CN101542294B - Methods and systems for identifying the launch positions of descending golf balls - Google Patents
Methods and systems for identifying the launch positions of descending golf balls Download PDFInfo
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- CN101542294B CN101542294B CN2007800439568A CN200780043956A CN101542294B CN 101542294 B CN101542294 B CN 101542294B CN 2007800439568 A CN2007800439568 A CN 2007800439568A CN 200780043956 A CN200780043956 A CN 200780043956A CN 101542294 B CN101542294 B CN 101542294B
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Abstract
Identification of the tee-off bay (52, 53) from which a golf ball landing on a golf-range target (51) originated, is made by calculating an estimate of flight duration (Edurk) of the descending ball as a function of the measured angle (beta) of descent in elevation, and, in respect of each ball launched from the bays (52, 53), comparing this estimate for a match with a measured interval between the launch of the respective ball and descent of the descending ball. The originating bay (52/53) of the launched ball for which there is the closest match is identified as the origin of the descending ball, and ambiguity or uncertainty between which bay (52, 53) is identified is resolved through comparison of the measured angle (alpha des) of descent in azimuth of the descending ball with estimates (Edirk) of it calculated for each launched ball, and through similar comparison in respect of a calculated decelaration ratio (Edeck) and flight duration (Durk).
Description
Technical field
The present invention relates to be used for the method and system of the transmitting site of the golf determining to fall.Method and system of the present invention for example be used in that golf is practised a ball game and other golf facility on the situation of the golf ball-batting that carries out.
Summary of the invention
According to the present invention, the method of the transmitting site that is used for the golf determining to fall among a plurality of transmitting sites of emission ball is provided on the one hand, the system of the transmitting site of the golf that is used for determining among a plurality of transmitting sites of emission ball is provided on the other hand, the whereabouts parameter that comprises the ball that measures is with the fall time of the ball that obtains at least falling and depend on the step or the device of measured value at its elevation angle, whereabouts, calculating is as the step or the device of the estimated value of the duration flight of the ball of the whereabouts of the function of the measured value of the fall angle that depends on it, measurement is about each transmitting site, the step or the device in the time interval between the fall time of the ball of launching ball and whereabouts from this position, estimated value to the calculating of the duration flight of the ball of time interval of measuring about each transmitting site and whereabouts compares, with the estimated value of time interval of determining which transmitting site and calculating near the step or the device of coupling with adopt and have step or the device of determining the position that the ball of whereabouts is launched near the transmitting site of coupling.
The measured value that depends on the elevation angle, whereabouts of the ball that the component speed of whereabouts track that can be by measuring it obtains falling.
" whereabouts " of mentioned golf is meant the end portion of the flight track of ball, with the bounce-back subsequently that is different from it or any part of roller track.Equally, " golf of whereabouts " be used to refer near its flight track terminal and be preferably track last 10% within the golf of flight.The end of flight track is that some ball hits " target " apart from some distances of initial transmissions position there.Transmitting site typically can be, in several " the service subregions " of for example practising a ball game one.
But the present invention can be applicable to all golf ball-battings especially can be applicable to net air power (vector addition of lift and resistance just) greater than 1.0 metre per second (m/s) per second (m/s
2) but more preferably greater than 10m/s
2Batting.
An object of the present invention is to provide the golf that does not rely on flight prediction or track and do not need signalment or electronic tag etc. and determine the method and system of golf ball-batting.
The flight Forecasting Methodology needs the ball-emission measurement equipment of costliness of the rotational component of energy measurement ball, and needs special ball sometimes.Flight prediction also is subjected to the influence of a large amount of non-systematic error that the random variation by the aerodynamic performance of strong wind and/or ball causes, the aerodynamic performance of described ball is owing to surface degradation changes.Can improve the flight Forecasting Methodology by measuring ball-landing place and duration flight.Yet because all destroyed about most of information of the flight historical record of ball in when landing, it is inadequate depending on the system of only measuring landing place and time.In US-B-6179720 and US-A-2007/0167247, describe the measurement of the flight prediction of using ball and landing place and determined the system of independent golf ball-batting.
Track method (for example video tracking or radar tracking system) is very expensive, needs large data treating apparatus and may not reliably working when having a plurality of ball simultaneously in flight space.Typically, one or more video cameras or radar tracker are each locks the flight path of a ball and following the tracks of this ball from the whole flight course that initially strikes final at least pick-up point.This means that video camera or radar are essential catches the data that almost continue several seconds, however in the present invention, measure the ball track only only need after initial bump with only dropping on the outfield before several milliseconds.GB-A-2294403 has described the method for determining golf ball-batting by video frequency tracking in conjunction with wheel measuring.
With determining that as label apparatus such as embedded RFID chips independent ball is expensive and to collect ball be used for the decoding mechanical hook-up of RFID data be heavy with insecure.In JP-A-8224331 and US-B-6607123, described and used the RFID label to determine the system of independent golf ball-batting.
Measure whereabouts parameter and emission parameter and can utilize the electronic surveying that is suitable for signal Processing can be provided electromechanics, electroacoustic, electromagnetism, electric light, Doppler's microwave radar, supersonic Doppler, high-speed camera or any other technology.
Typically, can measure the whereabouts parameter when arriving ' target ' that is positioned at the place outside the venue of practising a ball game in that ball is fast.Target can be the circle that marks, oval-shaped or rectangular zone etc., perhaps can be the golf lawn that beautifies on the true golf court of imitation lawn.Can use various optional target design.For example, be similar to the earth work of rocket task or structure, wherein fall and the hydrographic features that do not disappear ejectedly or big sand pit and various other form.Alternatively, can when will dropping on any part in whole outfield or its substantial portion, measure by the ball that falls.Preferably, but indefiniteness ground, in the short distance of the end of flight of distance ball (flying distance last 5%, or more preferably last 2% for instance), measure the whereabouts parameter.
Limiting the range of measuring the decline scope has reduced the cost of measuring equipment and has improved the measurement reliability.In preferred embodiment, measure the whereabouts parameter in 2 meters in being less than of landing surface or ground level, wherein equipment this on ground level less than 2 meters.The height that is limited to the awareness apparatus at outfield place makes on the view in outfield more unshowy, and it is very gratifying.
A kind of at least four " detection plane " of preferred embodiment use that is used for measuring the whereabouts parameter at each target place.Described detection plane comprises fladellum, and described fladellum has perpendicular to very low-angle visual field on the direction of detection plane and the wide visual field in the plane in detection plane.Device is configured to the perception ball and passes (in fladellum) angle position of detection plane and constantly.Typically, it is right that detection plane is arranged to two coplanes, and these two coplanes are to being parallel and skew each other, but along different direction orientations, thereby when passing plane, common visual field, ball can obtain the two-dimensional position of ball by triangulation.Ball passes the mistiming between moment of detection plane and comprises that offset spacers distance between the plane at center, visual field provides measured value and its present position in the space of the velocity of ball.Preferably, but indefiniteness ground, the visual field of all detection plane sensors be level or almost level and be positioned as surface near the surface, outfield.
