A method for determining the spin of a moving ball, and a virtual golf device and virtual golf system that utilize this method.

Abstract

To provide a method of determining spin of a moving ball, and a virtual golf device and a virtual golf system using the same.SOLUTION: A method of determining spin of a moving ball includes: an image acquisition step of acquiring, at a first time point, a first image for a ball that is provided with an identification part and is moving with a spin, and acquiring a second image at a second time point; an identification information acquisition step of acquiring first identification information of the identification part from the first image, and acquiring second identification information of the identification part from the second image; and a spin determining step of, after selecting an expected spin using cumulative spin data, determining the spin of the moving ball by applying the expected spin to the first and second identification information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] This invention relates to a method for determining the spin of a moving ball, and to a virtual golf device and virtual golf system that utilize this method. [Background technology]

[0002] Recently, golf has become increasingly popular, and the number of people playing it is growing. Beyond playing on outdoor golf courses, screen golf (virtual golf), which can be played using virtual golf equipment, is also gaining popularity. Screen golf displays a video of a golf course on a screen, giving the player the feeling of playing a real game outdoors. Furthermore, it saves time and money compared to playing on an outdoor field, making screen golf popular among modern people who find it difficult to play outdoors due to time or financial constraints.

[0003] Comparing screen golf to actual golf, screen golf, due to its nature as a service provided in a sealed indoor space, has the advantage of being able to provide users with technical services that are difficult to offer in actual golf played in an open outdoor space. For example, in actual golf, when a user hits a golf ball, they cannot grasp the physical state of the golf ball, such as the speed and launch angle of the ball after it is struck. However, in screen golf, various sensing methods can be used to grasp the physical state of the golf ball after it is struck and provide it to the user. Among the physical states of the golf ball that users are interested in is the "spin" of the golf ball. Spin refers to the rotational state of a golf ball rotating in three-dimensional space, and sensing this requires equipment such as expensive sensors. However, using expensive equipment to sense spin is economically inefficient, so there is a need to develop technology that can accurately grasp spin at a low cost. [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] This invention was conceived in consideration of the circumstances described above, and aims to provide a method for detecting the spin of a moving ball in a simple manner without the need for expensive equipment. Furthermore, the present invention aims to provide a virtual golf device that can sense the spin of a golf ball struck by a user in a simple manner without expensive equipment. Furthermore, the present invention aims to provide a virtual golf system that can sense the spin of a golf ball struck by a user in a simple manner without expensive equipment. Furthermore, other objects of the present invention can be clearly understood from the following description and the accompanying drawings. [Means for solving the problem]

[0005] To achieve the above objectives Ruta Therefore, the method for determining the spin of a moving ball according to an embodiment of the present invention includes an image acquisition step of acquiring a first image at a first time point and a second image at a second time point for a ball equipped with an identification unit and moving with spin; an identification information acquisition step of acquiring first identification information of the identification unit from the first image and second identification information of the identification unit from the second image; and a spin determination step of selecting a predicted spin using cumulative spin data, and then applying the predicted spin to the first and second identification information to determine the spin of the moving ball.

[0006] In the method for determining the spin of a moving ball as described above, the ball is a golf ball, and when a user hits the golf ball with a golf club, the golf ball moves with spin, and the cumulative spin data can be formed using information about the spin of the golf ball when the user who hit the golf ball whose spin is currently to be determined, and other users with the same level of golf skill as that user, have hit the golf ball in the past.

[0007] In the method for determining the spin of a moving ball described above, the ball is a golf ball, and when the user strikes the golf ball with a golf club, the golf ball moves with spin, and the method further includes the step of sensing the change in state of the golf ball due to the movement between the first and second time points, and the cumulative spin data can be formed by selecting spin data that corresponds to the change in state of the golf ball and using the selected spin data. In the method for determining the spin of a moving ball as described above, the spin determination step involves applying the predicted spin to the first identification information and comparing the result of this application with the second identification information, and determining the predicted spin according to the result of the comparison with the second identification information. Thoughts The spin is determined as the spin of the ball in motion. Do you or the spin determination step is repeated while selecting a new predicted spin.

[0008] In the method for determining the spin of a moving ball as described above, the cumulative spin data exhibits a Gaussian distribution, and the predicted spins can be selected from multiple arbitrary spins located at different positions in the Gaussian distribution. In the method for determining the spin of a moving ball as described above, the cumulative spin data exhibits a Gaussian distribution, and the predicted spin can initially be selected within the range between -standard deviation and +standard deviation centered on the mean in the Gaussian distribution.

[0009] In the method for determining the spin of a moving ball as described above, the larger the result of comparing the application result of applying the predicted spin to the first identification information with the second identification information, the greater the value of the predicted spin and the new predicted spin. Thoughts The new predicted spin is selected so that the difference from the original spin is large. In the method for determining the spin of a moving ball as described above, additional steps are further performed, including the step of acquiring a third image of the ball at a third time point, the step of acquiring third identification information of the identification unit from the third image, and the step of verifying the determined spin using the third identification information.

[0010] In the method for determining the spin of a moving ball as described above, multiple spins are determined in the spin determination step, and the results of applying the multiple spins to the first identification information or the second identification information are compared with the third identification information, and one of the multiple spins is determined as the spin of the moving ball according to the comparison result with the third identification information. Do you ,or The aforementioned The spin identification step and the additional step are repeated while selecting a new predicted spin.

[0011] A virtual golf device according to an embodiment of the present invention includes a calculation unit that performs a calculation process to calculate the movement of a virtual golf ball corresponding to the actual golf ball when the user hits the actual golf ball, and a display unit that displays a virtual golf course and a virtual golf ball that moves on the virtual golf course as calculated in the calculation process, after the user hits the actual golf ball, The calculation unit or a separately provided spin calculation unit, The spin of the actual golf ball is determined according to the method for determining the spin of a moving ball. death, The calculation process described above can incorporate the results of understanding the actual spin of the golf ball.

[0012] A virtual golf system according to an embodiment of the present invention includes a service device and at least one virtual golf device connected to the service device via communication, wherein the virtual golf device includes a calculation unit that performs a calculation process to calculate the movement of a virtual golf ball corresponding to the actual golf ball when the user hits the actual golf ball, and a display unit that displays a virtual golf course and a virtual golf ball that moves on the virtual golf course as calculated in the calculation process, and further, the virtual golf device, after the user hits the actual golf ball, The calculation unit or a separately provided spin calculation unit, Grasp the spin of the actual golf ball according to the method for grasping the spin of a moving ball. Furthermore, the calculation process can incorporate the results of understanding the actual spin of the golf ball. .

[0013] In the virtual golf system, the service device includes a storage unit for storing user information, and the user information can be used for forming cumulative spin data in the process of grasping the spin of the actual golf ball.

