Abstract:
A system and method for tracking the flight of golf balls at driving range. The invention includes a plurality of hitting stations, a plurality of sensors, a computer, and a range surface. Each hitting station in the plurality of hitting stations includes a golf ball, a golf club, a monitor, and a sensor. At least one other sensor in the plurality of sensors is placed outside the hitting station. The flight path of the golf ball is calculated by the computer using parameters by the plurality of sensors. The method includes steps for determining whether a first sensor detected a first parameter and a second parameter, whether a second sensor detected a first and a second parameter, whether a third sensor detected a third parameter, and depicting the flight path of the golf balls using the first parameter, the second parameter, and the third parameter.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application claims priority to and is a continuation of U.S. patent application Ser. No. 14/475,199 filed Oct. 6, 2015, now U.S. Pat. No. 9,555,284 issued Jan. 31, 2017, which is incorporated by reference herein in its entirety. 
     
    
     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
       [0002]    Not Applicable. 
       NAMES OF THE PARTIES TO A JOINT RESEARCH AGREEMENT 
       [0003]    Not Applicable. 
       REFERENCE TO A SEQUENCE LISTING, A TABLE, OR A COMPUTER PROGRAM LISTING APPENDIX 
       [0004]    Not Applicable. 
       STATEMENT REGARDING PRIOR DISCLOSURES BY THE INVENTOR OR A JOINT INVENTOR 
       [0005]    Not Applicable. 
       BACKGROUND OF THE INVENTION 
       [0006]    1. Field of the Invention 
         [0007]    The invention relates generally to the field of tracking golf balls, and more particularly, but not by way of limitation, to systems for using a plurality of sensors to facilitate the depiction of that path on a display. 
         [0008]    2. Description of the Related Art. 
         [0009]    The game of golf has remained a popular hobby and recreational activity since it was invented several centuries ago. Part of the popularity of golf comes from pursuing mastery of its various skills. Improving such skills requires frequent and consistent practice. Driving ranges are common venues used for such practice. At typical driving ranges, golfers can practice their swing. Recently, businesses have begun to open more advanced driving ranges intended to cater to the golfers&#39; desires for other forms of entertainment and recreation. Such facilities include not only the typical driving range, but also restaurants, bars, and other entertainment options with which the golfer may choose to supplement their practice round. On such option is the inclusion of various virtual games related to the golf swing, such as those disclosed in U.S. application Ser. No. 14/321,333, the disclosure of which is hereby incorporated by reference. 
         [0010]    In parallel to the appearance of such new golfing/entertainment facilities, various technologies have been employed to assist golfers in improving their game or enhancing the typical practice round. Such technologies include using rf chips, radar, lasers, or optical cameras to track the golfer&#39;s swing and the flight path of the golf ball, and to provide the golfer with useful feedback regarding both. Unfortunately, while each such technology is well-suited for tracking particular parameters of the golf swing or path of the golf ball, none is capable of uninterrupted tracking and providing the golfer with a comprehensive view of their swing and the resulting golf shot. 
         [0011]    Accordingly, there is a need for a system and method to utilize the parameters captured by each such technology across a plurality of sensors and presents the resulting information in a meaningful manner to the golfer. 
         [0012]    Other advantages and features will be apparent from the following description and from the claims. 
       BRIEF SUMMARY OF THE INVENTION 
       [0013]    In general, the invention relates to a driving range that includes a golf ball, a golf club, a hitting station, a range surface, a plurality of sensors, a computer, and a display. Each of the plurality of sensors is configured to detect at least one parameter related to the golf swing or flight path of the golf ball. Additionally, each sensor in the plurality of sensors is connected to the computer. The computer includes a processor and a database. The database is configured to store parameters related to the hitting station, each of the sensors in the plurality of sensors, the range surface, and the golf club. In addition, the database is configured to store the parameters detected by each of the sensors in the plurality of the sensors. Finally, the database is configured to store rules and methods that can be used to determine which sensor&#39;s parameters should be used to depict the golf swing and the flight path on the display. All parameters and rules stored in the database are stored in a manner that allows them to be retrieved and processed as needed by the processor. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0014]      FIG. 1  shows a back perspective view of a first embodiment of a multiple sensor tracking system at a driving range. 
           [0015]      FIG. 2  shows an overhead view of a first embodiment of a multiple sensor tracking system at a driving range. 
           [0016]      FIG. 3  shows an overhead view of a second embodiment of a multiple sensor tracking system at a driving range. 
           [0017]      FIG. 4  shows an overhead view of a second embodiment of a multiple sensor tracking system with a plurality of hitting stations. 
