KR20230162918A - A smart putting device that calculates the putting distance based on images captured by a camera and a method of measuring the putting distance using the same - Google Patents

Abstract

The smart putting device of the present invention includes an image acquisition unit that acquires an image of a hole and a flagpole inserted into the hole, identifies the hole in the image acquired by the image acquisition unit, and obtains the elevation difference of the hole with respect to the putting position, It includes a processor that identifies the flagpole in the image, obtains the length of the flagpole, and calculates the horizontal distance from the putting position to the hole based on the elevation difference and the length of the flagpole.

Description

A smart putting device that calculates the putting distance based on images captured by a camera and a method of measuring the putting distance using the same

The present invention relates to a smart putting device for golf and a method of measuring putting distance using the same. More specifically, a smart putting device capable of measuring putting distance based on an image captured using a camera and measuring putting distance using the same. It's about method.

Generally, a golf putter is a golf club used to put a golf ball into a hole on a putting green. In order to putt accurately, you must accurately understand the distance from the ball to the hole, the topography of the green, and the speed of the green, which requires a high level of skill.

For this reason, it is common to play a game accompanied by a caddy who has accurate information and experience about the green. However, recently, due to the popularization and popularity of golf, the golf population has increased, and not only is there a shortage of caddies, but the accompanying caddy is also required. Because the cost is so high, the number of golf courses that allow play without a caddy is increasing.

However, when playing without a caddy, it is very difficult for beginners to understand green information such as putting distance and direction, which not only reduces the fun of the game, but also causes damage to other teams by increasing the number of strokes and delaying the game. there is a problem. Therefore, there is a need for equipment that provides golfers with the information necessary for putting, allowing them to make accurate putting even on their own.

US Patent No. US8608595 (hereinafter referred to as 'prior art') is a combination of the user's intended putting direction (i.e., the direction from the putter toward the hole in a straight line) and the actual putting direction (i.e., at the moment the putting is made). A putter in which the direction perpendicular to the front of the putter head (direction perpendicular to the front of the putter head) is displayed on the display is disclosed.

The prior art utilizes images acquired by a camera to obtain hole location information. In particular, the distance from the putter to the hole is obtained based on the size (i.e., diameter) of the hole expressed in the image.

However, since the green where putting is usually performed has undulations, it is difficult to photograph the hole depending on the green situation when the camera is positioned on the putter head, so there is a problem in that the exact distance to the hole cannot be obtained. To solve this problem, the prior art installed a camera on the shaft, but in this case, a lot of weight is given to the shaft, which not only affects the putting stroke and reduces performance, but also causes the camera and display to interfere with the user's field of view. There was a problem with blocking the putting action.

The problem that the present invention aims to solve is, first, to provide a smart putting device that calculates the distance to the hole using an image acquired using a camera and a method of measuring the putting distance using the same.

Second, a smart putting device that calculates the distance to the hole through an image obtained from a camera, and prevents the center of gravity of the putter from moving in a vertical direction from the ground due to the addition of the camera by providing the camera to the putter head. is to provide.

Third, it provides a smart putting device that can measure the distance to the hole with considerable accuracy even when the hole cannot be photographed with a camera due to the curvature of the ground, and a method of measuring the putting distance using the same.

Fourth, we provide a smart putting device that can use a camera to obtain the distance from the putter to the hole and the elevation difference between the putting position and the hole, and a method of measuring the putting distance using the same.

The smart putting device of the present invention includes an image acquisition unit that acquires an image of a hole and a flagpole inserted into the hole, identifies the hole in the image acquired by the image acquisition unit, and obtains the elevation difference of the hole with respect to the putting position, It includes a processor that identifies the flagpole in the image, obtains the length of the flagpole, and calculates the horizontal distance from the putting position to the hole based on the elevation difference and the length of the flagpole.

It may further include an output unit that outputs at least one of the height difference and the horizontal distance.

The output unit may include a display that visually displays at least one of the horizontal distance and the elevation difference.

The smart putting device may further include an acceleration sensor, and the processor determines whether the image acquisition unit is aligned to a preset reference posture based on the detection value of the acceleration sensor, and outputs an output when determined to be aligned. Notifications can be output through the unit.

The smart putting device may further include an input unit that receives a predetermined command from the user, and the processor acquires an image through the image acquisition unit when a shooting command is input through the input unit after the notification is output. It can be controlled as much as possible.

The processor may correct the image acquired by the image acquisition unit based on the detection value of the acceleration sensor and obtain the length of the flagpole from the corrected image.

The processor determines the elevation difference based on a first acquired image obtained through the image acquisition unit while the epithelium smart putting device is placed on the ground, and a second acquired image obtained while the smart putting device is spaced a predetermined distance from the ground. can be obtained.

The smart putting device may further include an output unit that outputs at least one of the elevation difference and the horizontal distance, and a putter head for a golf putter.

The processor, image acquisition unit, and output unit may be disposed on the putter head.

The smart putting device may further include an acceleration sensor and a wireless communication module that wirelessly transmits information about the elevation difference and horizontal distance.

The acceleration sensor and the wireless communication module may be placed on the putter head.

The smart putting device may further include an output unit that outputs at least one of the elevation difference and the horizontal distance, and a putter head for a golf putter.

The image acquisition unit may be disposed on the putter head. The smart putting device is separate from the putter head and may further include a sub-device including the processor and the output unit.

The smart putting device includes a first wireless communication module disposed on the putter head and wirelessly transmitting an image acquired by the zero-angular acquisition unit, and a first wireless communication module disposed on the sub-device and communicating with the first wireless communication module. 2 It may further include a wireless communication module.

According to another aspect of the present invention, a smart putting device includes an image acquisition unit that acquires an image of the ball at a point where the hole is located, identifies the ball in the image acquired by the image acquisition unit, and identifies the ball and the hole. It includes a processor that obtains the elevation difference and the width of the ball, and calculates the horizontal distance to the ball based on the elevation difference and the width of the ball.

The smart putting device may further include a ball marker, and the image acquisition unit and the processor may be disposed on the ball marker.

The smart putting device may further include an output unit that outputs at least one of the elevation difference and the horizontal distance.

The output unit may be placed on the ball marker.

The smart putting device may further include a sub-device separated from the ball marker, and the output unit may be disposed in the sub-device.

The processor may identify the hole and the flagpole from the image using an artificial intelligence-based object detection algorithm.

The processor may identify the hole and the flagpole by analyzing the colors expressed in the image.

According to another aspect of the present invention, a smart putting device includes an image acquisition unit having a first camera and a second camera spaced apart by a predetermined distance in the horizontal direction, and the first camera with the image acquisition unit being at the same position. It includes a processor that calculates the elevation difference of the hole with respect to the putting position and the horizontal distance from the putting position to the hole based on the first acquired image captured by and the second acquired image captured by the second camera.

According to another aspect of the present invention, a smart putting device includes an image acquisition unit having a first camera and a second camera spaced apart by a predetermined distance in the horizontal and vertical directions, and the image acquisition unit being at the same position. 1. A processor that calculates the height difference of the hole with respect to the putting position and the horizontal distance from the putting position to the hole based on the first acquired image captured by the camera and the second acquired image captured by the second camera. Includes.

The putting distance measurement method using the smart putting device of the present invention includes the steps of (a) acquiring a front image by an image acquisition unit, (b) calculating the putting distance based on the image, and (c) the step of obtaining the putting distance based on the image. It includes the step of outputting the putting distance through an output unit.

