LAUNCH MONITOR FOR DYNAMIC GOLF OBJECT USING NEAR-INFRARED OR INFRARED IMAGING AND FLUORESCENT MARKER
20250381443 ยท 2025-12-18
Assignee
Inventors
- Paul Furze (Tiverton, RI, US)
- Charles Hightower (Hyde Park, MA, US)
- Jeremy Zorrilla DE LOS SANTOS (Whitinsville, MA, US)
- Matthew B. Rapoza (Middletown, RI, US)
- Brett S. Southworth (Acushnet, MA, US)
Cpc classification
A63B24/0003
HUMAN NECESSITIES
International classification
A63B24/00
HUMAN NECESSITIES
Abstract
A launch monitor is disclosed herein that relies on near-infrared or infrared light. In one aspect, the present disclosure is directed to a fluorescent near-infrared or infrared marker or marking for use with a dynamic golf object in order to obtain kinematic information for the dynamic golf object. The launch monitor can further include a near-infrared or infrared camera for obtaining at least one image of the dynamic golf object. In yet another aspect, a method of generating kinematic information regarding a dynamic golf object via a launch monitor is also provided.
Claims
1. A launch monitor system configured to monitor at least one dynamic golf object, wherein the at least one dynamic golf object includes at least one first marker comprised of a first fluorescent colorant, the launch monitor system comprising: a first light source configured to illuminate the at least one dynamic golf object with light at a first wavelength range; a first imager configured to obtain at least one image of the at least one dynamic golf object, the first imager being configured to capture light at a second wavelength range, wherein the second wavelength range is in the near-infrared or infrared range, and the second wavelength range includes wavelengths that are longer than wavelengths in the first wavelength range; and a first processor in communication with the first imager, the first processor being configured to generate kinematic information regarding the at least one dynamic golf object based on the at least one image from the first imager, wherein the first fluorescent colorant on the at least one dynamic golf object is configured to: absorb light from the first light source at least within the first wavelength range, and emit light towards the first imager at least within the second wavelength range.
2. The launch monitor system according to claim 1, wherein the first imager is comprised of a first imager configured to detect light at the second wavelength range.
3. The launch monitor system according to claim 2, wherein the first imager is a near-infrared or infrared imager.
4. The launch monitor system according to claim 1, wherein the first imager further comprises a band-pass filter.
5. The launch monitor system according to claim 1, wherein the first light source is comprised of a first light source configured to emit light at the first wavelength range.
6. The launch monitor system according to claim 1, wherein the first light source is a near-infrared or infrared light source.
7. The launch monitor system according to claim 6, wherein the near-infrared or infrared light source is a near-infrared or infrared light emitting diode.
8. The launch monitor system according to claim 1, wherein the first light source is comprised of a flash tube and a filter that is configured to filter light emitted from the flash tube having a wavelength below the second wavelength range.
9. The launch monitor system according to claim 8, wherein the flash tube is a xenon light flash tube.
10. The launch monitor system according to claim 1, wherein the at least one dynamic golf object is comprised of a non-white golf ball.
11. The launch monitor system according to claim 1, wherein the at least one dynamic golf object is comprised of a white golf ball.
12. The launch monitor system according to claim 1, wherein the at least one dynamic golf object is a golf ball, and the first fluorescent colorant is configured to emit light having a wavelength in a near-infrared or infrared light range, and the golf ball further comprises at least one second marker comprised of a second fluorescent colorant that is configured to emit light having a wavelength in a visible light range, and the golf ball further comprises at least one third marker comprised of a black colorant.
13. The launch monitor system according to claim 1, wherein the at least one dynamic golf object is comprised of a golf ball, and wherein the launch monitor system is further configured to monitor a golf club including at least one first golf club marker comprised of a second fluorescent colorant, wherein the launch monitor system further comprises: a second light source configured to illuminate the golf club with light at a third wavelength range; a second imager configured to obtain at least one image of the golf club, the second imager being configured to capture light at a fourth wavelength range, wherein the fourth wavelength range is in the near-infrared or infrared range, and the fourth wavelength range includes wavelengths that are longer than wavelengths in the third wavelength range; and a second processor in communication with the second imager, the second processor being configured to generate kinematic information regarding the golf club based on the at least one image from the second imager, wherein the second fluorescent colorant on the golf club is configured to: absorb light at least within the third wavelength range, and emit light at least within the fourth wavelength range.
14. The launch monitor system according to claim 13, wherein the golf ball further includes at least one secondary golf ball marker comprised of the second fluorescent colorant, and the second light source is further configured to illuminate the golf ball with light at the third wavelength range.
15. The launch monitor system according to claim 1, wherein the at least one dynamic golf object is comprised of a golf ball, and wherein the launch monitor system is further configured to monitor a golf club including at least one first golf club marker comprised of a second fluorescent colorant, wherein the launch monitor system further comprises: a second light source configured to illuminate the golf club with light at a third wavelength range; a second imager configured to obtain at least one image of the golf club, the second imager being configured to capture light at a fourth wavelength range, wherein the fourth wavelength range is in the visible light range, and the fourth wavelength range includes wavelengths that are longer than wavelengths in the third wavelength range; and a second processor in communication with the second imager, the second processor being configured to generate kinematic information regarding the golf club based on the at least one image from the second imager, wherein the second fluorescent colorant on the golf club is configured to: absorb light at least within the third wavelength range, and emit light at least within the fourth wavelength range.
16. A launch monitor system configured to monitor a golf club and a golf ball, wherein the golf ball includes at least one first golf ball marker comprised of a first fluorescent colorant and at least one second golf ball marker comprised of a second fluorescent colorant, wherein the golf club includes at least one first golf club marker comprised of the second fluorescent colorant; the launch monitor comprising: a golf ball launch monitor assembly including: a first light source configured to illuminate the golf ball with light at a first wavelength range; a first imager configured to obtain at least one image of the golf ball, the first imager being configured to capture light at a second wavelength range, wherein the second wavelength range is in the near-infrared or infrared range, and the second wavelength range includes wavelengths that are longer than wavelengths in the first wavelength range; and a first processor in communication with the first imager, the first processor being configured to generate kinematic information regarding the golf ball based on the at least one image from the first imager; and a golf club launch monitor assembly including: a second light source configured to illuminate the golf club with light at a third wavelength range; a second imager configured to obtain at least one image of the golf club, the second imager being configured to capture light at a fourth wavelength range, wherein the fourth wavelength range is in the near-infrared or infrared range, and the fourth wavelength range includes wavelengths that are longer than wavelengths in the third wavelength range; and a second processor in communication with the second imager, the second processor being configured to generate kinematic information regarding the golf club based on the at least one image from the second imager, wherein the first fluorescent colorant on the golf ball is configured to: absorb light at least within the first wavelength range, and emit light at least within the second wavelength range; and wherein the second fluorescent colorant on the golf ball and the golf club is configured to: absorb light at least within the third wavelength range, and emit light at least within the fourth wavelength range.
17. The launch monitor system according to claim 16, wherein the golf ball is a non-white golf ball.
18. The launch monitor system according to claim 16, wherein the first light source is a near-infrared or infrared light source, or a near-infrared or infrared light emitting diode.
19. The launch monitor system according to claim 16, wherein the first light source is comprised of a flash tube, and a filter that is configured to filter light emitted from the flash tube having a wavelength below the second wavelength range.
20. A method of generating kinematic information regarding a dynamic golf object via a launch monitor, the method comprising: applying at least one first marker comprised of a first fluorescent colorant to the dynamic golf object; illuminating, via a first light source, the dynamic golf object with light at a first wavelength range, wherein the first wavelength range is within the visible light range of the electromagnetic spectrum; obtaining, via a first imager, at least one image of the dynamic golf object, wherein the first imager is configured to capture light at a second wavelength range, wherein the second wavelength range is within the near-infrared or infrared range of the electromagnetic spectrum, and the second wavelength range includes wavelengths that are longer than wavelengths in the first wavelength range; and generating, via a processor, kinematic information regarding the at least one dynamic golf object based on the at least one image from the first imager, wherein the first fluorescent colorant on the at least one dynamic golf object is configured to: (i) absorb visible light from the first light source at least within the first wavelength range, and (ii) emit near-infrared or infrared light towards the first imager at least within the second wavelength range, and wherein the first light source is comprised of a flash tube, and a filter that is configured to filter light emitted from the flash tube having a wavelength below the second wavelength range, and the first imager is a near-infrared or infrared imager.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0041] Further features and advantages of the present disclosure can be ascertained from the following detailed description that is provided in connection with the drawings described below:
[0042]
[0043]
[0044]
[0045]
DETAILED DESCRIPTION OF THE INVENTION
[0046] According to some of the disclosed embodiments, a launch monitor is disclosed herein that relies on using both the visible light wavelength range and the near-infrared or infrared light wavelength range of the electromagnetic spectrum. By using this combination of both visible light and near-infrared or infrared light, the presently disclosed launch monitor can be configured to be more adaptive and capable of obtaining kinematic data, information, images, etc., of golf equipment or objects that have a variety of colors or appearances. In one aspect, the launch monitor can utilize a near-infrared or infrared camera or imager. In one aspect, the launch monitor can rely on markings on the golf object, such as golf ball or golf club, being comprised of a colorant that fluoresces near-infrared or infrared light in response to being illuminated by light within the visible wavelength range. One of ordinary skill in the art would understand that the markings, imagers, light sources, and other components can vary.
