRIPTION
[0027] In the following figures, aspects of a system that captures,
analyzes and provides feedback related to golf is described. In
particular, the system may be designed to capture and analyze an
initial trajectory of a golf ball and predict a subsequent flight
of the ball. The system may be configured to provide immediate
feedback that may be utilized by a player to improve their
performance as well as provide entertainment value above and beyond
what is normally associated with the play of a game of golf. The
analysis and feedback system may be portable and may be operable
for use in an area where golf is normally played, such as a golf
course or an area where golf training takes place, such as a
driving range. In one example, the analysis and feedback system may
be integrated into a golf bag. Further, the system may be designed
to be non-intrusive such that a player may use the system and
receive feedback during normal activities associated with golf.
[0028] Devices, system and methods for analyzing a trajectory of a
golf ball are described in the following figures. The trajectory
analysis system and associated methods may be utilized for the
purposes of both training and entertainment. As an example, in
FIGS. 1, 2A and 2B an analysis and feedback device, which may be
portable and designed to operate on a golf course to provide
in-situ trajectory measurements and real-time feedback, is shown.
In FIG. 3, a wearable feedback interface device with a few examples
of feedback related to swing mechanics is shown. In FIGS. 4 and 5
analysis screens associated with trajectory measurements are shown.
A discussion of exemplary components of a trajectory and analysis
feedback system, which are illustrated in FIGS. 6-8, are provided.
An embodiment of a calculation method for determining a flight path
of a golf ball is discussed with respect to FIG. 9.
[0029] FIG. 1 is a diagram illustrating an in-situ use of
trajectory detection and analysis system for golf. The
device/system 100 may comprise one or more of the following, 1) one
or more cameras (or 3D capturing sensors, such as CanestaVision.TM.
Camera Module, Canesta, Inc., Americas Headquarters, Sunnyvale,
Calif.) for recording video frame data used to characterize a
trajectory of a golf ball 110 hit by a club 116 swung by a user
120; 2) a logic device designed or configured to i) receive the
video frame data 106, ii) generate trajectory parameters that
characterize one or more states of the golf ball along its
trajectory 102 and iii) generate feedback information using the
trajectory parameters; 3) one or more feedback output mechanisms
for providing the feedback information to the user as output
mechanisms that are operable to output feedback information in
video and/or audio formats (e.g., see 122 in FIGS. 2A and 3), 4)
one or more devices for measuring ambient conditions, 5) a location
device, such as a GPS receiver, 6) a communication interface for
communicating with one or more remote devices and 7)
accelerometer(s) or other sensors for detecting and/or recording a
motion associate with a golfer, a motion associated with a golf
club, a motion associated with a camera and/or a motion associated
with the device 100.
[0030] Further the device may include a rechargeable or replaceable
energy source to power the camera(s), logic device, and/or output
signal. This rechargeable or replaceable energy source may be one
or more of the following: a battery, a solar panel, a fuel cell or
combinations thereof. Further details of apparatus and methodology
that may be utilized are described with respect to FIGS. 2A-9 as
well as with respect to U.S. patent application Ser. No.
11/508,004, entitled, "Trajectory Analysis and Feedback System," by
Marty, et al, filed Aug. 21, 2006, which are incorporated herein by
reference and for all purposes.
[0031] In FIG. 1, a club head trajectory 114, course objects 108
and 112, a calculated trajectory of ball 102 and actual flight of
ball 104, a calculated and actual distance of a golf trajectory are
shown. Additional details regarding trajectory calculations are
provided with respect to FIG. 9. The trajectory calculations may be
used to provide feedback information to user 120. The feedback
information may be related to one or more of the trajectory
parameters: 1) a calculated straight-line distance of a shot (from
shot location to landing location), 2) actual straight-line
distance of a shot, 3) calculated height of a shot, 4) actual
height of a shot, 5) calculated landing speed, location and/or
direction vector of a shot, 6) actual landing speed, location,
and/or direction vector of a shot, 7) a parameter quantifying
trajectory consistency of a shot with the same club, 8) a parameter
quantifying trajectory spacing of a series of clubs, 9) initial
speed, angle, spin and/or direction of a shot, 10) a time aloft,
11) a quantification of an amount of draw, 12) a quantification of
an amount of fade, 13) a distance traveled along trajectory of the
ball, 14) a distance traveled along ground track of ball, 15) a
distance traveled along a line between the shot starting point and
a position, such as hole position, 16) a calculated or actual
initial distance from pin prior to shot minus final distance from
pin after shot, 17) a calculated or actual distance accounting for
the surface with which the ball makes contact including fairway,
green, rough, water, sand, tree branches, etc., 18) a calculated or
actual angle as the ball leaves the ground or tee and 19) a
calculated or actual velocity as the ball leaves the ground or
tee.
[0032] The analysis and feedback device may also be operable to
measure and provide feedback on other golf swing parameters
associated with the shot. Further, the device may be operable to
measure and provide feedback on consistency of these parameters
with the same club and across a series of clubs. The feedback
information that is provided may be related to one or more of the
following: 1) a club head, a portion of the club head (or other
part of the club) trajectory parameter at different points along
its trajectory (e.g., speed and/or position at different times,
amount of time for back swing), 2) a hand (or wrist) movement, 3) a
hip movement (lateral, vertical, rotational), 4) a shoulder
movement (lateral, vertical, rotational), 5) a head (person)
movement, 6) an arm movement, 7) a leg movement, 8) a movement or
speed of one body part relative to another body part or relative to
point on the club (the feedback may utilize or may provide a 3D
skeletal model of body parts with club), 12) an estimated force or
torque generated during the swing, etc or a 13) biophysical
property, such as breathing rate or heart rate. The device may be
operable to analyze the golf swing parameters associated with the
golf club and player biomechanics as they relate to any results
determined for the ball trajectory and provide appropriate feedback
information. For example, if the speed of a player's back swing
trajectory 114 is variable from shot to shot such that back swing
speeds that leads to good shots or bad shots may be determined
after the results of a series of shots, then the device may provide
feedback information, such as "back swing too slow" or "back swing
too fast."