Step (a) includes (a-1) determining whether the smart putting device is aligned to a preset reference posture based on the detection value of the acceleration sensor, and (a-2) step (a-1). When it is determined that the smart putting device is aligned to the reference posture, outputting a notification through an output unit; (a-3) when a predetermined command is input through an input unit after the notification is output, the image acquisition unit The step of acquiring the image may be further included.

Step (b) may include identifying a flagpole in the image and calculating the horizontal distance from the smart putting device to the hole based on the length of the identified flagpole.

Step (c) may include outputting the horizontal distance as the putting distance through the output unit.

Step (b) may further include obtaining the elevation difference of the hole with respect to the putting position in the image, and determining the horizontal distance based on the elevation difference and the height of the flagpole.

It may further include outputting the elevation difference through the output unit.

The step (a) includes obtaining a first acquired image through the image acquisition unit with the smart putting device placed on the ground, and acquiring the image while lifting the smart putting device from the ground to a predetermined elevation height. It may include the step of obtaining a second acquired image through a portion, and the step (b) may include the height of the hole obtained from the second acquired image and the elevation obtained based on the first acquired image and the second acquired image. It may include calculating the elevation difference based on the height.

Step (b) may include identifying a ball in the image and calculating the horizontal distance from the ball to the hole based on the width of the identified ball, and step (c) may include determining the horizontal distance from the ball to the hole. It may include outputting the distance as the putting distance through the output unit.

Step (b) may include obtaining the elevation difference between the ball and the hole in the image, and determining the horizontal distance based on the elevation difference and the width of the ball.

The putting distance measuring method may further include outputting the height difference through the output unit.

The step (a) includes obtaining a first acquired image and a second acquired image on both sides based on a straight line connecting the ball and the hole, and determining a putting direction based on the first acquired image and the second acquired image. It may further include setting and displaying through the output unit.

The smart putting device according to an embodiment of the present invention and the putting distance measuring method using the same calculate the distance to the hole based on the length of the flagpole obtained based on the acquired image, so it is possible to calculate the putting distance by photographing the conventional hole cup. Compared to this method, not only is it less affected by the curvature of the ground, but even when the camera is placed on the putter head, the putting distance can be calculated by filming the flagpole, which has the advantage of lowering the center of gravity of the putter.

In addition, even if the lower part of the flagpole cannot be photographed because there is a hill between the putter and the flagpole, in a normal putting environment, the hidden part is minimal compared to the entire length of the flagpole, so even if the putting distance is calculated based on the length of the flagpole, It is possible to achieve relatively high accuracy. In particular, there is an advantage in that the putting distance can be obtained with considerable accuracy even on curves of the green, which is impossible with the conventional method of calculating the putting distance by photographing the hole cup.

A smart putting device according to an embodiment of the present invention and a method of measuring the putting distance using the same are a method of obtaining the width of the ball by photographing a ball placed on the ground and calculating the putting distance based on this. Therefore, even when the ball is located lower than the hole (i.e., uphill lie), the putting distance can be obtained even from an uphill lie because the ball can be photographed with the putter positioned at the hole.

In addition, in a downhill lie where the ball is higher than the hole, if the ball is photographed with the putter at the hole's position, the lower part of the ball may be partially obscured by the ground, but even so, the ground may be close to the ball at the normal curve of the green or putting distance. Since it does not cover the center part, it is possible to measure the width of the ball unless there are special cases. Therefore, excellent distance measurement performance is guaranteed even when lying downhill.

In addition, compared to the conventional method of calculating the putting distance by photographing the hole cup, the smart putting device of the present invention is not only less affected by ground curvature, but can also calculate the putting distance by photographing the flagpole even when the camera is placed on the putter head. This has an advantageous effect in lowering the center of gravity of the putter.

In addition, the smart putting device of the present invention can be equipped with a camera on the putter head that takes images to determine the putting distance, so the center of gravity of the putter can be maintained on the putter head side, making it very similar to a typical putter to the user. It has the effect of providing swing balance.

In addition, since the length of the shaft and the angle that the shaft forms with the ground (lie angle) are generally different depending on the type of putter, when installing a camera on the shaft as in the past, the camera must be tuned to fit the putter. It must be done. However, in the smart putting device of the present invention, the standard for obtaining images is constant by installing a camera on the putter head in contact with the ground (i.e., the image is obtained at a position very close to the ground), so even if the putter is manufactured to various specifications There is no need to tune the camera for each standard, but you can tune it using a common method. Therefore, the smart putting device of the present invention is not only advantageous in terms of product development and production management, but also has an efficient advantage in terms of maintenance and repair.

Figure 1 shows a smart putting device of the present invention and a smart putting system including the same.
Figure 2 is a block diagram showing the control relationship between the main components of the smart putting device of Figure 1.
Figure 3 is a block diagram showing main parts of a smart putting device according to the first embodiment of the present invention.
Figure 4 shows a putter as an example of the smart putting device of Figure 3. Figure 4 (a) is a view of the putter from above, and Figure 4 (b) is a view of the putter from the front.
Figure 5 shows a putter according to another embodiment of the present invention.
Figure 6 shows putters according to further embodiments of the present invention.
Figure 7 shows a ball marker as another example of the smart putting device of Figure 3.
Figure 8 is a block diagram showing main parts of a smart putting device according to a second embodiment of the present invention.
Figure 9 shows an example of the smart putting device of Figure 8.
Figure 10 shows another example of the smart putting device of Figure 8.
Figure 11 shows acquired images according to the distance from the smart putting device to the hole as obtained on a horizontal ground.
Figure 12 shows a comparison between a flagpole image obtained when the smart putting device is not in the standard posture and a flagpole image obtained when the smart putting device is adjusted to the standard posture.
Figure 13 (a) shows the positions of the hole and the flagpole visible in the acquired image compared with those obtained when the camera was in the first position and those obtained when the camera was in the second position, and (b) shows the positions of the hole and the flagpole seen in the acquired image. The positional relationship between the camera, the hall, and the flagpole is shown, and (c) shows the positional relationship between the camera, the hall, and the flagpole at the second position.
Figure 14 shows the coordinates of the top of the flagpole relative to the distance from the camera to the hole cup by elevation difference in the acquired image taken when the camera was in the reference position.
Figure 15 shows (a) when the smart putting device is on the floor and (b) when it is lifted from the floor.
Figure 16 shows (a) the flagpole visible in the acquired image when the smart putting device is on the floor, and (b) the flagpole visible in the acquired image when the smart putting device is lifted from the floor.
Figure 17 is for explaining a method of measuring the putting distance using a smart putting device according to another embodiment of the present invention, and shows an image of a ball taken with the smart putting device placed at the hole cup position.
Figure 18 shows a comparison between the image of the ball obtained when the smart putting device is not in the standard posture and the image of the ball obtained when the smart putting device is adjusted to the standard posture.
Figure 19 (a) shows the ball seen in the acquired image by comparing it when the camera is in the first position and when it is in the second position, and (b) shows the positional relationship between the camera and the ball at the first position. , and (c) shows the positional relationship between the camera and the ball at the second position.
Figure 20 shows the width of the ball relative to the distance from the camera to the ball by elevation difference in the acquired image taken when the camera was in the reference position.
Figure 21 is a flow chart illustrating a method of measuring a putting distance using a smart putting device according to embodiments of the present invention.
Figure 22 is an example of a case where the ball is higher than the hole, showing the positions of the ball and the flagpole (a), the positions of the ball and the flagpole shown in the first acquired image (b), and the positions of the ball and the flagpole shown in the second acquired image (c). will be.
Figure 23 is an example of a case where there is a height difference between the two zones based on the line connecting the ball and the hole, and the positions of the ball and the flagpole (a), the positions of the ball and the flagpole shown in the first acquired image (b), and the second acquired image The positions of the marked ball and flagpole (c) are shown.
Figure 24 shows screens displayed through the display of the putter head.
Figure 25 is a diagram for explaining another embodiment of a putting distance measuring method.
Figure 26 is a diagram for explaining another embodiment of a putting distance measuring method.
Figure 27 is a diagram for explaining another embodiment of a putting distance measuring method.

