A golf detection device based on a four-camera

Abstract

The utility model discloses a golf detection device based on four -eye camera, A group binocular camera, B group binocular camera, artificial turf pad, artificial turf pad is laid flat on the ground, A group binocular camera includes first camera and second camera, B group binocular camera includes third camera and fourth camera, A group binocular camera is set up in the rear upper side of artificial turf pad by rear to front inclination, B group binocular camera is set up in the right upper side of the rear of artificial turf pad by right to left inclination, and two group binocular cameras are all inclined to artificial turf pad, and the distance of B group binocular camera to artificial turf pad is closer than A group binocular camera. Two group cameras can photograph the other round surface of golf ball except the bottom on artificial turf pad, and the shooting coverage range contains the wide ball surface area, basically constitutes the feature of a round object, and is more accurate for image processor to extract the capture target of golf ball.

Description

Technical Field

[0001] This utility model relates to the field of golf training equipment technology, specifically to a golf detection device based on a four-eye camera. Background Technology

[0002] 1. With the popularization of golf and the development of virtual simulation training systems, the demand for data collection and analysis of player hitting motions is increasing. Existing indoor golf systems typically rely on radar velocimeters, monocular / binocular camera systems, or laser sensors to collect golf ball motion information and perform path simulation or training feedback. However, these traditional solutions have the following shortcomings: Most existing image acquisition devices usually only capture images from one angle (such as the upper rear or side), leading to partial occlusion of the ball or club, target loss, or insufficient spatial positioning accuracy, making it difficult to reconstruct the complete motion trajectory. Since binocular vision systems can only provide unidirectional depth information, especially during high-speed motion, camera angles that are too close together can result in an excessively short stereo baseline, thus affecting the accuracy of 3D reconstruction coordinates. Most systems only output the ball speed or initial velocity direction, lacking detailed modeling and acquisition of complex motion parameters such as club speed, acceleration, angular velocity, striking angle, and ball rotation.

[0003] 2. Because when playing golf, the player doesn't run to the right side of the golf ball; instead, they stand on the left side of the target area, which is also slightly to the left of the golf ball and the A-group binocular camera. Since the player is moving, some people may stand closer to the golf ball. During the shot, the player's head or right hand may partially obstruct the view of the ball. This could be obscuring the stationary golf ball or a portion of its flight path after impact. This prevents the A-group binocular camera from capturing continuous, high-density multi-frame images of the golf ball's flight path within the shooting area. Consequently, the A-group binocular camera's continuous high-density multi-frame image capture is incomplete and inaccurate. This leads to inaccurate data extraction of the flight path from the stationary golf ball to its dynamic flight path during subsequent 3D reconstruction, resulting in deviations and inaccuracies in the final 3D reconstruction. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a solution with a reasonable structural design:

[0005] A golf detection device based on four cameras includes a group A of binocular cameras, a group B of binocular cameras, and an artificial turf mat. The artificial turf mat is laid flat on the ground. The group A of binocular cameras includes a first camera and a second camera, and the group B of binocular cameras includes a third camera and a fourth camera. The group A of binocular cameras is tilted from back to front and positioned above and behind the artificial turf mat. The group B of binocular cameras is tilted from right to left and positioned above and to the right of the rear part of the artificial turf mat. Both groups of binocular cameras are tilted towards the artificial turf mat, and the distance between the group B of binocular cameras and the artificial turf mat is closer than that between the group A of binocular cameras.