Effect of the Invention

[0014] According to the present invention, there is an effect that the spin of a moving ball can be accurately grasped in a simple manner without expensive equipment. <00,00087>

Brief Description of the Drawings

[0015] [Figure 1] It is a flowchart exemplarily showing the operation process of the method for grasping the spin of a moving ball according to an embodiment of the present invention. [Figure 2] It is a diagram for specifically explaining each step of the operation process of the method for grasping the spin of the moving ball in FIG. 1. [Figure 3] It is a diagram for specifically explaining each step of the operation process of the method for grasping the spin of the moving ball in FIG. 1. [Figure 4] It is a diagram for specifically explaining each step of the operation process of the method for grasping the spin of the moving ball in FIG. 1. [Figure 5] It is a diagram for specifically explaining each step of the operation process of the method for grasping the spin of the moving ball in FIG. 1. [Figure 6] It is a diagram for specifically explaining each step of the operation process of the method for grasping the spin of the moving ball in FIG. 1. [[ID=,38]] [Figure 7] It is a diagram for specifically explaining each step of the operation process of the method for grasping the spin of the moving ball in FIG. 1. [Figure 8] It is a flowchart exemplarily showing the operation process of the method for grasping the spin of a moving ball according to another embodiment of the present invention. [Figure 9] Figure 8 is a diagram illustrating the steps in the process of determining the spin of a moving ball. [Figure 10] Figure 8 is a diagram illustrating the steps in the process of determining the spin of a moving ball. [Figure 11] Figure 8 is a diagram illustrating the steps in the process of determining the spin of a moving ball. [Figure 12] Figure 8 is a diagram illustrating the steps in the process of determining the spin of a moving ball. [Figure 13] Figure 8 is a diagram illustrating the steps in the process of determining the spin of a moving ball. [Figure 14] This flowchart illustrates the operational process of a method for determining the spin of a moving ball according to another embodiment of the present invention. [Figure 15] Figure 14 illustrates various methods for generating cumulative spin data used to determine the spin of a moving ball. [Figure 16] Figure 14 illustrates various methods for generating cumulative spin data used to determine the spin of a moving ball. [Figure 17] Figure 14 illustrates various methods for generating cumulative spin data used to determine the spin of a moving ball. [Figure 18] Figure 14 illustrates various methods for generating cumulative spin data used to determine the spin of a moving ball. [Figure 19] This flowchart illustrates the operational process of a method for determining the spin of a moving ball according to another embodiment of the present invention. [Figure 20] This figure shows a schematic structure of a virtual golf machine according to an embodiment of the present invention. [Figure 21]Figure 20 shows an example of a method for calculating the movement of a golf ball in a virtual golf machine. [Figure 22] Figure 20 shows an example of a screen display that provides golf play information in a virtual golf device. [Figure 23] This figure shows a schematic structure of a virtual golf machine according to another embodiment of the present invention. [Figure 24] This figure shows a schematic structure of a virtual golf system according to an embodiment of the present invention. [Modes for carrying out the invention]

[0016] The present invention will be described in detail below with reference to examples. The object, features, and advantages of the present invention will be easily understood from the following examples. The present invention is not limited to the examples described herein and can be embodied in other forms. The examples presented herein are provided to ensure that the disclosure is thorough and complete, and that the idea of ​​the present invention is fully conveyed to those who have ordinary skill in the art to which the present invention pertains. Therefore, the present invention should not be limited by the following examples.

[0017] In this specification, terms such as "first," "second," etc., are used to describe various elements, but the elements should not be limited by such terms. These terms are used solely to distinguish the elements from one another. Furthermore, when it is mentioned that a certain layer (film) is on another layer (film) or substrate, it means that it may be formed directly on the other layer (film) or substrate, or a third layer (film) may be interposed between them.

[0018] In the drawings, the size of elements, or the relative sizes between elements, may be slightly exaggerated to provide a clearer understanding of the invention. Furthermore, the shapes of the illustrated elements may be slightly altered due to variations in the manufacturing process. Therefore, unless otherwise specified, the embodiments disclosed herein should be understood to be limited to the illustrated shapes and to include some degree of variation.

[0019] Figure 1 is a flowchart illustrating the operational process of a method for determining the spin of a moving ball according to an embodiment of the present invention, and Figures 2 to 7 are diagrams that specifically explain each step of the operational process of the method for determining the spin of a moving ball shown in Figure 1. Referring to Figure 1, the process for determining the spin of the ball includes steps 1 to 4 (S11-S14). In step 1 (S11), an image of the ball in motion is acquired; in step 2 (S12), information is acquired from the image; in step 3 (S13), a predicted spin is selected; and in step 4 (S14), the predicted spin is applied to the information obtained in step 2 (S12) to determine the spin of the ball in motion.

[0020] Referring to Figure 2, assuming that a ball in motion is moving in the approximately 2 o'clock direction while rotating with spin, in the first step (S11), the ball is photographed at the first time point (T1) to obtain the first image (I1), and then photographed again at the second time point (T2) after the first time point (T1) to obtain the second image (I2). The balls mentioned above include various types of balls used in sports, such as golf balls, baseballs, and table tennis balls, and an identification part (A) is formed on the surface of the ball. The identification part (A) can be described as a marker formed on the surface of the ball that can be used to grasp the state of the ball's rotation. For example, a baseball has multiple seams so that a pitcher can throw various types of balls, and the spin of the baseball can be grasped by checking the state of the seams on a baseball in motion, so the seams of the baseball can act as an identification part (A). In addition, most sports balls have the name or brand of the manufacturer that produced the ball displayed on them, and the spin can be grasped through the state of the above brand, so these brands can also act as an identification part (A).

[0021] Referring to Figure 3, in the second step (S12), first information about the identification part (A) is obtained from the first image (I1), and second information about the identification part (A) is obtained from the second image (I2). There are various ways to obtain information about the ball from an image of the ball. For example, the first image (I1) may contain parts other than the ball (the area where the ball flies may be included in the background of the image of the ball), and after processing the image to remove such parts other than the ball and extract only the ball and the identification part (A) on the ball surface, the relationship between the ball and the identification part (A) can be analyzed to obtain information about the identification part (A). The same method can be applied to the second image (I2). Here, the identification information (sometimes simply named "information" for convenience), which is information about the identification part (A), includes the position information of the identification part (A) on the ball. If the ball has the shape of a sphere, each point on the surface of the ball has different position information from the center of the sphere. Therefore, the identification portion (A) formed on the surface of the sphere can also have specific positional information relative to the center of the sphere, and by analyzing the positional relationship between the center of the ball and the identification portion (A) after extracting images of the ball and the identification portion (A), the positional information of the identification portion (A) can be determined.

[0022] The first and second identification information of the identification unit (A) are represented by A1(i1, j1, k1) and A2(i2, j2, k2), respectively. Here, A1(i1, j1, k1) and A2(i2, j2, k2) each represent location information for one point or location information for multiple points. That is, when the identification unit (A) consists of one point, A1(i1, j1, k1) and A2(i2, j2, k2) represent location information for a single point, and when the identification unit (A) consists of multiple points, A1(i1, j1, k1) and A2(i2, j2, k2) represent location information for multiple points. Usually, the identification unit (A) consists of multiple points rather than a single point.

[0023] Since the ball and the identification unit (A) exist in three-dimensional space, the position information of the identification unit (A) is represented by three independent components representing three dimensions, and i, j, and k represent these three independent components. For example, i, j, and k can represent the x, y, and z components in a Cartesian coordinate system. Alternatively, i, j, and k can represent the r, φ, and θ components in a spherical coordinate system. To obtain the three-dimensional position information of the identification unit (A) from an image of the ball, a stereo camera or depth camera can be used when photographing the ball. It is also possible to use multiple cameras that can obtain three-dimensional information. Alternatively, it is possible to use a camera that generates a two-dimensional image without using a stereo camera or the like. Two-dimensional position information of the identification unit (A) can be obtained from an image taken with a two-dimensional camera. Even if 2D position information is obtained and only position information for the i and j components is obtained in the i, j, and k components of the identification unit (A), the ball's spin can still be determined using only the 2D position information if the ball is moving under specific conditions (for example, if the ball's spin value for the k component is zero or can be negligibly ignored).

