MIXED VIRTUAL AND REAL-WORLD GOLF SYSTEM

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit and right of priority of U.S. Provisional Patent Application No. 63/693,098, titled “MIXED VIRTUAL AND REAL-WORLD GOLF SYSTEM”, filed on Sep. 10, 2024, which is hereby incorporated by reference in its entirety.

TECHNICAL FIELD

This specification relates generally to combing golf simulation with playing real-world golf on a physical putting green.

BACKGROUND

Historically, golf has been played in an outdoor environment, typically on an eighteen-hole golf course. However, in recent years, golf simulators have been developed for simulating golf games, or at least certain aspects of golf games, such as tee off, pitching, chipping, and/or putting. Such simulators generally include a screen, a projector, and one or more sensors for sensing movement of a golf ball. Simulations of real golf courses around the world and virtual (e.g., artificially built) golf courses can be executed on a computing system and projected onto the screen via the projector. A player can play golf on a simulated golf course by hitting the golf ball into a projection of the simulated golf courses displayed on the screen. The sensor(s) sense movement of the golf ball, and the computing system uses the sensor data to determine where on the simulated golf course the golf ball would have landed, bounced, and rolled. A player can then proceed to hit the next shot from the determined stopping point of the golf ball in the simulated golf course.

A method for playing a golf game using a golf simulator is described in U.S. Pat. No. 10,843,056 B2. A method and apparatus for controlling a golf green simulator based on a green condition and a golf hole cup location is described in KR20180098924A. A golf practice facility is described in KR100647498B1. A virtual golf simulation apparatus is described in U.S. Patent Application No. 2014/0004969 A1. An adjustable putting surface is described in U.S. Patent Application No. 20011/0192096 A1. A configurable, flexible putting green system and method that provide a golf putting experience are described in U.S. Pat. No. 10,610,734 B2. A configurable putting green is described in U.S. Pat. No. 10,596,444 B2. A floor system that has mechanisms for varying the contour of the floor vertically that can be used as an artificial putting green is described in U.S. Patent Application No. 2011/0192096 A1. A screen golf system having a “true green” is described in KR101868584B1.

SUMMARY

Systems, devices, and methods are described herein for implementing a mixed virtual and real-world golf game by combining: (i) a “screen zone” upon which the virtual portion of the golf game is played, and (ii) a “green zone” upon which the real-world portion of the golf game is played. In general, the screen zone and the green zone are combined into a single, physical golf area, termed the “field of play”, which is controlled by a computing (or control) system.

The screen zone includes a screen, a projector, and one or more sensors for playing the virtual portion of the golf game, such as the tee off and pitching portions of the golf game. For example, the projector can project a simulation of a hole of a golf course onto the screen, and the sensor(s), e.g., camera(s), can sense movement of a golf ball propelled into the screen by a player. Using the sensor data, the computing system can determine if the stopping point of the golf ball in simulation corresponds to a position in the green zone-if so, the player can then transition to the green zone to finish playing the hole of the golf course.

The green zone includes a golf green for playing the real-world portion of the golf game, such as the chipping and putting portions of the golf game. The green zone can also include one or more bunkers filled with sand for accommodating sand play (or bunker play) portions of the golf game. For example, after a player moves from the screen zone to the green zone, one or more light sources, e.g., spotlight(s), can illuminate the position on the green zone corresponding to the stopping point of a golf ball hit in the screen zone. The player can then place the golf ball on the illuminated position and finish the hole of the golf course starting from said position.

The golf green, or at least a portion of the golf green, can be supported on a turntable for rotating the golf green about an axis. The golf green also has one or more actuation systems embedded therein for reconfiguring the topography of the green zone. Particularly, by rotating the turntable and adjusting the actuation lengths (or heights) of the linear actuators of each actuation system, the topography of the green zone can be reconfigured to represent several different holes of a golf course, e.g., each hole of an eighteen- or nine-hole golf course. Hence, the green zone is not limited to a single topography of a hole, allowing multiple different holes to be played in the same real-world golf area.

The systems, devices, and methods described herein can be implemented to play each hole of a golf course in both simulation and in the real-world using a single field of play, where each hole of the golf course is realistically emulated in the screen zone and the green zone of the field of play. In some implementations, the emulated golf course can correspond to an actual, real-world golf course, e.g., a real-world eighteen- or nine-hole golf course, that the field of play has been designed to represent. In other implementations, the emulated golf course can be an artificial golf course, e.g., an artificial six- or fifteen-hole golf course, that has been custom built for representation on the field of play.

More generally, the systems, devices, and methods described herein can implement a mixed virtual and real-world golf game on the field of play, where the golf game involves one or more holes that may or may not be related to one another. For example, each of the hole(s) can be an independent, artificially designed hole that has no equivalent on an actual, real-world golf course. The golf game can also be played by one or more players in several different formats. For example, the golf game can correspond to a single player game, a head-to-head matchup between two players (or “singles” golf game), a two vs. two team game (or “doubles” golf game) played in alternating shots, a three vs. three team game (or “triples” golf game) played in alternating shots, a one vs. one vs. one game played between three competing players, a two vs. two vs. two team game played between three competing teams of players, among various other types of golf games and/or formats.

Implementations of the systems, devices, and methods described herein offer a robust, dynamical playing and viewing experience that leverages the advantages of golf simulators in emulating tee off and/or pitching play, while compensating for their drawbacks in emulating chipping, putting, and/or sand play. Moreover, the systems, devices methods described herein can be implemented for large area mixed virtual and real-world golf games, facilitating large format projection screens for the virtual portion of a golf game, as well as large playing areas for the real-world portion of the golf game. For example, in some implementations, the field of play can have a total area and a total length on the order of a football field, while being arranged within an arena or a stadium for playing the golf game in front of an audience.

These and other features relating to the systems, devices, and methods described herein are summarized below.

According to a first aspect of the present disclosure, a mechanical golf green system is provided. The mechanical golf green system includes: a golf green; a turntable supporting the golf green, the turntable having: a top surface on which the golf green is disposed; a central axis about which the turntable is configured to rotate; and a plurality of raceways arranged beneath the top surface opposite the golf green, the plurality of raceways being concentric with one another about the central axis; a support structure bearing a weight of the turntable, each of the plurality of raceways having a respective guide surface facing the support structure; and a plurality of casters affixed to the support structure for enabling rotation of the turntable abouts its central axis, the plurality of casters mating with the respective guide surfaces of each the plurality of raceways.

In some implementations of the mechanical golf green system, the plurality of casters includes a plurality of air casters, a plurality of wheel casters, or both.

According to a second aspect of the present disclosure, a system for implementing a golf game in a mixed virtual and real-world environment is provided. The system includes: a field of play upon which the golf game is played, the field of play being divided into: (i) a screen zone, and (ii) a green zone defining a portion of a hole of a golf course; a screen positioned in the screen zone, the screen having a projection surface; a projector configured to project a simulation of the hole of the golf course onto the projection surface of the screen; a turntable positioned in the green zone; and a golf green supported on the turntable, the golf green including: an undulation layer disposed on the turntable, the undulation layer defining a first portion of a topography of the golf green; a green surface disposed on the undulation layer, the green surface defining a putting region in which a golf hole cup of the hole of the golf course is positioned; and one or more actuation systems embedded within the undulation layer, each of the one or more actuation systems configured to move the green surface of the putting region to reconfigure a second portion of the topography of the golf green.

In some implementations of the system, the system is located in an arena or a stadium, e.g., an open arena or stadium.

According to a third aspect of the present disclosure, a method for implementing a golf game in a mixed virtual and real-world environment is provided. The method includes: providing a field of play upon which the golf game is played, the field of play being divided into: (i) a screen zone, and (ii) a green zone defining a portion of a hole of a golf course; executing, by a computing system, a simulation of the hole of the golf course; projecting, by a projector, the simulation onto a projection surface of a screen positioned in the screen zone; providing a turntable, positioned in the green zone, on which a golf green is supported, the golf green including: an undulation layer supported on the turntable, the undulation layer defining a first portion of a topography of the golf green; a green surface disposed on the undulation layer, the green surface defining a putting region of the hole of the golf course; a golf hole cup positioned in the putting region; and one or more actuation systems embedded within the undulation layer, each of the one or more actuation systems configured to move the green surface of the putting region to reconfigure a second portion of the topography of the golf green; receiving, by the computing system, a user input indicating that the hole of the golf course has finished being played; and in response to receiving the user input: retrieving, by the computing system, data defining a next hole of the golf course to be played, the data specifying: (i) a target angle of rotation of the turntable, and (ii) a target configuration of the second portion of the topography of the golf green; transmitting, by the computing system, a respective control signal to each of one or more drive motors that causes the one or more drive motors to rotate the turntable to the target angle; and transmitting, by the computing system, a respective control signal to each of the one or more actuation systems that causes the one or more actuation systems to reconfigure the second portion of the topography of the golf green to the target configuration.