By cheaply and the parameter of ball with measurement device emission of reliability and wide " batting acceptable " be gratifying.In this article, " batting is acceptable " means that measurement mechanism is measured the ability of these batting when all types of batting are left the penalty mark with various speed and direction.Preferably, (for instance, be no more than 5 meters, but more preferably for being less than 2 meters) measures initial flight parameter on the preliminary orbit of the short length of ball, makes not interferometry of the ball that hits from the contiguous subregion of serving a ball.Yet, can use any device of under the situation of the golf that has other flight, measuring the original transmission parameter of a golf.Signal processing apparatus need be determined each service subregion in the field of practising a ball game and write down the data of each penalty mark with respect to scope, azimuth direction and the height of each target on the golf equipment.
By using the collision time of one or more microphone perception strike note energy measurements at the ball at service subregion place.If desired, by obtaining the emission rate of ball and the coarse measurement result of direction to analysis from the signal of several microphones that are constructed to phased array.Alternatively, can pass through optical devices, for example pass one or more optical detections plane and measure collision time by the detection ball.In ball emission rate, azimuth firing angle and the launching elevation that described optical devices can be configured to measure collision time and measure the ball that at every turn impacts alternatively at least one.
Although can use common golf in a form of the present invention, it is useful using the golf with reflecting surface.The benefit of reflective golf is dual.At first, ball is easier to be detected by optical sensor arrangement, especially at distant location.Secondly, at night or under the more weak condition of ambient light, ball is easier to be seen by people's eyes when ball is illuminated by the light source near the people who plays golf.This allows to reduce widely brightness of illumination and intensity, and it is gratifying in environmental protection.
The major defect of reflective golf comprises has increased manufacturing cost and along with frequent use reflecting surface may be degenerated.Therefore be provided for determining being suitable for common, the method and system of the golf ball-batting of the golf of change not, and also provide and be designed to carry out method of operating and system is a purpose of the present invention with reflective golf.
It also is purpose of the present invention that the method and system of differentia influence of the aerodynamic performance of the golf that is not subjected to dissimilar and state substantially is provided.Although the diameter of dissimilar golf and quality all are very similar, their patterns of indentations obviously different and this increased the Flight Length under the same transmit condition and the essential difference of duration flight.This is at the paper (Quintavalla of the USGA research of describing the golf ball flight prediction, S.J.2002.A Generally Applicable Model forthe Aerodynamic Behavior of Golf Balls.In Science and Golf IV, ed.E.Thain sets forth in 356-348.London:Routledge).In this paper, Quintavalla has used the ball of mixed type, only show Flight Length that the difference owing to patterns of indentations causes and the variation of flight time, wherein Flight Length changes and reaches 25 meters (wherein average flight length is 238 meters) and duration flight and change and reach 1.0 seconds (wherein the average flight duration is 6.3 seconds).Other patterns of indentations that is not included in this research can exceed these difference fully, and the influence of surface degradation will be more serious when degeneration becomes serious.
Therefore apparently, for the golf with different surfaces characteristic, the influence of air lift and resistance is different.Yet for short nearly batting (for instance, reaching 25 meters), than gravity, lift and resistance are very weak, so track is in close proximity to para-curve, and wherein fall angle and falling speed equal emission angle and emission rate (impacting on the surface in level).' general view ' of short nearly batting illustrates ball always along substantially rectilinear flight, do not turn to (just, not having miss and Draw) about significantly.On the other hand, this be since when low speed sidespin and/or crosswind can ignore to the influence of the flight of golf.Have been found that if measure the falling speed of ball, can access the time (the supposition ball is (for instance, on ground level) emission on specific horizontal plane) that impacts ball.And, if also measure the azimuth direction and the speed of ball, can calculate initial impingement position exactly.Like this, can determine who has carried out this batting and irrelevant with the patterns of indentations of ball or common surface condition.This has set forth principle of the present invention, equally applicable to the short distance ball.
Yet the field of practising a ball game is that therefore can not supposing from ground level of layering launched ball sometimes.For the situation of the short high ball of unusual wide-angle ground emission, the measuring error of its whereabouts parameter make to from the upper strata or lower floor to impact the estimation of ball unreliable.For this reason, preferably measure the collision time of all batting.This extra information allows to determine reliably to impact the place and the time of short range golf ball-batting.Collision time has also write down to have impacted what balls on each subregion.This monitors the ball of consumer's use and helps prevent ball to go adrift.
Along with emission rate and flying distance increase, lift and resistance also increase.Forward speed reduces apace during flying, and makes the drop section area of track be considerably shorter than rising part.Therefore, the elevation angle, whereabouts greater than launching elevation and falling speed less than emission rate.Batting and the flight simulation under the wind condition at wide region show, for specific Flight Length, only can very accurately estimate the duration flight of any batting by the information of whereabouts angle.When fall is on target, its just whereabouts component speed before it lands of measurements such as optics or radar sensor.Then, central computer estimation duration flight and the search interval after with the time that impacts of the ball that impacts recently itself and each is complementary.
Under many situations, the time that impacts of an estimation of coupling and a process that impacts the time really are to determine that golf ball-batting is needed all.Yet, usually need to consider more than time that impacts of an estimation and to impact the time really definite reliably to carry out.Like this, for the initial serving position of the golf of determining specific whereabouts, need sometimes to attempt will (once specific batting) one group of whereabouts parameter to be complementary with one of them the initial transmissions parameter of a plurality of " may bat " of having almost collision time simultaneously by chance.
In order to clarify the description here, represent and " possible batting " relevant parameter with subscript k ideally, wherein k gets 1 to the value of K, and K is by determining to handle the sum of determining " possible batting ", and never greater than the golfer's of this facility of use quantity.
Discovery can very accurately estimate k the expectation duration flight Edur that may bat by following equation
k:
Edur
k＝C1
k+C2
k×β (1)
In the superincumbent equation: Edur
kBe to estimate duration flight, unit is second; C1
kAnd C2
kIt is the known constant that depends on from k service subregion to the flying distance of position, whereabouts; With β be the ball measured fall angle in the position, whereabouts, unit is degree.
Can use the computing method of other form.For example, the right-hand side of equation (1) can comprise and depends on other whereabouts parameter, depends on along the mean wind speed of heading and depend on the extraneous term of atmospheric density.Randomly, can use the algorithm of look-up table or other form to carry out calculating.
In a kind of form of the present invention, determine Edur by the calculating of depending on the elevation angle, whereabouts β and flying distance fully
kValue.More preferably, Edur
kDepend at least one in the elevation angle, whereabouts, flying distance and the following parameters: wind speed and atmospheric density on whereabouts absolute velocity, position angle, whereabouts, the ball heading.
Except Edur
k, use two other parameters in the present invention sometimes.These are to estimate direction Edir
kWith expectation deceleration ratio Edec
kBut, Edur
kOnly use the whereabouts parameter or use the whereabouts parameter to estimate to obtain, estimate direction Edir in conjunction with the wind parameter
kWith expectation deceleration ratio Edec
kCalculate in conjunction with the wind parameter from emission and whereabouts parameter.