[0047] In one aspect, the present disclosure is directed to the use of fluorescent markings, whose advantages are detailed below, to be used on golf balls that fluoresce in the visible spectrum for use with a launch monitor system. In one aspect, the present disclosure provides several advantages of using markers that fluoresce in the near-infrared or infrared spectrum, away from the wavelengths where many golf balls fluoresce.
[0048] In one aspect, fluorescent markings have the advantage of eliminating the background of an image, and suppressing the effects of varying ambient illumination. These are both important for imaging outdoors where objects in the background and the angle and brightness of sunlight are not controlled.
[0049] In one aspect of the present disclosure, a near-infrared or infrared camera is used to image and/or analyze a golf ball and/or golf club. In one aspect, the near-infrared or infrared camera can have a response curve that extends further into the infrared spectrum. The near-infrared or infrared camera can be configured to detect or capture light in the infrared spectrum.
[0050] In one aspect, the near-infrared or infrared camera can have a response curve that has a relatively higher response in the 700 nm to 900 nm range as compared to a conventional, non-infrared/near-infrared camera. Commercially available near-infrared or infrared cameras are available from various commercial manufacturers or providers, such as Teledyne DALSA, Edmunds Optics Inc., Exosens, Basler AG, among others.
[0051] The light sources in either the golf ball or golf club subsystems can vary. In one aspect, the light sources can each be a flash tube, such as a xenon flashtube. Commercially available flash tubes are provided by: Amglo Kemlite Laboratories, Phoxene, Olympus, among others. Commercially available near-infrared or infrared light sources, such as LEDS, are available from: Boston Electronics Corporation, Broadcom, Luminus Devices, among others. One of ordinary skill in the art would understand that various strobes, flash tubes, LEDs, bulbs, or other light sources can be used. In one aspect, the light sources can have a narrow emission spectrum. In another aspect, the light sources can have a wide emission spectrum, and optionally also include a filter.
[0052] In one aspect, the markings on the golf ball and/or golf club can include markings comprising a fluorescent colorant. In one aspect, the marking is configured to absorb light within the visible wavelength spectrum and is configured to emit light or energy within the near-infrared or infrared wavelength spectrum.
[0053] Filters can be used on the cameras and/or light sources of the launch monitor disclosed herein. In one aspect, a filter can be applied to the light source that is configured to cut off or block all wavelengths above a predefined threshold. In one aspect, the predefined threshold for the filter applied to the light source can be 725 nm, 745 nm, 760 nm, 775 nm, 785 nm, 800 nm, or 815 nm. In one aspect, another filter can be applied to the camera. In another aspect, the predefined threshold for the filter applied to the light source can be any value between 700 nm-825 nm, or any value between 750 nm-790 nm, or any value between 730 nm-810 nm. One of ordinary skill in the art would understand that the value for the predefined threshold for the filter applied to the light source can vary.
[0054] In one aspect, the filter on the camera can be configured to cut off or block all wavelengths that are shorter than a predefined threshold. In one aspect, the predefined threshold for the filter applied to the camera can be 820 nm, 835 nm, 850 nm, 865 nm, 880 nm, 895 nm, or 910 nm. In another aspect, the predefined threshold for the filter applied to the camera can be any value between 800 nm-950 nm, or any value between 850 nm-925 nm, or any value between 825 nm-875 nm.
[0055] In one aspect, the filter on the camera or imager can be selected so as to block all light outside of the near-infrared or infrared range. In one aspect, the filter on the camera or imager can be configured to only allow light within a predefined band of the near-infrared or infrared range. In one aspect, a filter on the camera for the golf club side can configured to only allow light within a first predefined range of the near-infrared or infrared range; and a filter on the camera for the golf ball side can configured to only allow light within a second predefined range of the near-infrared or infrared range which is different from the first predefined range.
[0056] In one aspect, the filter on the light source can be selected so as to only allow passage of light in the visible light range and block all light in the near-infrared or infrared range. In one aspect, the filter on the light source can be configured to only allow light below the near-infrared or infrared range. In one aspect, a filter on the light source for the golf club side can configured to only allow light within a first predefined range of the visible light range; and a filter on light source for the golf ball side can configured to only allow light within a second predefined range of the visible light range which is different from the first predefined range. Exemplary commercially available filters and other optical related components are provided by: B & H Foto & Electronics Corp., Midwest Optical Systems, Inc., JNS Glass & Coatings, Edmund Optics Inc., Knight Optical, among others.
[0057] In one aspect, the respective spectral response curves for the camera and light sources can both drop off or cut off at wavelengths much longer than a predefined threshold. In one example, this predefined threshold can be 850 nm, or 875 nm, or 900 nm, or 925 nm, or 950 nm. This can allow for limitations regarding the effective wavelength that is used for the analysis by the launch monitor. In one aspect, a camera system for the golf club side of the presently disclosed launch monitor can use filters and markings with a wavelength of about 500 nm, or 530 nm, or about 575 nm, or about 600 nm.
[0058] In one aspect, black dots or markers can be applied to golf balls, such as non-white or colored golf balls. In one aspect, an analysis algorithm or analysis module can be adapted such that if there is one large bright marker, to use that as the background and look for multiple dark markers inside of that area. In one aspect, three different color markers or patterns can be applied to golf balls, including at least one fluorescent green or other visible color marking, at least one fluorescent NIR or IR marking, and at least one black marking.
[0059] In one aspect, the marking (i.e., the fluorescent marking, the visible color marking, fluorescent NIR or IR marking, black marking, etc.) can be placed over another marking on the golf ball or golf club. In one aspect, this additional marking can be considered a backing or background marking and the marking applied over the backing marking can be considered a primary marking. In one aspect, the backing marking can be white, so as to provide greater contrast with the primary marking and the underlying color of the golf ball or golf club. The color of the backing marking can be different colors besides white. In one aspect, the backing marking has a slightly larger surface area than the primary marking. For example, the backing marking can have a first diameter and the primary marking can have a second diameter, and the first diameter can be greater than the second diameter. In one aspect, the backing marking has an identical size or surface area as a surface area of the primary marking. In one aspect, the backing marking is white or comprised of a white colorant, and is applied to the cover or outer surface of a non-white golf ball. The primary marking is comprised of a fluorescent colorant, which can be configured to emit light either in the visible light range or the near-infrared or infrared light range. Light, which can be directed via a light source, can be directed towards a non-white dynamic golf object that includes a white backing marking and a fluorescent primary marking, and the light can be emitted back towards a camera. The light from the light source can be in the visible light range, the near-infrared light range, or infrared light range.
[0060] In one aspect, the backing marking and/or the primary marking can be applied via pad printing or other known techniques for applying markings, ink, colorants, or other elements to a golf ball surface. The backing marking can be applied first, and the primary marking can be applied second in terms of sequencing of pad printing or other mark formation techniques. In one aspect, the primary marking can allow some light to be passed through, and can thereby be considered semi-transparent or semi-translucent. In one aspect, light can be configured partially pass through the primary marking and be reflected or emitted by the backing marking.
[0061] In one aspect, a launch monitor system is disclosed herein that is configured to monitor at least one dynamic golf object. The at least one dynamic golf object can include a golf ball, a golf club, or any other golf-related component or feature.
[0062] The dynamic golf object can include at least one first marker comprised of a first fluorescent colorant. In one aspect, the first fluorescent colorant can be configured to absorb a first specific type of light or energy and can be configured to emit a second specific type of light or energy.
[0063] The launch monitor system can comprise a first light source configured to illuminate the dynamic golf object with light at a first wavelength range. The first light source can be configured to emit light within the visible light range or spectrum.
[0064] The launch monitor system can comprise a first imager configured to obtain at least one image of the dynamic golf object. The first imager can be configured to capture light at a second wavelength range. The second wavelength range can be in the near-infrared or infrared range, and can be different from the first wavelength range. In one aspect, the first imager can be a near-infrared or infrared imager.
[0065] The launch monitor system can comprise a first processor in communication with the first imager. The first processor can be configured to generate kinematic information regarding the dynamic golf object based on the at least one image from the first imager.
[0066] The first fluorescent colorant on the dynamic golf object can be configured to absorb light from the first light source at least within the first wavelength range, and emit light towards the first imager at least within the second wavelength range (i.e., the near-infrared or infrared range). In one aspect, the first wavelength range is within the visible light range.