In some implementations of the method, each hole of the golf course is defined by respective data specifying: (i) a respective target angle of rotation of the turntable, and (ii) a respective target configuration of the second portion of the topography of the golf green.

The subject matter described in this specification can be implemented in various embodiments to realize one or more of the following advantages.

Currently available systems, devices, and/or methods for simulating golf may have some proficiency at emulating the tee off and pitching portions of a golf game, e.g., using a screen and a projector. However, such systems, devices, and/or methods typically have significant drawbacks relating to the chipping, putting, and sand play portions of the golf game as these aspects are ill-suited for emulation with a screen and projector setup. For example, currently available systems, devices, and/or methods do not facilitate chipping from a fairway onto a golf green or hitting out of a bunker. Furthermore, currently available systems, devices, and/or methods for simulating the putting portion of a golf game are limited, such as providing a golf green with a small playing area, providing little (or no) reconfigurability of the golf green, and/or providing poor emulation of the natural feel and behavior of a real-world golf green. Moreover, currently available systems, devices, and/or methods do not provide means for playing a golf game in a mixed virtual and real-world environment, have a one-to-one map between the virtual and real-world environment, and simultaneously provide reconfigurability of the golf green in the real-world environment.

The systems, devices, and methods described herein for implementing golf games in mixed virtual and real-world environments can solve one or more of these abovementioned issues. For example, the systems, devices, and methods described herein can utilize a screen, a projector, and one or more sensors for realistically emulating the tee off and pitching portions of a golf game in the virtual world, while utilizing a large area, reconfigurable golf green for playing the chipping, putting, and sand play portions of the golf game in the real-world. Moreover, the systems, devices, and methods described herein provide a means of mapping one-tO.one between the virtual and real-world environments, e.g., allowing an eighteen-hole golf course to be played on a single field of play with little (or no) inconsistencies between the virtual and real-world portions of the golf course. The systems, devices, and methods described herein also allow the golf game to be played in an arena (or stadium) where, for example, spectators can have a full view of every golf shot performed by each player on the field of play. In contrast, on a conventional real-world golf course, a spectator would generally have to walk along the golf course with a player to see each golf shot performed by the player, or sit in stands arranged around the golf course to see a fraction of the golf shots performed by each of the players.

The details of one or more embodiments of the subject matter described in this specification are set forth in the accompanying drawings and the description below. Other features, aspects, and advantages of the subject matter will become apparent from the description, the drawings, and the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a schematic diagram depicting an example of a mixed virtual and real-world golf system for implementing a golf game in a mixed virtual and real-world environment.

FIG. 1B is a schematic diagram depicting an example of a field of play of a mixed virtual and real-world golf system.

FIG. 1C is a top view depicting an example of a green zone of a field of play having a turntable positioned therein.

FIG. 2 is an exploded isometric view depicting an example of a turntable, a set of air caster assemblies arranged according to an air caster layout, and an array of stanchion assemblies arranged according to a stanchion layout.

FIG. 3 is a top view depicting an example of a top surface layer of a turntable.

FIG. 4 is a top view depicting an example of an outer flange of a turntable.

FIG. 5A is a top view depicting an example of a beam layout of a turntable.

FIG. 5B is a side view depicting an example of an outer beam in the beam layout shown in FIG. 5A.

FIG. 5C is a side view depicting an example of a middle beam in the beam layout shown in FIG. 5A.

FIG. 5D is a side view depicting an example of an inner beam in the beam layout shown in FIG. 5A.

FIG. 5E is a side view depicting an example of an outer last beam in the beam layout shown in FIG. 5A.

FIG. 5F is a cross-sectional view of each the outer, middle, inner, and outer last beams shown in FIGS. 5B-5D.

FIG. 6 is a top view depicting an example of a raceway layout of a set of raceways of a turntable.

FIG. 7 is an isometric view depicting an example of an understructure of a turntable.

FIG. 8 is a top view depicting an example of a stanchion layout of a set of stanchion assemblies for a turntable.

FIG. 9A is a front view depicting an example of a stanchion assembly (“stanchion”) in the stanchion layout shown in FIG. 8.

FIG. 9B is a side view depicting the stanchion shown in FIG. 9A.

FIG. 9C is a top view depicting the stanchion shown in FIG. 9A.

FIG. 9D is an isometric view depicting the stanchion shown in FIG. 9A.

FIG. 10A is a top view depicting an example of a base plate layout of a set of stanchions for a turntable.

FIG. 10B is a top view depicting an example of a base plate of a stanchion in the base plate layout shown in FIG. 10A.

FIG. 10C is a side view depicting the base plate shown in FIG. 10B.

FIG. 11A is a top view depicting an example of an air caster layout of a set of air caster assemblies for a turntable.

FIG. 11B is a top view depicting an example of an air caster assembly in the air caster layout of FIG. 11A.

FIG. 11C is a side view depicting the air caster assembly of FIG. 11B.

FIG. 12 is a top view depicting another example of an understructure for a turntable.

FIG. 13A is a top view depicting a central portion of the understructure shown in FIG. 12.

FIG. 13B is a top view depicting an example of a table construction of the understructure shown in FIG. 12.

FIG. 14A is a top view depicting an example of an air caster.

FIG. 14B is a side view depicting the air caster shown in FIG. 14A.

FIG. 15 is a side view depicting an outer portion of an example understructure for a turntable, including compressed air lines and a drive motor for operating the turntable.

FIG. 16 is a schematic diagram depicting an example of an air supply system for a turntable.

FIG. 17 is an isometric view depicting an example of a stanchion configured with a set of wheel caster assemblies, a spring assembly, a drive motor, a drive support beam assembly, and a drive support stand.

FIG. 18A is an isometric view depicting an example of a caster bracket of a wheel caster assembly.

FIG. 18B is a top view depicting the caster bracket shown in FIG. 18A.

FIGS. 19A-19C are three-dimensional views depicting an example of a mounting plate of a wheel caster assembly installed on a stanchion.

FIG. 19D is a three-dimensional view depicting an example of a caster bracket of a wheel caster assembly mounted on a stanchion via a mounting plate.

FIGS. 20A-20B are three-dimensional views depicting an example of a wheel caster of a wheel caster assembly installed on a stanchion.

FIG. 21A is an isometric depicting an example of a stanchion configured with a set of wheel caster assemblies, a spring assembly, and a drive motor.

FIG. 21B is a front view of the stanchion shown in FIG. 20A configured with the set of wheel caster assemblies, the spring assembly, and the drive motor.

FIG. 21C is a front view depicting the wheel caster assembly, the spring assembly, and the drive motor shown in FIG. 20A.

FIG. 22A is an isometric view depicting an example of a spring assembly, a pivot plate, a drive support beam assembly, and a drive support stand.

FIG. 22B-22D are three-dimensional views depicting an example of a pivot plate of a spring assembly installed on a stanchion.

FIG. 23A is a front view depicting an example of a spring assembly positioned between a drive support beam assembly and a drive support stand.

FIG. 23B is a three-dimensional view depicting the spring assembly of FIG. 23A positioned between the drive support beam assembly and the drive support stand.

FIG. 24 is a bottom view depicting an example of a stanchion configured with a wheel caster assembly having a wheel caster positioned at a titling angle.

FIG. 25 is a top view depicting an example of a stanchion layout of a set of stanchion assemblies configured with bracing beams.

FIG. 26 is a front view depicting an example of a stanchion assembly (“stanchion”) in the stanchion layout shown in FIG. 25.

FIG. 27A is a front view depicting an example of two stanchions in the stanchion layout shown in FIG. 25 connected to each other via two tangential bracing beams.

FIG. 27B is a side view depicting an example of two stanchions in the stanchion layout shown in FIG. 25 connected to each other via two radial bracing beams.

FIG. 27C is a detail view depicting an example of a tangential bracing beam connecting to a stanchion.

FIG. 27D is a detail view depicting an example of a radial bracing beam connecting to a stanchion.

FIG. 28A is a schematic diagram depicting an outer (edge) portion of an example golf green supported on a turntable.

FIG. 28B is a schematic diagram depicting an inner portion of the golf green shown in FIG. 28A, including a set of actuation systems embedded therein.

FIG. 29A is a top view depicting an example of a foam substrate of a golf green.

FIG. 29B is an isometric view depicting the foam substrate shown in FIG. 29A.

FIG. 29C is a side view depicting the foam substrate shown in FIG. 29A.

FIG. 30A is a side view depicting an example of an actuation system of a golf green.

FIG. 30B is a top view depicting the actuation system shown in FIG. 30A.

FIG. 30C is a side view depicting an example of a linear actuator of an actuation system.

FIG. 31 is a side view depicting a portion of an example cable management system for a turntable.

FIG. 32 is a schematic diagram depicting an example of a computing system of a mixed virtual and real-world golf system.

FIGS. 33A-33B depict a flowchart of an example method for implementing a golf game in a mixed virtual and real-world environment.

Like reference numbers and designations in the various drawings indicate like elements.