Can obtain k the expectation direction or the position angle Edir that may bat by following equation
k:
Edir
k＝αF
k+C3
k×(αF
k-αL
k) (2)
In the superincumbent equation, C3
kBe constant, α L
kBe orientation emission angle and the α F that measures at k emission subregion place
kBe the ball that falls the position with respect to it at k position angle of launching the initial position at subregion place.Usually from fixing reference direction measured angular Edir deasil
k, α L
kWith α F
k
In a kind of form of the present invention, for all k value C3
kValue be preferably 1.0.More preferably, C3
kDepend at least one in flying distance and the following parameters: crosswind intensity and direction, flight deviation, total wind speed and direction, launching elevation, emission rate, duration flight and atmospheric density.
At no sidespin and crosswind, and accurately mate when serving a ball subregion (α a F
k-α L
k) be zero, that is to say that ball advances to the position, whereabouts along straight line (in general view) from the penalty mark.When sidespin and/or crosswind make the ball denection straight line, find even when sidespin and crosswind had very large variation, equation (2) still can provide point-device prediction of whereabouts azimuth direction by simulation.
Edir
kDifferent value and relatively the providing of true bearing direction (obtaining) at whereabouts place for the ball of specific whereabouts by measuring the whereabouts parameter determine correct service partitioned method.
Edec
kBe the relevant dimensionless parameters of overall deceleration with the horizontal velocity of ball, and it is defined in the horizontal velocity and ratio in the horizontal velocity of the ball at place, whereabouts of the ball of emission place.This ratio depends primarily on duration flight and distance.For the short distance ball, since the variation of horizontal velocity can be ignored, this ratio is tending towards one.For long-range ball, this ratio typically is 3.0 or bigger.Preferably obtain Edec by following equation
k:
Edec
k＝C4
k+C5
k×Dur
k (3)
In the superincumbent equation, C4
kAnd C5
kBe constant and Dur
kIt is " possible duration " value corresponding to one in a plurality of service subregions.Like this, Edec
kAnd Dur
kHave a plurality of values separately, and each Edec
kDetermine correct service partitioned method with relatively the providing of deceleration ratio that ratio by true emission rate and falling speed obtains.
C4
kAnd C5
kValue be preferably flying distance and the initial transmissions angle of depending on the batting that is obtained; But more preferably depend on flying distance, emission angle, wind speed, wind direction and atmospheric density.
Parameter Edur
k, Edir
kAnd Edec
kHave different error profile separately, when obtain real measurement data can the time, can determine described different error profile by analyzing real measurement data.Frequently, energy 100% obtains to estimate the correct coupling of parameter and actual parameter definitely.When only have several golfers use according to facility of the present invention and their batting impact several seconds time interval time, this is with normally this situation.Yet this also will take place continually when busy.Can use the record of the batting of these " 100% determines " to add that the record of main environment and wind condition is to improve definite algorithm of batting and accumulated error distributed data.
The method for optimizing of the corresponding service subregion of ball of definite and specific whereabouts is at first to make this determine that method only may duration flight Dur based on K
k(k=1,2 ... one and corresponding expectation duration Edur K)
kBetween coupling.Quantity K can be depending on flying distance and wind condition and determines, and can select quantity K to make only to be included in all batting that impact in the achievable duration.Alternatively, can set the default value of K by all batting that impact in being included in during preceding 10 seconds.K possible duration flight Dur
kEqual mistiming (t
D-t
k), t wherein
DBe to measure time and t constantly
kIt is collision time in the batting at k service subregion place.In some cases, will only have one near coupling, wherein not matching of other batting reaches 3 (Sigma) sigma or more.In this case, can suppose safely that single coupling is correct.
Two true collision times and Edur are being arranged
kUnder the situation of matching degree in 3sigma (or some other bounds on error), preferably use three probability of occurrence P (Dur
k), P (Dir
k) and P (Dec
k) at least two mate three probability P (Dur
k), P (Dir
k) and P (Dec
k) from error profile, obtain.P (Dur
k) be defined as the Live Flying duration and fall within Edur
kNear ± (Edur
k-Dur
k) in the complementary probability (complement of probability) of probability.Because Edur
kBe most probable duration value (obtaining), so the distribution function F (Edur of accumulation by analyzing a large amount of previous batting samples
k) value be 0.5, and F (Dur
k) will depend on that it is to be greater than or less than Edur
kBe higher or lower than certain value of 0.5 and get respectively.We define P (Dur as follows
k):
P(Dur
k)＝1-2×|F(Dur
k)-0.5| (4)
Work as Edur
kAnd Dur
kValue very near the time, probability P (Dur
k) be tending towards one, on the contrary, when the difference of these values is 3 Sigmas or more for a long time, P (Dur
k) go to zero.
Define P (Dir in an identical manner from deflection error distribution and deceleration ratio error profile
k) and P (Dec
k).Correct coupling is assumed that it is the batting with maximum joint probability, and described joint probability can be P (Dur
k, Dir
k) or P (Dur
k, Dec
k) or more preferably be P (Dur
k, Dir
k, Dec
k).
Should be pointed out that between duration and the deceleration has some correlativitys, therefore can show Dur
kAnd Dec
kIt or not incident independently.Yet the error between estimation parameter and the actual parameter is very little and the variation of unsystematic measurement errors and non-measurement parameter due to, for example circles round and the ball roughness.So Edur
kError be independent of Edec
kError, therefore and say joint probability P (Dur
k, Dec
k) product that equals individual probability has foundation.
In the example of a supposition, if Edur
k, Edir
kAnd Edec
kError be normal distribution, wherein 1 sigma value be 0.1 second, 0.7 the degree and 0.1, and:
Edur
2=4.32 seconds Dur
2=4.32 seconds
Edir
2=81.5 degree Dir
2=85.0 degree
Edec
2＝2.2 Dec
2＝2.4
So: P (Dur
2)=1 P (Dir
2)=0 P (Dec
2)=0.046
In the above example, the time that truly impacts of the expectation duration of the ball of whereabouts and second may bat (k=2) ideally mates, so P (Dur
2) equal 1.0.Yet, because estimate difference between direction and the true directions much larger than 3 Sigmas, so P (Dir
2) be zero.Like this, second candidate batting is that the joint probability of correct coupling is zero, so this batting does not match.
Description of drawings
With reference now to accompanying drawing,, in the mode of example the method according to this invention and system are described, wherein:
Fig. 1 is used for providing on the golf facility batting to determine the logic diagram of the system of device according to the present invention;
Fig. 2 is a view, shows the general shape of golf ball-batting when observing from the side;
Fig. 3 is the flying distance of representational golf ball-batting and the graph of relation that circles round;
Fig. 4 (a) and 4 (b) are the duration flight T of golf ball-batting of simulation and the graph of relation of fall angle β.
Fig. 5 is a schematic planimetric map of practising a ball game, shows the orbital path of two representational golf ball-battings;
Fig. 6 is the figure that azimuth angle error and the crosswind function of speed of the golf ball-batting of simulation concerns;
Fig. 7 is the figure of the funtcional relationship of the deceleration ratio of golf ball-batting of simulation and duration flight;
Fig. 8 is the plan view according to target of the present invention and ball whereabouts measurement mechanism; With
Fig. 9 is the target shown in Figure 8 and the side view of ball whereabouts measurement mechanism.