The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. The present embodiments are merely provided to ensure that the disclosure of the present invention is complete and to provide a general understanding of the technical field to which the present invention pertains. It is provided to fully inform those with knowledge of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Figure 1 shows a smart putting device 100 of the present invention and a smart putting system 1 including the same. FIG. 2 is a block diagram showing the control relationship between the main components of the smart putting device 100 of FIG. 1.

Referring to FIGS. 1 and 2 , the smart putting system 1 according to an embodiment of the present invention may include a smart putting device 100 and a mobile device 200.

The smart putting device 100 and the mobile device 200 may exchange data with each other through wireless communication. The results processed by the smart putting device 100 are transmitted to the mobile device 200 through wireless communication, and the mobile device 200 can output the received information so that the user can recognize it.

The mobile device 200 is equipped with a wireless communication function and may be a device that outputs information in a visual, auditory, and/or tactile (e.g., haptic) manner, for example, Bluetooth earphones or smart devices. It may be a phone, but it is not necessarily limited to this.

The mobile device 200 may be equipped with a wireless communication module for wireless communication function, and the wireless communication module is not necessarily limited to this, but is a short-range wireless communication module (e.g., Bluetooth, beacon, NFC, etc.) , and may include at least one of a wireless Internet module (eg, WiFi).

The smart putting device 100 includes an image acquisition unit 5, a processor 7, an acceleration sensor 50, an input unit 18, a rechargeable battery 9, a charging unit 17, a memory 19, and/or an output. May include part (8).

The image acquisition unit 5 may include a camera 5a (see FIG. 5) that captures a digital image. The image acquisition unit 5 (or camera 5a) can capture one or more still images or a moving image composed of multiple still images taken at a predetermined period.

The processor 7 determines the horizontal distance from the ball 25 to the hole 21 (hereinafter referred to as ‘putting distance’) based on the image acquired by the image acquisition unit 5 (hereinafter referred to as ‘acquired image’). ) can be obtained. The processor 7 can control the putting distance to be output through the output unit 8.

The processor 7 controls the image acquisition unit 5 and the output unit 8 as well as various devices described later. The processor 7 may be a control device that executes and processes operations of a program recorded on an electronic recording medium or a chip with the function built in, and may include a central processing unit (CPU).

The output unit 8 includes at least one of a display 81 such as an LCD or LED that displays information visually, a speaker 82 that outputs sound, and a wireless communication module 83 that outputs an electrical signal that can be transmitted to a network. It can be included.

The wireless communication module 83 is capable of communicating with another device 200, for example, Bluetooth earphones or a smartphone, through a network. The wireless communication module 83 may include at least one of a short-range wireless communication module (eg, Bluetooth, beacon, NFC, etc.) and a wireless Internet module (eg, WiFi).

The acceleration sensor 50 may be a sensor that measures gravity acting on the x, y, and z axes. Here, the x, y, and z axes are defined as relative coordinate systems based on the smart device 100.

The input unit 18 may receive input from the user various commands necessary for operation of the smart putting device 100. The input unit 18 may be implemented with various input means such as buttons, switches, and touch panels. Depending on the embodiment, the mobile device 200 may configure the input unit 18.

The rechargeable battery 9 may include a disposable or rechargeable battery that supplies power required for operation of the smart putting device 100.

A charging unit 17 connected to an external power source may be provided to charge the rechargeable battery 9. The charging unit 17 may include a circuit that charges and/or discharges the rechargeable battery 9. The charging unit 17 may include terminals such as USB (type A, B, C, micro type, etc.), micro 5-pin, lightning 8-pin, etc., but is not limited to this and may also include various types of terminals known in the art. possible.

The memory 19 is a recording means for storing data (or information) and may include volatile, non-volatile, ROM, RAM, EEPROM, flash memory, etc., but is not limited to this and may include various types of memory known in the art. It is also possible to include

The output unit 8 outputs the results processed by the processor 7, and includes a display 81 such as an LCD or LED that displays information visually, a speaker 82 that outputs sound, and an electrical signal that can be transmitted to a network. It may include at least one of the wireless communication modules 83 that output as a signal.

Figure 3 is a block diagram showing main parts of the smart putting device 100a according to the first embodiment of the present invention. Referring to FIG. 3, the smart putting device 100a according to the first embodiment of the present invention includes at least an image acquisition unit 5, an acceleration sensor 50, and a wireless communication module ( 83), and may include a second sub-device 120 including at least a processor 7 and a display 81 among several devices shown in FIG. 2.

The first sub-device 110 and the second sub-device 120 are disposed in one device, but are physically separated from each other in the one device. That is, the first sub-device 110 is composed of a collection or assembly of an image acquisition unit 5, an acceleration sensor 50, and a wireless communication module 83, and the second sub-device 120 includes a processor 7 and It may be composed of a collection or assembly of the displays 81, and the first sub-device 110 and the second sub-device 120 may be electrically connected to each other but physically or spatially separated or separated from each other.

For example, the image acquisition unit 5, acceleration sensor 50, and wireless communication module 83 are mounted on a first PCB (Printed Circuit Board), and the processor 7 and display 81 are It can be mounted on a second PCB.

Meanwhile, in the embodiment, the rechargeable battery 9 is provided in the first sub-device 110, but it is not necessarily limited thereto, and may also be provided in the second sub-device 120.

FIG. 4 shows a putter 100a1 as an example of the smart putting device of FIG. 3, where (a) of FIG. 4 is a view looking down at the putter from above, and (b) of FIG. 4 is a view of the putter from the front.

Referring to FIG. 4, the smart putting device 100a according to an embodiment of the present invention may be a putter 100a1. The putter 100a1 may include a putter head 1, a shaft 2, a grip 3, an image acquisition unit 5, a processor 7, and an output unit 8. The putter head 1 forms a hitting surface 41 that comes into contact with the golf ball. Hereinafter, the direction in which the hitting surface 41 faces is defined as the front.

The putter head 1 does not have to be limited to one shape. For example, the putter head 1 may be either a blade type or a mallet type.

The shaft 2 extends upward from the putter head 1. A grip (3) may be fitted to the top of the shaft (2). An input unit 18 may be provided at the top of the grip 3.

The putter head 1 may be coupled to the lower end of the shaft 2. Like a normal putter, the putter head 1 can be separated from the shaft 2 using a tool. Preferably, the first sub-device 110 and the second sub-device 120 may be provided in the putter head 1.

Figure 5 shows a putter 100a2 according to another embodiment of the present invention. Figure 6 shows putters 100a3 and 100a4 according to still other embodiments of the present invention.

Referring to FIG. 5, in the putter 100a2 according to the embodiment, the putter head 1 has a head housing 11 forming a receiving chamber M having an opening on the front, and is inserted into the opening and has a hitting surface ( 41, see FIG. 4.) may include a striking surface forming body 4.