[0033] In other embodiments, the device 100 may be operable to
store the trajectory parameters or golf swing parameters for later
review, upload, analysis, display and sharing. Further, the device
may be operable to provide a video recording of the swing(s) for
immediate or delayed review, analysis or sharing. In addition, the
analysis and feedback device or an associated device may be
operable to integrate data from different sources. For example, a
video recording of the swing may be integrated with a plot of the
trajectory of the resulting shot.
[0034] In a particular embodiment, stored data recorded for a
player may be utilized to generate a video simulation, such as a
video game simulate of the player playing golf. After playing a
round of golf or during a round of golf, data generated and stored
by device 100 may be uploaded via a network or transfer to another
storage media for incorporation into a video golf simulation. The
video golf simulation might include a recreation of the player's
round of golf including each of their shots where portions of the
data generated by device 100 may be utilized in the modeling used
to generate the video golf simulation.
[0035] As an example, the video golf simulation might allow the
player to look at 3-D animated model of a person emulating their
swing parameters. The video golf simulation may allow the user to
look at their swing from various angles. Further, the video golf
simulation may be operable to point out flaws or areas where the
player may improve their golf swing.
[0036] In another example, a series of shots generated by a player
and captured by device 100 may be utilized to populate a database.
The database may be used as a basis for a video game where one
player competes against another player in a game of golf where the
outcome of the golf game is affected by shots selected from the
database. For instance, a player may select a club for a stroke in
the video game and then take the shot using the selected club, the
outcome of the simulated shot may be influenced by an actual shot
previously made by the player using the selected club that is
stored in the database. Thus, a better golfer with a better
database of shots may perform better in the simulated video golf
game.
[0037] In consumer products, ease of use is always an important
concern. To simplify its use, the analysis and feedback device 100
may be operable to measure a number of variables for at least the
purposes of self-calibration. For instance, the device may be
operable to sense one or more of the following: its own position,
the position of the ball, the position of the ball and device
relative to each other, the position of the golfer relative to the
ball, the position of the golfer relative to the device. In
addition, the device may be to self-calibrate accounting for one or
more of the following parameters: ball position, golfer position,
device position, slope of land, tilt of device, lighting, wind,
humidity, type of club, brand of club, type of ball, identity of
golfer, altitude. The device may also be operable to allow manual
entry of one or more these parameters.
[0038] For purposes of training and/or entertainment, the analysis
and feedback device may measure and/or generate one or more
parameter(s) that are compiled into a score(s), allowing the player
to track and share improvement in score. In some instances, the
scores may be shared in a real time or delayed fashion over a
medium, such as the Internet, allowing players to compete with each
other. In some instances, these scores may be provided to an
audience or other players in engaged in a competition with the
player.
[0039] FIGS. 2A and 2B are a side perspective view and a top
perspective view illustrating a use of a trajectory detection and
analysis system for golf that is integrated in a golf club bag
configured to carry golf clubs, such as 128. In FIGS. 2A and 2B, a
custom golf bag 126 containing a stereo camera consisting of top
camera 124 and bottom camera 125 may be utilized. In other
embodiments, a single camera may be utilized. The bag 126 may also
contain a logic device (not shown) that receives frames captured
from the cameras 124 and 125, generates the trajectory information
and generates a wireless signal with initial ball speed and angle.
The wireless signal may be received by a custom watch 122 or other
wearable or portable device, which displays club type, ball speed
and ball angle immediately after the shot, such as within a few
seconds The watch 122 or other wearable device may be operable to
store a series of shots, including video frame data and/or analysis
data, that may later be downloaded to a computer or may be uploaded
onto the Internet, if desired. This information may be also stored
by the analysis and feedback device, which may have data transfer
capabilities. Golf club 116 and golf ball 110 may be unmodified. An
advantage of this approach is that a player may use standard
equipment in a native environment (i.e., on the actual golf
course).
[0040] In one possible set-up, a player may place the golf bag
including the analysis and feedback device proximately
perpendicular to the direction the ball will be hit and 5' to 15'
away from the ball. As described above, the analysis and feedback
device may include self-calibration capabilities, such as
determining its distance from the ball. A player may select a club
and sweep the club number (or as another example, a club cover) in
front of the lower camera so the club type is identified.
Identification may involve optical character recognition of visible
or infrared markings or another method such as RFID. The trajectory
and feedback device may also include a manual interface, such as a
touch screen, that allows this information to be input.
[0041] After data entry and/or acquisition related to the club,
device 126 may output a sound or provide an optical signal that
indicates it has determined what club a player is using. Prior to
beginning play, a player may have specified what brand of clubs in
manner they are using and the feedback device may have determined
properties of the clubs, such as mass, length, club loft from data
stored with the analysis and feedback device or via remote
communication with another device.
[0042] Next, the player may set a ball 110 on a tee (or simply
approach the ball) and both cameras may identify the ball allowing
the logic device to calculate the distance from the bag to the
ball. The ball may be distinguished from other objects in the
cameras field of view, such as various other course objects 112.
When the ball is identified, a signal may be provided via an
interface mechanism available to the player, such as an LED light
on the bag changes from red to green signifying the device is ready
for the player to hit the shot. As another example, a wearable
device coupled to the player 122 may emit a visible and/or audible
signal to indicate the player is ready to hit the shot.
[0043] After player hits the shot, cameras 124 or 125, may track
the trajectory of the ball as it leaves the tee or its current
position. The cameras may have wide-angle lenses that track the
ball for 20 feet of the trajectory or more depending on a distance
of the ball to the cameras and field of view of the camera. For a
typical shot, at 200 frames/second the cameras may each capture the
position of the ball in 19 frames: (20 ft/140 ml/hr.times.1
mile/5280 ft.times.60 min/1 hr.times.60 sec/1 min.times.200 fr/1
sec=19.4 frames). Of course, the number of frames captured may vary
depending on the type of cameras employed and the physical
parameters associated with the shot, which may vary from shot to
shot and player to player.