DETAILED DESCRIPTION

FIG. 1A is schematic diagram depicting an example of a mixed virtual and real-world golf system 10 for implementing a golf game in a mixed virtual and real-world environment. At a high-level, the mixed virtual and real-world golf system 10 is implemented by: (i) a field of play 100 upon which the golf game is played, and (ii) a computing system 500 that controls various aspects of the golf game during play on the field of play 100. The computing system 500 may be implemented as a centralized control system of the mixed virtual and real-world golf system 10. The computing system 500 can be communicatively coupled with components positioned above, in, on, and/or around the field of play 100, including a screen 112, a projector 114, sensor(s) 116, 126, and 228, light source(s) 124, a rotary encoder 235, an air supply system 280, drive motor(s) 290, actuation system(s) 330, a user interface 540, among other components. For case of description, the various features, aspects, and components of the field of play 100 are described in detail with reference to FIGS. 1A-31. An example computer architecture of the computing system 500, as well as the operations performed by the computing system 500 to control the components of the field of play 100, are described in detail with reference to FIGS. 32-33B.

In some implementations, the mixed virtual and real-world golf system 10 facilitates large area mixed virtual and real-world golf games, particularly when compared to conventional systems for simulating golf games. For example, the field of play 100 can have a total area of about 10000 square-feet (“sq-ft”) or more, 20000 sq-ft or more, 30000 sq-ft or more, 40000 sq-ft or more, 50000 sq-ft or more, 100000 sq-ft or more, or 500000 sq-ft or more. The field of play 100 can have a total area in a range from about 10000 sq-ft to 500000 sq-ft. In some of these implementations, the field of play 100 can be located within an arena or a stadium, e.g., an open or covered arena or stadium, to accommodate the total area of the field of play 100 and allow an audience to view the golf game in person. For example, with a total area of about 50000 sq-ft, the field of play 100 can have a total length (L_SZ+L_GZ) on the order of one football field, e.g., a total length in range from about 75 yards (“yds”) to 125 yds. Example dimensions and configurations of various components of the field of play 100 are provided herein for such implementations. Nevertheless, the mixed virtual and real-world golf system 10 can also be implemented for smaller area mixed virtual and real-world golf games such that, for example, the field of play 100 has a total area of about 10000 sq-ft or less, 9000 sq-ft or less, 8000 sq-ft or less, 7000 sq-ft or less, 6000 sq-ft or less, or 5000 sq-ft or less.

Referring again to FIG. 1A, a golf game involving one or more holes 104.1 to 104.N of a golf course 102 can be played upon the field of play 100, on a hole-by-hole basis, in combination with the operations performed by the computing system 500. The mixed virtual and real-world golf system 10 allows each hole 104 of the golf course 102 to be played partially in simulation (“virtually”) and partially in the real-world. To facilitate mixed virtual and real-world play, the field of play 100 is divided into a screen zone 110 and a green zone 120 via a dividing line 115. Note, a golf game played on an eighteen-hole golf course 102 is the typical format, and is one type of golf game that can be implemented by the mixed virtual and real-world golf system 10. However, the mixed virtual and real-world golf system 10 is not limited to such implementations. The golf games 102 implemented by the mixed virtual and real-world golf system 10 can involve any number of holes 104, can involve any number of players 12, and can be played in any number of formats. Examples of which are described in detail below.

The screen zone 110 denotes the physical area of the field of play 100 upon which the virtual portion of each hole 104 of the golf course 102 is played. In general, the screen zone 110 accommodates virtual play of the beginning of the hole 104, e.g., corresponding to the “long game” portion of the hole 104, e.g., including tee off from a tec box 117 and/or pitching from a fairway (e.g., fairway region 120.FR). The computing system 500 can execute a simulation 106.n of a current hole 104.n of the golf course 102 being played and display the simulation 106.n of the hole 104.n in the screen zone 110, e.g., via a projector 114 projecting the simulation 106.n onto a screen 112 positioned in the screen zone 110. The screen zone 110 has a length (L_SZ) measured in the y-direction from the dividing line 115 to a leftward-most point of the field of play 100. The screen zone 110 can have a length of about 25 yds or more, 30 yds or more, 35 yds or more, 40 yds or more, 45 yds or more, 50 yds or more, 55 yds or more, 60 yds or more, 65 yds or more, 70 yds or more, or 75 yards or more. The screen zone 110 can have a length in a range from about 25 yds to 75 yds.

The green zone 120 denotes the physical area of the field of play 100 upon which the real-world portion of each hole 104 of the golf course 102 is played. In general, the green zone 120 accommodates real-world play of the end of the hole 104, e.g., corresponding to the “short game” portion of the hole 104, e.g., including pitching and/or chipping from the fairway onto a golf green 300, putting on the golf green 300, and hitting from a bunker 304. The computing system 500 can reconfigure, e.g., via drive motor(s) 290 and/or actuation system(s) 330, at least a portion of the topography of the green zone 120, such that the topography of the green zone 120 corresponds with the simulation 106.n of the current hole 104.n of the golf course 102. The green zone 120 has a length (L_GZ) measured in the y-direction from the dividing line 115 to a rightward-most point of the field of play 100. The green zone 120 can have a length of about 25 yds or more, 30 yds or more, 35 yds or more, 40 yds or more, 45 yds or more, 50 yds or more, 55 yds or more, 60 yds or more, 65 yds or more, 70 yds or more, or 75 yards or more. The green zone 120 can have a length in a range from about 25 yds to 75 yds.

Accordingly, there is a one-tO.one map between: (i) the simulation 106.n of the current hole 104.n of the golf course 102 executed by the computing system 500 (and displayed in the screen zone 110), and (ii) the topography of the green zone 120 representing the current hole 104.n of the golf course 102 in the real-world.

For reference, the term “topography” generally refers to the three-dimensional forms and features of a terrain, e.g., as depicted in a topographical map of the terrain. The term “topographic variation” generally refers to the variation and changes in the topography of a terrain, e.g., variations and changes in the elevation, gradients, and/or convexity in the topography of the terrain. The term “topographic relief” (or “local relief”) generally refers to the quantitative measurement of vertical elevation change in the topography of a terrain, as measured relative some reference elevation, e.g., sea level or a chosen point, line, or plane on (or in) the terrain. For example, in a topographical map of a terrain, the topographic relief can indicate the vertical elevation change of one or more points and/or isocontours of the topography of the terrain, e.g., isocontours subtending a hill or valley of the terrain. An example of a topographical map of the green zone 120, with the topographical relief of the green zone 120 indicated in units of feet, is depicted in FIG. 1C.

As used herein, a “golf course” 102 can be defined in data and/or a simulation 106 as a set of one or more holes 104.1 to 104.N that are independent of one another, with eighteen holes 104.1 to 104.18 corresponding to the size of a standard golf course 102. In other words, the hole(s) 104.1 to 104.N of a golf course 102 in data and/or a simulation 106 do not need to be defined together in a single, combined area-nor does the golf course 102 need to be of a particular size. That said, in some implementations, each hole 104 of a golf course 102 in data and/or a simulation 106 may correspond to a respective hole of an actual, real-world golf course, e.g., an eighteen- or nine-hole golf course 102 including eighteen holes 104.1 to 104.18 or nine holes 104.1 to 104.9. In other implementations, each hole 104 of a golf course 102 in data and/or a simulation 106 can be artificial, and custom built to match the green zone 120 utilized by the mixed virtual and real-world golf system 10, e.g., as there may be some limitations on the variety of holes 104 the green zone 120 can represent.

Hence, a golf game implemented by the mixed virtual and real-world golf system 10, and played using the mixed virtual and real-world golf system 10, can involve less than eighteen holes 104 or more than eighteen holes 104 as desired. For example, a total number of the holes 104.1 to 104.N of the golf game can be selected by a user of the mixed virtual and real-world golf system 10, can be based on a maximum time the mixed virtual and real-world golf system 10 can be used, can be set to implement a particular format for the golf game, or can involve other criteria, or combinations thereof. As a few examples, the mixed virtual and real-world golf system 10 can implement a golf game involving six holes 104.1 to 104.6, nine holes 104.1 to 104.9, or fifteen holes 104.1 to 104.15 of a golf course 102. More generally, the mixed virtual and real-world golf system 10 can implement a golf game involving one or more holes 104 of a golf course 102, e.g., two or more holes 104 of a golf course 102, three or more holes 104 of a golf course 102, four or more holes 104 of a golf course 102, five or more holes 104 of a golf course 102, eight or more holes 104 of a golf course 102, nine or more holes 104 of a golf course 102, ten or more holes 104 of a golf course 102, eleven or more holes 104 of a golf course 102, twelve or more holes 104 of a golf course 102, thirteen or more holes 104 of a golf course 102, fourteen or more holes 104 of a golf course 102, fifteen or more holes 104 of a golf course 102, sixteen or more holes 104 of a golf course 102, seventeen or more holes 104 of a golf course 102, or eighteen or more holes 104 of a golf course 102.

