US 12,011,652 B2
Floor-type golf ball detection method, system and storage medium
Ji Jun Wang, GuangDong (CN); and Qing Hua Wang, GuangDong (CN)
Assigned to SHENZHEN GREENJOY TECHNOLOGY CO., LTD., GuangDong (CN)
Filed by SHENZHEN GREENJOY TECHNOLOGY CO., LTD., GuangDong (CN)
Filed on Oct. 13, 2021, as Appl. No. 17/499,883.
Application 17/499,883 is a continuation of application No. PCT/CN2020/131288, filed on Nov. 25, 2020.
Claims priority of application No. 202010999663.4 (CN), filed on Sep. 22, 2020.
Prior Publication US 2022/0088461 A1, Mar. 24, 2022
Int. Cl. A63B 71/06 (2006.01); A63B 69/36 (2006.01)
CPC A63B 71/0622 (2013.01) [A63B 69/3658 (2013.01); A63B 2071/0638 (2013.01); A63B 2220/34 (2013.01); A63B 2220/806 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A golf ball floor type detection method, which is applied to a golf system with a camera configured at a side for detecting a golf ball provided with a mark thereon, comprising:
correcting distortion of the camera: correcting a distorted image coordinate system of the camera by performing a polar coordinate transformation;
calibrating the camera: converting the corrected image coordinate system into a world coordinate system;
triggering of hitting a ball: monitoring a pixel variation value of a serving position of a golf ball in a picture captured by the camera in real time, and determining triggering of hitting the ball when the pixel variation value of the position exceeds a threshold value;
positioning the golf ball: processing the picture captured by the camera after triggering of hitting the ball with a dynamic segmentation based on a fuzzy entropy and positioning the processed picture to acquire coordinate data of the golf ball;
calculating parameters: substituting the coordinate data of the golf ball obtained by the positioning into a world coordinate system to calculate movement parameters of the golf ball; and
detecting a rotating speed of the golf ball: extracting the mark on the golf ball in the picture used for positioning by performing a gradient-based dynamic segmentation method and acquiring the rotating speed based on angular variation of the extracted mark in the picture.