[0024] Referring to Figure 4, we assume that a ball has spin and rotates around a specific axis in a three-dimensional space consisting of the i, j, and k axes. Here, spin can be specified by the axis that serves as the reference for the ball's rotation and the amount of rotation that indicates how much it rotates. For example, if the spin of the ball is "S", it can be expressed as follows, with the i-axis component spin Si, the j-axis component spin Sj, and the k-axis component spin Sk. S = Si i + Sj j + Sk k ( i , j , k (These represent the basis unit vectors for the i, j, and k axes, respectively.) In this case, the amount of rotation (S1) and the axis of rotation (S2) of the spin (S) can be calculated using Si, Sj, and Sk as follows.

number

[0025] If the spin possessed by the ball in motion is named as the target spin (S * ), the identification unit (A) is located at the first position of the ball at the first time point (T1), and will be located at the second position of the ball at the second time point (T2) by the said target spin (S * ). Thus, the target spin (S * ) serves to change the position of the identification unit (A) in the ball. If the rotation amount (S1 * ) and the rotation axis (S2 * ) of the target spin (S * [[ID=z16]]) are grasped, the position conversion factor by the target spin (S * ) can be mathematically derived in a form such as a matrix. On the other hand, when the identification unit (A) is represented by a plurality of points (a plurality of pixels), the first and second information (A1(i1, j1, k1), (A2(i2, j2, k2)) can be respectively a set of position information for a plurality of points. Let this be A1set and A2set, and also let the position conversion matrix by the target spin (S * ) possessed by the ball be Sm * . Then, the following formula (1) can be established. [Sm[[ID=z25]] * [A1set] = [A2set] ------- Formula (1)

[0026] According to formula (1), when the position conversion factor ([Sm * ) corresponding to the target spin (S * ) is applied to the first identification information ([A1set]) of the identification unit (A), the second identification information ([A2set]) can be obtained. Currently, it is a situation where an unknown target spin (S * ) is to be grasped with the first and second identification information ([A1set], [A2set]) being known. According to the embodiments of the present invention, the spin in motion currently can be grasped by making use of formula (1). Specifically, in this embodiment, an arbitrary spin is assumed, the position conversion factor by the said arbitrary spin is applied to formula (1) to check whether formula (1) holds, and if formula (1) holds, the said arbitrary spin is taken as the target spin (S *) is determined, and if equation (1) does not hold, the method is used to assume a new arbitrary spin by repeating until equation (1) holds.

[0027] As described above, in this embodiment, we assume an arbitrary spin in order to use equation (1), and in relation to this, in the third step (S13), the target spin (S *) selects a candidate predicted spin. Referring to Figure 5, cumulative spin data accumulated for each spin can be used when selecting a predicted spin. Cumulative spin data includes data on all spins recorded by multiple users in the past when they made the ball move with spin during their play. For example, assuming that the ball currently in motion is a golf ball used in virtual golf play such as screen golf, the screen golf course is equipped with sensing means such as a laser sensor that can measure spin, and by using the sensing means, the spin of the golf ball struck can be measured every time a user playing screen golf strikes the golf ball. The measured spin can be stored in a storage device such as memory or a hard disk installed in the screen golf course. Alternatively, if there are multiple screen golf courses and multiple screen golf courses are managed by a central server, the measured spin can also be stored in the storage device of the central server. In this way, when the spin corresponding to each strike is stored each time a user strikes the golf ball, the stored data can be accumulated to form cumulative spin data for all users' golf ball strikes. When a sufficient amount of data is accumulated, the cumulative spin data can take the form of a Gaussian distribution curve. As illustrated in Figure 5, the Gaussian distribution curve is symmetrical around the mean (m), and most of the data are concentrated in the range of m-σ (σ is the standard deviation) and m+σ around the mean. In the third step (S13), an arbitrary spin is selected as the predicted spin (labeled "ES" in Figure 5) from the Gaussian distribution of the cumulative spin data. As an example, the first predicted spin can be selected at or near the mean (m). The mean (m) represents the case where the probability of that spin occurring is highest in the cumulative statistics, so when selecting a predicted spin near the mean (m), the selected predicted spin is the spin that the golf ball in motion possesses (target spin (S)). * It is highly likely that it will be decided as )).

[0028] In the fourth step (S14), the predicted spin is applied to the first and second identification information for the identification unit (A) to determine the spin of the ball in motion. Specifically, the predicted spin is first applied to equation (1) as follows. [ESm][A1set] = [EA2set] ------- Equation (2)

[0029] Here, [ESm] represents the position transformation matrix due to the predicted spin, [A1set] is the first identification information for the identification unit (A) at the first time point, and [EA2set] represents the result obtained by applying the predicted spin to the first identification information (for convenience, this is named "preliminary information"). Once the preliminary information is obtained by equation (2), it is compared with the second identification information. If there is a difference between the preliminary information and the second information as a result of comparing them, this means that the predicted spin is the correct spin (target spin (S)). * This means that the spin is not the correct spin, and a new spin is selected. The difference between the preliminary information and the second information here means that, as illustrated in Figure 6, the form of the identification unit (A) when the predicted spin is assumed to be applied to the identification unit (A) at the first time point (T1) is different from the actual form of the identification unit (A) at the second time point (T2). If it is found that the predicted spin is not the correct spin, a new predicted spin is selected, the position transformation factor corresponding to the new predicted spin is applied to the first information to calculate new preliminary information, and the new preliminary information is compared with the second information to determine whether the new predicted spin is the correct spin. If the preliminary information and the second information are identical or very similar, the selected spin is confirmed as the target spin of the ball currently in motion. Here, very similarity between the preliminary information and the second information means that the difference between [EA2set] and [A2set] is small and less than or equal to a predetermined value (position information may have + or -, and here small difference means small absolute value).

[0030] Cumulative spin data is also used when selecting a new predicted spin after it is found that the initially selected predicted spin is not the correct spin. Referring to Figure 7, if we refer to the initially selected predicted spin as the first predicted spin (ES) for convenience, and the second selected predicted spin as the second predicted spin (ES', ES"), then the first predicted spin and the second predicted spin (ES', ES") can be selected according to certain rules. For example, the initial predicted spin (ES) can be selected from the mean (m) or a vicinity of the mean (m). Since the mean (m) represents the case where the probability of that spin occurring is highest in cumulative statistics, when selecting the predicted spin (ES) from the mean (m) or a vicinity of the mean (m), the selected predicted spin (ES) is likely to be determined to be the spin that the golf ball is having in motion. If the initial predicted spin (ES) is not the correct spin, a second predicted spin (ES', ES") is selected. As the second predicted spin (ES', ES"), one that has a first difference (Δ1) from the initial predicted spin (ES) (ES') or one that has a second difference (Δ2) from the initial predicted spin (ES) (ES") is selected. As mentioned above, applying the initial predicted spin (ES) to the first information regarding the identification unit (A) provides "preliminary information" for the identification unit (A) at the second time point (T2). If the difference between the above "preliminary information" and the second information for the identification unit (A) is small, this means that the initial predicted spin (ES) is not significantly different from the correct spin. Therefore, it is preferable to select the second predicted spin (ES') within a range where the difference from the initial predicted spin (ES) is relatively small. Conversely, if the difference between the above "preliminary information" and the second information for the identification unit (A) is large, this means that the initial predicted spin (ES) is significantly different from the correct spin. Therefore, it is preferable to select the second predicted spin (ES") within a range where the difference from the initial predicted spin (ES) is relatively large.

[0031] Figure 8 is an illustrative flowchart showing the operation process of a method for determining the spin of a moving ball according to another embodiment of the present invention, and Figures 9 to 13 are diagrams for specifically explaining each step of the operation process of the method for determining the spin of a moving ball in Figure 8. Referring to Figure 8, the process for determining the spin of a ball includes steps 1 through 5 (S21-S25). In step 1 (S21), an image of the ball in motion is acquired; in step 2 (S22), information is acquired from the image; in step 3 (S23), a predicted spin is selected; in step 4 (S24), the predicted spin is applied to the information obtained in step 2 (S22) to determine the spin of the ball in motion; and in step 5 (S25), the determined spin is verified.