Embodiment
Show coordinate axis X, Y and Z for the ease of expressing the orientation, this is suitable in some accompanying drawing of wherein being quoted in the following description.In this respect, the Z axle is vertical and points to, Y-axis be level and point to transmit direction (just, substantially along the flight line of the golf that hits) and X-axis perpendicular to Y and Z and from transmit direction sensing direction from left to right.
The block diagram of Fig. 1 has been summarized the top layer system of golf facility according to an aspect of the present invention (golf facility), and wherein several golfers get to golf ball identical substantially zone and are provided with sensing device to determine initial service (tee) position of each batting.
Air lift and resistance that on behalf of gravity and ball, square frame 4 experienced in its whole flight course, all these have determined the shape and the duration of flight.Square frame 5 is represented the emission analysis device, and this emission analysis device is measured the linear dimensions of each ball after bump, and wherein said linear dimensions comprises the position coordinates and the collision time at vector velocity, bump place.Typically, the emission analysis device is not measured rotation parameter because this measurement is difficulty and equipment that need costliness.Data from the emission analysis device are transported to central computer 6.
Sensor of interest 7 also sends to data computing machine 6.The position coordinates that comprises the ball of vector velocity and whereabouts by the data of sensor of interest 7 measurements.Since be not that all balls in n ball impact sequence 1 all arrive target, the sample of the ball of being measured by sensor of interest 7 is the subclass m of n ball impact (m＜n).Alternatively, sensor of interest can extend the whole outfield of covering (extend across) and makes energy measurement arrive all balls in outfield.Randomly, the data from one or more wind gages 8 can be sent to computing machine.
In a preferred implementation, system is provided with two or more devices that show score or out of Memory.The flag in outfield mark in the several objects each the center and can be provided with the LED beacon of three different colours for each flag, it is positioned and focuses on and makes described LED signal make to be easy to the served a ball golfer at subregion place to see.Can use the form of simply keeping the score, for example will drop on respectively corresponding to the target of red, white or blue beacon ray light (beacon light) 10% with interior, 5% with interior or 2% with interior batting count 1 fen, 2 minutes or 3 minutes.Lamp from beacon is preferably switch pulsedly, little by little extinguishes through several seconds after the score batting is finished with more eye-catching or permission.The beacon that flag is installed that is positioned at the place, target area will provide an indicating device and can provide similar second indicating device at each service subregion.These second indicating devices can be voice signal or the color LED indicator that matches etc., and it only is activated at the service subregion when impact the score square stance from that subregion.
Than superior accommodation more, a benefit of simple acoustical generator or LED indicator is that cost is low-down and very robust and therefore be not easy to go adrift or destroy.Yet the golfer often prefers the display of computing machine and touch panel device etc. and this display can permanently be installed.Alternatively, than these displays are set at fixed equipment permanently, they are set at portable unit can be useful.This portable unit can be special display, described display is optionally rented between moving period or kneetop computer or hand held device that can the person of being to use oneself at them by the golfer, for example PDA(Personal Digital Assistant) or " smart mobile phone " etc.Modern PDA and kneetop computer are equipped with bluetooth (Bluetooth usually
TM) the short distance data communication, therefore suitable applications software can be installed on user's the individual removable computer, make it to determine to communicate by letter with batting with score system, described batting is determined and score system also must be to support bluetooth.Any suitable wireless communication standard be can use, radio frequency and infrared technique comprised.Except batting was kept the score, application software can provide many other services, for example online reservation and paying, and a plurality of golfers keep the score, the contest registration, batting is analyzed, individual results historical record etc.
Typically, the golfer on this facility is provided with " sports cards " or the similar device of the electronically readable that can comprise user's identification code.All service subregions (perhaps at least some) of this equipment are equipped with the sports cards card reader.When on specific service subregion, reading sports cards, start emission sensor and the readout device related with this specific emission subregion.The golfer can select only to use the sensing marker on basis or use portable computer.Golfer's portable computer must program and be contained in distinctive data of identification code and steering order in the his or her sports cards with connection.If be ready, some users of facility can not use sports cards and ball is impacted out the service subregion, do not connect but do not start the data related with their service subregion in this case.
Sensor of interest 7 also can be configured to measure the resilience that drops on the ball on the target.Because resilience depends primarily on randomly the surface condition that changes for example surface irregularity and bump absorbability etc., these measurements are not used in determining of batting.Yet, because extra data provide the indication information about the true bounce-back of the golf after its flight track, with these possible ranges of finally advancing (just, bounce-back and rolling) that can obtain ball, it is very useful for the people who plays golf.And, for specific landform, can quite accurately calibrate subsequently bounce-back and the prediction of rolling.
Fig. 2 is a view, shows the shape substantially of the golf ball-batting of observing from the side (golf shot).Flight track 20 comprises from its initial transmissions point 21 to the flight path of the ball of its first resilience point 22.Should be pointed out that flight track is asymmetric, wherein initial transmissions elevation angle ε is less than fall angle β (these two angles all are with respect to the horizontal plane).This asymmetric (β＞ε) almost always real for real golf ball-batting, but be symmetry almost for short distance ball (short chip shot) (for instance, 25 meters or still less) track.
The typical case that Fig. 3 shows under calm condition, emission angle is 12 degree, emission rate is 57m/s hits the flying distance percentage of long service and the view of the funtcional relationship of circling round.Use lift coefficient and the normalized form of resistance coefficient and the value that model calculates Flight Length and duration flight of the performance of the known real golf of approximate simulation.As shown in the figure, maximum range appears circling round when being about 4500rpm, but for from below the 3000rpm to the circling round of the wide region more than the 7000rpm, the flying distance reduction is less than 5%.Show three some places in the drawings, promptly at the flight time T and the fall angle β at 2000rpm, 4500rpm and 8000rpm place.This shows that along with the increase of circling round, flight time T and fall angle β also increase.
Has very big correlativity between duration flight and the fall angle.This is to draw according to such fact, and promptly than other ball of the same distance of flight, the time that ball aloft stops is long more, and therefore high more the and general that certainty aloft be climbed have precipitous whereabouts.All have at all balls on calm and this equipment under the condition of the aerodynamic performance that mates very much, only by measuring the flight time T that fall angle β can very accurately determine any ball.Usually, the variation of wind and surfaceness (it influences aerodynamic performance) will also influence T.
Surfaceness can be (for example in manufacture process the golf patterns of indentations being molded on the surface) and unexpected (roughness that is caused by cutting, wearing and tearing, surface contamination etc. for instance) that produces that deliberately forms.Relation between surfaceness and the aerodynamic performance is very complicated, but supposes here that in order to simplify us the increase air resistance and the lift that are accompanied by surfaceness also increase.Put on the ball aerodynamic force usually and the speed of passing surrounding air of ball square proportional.