The golf game can also be played by one or more players 12 in different formats, e.g., two or more players 12, three or more players 12, four or more players 12, five or more players 12, six or more players 12, seven or more players 12, eight or more players 12, nine or more players 12, or ten or more players 12. For example, the golf game can be a single player game, a head-to-head matchup between two players 12 (or “singles” golf game), a two vs. two team game (or “doubles” golf game) played with alternating shots between players 12 on a team, a three vs. three team game (or “triples” golf game) played with alternating shots between players 12 on a team, a one vs. one vs. one game played between three competing players 12, a two vs. two vs. two team game played between three competing teams of players 12, among various other types of golf games and formats. As one example, the golf game can be a singles golf game involving six holes 104.1 to 104.6 of a golf course 102. As another example, the golf game can be a triples golf game involving nine holes 104.1 to 104.9 of a golf course 102, where the golf game is played with alternating shots between players 12 on a team.

As an aside, different types of golf shots that may be performed in the screen zone 110 and the green zone 120 are described merely in an illustrative context and are not intended to be limiting to such golf shots. For example, a tee shot is generally the longest golf shot and performed with a driver, a wood, or a long iron (e.g., a 2-, 3-, or 4-iron). A pitching shot is generally the next longest golf shot and performed with a mid-iron (e.g., a 5-, 6-, or 7-iron). In some cases, a pitching shot can be further classified into: (i) a short pitching shot of about 40 yds to 50 yds, and (ii) a long pitching shot of about 50 yds or more. A chipping (or wedge) shot are generally the next longest golf shots and performed with a short iron (e.g., an 8-iron, 9-iron, or pitching wedge). A putting shot is generally the shortest golf shot and performed with a putter. In the implementations described herein, tee shots and long pitching shots can be performed in the screen zone 110, while short pitching shots, chipping shots, wedge shots, and putting shots can be performed in the green zone 120. However, this may vary in other implementations, e.g., depending on the size of the green zone 120, if the green zone 120 does or does not include bunker(s) 304, etc.

FIG. 1B is a schematic diagram depicting an example of the field of play 100 with various components positioned in the screen zone 110 and the green zone 120.

As shown in FIG. 1B, the screen zone 110 includes a screen 112, a projector 114, one or more sensors 116.1, 116.2, and 116.3, a tee box 117, and a real-world golf ball 118. The screen 112, projector 114, and sensor(s) 116 are each communicatively coupled with the computing system 500, e.g., via control (or data) lines and/or wireless communication signals. In this example, the sensor(s) 116.1 to 116.3 are depicted as residing in the screen zone 110. However, in some implementations, some (or all) of the sensor(s) 116.1 to 116.3 can be positioned outside of and/or around the screen zone 110 itself, e.g., in the stands 132 of an arena or a stadium and/or attached to overhead structures of the arena or stadium, e.g., a scaffolding or ceiling of the arena or stadium.

As mentioned above, the computing system 500 executes the simulation 106.n of the current hole 104.n of the golf course 102 being played. The screen 112 has a projection surface 113 for displaying the simulation 106.n of the current hole 104.n of the golf course 102, and the projector 114 is configured to project the simulation 106.n onto the projection surface 113 of the screen 112. For example, the simulation 106.n can be displayed on the screen 112 from the perspective of a vantage point of a player 12, e.g., in the tee box 117, providing a visual representation of the current hole 104.n that the player 12 would actually have from their vantage point. In some implementations, the screen 112 can be composed of fabric, cloth, synthetic fiber, fiberglass, polyvinyl chloride (“PVC”), polyester, or other appropriate material. For example, the screen 112 has a screen distance (L_scrn) measured in the y-direction from the dividing line 115 to the projection surface 113 of the screen 112. The screen 112 can have a screen distance of about 15 yds or more, 20 yds or more, 25 yds or more, 30 yds or more, 35 yds or more, 40 yds or more, 45 yds or more, 50 yds or more, 55 yds or more, 60 yds or more, 65 yds or more, 70 yds or more, or 75 yards or more. The screen 112 can have a screen distance in a range from about 15 yds to 75 yds.

A player 12 can then perform a golf shot from the tee box 117, or other position in the screen zone 110, that propels the real-world golf ball 118 into the screen 112. The sensor(s) 116 are configured to measure a trajectory 119 of the real-world golf ball 118 and generate sensor data characterizing the trajectory 119 of the real-world golf gall 118. For example, the trajectory 119 of the real-world golf ball 118 can include one or more of: a velocity of the real-world golf ball 118, an acceleration of the real-world golf ball 118, an angle of ascent of the real-world golf ball 118, a spin/rotation of the real-world golf ball 118, a collision point of the real-world golf ball 118 on the screen 112, and the like. In some implementations, the sensor(s) 116 can also sense movement of a golf club 14 and/or the player 12 performing the golf shot with the golf club 14. The sensor(s) 116 can include one or more cameras, one or more infrared sensors, one or more radio detection and ranging (“RADAR”) sensors, one or more microwave sensors, one or more millimeter-wave (“mmW”) sensors, and the like, for performing such motion sensing.

In some implementations, the screen 112 may also be equipped with one or more sensors, e.g., one or more collision sensors and/or one or more force sensors, which measure an impact (e.g., an impulse) of the real-world golf ball 118 upon collision with the screen 112. The screen 112 can also be configured, e.g., using a fabric, a cloth, or other shock absorbing material, to dampen the impact of the real-world golf ball 118 such that it falls in front of the screen 112, e.g., instead of ricocheting back in the direction of a player 12.

In some implementations, the sensor(s) 116 can include one or more arrays of infrared lasers and/or one or more arrays of infrared sensors that form two detection planes in front of (and parallel to) the screen 112, e.g., between the tee box 117 and the projection surface 113 of the screen 112. Such infrared arrays can be used to measure the trajectory 119 of the real-world golf ball 118 from the timings and locations of the real-world golf ball 118 passing through each of the two detection planes. For example, the computing system 500 can use the sensor data to determine a first location r₁=(x₁, y₁, z₁) of the real-world golf ball 118 passing through the first detection plane, and a second location r₂=(x₂, y₂, z₂) of the real-world golf ball 118 passing through the second detection plane, while accounting for the time-of-flight Δt=t₂−t₁ between the two detections planes. The difference between the two locations Δr=r₂−r₁ provides the relative trajectory of the real-world golf ball 118, and the velocity (v) of the real-world golf ball 118 can be determined from the ratio of v=Δr/Δt.

In some implementations, the sensor(s) 116 can include one or more cameras that are configured to generate a set of r-values, {r₁, r₂, . . . , r_N}, characterizing the movement of the real-world golf ball 118, where each r-value represents a respective frame of a camera video at a respective timestamp {t₁, t₂, . . . , t_N} in the camera video. In general, given a sufficient framerate, the set of r-values describe the entire trajectory 119 of the real-world golf ball 118 from a position in the screen zone 110 to collision with a point on the screen 112. For example, the computing system 500 can determine the velocity of the golf ball 118 from the rate of change in the set of r-values with respect to time. The computing system 500 can then determine the acceleration of the real-world golf ball 118 from the rate of change in the velocity of the real-world golf ball 118 with respect to time.

After the real-world golf ball 118 is hit into the screen 112, the computing system 500 uses the sensor data generated by the sensor(s) 116 to determine a stopping point 121* of a virtual golf ball 118* in the simulation 106.n of the current hole 104.n of the golf course 102. In general, the stopping point 121* of the virtual golf ball 118* corresponds to the position that the real-world golf ball 118 would have landed, bounced, and rolled on the current hole 104.n of the golf course 102 if the player 12 were to have actually hit the real-world golf ball 118 on the current hole 104.n from their position. The computing system 500 can store the x*/y*/z* coordinates of the virtual golf ball 118* during the entirety of the virtual portion of the current hole 104.n played in the screen zone 110. The computing system 500 can then use the x*/y*/z* coordinates of the virtual golf ball 118* for “ball spotting” in the real-world portion of the current hole 104.n played in the green zone 120.

Note, as systems for simulating a hole 104 of a golf course 102, projecting the hole 104 of the golf course 102 onto a screen 112 (and a virtual representation 118* of a real-world golf ball 118 after it hits the screen 112), sensing movement of the golf ball 118, and calculating a stopping point 121* of the virtual golf ball 118* on the simulated golf course 106.n are known to those of ordinary skill in the art, they are not described in further detail herein.

In some implementations, the screen 112 is a large format screen configured to display the simulation 106.n of the current hole 104.n of the golf course 102, a ball path 119* of a virtual golf ball 118* within the simulation 106.n, and a calculated path of the virtual golf ball 118* (e.g., based on sensed flight and spin characteristics of the real-world golf ball 118 after a golf shot). The large format screen 112 can have a projection surface 113 with a surface area of 2000 sq-ft or more, 2500 sq-ft or more, 3000 sq-ft or more, 3500 sq-ft or more, or 4000 sq-ft or more. The large format screen 112 can have a projection surface 113 with a surface area in a range from about 2000 sq-ft to 4000 sq-ft. In these cases, the large format screen 112 can allow tec shots, e.g., from the tee box 117, further away from the screen 112, e.g., tee shots 50 ft or more, 60 ft or more, 70 ft or more, 80 ft or more, 90 ft or more, 100 ft or more, from the screen 112.