[0032] Referring to Figure 9, assuming that the ball in motion is moving in a predetermined direction while rotating with spin, in the first step (S21), the ball is photographed at the first time point (T1) to obtain the first image (I1), the ball is photographed again at the second time point (T2) after the first time point (T1) to obtain the second image (I2), and the ball is photographed again at the third time point (T3) after the second time point (T2) to obtain the third image (I3). The balls mentioned above include various types of balls used in sports, such as golf balls, baseballs, and table tennis balls, and an identification part (A), which is an externally identifiable mark, is formed on the surface of the ball.

[0033] Referring to Figure 10, in the second step (S22), first information regarding the identification part (A) is obtained from the first image (I1), second information regarding the identification part (A) is obtained from the second image (I2), and third information regarding the identification part (A) is obtained from the third image (I3). Ball information can be obtained by removing parts other than the ball from the captured image, processing it to extract only the ball and the identification part (A) on the ball surface, and then analyzing the relationship between the ball and the identification part (A). Here, the identification information (sometimes simply named "information" for convenience), which is information regarding the identification part (A), includes positional information of the identification part (A) on the ball. Specifically, the first to third identification information are represented as A1 (i1, j1, k1), A2 (i2, j2, k2), and A3 (i3, j3, k3), respectively. Here, A1(i1, j1, k1), A2(i2, j2, k2), and A3(i3, j3, k3) each represent location information for one point or location information for multiple points.

[0034] In the third step (S23), predicted spins are arbitrarily selected. Referring to Figure 11, when selecting predicted spins, cumulative spin data accumulated for spins can be used, similar to the embodiment described above. Cumulative spin data can be formed by accumulating past records for multiple spins, and when a sufficient amount of data is accumulated, the cumulative spin data can take the form of a Gaussian distribution curve. As shown in Figure 11, the Gaussian distribution curve is symmetrical around the mean (m), and most of the data is concentrated in the range of m-σ (σ is the standard deviation) and m+σ around the mean. In the third step (S23), one or more spins are selected from the Gaussian distribution of the cumulative spin data. If one spin is selected, the subsequent steps (fourth and fifth steps (S24, S25)) are performed for one predicted spin at a time, and if multiple spins are selected, the subsequent steps (fourth and fifth steps (S24, S25)) are performed for multiple predicted spins at a time. If the number of predicted spin selections until the correct spin is found is very large, it is preferable to select multiple predicted spins at once and perform the subsequent steps for efficient process progression. When selecting multiple predicted spins (ES1, ES2, ES3), they can be selected at any position. Alternatively, they can be selected near the mean (m) or standard deviation (σ) during the initial selection. Since the mean (m) and standard deviation (σ) indicate the point where the probability of the corresponding spin is relatively high in cumulative statistics, selecting predicted spins (ES1, ES2, ES3) near the mean (m) or standard deviation (σ) makes it highly likely that the selected predicted spins (ES1, ES2, ES3) will be determined to be the spins of the golf ball in motion.

[0035] In the fourth step (S24), the predicted spins (ES1, ES2, ES3) are applied to the first and second identification information for the identification unit (A) to determine the spin of the ball in motion. Specifically, the predicted spins (ES1, ES2, ES3) are first applied to the following equations (3-1), (3-2), and (3-3) as follows. [ES1m] [A1set] = [E1A2set] ------- Formula (3-1) [ES2m] [A1set] = [E2A2set] ------- Formula (3-2) [ES3m] [A1set] = [E3A2set] ------- Formula (3-3)

[0036] For the sake of explanation, if we name the predicted spins (ES1, ES2, ES3) as the first predicted spin (ES1), the second predicted spin (ES2), and the third predicted spin (ES3), then in the above formula, [A1set] represents the position information (first information) of the identification unit (A) at the first time point (T1), [ES1m], [ES2m], and [ES3m] represent the position transformation factors by the first to third predicted spins (ES1, ES2, ES3), respectively, [E1A2set] is the preliminary information obtained by applying the first predicted spin (ES1) to the first information (referred to as "first preliminary information"), [E2A2set] is the preliminary information obtained by applying the second predicted spin (ES2) to the first information (referred to as "second preliminary information"), and [E3A2set] is the preliminary information obtained by applying the third predicted spin (ES3) to the first information (referred to as "third preliminary information"). Once the first to third preliminary information is obtained, it is compared with the second information. If there is a difference between the first to third preliminary information and the second information as a result of comparing them, then the first to third predicted spins (ES1, ES2, ES3) are all not correct spins, and the third step (S23) is repeated. That is, in the third step (S23), multiple predicted spins are selected, and this time, other predicted spins other than the first to third predicted spins (ES1, ES2, ES3) that were previously selected are selected.

[0037] As shown in Figure 12, if the first and second preliminary information obtained by applying the first and second predicted spins (ES1 and ES2) differs considerably from the identification unit information (second information ([A2set])) at the second time point (T2), and the third preliminary information obtained by applying the third predicted spin (ES3) is identical or similar to the identification unit information (second information ([A2set])) at the second time point (T2), then the third predicted spin (ES3) is determined to be the spin currently held by the ball in motion.

[0038] In the fifth step (S25), the spin identified in the fourth step (S24) is verified using the third information. As shown in Figure 13, in the fifth step (S25), the third predicted spin (ES3) is applied to the second information for the identification unit (A) (or it is also possible to apply the third predicted spin (ES3) to the first information). For this purpose, the third predicted spin (ES3) is applied to equation (4) below as follows. [ES3m] [A2set] = [E3A3set] ------- Formula (4)

[0039] In equation (4), [ES3m] represents the position transformation factor due to the third predicted spin (ES3), [A2set] represents the position information of the identification unit (A) at the second time point (T2) (second information), and [E3A3set] is the result obtained by applying the third predicted spin (ES3) to the second information (named "verification information"). Once the verification information is obtained, it is compared with the third information ([A3set]). If there is a difference between the verification information and the third information after comparing them, the third predicted spin is not the correct spin, so the process returns to the third step (S23) and the predicted spin selection step is repeated. If the verification information and the third information are identical or very similar after comparing them, the third predicted spin is determined to be the spin of the ball currently in motion, and the entire process of determining the spin is completed. Here, very similarity between the verification information and the third information means that the difference between [E3A3set] and [A3set] is small or less than a predetermined value. The reason for adding this verification step is that the spin that transforms the identification unit (A) from its state at the first time point (state of the first information) to its state at the second time point (state of the second information) can be multiple spins (for the sake of explanation, to give a simple example in a two-dimensional state, if the identification unit (A) is located at the 9 o'clock position of the ball at the first time point and at the 12 o'clock position of the ball at the second time point, the change in state between the first and second time points can be caused by both a spin that rotates the ball 90 degrees clockwise and a spin that rotates the ball 270 degrees counterclockwise), and the verification step is used to accurately determine which of these multiple spins the ball currently in motion possesses.

[0040] Figure 14 is an illustrative flowchart showing the operation of a method for determining the spin of a moving ball according to another embodiment of the present invention, and Figures 15 to 18 are diagrams illustrating various methods for forming the cumulative spin data used in the method for determining the spin of a moving ball in Figure 14.

[0041] Referring to Figure 14, the process for determining the spin of a ball includes steps 1 to 5 (S31-S35). In step 1 (S31), an image of the ball with an identification part formed on its surface during motion is acquired; in step 2 (S32), identification information of the identification part is acquired from the image; in step 3 (S33), one of several cumulative spin distribution data is selected; in step 4 (S34), a predicted spin is selected using the selected spin distribution data; and in step 5 (S35), the spin of the ball in motion is determined using the selected predicted spin.