One aspect of the present invention is based on the recognition, and promptly at first, wind, circles round and surfaceness has similar influence for the flight of ball.Having against the wind increases the lift that is applied on the ball and the effect of resistance, because they have increased the speed of ball with respect to surrounding air, so has reverse effect with the wind.Like this, height circle round, against the wind and the common influence of high surfaceness be to have increased duration flight T and increased fall angle β for specific range straggling.On the contrary, lowly circle round, equal to have shortened duration flight and reduced fall angle with low surface roughness with the wind.
Fig. 4 (a) and 4 (b) are the figure of the funtcional relationship of flight time T and β, and wherein data obtain by simulation.
In chart 4 (a), all batting 91.4 meters (100 yards) that fly against the wind, described contrary wind from 3.5m/s to the 8.5m/s random variation and mean value be 6m/s.Emission angle is spent to 33.4 degree random variation from 27.0, and the also random variation of initially circling round, and mean value is 2710 to change per minutes (RPM).For each batting, adjust emission rate so that 91.4 meters flight to be provided, average emitted speed is 36.7m/s.
Use the value of same emission angle at random but under the with the wind assistance of mean value, obtain the data of chart 4 (b) as the variation of 6m/s.Under situation with the wind, need the average emitted speed of the flight of 91.4 meters of acquisitions to be reduced to 33.6m/s, the low 2500RPM that is correspondingly on average circles round.Chart shows, with respect to the wind, has increased duration flight significantly and has also made data disperse more against the wind.
Chart by Fig. 4 (a) and 4 (b) obviously can draw in each case, and the relation between the T and β almost is linear.Like this, the best-fit line that passes every group of data will provide point-device estimated value of the T that has functional relation with β.Therefore, we can form the estimated value Edur of simple formula with the expectation duration flight that obtains having functional relation with β
k, wherein k gets 1 to K value and K determine " may bat " by this deterministic process sum.
Edur
k＝C1
k+C2
k×β (1)
Equation (1) can be expressed as top form or optional form, yet it still provides the point-device estimated value Edur with the roughness of ball, the wind that often has and the irrelevant duration flight that circles round that gives
k
The preferred selection for the distinctive C1 of β value among a small circle
kAnd C2
k, and especially for the distinctive C1 of decline stage wind speed among a small circle that measures by at least one wind gage
kAnd C2
kProduce against the wind maximum error (with respect to calm condition and with the wind), because this has increased aerodynamic effect and has increased duration flight for particular flight length.Corresponding to against the wind and in the chart of Fig. 4 (a) with the wind and 4 (b), this is conspicuous respectively.
The wind of measuring in fixed point seldom is stable, but has the change of the fitful wind (that is to say, less than half of the duration flight of typical club batting) of 1.3 to 1.6 times of typically being mean wind speed and two seconds duration or three seconds usually.Further, fixedly turbulent flow hypothesis (Taylor ' sFrozen Turbulence Hypothesis) instruction of Taylor, the wind turbulent flow is transmitted along the direction of overall average wind and with the speed of overall average wind.Like this, if mean wind speed is 5m/s, certain intensity at an A place and the fitful wind of duration will be big after two seconds in the repetition of the some B place at 10 meters of downwind that are positioned at an A.Should " fixedly turbulent flow " material impact be arranged to the wind that influences ball flight.The speed of golf is much larger than a mean wind speed at place of practising a ball game.Therefore, ball flies over fitful wind apace, thereby obtains balance (average out) along the high value and the low value of the fitful wind of flight path.Like this, in fitful wind, run through whole flight, the instant wind speed that ball warp is gone through changes several times, but the first half mean wind speed of carry normally almost with second semiduation of flying distance between mean wind speed identical.This especially situation of fitful wind against the wind.Like this, in order to simulate against the wind, suppose that the constant wind speed of flight experience that ball runs through them is rational to the influence of ball flight.
Use simulation, we can obtain the C1 corresponding to different flying distances
kAnd C2
kSuitable value.Table 1 shows the result of modeling effort, wherein the β value that changes to 8.5m/s and wherein change emission angle randomly and circle round and scatter to produce from 3.5m/s randomly against the wind.Adjust emission rate so that fixing flying distance to be provided.
Table 1
| Flying distance (sign indicating number) | Duration minimum/maximum (second) | β minimum/maximum (degree) | C1 k(second) | C2 k(second/degree) | δ (millisecond) |
| 50 | 2.7/3.3 | 35.7/47.8 | 0.94 | 0.048 | 27 |
| 100 * | 4.4/5.9 | 45.9/63.0 | 0.97 | 0.076 | 70 |
| 200 | 4.3/6.4 | 24.8/49.7 | 2.2 | 0.085 | 86 |
*Data obtain from Fig. 4 (a)
Should be pointed out that usually C1
kAnd C1
kValue change with k, but in order to produce the data of table 1, our simulation has such accurate flying distance as shown and the batting of the contrary wind of the average out to 6m/s that often blows, therefore, in this case, for three flying distances simulate in each, C1
kAnd C1
kHas fixing value.
Last row of table 1 provide the standard deviation of estimated value error, and its unit is a millisecond.Error is very low and only need the measured value of β and about measured value of the wind condition of often blowing.Do not need emission rate, circle round or the information of emission angle.In order to obtain the benefit of these estimation accuracies, must very accurately measure the β value, because constant C 2
kAbout typically 40 to the 90 milliseconds of every degree of value.Thereby the measuring error self of 1.0 degree of β can produce 40 to 90 milliseconds estimation error.Therefore preferably, for the elevation angle, whereabouts of measuring ball, the error of the measured value of whereabouts parameter is less than the standard deviation of 1.0 degree and more preferably less than 0.5 standard deviation of spending.
Because the error of duration flight estimated value is normally very little, can only determine the impingement position of the ball of whereabouts in many cases by calculating this parameter.This makes and can determine very apace.
Fig. 5 is the plan view of typical golf facility, and this golf facility has service subregion that is arranged in circular arc 50 places and the target 51 that is positioned at the distant place on the outfield.In this example, target can 100 to 200 meters of range transmission subregions or farther, make to produce a considerable amount of miss and Draw.In the sight of supposition, two people that play golf at adjacent sectors 52 and 53 places with emission rate, the elevation angle much at one and the batting simultaneously of circling round, thereby the distance that their batting flight is identical and landing simultaneously, yet but the batting at subregion 52 places of serving a ball adopts is that the batting at miss rotation service subregion 53 places does not have sidespin and do not have crosswind to influence flight path yet.
The central computer (not shown) have to determine to drop on 56 places a little ball from the service subregion.In this case, two service subregions all are selected as the possibility subregion, and the subregion 52 of wherein serving a ball is assigned to k=2 and service subregion 53 is assigned to k=1.Yet, real collision time Dur
2And Dur
1Corresponding to Edur
2, but the difference of azimuthal measurement provides the method for selecting service subregion 52 and rejection service subregion 53.