[0067] In one aspect, the first imager can be comprised of a first imager configured to detect light at the second wavelength range. In one aspect, the first imager can be a near-infrared or infrared imager. In one aspect, the first imager can be comprised of a first imager and a first band-pass filter. The band-pass filter can be comprised of a low-pass filter and a high-pass filter, in one aspect.
[0068] In one aspect, the first light source can be comprised of a first light source configured to emit light at the first wavelength range. In one aspect, the first light source can be a near-infrared or infrared light source. The near-infrared or infrared light source can be a near-infrared or infrared light emitting diode, in one aspect. The first light source can be comprised of a flash tube, and a second band-pass filter that is configured to filter light emitted from the flash tube having a wavelength below the second wavelength range (i.e., filter out all near-infrared or infrared light). The flash tube can be a xenon light flash tube, in one aspect. One of ordinary skill in the art would understand that the type of lighting or light source can vary.
[0069] The dynamic golf object can be comprised of a non-white golf ball, in one aspect. In a more specific aspect, the non-white golf ball can be a yellow, green, red, orange, pink, blue, indigo, or violet golf ball. In another aspect, the golf ball can be a white golf ball.
[0070] In one aspect, the at least one dynamic golf object can be a golf ball, and the first fluorescent colorant can be configured to emit light having a wavelength in a near-infrared or infrared light range. The golf ball can further comprise at least one second marker comprised of a second fluorescent colorant that is configured to emit light having a wavelength in a visible light range. The golf ball can further comprise at least one third marker comprised of a black colorant. Based on this configuration, the golf ball launch monitor can detect kinematic data or information based on the first fluorescent colorant of the first marker. The golf club launch monitor can detect the relevant data or information regarding contact between the golf ball and the golf club via use of the third markers. By using a black colorant for the third marker, the launch monitor can be configured to detect kinematic information or data even when the golf ball fluoresces in the same wavelength range as the second fluorescent colorant on the club markers. The marker(s) on the golf club can be comprised of a fluorescent colorant, which is the second fluorescent colorant. In this configuration, a total of three different types of colorants and markers are provided: a first fluorescent colorant in the first marker (i.e., a near-infrared or infrared colorant), a second fluorescent colorant in the second marker(s) applied to the golf club (i.e., a visible light colorant), and a third colorant in the third marker for the golf ball (i.e., a black colorant). In one aspect, a launch monitor system is provided that is configured to monitor at least one dynamic golf object. The dynamic golf object includes: (i) at least one backing marker comprised of a white colorant, and (ii) at least one primary marker comprised of a fluorescent colorant. The at least one backing marker can be applied to an outer surface of the at least one dynamic golf object and the at least one primary marker is applied over the at least one backing marker. In one aspect, the term applied over can mean applied on top of, or overlapping with. One such exemplary configuration for this is shown in
[0071] The launch monitor system of this aspect can include similar components as generally disclosed herein, such as a first light source configured to illuminate the at least one dynamic golf object, a first imager configured to obtain at least one image of the at least one dynamic golf object, and a first processor in communication with the first imager, the first processor being configured to generate kinematic information regarding the at least one dynamic golf object based on the at least one image from the first imager. In one aspect, the fluorescent colorant of the at least one primary marker is configured to: absorb light from the first light source at least within a first wavelength range, and emit light towards the first imager at least within a second wavelength range that includes wavelengths that are longer than wavelengths in the first wavelength range. In one aspect, the first wavelength range is in the visible light range, and the second wavelength range is in the near-infrared or infrared light range. In another aspect, the first wavelength range is in the visible light range, and the second wavelength range is in visible light range. In one aspect, the presently disclosed arrangement can be configured to generate kinematic information or data with respect to a white golf ball, a non-white golf ball, and/or a golf club.
[0072] The at least one backing marker can be applied via pad printing, and/or the at least one primary marker is applied via pad printing.
[0073] In one aspect, the at least one backing marker and the at least one primary marker can each have a circular profile. One of ordinary skill in the art would understand that the shape or profile of the markers can vary. The at least one backing marker can have a first area, and the at least one primary marker can have a second area, and the first area can be greater than the second area. In another aspect, the at least one backing marker has a first area, the at least one primary marker has a second area, and the first area can be identical to the second area.
[0074] The fluorescent colorant of the at least one primary marker can be semi-transparent or semi-translucent. In one aspect, some of the light is configured to pass through the primary marker and reflect off of the backing marker, which is white or any other color specifically configured to reflect light as opposed to absorb light. One of ordinary skill in the art would understand that the backing marker can be applied underneath or underlying any one or more of any of the other types of markers disclosed herein.
[0075] The dynamic golf object can be comprised of a golf ball, and the launch monitor system can be further configured to monitor a golf club including at least one first golf club marker comprised of a second fluorescent colorant. In one aspect, the launch monitor system further comprises a second light source configured to illuminate the golf club with light at a third wavelength range. The launch monitor system further comprises a second imager configured to obtain at least one image of the golf club. The second imager can be configured to capture light at a fourth wavelength range. The fourth wavelength range can be in the near-infrared or infrared range, and the fourth wavelength range is different from the third wavelength range. A second processor can be in communication with the second imager, and the second processor can be configured to generate kinematic information regarding the golf club based on the at least one image from the second imager. The second fluorescent colorant on the golf club is configured to: absorb light at least within the third wavelength range, and emit light at least within the fourth wavelength range (i.e., the near-infrared or infrared range).
[0076] In another aspect, the at least one dynamic golf object can be comprised of a golf ball, and the launch monitor system is further configured to monitor a golf club including at least one first golf club marker comprised of a fluorescent colorant. The launch monitor system can further comprise a second light source configured to illuminate the golf club with light at a third wavelength range. A second imager can be configured to obtain at least one image of the golf club, the second imager being configured to capture light at a fourth wavelength range, wherein the fourth wavelength range is in the visible light range, and the fourth wavelength range includes wavelengths that are longer than wavelengths in the third wavelength range. A second processor can be in communication with the second imager, the second processor being configured to generate kinematic information regarding the golf club based on the at least one image from the second imager. The fluorescent colorant on the golf club can be configured to: absorb light at least within the third wavelength range, and emit light at least within the fourth wavelength range.
[0077] The non-white golf ball can further include at least one secondary golf ball marker comprised of the second fluorescent colorant, and the second light source can be configured to illuminate the non-white golf ball with light at the third wavelength range.
[0078] In one specific exemplary configuration, the golf ball can be white or non-white. The golf ball can include a plurality of markings, including at least one first marking comprised of a fluorescent colorant (which may or may not be in the visible light spectrum), at least one second marking comprised of a fluorescent near-infrared or infrared colorant, and at least one third marking comprised of a black colorant. In one specific exemplary configuration, the golf club can include a plurality of markings, including at least one first marking comprised of a fluorescent colorant. The fluorescent colorant on the marking on the golf club can be in the visible light spectrum, in one aspect, but does not have to be.
[0079] In one aspect, any of the filters disclosed herein, which can be applied to the light sources or cameras/imagers for either the golf club or golf ball subsystem launch monitors, can be a band-pass filter. In one aspect, the band-pass filter can be selected in order for the light to be emitting towards the golf ball or golf club within a predetermined wavelength range. In one aspect, the band-pass filter can be selected in order for the light emitted by the golf ball or golf club towards the camera to be within a predetermined wavelength range. In one aspect, either band-pass filter can include a low-pass filter and a high-pass filter.
[0080] In another aspect, a launch monitor system configured to monitor a golf club and a golf ball is disclosed. As shown in
[0081] The golf ball can include at least one first golf ball marker comprised of a first fluorescent colorant and at least one second golf ball marker comprised of a second fluorescent colorant. As shown in
[0082] In one aspect, at least one of the first or second golf ball markers can include a fluorescent near-infrared or infrared colorant, which can be configured to absorb light within the visible light spectrum range and emit light or energy within the near-infrared or infrared light spectrum range. The golf club 400 can include at least one first golf club marker 406 comprised of a fluorescent colorant, such as a second fluorescent colorant. In one aspect, the golf club and the golf ball can share a common marker that is comprised of the second fluorescent colorant. The at least one first golf club marker 406 can be comprised of a different colorant, such as a fluorescent visible light colorant in one aspect. The at least one first golf club marker 406 can be comprised of a fluorescent visible light colorant in one aspect.
[0083] A third set of markers 307, 407 can also be provided on the golf ball 300 and the golf club 400, respectively. The third set of markers 307, 407 can include fluorescent visible light colorants and/or fluorescent near-infrared or infrared colorants.
[0084] In one aspect, the golf club only includes markers comprised of fluorescent visible light colorants. In another aspect, the golf club includes at least one marker comprised of fluorescent visible light colorant and at least one marker comprised of fluorescent near-infrared or infrared colorant. In one aspect, the golf ball includes at least one marker comprised of fluorescent visible light colorant and at least one marker comprised of fluorescent near-infrared or infrared colorant. In one aspect, the golf ball only includes markers comprised of fluorescent near-infrared or infrared colorants.