[0044] The stereo camera may not only allow the speed and direction
to be calculated in 2-dimensions, but also to calculate true speed
and direction in 3-dimensions correcting for any misalignment from
perpendicular in the placement of the bag. An advantage of stereo
cameras may be that that it improves ball detection by the vision
system by separating the ball from the clutter of colors and
patterns in the background. In some embodiments, only a single
camera may be used in other embodiments, an additional camera 118
(or sensor) aligned more or less in the direction of the shot may
be used to capture a view of the ball in flight.
[0045] The arrangement, described above, may also be used to
accurately calculate speed and direction of ball spin without
materially changing the club or changing the ball or seeing the
ball spin. In one embodiment, this can be accomplished by adding a
grid marking to the head of the club facing the camera. The grid
markings may be a sticker or a permanent marker template added at
the factory during club manufacture. A high-speed camera may be
able to measure twist of the club head (velocity and acceleration
in multiple linear and rotational dimensions). For a particular
player, a more accurate prediction of ball spin and direction may
be possibly generated by going through a calibration procedure with
an individual club that related specific player, specific club and
specific swing with specific head twist (as measured by observing
markings through the swing and contact with the ball) and specific
ball acceleration result (as measured by camera in the first 20
feet of flight). Then, the measured variables may be related to the
final position of ball landing (distance, roll, left and right
trajectory and roll). For example, 20 swings with each club may
provide a good look up table to give accurate ability to predict
final ball result while only observing the club swing and the first
20 feet of ball flight.
[0046] In FIGS. 1, 2A and 2B, the example of an implementation of
analysis and feedback device for use in golf and associated display
interfaces are described for the purposes of clarity and
understanding and are not meant to limit the scope of embodiments
associated with the analysis and feedback devices described herein.
For example, analysis and feedback device and/or system using
interface devices other than a watch-like device may be utilized,
such as an MP3 player, visor with a display screen, a speaker for
audio feedback coupled to the golf bag, or a cell phone. Further,
the analysis and feedback device may be provided as unit separate
from a golf bag such that the analysis and feedback device may be
provided that can be attached to or coupled to a non-custom golf
bag or a golf cart. The separate unit may be designed or configured
to be utilized while coupled to the golf bag or cart or separate
from the golf bag or cart. In the case, where the unit is
configured to be utilized while separate from the golf bag or golf
cart it still may include attachments that allow it to be secured
to these devices for transport purposes.
[0047] In FIGS. 2A and 2B, a watch-like interface device 122 with
video display capabilities is described. As noted, other interface
devices, such as cell phone or an MP3 player, may be utilized in
conjunction with a provided interface device or as an independent
interface device. Also, the analysis and feedback device may
include an interface display. Further, it may be possible to
provide output to a plurality of watches from a single analysis and
feedback device. For example, player's playing in a group may each
wear a device that is coupled to a single analysis and feedback
device. Using the watches, the player's may receive and store
information associated with their shots, receive feedback
information regarding their shots as well as also view information
about other player's shots if desired. Further, a feedback device
may be coupled to multiple analysis and feedback devices, such that
player's playing in different groups can share information.
[0048] FIG. 3 is an example of a wearable feedback interface for a
trajectory detection and analysis system for golf. The wearable
feedback device 122 may include a display 130 for providing visual
information and/or a sound device 142 for providing audio
information. One example of a visual interface screen is provided
for the purposes of illustration only as other screen formats and
types of information may be provided. The device 122 may be weather
proofed, such as water-resistant or water proof.
[0049] In FIG. 3 on display 130, "dis" 132 refers to the calculated
distance of the shot, which is shown as 240. "Clb," 134 refers to a
calculated club head speed, based upon the captured frame data,
which is shown as 140. "Act," 138, refers to calculated distance
and club head speed that has just been measured for a particular
shot. "Tar" refers to target calculated distance and club head
speed for this particular player and this particular club that the
player is trying to reproduce to build strong muscle memory. These
numbers may be selected by the player and/or recommended by the
feedback and analysis system taking in account player's physical
attributes, such as height, weight, age, ability, past performance,
etc. "Driver," 140, refers to the club identified by the device
prior to the shot.
[0050] The wearable feedback device 122 may be operable to store
environment, trajectory and club data which may be uploaded to a
computer or other device, such as a device connected to the
Internet. Also, the feedback and analysis device may include this
capability. In one embodiment, the feedback device 122 may include
a processor and integrated or removable memory, such as "flash
memory," or a small hard drive. The device 122 may include a
wireless and/or wired interface port, such as a port for a USB
connection, that allows the device to be coupled to another device
and possibly to receive power.
[0051] FIGS. 4 and 5 are examples of interface screens for a
trajectory detection and analysis system for golf. These interface
screens may be provided on a remote computer, such as a home
computer, after a session, such as a round of golf or a trip to the
driving range, where the feedback and analysis device is utilized.
Further, interface screens of this type may be provide while the
feedback and analysis device is being utilized, such as via a
display screen coupled to the feedback and analysis device (e.g.,
see FIG. 7B).
[0052] As an example, a display 150 on the computer or Internet may
appear as shown in FIG. 4. In FIG. 4, "swing skill" may be the
analysis done on the data that is being presented. The large frame
may display the trajectory of the last 10 shots color-coded for
speed where a photo of player is in the background. "Swing
Summary", "Swing Log" and "Noah Rankings" may be examples of other
analyses/displays that are available and which the user may switch
to using a suitable input device, such as a touch screen, mouse or
keyboard. "Print Session" may allow a display page to be printed.
"Driver" may identify the club associated with the data. The club
analyzed may be player selectable. "10 swings" may identify the
number of swings analyzed. The number of the swings analyzed as
well as the session in which the swings were analyzed may be player
selectable. "Target" may identify the personalized calculated
distance or club head speed the golfer is trying to achieve.
[0053] "Min", "Max", "Average" may display the minimum, maximum and
average calculated distance and club head speed for the 10 shots.
Scale on the right hand side may identify the skill of the player's
ability to reproduce the same calculated distance and club speed
with every swing. Formula could be based upon a weighted average of
the standard deviation of calculated distance and club speed.
"Expert III" may indicate the current skill level for these 10
shots as displayed on the scale.