The image acquisition unit 5 may include a camera 5a that is disposed in the receiving room M and acquires an image. An opening or sight glass corresponding to the lens (not shown) of the camera 5a may be formed on the front surface of the spherical surface forming body 4 or on the surface forming the spherical surface 41. The sight glass may be provided with a transparent shield 6 to protect the lens. Shield 6 may be tempered glass.

Depending on the embodiment, the camera 5a may be placed outside the receiving room M. For example, as shown in (a) of FIG. 6, the camera 5a is provided on the toe side of the putter head 1, or as shown in (b) of FIG. 6, the camera 5a is installed on the putter head (1). 1) It can be provided on the upper side. Furthermore, the camera 5a is stored in the receiving room M in normal times, and is automatically withdrawn from the receiving room M by a user's manual operation or by inputting a control command through the input unit 18. It may be configured.

The processor 7 may be placed in the receiving room (M). Additionally, the accommodation room M may be further equipped with at least one of an acceleration sensor 50, a rechargeable battery 9, a memory 19, and a charging unit 17.

Alternatively, depending on the embodiment, at least one of the acceleration sensor 50, the rechargeable battery 9, the memory 19, and the charging unit 17 may be provided on the shaft 2 or the grip 3.

The acceleration sensor 50 may be a sensor that measures gravity acting on the x, y, and z axes. Here, the x, y, and z axes are defined as relative coordinate systems based on the putter head 1, as shown in FIG. 6.

The posture of the putter 100a or the putter head 1 can easily vary depending on the individual setup method or the height difference between the flagpole and the putting point. The acquired image needed to calculate the distance needs to be obtained when the putter 100a or the putter head 1 is aligned in a preset posture. In the embodiment, the processor 7 determines whether the putter head 1 is aligned in a preset direction, that is, whether it is in a reference posture, based on the detection result by the acceleration sensor 50, and notifies if it is determined to be in the reference posture. Output a signal.

And, the output unit 8 can output a notification according to the notification signal. When the user who recognizes the notification inputs a shooting command through the input unit 18, the camera 5a can shoot and obtain an image.

When the display 81 is provided, the screen of the display 81 may constitute the upper surface of the putter head 1. The putting distance (D1) may be displayed on the screen.

According to the embodiment, the putting distance D1 is the horizontal distance from the smart putting device 100 to the hole 21, that is, a straight line connecting the hole 21 from the smart putting device 100 in three-dimensional space. It can be defined as the length when projected onto a horizontal plane.

Alternatively, the putting distance, as shown in FIG. 19, is the horizontal distance from the hole 21 to the ball 25, that is, the straight line connecting the ball 25 from the smart putting device 100 in three-dimensional space. The line (at this time, the smart putting device 100 is located at substantially the same point as the hole 21) can be defined as the length D1 when projected onto a horizontal plane.

In addition, the processor 7 obtains the elevation difference (H2) between the hole 21 and the putting point based on the image acquired by the image acquisition unit 5 (hereinafter referred to as 'acquired image'), and the elevation difference (H2) obtained in this way ( H2) can be controlled to be output through the output unit 8 together with the putting distance D1. The putting point may be the location of the smart putting device 100 or the ball 25.

Meanwhile, referring to FIG. 5, the display 81 displays the height difference or elevation difference between the putting point and the hole 21 (H2, see FIG. 13) and/or the putting direction (E) under the control of the processor 7. ) can be further displayed.

FIG. 7 shows a ball marker 100a5 as another example of the smart putting device of FIG. 3. The ball marker 100a5 can be defined as an artifact placed on the course to mark the point of the ball to be picked up. The smart putting device 100 of the present invention may be a ball marker 100a5. The ball marker 100a5 may include a first sub device 110 and a second sub device 120.

When the second sub-device 120 is placed on a horizontal floor, the camera 5a provided in the first sub-device 110 may be configured so that the main axis of the lens is aligned in the horizontal direction.

Since the first sub-device 110 and the second sub-device 120 are substantially the same as those applied to the above-described embodiments 100a1 to 100a4, description thereof will be omitted.

Figure 8 is a block diagram showing main parts of the smart putting device 100b according to the second embodiment of the present invention. FIG. 9 shows an example of the smart putting device 100b of FIG. 8.

8 to 9, the smart putting device 100b1 according to the embodiment may include a putter, and unlike the putters 100a1, 100a2, 100a3, and 100a4 described above with reference to FIGS. 4 to 6, the smart putting device 100b1 according to the embodiment may include a putter. Only one sub-device 110 is provided in the putter head 1, and the second sub-device 120 constitutes a separate device separate from the putter.

The second sub-device 120 includes a second wireless communication module (not shown) capable of wireless communication with the first wireless communication module 83 provided in the first sub-device 110, and the second wireless communication module. A separate rechargeable battery (not shown) may be included to supply power required for the operation of the processor 7.

Image data acquired by the image acquisition unit 5 of the first sub-device 110 may be input to the processor 7 of the second sub-device 120 through wireless communication.

Depending on the embodiment, the second sub-device 120 may be configured to be attached to or detached from the putter head 1. In this case, the second sub-device 120 may be attached to the putter head 1 according to the user's selection. It can be operated in an installed state or in a state separated from the putter head (1).

Meanwhile, putting information (eg, elevation difference or putting distance) processed by the second sub-device 120 may be transmitted to the mobile device 200.

Alternatively, the mobile device 200 (see FIG. 1) may perform the function instead of the second sub-device 120.

FIG. 10 shows another example of the smart putting device 100b of FIG. 8. Referring to FIG. 10, the smart putting device 100b2 according to the embodiment includes a first sub-device 110 constituting a ball marker and a second sub-device 120 constituting a separate device separate from the ball marker. It can be included.

The second sub-device 120 includes a second wireless communication module (not shown) capable of wireless communication with the first wireless communication module 83 provided in the first sub-device 110, and the second wireless communication module. It may include a separate rechargeable battery to supply power required for the operation of the processor 7, etc.

Image data acquired by the image acquisition unit 5 of the first sub-device 110 may be input to the processor 7 of the second sub-device 120 through wireless communication.

Depending on the embodiment, the second sub-device 120 may be configured to be attached to or detached from the ball marker. In this case, depending on the user's selection, the second sub-device 120 operates while installed on the ball marker, or It can be operated while separated from the ball marker.

The second sub-device 120 may be equipped to communicate with the mobile device 200. In this case, the putting information processed by the processor 7 of the second sub-device 120 may be transmitted to the mobile device 200 and then output in a form that can be recognized by the user.

Meanwhile, the smart putting device 100 according to the embodiments of the present invention described above can calculate the putting distance D1 based on information about the flagpole 22 obtained from the acquired image. Hereinafter, a method for calculating the putting distance D1 will be described with reference to FIGS. 11 to 14.

Hereinafter, the description will be made based on the fact that the smart putting device 100 is configured to include a putter, but the description described later can be applied substantially the same even if the smart putting device 100 is configured to include a ball marker.

Figure 11 shows acquired images according to the distance from the smart putting device to the hole as obtained on a horizontal ground. Figure 12 shows a comparison between a flagpole image obtained when the smart putting device is not in the standard posture and a flagpole image obtained when the smart putting device is adjusted to the standard posture. Figure 13 (a) shows the positions of the hole and the flagpole visible in the acquired image compared with those obtained when the camera was in the first position and those obtained when the camera was in the second position, and (b) shows the positions of the hole and the flagpole seen in the acquired image. The positional relationship between the camera, the hall, and the flagpole is shown, and (c) shows the positional relationship between the camera, the hall, and the flagpole at the second position. Figure 14 shows the coordinates of the top of the flagpole relative to the distance from the camera to the hole cup by elevation difference in the acquired image taken when the camera was in the reference position.