           [0018]      FIG. 5  is a flow chart depicting a method of determining which parameters should be used to depict a travel path. 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0019]      FIG. 1  shows a driving range  10  that includes at least one hitting station  100 , at least one golf ball  110 , at least one golf club  120 , and a range surface  200 . The hitting station  100  is positioned at one end of the range surface  200 . It will be understood that a player  300  standing in the hitting station  100  may swing the golf club  120  to hit the golf ball  110  over and onto the range surface  200 . Turning to  FIG. 2 , shown therein is the path that the golf ball  110  travels from the point of impact with the golf club  120  (referred to as the origination point  160 ) to the point that the golf ball  110  initially impacts the range surface  200  (referred to as the impact point  170 ). The path the golf ball  110  travel from the origination point  160  to the impact point  170  is referred to as the flight path  130 . The path that the golf ball  110  travels from the impact point  170  to the point it comes to rest on the range surface  200  (referred to as the resting point  180 ) is referred to as the ground path  140 . The total travel path  150  refers to the complete path that the golf ball  110  travels after the origination point  150  to the resting point  180 , and is equivalent to the combination of the flight path  130  and the ground path  140 .  FIGS. 2 and 3  depict the flight path  130 , ground path  140  and total travel path  150  of a golf ball  110 . 
         [0020]    Turning back to  FIGS. 1 and 2 , in accordance with an illustrative embodiment of the invention, a multiple sensor tracking system specially configured to track the total travel path  150  of the golf balls  110  used at a driving range  10  and to display that total travel path  150  to the player  300 . The multiple sensor tracking system includes a plurality of sensors  410 ,  420 , and  430 , a display  450 , and a computer having a processor and a database. 
         [0021]    Each sensor in the plurality of sensors is configured to record certain parameters about the total travel path  150 . Such parameters may include, without any limitation, the detection of the moment of impact, the origination point  150 , the launch angle of the flight path  130 , side spin of the golf ball  110 , vertical spin of the golf ball  110 , initial location of the golf ball  110 , the impact point  160 , speed/velocity of the golf ball  100  on the flight path  130 , the three-dimensional coordinates of the flight path  130 , the three-dimensional coordinates of the ground path  140 , and the resting point  180 . In addition, certain sensors may be configured to detect other parameters related to the golf swing of the player  300 , including but not limited to the club path and the club speed/velocity. 
         [0022]    It will be understood that by those skilled in the art that there are numerous types of sensors and technologies available for the detection of parameters, including for example and without limitation, infrared beam sensors, radar sensors, pressure sensors, sound sensors, laser sensors, and cameras (both infrared and visible light). It will be further understood that certain sensors are capable of detecting a subset of the total parameters available about the total travel path  150 . For example, infrared beam sensors are particularly well-suited for detecting the moment of impact, but are not able to detect or otherwise determine the sidespin of the golf ball  110 , the impact point  170 , or other similar parameters. In contrast, sophisticated camera sensors are available that are well-suited to determine the parameters related to the flight path  130 , such as direction, speed and the impact point  170 , but are not as accurate at determining parameters associated with the ground path  140 , such as the resting point  180 . By way of further example, radar sensors are particularly well suited to detect the side spin and vertical spin of the golf ball  110  on the initial flight path  130 , as well as the club path and club head speed, but unable to determine parameters associated with the ground path  140 . 
         [0023]    In addition to being configured to detect certain parameters, each sensor type also has a field of detection. The field of detection is the general area in front of the sensor from which the sensor can detect parameters. It will be understood that the field of detection can be adjusted for each sensor type, but may be restrained by the particular technology used to detect parameters. Furthermore, the position of each sensor may affect its field of detection. For example,  FIG. 2  depicts a sensor  410  positioned in the back of a hitting station  100 , with a field of detection  411 . In such a position, the view of the flight path  130  by sensor  410  can be obscured by the golfer, or the divisions between each of the hitting stations  100 . Such obstructions often adversely impact a sensor&#39;s ability to detect parameters. 
         [0024]    A key improvement of the invention is the placement of other sensors in the plurality of sensors such that their respective fields of detection  411 ,  421 , and  431  are not similarly obstructed. It will be therefore understood that such placements can thereby ensure a high probability that the combined fields of detection  411 ,  421 , and  431  provide for an uninterrupted view of the total travel path ( 150 ). For example, in the exemplary embodiment depicted in  FIG. 2 , the fields of detection  411 ,  421  and  431  for each of the sensors  410 ,  420  and  430  respectively are shown to overlap, yet cover different areas where the golf ball  110  might travel on the total travel path  150 . 