[0054] In another example, a display interface 160 may appear as
shown in FIG. 5: "attribute", "club", "country", "state", "time
period", "gender" and "age" may be selected from pull down menus.
"ID" may be a self-identified name for use on the web. "Distance"
may be an example of one trajectory parameter, in this case
calculated distance, for the ranking reported in the identified
categories.
[0055] At the range, a watch-like device or other real time
display, such as shown in FIG. 3, may be the communication link
among two or more golfers in one or more locations. Via a network,
such as the Internet or other medium, the golfers may engage in a
real-time competition using results from one or more analysis and
feedback devices. Examples of real time games using unmodified
clubs and balls may include, but are not limited to: [0056]
Greatest cumulative distance achieved in 1 minute. Device would
calculate a normalized distance for each shot and would signal the
start and stop of 1 minute. Device would then total distance of all
shots within the minute and display score of all players. [0057]
Highest consistency skill for 25 shots with the same club. Device
would display the skill level of all players when all have
completed their 25 shot sessions.
[0058] Most consistent spacing for a series of clubs, for example 3
iron through 9 iron. Each player hits 1 shot with each of the seven
clubs. Device calculates a normalized distance for each shot and
the change in distance between each pair of clubs in the series (6
scores). Ranking could be done in a number of ways including
standard deviation of the 6 pair differences. Players' scores are
displayed. [0059] Greatest cumulative height achieved in a minute.
Device would calculate a normalized height for each shot and would
signal the start and stop of a minute. Device would then total the
heights of all shots within the minute and display score of all
players. [0060] Around the world game. Players need to hit the ball
into 6 designated spots with a minimum of tries. Additionally,
players who hit a designated spot could get an additional try in
the same turn. [0061] Knock out game. Players are given a
particular distance to hit the ball. The last player to hit that
distance is eliminated. The remaining players are given a new
distance to hit the ball. Again, the last player to hit that
distance is eliminated. Play continues until only one player, the
winner, remains. [0062] Horse. First player hits the ball a
particular distance. All remaining players, in order, must hit the
ball within 5 yards of that distance. The first player who does not
hit the distance receives a letter H. The next player hits a shot
of any distance. Again, all remaining players, in order, must hit
the ball within 5 yards of that distance. The first player who does
not hit the distance receives a letter. Play continues with each
missed shot leading to an additional letter. Players who have 5
letters (spelling HORSE) are eliminated. Game ends when only one
player, the winner, remains.
[0063] As described with respect to FIGS. 2A and 2B, trajectory
information may be utilized as part of a video game simulation. In
another game example, multiple analysis and feedback device may be
used to allow a player to play a realistic game of golf with
another player in a remote location. Trajectory information
collected from the multiple devices may be integrated with course
(fairway, rough, hazard, green) information, including satellite
top-down views or pedestrian side views. This information may be
stored on a remote device separate from the analysis and feedback
device. Each player (number not limited to four) participating in
the virtual golf game may be on the course, at a driving range or
in a backyard. Calculated ball position outcome may be realistic
enough to allow two players to play Pebble Beach on the real course
and then at a later time play Pebble Beach in a virtual manner with
the players at different locations, such as Player A in Cleveland
and Player B in Chicago.
[0064] The real golf and the virtual golf may be accomplished with
the same golf equipment, the same balls and a similar score outcome
with each shot having the same landing position on the real course
or the virtual course. Putting may be added with or without the
benefit of a ball by watching the club swing (may require
pre-calibration as described earlier). Sand traps may be added by
allowing the player to hit the ball with a sand wedge off a mat or
other surface, measuring the actual trajectory and then calculating
the results of the sand shot using the pre-calibration to normalize
for the effect of the sand trap material and slope. In one
embodiment, Lining up the direction of the shot may take place in
advance of the shot by positioning a laser line on the view of the
virtual course. Then the calculated shot may be positioned on the
virtual course based on how the actual swing and golf ball were
struck. The system may allow communication connections that allow
each of the players to see the results of their shots on the real
or virtual course.
[0065] FIG. 6 is a block diagram of a trajectory detection and
analysis system 100 for one embodiment. The components of the
system 100 may be enclosed within a single housing or may be
divided between a plurality of different housings enclosing
different components of the system. Further, the system 100 may
include different components that are not shown, such as the
peripheral devices and remote servers.
[0066] Physical information 216 is input into the system 100 via
sensors 212. In one embodiment, a machine vision system may be used
where the machine vision system comprises one or more cameras 201
(e.g., a CCD camera) and a video capture card 203 for digitizing
captured frame data. The video capture card 203 may capture color
pixel data. The camera 201 may employ a 3.5-8 mm zoom lens and may
allow for different lens attachments. In another embodiment, the
system may employ a plurality of cameras arranged on a mechanism
that allows different type cameras to be rotated or moved into
place where only one camera is used at a time to record frame data.
The different cameras may allow the detection volume of the system
to be adjusted.
[0067] The digitized frame data from a machine vision system and
other sensor data may be processed by a computer 202. The computer
202 may be a modified PC using a 1.6 GHz processor 204 w/RAM and a
CD-RW drive 205 for inputting and outputting data and software. The
computer 202 may also include a mass storage device, such as hard
drive 207 and various network/device communication interfaces, such
as wireless and wired network interfaces, for connecting to a local
area network (LAN), wide-area network (WAN) or the Internet. The
device communication interfaces may allow the computer to
communicate with a plurality of peripheral devices and other remote
system components.
[0068] The computer 202 may include operating system software 206
for controlling system resources, such as feedback interfaces 213
and the system input/output mechanisms 215. The computer 202 may be
used to execute analysis software 208 for analyzing trajectories
using the sensor data from sensors 212 and for generating feedback
information 217. The analysis software 208 may include software for
providing various services, such as 1) providing a list or a plot
of trajectory session information comprising one or more of
physical information, trajectory parameters and feedback
information for the plurality of trajectories, 2) comparing the
trajectory session information from the trajectory session with
trajectory session information from one or more different
trajectory sessions, 3) generating trajectory session parameters
used to characterize a human's performance in the trajectory
session, 4) predicting performance improvement as a function of the
trajectory session parameters, 5) prescribing actions for improving
performance and 6) performing video editing tasks. The computer 202
may also be used to execute database software for relating physical
information 216 and other information generated by the computer 202
to player identification information (e.g., name, age, address,
team, school, etc.) and session identification information (e.g.,
time, data, location, number of trajectories analyzed, types of
shots, etc.).