At service subregion place, measure the initial transmissions azimuth angle alpha L of each batting and measure the whereabouts azimuth angle alpha of any ball that arrives target at each target place
DesAccording to fixing all angles of orientation measurement, and along clockwise direction or anticlockwise rotation and measuring.In Fig. 5, we show the angle that basis-X-axis is measured in a clockwise direction rotatably.For each rum point and each position, whereabouts, an other angle is arranged, we are called final angle α F, its be between rum point and the position, whereabouts supposition straight line (being shown dotted line 59) for the batting among Fig. 5 54 right angle.
55 is straight because bat, so initial transmissions angle, final angle and fall angle all equate.For batting 54, the miss rotation makes the orientation track with the roughly shape bending of circular arc, so these angles all are different.The orientation track is not accurate circle, if especially crosswind influences flight path, but in most cases, we find (α F-α L) (α no better than at (by simulation)
Des-α F), it is corresponding to circular arc.
We can use this relation to pass through to measure α F
kWith α L
kAccurately estimate the azimuth direction Edir of ball
kFor specific batting, the Edir that obtains from specific service subregion
kValue and α
DesBetween accurate coupling show that described specific service subregion high probability ground has correctly mated described specific batting.Again with reference to figure 5, because the Edir of the estimated value of conduct service subregion 52
2Value and the value α that measures
DesAccurately coupling is sources of batting 54 so central computer can correctly be determined service subregion 52, and Edir
1With the value α that measures
DesDo not match.
Usually, obtain Edir by following equation
k:
Edir
k＝αF
k+C3
k×(αF
k-αL
k) (2)
Find by simulating our, make coefficient C3
kEqual 1.0 and provide good substantially estimated value for the possible golf ball-batting of majority.More preferably, C3
kDepend at least one in flying distance and the following parameters: crosswind size and Orientation, flight deviation, total wind speed and total wind direction, launching elevation, emission rate, duration flight and atmospheric density.
Alternatively, a wind gage 60 is placed near the service subregion 50 and second wind gage 61 is placed in the far-end in outfield.Wind gage preferably use can perception the 2-axle velocity of sound sensing device (sonic sensing means) of variation of very short-term of wind speed and direction.From the data of wind gage, it can be recorded with per second sampling rate 10 samples or bigger, is used to calculate the roughly wind speed and direction in whole outfield by the method for interpolation method and extrapolation.Wind gage preferably is installed on the column, about 10 meters eminences or at the estimated average height place of golf ball-batting.In other device, only use a 2-axle wind gage with the intensity that obtains current wind and the rough estimated value of direction, or use several wind gages, obtaining more accurate estimated value, described several wind gages can be 2 or 3-axle type.Especially, can be equipped with special wind gage, wherein the path of acoustic velocity measutement is extended and to be reached several meters rather than extending several centimetres as common on the device of commercial use.
Fig. 6 is the Edir that hits long service of simulation
kError and the chart of crosswind function of speed relation.Each batting flight in this sample 220 meters (240 yards) and with at random the elevation angle with circle round and be launched.In addition, each batting has big (at random) sidespin component, and it is enough to cause departing from of 27 meters of average out under calm condition.Crosswind changes to+12m/s (wherein Fu crosswind help sidespin to depart from and vice versa) from-4m/s.Best-fit line 62 passes data point and shows the general trend of error.Error is negligible under the situation of low crosswind, but along with the increase error of crosswind little by little increases.The every increase of crosswind 1m/s, this error that increases gradually is less than 0.25 degree.We find, with respect to the standard deviation of the error of best-fit line 62 less than 0.25 degree.This almost is 1/100 (1/100 of the average angle deviation that only caused by the sidespin that gives
Th).Therefore obviously, equation (2) is proofreaied and correct (if measuring) even point-device estimated value Edir also can be provided when having high sidespin and crosswind in conjunction with crosswind
k
In order to ensure low-down mispairing probability, preferably include the duration flight Edur of true collision time and estimation
kBetween difference less than 3-sigma or even less than any service subregion of 4-sigma, may mate as one.This will cause having two or more service subregions as possible coupling sometimes, even when 3-sigma has about about 1/10th seconds value.Then, we use Edir
kBetween described two or more service subregions, to make one's options.By in the matching process that the falling speed and the possible emission rate of batting are mated, comprising the 3rd parameter, can provide the higher determinacy of correct coupling.We have found that, in addition at ball when its Flight Length has slowed down widely, still can accurately estimate the ratio (we are called ' deceleration ratio ') of horizontal velocity of the ball at the horizontal velocity of ball of emission place and place, whereabouts here.
Fig. 7 is the figure of the golf ball-batting of simulation, shows the variation with respect to the deceleration ratio of duration flight.The emission angle of all batting among Fig. 7, circle round and wind is random value, wherein adjust emission rate so that flying distance is 220 meters (240 yards).The variation range of initial transmissions parameter is: speed 69.4 to 77.2m/s, circle round 1010 to 3140RPM, launching elevation 12 to 14 degree.In addition, (change in ± 3mph) the scope at ± 1.3m/s along the wind of heading.The very long distance that hits that these are data represented is to represent professional golfers or very high-caliber amateurish golfer.
We saw from Fig. 7, and extraordinary correlativity is arranged between deceleration ratio and the duration flight, and duration flight changed to 6.8m second from 5.2 seconds.Line 70 is the best-fit line that pass data.The formula of this fit line that illustrates has below provided as k ' possible duration flight ' Dur
kThe deceleration ratio Edec of k ' subregion of may serving a ball ' of function
kThe optimal value of estimated value.
Edec
k＝C4
k+C5
k×Dur
k (3)
For interior quite on a large scale launching condition, we find, Edec
kAnd the error profile between the True Data among Fig. 7 has only 3.2% standard deviation.For great majority batting, Edec
kMore near True Data.This is especially accurate for the batting with suitable low rate of fire because the deceleration ratio be tending towards there one and error become and can ignore.Like this, can provide the quite accurate measured value of emission level speed, launching elevation and whereabouts horizontal velocity, at Edec
kAnd the difference between may the mating of the deceleration ratio at a plurality of service subregions place provides the method for determining golf ball-batting very reliably.If the measured value of wind speed and direction is arranged, can further improve Edec
kAccuracy.
The batting deterministic process depends on from one true collision time in a plurality of batting of service subregion and other (if desired), true transmit direction and/or true emission level speed, the estimation of the probability that is complementary with the whereabouts parameter of the ball of measuring.In order to estimate this probability, at first analyze data from previous batting sample to obtain Edur
k, Edir
kAnd Edec
k, they are the values with three correlation parameters of maximum probability density.Then, the result is higher or lower than Edur
k, Edir
kAnd Edec
kDistribution of results the standard deviation value of three corresponding errors is provided, can estimate probability by it.May make up for each of whereabouts parameter, wind parameter and emission parameter and all to determine Edur
k, Edir
kAnd Edec
kAnd their standard deviation is unpractical, but data analysis can form a model, thereby by from look-up table, carrying out interpolation or can being identified for the value of the condition of any particular group with other computing method.
Because Edur
k, Edir
kAnd Edec
kAnd the difference between the actual parameter of ' near may bat (close possibility shot) ' is very little, error profile may be symmetry with normal state, therefore use normalized form can obtain this probability.