[0042] Looking at each of the first to fifth steps (S31-S35) in detail, in the first step (S31), for a ball with an identification part formed on its surface, the ball is photographed at a first time point to obtain a first image, and the ball is photographed at a second time point after the first time point to obtain a second image. In the second step (S32), first information regarding the identification part is obtained from the first image, and second information regarding the identification part is obtained from the second image. The above first and second information includes position information of the identification part on the ball. In the third step (S33), a selection step is performed to select one of several spin distribution data, which will be described later. In the fourth step (S34), predicted spins are arbitrarily selected using the spin distribution data selected in the third step (S33). The above predicted spins can be selected as one or more. In the fifth step (S35), after applying the one or more predicted spins selected in the fourth step (S34) to the first information to obtain preliminary information, the above preliminary information is compared with the second information. If, after comparing the preliminary information with the second information, there is a difference between the preliminary information and the second information, the predicted spin is not the correct spin, so the process returns to the fourth step (S34) and steps 4 and 5 (S34, S35) are re-executed. In the first to fifth steps (S31-S35) of this embodiment, steps 1, 2, 4, and 5 (S31, S32, S34, S35) correspond to steps 1 to 4 (S11, S12, S13, S14) in the embodiment described with reference to Figures 1 to 7, so a detailed explanation of these steps is omitted.

[0043] Referring to Figure 15 regarding the third step (S33), the cumulative spin data is stored in a predetermined storage device. For example, assuming that the ball currently in motion is a golf ball used in virtual golf play such as screen golf, the screen golf course is equipped with sensing means such as a laser sensor that can measure spin, and all users playing screen golf can measure the spin of the golf ball each time they hit it using the sensing means. The measured spin can be stored in a storage device such as the memory or hard disk of a computer installed in the screen golf course. Alternatively, if there are multiple screen golf courses and multiple screen golf courses are managed by a central server, the measured spin can be stored in the storage device of the central server. In this way, by storing the spin from each hit each time a user hits the golf ball, the stored data can be accumulated to form cumulative spin data for all of the user's golf ball hits. Here, the cumulative spin data stored in the storage device can consist of multiple sections divided according to the user's golf skill level. For example, the cumulative spin data can be categorized into: ALL User cumulative spin data formed based on the spin information of golf balls struck when all users hit golf balls while playing on a screen golf course; 1 Level User cumulative spin data formed based on the spin information of golf balls struck when users with a Grade 1 golf skill level hit golf balls while playing on a screen golf course; 2 Level User cumulative spin data formed based on the spin information of golf balls struck when users with a Grade 2 golf skill level hit golf balls while playing on a screen golf course; and 3 Level User cumulative spin data formed based on the spin information of golf balls struck when users with a Grade 3 golf skill level hit golf balls while playing on a screen golf course.The cumulative spin data for ALL Users, 1-Level Users, 2-Level Users, and 3-Level Users, as described above, exhibit different Gaussian distribution curves. When cumulative spin data is categorized according to the user's golf skill level, the cumulative spin data for ALL Users can be used to select the predicted spin, as in the previously described example. Alternatively, if the user who struck the golf ball whose spin is currently being analyzed has a 2-level golf skill, the predicted spin can be selected using the Gaussian distribution curve based on data from a user with the same golf skill level as the user who struck the ball (2-Level User cumulative spin data). Thus, having multiple cumulative spin data categorized according to the user's golf skill level, and using the cumulative spin data of a user with the same or similar golf skill level as the user who struck the golf ball when trying to analyze the spin of a golf ball in motion, has the advantage of reducing the time required to analyze the spin.

[0044] Golf skill can be determined by various factors, but accuracy of the shot is particularly important. When a golf ball is hit accurately, it flies straight towards the target. If it is not hit accurately, the golf ball is likely to deviate to the left or right from the target, resulting in a hook or slice. Golf balls that hook or slice have more sidespin than those that do not. Therefore, when a golfer with high accuracy and good skill hits a golf ball, the resulting golf ball will generally have little sidespin and fly straight. In contrast, when a golfer with low accuracy and poor skill hits a golf ball, the resulting golf ball is likely to produce a hook with a large sidespin to the left or a slice with a large sidespin to the right. There are many other factors that determine golf skill besides accuracy, such as distance and putting. It cannot be said that a low level of golf skill will always result in a hook or slice, but when looking at a large amount of data accumulated from multiple users, there is clearly a certain degree of difference in the distribution of spin data according to golf skill. Assume that the total spin of all users has a range (Sa, Sb), and the spin of a user belonging to a specific level has a range (Sa', Sb') that falls within the range of (Sa, Sb). If cumulative spin data for ALLUser is used to determine the spin of a golf ball struck by the above-mentioned user at a specific level, a spin that falls within the range of (Sa, Sb) but is outside the range of (Sa', Sb') can be selected as the predicted spin, and this predicted spin is likely to be an incorrect spin. In this case, the time required for the entire operation increases due to the time taken to proceed with the fourth and fifth steps (S34, S35) for the relevant predicted spin. In contrast, if spin data for the above-mentioned user at a specific level is used instead of cumulative spin data for ALLUser to determine the spin of a golf ball struck by the above-mentioned user at a specific level, a spin that falls within the range of (Sa', Sb') can be selected as the predicted spin, and this predicted spin is at least more likely to be an correct spin than a spin that falls outside the range of (Sa', Sb').As a result, the overall operating time can be reduced compared to using cumulative spin data for all users.

[0045] The process of selecting specific cumulative spin data from the total cumulative spin data in the third step (S33) has been explained above. In the embodiment described with reference to Figure 15, the criterion for selecting specific data from the total data is "the user's golf skill." Applying the same principle, it is also possible to select only specific data from the total data in the third step (S33) according to other "criteria" other than "the user's golf skill." Below, the motion characteristics of the ball will be described as an example of other "criteria." As mentioned above, we will assume that the ball currently in motion is a golf ball used in virtual golf play such as screen golf, and that each time the user hits the golf ball in virtual golf play, the spin from that hit is stored in the memory device, and the stored data is accumulated to form cumulative spin data for all of the user's golf ball hits. Here, the cumulative spin data stored in the memory device can consist of multiple data points divided according to the movement characteristics of the hit golf ball. For example, as shown in Figure 16, the cumulative spin data can be divided into ALL cumulative spin data, which is formed based on the spin information of the golf ball struck when all users hit a golf ball while playing on the screen golf course; NoSideSpin cumulative spin data, which is formed based on the spin information when the struck golf ball has little sidespin and flies straight ahead; LeftSideSpin cumulative spin data, which is formed based on the spin information when the struck golf ball has left sidespin and flies curving to the left; and RightSideSpin cumulative spin data, which is formed based on the spin information when the struck golf ball has right sidespin and flies curving to the right. (Here, depending on the size of the sidespin, the NoSideSpin cumulative spin data / LeftSideSpin cumulative spin data / RightSideSpin cumulative spin data can be further subdivided into many items.)For example, the cumulative spin data for LeftSideSpin can be divided into more categories, such as cumulative spin data for LeftSideSpin in a first range and cumulative spin data for LeftSideSpin in a second range. As shown in Figure 16, the above-mentioned ALL cumulative spin data / cumulative spin data for NoSideSpin / cumulative spin data for LeftSideSpin / cumulative spin data for RightSideSpin etc. show different Gaussian distribution curves. When the cumulative spin data is divided according to the movement characteristics of the struck golf ball in this way, the ALL cumulative spin data can be used when selecting the predicted spin, as in the above embodiment. Alternatively, the golf ball whose spin is to be determined can be sensed first to determine what state changes during its motion, and if the sensed result shows that the golf ball has a movement characteristic of curving to the right, the predicted spin can be selected using a Gaussian distribution curve based on the data that matches the movement characteristic (cumulative spin data for RightSideSpin). Thus, by having multiple cumulative spin data sets categorized by the movement characteristics of the golf ball, and using the cumulative spin data corresponding to the movement characteristics of the golf ball when trying to grasp the spin of the golf ball in motion, there is an advantage in that the time required to grasp the spin can be shortened. The reason for this is the same as explained when using multiple cumulative spin data sets categorized by the user's level of golf skill (see related explanation in Figure 15).