[0085] The launch monitor can comprise both a golf ball monitor or golf ball sub-system and a golf club monitor or golf club sub-system. The golf ball and golf club sub-systems can be positioned within a common housing or separate housings. The golf ball and golf club sub-systems can be commonly connected to a shared computer or electronic device. One of ordinary skill in the art would understand that communication connections or channels, such as electrical, data, etc., can be provided between the golf ball and golf club sub-systems.
[0086] The golf ball launch monitor 100 can be comprised of a first light source 120 configured to illuminate the golf ball with light at a first wavelength range, and a first imager 110a, 110b configured to obtain at least one image of the golf ball. The first imager can be configured to capture light at or within a second wavelength range. The second wavelength range can be in the near-infrared or infrared range, and is different from the first wavelength range. The first imager 110a, 110b can be comprised of stereoscopic camera, in one aspect. Various other types of cameras can be used, as one of ordinary skill in the art would appreciate based on the present disclosure. In one aspect, the camera can be high-resolution cameras. Exemplary commercially available cameras can include: the Genie Nano GigE camera from Teledyne Technologies, cameras from Basler AG, a Raspberry Pi high quality camera, an ultra-high resolution camera from Keyence Corporation, or a GigE camera from Vision Systems Technology.
[0087] A computer 500 and/or a first processor 510 (illustrated in
[0088] A golf club launch monitor 200 is also provided that can be generally similar to the golf ball launch monitor assembly. The golf club launch monitor assembly can include a second light source 220 configured to illuminate the golf club with light at a third wavelength range, and a second imager 210a, 210b configured to obtain at least one image of the golf club. The second imager can be configured to capture light at a fourth wavelength range. The fourth wavelength range can be in the near-infrared or infrared range, and is different from the third wavelength range. The second imager 210a, 210b can be comprised of stereoscopic camera, in one aspect. Various other types of cameras can be used, as one of ordinary skill in the art would appreciate based on the present disclosure.
[0089] In one aspect, at least one of the first or second imagers is a near-infrared or infrared camera. In one aspect, the first imager (i.e., the golf ball imager) is a near-infrared or infrared camera. In another aspect, the second imager (i.e., the golf club imager) is a near-infrared or infrared camera.
[0090] In one aspect, the first and/or second light source can be configured to emit light within the visible light and near-infrared or infrared light ranges. In one aspect, the light sources can include a flashtube or other similar component. In one aspect, the light source can include a xenon light flashtube. In one aspect, either one of the first or second light sources can also include a filter that is either integrally provided or attached to the light source. The filter can be configured to block out or filter out light above and/or below a predefined range. Band-pass, low-pass, and/or high-pass filters can be used. Alternatively, the light sources may lack any filters and may instead be configured to only generate light within a predefined range.
[0091] In another aspect, at least one of the imagers can be configured to capture or obtain at least one image or detect light at a predefined range. In one aspect, at least one of the imagers can be configured to capture or obtain at least one image or detect light including a wide spectrum or range. In one aspect, at least one of the imagers can be configured to only obtain at least one image or detect light within the visible light spectrum. In one aspect, at least one of the imagers can be configured to specifically obtain at least one image or detect light within the near-infrared or infrared light spectrum. In one aspect, at least one of the imagers is a near-infrared or infrared imager or camera.
[0092] Referring to
[0093] In one aspect, the first, second, third, and fourth wavelength ranges disclosed herein are different from each other. In one aspect, exemplary ranges for the first wavelength range can include wavelengths of 400 nm-700 nm, or 350 nm-750 nm, or any wavelengths less than 700 nm, or any wavelengths less than 725 nm. In one aspect, the first wavelength range can correspond to the visible light range. In one aspect, the first wavelength range corresponds to the light spectrum that is emitted via the light source for the golf ball side of the launch monitor.
[0094] In one aspect, exemplary ranges for the second wavelength range can include any wavelengths greater than 700 nm, or greater than 725 nm, or greater than 750 nm, or greater than 800 nm, or greater than 850 nm. In one aspect, the second wavelength range can correspond to the near-infrared or infrared light range. In one aspect, the second wavelength range corresponds to the light spectrum that is detected or captured via the camera or imager for the golf ball side of the launch monitor.
[0095] In one aspect, exemplary ranges for the third wavelength range can include wavelengths of 400 nm-700 nm, or 350 nm-750 nm, or any wavelengths less than 700 nm, or any wavelengths less than 725 nm. In one aspect, the third wavelength range can correspond to the visible light range. In one aspect, the third wavelength range corresponds to the light spectrum that is that is emitted via the light source for the golf club side of the launch monitor.
[0096] In one aspect, exemplary ranges for the fourth wavelength range can include wavelengths of 400 nm-700 nm, or 350 nm-750 nm, or any wavelengths less than 700 nm, or any wavelengths less than 725 nm. In another aspect, exemplary ranges for the fourth wavelength range can include wavelengths greater than 700 nm, or greater than 725 nm, or greater than 750 nm, or greater than 800 nm, or greater than 850 nm. In one aspect, the fourth wavelength range can correspond to the near-infrared or infrared light range. In one aspect, the fourth wavelength range corresponds to the light spectrum that is detected or captured via the camera or imager for the golf club side of the launch monitor.
[0097] In one aspect, the first wavelength range can include the visible light spectrum, and the third wavelength range can include the visible light spectrum but can include a different range as compared to the first wavelength range. In one aspect, the second wavelength range can include the near-infrared or infrared light spectrum, and the fourth wavelength range can include the near-infrared or infrared light spectrum but can include a different range as compared to the second wavelength range. In another aspect, the fourth wavelength range can include the visible light spectrum.
[0098] A second processor can be in communication with the second imager, and the second processor can be configured to generate kinematic information regarding the golf club based on the at least one image from the second imager. The second processor can be in communication with the first processor, in one aspect. In one aspect, the first and second processors can be shared by a common computer or CPU. In one aspect, only a single processor is required for both the golf ball and golf club launch monitor systems.
[0099] The first fluorescent colorant on the golf ball can be configured to: absorb light at least within the first wavelength range, and emit light at least within the second wavelength range. In this manner, the first fluorescent colorant on the golf ball is configured to absorb visible light directed towards the golf ball via the first light source, and is also configured to emit near-infrared or infrared light or energy towards the first imager.
[0100] The second fluorescent colorant on the golf ball and the golf club is configured to: absorb light at least within the third wavelength range, and emit light at least within the fourth wavelength range. In this manner, the second fluorescent colorant on the golf ball and golf club can be configured to absorb visible light directed towards the golf ball via the first and second light source assemblies, and is also configured to emit near-infrared or infrared light or energy towards the first and second imagers.
[0101] In one aspect, each of the golf ball and golf club launch monitor sub-systems includes a processor, memory, CPU, application module, image processor module, sensor unit, counter/timer unit, and trigger unit. One of ordinary skill in the art would understand that the launch monitor can be configured such that only a single one of these components is necessary to operate both the golf ball and golf club launch monitor sub-systems. Regardless of the specific component implementation, the present disclosure provides a configuration in which the golf ball and golf club launch monitor sub-systems are configured to communicate and coordinate with each other in order to accurately obtain information regarding kinematics of the golf ball and golf club.
[0102] In another aspect, the golf ball and golf club launch monitor sub-systems can be operated via a headless configuration in which software or other application is configured to run, analyze, and implement the functions of the launch monitor. In that configuration, data can be sent to a user device, such as a mobile phone, computer, etc., and the user can operate the functionality of the launch monitor via a user interface. Stated differently, the present disclosure can be implemented via a hardware approach or a software approach.
[0103] A method of generating kinematic information regarding a dynamic golf object via a launch monitor is also provided herein. The method can comprise applying at least one first marker comprised of a first fluorescent colorant to the dynamic golf object.
[0104] The method can further comprise illuminating, via a first light source, the dynamic golf object with light at a first wavelength range. The first wavelength range can be within the visible light range of the electromagnetic spectrum.
[0105] The method can further comprise obtaining, via a first imager, at least one image of the dynamic golf object. The first imager can be configured to capture light at a second wavelength range. The second wavelength range can be within the near-infrared or infrared range of the electromagnetic spectrum, and the second wavelength range is different from the first wavelength range.
[0106] The method can further comprise generating, via a processor, kinematic information regarding the at least one dynamic golf object based on the at least one image from the first imager.
[0107] The first fluorescent colorant on the at least one dynamic golf object can be configured to: (i) absorb visible light from the first light source at least within the first wavelength range, and (ii) emit near-infrared or infrared light towards the first imager at least within the second wavelength range.