[0069] Power to the computer 202 and other devices may be provided
from the power supply 209. In one embodiment, the power supply 209
may be a re-chargeable battery or a fuel cell. The power supply 209
may include one or more power interfaces for receiving power from
an external source, such as an AC outlet, and conditioning the
power for use by the various system components. In one embodiment,
for indoor/outdoor models, the system 100 may include photocells
that are used to provide direct power and charge an internal
battery.
[0070] Feedback information 217, used by clients of the system 100
to improve their trajectory skills, may be output through one or
more feedback interface devices 213, such as a sound projection
device 211. In general, the system may be capable of outputting
feedback information 217 to a plurality of different devices
simultaneously in a plurality of different formats, such as visual
formats, auditory formats and kinetic formats.
[0071] The system 100 may support a plurality of different
input/output mechanisms 215 that are used to input/display
operational information 218 for the system 100. The operational
information 218 may include calibration and configuration setting
inputs for the system and system components. In one embodiment, a
touch screen display 210 may be used to input and display
operational information 218 using a plurality menus. Menus may be
available for configuring and setting up the system 100, for
allowing a player to sign into the system and to select preferred
setting for the system 100 and for viewing session information 219
in various formats that have been generated by the system. The
printer 214 may be used to output hard copies of the session
information 219 for a player or other client of the system 100. The
present invention is not limited to a touch screen display as an
interface for operational information. Other input mechanisms, such
as but not limited, a key board, a mouse, a touch pad, a joystick
and a microphone w/voice recognition software may be used to input
operation information 218 into the system.
[0072] FIGS. 6A-6C are perspective drawings of exemplary components
of a trajectory detection and analysis system. The figure is
provided to illustrate types of components in a trajectory system
and not mean to limit various form factors and configurations of
these components. For instance, the locations, sizes and form
factors of these components could look substantially different if
they were integrated into a golf bag. Further, every component of
the system need not be included in every embodiment. For instance,
the sound output device 211 may be eliminated in some designs or
made substantially smaller, which could alter the form factor of
the design.
[0073] In FIGS. 6A-6C, a camera 201 used in a machine vision
system, a touch screen display 210, a computer 202 and a sound
projection device 211 are integrated into a housing 300 with a
support chassis 301. The system 100 may also include an amplifier
for the speaker 211 (not shown).
[0074] Wheels 304 are attached to the chassis 301 to allow the
system 100 to be easily moved and positioned for use. In general,
the chassis of devices of the present invention may be designed
with a weight and a form factor, which may facilitate transport,
storage and unobtrusive set-up, calibration and operation of the
device. For instance, the device includes a handle 303 attached to
panels 300 comprising the housing that may be used to move the
device and which may aid in set-up and storage of the device.
[0075] The speaker 211 takes up a large portion of the internal
volume of the system. In one embodiment, a travel system may be
used that incorporates a portable computer system such as laptop
that is connected to a machine vision system with the camera 201.
To use the travel system, it may be placed on top of a support
platform, such as a tripod, a table, a chair or even coupled to a
golf bag or golf cart. The travel system may provide feedback
information via a wireless communication interface to audio device,
such as an "earbud," worn by the player or wearable feed back
device described with respect to FIG. 3. In another embodiment, the
travel system may generate output signals that may be routed
through a portable audio system (e.g., a boom box) for
amplification via speakers on the audio system to provide feedback
information.
[0076] FIG. 7 is an information flow diagram for a trajectory
detection and analysis system of the present invention. A sensor
system 502, which may comprise emitters 506 and detectors 506,
receives physical information 507. The physical information 507 may
be energy signals reflected from a tracked object 508, such as a
golf ball. In the case where sensors are mounted to the tracked
object 508, then the physical information 507 may be sent as
signals from the sensors to a detector 504. Typically, the physical
information 508 is transmitted through a medium such as air.
[0077] The sensor system 502 may convert the physical information
507 to sensor data signals 509. For instance, a charge-coupling
device generates electronic signals in response to photons striking
a sensor array. The sensor data signals 509 may be sent through a
wired or wireless connection to a sensor interface 510, which
provides signal conditioning. The signal conditioning may be needed
to allow the sensor data 509 to be processed. For instance, prior
to analysis, video frame data may be digitized by a video capture
card.
[0078] In 513, the conditioned signals 511 may be processed
according to system control software and according to trajectory
analysis software 513 using set-up and control inputs 512 that have
been input into the system. The system control software 513 may
analyze portions of the data 511 to determine whether the sensor
system 502 is operating properly. Based-upon the analysis of the
data 511, the system control software may provide calibration
instructions and other operational instructions to the sensor
system which may be transmitted to the sensors via the sensor
interface 510.
[0079] The trajectory analysis software 513 may be used to process
the conditioned signals 511 and generate trajectory parameters. The
trajectory parameters may be used to generate feedback information.
The feedback information may be one or more trajectory parameters
or a combination of trajectory parameters, such as a ratio of
trajectory parameters or a product of trajectory parameters that
may be useful to a system client in improving their trajectory
skills.
[0080] Depending such factors as the application (trajectory of a
specific type of object), the set-up and components of the system,
the environment in which the system is used and what portion of the
trajectory of an object the device is used to measure, the present
invention may provide feedback to the player nearly immediately,
within a second or within 10 seconds as measured from some time
state along the trajectory that has been analyzed by the system.
For instance, when information on the beginning of the trajectory
is directly generated by the system, then the time to provide
feedback may be measured from the time when the trajectory is
initiated and then first detected by the system. When information
on the end of the trajectory is directly measured, then the time to
provide feedback may be measured from the time to when the
trajectory has neared completion and has been detected by the
system.