[0046] The above describes an example where cumulative spin data is divided into multiple categories based on the characteristics of the path a struck golf ball travels. However, other criteria may be added in addition to the movement characteristics described above. For example, cumulative spin data can also be divided into multiple categories based on the launch speed and launch angle of the golf ball struck by the user. Furthermore, the cumulative spin data can be composed of multiple cumulative spin data based on only one of the variables related to motion characteristics such as movement characteristics, launch speed, and launch angle. Alternatively, the cumulative spin data can be composed of multiple cumulative spin data based on at least two or more of the various variables. When applying two or more composite variables, the two or more composite variables of the struck golf ball can be identified, and after selecting the cumulative spin data that matches these variables, the predicted spin can be selected from the selected cumulative spin data.

[0047] In the embodiment described with reference to Figures 15 and 16, the cumulative spin data consists of multiple sets separated by specific criteria, but it is not necessarily required that each of these sets of cumulative spin data be prepared separately in advance. The cumulative spin data associated with the "specific criteria" used when selecting the predicted spin can be generated immediately before the predicted spin is selected. This will be explained with reference to Figures 17 and 18.

[0048] Assuming the use of golf balls in virtual golf games such as screen golf, as mentioned above, records of a user's play in screen golf are stored in the memory or hard disk of the computer equipped in the virtual golf device of the screen golf course. Alternatively, if there are multiple screen golf courses and they are managed by a central server, the user's play records are stored in the central server's storage device. Referring to Figure 17, the storage device is divided into multiple storage areas, and each of these storage areas stores the play records of different users. These storage areas store the user's recorded play score, information about the condition of the golf ball such as spin and distance when the user hits it, and the user's personal records such as average strokes, average distance, and fairway hit rate. The storage areas also store information about the user's golf skill level. Here, a user's golf skill level can be determined using various play information from when the user has played in the past. For example, a user's golf skill level can be determined using "average strokes." Average strokes refers to the average of the total number of strokes taken to complete 18 holes of a golf course, which usually consists of 18 holes. In golf, the sum of all the required strokes for 18 holes equals 72 strokes. The lower a user's average stroke count for 18 holes, the better their golfing ability is considered to be. Professional golfers typically record stroke counts in the 60s or early 70s, while average golfers who score under 80 strokes are considered advanced. Furthermore, a beginner's level can be determined by whether they record a double-digit or triple-digit stroke count, using 100 strokes as a benchmark. Thus, the average stroke count is one example of an indicator used to judge a user's golfing ability level. Users with the same average stroke count as the user, or those whose average stroke count differs by only a few strokes, can all be judged to have the same level of golfing ability.

[0049] Let's assume a scenario where a user with a Grade 2 golf skill level is playing, and we want to determine the spin of the golf ball struck by that user. As described in the embodiment with reference to Figures 14 and 15, a Gaussian distribution curve consisting of spin distribution data for users with the same golf skill level as the user currently playing can be selected from among multiple spin distribution data, and the predicted spin can be selected from this Gaussian distribution curve. However, in this embodiment, a separate Gaussian distribution curve for users with the same golf skill level as the user currently playing is not provided. In this embodiment, as shown in Figure 17, after extracting spin information (S1, S3, S4) for the currently playing user and users with the same golf skill level (User1, User3, User4) from the area where the play records of these users are stored, cumulative spin data with a Gaussian distribution curve can be generated based on the extracted spin information. In this way, cumulative spin data for a user with a specific golf skill level can be generated immediately before the step of selecting the predicted spin, and in this case, it is not necessary to pre-generate and separately store multiple cumulative spin data according to the user's golf skill level.

[0050] After extracting data that matches the "specific criteria," when generating cumulative spin data before collecting and selecting the predicted spin, there may be other "specific criteria" besides the user's golf skill mentioned above. For example, the ball's motion characteristics could be included. Assuming a golf ball used in virtual golf play such as screen golf, as mentioned above, records of a user's play in screen golf are stored in a storage device provided in the virtual golf equipment of the screen golf course or in a central server that manages multiple screen golf courses. Referring to Figure 18, the storage device is divided into multiple storage areas, each of which stores records of the physical state of the golf ball after it has been struck by the user. For example, the storage area stores information about the state of the golf ball, such as the speed, direction of movement, spin, and launch angle of the golf ball when it is struck, separated and stored for each of the user's shots. Cumulative spin data for selecting the predicted spin can be formed by extracting some of the information stored in the storage device that matches the motion characteristics of the golf ball currently in motion, and then forming the data based on the extracted information. For example, as shown in Figure 18, the storage area for storing the physical state of a golf ball struck by the user is divided into multiple sections, and each of these storage areas is assumed to store information about the motion characteristics of the golf ball (e.g., the golf ball flies straight without curving, the golf ball flies with a slight curve to the right, the golf ball flies with a large curve to the right, etc.) and the spin when it exhibits those motion characteristics. Furthermore, it is assumed that the golf ball currently struck by the user exhibits motion characteristics of curving to the right. In this case, if Motion1, Motion2, and Motion5 are cases in the memory device where the golf ball exhibits motion characteristics of curving to the right, and Motion3 and Motion4 are cases where the golf ball does not exhibit motion characteristics of curving to the right, then after extracting the spin information (S1, S2, S5) when exhibiting motion characteristics such as Motion1, Motion2, and Motion5, cumulative spin data having a Gaussian distribution curve can be generated based on the extracted spin information.In this way, cumulative spin data for cases exhibiting specific motion characteristics can be generated immediately before the step of selecting the predicted spin. In this case, there is no need to prepare and store multiple cumulative spin data sets corresponding to the motion characteristics of the golf ball in advance.

[0051] Figure 19 is a flowchart illustrating the operational process of a method for determining the spin of a moving ball according to another embodiment of the present invention. Referring to Figure 19, the process for determining the spin of a ball includes steps 1 through 6 (S41-S46). In step 1 (S41), an image of the ball in motion is acquired; in step 2 (S42), information is acquired from the image; in step 3 (S43), one of several spin distribution data is selected; in step 4 (S44), a predicted spin is selected using the selected spin distribution data; in step 5 (S45), the predicted spin is applied to the information obtained in step 2 (S42) to determine the spin of the ball in motion; and in step 6 (S46), the determined spin is verified.

[0052] This embodiment differs from the embodiment described with reference to Figures 14 to 18 in that the number of images and identification information acquired in the first and second steps (S41, S42) is increased by one, and a step for verifying the spin is added in the sixth step (S46). In other words, the difference in this embodiment from the previous embodiment is that a third image is further generated and used for spin verification, which corresponds to the first, second, and fifth steps (S21, S22, S25) in the embodiment described with reference to Figures 8 to 13. Therefore, this embodiment can be considered a combination of the embodiment described with reference to Figures 8 to 13 and the embodiment described with reference to Figures 14 to 18, and each step constituting this embodiment can be sufficiently understood from the explanation of the corresponding steps in the aforementioned embodiment, so a detailed explanation is omitted.

[0053] In this embodiment as well, using the stored information shown in Figures 15 and 16, cumulative spin data that matches specific requirements regarding the golf ball currently in motion (such as the user's golf skill level and the golf ball's motion characteristics) can be selected, and this can be used to select the predicted spin. Alternatively, in this embodiment as well, using the stored information shown in Figures 17 and 18, spin data for cases that satisfy specific requirements (such as the user's golf skill level and the golf ball's motion characteristics) can be extracted, and then cumulative spin data can be generated using the extracted data, and the predicted spin can be selected using the generated cumulative spin data. The above describes various methods for determining the spin of a moving ball, and these methods can be applied to various devices. Determining spin is necessary in sports equipment such as golf, baseball, and soccer, and its necessity increases especially when users play virtual sports indoors. Below, we will describe a virtual golf device as an example of a sports device that uses the action of determining spin.