For example, can draw by following formula, the hitting time of k batting is the probability of actual time that impacts the ball of specific whereabouts in one group of possible batting:
P(Dur
k)＝1-2×|F(Dur
k)-0.5| (4)
P (Dur wherein
k) be Dur
kCumulative probability function.Use similar method can obtain the probability of direction and deceleration.
With reference now to Fig. 8 and 9,, flagpole 80 marks the center of circular target 81, the distance that this circular target 81 is positioned at the central authorities of golf long service scope and typically arranges 50 to 250 meters of several service subregion (not shown) in distance one.Several such targets are arranged along the length of the field of practising a ball game and can be had different sizes and shape.Can mark the border of target, make golfer to see or target 81 can be appointed as simply border circular areas on the outfield apart from flagpole 80 radii fixuses at service subregion place.
Two sensor units 82 and 83 are plane a little above Ground by pillar 90 is rigidly fixed, and are positioned in the right side of target and are preferably right hand border near golf course, and common golf can not fall thereon.One reflector structure 84 extends along the length (perhaps as required on less length) of left-hand side of practising a ball game at the opposition side of target, and same golf usually can not drop on thereon.
The position of sensor unit and reflector structure can exchange, if perhaps be ready, can sensor unit and reflector structure all be installed in the both sides of target.
Sensor unit comprises the top optical transmitting set 91 and the bottom optical transmitting set 92 of optical receiver 93 above and belows that are installed in collaborative work separately.Sensor unit 82 and 83 optical receiver have respectively the horizontal field of view by the certain angles of dotted line 85 and 86 expressions separately, and it is enough to coverage goal 81 (for instance, about 45 degree) but has the offset axis direction, as shown.Sensor unit 82 and 83 optical transmitting set have the horizon light radioactive area of visual field of the optical receiver of the collaborative work that extends beyond them at least.But two optical transmitting sets 91 in each sensor unit and 92 have only disperse a little be enough to illuminate two retroeflections that separate with 94 and 95 vertical light emission zone, this retroeflection with 94 and 95 sides that are connected to reflector structure in the face of optical transmitting set.Preferably, the vertical spacing HR with 94 and 95 of retroeflection equates with the vertical spacing HE of every pair of optical transmitting set 91 and 92, and indefiniteness ground is in 10 to 50 centimetres scope.
Preferably,, make that in the semiperiod two top optical transmitting sets 91 are connected and two bottom optical transmitting sets 92 disconnect circularly to optical transmitting set energising, and in second half cycle conversely.During each semiperiod, the light that reflects back from a pair of optical transmitting set is with 94 and 95 reflections and is accepted by optical receiver 93 by retroeflection, and optical receiver 93 is preferably has large aperture and high-gain condenser.Optical receiver 93 focuses on described reflected light the one or more straight line photosensor array (not shown) that are arranged in the optical receiver subsystem.
Retroeflection be with 94 and 95 to have in 20 to 30 millimeters scopes, 25 millimeters width uniformly vertically for example, it is slightly less than the diameter of golf, and with the vertical aperture of optical transmitting set be arranged as height and retroeflection with 94 and 95 identical, for example 25 millimeters.
When optical transmitting set 91 was connected, what the fan beam that is typically infrared light illuminated retroeflection comprised two light paths by dotted line 96 and 97 expressions with a part of 94 and 95 and this fan-beam.When golf enters light path 96, be interrupted and this is detected in two sensor units 82 and 83 from the part of the light of retroreflector 94.In each optical receiver, at least one photosensor array pixel will detect light and interrupt.Should be noted that described at least one pixel will accept the light that passes through light path 97 from retroreflector 94, thus the signal change-6db in described at least one pixel, and this is enough to detect reliably the existence of the golf in the light path.Can determine to interrupt the angle position of the golf of light by the position separately of detecting pixel with respect to two sensor units.Determine the instant height of the golf of interruption light by the height of light path 96.Like this, known that golf with respect to the angle position of two sensor units and its height, can determine its three-dimensional present position.When ball passes four all light paths 96 to 99, its velocity of energy measurement.Should be understood that, the velocity of measuring ball does not need middle light path 97 and 98, but however, because will only focus on retroreflector device 94 from the fan-beam of optical transmitting set 91 but out-focus is unrealistic to retroreflector 93, and transmitter 95 is unrealistic when will only focusing on backward from the fan-beam of optical transmitting set 92 similarly, so middle light path 97 and 98 exists.
The band that can use the sensor unit of improvement pattern of Fig. 8 and 9 and retroeflection is to measure the emission parameter at service subregion place.In this case, be preferably the visual field of in perpendicular, locating light fan-beam and optical sensor.
Claims (18)
1. determine the method for the position of the golf that falls among a plurality of transmitting sites that a kind is used for being launched from ball, the whereabouts parameter that comprises the ball that measures is with the fall time of the ball that obtains at least falling and depend on the measured value at the elevation angle, whereabouts of the ball of this whereabouts, calculating is as the estimated value of the duration flight of the ball of the whereabouts of the function of the measured value that depends on the elevation angle, whereabouts, measurement is about each transmitting site, the time interval between the fall time of the ball of launching ball and whereabouts from this position, estimated value to the calculating of the duration flight of the ball of time interval of measuring about each transmitting site and whereabouts compares, with the estimated value of time interval of determining which transmitting site and calculating near coupling with adopt to exist and determine the position that the ball of whereabouts is launched near the transmitting site of coupling.
2. the method for claim 1, wherein the whereabouts parameter of Ce Lianging comprises that the measured value of falling speed component of ball of whereabouts is to obtain depending on the measured value at the elevation angle, whereabouts.
3. method as claimed in claim 1 or 2 is wherein according to the estimated value of generally linear function calculation duration flight of the measured value that depends on the elevation angle, whereabouts.
4. method as claimed in claim 3, wherein said generally linear function be at least two and, first is that constant and second are constant and the product that depends on the measured value at the elevation angle, whereabouts.
5. method as claimed in claim 4, wherein first and second 's constant all depends at least one in flying distance and the following parameters: the position angle, whereabouts of the falling speed of the ball of wind speed, wind direction, emission angle, atmospheric density, whereabouts and the ball that falls.
6. method as claimed in claim 1 or 2, the azimuthal measured value in whereabouts of the ball that obtains falling from the whereabouts parameter of measuring wherein, the step of the position that the ball of definite whereabouts is launched comprises for this determining the step of differentiating the approaching coupling of which existence between the transmitting site of the ball of launching, this discriminating based on, for in the ball of these emissions each, matching degree between the estimated value of the azimuthal measured value in whereabouts of the ball that falls and its calculating, and wherein this estimated value launch with respect to target as the ball of the measured value of the azimuth firing angle of target emission ball and whereabouts ball transmitting site azimuthal measured value function and calculate.
7. method as claimed in claim 6, wherein the estimated value of the azimuthal calculating in whereabouts of the ball of Xia Luoing be the ball that falls with respect to azimuthal measured value of the transmitting site of target emission ball and depend on this position angle with the measured value of the azimuth firing angle of target emission ball between difference item with.