[0108] In one aspect, the dynamic golf object is a golf ball and/or a golf club. In one aspect, the dynamic golf object is a golf ball, and the method further comprises similar steps disclosed above but with respect to a golf club as well. For example, the method can comprise applying at least one marker to the golf club that can also be comprised of a fluorescent colorant. In one aspect, a single common marker can be applied to both the golf club and the golf ball. In one aspect, both the golf ball and the golf club can include a fluorescent colorant that is configured to absorb light in the visible spectrum, and emit light in the near-infrared or infrared spectrum.
[0109] In one aspect, the marker on the golf ball can be configured to absorb light in a first visible light range and emit light in a first near-infrared or infrared light range. The marker on the golf club can be configured to absorb light in a first visible light range and emit light in a second near-infrared or infrared light range (which is different from the first near-infrared or infrared light range). In one aspect, the marker on the golf club can be configured to absorb light in a second visible light range (which is different from the first visible light range) and emit light in a second near-infrared or infrared light range (which is different from the first near-infrared or infrared light range). In one aspect, the marker on the golf club can be configured to absorb light in a second visible light range (which is different from the first visible light range) and emit light in the first near-infrared or infrared light range. In one aspect, various ranges in the visible light spectrum and various ranges in the near-infrared or infrared light spectrum can be utilized by the launch monitor. In one aspect, this type of configuration can provide for a relatively targeted approach to illuminating and imaging the golf ball and golf club such that the launch monitor is more adaptable to working with various types of equipment, settings, etc.
[0110] In one aspect, the present disclosure is related to a system that is configured to analyze or obtain at least one image of a golf club and/or a golf ball prior to, simultaneously during, and after the golf club strikes the golf ball. The present disclosure is directed to, among other features, an apparatus for measuring golf club and golf ball kinematics where the apparatus includes a camera system capable of acquiring at least one image in a field of view. In one embodiment, the camera system is configured to capture at least one image of a golf club and a golf ball. For example, in one embodiment, the camera system of the invention is configured to simultaneously capture at least one image of both the golf club and golf ball. In another embodiment, the camera system of the present disclosure utilizes at least one camera to accurately capture the at least one image.
[0111] The present disclosure can include various aspects of the launch monitor disclosed in US Patent Publication 2019/0192944, which is commonly assigned to Acushnet Company and incorporated in its entirety as if fully set forth herein. In one aspect, the camera assembly disclosed herein can include a stereographic camera system. In this aspect, a plurality of cameras are used. For example, in one embodiment, stereographic camera system includes a first pair of cameras that captures at least one image of the golf club and a second pair of cameras to capture at least one image of the golf ball. In other aspects, a light-field camera systems can be used, as disclosed in US Patent Publication 2019/0192944. In yet another aspect, the camera system can be configured to utilize high speed cameras, as disclosed in US Patent Publication 2019/0192944.
[0112] In one aspect, the present disclosure provides a system and method configured to determine golf club kinematic information including, but not limited to, club head speed, club head acceleration, club head path angle, club head attack angle, club head loft, club head droop, club head face angle, club head face spin, club head droop spin, club head loft spin, ball impact location on the golf club face, horizontal impact position, vertical impact position, as well as the motion of the object (club and ball) in six degrees of freedom, including three translational and three rotational. In addition, the present disclosure provides a system and method configured to determine golf ball kinematic information including, but not limited to, ball speed, ball acceleration, ball elevation angle, ball azimuth angle, launch angle, side angle, ball back spin, ball rifle spin, ball side spin, total spin, estimated trajectory, spin axis, and ball impact location on the golf club face.
[0113] In one aspect, the present disclosure is directed at a launch monitor configured to monitor a dynamic golf object (which can include a golf club or a golf ball), the launch monitor comprising a camera system configured to capture at least one image of the dynamic golf object for use to generate three dimensional images and a processor in communication with the camera subsystem, the processor configured to generate the three dimensional images from the at least one image captured by the camera subsystem and generate kinematic information of the dynamic golf object from the three dimensional images. In another aspect, the launch monitor generates three dimensional images by determining the actual distance of the dynamic golf object from the launch monitor. In another aspect, the launch monitor generates the three-dimensional images from a sequential portion of at least one image to form sequential three dimensional images and uses a difference in distance of selected points of the dynamic golf object in the sequential three dimensional images to find the kinematic information. In another aspect, the launch monitor determines the distance of the dynamic golf objects by measuring in the x, y, and z directions.
[0114] In one aspect, the launch monitor disclosed herein utilizes a camera system including at least one stereographic camera subsystem having at least two cameras focused on a field of view that includes the dynamic golf object. In another aspect, the two cameras of the launch monitor are placed at different locations from one another and directed at the field of view.
[0115] In an aspect, the launch monitor is configured to monitor both a golf club and a golf ball at the same time and can generate the kinematics of both at the same time as well. In an aspect, the launch monitor can be configured to capture at least one image of the dynamic golf object for use to generate sequential three dimensional images and then, via the processor, generate the sequential three dimensional images from the a portion of sequential images from the plurality of images captured by the camera subsystem by determining the actual distance of the dynamic golf object from the launch monitor, and generate kinematic information of the dynamic golf object from the three dimensional images by measuring the distance in three directions.
[0116] In an aspect, the launch monitor can use cameras with an exposure time shorter than about 80 microseconds, preferably shorter than about 20 microseconds, most preferably shorter than about 10 microseconds and a frame rate faster than about 500 frames per second (fps), preferably faster than about 1,500 fps, most preferably faster than about 5,000 fps.
[0117] In another aspect, the launch monitor can include a resolution of at least about 32 pixels per inch, preferably about 200 pixels per inch, most preferably about 1,000 pixels per inch.
[0118] The present invention relates to a launch monitor that is configured to capture images of golf objects that are then used by a processor to generate three dimensional images/models of the golf objects from which the kinematics of the golf objects can be measured. The images generated by the camera system allow the launch monitor, and more specifically the processor and the programs called upon by it, to capture actual measurements of the golf objects as generated in a three dimensional environment, increasing the accuracy of the overall launch monitor. In such aspects, the launch monitor can include, but not limited to, the camera system and a processor.
[0119] In one embodiment, the golf ball may be placed at a desired point within a field of view of the launch monitor in order to ensure accuracy. The field of view defines the area from which the camera system captures images of the golf objects. In one embodiment, the field of view is fixed. In another embodiment, the field of view is variable. In an aspect, the use of two cameras can enlarge the field of view. In one aspect, a known launch point in the field of view is pre-determined for use with the launch monitor. More specifically, the launch monitor can be configured to be stationary, with a given area marked for placement of the golf ball within the field of view. In other aspects, a user may utilize a teeing aid that helps determine proper placement of the ball by the user. In other embodiments, the processor can be configured to determine the distance from the launch point based upon three dimensional information from the camera system. Regardless of the means used to place the golf objects within the field of view, the launch monitor can rely on the actual distances of the golf objects from the cameras in the camera system in order to ensure accurate kinematic measurements.
[0120] In one embodiment, the launch monitor has a fixed field of view such that the launch monitor does not move during the capture of images of the golf objects. Thus, the kinematic characteristics of the ball are determined based on images of the ball that are taken soon after impact with the golf club. Likewise, the kinematic characteristics of the golf club are taken upon the movement of the club through the field of view.
[0121] The launch monitor can include a camera system that is configured to capture multiple images of the golf objects (e.g., the golf ball and the golf club) that allow the generation of 3D images/models from which 3D measurements can be taken. Once the camera systems have taken multiple images and multiple 3D images/models have been created, the difference between the positions of the objects in the different images is measured. Using the differences captured, as well as the known difference in time between the taken images, various kinematic values of the objects can be generated, as discussed in more detail below.
[0122] In order to create the 3D image models referenced above, in one aspect, the camera system is configured to measure the motion of the golf objects in three dimensions. In one embodiment, the camera system includes stereographic cameras. One of ordinary skill in the art would understand that other types of cameras could be used as long as the cameras are configured to capture images that can accurately create 3D images/models of the golf objects as they move in order to capture three dimensional data.
[0123] In an aspect, the camera system in the launch monitor of the present invention includes one or more camera subsystems that are used to acquire images of the golf club and golf ball in motion. In this aspect, the camera subsystems may include stereographic camera subsystems. In one embodiment, the stereographic camera subsystems include a plurality of cameras. In another embodiment, the stereographic camera subsystems include a two or more cameras. In yet another embodiment, three or more cameras are included in the stereographic camera subsystems. The plurality of cameras can be placed at different locations from one another in order to each capture multiple 2D images of the moving golf objects, which then can be assembled by the processor to form or generate 3D images. In one embodiment, the cameras of each stereographic camera subsystem are configured to be synchronized in time with each other. In another embodiment, a separate sensor is hardwired or otherwise connected to each camera to ensure the cameras in the stereographic camera subsystem take images at the same time. Suitable sensors for use in this aspect include, but are not limited to, acoustic, laser, and combinations thereof.