11 to 14, the horizontal distance from the putter head 1 to the flagpole 22, that is, the putting distance D1, is obtained from information about the hole 21 and the flagpole 22 displayed in the acquired image. It can happen. Hereinafter, in the drawings, 21' and 22' indicate images of the hole 21 and the flagpole 22 respectively shown in the acquired image.

Specifically, the processor 7 detects features corresponding to the hole 21 and the flagpole 22, respectively, in the acquired image, and calculates the coordinates of the top of the flagpole 22 and/or the hole 21 based on the detected features. The length to the top of the flagpole 22 (hereinafter referred to as 'flagpole length') can be obtained.

Detecting objects in images involves methods such as SIFT (Scale Invariant Feature Transformation), HOG (Histogram of Oriented Gradient), LBP (Local Binary Pattern), Harr-like features, and ORB (Oriented FAST and Rotated BRIEF). Several methods are known. In addition, artificial intelligence-based object detection algorithms such as deep learning, which have recently been actively studied, are also useful. The processor 7 may detect the hole 21 and/or the flagpole 22 in the acquired image using this known object detection algorithm.

Referring to FIG. 11, the processor 7 detects the hole 21 and the flagpole 22 in the acquired image, determines the coordinates (y1) of the top of the flagpole 22, and the coordinates of the flagpole 22 from the hole 21. At least one of the length to the top (i.e., the flagpole length (h1')) and the position (h2') of the hole 21 can be obtained, and the putting distance (D1) can be determined based on the values obtained in this way.

The acquired image is preferably captured by the camera 5a with the putter 10 in the reference posture. The processor 7 may determine whether the putter 10 is currently aligned to the reference posture based on the detection value of the acceleration sensor 50.

For example, the reference posture may be defined as a state in which the y-axis (see FIG. 6) of the acceleration sensor 50 is aligned in the direction of gravity, and in this case, the processor 7 determines the x-axis value of the acceleration sensor 50. And when the z-axis value is substantially 0, it can be determined that the putter 10 is in the reference posture.

Alternatively, the processor 7 may determine that the putter 10 is in the reference posture when the sizes of the x-axis and z-axis measurement values of the acceleration sensor 50 are within a preset reference value. In this case, the processor 7 obtains information about the flagpole 22 and the hole 21 by correcting the rotation angles in the x, y, and z axes corresponding to the measured values of the acceleration sensor 50 in the acquired image, Based on this, the putting distance (D1) can be calculated.

Meanwhile, as shown in FIG. 11, the length of the flagpole in the acquired image changes non-linearly with respect to the distance D1' from the camera 5a. Flagpole length information for each distance (D1') may be established in advance through experiment and stored in the memory 19, and the processor 7 may store the flagpole length information and acquired image for each distance (D1') stored in the memory 19. The putting distance (D1) can be determined based on the flagpole length (h1', see FIGS. 11 and 12) detected in .

If the hole (21) and the camera (5a) are located on a level ground, the distance D1' becomes the putting distance (D1), but if there is an elevation difference between the hole (21) and the camera (5a), the distance (D1') The distance D1 projected on the horizontal plane becomes the putting distance.

The flagpole length information for the distance D1' may be stored for each actual flagpole length. In other words, even if filming is done at a point the same distance away from the flagpole, the length of the flagpole visible in the acquired image will be different depending on the actual standard (length) of the flagpole, so flagpole length information is constructed for each distance (D1') according to the standard of the flagpole. It is necessary to do this.

Referring to Figures 13 and 14, when there is a height difference (H2) between the putter head (1) and the hole (21), the processor (7) determines the length (h1', hereinafter, ') of the flagpole (22b) in the acquired image. The putting distance (D1) can be calculated by obtaining the 'flagpole length') and the height of the hole 21 (h2', hereinafter referred to as 'hole height').

As shown in FIG. 14, based on the acquired images taken when the camera 5a is in the reference posture, the top of the flagpole relative to the distance from the camera 5a to the hole 21 (X-axis in the graph) The coordinates (Y-axis in the graph) are obtained for each elevation difference, and the data obtained in this way may be stored in advance in the memory 19. Such data may also be classified and stored according to the standard of the flagpole 22 (i.e., the actual length of the flagpole 22).

Meanwhile, since the height (y1) of the top of the flagpole in the acquired image is the sum of the flagpole length (h1') and the hole height (h2'), depending on the embodiment, the processor 7 determines the height (y1) of the top in the acquired image. ) and the height of the hole (h2'), the flagpole length (h1') can be obtained from the difference between the two values (y1-h2').

Once h1' and h2' are obtained, the processor 7 can calculate the distance (D1'), the actual elevation difference (H2), and the putting distance (D1) based on these values and the data stored in the memory 19 described above. there is.

Figure 14 shows an example of calculating the distance (D1') based on the data stored in the memory 19 when the hole height (H2') is 0.3 m and the height of the top of the flagpole is y1, and this process is Expressed in this way, it is as follows:

D1'=f1(h1', h2').......(1)

H2'=f2(h1', h2').......(2)

D1 = f3(D1', H2').......(3)

Meanwhile, Figure 15 shows (a) when the putter head is on the floor and (b) when it is lifted from the floor. Figure 10 shows (a) the flagpole visible in the acquired image when the putter head (or marker) is on the floor, and (b) the flagpole visible in the acquired image when the putter head (or marker) is lifted from the floor. will be. Hereinafter, with reference to FIGS. 15 and 16, a method for accurately measuring the distance to the hole and the elevation difference will be described even when the bottom of the hole or the flagpole is not visible due to the curvature of the ground (e.g., a hill).

Meanwhile, in Figure 14, the case where H2' is greater than 0 is given as an example, but of course, data when H2' is less than 0 can also be obtained in advance through experiment and stored in the memory 19.

As shown in (a) of FIG. 15, there is a hill between the hole 21 and the putter head 1, so the bottom of the hole 21 or the flagpole 22 is not visible in the acquired image (see (a) of FIG. 16). In this case, according to the previously described embodiment, the length of the flagpole is calculated based on the length from the middle of the flagpole 22 (that is, the point where the ground and the flagpole 22 meet) to the top as seen in the acquired image. In this case, there is a problem in that the error in the putting distance D1 increases as the portion of the flagpole 22 is obscured by the hill. In this case, the putting distance (D1) is calculated based on the length of the flagpole in the part that is not obscured by the hill.

In order to compensate for this problem, the method of measuring the putting distance according to this embodiment involves lifting the putter 10 from the ground so that the bottom of the hole 21 or the flagpole 22 is visible (see (b) of FIG. 9). The putting distance (D1) is calculated by the processor 7 based on the acquired image (see (b) of FIG. 16) obtained from .).

At this time, the acquired image must be taken from the bottom of the hole 21 or the flagpole 22 (i.e., the part where the hole 21 and the flagpole 22 meet). The user may lift the putter 10 to an appropriate height with the eye and take a picture, but depending on the embodiment, an image (preferably a video) is captured in the process of lifting the putter 10, and in this process It is also possible to configure a notification to be output through the output unit 8 when the processor 7 identifies the bottom of the hole 21' or the flagpole 22' in the image. If the user who has confirmed the notification inputs a shooting command through the input unit 18, an image can be obtained through shooting.