[0054] Figure 20 shows a schematic structure of a virtual golf device according to an embodiment of the present invention, Figure 21 shows an example of a method for calculating the movement of a golf ball in the virtual golf device of Figure 20, and Figure 22 shows an example of a screen display that provides golf play information in the virtual golf device of Figure 20. Referring to Figure 20, the virtual golf device according to an embodiment of the present invention includes a striking plate (10), a control unit (20), a sensing unit (30), an input unit (40), a sound unit (50), and a display unit (60).

[0055] The hitting plate (10) is the area where the user is positioned to hit the golf ball. The hitting plate (10) may consist of a separate plate-shaped object, or it may consist of the floor area where the virtual golf device is installed, where the user is positioned, rather than a separate object. Although not shown in the drawings, the hitting plate (10) is equipped with a hitting mat on which a golf ball is placed, and the hitting mat is provided with an auto-tee that is movable up and down. The golf ball can be automatically supplied to the user through the auto-tee.

[0056] The control unit (20) controls the overall operation between the components of the virtual golf machine. For example, the control unit (20) controls an automatic tee provided on the hitting mat so that the automatic tee provides a golf ball for the next shot in time with the user's swing. For example, immediately after the user hits a golf ball placed on the hitting mat, the control unit (20) can sense that a hit has been made and cause the automatic tee to provide a golf ball for the next shot.

[0057] The control unit (20) comprises a calculation unit (21), a spin calculation unit (22), and a storage unit (23). The calculation unit (21) performs a calculation process to calculate the trajectory of a golf ball assuming that it moves on an actual golf course in the physical state of a golf ball struck by the user. The spin calculation unit (22) is responsible for calculating the spin of the golf ball struck by the user. The spin calculation process can use methods previously described with reference to Figures 1 to 19, etc., thereby enabling accurate determination of the golf ball's spin in a simple manner without the need for expensive sensors or other equipment. The spin calculation unit (22) can be configured separately from the calculation unit (21) which calculates the trajectory of the golf ball. However, as shown in the diagram, it is also possible to configure the calculation unit (21) to perform the spin calculation function without the spin calculation unit (22). The storage unit (23) includes a storage device such as memory or a hard disk, and stores various programs and / or data necessary for the operation of the control unit (20), calculation unit (21), spin calculation unit (22), etc. The user's play records and / or cumulative spin data used for spin calculation are stored in the storage unit (23). Alternatively, the calculation unit (22) may have its own storage means, and the user's play records and / or cumulative spin data used for spin calculation may be stored in the above-mentioned storage means.

[0058] The sensing unit (30) is used to sense the movement of the golf club and / or the movement of the golf ball struck by the user when the golf ball is struck, and to grasp the information necessary for the calculation process. The sensing unit (30) can be a sensing means such as a camera or sensing sensor that can capture the movement of the golf club and golf ball. Various sensing methods such as image sensing, light emission / receiving sensing, and laser sensing can be applied to the sensing means, and the state information of the golf club and the golf ball struck by the user can be grasped using such sensing methods. The camera and sensing sensor can be used individually or together, and one or more can be used. The information sensed by the sensing unit (30) is transmitted to the control unit (20), and the calculation unit (21) of the control unit (20) performs the calculation process based on the information from the sensing unit (30). In addition, in order for the spin calculation unit (22) to grasp the spin of the struck golf ball, an image of the golf ball struck by the user at a specific point in time is required, and when a camera is used as the sensing unit (30), the image can be generated by the sensing unit (30). In this case, the sensing unit (30) performs both the operation of acquiring trajectory calculation information and the operation of acquiring spin calculation information. Here, the operation of acquiring spin calculation information may include the operation of sensing the motion characteristics of the golf ball, such as the translational motion of the golf ball and the path of the golf ball. The operation of sensing the motion characteristics of the golf ball is necessary when determining the spin by applying the method according to the embodiment described with reference to Figure 16 or Figure 18. If the sensing unit (30) is unable to perform the operation of acquiring spin calculation information, it is also possible to configure the system to be equipped with a separate camera for that operation.

[0059] The input unit (40) is for receiving various information from the user and can use a keyboard, mouse, touchscreen, etc. The input unit (40) can be used when the user enters their ID and password for login when login is required to use the virtual golf device, or when the user selects the golf course they want to play or the difficulty level of play. The sound unit (50) includes audio equipment such as speakers, which guides the user through the game's progress and plays various sound effects corresponding to the game's progression.

[0060] The display unit (60) includes equipment for display operation, such as a projector and a screen. The projector projects golf-related images onto the screen so that a golf course and golf balls are displayed on the screen, and the screen displays the projected golf-related images for the user. Although not shown in the drawings, the display unit (60) may also include display devices such as a kiosk that serve as an auxiliary display, in addition to the screen.

[0061] In this specification, the term "virtual" may be used to describe some objects displayed on the screen. This is to avoid confusion with objects that exist in the real world, and it means that these objects are not real but are displayed on the screen. For example, "virtual golf course" means a golf course displayed on the screen, and "virtual golf ball" means a golf ball displayed on the screen.

[0062] The virtual golf device is installed on a screen golf course to enable the play of screen golf. The operation process of the virtual golf device when a user plays screen golf is as follows: When the user hits the golf ball, the sensing unit (30) senses the physical state of the golf ball, such as the movement of the golf club and the speed and direction of movement of the golf ball hit by the user. The information sensed by the sensing unit (30) is transmitted to the control unit (20), and the calculation unit (21) in the control unit (20) performs a calculation process to calculate the trajectory of the golf ball based on the transmitted information. The display unit (60) displays an image of the virtual golf ball moving according to the trajectory calculated by the calculation process. At this time, the virtual golf ball moves along the calculated trajectory and lands at a specific point on the virtual golf course displayed on the screen, and the user continues the next shot from the point where the virtual golf ball landed. The above operation process is repeated for the user's next shot.

[0063] When the calculation unit (21) performs the calculation process to calculate the trajectory of the golf ball, various methods can be applied. In one of these various methods, the trajectory can be calculated by sensing parameter values ​​that indicate the physical state of the golf ball after impact. Referring to Figure 21, examples of the above parameters include the speed of the golf ball (V), the lateral direction angle (φ) indicating the direction of the golf ball on the horizontal plane after impact, the launch angle (θ) indicating the angle at which the golf ball is tilted with respect to the horizontal plane, and the spin (S) indicating the rotational state of the golf ball. By applying a calculation model using physical laws based on parameters such as speed (V), lateral direction angle (φ), launch angle (θ), and spin (S), the trajectory of the golf ball can be calculated. Of the above physical parameters, spin (S) can be determined by analyzing multiple golf ball images taken while the golf ball is in flight after impact by the spin calculation unit (22), and the process of calculating the trajectory of the golf ball can be performed by reflecting the determined spin after it has been determined. Although not shown in the diagram, it is also possible to sense not only the physical state of the golf ball, but also the movement of the golf club when the user hits the golf ball, and use the sensed information about the golf club to calculate the trajectory of the golf ball. After a user hits a golf ball, the perceived physical state of the struck golf ball can be displayed on the screen. Referring to Figure 22, while the user is playing golf, the screen displays the golf course the user is playing on, and on one end of the screen, the perceived physical state of the struck golf ball is displayed. For example, the screen may display information such as the speed, spin, and launch angle of the golf ball struck by the user. Since the user is interested in sidespin and backspin, which affect the trajectory of the golf ball, sidespin and backspin may be displayed separately on the screen. Sidespin refers to the spin component in the direction to the left or right of the golf ball's flight direction, and sidespin can affect the path the golf ball flies. Backspin refers to the spin component in the direction opposite to the direction the golf ball flies, and backspin can affect the distance the golf ball flies.