         [0025]    It will be understood that numerous embodiments of the multiple-sensor tracking system are possible by including different types of sensors  410 ,  420 ,  430  in the plurality of sensors, and positioning those sensors at different places within the driving range  10 .  FIG. 2  depicts one such embodiment. It will be further understood that a driving range  10  may include a plurality of hitting stations  100  arranged in a curve around an end of the range surface  200 , as depicted in  FIG. 4 . A first-type sensor  410  is positioned at the back of each of the hitting stations  100 . In this embodiment, first-type sensor  410  uses radar to detect club path, club face angle, launch angle, side spin, vertical spin and initial velocity. A second-type sensor  430  is positioned at another end of the range surface  200 , and is generally positioned to face a plurality of hitting stations  110 , as shown in  FIG. 4 . The second-type sensor  430  has a narrower field of detection  431  and is thus used to detect parameters related to the ground path  140 . In this embodiment, the second-type sensor uses narrow-angle cameras to detect the three-dimensional coordinates of the ground path  140  and the speed/velocity of the golf ball  110 . It will be understood that while only one sensor  430  is depicted in this embodiment, several second-type sensors  430  could be used in combination to detect parameters for ground paths  150  that occur in different places on the range surface  200 . 
         [0026]    In the depicted embodiment, two third-type sensors  430  are positioned at opposite ends of the plurality of hitting stations  100 . The third-type sensors are configured to face inwards towards the range surface  200  and have overlapping fields of detection  421 . Such overlapping fields of detections  421  are either necessary for certain types of sensors, or can be optionally employed to improve the accuracy of the detected parameters. 
         [0027]    Turning to  FIGS. 3 and 4 , depicted therein are alternate embodiments of the multiple-sensor tracking system wherein the first-type sensors  410  of the first embodiment depicted in  FIGS. 1 and 2  have been replaced with a fourth-type sensor  460 . It will be understood that in the depicted alternative embodiments, the fourth-type sensor  460  is configured to be a simple infrared directional trip sensor. Such sensor  460  includes a beam emitter and a beam detector positioned on opposite sides of the hitting station  100 . In the simplest embodiment, the beam emitted of sensor  460  sends an infrared light beam to the other side of the hitting station  100  where it is detected by the beam detector. It will be further understood that when the golf ball  110  is hit it will travel between the beam detector and the beam emitter of sensor  460 , and will thereby interrupt the infrared light beam being detected by the beam detector. In this manner, sensor  460  is able to identify when the flight path  130  begins, but is unable to detect other more advanced parameters associated with the total travel path  150 . 
         [0028]    The database of the computer stores all parameters necessary for the multiple-sensor tracking system, which may include the size, shape and location of the hitting station, the location of each of the sensors in the plurality of sensors, the parameters that each of the sensors in the plurality of sensors can detect, the location and boundaries of the range surface  200 , and the number, expected distance and trajectory of shots hit with the selected golf club  120 . Such parameters are retrieved by the processor as needed to operate the multiple-sensor tracking system. 
         [0029]    It will be understood that by using multiple sensors  410 ,  420 , and  430  (or alternatively  460 ,  420  and  430 ), the multiple-sensor tracking system is able to capture certain desired parameters of the total travel path  150 . Because the sensors  410 ,  420  and  430  may detect the same parameters, a method is necessary to determine which parameters should be chosen to depict the total travel path  150  on the display  450 .  FIG. 5  depicts a method for making such determinations. 
         [0030]    The method of  FIG. 5  begins in step  500  when the golf ball  110  is struck by the golf club  120 . The moment of impact is potentially detected by sensor  410  in step  504  (or alternatively by sensor  460  as described above). If sensor  410  detects the moment of impact, processing is transferred to step  506 . In step  506 , the computer uses the launch angle, initial velocity and origination position to estimate three-dimensional coordinates of the flight path  130  and an estimated impact point  170 . In the first embodiment, the launch angle, initial velocity and origination position are all parameters that can be detected by sensor  410 . Processing is then passed to step  508 . 