Meanwhile, according to one embodiment of the present invention, the first acquired image (see (a) of FIG. 16) obtained with the putter 10 placed on the ground (see (a) of FIG. 15) and the The elevation difference (H3) can be obtained based on the second acquired image (see (b) of FIG. 16) obtained while the putter 10 is raised (see (b) of FIG. 15).

In order to obtain the height difference between the hole 21 and the putter head 1, that is, the height difference H3, an acquired image showing the bottom of the hole 21 or the flagpole 22 must be obtained.

First, as shown in (b) of FIG. 15, the acquired image is obtained while the putter 10 is lifted, and the height of the hole (H2) is obtained based on this.

Since the height H2 of the hole corresponds to the height difference between the position of the putter head 1 and the hole 21 at the time when the acquired image is obtained, as shown in (b) of FIG. 15, the actual putting takes place. In order to obtain the elevation difference (H3) between the position on the ground (i.e., the position of the ball) and the hole 21, the previously obtained height H2 of the hole must be corrected using the height T at which the putter 10 is lifted.

Therefore, the height T at which the putter 10 is lifted must be obtained, which is the first acquired image ((a) of FIG. 16) obtained when the putter head 1 is placed on the ground (see (a) of FIG. 15). The position of the flagpole 22' and the flagpole 22' in the second acquired image ((b) of FIG. 16) obtained when the putter head 1 is lifted from the ground (see (b) of FIG. 15). ) can be obtained based on the location of.

That is, the processor 7 identifies the flagpole 22' in the first acquired image and the second acquired image, obtains the displacement (t) of the flagpole 22' through comparison of both images, and obtains Based on the displacement (t), the height of the hole (H2) can be corrected to obtain the final elevation difference (H3).

Meanwhile, in order to determine the height (T) at which the putter 10 was actually lifted based on the displacement (t) of the flagpole (22'), the displacement (t) and the rising height (T) are matched for each putting distance (D1). Information (hereinafter referred to as 'displacement-rise height information by putting distance') must be known in advance, and this can be obtained in advance through experimentation and may be pre-stored in the memory 19.

Here, the putting distance D1 can be obtained from the second acquired image because it corresponds to the horizontal distance from the putter head 1 to the hole 21. If the distance D1 and the displacement t obtained in this way are known, the displacement for each putting distance can be obtained. -The rise height (T) can be obtained from the rise height information.

Next, the processor 7 can finally obtain the height difference H3 based on the previously obtained height H2 and rise height T. (H3=H2-T)

Figure 17 is for explaining a method of measuring the putting distance using a smart putting device according to another embodiment of the present invention, and shows an image of a ball taken with the smart putting device placed at the hole cup position. Figure 18 shows a comparison between the image of the ball obtained when the smart putting device is not in the standard posture and the image of the ball obtained when the smart putting device is adjusted to the standard posture. Figure 19 (a) shows the ball seen in the acquired image by comparing it when the camera is in the first position and when it is in the second position, and (b) shows the positional relationship between the camera and the ball at the first position. , and (c) shows the positional relationship between the camera and the ball at the second position. Figure 20 shows the width of the ball relative to the distance from the camera to the ball by elevation difference in the acquired image taken when the camera was in the reference position.

17 to 20, the smart putting device 100 according to another embodiment of the present invention can calculate the putting distance D1 based on information about the ball 25 obtained from the acquired image. Here, the acquired image is obtained by placing the smart putting device 100 at the position of the hole 21 and photographing the ball 25. Hereinafter, the description will be made based on the fact that the smart putting device 100 is configured to include a putter, but the description described later can be applied substantially the same even if the smart putting device 100 is configured to include a ball marker.

The width (W1', a value obtained from the acquired image) of the ball 25 varies depending on the distance (D1, see FIG. 13) from the hole 21 to the ball 25. As the ball 25 moves away from the camera 5a, the width W1' gradually decreases, and this change is microscopically non-linear.

As in the above-described embodiments, the image is acquired with the putter 10 aligned in the reference posture, and in FIG. 18, the ball 25' (the ball visible in the acquired image) is aligned with the putter 10 in the reference posture. The ball shown in the video is displayed in this state.

In FIG. 18, h2' is the height of the ball 25' in the image captured by the camera 5a with the putter 10 in the standard posture, and w1' indicates the width and length of the ball 25'. (Hereinafter, w1' is referred to as 'ball width'.) And, h2 and w1 are respectively the size of the ball 25 in the image captured by the camera 5a before the putter 10 is aligned to the reference posture. Height and width are length.

Information about the width (w1) of the ball for each distance (D1') can be established in advance through experiment and stored in the memory 19, and the processor 7 detects the information stored in the memory 19 and the acquired image. The putting distance (D1) can be determined based on the ball width (w1').

When the ball 25 and the camera 5a are located on a horizontal ground, the distance D1' becomes the putting distance D1 as shown in (b) of Figure 19, but as shown in (c) of Figure 19 As shown, when there is a height difference between the ball 25 and the camera 5a, the distance D1, which is an orthogonal projection of the distance D1' on a horizontal plane, becomes the putting distance.

19 to 20, when there is a height difference (H2) between the putter head (1) and the ball (25), the processor (7) calculates the ball width (w1') and ball height (h2') in the acquired image. , and based on these, the putting distance (D1) can be calculated.

As shown in FIG. 20, based on acquired images taken when the camera 5a is in the reference posture, the ball width relative to the distance from the camera 5a to the ball 25 (X-axis in the graph) (Y-axis in the graph) is obtained for each elevation difference, and the data obtained in this way may be stored in advance in the memory 19. In Figure 20, the case where H2' is greater than 0 is given as an example, but of course, data when H2' is less than 0 can also be obtained in advance through experiment and stored in the memory 19.

Once h2' and w1' are obtained, the processor 7 can calculate the distance (D1'), actual elevation difference (H2), and putting distance (D1) based on these values and the data stored in the memory 19 described above. there is.

Figure 20 shows an example of calculating the distance (D1') based on the data stored in the memory 19 when the ball height (H2') is 0.3 m and the ball width is w1', and this process is expressed as Eq. Expressed as follows:

D1'=g1(w1', h1').......(4)

H1'=g2(w1', h1').......(5)

D1 = g3(D1', H1') .......(6)

In this way, the method of calculating the putting distance (D1) using the ball (25) displayed on the acquired image is to obtain information by identifying the ball that has a shape protruding from the ground, so the hole (21) located on the ground is identified in the image. The accuracy is superior to that of

In particular, when the ball 25 is located lower than the hole 21 (i.e., uphill lie), it is difficult to identify the hole 21 when taking pictures with the putter 10 placed at the position of the ball 21. Therefore, the conventional method of identifying the hole 21 and calculating the distance has limitations. On the other hand, in the present invention under the same conditions, since the putter 10 is placed in the hole 21 with a relatively high ground and the photograph is taken, the ball 25 can be identified by looking down from above, and therefore, putting according to the above-described method The distance (D1) can be obtained.

Furthermore, even if the ball 25 is in a higher position than the hole 21, the green area in the normal range, the curve or elevation difference formed on the green, and the radius of the ball 25 (i.e., the distance between the ball 25 and the ground) Considering the height to the center, etc., the width of the ball (w1') can generally be identified in the image, which has the effect of accurately measuring the putting distance (D1) even in a downhill lie.