Allowing tee shots further from the screen 112 can increase the accuracy of subsequent tracking methods for determining the stopping point 121* of the real-world golf ball 118 for a second shot (e.g., a pitching shot) subsequent a tee shot. Tee shots further from the screen 112 may also provide players with real-world feedback on the direction and speed of the real-world golf ball 118 before the computing system 500 converts this into virtual ball flight 119* in the simulation 106.n. This may offer the player(s) 12 (and an audience) an improved playing (and viewing) experience, as well as better confidence in the accuracy of the virtual portion 119* of a golf shot. The large format screen 112 can also allow the audience, e.g., seated in the stands 132 of an arena or a stadium, to better view details of the golf shots, the player(s) 12, the simulations 106.1 to 106.N of the hole(s) 104.1 to 104.N of the golf course 102, the overall progression of the golf game, among other aspects.

In some implementations, the screen 112 and projector 114 can be substituted with a single, large area flat-panel display, e.g., including a transparent protective shield (or layer) covering the flat-panel display to protect the flat-panel display from collisions with the real-world golf ball 118. For example, the flat-panel display can be a large area light-emitting diode (“LED”) display or organic light-emitting diode (“OLED”) display. In other implementations, the screen 112 and projector 114 can be substituted with multiple flat-panel displays arranged into a two-dimensional array on a grid or a scaffold. The two-dimensional array of flat-panel displays may have minimal borders between each of the flat-panel displays in the two-dimensional array to reduce visual inconsistencies. The two-dimensional array of flat-panel displays can be covered by a transparent protective shield (or layer). The transparent protective shield (or layer) can be configured, e.g., using a shock absorbing material, to dampen impact of the real-world golf ball 118 such that it falls in front of the two-dimensional array of flat-panel displays, instead of ricocheting back in the direction of a player 12.

Once the computing system 500 determines that the stopping point 121* of the real-world golf ball 118 for a particular golf shot corresponds to a position on the green zone 120, e.g., based on the x*/y*/z* coordinates of the virtual golf ball 118* in the simulation 106.n, a player 12 can then transition to the green zone 120 to finish the current hole 104.n of the golf course 102, e.g., as instructed by the computing system 500 or a user of the computing system 500.

As further shown in FIG. 1B, the green zone 120 includes a turntable 200 that is rotatable, a golf green 300 that is reconfigurable, and a fixed zone 130 that is non-rotatable and non-reconfigurable. The golf green 300 is supported on the turntable 200, and the fixed zone 130 bounds the turntable 200 and the golf green 300 supported thereon. Together, the topographies of the golf green 300 and the fixed zone 130 define the total topography of the green zone 120 representing the current hole 104.n of the golf course 102. A golf hole cup 122, e.g., including a flagstick 123 placed therein, is positioned on the golf green 300 where the end of the current hole 104.n is played. A player 12 may direct the real-world golf ball 118 into the golf hole cup 122, e.g., by chipping from the fixed zone 130 and/or putting on the golf green 300, to complete the current hole 104.n of the golf course 102.

The turntable 200 has a circular shape and is configured to rotate about a central axis 201, as defined by an angle of rotation (O) from zero, e.g., a given reference point. In the described examples, the turntable 200 is configured to rotate a full 360 degrees about its central axis 201, through both positive and negative angles. The turntable 200 can have a diameter (D=2R) of about 30 yds or more, 35 yds or more, 40 yds or more, 45 yds or more, or 50 yds or more. The turntable 200 can have a diameter in a range from about 30 yds to 50 yds. The turntable 200 has a turntable distance (L_tbl) measured in the y-direction from the dividing line 115 to its central axis 201. The turntable 200 has a turntable distance of about 15 yds or more, 20 yds or more, 25 yds or more, 30 yds or more, 35 yds or more, 40 yds or more, 45 yds or more, 50 yds or more, 55 yds or more, 60 yds or more, 65 yds or more, 70 yds or more, or 75 yards or more. The turntable 200 can have a turntable distance in a range from about 15 yds to 75 yds.

In general, the turntable 200 is mechanically coupled to a rotary encoder 235 and one or more drive motors 290, e.g., see FIG. 15 for further details, that are each communicatively coupled with the computing system 500, e.g., via control (or data) lines and/or wireless communication signals. For example, the rotary encoder 235 and each drive motor 290 can be positioned at the perimeter of the turntable 200 to maximize angular sensitivity. The computing system 500 is configured to generate a respective control signal for each drive motor 290 that causes the drive motor(s) 290 to rotate the turntable 200 about its central axis 201 to a specified, target angle (and stop the turntable 200 at the target angle). The rotary encoder 235 is configured to measure a current angle of the turntable 200. The computing system 500 can use the current angle measured by the rotary encoder 235 for closed-loop (“feedback”) control of the drive motor(s) 290 when rotating the turntable 200 to the target angle, e.g., to correct for under- or over-shoots of the target angle. The rotary encoder 235 can be any type of rotary encoder such as an incremental rotary encoder, an absolute rotary encoder, an optical rotary encoder, magnetic rotary encoder, a capacitive rotary encoder, an inductive rotary encoder, a shaft rotary encoder, a bearingless rotary encoder, a wheel rotary encoder, a kit encoder, or a combination thereof.

The golf green 300 rotates in conjunction with the turntable 200. As shown in FIG. 1B, the golf green 300 includes a primary zone 301 and one or more actuation zones 302.1, 302.2, and 302.3 that are each bounded by the primary zone 301. The primary zone 301 defines the portion of the golf green 300's topography that is non-reconfigurable, but still rotatable. For example, the primary zone 301 can have a topographic variation that, responsive to rotation of the turntable 200 about its central axis 201, changes a height of a golf shot approach line directed towards the golf hole cup 122, e.g., the approach line of a chipping shot performed from one or more different positions on the fixed zone 130. Here, the golf green 300 includes three actuation zones 302.1, 302.2, and 302.3, but more than three actuation zones 302 can be employed, e.g., depending on the total surface area of the golf green 300, the total surface area of a putting region 120.PR, the size of each actuation zone 302.1, 302.2, and/or 302.3, and/or or the amount of surface area of the golf green 300 covered by the actuation systems 302.1, 302.2, and 302.3. For example, the golf green 300 can include two or more actuation zones 302, three or more actuation zones 302, four or more actuation zones 302, five or more actuation zones 302, six or more actuation zones 302, seven or more actuation zones 302, eight or more actuation zones 302, nine or more actuation zones 302, or ten or more actuation zones 302.

As shown in FIG. 1B, each actuation zone 302.1, 302.2, and 302.3 has a rectangular shape that is orientated at a different respective angle relative to each other of the actuation zones 302.1, 302.2, and 302.3. For example, each actuation zone 302.i can be orientated at a respective angle (φ_ji) between 2 degrees and 178 degrees relative to each other actuation zone 302.j. An actuation zone 302 can have a length (L) of about 15 ft or more, 20 ft or more, 25 ft or more, or 30 ft or more. An actuation zone 302 can have a length in a range from about 15 ft to 30 ft. An actuation zone 302 can have a width (W) of about 10 ft or more, 12.5 ft or more, 15 ft or more, 17.5 ft or more, or 20 ft or more. An actuation zone 302 can have a width in a range from about 10 ft to 20 ft. In other implementations, the actuation zones 302.1, 302.2, and 302.3 can have different shapes, such as circular, elliptical, triangular, or other polygonal shapes.

The actuation zones 302.1, 302.2, and 302.3 identify the portion of the golf green 300's topography that is reconfigurable via respective actuation systems 330.1, 330.2, and 330.3 embedded in the golf green 300, e.g., see FIGS. 28A-30C for further details. In general, each actuation system 330.1, 330.2, and 330.3 is communicatively coupled with the computing system 500. The computing system 500 is configured to generate a respective control signal for each actuation system 330 that causes the actuation systems 330.1, 330.2, and 330.3 to reconfigure the portion of the golf green 300's topography identified by the actuation zones 302.1, 302.2, and 302.3. In the described examples, an actuation system 330 includes an array of linear actuators 340.1 to 340.N that each have a respective linear motion axis 341 parallel to the central axis 201 of the turntable 200, e.g., see FIGS. 30A-30C for further details. Each linear actuator 340 is configured to extend to a respective (H_act) and/or apply a respective force along its respective linear motion axis 341. Hence, the respective heights (“actuation lengths”) of the linear actuators 340.1 to 340.N of an actuation system 330 positioned in an actuation zone 302 define the topography of the actuation zone 302, where the vertical elevation change due to each linear actuator 340 of the actuation system 330 can be measured by the topographic relief of the actuation zone 302. As shown in FIG. 1B, the golf hole cup 122 is positioned in the third actuation zone 302.3 to allow the playing area around the golf hole cup 122 to be reconfigured for a given hole 104, e.g., to alter the difficulty of the hole 104 corresponding to the steepness and/or density of the slopes and/or undulations of the playing area around the golf hole cup 122. However, the golf hole cup 122 can be placed at various positions within any of the three actuation zones 302.1, 302.2, and 302.3, or in another location in the putting region 120.PR of the golf green 300, as desired for a given hole 104 to be played during a golf game.