[0081] The feedback information may be sent as feedback information
parameters 516 to one or more device interfaces 517. The device
interfaces 517 may communicate with a plurality of feedback
devices. The device interfaces 517, which may include device
drivers, may transmit device data/commands 518 to a feedback device
interface 519 located on each feedback device. The device
data/commands 518 may be used to control the operation of the
feedback devices. The output from the feedback device may also be
modified using set-up/control inputs 520 that may vary for each
device.
[0082] The feedback devices may output the feedback information
parameters 516 received as device data 518 in one of an audio,
visual or kinetic format 521 depending on the capabilities of the
feedback device. For example, the device interface 517 may send
device data/commands 518 to a display that allows a numeric value
of a feedback information parameter 516 to be viewed on the display
by one of the system clients 522, such as players, coaches and
spectators. As another example, a device interface 517 may send
device data/commands 518 to an audio output device that allows
feedback information parameters 516 to be output in an audio format
to one or more of the system clients 522.
[0083] The feedback parameters 516 generated from the trajectory
analysis software 513 and other raw data generated from the sensor
system 502 may be sent to session storage 515. The session storage
515 may accumulate trajectory data from a plurality of trajectories
generated during a trajectory session for one or more players. All
of a portion of the trajectory data 514 may be sent to archival
storage 525 when the session has been completed. For example, only
a portion of the raw data, such as video frame data, may be sent to
archival storage. Further, the data may be filtered for bad data
prior to being sent to archival storage 525. The archival storage
525 may include a database used to relate trajectory data from one
or more trajectory sessions to the conditions of the trajectory
session, such as time place and location, and player identification
information.
[0084] The archival data 524 and session data 514 may be used to
provide one or more services 523 including but not limited to 1) a
session record of trajectory parameters (see FIG. 7), 2) session
diagnostics, 3) prescription for improvement, 4) a history
comparison of trajectory data from different sessions, 5)
individual/group comparisons of trajectory session data, 6) video
analysis and editing tools, 7) simulations (e.g., predicting a
player's driving distance improvement based upon changing one or
more of their swing parameters and 8) entertainment. As an example
of entertainment, a player's trajectory average trajectory
parameters and variability may be used in trajectory simulations
for a video golf game or another game where the parameters have
been measured. Two players that have used the system 100 may both
enter their parameters and compete against one another in the video
game. The player may also use the game to see how they match up
against professional or other athletes who have had their
trajectory parameters defined.
[0085] Output from the data services 523 may be converted to a
portable record 527, such as print-out from a printer, or may be
formatted for viewing on a graphical interface 528. The graphical
interface may also include a storage capacity allowing data to be
viewed at a later time. The output from the data services 523, such
as a portable record 527 or information viewed on the graphical
interface 528, may be used by the system clients 522. The data
services 523 may also be provided via a data mining interface 526.
The data mining interface 526 may include analysis tools and a
graphical interface. When the archival storage is remotely
accessible, it may be used to access archived data 524 via a remote
connection, such as from the Internet.
[0086] Information passed between the different components in the
system as described with respect to FIG. 6 may be transmitted using
a number of different wired and wireless communication protocols.
For instance, for wire communication, USB compatible, Firewire
compatible and IEEE 1394 compatible hardware communication
interfaces and communication protocols may be used. For wireless
communication, hardware and software compatible with standards such
as Bluetooth, IEEE 802.11a, IEEE 802.11b, IEEE 802.11x (e.g. other
IEEE 802.11 standards such as IEEE 802.11c, IEEE 802.11d, IEEE
802.11e, etc.), IRDA, WiFi and HomeRF.
Calculating Golf Trajectory and Distance
[0087] The trajectory (flight) of a golf ball may be predicted
based on an understanding of the dynamics of the club motion and
the interaction of the club head with the ball, when contact
occurs. Many parameters may be potentially significant: Club
geometry (shaft length, weight, club head loft, and stiffness
properties, to name a few), the speed and direction of the club
head at the moment of contact, the angle of the shaft to the
vertical at the moment of contact, the shape of the shaft due to
flexing, and the location on the club head where the ball makes
contact are some of the primary determinants of ball trajectory.
These parameters can be measured either in advance (shaft length
and club weight, for example), or in real time by the system (club
head speed and direction, for example).
[0088] The interaction of the club head and the ball produces the
motion of the ball. The ball motion at the instant it loses contact
with the club head may be fully described by its position (x, y,
z), velocity (Vx, Vy, Vz), and spin (Wx, Wy, Wz). This initial
condition can be predicted by modeling the characteristics of the
collision using the principles of Newtonian physics.
[0089] The speed of the club head approaching the ball can be
decomposed into a component normal to the club head and a component
tangential to it. For the moment, any club head motion lateral
(sideways) to the club head is neglected as a second-order effect.
The normal component of the speed determines the speed and
direction of the ball, while the tangential component determines
the spin (most often backspin). If the club head is much more
massive than the ball, the ball speed is approximately double the
club head normal speed. If this approximation is not valid, a more
detailed analysis of the momentum transfer from the club to the
ball is required, involving the relative weights of the two
objects, the elasticity of the collision, and the energy
contribution of the person swinging the club. This type of analysis
may be utilized with the embodiments described herein.
[0090] The spin imparted to the ball by the club is the result of
torque applied to the ball by the tangential speed of the club
head. The torque is the result of frictional force during the time
of contact, and the initial spin of the ball can be determined by
calculating the impulse of angular momentum that this interaction
generates. The angular momentum impulse is proportional to the
square and cube of the club normal speed. Using empirical
determination of the coefficients of the squared and cubed terms in
this proportionality, a computation of initial ball spin can be
performed in real time by measuring the club head speed. The
component of spin about the lateral axis, representing topspin or
backspin, typically has the most effect on the trajectory of the
ball. The spin about the vertical axis, representing sidespin
resulting in hooking or slicing motions is usually less important.
Spin about the longitudinal axis, representing a type of rifling
spin of a bullet, is considered insignificant, for this example,
but may be included in a trajectory simulation.