Figure 21 is a flow chart illustrating a method of measuring a putting distance using a smart putting device according to embodiments of the present invention. Referring to Figure 21, the putting distance measurement method according to an embodiment of the present invention includes starting the putting distance measurement mode (S1), setting the length of the flagpole (S2), and adjusting the shooting posture (S3). ), a step of determining whether the putter 10 is in the standard posture (S4), a step of notifying that the putter 10 is aligned to the standard posture according to the determination result of step S3 (S5), a step of obtaining an acquired image (S6), It may include calculating putting information from the acquired image (S7) and/or outputting the putting information calculated in step S7 (S8).

Step S1 is a step in which a command to enter the putting distance measurement mode is input. The user can input a start command through the input unit 18. The input unit 18 is provided in the putter 10 to provide an interface for receiving various control commands from the user, and may include various input means such as buttons, switches, touch sensors, and motion sensors. In an embodiment, the input portion 18 is disposed on the top of the grip 3, but this is not necessarily limiting.

Step S2 is the step of setting the flagpole length. When a start command is input through the input unit 18 in step S1, the processor 7 can display a menu for setting the flagpole length (or standard) through the display 81. (See Figure 24 (a)) The user can select the flagpole length (i.e., the actual length of the flagpole being used in the currently ongoing game) through the input unit 18. If the display 81 is provided, a menu for selecting the flagpole length may be displayed through the display 81.

Alternatively, it is possible to output a voice providing guidance on selecting the flagpole length and relaying the selection status through the speaker 82, and a signal for transmitting this voice to the network can also be output through the wireless communication module 83. possible.

Meanwhile, in the smart putting device that uses information about the ball 25 previously described with reference to FIGS. 17 to 20, step S2 is not necessary and can be omitted.

In step S3, the user moves the putter 10 to align it with the reference posture, and in this process, measurement is made by the acceleration sensor 50. The processor 7 may determine whether the putter 10 is aligned to the reference posture based on the measured value of the acceleration sensor 50.

The measured value of the acceleration sensor 50 can be output through the output unit 8, and the user can continuously modify the posture of the putter 10 while checking the output values. At this time, the processor 7 may calculate the x-axis rotation angle (i.e., up and down angle) and y-axis rotation angle (i.e., left and right angle) of the putter 10 based on the measured value of the acceleration sensor 50. Depending on the embodiment, the values may be displayed as shown in (b) of FIG. 24 when the display 81 is provided.

Depending on the embodiment, the vertical angle and the left and right angle may be output through the speaker 82 or transmitted to the network through the wireless communication module 83.

The user continues to move the putter 10 while checking the up and down angles and left and right angles output through the output unit 8. If the up and down angles and left and right angles that change in this process are less than the standard value, the processor 7 may determine that the putter head 1 is in the standard posture (S4), and control a notification indicating that the putter head 1 has been aligned to the standard posture to be output through the output unit 8. Hereinafter, the display 81 will be described as the output unit 8 as an example, but of course, the speaker 82 or the wireless communication module 83 is also possible.

Thereafter, when the user who recognizes the notification output through the output unit 8 applies an image acquisition command through the input unit 18, the processor 7 captures the image by the camera 5a in response to the image acquisition command. It can be controlled so that it takes place, and the image captured in this way can be defined as the acquired image to be used to calculate the putting distance (D1). (S6) When the shooting is completed in step S6, the processor 7 displays the display 81 to complete the shooting. You can control the message to be output. (See (c) in Figure 24)

Thereafter, in step S7, the processor 7 may calculate putting information from the acquired image according to the previously described embodiments. The putting information may include at least one of the height difference (H2, H3) and putting distance (D1) described above. (See Figure 24 (d), (e))

The processor 7 can control the putting information to be output through the output unit 8 (S8).

After the putting information is output, when the user actually takes a setup posture for putting, the processor 7 determines the current putter head 1 in the putting direction (this will be described later with reference to FIGS. 22 and 23). It is determined whether the alignment is done, and according to the result, a direction indication notification (E, see (d), (e) of FIG. 5/FIG. 24) can be output through the output unit 8.

For example, when the putter head 1 is aligned in the putting direction as shown in (d) of FIG. 24, the processor 7 displays an arrow of a predetermined color (e.g., green) through the display 81. And, when the putter head 1 is not aligned to the reference posture as shown in (e) of FIG. 24, an arrow of a different color (for example, red) can be displayed.

Meanwhile, referring to FIGS. 22 and 23, the putter 10 according to an embodiment of the present invention is a first acquired image obtained from both sides based on a straight line connecting the ball 25 and the hole 21. The putting direction can be determined based on (M1) and the second acquired image (M2).

For example, as shown in FIG. 22, when there is a slope in the first direction from the ball 25 to the hole 21, but there is no slope in the second direction orthogonal to the first direction, the first The Y-axis coordinate value of the ball 25 and the Y-axis coordinate value of the hole 21 obtained from the acquired image M1 are the Y-axis coordinate value of the ball 25 obtained from the second acquired image M2 and the hole ( It is substantially the same as the Y-axis coordinate value in 21). In this case, the processor 7 may output as a result that putting in the first direction, that is, hitting straight toward the hole 21, is sufficient.

As another example, as shown in FIG. 23, when there is no slope in the first direction from the ball 25 to the hole 21, but there is a slope in the second direction orthogonal to the first direction, the first obtained The Y-axis coordinate value of the ball 25 and the Y-axis coordinate value of the hole 21 obtained from the image M1 are the Y-axis coordinate value of the ball 25 and the hole 21 obtained from the second acquired image M2. Each is different from the Y-axis coordinate value of . In this case, the processor 7 may consider the slope in the second direction and output a result indicating that putting should be done toward the higher ground.

Furthermore, the processor 7 compares the size of the Y-axis coordinate value of the ball obtained from the first acquired image (M1) with the size of the Y-axis coordinate value of the ball obtained from the second acquired image (M2) to determine the hole 21. You can also determine which direction to put at, left or right, and at what angle in relation to the direction you are heading.

Figure 25 is a diagram for explaining another embodiment of a putting distance measuring method. Referring to FIG. 25, the putting distance measurement method according to this embodiment can identify the hole 21 and the flagpole 22 by analyzing the color expressed in the acquired image. Specifically, the processor 7 analyzes the color expressed in the acquired image to detect the outline of the flagpole 22, the uppermost point of the flagpole 22, and the hole 21, and based on the detected results, the flagpole length ( h1') and/or elevation difference (h2') can be obtained.

The smart putting device 100 may include a flag recognition module (not shown) that recognizes the flag using a laser. The flag recognition module may implement a JOLT function that notifies the flag with a short vibration when a flag is detected by a laser. Since the Jolt function is a technology that is already widely applied to laser range finders, detailed explanations will be omitted.

When the flag is recognized by the flag recognition module, the processor 7 can detect the outline of the flag by analyzing the colors expressed in the acquired image. Typically, the flag is made up of colors that contrast with the background so that it can be easily identified from a distance, so the processor 7 analyzes the colors of the pixels that make up the acquired image to detect the outline of the flag and the position of the top of the flag. You can.

In addition, the processor 7 can detect the point where the flagpole 22 and the hole 21 meet by analyzing the color expressed in the acquired image, and the point obtained in this way (i.e., the position of the hole) and the position of the top of the flag obtained previously Based on this, the flagpole length (h1') in the acquired image can be obtained. Furthermore, the processor 7 can obtain the elevation difference (h2') based on the location of the hole.