[0124] In another embodiment, two stereographic camera subsystems are used, with one stereographic camera subsystem configured and positioned to acquire images of the golf club and the other stereographic camera subsystem configured and positioned to acquire images of the golf ball. The images captured by the stereographic camera subsystems (i.e., two 2D images captured at the same time of the same object from different perspectives) can then be used and paired together to generate three dimensional data.
[0125] In order to analyze the kinematic properties of the golf club and golf ball, not only do accurate dimensions need to be captured, but also the time between the images must be accurately captured as well. In order to be as accurate as possible, it is desirable that the cameras of the camera system have short exposure times, with short intervals between consecutive images. In an aspect, the camera systems of the present invention collect multiple images considered in two different ways.
[0126] In a first aspect, the camera system utilizes double exposure of one image with the use of a strobe light. In the second aspect, the camera system utilizes a camera with a frame rate fast enough to capture multiple images while the object is within its field of view. For example, in 0.0025 seconds (2.5 ms), a ball spinning at 12,000 rpm will turn one half of a revolution or a ball travelling at 175 mph will move 7.7 inches. However, the faster the frame speed or strobe response time is, the more accurate the camera systems. In this aspect, the frame speed and/or strobe response time can range between approximately 0.5 ms and 2.5 ms between images. In one embodiment, the frame speed and/or strobe response time can range between approximately 0.75 ms and 2.0 ms between images. In another embodiment, the frame speed and/or strobe response time can range between approximately 1.0 ms and 2.0 ms between images. In yet another embodiment, the frame speed and/or strobe response time can range between approximately 1.5 ms and 2.5 ms between images. In still another embodiment, the frame speed and/or strobe response time can range between approximately 0.5 ms and 1.5 ms between images. One of ordinary skill in the art would understand based on the present disclosure that these times can vary.
[0127] As discussed above, the launch monitor of the present disclosure can also capture the movement of the golf objects through the use of double exposures. In such aspects, the camera subsystems utilize a combination of strobe lights and cameras. In an aspect, it is desirable for the strobe lamp to generate multiple flashes of light within a short period of time. This allows multiple images of both a golf club and ball to be taken before and after impact.
[0128] The sequence for capturing a double exposed image is as follows. The shutter of the camera opens and the camera begins to collect light. In one embodiment, the shutter is electronic. After a short delay (e.g., about 10 ms), the first strobe fires. After a second delay (e.g., about 0.5 ms to about 2.5 ms, as discussed above), the second strobe fires. After another short delay, the shutter closes. The strobe produces a significant amount of light in two very short bursts, e.g., about 30 to 50 ms long. The camera collects as much light as possible at those two times to diminish the blurring in between and create an image of the object, stopped in two positions.
[0129] Given the speed at which the images are captured, it is preferable to have the acquired images transferred to an electronic memory as the images are acquired by the imaging sensor of each camera. In one embodiment, each camera is attached to a processor, such as a computer. In one aspect, a digital processor and digital memory are used to process the acquired images. Because consecutive images are acquired within a short time interval, it is desirable to have a hardwire connection or other type of connection that allows rapid transfer of information between the imaging sensor, memory and the processor. The hardwire bus used should also provide the advantage of flexible interconnectivity. Various buses, including, but not limited to, Fire Wire, PCI express, CoaXPress, Camera Link, GigE Vision (such as 5 GigE or 10 GigE), or USB (such as USB 3.1) may be used. The bus speed is preferably chosen to maximize the speed of data transfer between the cameras and the processor. Preferably, the bus speed is greater than 100 Mbps. More preferably, the bus speed is greater than about 400 Mbps, and most preferably the bus speed is greater than about a gigabit. In one aspect, the camera system can be separate systems that can communicate with a stand-alone computing device, such as a laptop or smart mobile device. In such aspects, the images can be communicated via wireless and wired means. In another aspect, the camera systems can be part of the smart device.
[0130] As discussed above, the camera subsystems can be configured to capture images of both the golf club and golf ball. Preferably, the camera subsystems are able to take multiple images of the golf ball and/or golf club to analyze the movement of the club and/or ball. This may be accomplished using a variety of methods. Preferably, a multi-frame method may be employed. This method is well known to those skilled in the art, and involves taking multiple images in different frames.
[0131] According to a method of the present disclosure, a golf club and golf ball are imaged using the apparatus described above. A golf club and ball may be placed in front of the apparatus. A golf club may be imaged on the upswing or on the downswing, depending on a particular application. In one aspect, multiple images of the golf club are captured during the downswing and the ball after impact. In another aspect, multiple images of the golf club are captured during the upswing and the ball after impact. In yet another aspect, multiple images of the golf club are captured during the upswing, during the downswing, at impact, and the ball after impact.
[0132] The swing speed of a club and, thus, the velocity of the ball, may vary based on the skill or experience of a player, or the type of club being used. In order to extract useful information about the club and ball, such as that described above, the time interval between captured images may be varied to improve kinematic accuracy. As discussed, the camera systems can include high-speed cameras. It is desirable to maximize the separation of subsequent object images within a given field of view. It also may be necessary to acquire subsequent ball images prior to 360 degrees of ball rotation. By taking many images at a high rate, it is possible to select images that have enough separation between the object's positions in order to accurately measure the movement of the object.
[0133] Swing speeds may vary, and ball speeds may vary. In some embodiments, the difference between the club speed and the ball speed may be large. In such embodiments, the time interval between two images of the club and the time interval between two images of the ball may be different. Therefore, it is a desirable function of the launch monitor to have adjustable shutter timing, given time intervals typically depend on the velocity of the club and/or ball, which can be dependent on the size of the balls, clubs, and users. In such aspects, programmable electronic shutters can be employed by the camera.
[0134] In one embodiment, the camera systems include an imaging sensor and lens assembly, and a camera control board. In an aspect, these components can be integrated within the camera itself, or be separate components connecting with the camera. With the former, all that is required is a network connection, power, and an external trigger. When the camera system includes a light-field camera, the lens assembly may include a plurality of lenses. In one embodiment, the imaging sensor may be a CCD. However, other types of sensors, such as a CMOS sensor, may be used.
[0135] It is desirable for the resolution of the camera(s) of the camera subsystem(s) to be sufficient to allow an accurate kinematic analysis of the images. Increasing the resolution of the camera allows a more detailed picture to be taken of a golf club and ball in motion. This in turn provides the advantage of allowing more accurate and precise kinematic calculations. Preferably, the resolution of the camera is about 1,900,000 pixels or greater (e.g., 16001200 resolution). The resolution of the camera can be approximately 4 megapixels to 8 megapixels. In one aspect, the resolution of the camera can be approximately 5 megapixels to 7 megapixels. In another aspect, the resolution of the camera can be approximately 4 megapixels to 6 megapixels. In yet another aspect, the resolution of the camera can be approximately 6 megapixels to 8 megapixels. In other aspect, the resolution can be 10-20 megapixels, or 20-50 megapixels, or greater than 50 megapixels.
[0136] At least one light source is provided to illuminate the ball and club in order to generate one or more images. In one aspect, a light source illuminates the golf club and ball. The light that reflects back from each object is imaged by the camera systems. Various forms of light source can be employed by the launch monitor. However, the type of camera system utilized will dictate in most cases the types of illumination that can be used by the launch monitors. In this aspect, the best orientation for the light is as close to in line with the camera as possible.
[0137] In one aspect, a golf club and a golf ball can be tagged using a set of markers. Such markers can include those disclosed in U.S. Pat. Nos. 8,016,688 and 7,744,480, both of which are incorporated by reference in their entirety. In combination with a camera system, this can be a powerful tool for analyzing the swing of a player. Typically, the markers placed on the equipment are selected to create a high contrast on the images of the swing captured by the camera.
[0138] In one aspect, high intensity markers, including fluoresce markers, reflect or emit light with a higher intensity than a white diffuse surface. Limited spectrum markers are excited by a specific spectrum of light, and only return light within a certain excitation wavelength. In an aspect, the present disclosure may be used with either high intensity markers or limited spectrum markers. In another embodiment, a combination of both types of markers may be used.
[0139] The present disclosure may be used with any types of markers. In some embodiments, as described above, limited spectrum markers may be used. In other embodiments, high intensity markers may be used. In another embodiment, markers or features that are inherent to the object are used. Under the proper conditions, retroreflective markers and fluorescent markers can reflect more light than a white diffuse surface. This feature of retroreflective markers and fluorescent markers is useful for creating higher contrast between the illuminated markers and the remainder of the image captured by the camera. By increasing the contrast, background noise such as reflections from surfaces other than from the markers can be reduced or eliminated completely. As such, in one embodiment, the markers include retroreflective markers, fluorescent markers, or combination thereof.