[0006] The beneficial effects of this utility model's golf detection device based on a four-lens camera are as follows: Both sets of binocular cameras are tilted and aimed at the area and the artificial turf mat. The two sets of cameras can capture the entire circular surface of the golf ball placed on the artificial turf mat, excluding the bottom point. The coverage area encompasses a wide portion of the ball's surface, covering over 85% of the circular surface, essentially forming the characteristics of a circular object. This provides a more accurate target capture for the computer system's image processor to extract / find the circular target (golf ball). By using two sets of binocular cameras to acquire image information from the main viewpoint and side viewpoints respectively, stereo parallax is enhanced, and the image coverage is optimized. The tilted orientation of both sets of binocular cameras towards the target surface of the area and the artificial turf mat creates multi-view image acquisition. This multi-view image acquisition results in multi-dimensional target capture, capturing more data and providing more accurate 3D simulation and reconstruction of the golf ball's trajectory for the subsequent 3D software of the computer system. It also improves the accuracy of the computer system's data processor in extracting the actual 3D coordinates of the ball in space from the image. Furthermore, it allows the computer system's image processor to more accurately track the golf ball's positional changes. Attached Figure Description

[0007] Figure 1 This is a three-dimensional schematic diagram of the product of this utility model;

[0008] Figure 2 This is a three-dimensional schematic diagram of the product of this utility model with a golf ball.

[0009] Figure 3 This is a schematic diagram of the flight state of a golf ball after it has been hit, showing a three-dimensional schematic diagram with the flight direction of the golf ball.

[0010] Figure 4 This is a schematic diagram showing the disassembled design of the automatic golf ball dispenser and the matching artificial turf mat of this utility model.

[0011] Figure 5 This utility model includes a three-dimensional schematic diagram of an automatic golf ball dispenser, a golf hitting screen, and an artificial turf mat.

[0012] Figure 6 This is a top-down view diagram.

[0013] Group A: Binocular camera 1, First camera 101, Second camera 102; Group B: Binocular camera 2, Third camera 201, Fourth camera 202; Artificial turf mat 3, Ball outlet 301, Golf hitting screen 4, Automatic golf ball dispenser 5, Ball dispenser top club 51. Detailed Implementation

[0014] like Figures 1-6 As shown:

[0015] A golf detection device based on four cameras includes a group A of binocular cameras 1, a group B of binocular cameras 2, and an artificial turf mat 3. The specific structures of the group A of binocular cameras 1, the group B of binocular cameras 2, and the artificial turf mat 3 are existing technologies. The group A of binocular cameras 1 is fixedly suspended from the ceiling or an indoor ceiling frame. The group B of binocular cameras 2 is fixedly installed on the right wall or erected using a floor support. The artificial turf mat 3 is laid flat on the ground for practicing golf. The group A of binocular cameras 1 includes a first camera 101 and a second camera 102, horizontally positioned side-by-side, with a distance of 5 cm to 20 cm between the two cameras. The group B of binocular cameras 2 includes a third camera 201 and a fourth camera 202, horizontally positioned side-by-side, with a distance of 5 cm to 20 cm between the two cameras. A total of four cameras—camera 101, camera 102, camera 201, and camera 202—form a four-lens camera system. Two sets of binocular cameras simultaneously or continuously capture images from multiple angles, providing more accurate data for subsequent image processing, analysis, and comparison. B-set binocular camera 1 is tilted from back to front and positioned above and behind the artificial turf mat 3, capturing images of the golf ball on and in flight on the mat. B-set binocular camera 2 is tilted from right to left and positioned above and to the right of the rear of the artificial turf mat 3, capturing images of the golf ball on and in flight on the mat. Both sets of binocular cameras are tilted towards the artificial turf mat 3, with camera 2 positioned closer to the mat than camera 1. Both sets of binocular cameras are tilted towards the area and the artificial turf mat 3. Two sets of cameras can capture the entire circular surface of a golf ball placed on the artificial turf mat 3, excluding the bottom point. The shooting coverage area is wide, covering more than 85% of the circular surface, which basically constitutes the characteristics of a circular object. This provides the computer system's image processor with more accurate target capture for extracting / finding circular targets (golf balls).