Consequently, a hole 104 of a golf course 102, as represented by the topography of the green zone 120, can be defined by data specifying: (i) a target angle (O) of the turntable 200, and (ii) a respective topography of each of the golf green 300's actuation zones 302.1, 302.2, and 302.3. Particularly, a topography of an actuation zone 302 can be defined in data by the respective height (H_act) of each linear actuator 340 of the actuation system 330 positioned in the actuation zone 302. The data defining the hole 104 of the golf course 102 can also specify a position of the golf hole cup 122 on the golf green 300. Thus, as noted above, the golf hole cup 122 is movable, e.g., by changing which of the linear actuators 340.1 to 340.N is lowered for receiving the golf hole cup 122 through an opening in the grass covering the golf green 300. In some implementations, the golf hole cup 122 can be positioned only in an actuation zone 302 of the golf green 300. In these cases, the data defining the hole 104 of the golf course 102 specifies a position of the golf hole cup 122 within one of the actuation zones 302.1, 302.2, or 302.3 of the golf green 300.

As shown in FIG. 1B, the green zone 120 can further include one or more light sources 124.1, 124.2, and 124.3 and one or more sensor 126.1, 126.2, and 126.3 positioned above, on, and/or around the fixed zone 120 and/or the golf green 300. The light source(s) 124 and sensor(s) 126 are each communicatively coupled with the computing system 500, e.g., via control (or data) lines and/or wireless communication signals. In this example, the light source(s) 124 and sensor(s) 126 are depicted as residing within in the green zone 120, more particularly, within the fixed zone 120. However, in some implementations, some (or all) of the light source(s) 124 and/or sensor(s) 126 can be positioned outside of and/or around the green zone 120 itself, e.g., in the stands 132 of an arena or a stadium and/or attached to overhead structures of the arena or stadium, e.g., a scaffolding or ceiling of the arena or stadium.

In general, the light source(s) 124 are configured to illuminate the green zone 120 based on control signals from the computing system 500, e.g., for implementing “ball spotting” between the screen zone 110 and the green zone 120. Particularly, based on the x*/y*/z* virtual coordinates of a virtual golf ball 118* in the simulation 106.n, the computing system 500 can determine whether the stopping point 121* of the virtual golf ball 118*, representing the real-world golf ball 118 hit in the screen zone 110, corresponds to a position 121 with x/y/z/real-world coordinates on the green zone 120. If not, a player 12 can continue play in the screen zone 110. If so, the computing system 500 can transition play to the green zone 120. In the latter case, the computing system 500 can generate a respective control signal for each of one or more of the light source(s) 124 that causes the one or more light source(s) 124 to illuminate the corresponding position 121 on the green zone 120. For example, the computing system 500 can direct a respective pointing vector 125 of each of the one or more light source(s) 124 toward the corresponding position 121 on the green zone 120 to illuminate the position 121. A player 12 can then place the real-world golf ball 118 on the illuminated position 121 in the green zone 120 and continue playing the real-world portion of the current hole 104.n of the golf course 102 from said position 121. This allows a player 12 to seamlessly transition from the screen zone 110 to the green zone 120 during play of the golf game.

In implementations involving multiple real-world golf balls 118 in play at the same time, the computing system 500 can also determine which of the light source(s) 124 to use for each real-world golf ball 118 placement based on, e.g., where the corresponding position 121 of the real-world golf ball 118 is on the green zone 120, if any objects may be occluding the light source(s) 124, and/or the relative distances between the corresponding positions 121 of each real-world golf ball 118. As one example, the computing system 500 can select a respective light source 124 for each position 121 of a real-world golf ball 118 to successfully illuminate the position 121, unobstructed from any objects that may have occluded the light source(s) 124 if a different selection of the light source(s) 124 was made. As another example, the computing system 500 can select a single light source 124 for illuminating multiple positions 121 based on, e.g., a relative distance between the positions 121 being below a threshold value. The computing system 500 can also avoid a situation where a first light source 124 used for a first position 121.1 is not used for a second position 121.2 when a second, different light source 121.2 could have been used for each of the first 121.1 and second 121.2 positions.

In some implementations, the light source(s) 124 include one or more spotlight light sources that can each project a narrow, intense beam of light, e.g., having a cone-shaped envelope, directly on a position in the green zone 120. For example, the spotlight light source(s) can include incandescent spotlights, light-emitting diode (“LED”) spotlights, halogen spotlights, track spotlights, or combinations thereof. In some implementations, the light source(s) 124 include one or more laser light sources that can each emit a visible laser beam, e.g., a red, green, or blue laser beam, directly on a position in the green zone 120. For example, the laser light source(s) can include laser diodes, semiconductor lasers, solid-state lasers, dye lasers, gas lasers, or combinations thereof. In some implementations, the light source(s) 124 can have different colors, different filters, and/or different shaped illumination patterns to indicate which position 121 of a real-world golf ball 118 corresponds to which player 12.

The sensor(s) 126 in the green zone 120 are configured similarly to the sensor(s) 116 in the screen zone 110. That is, the sensor(s) 126 are configured to measure a trajectory 119 of the real-world golf ball 118 after a golf shot is performed in the green zone 120 and generate sensor data characterizing the trajectory 119 of the real-world golf gall 118 in the green zone 120. In some implementations, the sensor(s) 126 can also sense movement of a golf club 14 and/or the player 12 performing the golf shot with the golf club 14. The sensor(s) 126 can also collect sensor data, e.g., image data, characterizing the green zone 120 itself. Like the sensor(s) 116 in the screen zone 110, the sensor(s) 126 can include one or more cameras, one or more infrared sensors, one or more RADAR sensors, one or more microwave sensors, one or more mmW sensors, and the like, for performing such motion sensing and image capture.

The computing system 500 can record and store the sensor data generated by the sensor(s) 126 to track the real-world golf ball 118, e.g., visually and/or virtually, after each golf shot performed in the green zone 120. The computing system 500 can store sensor data for all golf shots performed in the green zone 120, e.g., in the same way golf shot data is recorded in the screen zone 110 during the virtual portion of the golf game. The computing system 500 can also publish messages relating to the golf shots and/or allow the sensor data to be accessed by a user interface 540, e.g., such that a user can determine the current state of the current hole of the golf course from one or more video feeds, e.g., to determine if the real-world golf ball 118 is positioned within the golf hole cup 122.

In some implementations, the sensor data (e.g., image data) includes multiple incomplete images of the green zone 120 captured from the sensor(s) 126 (e.g., cameras) at various (e.g., occluded) angles about the green zone 120. The computing system 500 can merge the incomplete images of the green zone 120 together to generate a complete image of the green zone 120, which can be viewed by the user via the user interface 540. This allows the user to view a complete image of the green zone 120 as if the sensor(s) 126 were positioned directly above the green zone 120. The computing system 500 can also display the complete image of the green zone 120 on the screen 112 via the projector 140 and/or transmit the complete image of the green zone 120 to mobile devices of spectators, e.g., seated in the stands 132.

In some implementations, the green zone 120 does not include the sensor(s) 126, or does not use the sensor(s) 126 during play of one or more golf games. In general, the computing system 500 does not need to keep track of the real-world golf ball 118 in the green zone 120 during the real-world portion of a golf game, e.g., in the same way it keeps track of a virtual golf ball in the simulation during the virtual portion of the golf game. However, the use of the sensor(s) 126 enables the computing system 500 to provide statistics, publish messages, and perform other related functions that can improve the playing and/or viewing experience of the golf game.

FIG. 1C is top view depicting an example of the green zone 120 of the field of play 100, including a topographical map of the green zone 120. The topography of the green zone 120 is depicted by isocontours having the same vertical elevation. The topographical relief of each isocontour (in units of feet) is also shown which indicates a vertical elevation change measured relative to a reference plane of the green zone 120 at zero feet. In this example, the field of play 100 is located within an open arena or stadium which includes stands 132 for accommodating an audience for the golf game. The stands 132 subtend the fixed zone 130, e.g., such that members of the audience seated in the stands 132 overlook (or have line of sight) with the golf green 300.