[0091] Once the initial motion of the ball is known--position,
velocity, and spin vectors--the trajectory of the ball can be
calculated from its dynamics of flight and used to provide a player
feedback information in real-time. The variation of the aerodynamic
properties (lift, drag, and side force) with the ball's velocity
and spin is a potentially significant effect that may be included
as needed to achieve the desired level of accuracy in the
performance parameters of interest.
[0092] An example of one methodology for calculating the trajectory
of a golf ball is provided below for the purposes of illustration
only. More or less complex simulations may be used and this example
is not meant to be a limiting description of analysis and feedback
devices described herein.
Equations of Motion
[0093] The motion of a golf ball in flight may be described by the
following equations.
x .. = - .rho. s 2 m [ ( x . + w x ) 2 + y . 2 + ( z . + w z ) 2 ]
[ C D cos .alpha. cos .beta. + C L sin .alpha. cos .beta. ]
##EQU00001## y .. = .rho. s 2 m [ ( x . + w x ) 2 + y . 2 + ( z . +
w z ) 2 ] [ C L cos .alpha. cos .beta. - C D sin .alpha. cos .beta.
] - g ##EQU00001.2## z .. = - .rho. s 2 m [ ( x . + w x ) 2 + y . 2
+ ( z . + w z ) 2 ] [ C D sin .beta. + C N cos .alpha. ]
##EQU00001.3##
where the variables are defined as, Acceleration components in x,
y, z direction {umlaut over (x)}, , {umlaut over (z)} Velocity
components in x, y, z, direction {dot over (x)}, {dot over (y)},
Velocity components in x, y, z, direction x Direction toward
target
y Vertical
[0094] z To the right when facing target .rho. Air density s
Cross-sectional area of ball m Mass of ball w.sub.x, w.sub.z Wind
velocity components C.sub.D Drag coefficient C.sub.L Lift
coefficient C.sub.N Side force coefficient .alpha. Angle of flight
above horizontal .beta. Angle of flight to right of target g
Gravitational acceleration
[0095] The coordinate system is shown with respect to FIG. 9. The
equations of motion shown above may represent a system of coupled
nonlinear ordinary differential equations, as such, no analytical,
closed-form solution exists. With the computing power readily
available in today's low cost personal computers, or even portable
devices, such as cell phones, one practical approach to solving
these equations may be to apply a numerical integration scheme. For
example, it possible to perform an explicit time integration scheme
using a small time increment, .DELTA.t, to advance the solution
until the desired results are obtained. This example is provided
for illustrative purposes only as many other types of numerical
schemes may be employed with devices of the present disclosure.
[0096] The present method performs a numerical integration by using
a spreadsheet computation to generate a database of the trajectory.
The database contains all the relevant variables at each time
step-acceleration, velocity position, flight angle, etc. A database
query is then performed to extract the parameters of interest, such
as but not limited to flight distance, maximum height, final speed,
angle, etc.
[0097] The inputs to the trajectory computation are initial ball
speed and flight angle and wind speed. The ball speed and flight
angle may be deduced from the club speed and loft angle, and if
desired as well as a calculation of the ball spin. The analysis and
feedback devices described herein may be used to acquire these
initial conditions.
[0098] For example, using a camera based system, capturing the
position of the ball 5 or more times within the first 0.1 seconds
of flight, or within the first 5 meters of flight, alternatively,
allows the initial conditions for trajectory computation of a golf
ball to be determined. The calculations are fast enough to allow
immediate feedback to be provided to a user. For instance, the
calculation described above may be performed in less than 1 sec. An
example calculation is provided as follows.
[0099] As described above, the portion of the trajectory captured
to determine the initial conditions for the ball as it leaves the
club head may be about 5 meters along its flight path. The total
distance of the shot along its flight path may be 10 meters or
longer. The distance along its flight path is distinguished from
the ground track of the shot, which may be much shorter than the
distance along its flight path for a high arcing short. The devices
described herein may be operable to predict trajectories for shots
with ground tracks of various lengths (straight line distance from
where the shot leaves the club to where it first hits the ground).
For example, an initial portion of a trajectory of a shot with an
actual ground track distance of 10 meters or longer, 20 meters or
longer, 50 meters or longer, 100 meters or longer, 200 meters or
longer may be captured with devices described herein and a
prediction of the trajectory for the shot including a predicted
ground track. In some embodiments, the device may be operable to
determine an actual ground track for the shot including the
location where it first impacts the ground, which may be compared
with the predicted ground track of the shot including a predicted
location where the shot first hits the ground.
[0100] The topography changes may or may not enter into the
trajectory calculations. For instance, it may be assumed that the
elevation of course is constant between where the shot is made to
where it lands. In other embodiments, if an elevation map
surrounding the shot is available, it may be possible to account
for a change in elevation in predicting where the shot first lands.
For example, a player may hit a shot from a higher elevation to a
lower elevation which may result in a longer shot then if the
ground is flat, which may be accounted for in the predictions of
the trajectory devices described herein.
TABLE-US-00001 Sample Trajectory Calculation Club loft angle, deg.
10 Initial speed, m/s 57.9 Headwind, m/s 0 Initial flight angle,
deg. 10 Initial spin, rpm 3500 Time step, sec 0.1 Air density,
kg/m{circumflex over ( )}3 1.225 .pi. 3.141593 Ball radius, m
0.02055 Drag area, .pi. * R2, m2 0.001327 Ball mass, kg 0.05 CD
0.25 CL 0.16 Initial inclination, rad 0.174533 Initial x-velocity,
m/s 57.02037 initial y-velocity, m/s 10.05423 Gravitational
Acceleration, m/s 9.8 Initial horizontal velocity, m/s 57.02037
Initial vertical velocity, m/s 10.05423 Flight distance, m 153.3384
Max height, m 11.02684 Final speed, m/s 32.11952 Final angle, deg.
-20.4306 Final horizontal velocity, m/s 30.09907 Final vertical
velocity, m/s -11.212
[0101] In the example above, as previously described, in one
embodiment the initial conditions may be derived from data captured
using an analysis and feedback device. In embodiment, the player
may enter the loft of the club manually. In another embodiment, the
device may store a database of club types and their
characteristics. Thus, the player may simply enter the club set
they are using and the club they used to make the shot and the
device may be operable to look up the appropriate data associated
with club. Similarly, the device may store a database of ball
characteristics, such as coefficients of lift and drag. Thus, the
player may enter the ball type they are using and the device may
look up needed properties associated with the ball.