         [0031]    The purpose of step  508  is to determine if the sensors  420  have detected a golf shot that corresponds to the golf shot that was detected by the sensor  410  from step  504 . This is done by comparing the estimated three-dimensional parameters from step  506  with the actual three-dimensional parameters detected by the sensors  420 . It will be understood that in the typical driving range  10  there may be several different golf shots being tracked at any given time, such as those depicted in  FIG. 4 . In this embodiment, sensors  420  may detect actual three-dimensional parameters for many if not each flight path  130  associated with each such golf shot. Accordingly, in step  508 , the computer first collects the actual three-dimensional parameters associated with each flight path  130  that was detected by sensors  420  during the time window when sensor  410  captured the parameters that were processed in step  506 . The particular duration of the time window may depend on the types of sensors used, the weather conditions, the particular arrangement of the plurality of the hitting stations  100  on the driving range  10 , the size and shape of the range surface, the positioning of the plurality of sensors, or any other condition that might effect the amount of time that a golf ball  110  could be expected to travel in each of the respective fields of detection  411 ,  421 ,  431 . After capturing the actual three-dimensional parameters of the flight path  130  for the appropriate time window, the computer then compares such actual three-dimensional parameters for each flight path  130  with the estimated three-dimensional coordinates of flight path  130  and determines if any of the actual three-dimensional parameters correspond to the estimated three-dimensional parameters. 
         [0032]    Such correspondence may be immediately apparent because the actual three-dimensional coordinates overlap a portion of the estimated three-dimensional coordinates. Alternatively, where the actual three-dimensional coordinates do not begin with actual origination position, the computer can calculate an estimated origination position  160  by extrapolating the three-dimensional parameters of the flight path  130  backwards. The estimated origination positions  160  (and actual origination positions  160  detected by the sensors  420  to the extent they exist) for each of the flight paths  130  are then compared to the actual origination position  160  detected by the sensor  410 . If a corresponding actual/estimated origination position  160  detected by sensors  420  is found for the actual origination position  160  detected by sensor  410  is found, then processing proceeds to step  510 . If no corresponding actual/estimated origination position  160  is detected by sensors  420 , then processing proceeds to step  514 . 
         [0033]    In step  514  the flight path  130  is depicted on the display  450  using the three-dimensional parameters detected by sensor  420 . In step  510  the flight path  130  is depicted on the display  450  using the three-dimensional parameters detected by sensor  410 , or where sensor  410  did not detect three-dimensional parameters for the entire flight path  130 , the computer will estimate any missing three-dimensional parameters by extrapolating the detected three-dimensional parameters along a parabolic curve. 
         [0034]    Processing is then transferred to step  516  wherein sensor  430  potentially detects parameters associated with the ground path  140  of the golf ball  120 . If sensor  430  detects parameters associated with the ground path  140 , then in step  520 , the total travel path  150  is depicted as continuing from the depicted flight path  130  using the parameters for the ground path  140  detected by sensor  430 . It will be understood that in a typical driving range  10 , sensor  430  may detect parameters for the ground path  140  of many different golf shots (as shown in  FIG. 4 ). Accordingly, in step  516  the computer will attempt to align the parameters for the ground path  140  with the corresponding flight path  130 . This is accomplished by taking the three-dimensional parameters used to depict the flight path  130  and calculating an estimated impact point  170 . If sensor  430  detects parameters for the ground path  140  that correspond to the estimated point of impact, then processing proceeds to step  520 . If sensor  430  does not detect parameters that correspond to the estimated impact point  170 , then processing proceeds to step  518 . 
         [0035]    In step  518 , the computer calculates parameters for the ground path  140  and depicts that ground path  130  on the display  450 . This calculation is done by using the parameters used to depict the flight path  130 , which may include an actual/estimated speed/velocity and direction as well as parameters that describe the effect of the friction between the range surface  200  and the golf ball  130 . In step  520 , the ground path  130  is depicted on the display  450  using the actual parameters for the ground path  130  that were detected by sensor  430 . 
         [0036]    If sensor  410  fails to detect the moment of impact in step  504 , then processing moves to step  512  wherein sensor  420  potentially detects parameters associated with the flight path  130 . If sensor  410  fails to detect the moment of impact, but sensor  420  detects parameters associated with the flight path  130 , then processing is transferred to step  514 . If sensor  410  fails to detect the moment of impact and sensor  420  fails to detect any parameters associated with the flight path  130 , then processing returns back to step  500 . 
         [0037]    It is to be understood that even though numerous characteristics and advantages of various embodiments of the invention have been set forth in the foregoing description, together with details of the structure and functions of various embodiments of the invention, this disclosure is illustrative only, and changes may be made in detail, especially in matters of structure and arrangement of parts within the principles of the invention to the full extent indicated by the broad general meaning of the terms in which the appended claims are expressed. It will be appreciated by those skilled in the art that the teachings of the invention can be applied to other systems without departing from the scope of the invention.