As shown in FIG. 1C, the green zone 120 is divided into a set of regions 120, including a putting region 120.PR (depicted as sparse speckles in FIG. 1C), a fairway region 120.FR (depicted as white in FIG. 1C), and a rough region 120.RR (depicted as dense speckles in FIG. 1C). Each region 120.PR, 120.FR, and 120.RR of the green zone 120 includes a respective layer of grass 326.PR, 326.FR, and 326.RR of a different type that defines the region 120.PR, 120.FR, or 120.RR, e.g., see FIGS. 28A-28B for further details. The layers of grass 326.PR, 326.FR, and 326.RR can each include real grass, synthetic grass, or combinations of both real and synthetic grass. The putting region 120.PR is generally defined by a layer of putting grass 326.PR having a lowest pile height and a finest tuft gauge. For example, the layer of putting grass 326.PR can have a pile height in a range from about ¼ inches (“ins”) to ¾ ins and a tuft gauge in a range from about 1/16 ins to 3/16 ins. The fairway region 120.FR is generally defined by a layer of fairway grass 326.FR having greater pile height and/or coarser tuft gauge than the layer of putting grass 326.PR. For example, the layer of fairway grass 326.FR can have a pile height in a range from about ¾ ins to 5/4 ins and a tuft gauge in a range from about ¼ ins to ½ ins. The rough region 120.RR is generally defined by a layer of rough grass 326.RR having greater pile height and/or coarser tuft gauge than the layer of fairway grass 326.FR. For example, the layer of rough grass 326.RR can have a pile height in a range from about 7/4 ins to 9/4 ins and a tuft gauge in a range from about ¼ ins to ½ ins.

The layers of grass 326 of the golf green 300 define the putting region 120.PR and the rough region 120.RR of the green zone 120. The layers of grass 326 of the golf green 300 and the fixed zone 130 together define the fairway region 120.FR of the green zone 120. The three actuation zones 302.1, 302.2, and 302.3 are positioned in the putting region 120.PR of the golf green 300 for reconfiguring the topography of the putting region 120.PR. As shown in FIG. 1C, each actuation zone 302.1, 302.2, and 302.3 has neutral (e.g., zero) topographic variation, e.g., indicating a respective height (H_act) of zero for each linear actuator 340 of the respective actuation system 330. In this example, the first actuation zone 302.1 has a neutral topographic relief of 0.1 feet, the second actuation zone 302.2 has a neutral topographic relief of −0.5 feet, and the third actuation zone 302.3 has a neutral topographic relief of 0.5 feet. Providing different heights for the actuation zones 302 enables a wider range of virtual holes that can be created in simulation while still be representable in the physical area of the golf green 300, e.g., due to the available stroke (e.g., maximum) lengths of the linear actuators 340.1 to 340.N of the actuation systems 330. This is shown in more detail in FIG. 28B where each actuation system 330.1, 330.2, and 330.3 is supported on a respective platform 316.1, 316.2, and 316.3 that elevates the actuation system 330.1, 330.2, and 330.3 to a different respective height above the turntable 200.

In some implementations, the golf green 300 further includes one or more bunkers (“sand traps”) 304.1, 304.2, and 304.3. A bunker 304 includes a depression in the golf green 300 and bunker sand filling the depression. The bunker sand can include one or more different grades of sand, gravel, silt, and/or clay. In the example of FIG. 1C, the golf green 300 includes three bunkers 304.1, 304.2, and 304.3. A first bunker 304.1 is positioned in the rough region 120.RR of the golf green 300. A second bunker 304.2 and a third bunker 304.3 are each positioned in the portion of the fairway region 120.FR defined by the golf green 300.

Each bunker 304.1, 304.2, and 304.3 can include a respective depression in the golf green 300 of a different size, shape, and/or depth. A bunker 304 can span an area on the golf green 300 of about 250 sq-ft or more, 500 sq-ft or more, 750 sq-ft or more, 1000 sq-ft or more, 1500 sq-ft or more, 2000 sq-ft or more, 2500 sq-ft or more, or 3000 sq-ft or more. A bunker 304 can span an area on the golf green 300 in a range from about 250 sq-ft to 3000 sq-ft. Each bunker 304.1, 304.2, and 304.3 can include respective bunker sand including one or more different types of sand in different concentrations, e.g., based on color and/or nominal particle size of the sand. For example, a bunker 304 can include a depression in the golf green 300 filled with bunker sand including one or more of: (a) gravel having a nominal particle diameter of about 2 millimeters (“mm”) or more; (b) “very” coarse sand having a nominal particle diameter in a range from about 1 mm to 2 mm; (c) coarse sand having a nominal particle diameter in a range from about 0.5 mm to 1 mm; (d) medium sand having a nominal particle diameter in a range from about 0.25 mm to 0.5 mm; (c) fine sand having a nominal particle diameter in a range from about 0.1 mm to 0.25 mm; (f) “very” fine sand having a nominal particle diameter in a range from about 0.05 mm to 0.10 mm; or (g) silt and/or clay having a nominal particle diameter of about 0.05 mm or less. In some implementations, about 75% or more of the bunker sand filling the depression of each bunker 304.1, 304.2, and 304.3 may have a nominal particle diameter in a range from 0.1 mm to 1 mm.

I. Examples of Turntables and Turntable Understructures including Air Caster Assemblies

FIG. 2 is an exploded isometric view depicting an example of the turntable 200. FIG. 2 also depicts an example understructure of the turntable 200, which includes a set of air caster assemblies 242 arranged according to an air caster layout 240, and a set of stanchion assemblies (“stanchions”) 252 arranged according to a stanchion layout 250. Here, each air caster assembly 242 is affixed to a corresponding one of the stanchions 252. The stanchions 252 are positioned beneath the turntable 200, forming a support structure that bears the weight of the turntable 200, e.g., such that the weight of the turntable 200 is evenly distributed amongst the stanchions 252. In some implementations, the turntable 200 may weigh about 100 tons or more, 150 tons or more, 200 tons or more, 250 tons or more, 500 tons or more, 1000 tons or more, 2000 tons or more, or 5000 tons or more. Note, while stanchions 252, e.g., including one or more central stanchions 252.C, are described herein for forming the support structure for the turntable 200, other types of support structures are also feasible, such as beam assemblies, concrete foundations, column supports, among others. In general, the function of the stanchions 252 is to distribute the weight of the turntable 200 and provide appropriate positioning of the air caster assemblies 242 in the air caster layout 240.

As shown in FIG. 2, the turntable 200 includes a top surface layer 210, a set of beams 222 affixed to the top surface layer 210, and a set of raceways 232 affixed to the set of beams 222. The set of beams 222 are arranged according to a beam layout 220, and the set of raceways 232 are arranged according to a raceway layout 230.

The top surface layer 210 is flat in this example. Particularly, the top surface layer 210 includes: (i) a top surface 211 that supports the golf green 300, and (ii) a bottom surface 212 supported by the beams 222 and the raceways 232 affixed thereto. The top 211 and bottom 212 surfaces of the top surface layer 210 are opposite to each other, parallel to each other, and orthogonal to the central axis 201 of the turntable 200. However, in other implementations, one or both of the top 211 and bottom 212 surfaces of the top surface layer 210 can be curved and/or include other features. For example, the top surface 211 of the top surface layer 210 may have a convex shape and/or include recessed drainage channels, e.g., to facilitate drainage of water from the golf green 300. As another example, the bottom surface 212 of the top surface layer 210 may include one or more recessed channels for positioning respective ones of the beams 222 therein.

Each raceway 232 is flat in this example and has respective surfaces 233 and 234 parallel to the surfaces 211 and 212 of the top surface layer 210. Particularly, each raceway 232 has: (i) a respective top surface 233 facing the bottom surface 212 of the top surface layer 210, and (ii) a respective bottom (“guide”) surface 234 facing the stanchions 252. The respective top 233 and bottom 234 surfaces of each raceway 232 are opposite to each other, parallel to each other, and orthogonal to the central axis 201 of the turntable 200. The top surfaces 233 of the raceways 232 are affixed to the beams 222 by a set of brackets 226. For example, the beams 222 can be affixed to the brackets 226 via welding, mechanical fastening, or both, and the brackets 226 can be affixed to the raceways 232 via welding, mechanical fastening, or both. In other implementations, the brackets 226 can be omitted, such that the beams 222 are directly welded to the top surfaces 233 of the raceways 232. The beams 222 are also affixed to the bottom surface 212 of the top surface layer 210. For example, the beams 222 can be directly welded to the bottom surface 212 of the top surface layer 210. In general, the beams 222 provide structural support for the turntable 200 as well as aligning the raceways 232 appropriately in the raceway layout 230. In some implementations, the respective bottom (guide) surface 234 of each raceway 232 is polished, e.g., to reduce friction on the bottom (guide) surface 234. Examples of polishing processes include, but are not limited to, mechanical polishing, abrasive polishing, lapping, buffing, electropolishing, superfinishing, and honing.

Each air caster assembly 242 includes one or more (e.g., one or two) air casters 246 which, in this example, are configured as flat thrust air casters 246. An air caster 246 may also be referred to herein as an “air bearing”, an “aerostatic bearing”, or an “aerodynamic bearing”. Each air caster assembly 242 has respective surfaces 243 and 244 parallel to the surfaces 233 and 234 of the raceways 232. Particularly, each air caster assembly 242 includes: (i) a respective top (“bearing”) surface 243 mating with the bottom (guide) surface 234 of one of the raceways 232, and (ii) a respective bottom surface 244 affixed to its respective stanchion 252. For example, the bottom surface 244 of each air caster assembly 242 can be directly welded to its respective stanchion 252. The top 243 and bottom 244 surfaces of each air caster assembly 242 are opposite to each other, parallel to each other, and orthogonal to the central axis 201 of the turntable 200.