Figure 26 is a diagram for explaining another embodiment of a putting distance measuring method. Referring to Figure 26, the location of the hole and the location of the top of the flag can be obtained by an image analysis method based on artificial intelligence.

An artificial neural network learned based on deep learning can be stored in the memory 19, and the processor 7 can detect the location of the hole and the position of the top of the flag through an analysis process of the acquired image using the artificial neural network. The artificial neural network can be implemented in various known ways.

For example, as shown in FIG. 26, the processor 7 may recognize a flagpole in an acquired image and define an area where the flagpole is expressed in the form of a box, where the box is located along the lower horizontal line passing through the hole. It may be a rectangle with the horizontal line passing through the top of the flagpole as the upper horizontal line.

Additionally, the processor 7 can recognize the flag in the acquired image and define an area where the flag is expressed in the form of a box. In this case, the horizontal line passing through the top of the flag can define the upper side of the rectangular box.

Figure 27 is a diagram for explaining another embodiment of a putting distance measuring method. Referring to FIG. 27, the smart putting device according to an embodiment of the present invention may be configured so that the image acquisition unit 5 obtains two stereo acquired images.

Specifically, the image acquisition unit 5 may include two cameras spaced a certain distance apart in the horizontal direction (or left and right directions). By shooting the same object at the same location using the two cameras, two acquired images with different time differences are obtained, and using the two acquired images obtained in this way, the processor 7 determines the elevation difference of the hole and/or the object with respect to the putting position. You can find the distance to (or the horizontal distance from the putting position to the hole).

In FIG. 27, L1 is the first acquired image acquired by the first camera located on the left, and R1 is the second acquired image acquired by the second camera located on the right.

The processor 7 may obtain a Disparity Map or Depth Map based on the first acquired image and the second acquired image.

Since generating these maps typically requires a very large amount of computation, preferably, the processor 7 identifies only the flagpole (or flag) and/or the ball 25 in the first and second acquired images, respectively, Only the disparity for these can be created as a map. Identifying the flagpole or ball from the acquired image can be accomplished by an artificial intelligence algorithm.

Depending on the embodiment, the disparity may be a difference in brightness between both images. The processor 7 can analyze brightness information of the acquired image. When comparing only brightness, excluding color, the darker the objects expressed in the image, the farther away they are. The processor 7 obtains first brightness information from the first acquired image, obtains second brightness information from the second acquired image, and then determines a target (for example, a flagpole or a ball) based on the difference between the first and second brightness information. ) can be found.

For reference, in FIG. 27, L2 is an image obtained by processing the first acquired image using brightness information, and R2 is an image obtained by processing the second acquired image using brightness information.

Among the various information that constitutes an image, such as color and shape, the distance is calculated using brightness information, which has a relatively small amount of data, which has the effect of reducing the amount of calculation.

Figure 28 is a diagram for explaining another embodiment of a putting distance measuring method. Referring to FIG. 28, the image acquisition unit 5 may include two cameras spaced apart from each other by a predetermined distance left and right (or horizontally) and up and down (or vertically).

By shooting the same object at the same location using the two cameras, two acquired images with different time differences are obtained, and from the two acquired images obtained in this way, the processor 7 determines the left and right deviation (xa) and the top and bottom deviation (ya) of the flagpole. ), and based on the obtained values, the height difference of the hole with respect to the putting position and/or the distance to the flagpole (or the horizontal distance from the putting position to the hole) can be obtained.

Claims (20)

An image acquisition unit that acquires images of a hole and a flagpole inserted into the hole; and
Identify the hole in the image acquired by the image acquisition unit to obtain the elevation difference of the hole with respect to the putting position, identify the flagpole in the image to obtain the length of the flagpole, and obtain the height difference and the length of the flagpole based on the elevation difference and the length of the flagpole. A smart putting device including a processor that calculates the horizontal distance from the putting position to the hole. According to claim 1,
A smart putting device further comprising an output unit that outputs at least one of the elevation difference and the horizontal distance. According to claim 2,
The output unit,
A smart putting device including a display that visually displays at least one of the elevation difference and the horizontal distance. According to claim 1,
Further comprising an acceleration sensor,
The processor,
A smart putting device that determines whether the image acquisition unit is aligned to a preset reference posture based on the detection value of the acceleration sensor, and outputs a notification through the output unit if it is determined to be aligned. According to claim 4,
It further includes an input unit that receives a predetermined command from the user,
The processor,
A smart putting device that controls to acquire an image through the image acquisition unit when a shooting command is input through the input unit after the notification is output. According to claim 5,
The processor,
A smart putting device that corrects the image acquired by the image acquisition unit based on the detection value of the acceleration sensor and determines the length of the flagpole from the corrected image. According to claim 1,
The processor,
Smart putting to obtain the height difference based on the first acquired image obtained through the image acquisition unit while the epithelium smart putting device is placed on the ground, and the second acquired image obtained while the smart putting device is spaced a predetermined distance from the ground. device. According to claim 1,
an output unit that outputs at least one of the elevation difference and the horizontal distance; and
Further comprising a putter head for a golf putter,
A smart putting device where the processor, image acquisition unit, and output unit are disposed on the putter head. According to claim 8,
acceleration sensor; and
It further includes a wireless communication module that wirelessly transmits information about the elevation difference and horizontal distance,
The acceleration sensor and the wireless communication module are a smart putting device disposed on the putter head. According to claim 1,
an output unit that outputs at least one of the elevation difference and the horizontal distance; and
Further comprising a putter head for a golf putter,
The image acquisition unit is disposed on the putter head,
A smart putting device that is separate from the putter head and further includes a sub-device including the processor and the output unit. According to claim 10,
a first wireless communication module disposed on the putter head and wirelessly transmitting the image acquired by the zero-angular acquisition unit; and
A smart putting device further comprising a second wireless communication module disposed on the sub-device and communicating with the first wireless communication module. An image acquisition unit that acquires an image of the ball at the point where the hole is located; and
A processor that identifies the ball in the image acquired by the image acquisition unit, obtains the elevation difference between the ball and the hole and the width of the ball, and determines the horizontal distance to the ball based on the elevation difference and the width of the ball. Smart putting device, including: According to claim 12,
Includes more ball markers,
The image acquisition unit and the processor are smart putting devices disposed on the ball marker. According to claim 13,
A smart putting device further comprising an output unit that outputs at least one of the elevation difference and the horizontal distance. According to claim 14,
The output unit,
A smart putting device placed on the ball marker. According to claim 14,
Further comprising a sub device separated from the ball marker,
The output unit,
A smart putting device disposed on the sub-device. According to claim 1,
The processor,
A smart putting device that identifies the hole and the flagpole from the image using an artificial intelligence-based object detection algorithm. According to claim 1,
The processor,
A smart putting device that identifies the hole and the flagpole by analyzing the colors expressed in the image. An image acquisition unit including a first camera and a second camera spaced apart by a predetermined distance in the horizontal direction; and
Based on the first acquired image captured by the first camera and the second acquired image captured by the second camera while the image acquisition unit is at the same position, the height difference of the hole with respect to the putting position and the putting position A smart putting device including a processor that calculates the horizontal distance to the hole. An image acquisition unit including a first camera and a second camera spaced apart from each other by a predetermined distance in the horizontal and vertical directions; and
The elevation difference of the hole with respect to the putting position and the putting position based on the first acquired image captured by the first camera and the second acquired image captured by the second camera while the image acquisition unit is at the same position. A smart putting device including a processor that calculates the horizontal distance from to the hole.

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