[0140] Because it is desirable to differentiate between the golf club and the golf ball, it is also desirable to place different markers on the golf club and golf ball. Accordingly, different markers can be used for marking the golf club and the golf ball. For example, a first set of markers is used for the golf club and a second (different) set of markers is used for the golf ball. In one embodiment, a first set of fluorescent markers is used for the golf club and a second (different) set of fluorescent markers is used for the golf ball. In such aspects, the different fluorescent markers are preferably excited by light from the same excitation wavelengths. In another embodiment, a first set of limited spectrum markers is used for the golf club and a second (different) set of limited spectrum markers is used for the golf ball. In yet another embodiment, a first set of high intensity markers is used for the golf club and a second (different) set of high intensity markers is used for the golf ball. In still another embodiment, a first set of retroreflective markers is used for the golf club and a second (different) set of retroreflective markers is used for the golf ball. Several examples of how different club markers and ball markers can be used to differentiate the club and ball are described in U.S. Pat. No. 8,512,160, the entire disclosure of which is incorporated by reference herein. In a specific aspect of the present disclosure, the markers can be configured to absorb visible light and emit near-infrared or infrared light. These types of markers can be used in conjunction with a light source that emits light in the visible light range, and a camera that detects light in the near-infrared or infrared light range.
[0141] In one aspect, a plurality of markers may be placed at different points on the surface of the golf club. The different points may include the shaft, toe, heel, or sole of the club. In a preferred aspect, the placement of the markers is chosen to facilitate optical fingerprinting of the club. The placement of the markers may be varied in order to ensure that each club or ball is optically unique. Those skilled in the art will recognize that the placement of the markers may be varied by quantity, size, shape, and spatial location.
[0142] In one aspect, it is desirable to capture images of the golf club before impact with the golf ball. Additionally, it is desirable to capture images of the golf ball in the moments after impact. As described above, this allows the kinematic characteristics of the club and ball to be calculated. In order to capture the desired images, the camera (and in cases where a light source needs to be) must be activated during the desired portions of the swing and the ball trajectory. In one aspect, a triggering system can be used that determines when the club and ball are in motion, and relays this information to the camera (and flash if needed) through a signaling system.
[0143] Various triggers can be utilized by the launch monitor to activate the camera systems and light source, if needed. In one embodiment, the various triggers are automatic and are activated by sensing motion. Such triggers can include, but are not limited to, laser sensors, ultrasonic sensors, acoustic sensors, Doppler shift sensors, and various other sensors that detect motion. In another embodiment, more than one trigger can be utilized. For example, separate triggering systems can be used to detect the club motion before hitting the golf ball and the impact and movement of the golf ball.
[0144] In one aspect, the camera and image analysis system can be used as the trigger. In such aspects, the camera systems can be configured to take continuous images while the analysis system monitors each image. If the image analysis system detects a movement of an object, it can activate the storage of the images, as well as the measurement analysis. Otherwise, if no motion is detected in the images, the images are not saved.
[0145] In one aspect, a trigger can be used that has a fast response time and high signal to noise ratio. This is desirable because the trigger controls the signaling of the camera. This includes all of the cameras of the camera subsystems utilized by the launch monitor. In addition, a trigger with these qualities is desirable for controlling the strobe utilized by the camera systems configured for double exposure imaging. Thus, the position of the objects reflection within the image frame is dependent on trigger response. In one embodiment, an optically based trigger may be used. An optical trigger has a fast response time and a high signal to noise ratio, is accurate and precise, and is capable of functioning in conditions where ambient light levels are high. Such optical triggers can include, but are not limited to, a monochromatic or laser light. One such laser sensor is described in U.S. Pat. No. 6,561,917, which is incorporated by reference in its entirety. In another embodiment, an ultrasonic trigger may be used. One such ultrasonic trigger is described in U.S. Pat. No. 8,608,583, which is incorporated by reference herein in its entirety.
[0146] Triggers commonly include an emitter and receiver. In some embodiments, the trigger may employ a passive reflector that further enhances signal to noise ratio which makes it robust in bright ambient light environments. In order to control the activation of the camera and the flashes, the trigger preferably includes a control circuit. In one aspect, the control circuit preferably includes a discrete logic device such as a field programmable gate array (FPGA), microprocessor, or digital signal processor. The discrete logic device allows the trigger to be reprogrammed. Because the trigger is being used with objects that are moving at a high velocity, it is preferable that the trigger is capable of performing real time control of the camera(s) and light sources if needed.
[0147] As described with respect to various aspects of the present disclosure, a processor is preferably included. In one embodiment, the processor may be a single board computer, or an embedded controller, or an FPGA. In other aspects, the processor can be a part of a computer, laptop, desktop, or other computing device that is in communication with the other components of the monitor system, having an operating system. The processor may be used to instruct the various functional components, including, but not limited to, image capture, image processing, image analysis, data calculation, and data output subsystems.
[0148] Image capture can involve timing of the trigger signals to the cameras, communication with the cameras, and the transfer of images from the camera into the CPU's memory. Image processing involves identifying the object to be analyzed and the markings of interest, distinguishing them from the background. During image analysis, the pixel locations of markings in the image are converted into real world 3D locations using some form of calibration. Both image processing and image analysis can use software tools such as Halcon from MVTec, Matlab Image Processing Toolbox, OpenCV, MIL by Matrox or a custom written library, and may be performed on stored images as well as images acquired from the cameras. Data calculation produces club and ball trajectory from the 3D location and timing data. Data output presents the trajectory data in a meaningful way on a screen. Data can also be output to a database, spreadsheet, text file or any other means of storage or presentation.
[0149] In one embodiment, the processor is capable of performing a variety of functions. For example, the processor is capable of processing the acquired images and sending them to a memory. In addition, the processor executes the software that is necessary to analyze the images. The processor can be capable of performing any function known to those skilled in the art, including the generation of the kinematics information of the golf objects.
[0150] Imaging system resolution is dependent on imaging sensor resolution and size, as well as lens and filter characteristics. In one embodiment, resolution of the imaging system is preferably greater than about 1 line pairs per millimeter (lp/mm). In another embodiment, image resolution is greater than about 2 lp/mm. In yet another embodiment, image resolution is greater than about 5 lp/mm. The image resolution may be measured using a USAF target available from Edmund Industrial Optics.
[0151] In one embodiment, the estimated time between subsequent images is accurate to within about 10 microseconds. In another embodiment, the estimated time between subsequent images is accurate to within about 5 microseconds. In yet another embodiment, the estimated time between subsequent images is accurate to within about 3 microseconds.
[0152] The exposure duration, or shutter speed, (as covered above) can adversely affect accuracy due to the fact that optical blur associated with object motion induces error in spatial estimation. In one embodiment, exposure duration is less than about 75 microseconds. In another embodiment, the exposure duration is less than about 30 microseconds. In yet another embodiment, the exposure duration is less than about 10 microseconds. Exposure duration may be controlled by the strobe burn time, shutter open time, or time that the image sensor is active.
[0153] In embodiments which use a strobe it is also desirable to control the duration of the flash. In one embodiment, the flash duration is about 100 microseconds or less. In another embodiment, the flash duration is about 50 microseconds or less. In yet another embodiment, the flash duration is about 30 microseconds or less.
[0154] Once the camera system has been activated to capture the images of the golf objects (i.e., images of the golf club before impact with the ball and images of the golf ball after impact with the golf club), the image processing will then determine the golf ball measurements needed to generate the kinematics data. In an aspect, the image processing system will take the captured images and generate three dimensional images. Three dimensional images of both the golf ball and the golf club can be generated. In order to generate the three-dimensional images, the image processing system must be able to find points within three dimensions. By utilizing stereographic imaging (i.e., two different cameras) and epipolar geometry, or light-field imaging (capturing intensity and direction of lightincluding depth), points in three dimensions can be generated. Producing three dimensional images using stereographic imaging uses a pair of corresponding (i.e., taken at the same time) images and using epipolar geometry and is well known in the art. As discussed above, light-field images include not only 2D images, but also depth information, based upon the direction of the light. Therefore, the images can be generated into 3D models with corresponding coordinates.
[0155] In one aspect, the image processing system will generate a series of 3D images based upon the sequential images sent by the camera systems. In other words, the image processing system will generate 3D images based upon the adjacent frames sent. In an exemplary aspect, the image processing system will generate at least three consecutive 3D images. The system will then measure the distance of markers of the golf objects between the three images. More specifically, the system will take the three dimensional coordinates (x, y, z) of the markers and see the distance moved between adjacent frames. For example, an object in the 3D image generated from frame 1 has coordinates of xf1, yf1, and zf1. In frame 2, the object has coordinates of xf1, yf1, and zf2. The difference between the coordinates will generate the distance traveled (df1-f2) in 3D. From here, the velocity (vf1-2) of the golf objects can be determined by dividing the distance by the interval between frames. The same can be done for distance (df2-f3) and velocity (vf2-3) between frames 2 and 3. The acceleration of the golf object can then be determined from the difference in velocities (vf1-2)-(vf2-3) and frame rate. This process can be repeated on subsequent frames in order to measure/track acceleration/deceleration of the golf objects.