[0102] In addition, the analysis and feedback device may be
operable to identify the club automatically that a player is using
for a particular shot. For example, radio identification tags may
be attached to the clubs that allow the device to determine what
club is being used. In another embodiment, stickers or some other
attachment may be provided to each club that may be uniquely
identified by the vision system. In some embodiments, the device
may allow a player to enter an estimated wind speed. In other
embodiments, the device may have some wind measuring capabilities
as well as other capabilities for determining ambient conditions
that may affect a trajectory, such as temperature, humidity and air
density (which may vary with altitude as well).
[0103] In FIG. 9, the calculated trajectory 180 shows x and y
distances where y is a height above the ground. The maximum height
that the ball reaches is approximately 11 meters and the shot
travels approximately 153 meters. Although not shown, it may also
be possible to estimate a roll of the shot after landing if desired
by the player. For example, if the device has GPS detection, then
when the player moves to the location of the ball for the next
shot, the device may be operable to estimate the distance between
shots based upon its lasts position, thus, the amount of roll may
be estimated as the calculated distance of the trajectory relative
to the actual position of the ball. In another example, the device
may be able to estimate a roll distance based upon an angle that
the ball hits the ground, its velocity at impact and conditions on
the course, such as a hard or soft ground, etc. This information
may be manually input by a player in one embodiment.
[0104] The analysis and feedback device may store the calculated
trajectory results and the trajectory shown above may be displayed
to the player. Also, as previously, feedback information, derived
from the trajectory may be output to the player. The ground track
of the ball, which may show, the amount of slice or draw may also
be shown to the player. As another example, a trajectory of the
ball may be output in a 3-D format including but not limited to one
or more of simulated flight path in 3-D and a ground track of the
ball. Many different aspects of the trajectory may be output and
these are provided for illustrated purposes only.
[0105] In some embodiments, a quantification of some aspect of the
flight of the golf ball derived from a predicted trajectory may be
compared with a quantification derived from other means including
more direct measurements or other prediction methods. For example,
it may be possible for some shots to measure a distance from the
analysis and feedback device to a final position of the golf ball
or a position to where the golf ball first lands using an
additional camera, a range finder coupled to the golf bag or some
other direct measurement technique. In another example, a maximum
height of a shot may be derivable from a sensor, such as a camera
coupled to the feedback device. In yet another example, a player
may use a range finder to determine the distance to their ball and
then input the data into the analysis and feedback device.
[0106] When two techniques are available that provide a prediction
or measurement of the same quantity, it may be possible to correct
or adjust one or the other. For example, if it is possible to
directly measure the height of a shot and to predict the height of
a shot, then it may be possible to attribute differences between
the trajectory prediction of the height of the shot and the measure
height of the shot to a factor, such as wind speed, which may not
be directly measurable. If it were possible to attribute the
difference in heights to a factor, such as wind speed, then the
trajectory prediction might be re-run with one or more variables
adjusted, such as wind speed so that the trajectory prediction of
the maximum height of the shot more closely matches the measure
maximum height of the shot. This type of trajectory prediction
adjustment may be performed when a quantity is both predicted using
one means and then measured using a separate means.
[0107] In another embodiment, the analysis and feedback device may
include a GPS device. As part of a calibration procedure, a player
may play a few holes or a round of golf where predictions of a golf
ball's trajectory are made. The device may record its position
using a first GPS measurement at a location where the shot is hit,
the player may then move the analysis and feedback device to the
location where the golf ball landed as part of the preparation for
the next shot and the analysis and feedback device may then record
its position using a second GPS measurement. A distance derived
from comparing the first GPS measurement and the second GPS
measurement may be compared with a distance derived from a
trajectory prediction. One or more factors that affect the
trajectory prediction may then be adjusted so that the trajectory
prediction and the GPS measurements more closely match. This
process may be repeated over a number of shots to using data
fitting techniques to provide a set of parameters for the
trajectory prediction. The data may be fitted to choose a set of
parameters that produce the best results over the range of shots
considered.
[0108] In one embodiment, the analysis and feedback device may
store data related to layouts of various golf courses or data from
the analysis and feedback may be uploaded to a site that stores
layouts of various golf courses. Using the layouts, a player may be
able in practice, such as at a driving range, to play a simulated
golf course of their choice. For instance, the device may provide a
display showing a layout to the hole and possible club
recommendations for each shot. After the player makes a shot that
is analyzed by the device, the device may show the player's
calculated position on the hole. Using this method, a player could
see go through a round on a golf course during practice where the
player could see how long it took them to reach the green for each
hole playing a golf course of their choice. In another example, if
a particular hole on a course that a player usually plays provides
a challenge to the player could practice various shots they make
when they play the hole, such as an initial shot and an approach
shot where their progress could be charted.
[0109] In another embodiment, the analysis and feedback device may
include a GPS location device that records the position of the
player while they are playing on a golf course. Using the GPS data,
a calculated trajectory and a layout of the course (e.g., a layout
of the course may be obtained from a source such as Google
Earth.TM.), after a round a golf, a player may be able to view
their round on a shot by shot basis as visual simulation
progression through the course. The device or an associated device
that has received data from the analysis and feedback device may be
able to provide the player a 3-D simulation of their round from
different perspectives, such as from a player's view after each
shot or from a perspective that travels with the ball along the
actual course layout. The 3-D simulation may display trajectory
information that was previously recorded and any feedback
information that was provided to the player during the round.
[0110] Although the foregoing invention has been described in
detail by way of illustration and example for purposes of clarity
and understanding, it will be recognized that the above described
invention may be embodied in numerous other specific variations and
embodiments without departing from the spirit or essential
characteristics of the invention. Certain changes and modifications
may be practiced, and it is understood that the invention is not to
be limited by the foregoing details, but rather is to be defined by
the scope of the appended claims.
* * * * *