[0016] Both sets of binocular cameras are tilted towards the target area and artificial turf mat 3, capturing images from multiple perspectives. This multi-view image acquisition allows for multi-dimensional target capture, resulting in more data and providing more accurate 3D simulation and reconstruction of the golf ball's trajectory for the subsequent computer system's 3D software. It also improves the accuracy of the computer system's data processor in extracting the ball's actual 3D coordinates in space from the images. Furthermore, the computer system's image processor can more accurately track the golf ball's positional changes, including both its stationary and flight states. The computer system's image processor utilizes both sets of binocular cameras (A and B) to jointly capture and calculate ball speed, exhibiting stability and strong robustness. By using two sets of binocular cameras to acquire image information from the main viewpoint and side viewpoints respectively, stereo parallax is enhanced, image coverage is optimized, and the accuracy of spatial reconstruction for the computer system's 3D software is improved. Capturing the complete trajectory of the ball from different angles enhances the coverage and accuracy of the 3D reconstruction.

[0017] The color of the golf ball is neither the same as nor similar to the color of the artificial turf mat 3; the golf ball is white and the artificial turf mat 3 is green, with a large color difference between the two. After the image is taken, the outline of the golf ball on the artificial turf mat 3 is clearer, providing more accurate detection and judgment for the subsequent image processing of the computer system.

[0018] The artificial turf mat 3 has a designated ball position area 31 marked on the rear left side. There is at least one, or two or three, ball position areas 31. The ball position areas 31 are used to place golf balls. In this way, the ball is placed in the ball position area 31 each time before being hit. The ball position area 31 is also the best shooting point position for two sets of binocular cameras, and the shooting coverage covers a wide area of ​​the ball surface.

[0019] When the view of the golf ball and the surrounding ground is partially blocked by someone standing below the binocular camera 1 in group A, the golf ball and the surrounding ground can be captured by the binocular camera 2 in group B, making up for the missing part. This provides a more complete image for the subsequent 3D reconstruction software of the computer system. The 3D reconstruction software of the computer system uses image stitching to complement each other to create a more complete scene and to reconstruct the trajectory of the golf ball more accurately.

[0020] The A group of binocular cameras 1 is tilted at an angle of 45 to 70 degrees relative to the artificial turf mat 3, and the B group of binocular cameras 2 is tilted at an angle of 30 to 60 degrees relative to the artificial turf mat 3. The two groups of binocular cameras are coordinated and adjusted to achieve the optimal tilt angle, maximizing the surface area of ​​the golf ball being captured. A 60-degree tilt angle for the A group of binocular cameras 1 relative to the artificial turf mat 3 is considered the optimal tilt angle; a 45-degree tilt angle for the B group of binocular cameras 2 relative to the artificial turf mat 3 is also considered the optimal tilt angle.

[0021] The height of the binocular camera 1 in group A relative to the artificial turf mat 3 is 1.5 meters to 2.8 meters, preferably 2.2 meters to 2.5 meters. Setting a suitable height provides a wide field of view, allowing the binocular camera 1 to capture a wide range of space and surface area, which is suitable for use in the current environment. The captured golf ball flight trajectory is wider and longer, which provides a longer path for the image processor of the subsequent computer system to extract the golf ball flight trajectory.

[0022] The height of the binocular camera 2 in group B relative to the artificial turf mat 3 is 30 cm to 100 cm, preferably 50 cm to 70 cm. Setting a suitable height results in a narrower field of view, but because it is close to the golf ball, it can clearly capture details such as the surface texture and spin of the golf ball, as well as details of the club and clubhead, such as the clubhead shape, clubface loft angle, striking angle, ball launch angle, and the point of contact between the clubface and the golf ball. This allows for more accurate extraction of close-range data of the golf ball and club by the image processor of the subsequent computer system.

[0023] The angle between the A group of binocular cameras 1 and the B group of binocular cameras 2 is 90 degrees, which is an ideal arrangement. This arrangement provides the best, clearest, and most effective way to capture golf balls and the best angle for hitting them.

[0024] A golf detection device based on a four-lens camera also includes a golf hitting screen 4, which is a prior art product. The golf hitting screen 4 is tightened and fixed to the two side walls, suspended from the ceiling, or fixed with a metal frame by ropes. The golf hitting screen 4 is a prior art product. The golf hitting screen 4 is horizontally set at the front end of the artificial turf mat 3. After the ball is hit, it hits the golf hitting screen 4 and is cushioned before falling, making it easy to pick up and retrieve the ball, which is convenient for practice.