[0156] In an aspect, the ball velocity and the club velocity may be determined to within +/5 mph. In another aspect, the velocities may be determined to within +/1 mph. In yet another aspect, the velocities may be determined to within +/0.5 mph. Most preferably, the velocities may be determined to between +/0.1 mph or less.
[0157] By generating and measuring the distance traveled by the golf objects between frames in all three directions, the launch monitor provides more accurate kinematic information. For example, other systems will capture x and y points from 2D images, but will then project the z coordinates based upon the change in size of the golf object. In these cases, in order to generate the distance traveled in the z plane, assumptions must be made upon the golf object. Specifically, the systems must assume a standard measurement or size of the golf object. If the golf object is a little off, or the images cannot provide a solid edge, there is a strong possibility of an error being made in generating the distance traveled in the z direction.
[0158] With these measurements, other kinematic characteristics can be generated. Golf club kinematic information can include club head speed, club head acceleration, club head path angle, club head attack angle, club head loft, club head droop, club head face angle, club head face spin, club head droop spin, club head loft spin, ball impact location on the golf club face, horizontal impact position, and vertical impact position. In another aspect, the golf ball kinematic information can include ball speed, ball acceleration, ball azimuth angle, launch angle, side angle, ball back spin, ball rifle spin, ball side spin, total spin, estimated trajectory, spin axis, and ball impact location on the golf club face.
[0159] In some applications, it may be desirable to determine the backspin of a ball in order to determine the trajectory. The backspin can be calculated from the motion of the markers on the surface of the ball relative to the center of the ball. In one embodiment, the backspin of the ball is determined to within +/500 rpm. In another embodiment, the backspin of the ball is determined to within +/200 rpm. In yet another embodiment, the backspin of the ball is determined to within +/50 rpm or less.
[0160] Another measurement that commonly affects the trajectory is sidespin. The sidespin of the ball may be determined to within +/500 rpm. In one embodiment, the sidespin is determined to within +/250 rpm. In yet another embodiment, the sidespin is determined to within +/50 rpm or less. Other characteristics of the club that may be determined are the path angle, attack angle, face angle, loft angle, and droop angle. Each of these may be determined to about 1 degree or less. In one embodiment, each of these may be determined to about 0.5 degrees or less. In another embodiment, each of these may be determined to about 0.25 degrees or less.
[0161] Referring to
[0162] The launch monitor system can further include a switch/router unit 520. In one aspect, the switch/router unit 520 can include a plurality of ports or connections, such as at least four connections for the cameras and at least two connections for controllers. The switch/router unit 520 can be configured to provide a hub or common connection among these various components, in one aspect, and a means for connecting these components to a computer or other electronic components.
[0163] In one aspect, the launch monitor system can further include a counter/timer unit 530, which can generally be configured to implement triggering and synchronization between amongst the computer 500 and the golf ball and golf club launch monitors 100, 200, and more specifically can synchronize or trigger the various cameras, controllers, light sources, and other components.
[0164] The launch monitor system can further at least one sensor unit 540. In one aspect, the at least one sensor unit 540 can include an inclinometer, which can be configured to ensure the launch monitor system is arranged in an appropriate coordinate system or orientation. In one aspect, the inclinometer can be configured to measure the tilt or pose of the launch monitor and can be configured to adjust, correct, and/or account for the launch monitor's tilt or pose when determining the launch angle and other measurements associated with the kinematics of the golf ball and/or golf club. One of ordinary skill in the art would appreciate based on this disclosure that other types of sensors can be provided.
[0165] In another aspect, the launch monitor system can further include at least one image processor unit 550, which can be configured to locate markers, among other functions. In one aspect, the image processor unit 550 can be electronically connected to the cameras, light sources, and/or other electrical components.
[0166] The launch monitor system can further include an application module unit 560, which can be configured to carry out arming of the cameras, triggering, strobe activation, etc. The application module unit 560 can be configured to arm the cameras, trigger the light sources, and/or otherwise provide inputs or outputs to any one or more of the components of the launch monitor.
[0167] The launch monitor system can further include a processor 570, which can be configured to generate kinematic information regarding a dynamic golf object based on the at least one image or information obtained via an associated imager. At least one processor can be assigned to each of the golf ball and golf club launch monitors. In one aspect, a common processor or computing unit can be connected to the golf ball and golf club launch monitors. In one aspect, various processors can be connected to each of the golf ball and golf club launch monitors, and the processors can all be in communication with each other.
[0168] In one aspect, each of the elements 510-570 can be implemented virtually or within an application, as opposed to being provided as hardware components, modules, units, etc. In one aspect, any one or more of the elements 510-570 can be connected to any one or more of the interfaces or connections on the golf ball and golf club launch monitors 100, 200 via various types of connections. In one aspect, high speed image data transmission means can be provided, such as CoaXPress, Camera Link, GigE Vision, USB, etc.
[0169] In one exemplary configuration, a golf ball launch monitor includes a camera, which can be: (i) a near-infrared or infrared high-resolution camera, or (ii) a conventional light high-resolution camera with a band-pass filter to block out visible light such that the camera detects near-infrared or infrared light. The golf ball launch monitor can include a light source that can be: (i) a flash tube (such as a xenon light flash tube), or (ii) a near-infrared or infrared light source (such as an LED light). A filter can be applied to the light source to block or filter any light in the near-infrared or infrared light range such that only visible light is directed to the golf ball. The golf ball can include at least one marking, and can include at least three markings in one aspect. The golf ball markings can include at least one fluorescent marking, at least one fluorescent near-infrared or infrared marking, and at least one black marking. The golf club launch monitor can include similar components or different components as compared to the golf ball launch monitor. In one aspect, the golf club launch monitor can use a different portion of the near-infrared or infrared light spectrum. In another aspect, the golf club launch monitor can rely solely on the visible light spectrum and not use near-infrared or infrared light.
[0170] In one aspect, the present disclosure is directed to markers on golf equipment that fluoresce in the near-infrared or infrared spectrum and away from the wavelengths of where many colored golf balls fluoresce.
[0171] In one aspect, the present disclosure helps eliminate image background and suppresses the effects of varying ambient illumination.
[0172] In one aspect, the markers disclosed herein can fluoresce in the infrared spectrum and not the near-infrared spectrum. In one aspect, the markers disclosed herein can fluoresce in the near-infrared light spectrum and not the infrared light spectrum.
[0173] In one aspect, the present application also provides for the ability to obtain kinematic information of dynamic golf objects through the use of imaging within the near-infrared or infrared light spectrum.
[0174] Various bands or sections of the near-infrared or infrared can be utilized and one of ordinary skill in the art would understand that the present application is not limited to any single region or band of the visible light spectrum or the near-infrared or infrared spectrum.
[0175] In one aspect, the launch monitor system is configured to use at least some of the near-infrared or infrared light spectrum for detecting kinematics of the golf ball, and is configured to use the visible light spectrum for detecting kinematics of the golf club.
[0176] In one aspect, the launch monitor system is configured to use at least some of the near-infrared or infrared light spectrum for detecting kinematics of the golf ball, and is configured to use at least some of the near-infrared or infrared light spectrum for detecting kinematics of the golf club. The near-infrared or infrared light spectrums can be different.
[0177] In one aspect, the launch monitor system is configured to use at least some of the visible light spectrum for detecting kinematics of the golf ball, and is configured to use at least some of the near-infrared or infrared light spectrum for detecting kinematics of the golf club.
[0178] In one aspect, the launch monitor system is configured to use at least some of the visible light spectrum and at least some of the near-infrared or infrared light spectrum for detecting kinematics of the golf ball, and is configured to use at least some of the visible light spectrum and at least some of the near-infrared or infrared light spectrum for detecting kinematics of the golf club. In this aspect, both the golf ball and golf club can be analyzed using various portions of both the visible light and the near-infrared or infrared light spectrums.
[0179] In terms of generating the necessary data or information necessary to generate kinematic information or data, any one or more of the systems or configurations disclosed herein can use algorithms, processes, computations, functions, or other data analysis techniques.
[0180] One of ordinary skill in the art would understand that various algorithms or other computational techniques can be used to analyze the image(s) captured by the imagers or cameras disclosed herein, and thereby generate the requisite data or information to provide kinematic analysis of the dynamic golf objects.
[0181] Although the present invention has been described with reference to particular embodiments, it will be understood to those skilled in the art that the invention is capable of a variety of alternative embodiments within the spirit of the present disclosure.
[0182] Having thus described exemplary embodiments of a launch monitor, it should be noted by those skilled in the art that the within disclosures are exemplary only and that various other alternatives, adaptations, and modifications may be made within the scope of this disclosure. Accordingly, the invention is not limited to the specific embodiments as illustrated herein.
[0183] While it is apparent that the illustrative embodiments of the invention disclosed herein fulfill the objectives stated above, it is appreciated that numerous modifications and other embodiments may be devised by those skilled in the art. Therefore, it will be understood that the appended claims are intended to cover all such modifications and embodiments, which would come within the spirit and scope of the present invention.