8. method as claimed in claim 1 or 2, the measured value of the horizontal velocity of the ball that obtains falling from the whereabouts parameter of measuring wherein, the step of the position that the ball of definite whereabouts is launched comprises for this determining the step of differentiating the approaching coupling of which existence between the transmitting site of the ball of launching, this discriminating based on, for in the ball of these emissions each, in following matching degree between the two: (a) at the calculating ratio of the measured value of the horizontal velocity of the ball of the measured value of the horizontal velocity of the ball of emission place and whereabouts and (b) depend on the function of target emission ball from the value of the expectation duration flight of its transmitting site.
9. method as claimed in claim 1 or 2, the wherein measurement of the whereabouts parameter of the ball that above ground level falls less than 2 meters.
10. determine the system of the position of the golf that falls among a plurality of transmitting sites that a kind is used for being launched from ball, the whereabouts parameter that comprises the ball that measures is with the fall time of the ball that obtains at least falling and depend on the device of measured value at the elevation angle, whereabouts of the ball of whereabouts, calculating is as the device of the estimated value of the duration flight of the ball of the whereabouts of the function of the measured value that depends on the elevation angle, described whereabouts, measurement is about each transmitting site, the device in the time interval between the fall time of the ball of launching ball and whereabouts from this position, estimated value to the calculating of the duration flight of the ball of time interval of measuring about each transmitting site and whereabouts compares, with the time interval and the approaching device that mates of estimated value of calculating and the position that the ball of whereabouts is launched is determined in the employing existence near the transmitting site that mates the device of determining which transmitting site.
11. system as claimed in claim 10, wherein the whereabouts parameter of Ce Lianging comprises that the measured value of falling speed component of ball of whereabouts is to obtain depending on the measured value at the elevation angle, whereabouts.
12. as claim 10 or 11 described systems, wherein according to the estimated value of generally linear function calculation duration flight of the measured value that depends on the elevation angle, whereabouts.
13. system as claimed in claim 12, wherein said generally linear function be at least two and, first is that constant and second are constant and the product that depends on the measured value at the elevation angle, whereabouts.
14. system as claimed in claim 13, wherein first and second 's constant all depends at least one in flying distance and the following parameters: the position angle, whereabouts of the falling speed of the ball of wind speed, wind direction, emission angle, atmospheric density, whereabouts and the ball that falls.
15. as claim 10 or 11 described systems, the azimuthal measured value in whereabouts of the ball that obtains falling from the whereabouts parameter of measuring wherein, the position that the ball of definite whereabouts is launched comprises for this determining differentiates the approaching coupling of which existence between the transmitting site of the ball of launching, this discriminating based on: in the ball of these emissions each, matching degree between the estimated value of the azimuthal measured value in whereabouts of the ball that falls and its calculating, and wherein this estimated value launch with respect to target as the ball of the measured value of the azimuth firing angle of target emission ball and whereabouts ball transmitting site azimuthal measured value function and calculate.
16. system as claimed in claim 15, wherein the estimated value of the azimuthal calculating in whereabouts of the ball of Xia Luoing be the ball that falls with respect to azimuthal measured value of the transmitting site of target emission ball and depend on this position angle with the measured value of the azimuth firing angle of target emission ball between difference item with.
17. as claim 10 or 11 described systems, the measured value of the horizontal velocity of the ball that obtains falling from the whereabouts parameter of measuring wherein, the position that the ball of definite whereabouts is launched comprises, differentiate for this determining which exists near coupling between the transmitting site of the ball of launching, this discriminating based on, for in the ball of these emissions each, in following matching degree between the two: (a) at the calculating ratio of the measured value of the horizontal velocity of the ball of the measured value of the horizontal velocity of the ball of emission place and whereabouts and (b) depend on the function of target emission ball from the value of the expectation duration flight of its transmitting site.
18. as claim 10 or 11 described systems, the wherein measurement of the whereabouts parameter of the ball that above ground level falls less than 2 meters.
Applications Claiming Priority (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB0619014A GB0619014D0 (en) | 2006-09-27 | 2006-09-27 | Identifying golf shots |
| GB0619014.4 | 2006-09-27 | ||
| GB0705382A GB0705382D0 (en) | 2007-03-21 | 2007-03-21 | Methods and systems for identyfying the launch position and launch time of golf balls |
| GB0705382.0 | 2007-03-21 | ||
| GB0710129.8 | 2007-05-26 | ||
| GB0710129A GB0710129D0 (en) | 2007-05-26 | 2007-05-26 | Methods and systems for identifying the launch position and launch time of golf balls |
| GB0712687A GB0712687D0 (en) | 2007-06-29 | 2007-06-29 | Methods and systems for idetifying the launch position and launch time of golf balls |
| GB0712687.3 | 2007-06-29 | ||
| PCT/GB2007/003681 WO2008038005A2 (en) | 2006-09-27 | 2007-09-27 | Methods and systems for identifying the launch positions of descending golf balls |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101542294A CN101542294A (en) | 2009-09-23 |
| CN101542294B true CN101542294B (en) | 2011-10-26 |
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|---|---|---|---|
| CN2007800439568A Expired - Fee Related CN101542294B (en) | 2006-09-27 | 2007-09-27 | Methods and systems for identifying the launch positions of descending golf balls |
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| Country | Link |
|---|---|
| CN (1) | CN101542294B (en) |
| ES (1) | ES2358691T3 (en) |
| GB (1) | GB0619014D0 (en) |
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| CN108525268B (en) * | 2018-06-04 | 2023-10-31 | 四川大学 | Can freely control service robot of table tennis rotary state |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5631654A (en) * | 1996-02-05 | 1997-05-20 | The Regents Of The University Of California | Ballistic projectile trajectory determining system |
| CN1432786A (en) * | 2002-01-16 | 2003-07-30 | 厄利康肯特维斯股份公司 | Shoot error compensating method and device and weapon system computer |
| CN1447129A (en) * | 2002-03-22 | 2003-10-08 | 张千山 | Method for measuring spatial location based on difference of radius or summation of radius and its device |
-
2006
- 2006-09-27 GB GB0619014A patent/GB0619014D0/en not_active Ceased
-
2007
- 2007-09-27 ES ES07823942T patent/ES2358691T3/en active Active
- 2007-09-27 CN CN2007800439568A patent/CN101542294B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5631654A (en) * | 1996-02-05 | 1997-05-20 | The Regents Of The University Of California | Ballistic projectile trajectory determining system |
| CN1432786A (en) * | 2002-01-16 | 2003-07-30 | 厄利康肯特维斯股份公司 | Shoot error compensating method and device and weapon system computer |
| CN1447129A (en) * | 2002-03-22 | 2003-10-08 | 张千山 | Method for measuring spatial location based on difference of radius or summation of radius and its device |
Also Published As
| Publication number | Publication date |
|---|---|
| GB0619014D0 (en) | 2006-11-08 |
| CN101542294A (en) | 2009-09-23 |
| ES2358691T3 (en) | 2011-05-12 |
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