[0064] Figure 23 shows a schematic structure of a virtual golf device according to another embodiment of the present invention. Referring to Figure 23, the virtual golf system according to this embodiment includes multiple booths (101, 102, 103). Each booth (101, 102, 103) is configured identically. For example, the first booth (101) is equipped with a hitting plate (101a), a computer device (101b) that has a kiosk screen and can act as the control unit in the aforementioned embodiment, a screen (101c), and so on, while the other booths (102, 103) have the same components. Although not shown in the drawings, each booth (101, 102, 103) is further equipped with other devices such as cameras for sensing the movement of the golf club / golf ball during impact. Multiple users can take turns playing golf in each booth (101, 102, 103). Alternatively, each booth (101, 102, 103) can be used for solo play, separated from users in other booths. The virtual golf device according to this embodiment is equipped with the spin calculation unit described in the previous embodiment, and the spin calculation unit can determine the spin of a golf ball struck by the user using the method described with reference to Figures 1 to 19, etc.

[0065] Figure 24 shows a schematic structure of a virtual golf system according to an embodiment of the present invention. Referring to Figure 24, the virtual golf system includes a virtual golf device (100) and a service device (200). The virtual golf device (100) can be one of those shown in Figures 20 to 23, etc. The virtual golf device (100) is installed in a home or public screen golf course where screen golf can be played, and if there are multiple screen golf courses, a virtual golf device (100) is installed at each screen golf course, so that there are multiple devices in total. The virtual golf device (100) is equipped with a spin calculation unit as described in the above embodiment, and the spin calculation unit can determine the spin of the golf ball hit by the user using the method described with reference to Figures 1 to 19, etc.

[0066] The virtual golf device (100) is connected to the service device (200) via a wired or wireless network. The service device (200) includes a central server used by a service provider operating multiple screen golf courses to manage the virtual golf devices (100) installed in multiple screen golf courses. When a user who wishes to use the screen golf service first logs in to receive the service, the service device (200) verifies the user's identity and decides whether to approve the login. For the above login operation, the service device (200) is equipped with a storage unit (210), which stores information for verifying the user's identity. In addition to the user identity verification information, the storage unit (210) also stores various other information. As this other information, the storage unit (210) stores the user's play record information, cumulative spin data used when calculating spin, and / or information for forming the cumulative spin data (for example, the storage unit (210) may include the storage device shown in Figures 15 to 18). In this way, various user information, spin information, etc. are stored in the storage unit (210), and multiple virtual golf devices (100) connected to the service device (200) by wire and / or wirelessly can utilize the information stored in the storage unit (210), eliminating the need for each virtual golf device (100) to separately store user information, spin data information, etc.

[0067] The specific embodiments of the present invention have been discussed above. A person with ordinary skill in the art to which the present invention pertains will understand that the present invention can be embodied in modified forms that do not depart from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered in an explanatory rather than restrictive view. The scope of the present invention is shown in the claims, not in the foregoing description, and all differences within an equivalent scope should be interpreted as being included in the present invention. [Explanation of Symbols]

[0068] 10: Striking plate 20: Control Unit 30: Sensing part 40: Input section 50: Sound Department 60: Display section 100: Virtual Golf Machine 200: Service device

Claims

1. For a ball equipped with an identification unit and moving with spin, an image acquisition step is performed in which a first image is acquired at a first time point and a second image is acquired at a second time point. An identification information acquisition step of obtaining first identification information of the identification unit from the first image and second identification information of the identification unit from the second image, After selecting a predicted spin using cumulative spin data, a spin recognition step is performed to determine the spin of the moving ball by applying the predicted spin to the first and second identification information. Including, In the spin determination step, the application result of applying the predicted spin to the first identification information is compared with the second identification information, and the predicted spin is determined as the spin of the moving ball according to the comparison result with the second identification information, or the spin determination step is repeated while selecting a new predicted spin. How to understand the spin of a moving ball.

2. The aforementioned ball is a golf ball, and when the user hits the golf ball with a golf club, the golf ball moves with spin. The method for determining the spin of a moving ball according to claim 1, wherein the cumulative spin data can be formed using information about the spin of a golf ball when it was hit in the past by the user who hit the golf ball whose spin is currently to be determined, and by other users with the same level of golf skill as the user.

3. The aforementioned ball is a golf ball, and when the user hits the golf ball with a golf club, the golf ball moves with spin. The process further includes sensing the change in state of the golf ball due to its movement between the first and second time points, The method for determining the spin of a moving ball according to claim 1, wherein the cumulative spin data can be formed by selecting spin data that corresponds to the change in the state of the golf ball, and then using the selected spin data.

4. The cumulative spin data shows a Gaussian distribution. The method for determining the spin of a moving ball according to any one of claims 1 to 3, wherein the predicted spins can be selected from a plurality of arbitrary spins that are at different positions in the Gaussian distribution.

5. The cumulative spin data shows a Gaussian distribution. The method for determining the spin of a moving ball according to any one of claims 1 to 3, wherein the predicted spin can initially be selected in the Gaussian distribution within a range between -standard deviation and +standard deviation centered on the mean.

6. A method for determining the spin of a moving ball according to any one of claims 1 to 3, wherein the new predicted spin is selected such that the larger the result of comparing the application result of applying the predicted spin to the first identification information with the second identification information, the greater the difference between the predicted spin and the new predicted spin.

7. A method for determining the spin of a moving ball according to any one of claims 1 to 3, further comprising the steps of: acquiring a third image of the ball at a third time point in the image acquisition step; acquiring third identification information of the identification unit from the third image in the identification information acquisition step; and verifying the determined spin using the third identification information after the spin determination step.

8. Multiple spins are identified in the spin identification step described above. A method for determining the spin of a moving ball according to claim 7, comprising: after the spin determination step, comparing the application result of applying the plurality of spins to the first identification information or the second identification information with the third identification information, determining one of the plurality of spins as the spin of the moving ball according to the comparison result with the third identification information, or re-executing the spin determination step and the additional step while selecting the new predicted spin.

9. When a user actually hits a golf ball, a calculation unit performs a calculation process to calculate the movement of a virtual golf ball corresponding to the actual golf ball, A virtual golf course and a display unit that displays a virtual golf ball that moves on the virtual golf course as calculated in the calculation process. Including, After the user hits the actual golf ball, The calculation unit or a separately provided spin calculation unit determines the spin of the actual golf ball in accordance with the method for determining the spin of a moving ball described in any one of claims 1 to 3. The calculation process can incorporate the results of understanding the actual spin of the golf ball. Virtual golf machine.

10. Service equipment and The service device and at least one virtual golf device connected via communication Including, The aforementioned virtual golf device is When a user actually hits a golf ball, a calculation unit performs a calculation process to calculate the movement of a virtual golf ball corresponding to the actual golf ball, A virtual golf course and a display unit that displays a virtual golf ball that moves on the virtual golf course as calculated in the calculation process. Including, Furthermore, in the virtual golf device, after the user hits the actual golf ball, The calculation unit or a separately provided spin calculation unit determines the spin of the actual golf ball in accordance with the method for determining the spin of a moving ball described in any one of claims 1 to 3. The calculation process can incorporate the results of understanding the actual spin of the golf ball. Virtual golf system.

11. The service device includes a storage unit for storing user information, The virtual golf system according to claim 10, wherein the user information can be used to form cumulative spin data in the process of determining the spin of the actual golf ball.

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