[0025] A golf detection device based on a four-lens camera also includes an automatic golf ball dispenser 5. The automatic golf ball dispenser 5 is a prior art product. The artificial turf mat 3 has a ball-dispensing hole 301 on one side of its rear. The ball-dispensing hole 301 can serve as a designated position area 31 for the ball. The automatic golf ball dispenser 5 is embedded and fixed under the ground surface at the bottom of the artificial turf mat 3, without obstructing the ball from being hit. The ball-dispensing top rod 51 of the automatic golf ball dispenser 5 is vertically aligned with the ball-dispensing hole 301. In use, several golf balls are pre-loaded into the fairway of the automatic golf ball dispenser 5. The automatic golf ball dispenser 5 uses its ball-dispensing top rod 51 to push the ball out from the ball-dispensing hole 301. After the ball is hit, the ball-dispensing top rod 51 of the automatic golf ball dispenser 5 retracts and pushes the next ball out from the ball-dispensing hole 301 again. The ball is dispensed automatically in a cycle. The position of each ball is consistent and standardized, eliminating the need for manual placement of the ball on the designated hitting position, thus achieving automated ball dispensing.

Claims

1. A four-camera-based golf detection device, an A-group binocular camera, a B-group binocular camera, an artificial turf mat, the artificial turf mat being laid flat on the ground, the A-group binocular camera comprising a first camera and a second camera, the B-group binocular camera comprising a third camera and a fourth camera; characterized in that: The A group of binocular cameras is tilted from back to front and positioned above and behind the artificial turf mat; the B group of binocular cameras is tilted from right to left and positioned above and to the right of the rear of the artificial turf mat. Both groups of binocular cameras are tilted towards the artificial turf mat, and the distance between the B group of binocular cameras and the artificial turf mat is closer than that between the A group of binocular cameras.

2. The golf detection apparatus based on the four-camera according to claim 1, wherein: The tilt angle of the binocular cameras in Group A relative to the artificial turf mat is 45 to 70 degrees.

3. A golf detection device based on a four-lens camera according to claim 2, characterized in that: The height of the binocular cameras in Group A relative to the artificial turf mat is 1.5 meters to 2.8 meters.

4. A golf detection device based on a four-lens camera according to claim 2 or 3, characterized in that: The A group of binocular cameras is tilted at an angle of 60 degrees relative to the artificial turf mat.

5. A golf detection device based on a quad-camera according to claim 1, characterized in that: The tilt angle of the B-group binocular cameras relative to the artificial turf mat is 30 to 60 degrees.

6. A golf detection device based on a four-lens camera according to claim 2, characterized in that: The height of the B-group binocular cameras relative to the artificial turf mat is 30 cm to 100 cm.

7. A golf detection device based on a four-lens camera according to claim 5 or 6, characterized in that: The B-group binocular cameras are tilted at a 45-degree angle relative to the artificial turf mat.

8. A golf detection device based on a four-lens camera according to claim 1, 2, 3, 5, or 6, characterized in that: The angle between the group A binocular cameras and the group B binocular cameras is 90 degrees.

9. A golf detection device based on a four-lens camera according to claim 1, 2, 3, 5, or 6, characterized in that: It also includes a golf hitting screen, which is horizontally positioned at the front end of the artificial turf mat.

10. A golf detection device based on a four-lens camera according to claim 1, 2, 3, 5, or 6, characterized in that: It also includes an automatic golf ball dispenser; the artificial turf mat has a ball-dispensing hole on one side of the rear; the automatic golf ball dispenser is embedded and fixed under the ground surface at the bottom of the artificial turf mat, and the ball-dispensing top rod of the automatic golf ball dispenser is vertically aligned with the ball-dispensing hole.

Images