In general, the air caster assemblies 242 are configured to discharge compressed air between their top (bearing) surfaces 243 and the bottom (guide) surfaces 234 of the raceways 232. More particularly, when the air caster assemblies 242 are unenergized, the turntable 200 is at rest on the stanchions 252, and the mating surfaces 234 and 243 are in contact (or almost in contact) with one another. When the air caster assemblies 242 are energized, the air caster assemblies 242 provide pure thrust load capacity by generating a thin film of pressurized air between the mating surfaces 234 and 243. The pressurized air film lifts the turntable 200 from the stanchions 252 such that the turntable 200 floats thereabove. This enables semi-frictionless motion of the turntable 200 as it rotates about its central axis 201 upon the pressurized air film. An example of an air supply system 280 that can be used to supply compressed air to each of the air caster assemblies 242 is depicted in FIG. 16.

As shown in FIG. 2, the air caster assemblies 242 are in fixed positions with respect to the turntable 200 as it rotates and, therefore, are “inverted” when compared to conventional air casters that typically move with the floating object. For example, conventional air casters are typically secured to an underside of a large, heavy object to lift the object off the ground and allow semi-frictionless movement of the object. In contrast, the air caster assemblies 242 do not move with the turntable 200, instead providing a cushion of pressurized air for the turntable 200 to rotate independently on. One advantage of this configuration is that any compressed air lines 285 interfacing with the air caster assemblies 242 do not become tangled in the understructure of the turntable 200 as it rotates, which would generally be the case if the air caster assemblies 242 rotated in conjunction with the turntable 200.

Note, while flat raceways 232 and flat thrust air caster assemblies 242 are described in detail herein, in other implementations, each of these components may have other shapes or geometries. For example, one or both surfaces 233 and 234 of each raceway 232 can be curved and/or include other features, and one or more both surfaces 243 and 244 of each air caster assembly 242 can be curved and/or include other features. As one example, the top surface 233 of each raceway 232 may include recessed channels for positioning respective beams 222 therein. As another example, the bottom surface 244 of each air caster assembly 242 may include a recessed channel for positioning on its respective stanchion 252. As yet another example, the bottom (guide) surface 234 of each raceway 232 and the top (bearing) surface 243 of each air caster assembly 242 may have hemispherical, rectangular, triangular, or other polygonal shaped mating profiles, e.g., for forming slotted configurations.

FIG. 3 is a top view depicting an example of the top surface layer 210 of the turntable 200. The top surface layer 210 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer). The top surface layer 210 has a circular shape with a central point positioned on the central axis 201 of the turntable 200. The top surface layer 210 can have a diameter (D) equal to the total diameter of the turntable 200. The top surface layer 210 can have a diameter of about 30 yds or more, 35 yds or more, 40 yds or more, 45 yds or more, or 50 yds or more. The top surface layer 210 can have diameter in a range from about 30 yds to 50 yds. The top surface layer 210 can have a thickness of about ¼ ins or more, ⅜ ins or more, ½ ins or more, ⅝ ins or more, or ¾ ins or more. The top surface layer 210 can have a thickness in a range from about ¼ ins to ¾ ins.

As shown in FIG. 3, the top surface layer 210 includes a set of panels 213 arranged within a common plane according to a two-dimensional pattern. For example, the top surface layer 210 can be segmented into the set of panels 213 to allow the top surface layer 210 to be fabricated and thereafter assembled from smaller, more manageable pieces. The set of panels 213 of the top surface layer 210 can be affixed to one another via welding, mechanical fastening, or both. The set of panels 213 of the top surface layer 210 can be affixed to the beams 222 via welding, mechanical fastening, or both. In this example, the top surface layer 210 includes 208 panels arranged within a common plane according to a rectangular grid. More generally, the set of panels 213 can be arranged within a common plane according to a square grid, or other tiling polygonal shapes, such as triangles, hexagons, among others. The top surface layer 210 can include 100 or more panels, 125 or more panels, 150 or more panels, 175 or more panels, 200 or more panels, 250 or more panels, 300 or more panels, 400 or more panels, or 500 or more panels.

FIG. 4 is a top view depicting an example of an outer flange 216 of the turntable 200. The outer flange 216 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer). As shown in FIG. 4, the outer flange 216 has a thin annulus shape that is concentric with the central axis 201 of the turntable 200. The outer flange 216 subtends a perimeter of the top surface layer 210. The outer flange 216 has a nominal diameter (D) coinciding with the diameter of the top surface layer 210. The outer flange 216 can have a radial thickness (t) of about 1 in or more, 2 ins or more, 3 ins or more, or 4 ins or more. The outer flange 216 can have a radial thickness in a range from about 1 in to 4 ins. The outer flange 216 can have a thickness of about 2 ins or more, 3 ins or more, 4 ins or more, 5 ins or more, or 6 ins or more. The outer flange 216 can have a thickness in a range from about 2 ins to 6 ins. The outer flange 216 can provide structural support for the top surface layer 210, cover sharp edges of the top surface layer 210, and/or provide improved alignment of the set of panels 213 of the top surface layer 210.

FIG. 5A is a top view depicting an example of the beam layout 220 of the turntable 200. Each beam 222 in the beam layout 220 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer). In this example, each of the beams 222 is a linear beam. The beams 222 are arranged in a common plane that is orthogonal to the central axis 201 of the turntable 200. Each beam 222 extends linearly along a respective radial direction that intersects the central axis 201 of the turntable 200, e.g., in a “fan out” configuration. In this example, the beam layout 220 includes 520 beams. More generally, the beam layout 220 can include 250 or more beams, 500 or more beams, 750 or more beams, 1000 or more beams, 1250 or more beams, 1500 or more beams, or 2000 or more beams.

As shown in FIG. 5A, the beam layout 220 includes four sets of beams 222.1, 222.M, 222.L, and 222.OL of different lengths arranged into four concentric circular arrays about the central axis 201 of the turntable 200. The sets of beams 222.1, 222.M, 222.L, and 222.OL include: (i) a circular array of inner beams 222.I arranged about the central axis 201 of the turntable 200, (ii) a circular array of middle beams 222.M arranged about the circular array of inner beams 222.I, (iii) a circular array of outer beams 222.O arranged about the circular array of middle beams 222.M, and (iv) a circular array of outer last beams 222.OL arranged about the circular array of outer beams 222.O. In this example, the set of inner beams 222.I includes 70 inner beams, the set of middle beams 222.M includes 110 middle beams, the set of outer beams 222.O includes 160 outer beams, and the set of the outer last beams 222.OL includes 180 outer last beams.

FIG. 5B is a side view depicting an example of an outer beam 222.O in the beam layout 220 of FIG. 5A. The outer beam 222.O corresponds to the beam 222 having the longest length in the beam layout 220. As shown in FIG. 5B, the outer beam 222.O extends linearly from a first end 223.O.1 to a second end 223.O.2, with each end 223.O.1 and 223.O.2 having four respective through-holes 224 to accommodate a respective bracket 226. The outer beam 222.O can have a length (L_O) of about 230 ins or more, 235 ins or more, 240 ins or more, 245 ins or more, 250 ins or more, 255 ins or more, or 260 ins or more. The outer beam 222.O can have a length in range from about 230 ins to 260 ins.

FIG. 5C is a side view depicting an example of a middle beam 222.M in the beam layout 220 of FIG. 5A. The middle beam 222.M has a shorter length than the outer beam 222.O. However, like the outer beam 222.O, the middle beam 222.M extends linearly from a first end 223.M.1 to a second end 223.M.2, with each end 223.M.1 and 223.M.2 having four respective through-holes 224 to accommodate a respective bracket 226. The middle beam 222.M can have a length (L_M) of about 210 ins or more, 215 ins or more, 220 ins or more, 225 ins or more, 230 ins or more, 235 ins or more, or 240 ins or more. The middle beam 222.M can have a length in range from about 210 ins to 240 ins.

FIG. 5D is a side view depicting an example of an inner beam 222.I in the beam layout of FIG. 5A. The inner beam 222.I has a shorter length than the middle beam 222.M. However, like the middle beam 222.M, the inner beam 222.I extends linearly from a first end 223.I.1 to a second end 223.1.2, with each end 223.I.1 and 223.1.2 having four respective through-holes 224 to accommodate a respective bracket 226. The inner beam 222.I can have a length (L_I) of about 140 ins or more, 145 ins or more, 150 ins or more, 155 ins or more, 160 ins or more, 165 ins or more, 170 ins or more, 175 ins or more, or 180 ins or more. The inner beam 222.I can have a length in range from about 140 ins to 180 ins.

FIG. 5E is a side view depicting an example of an outer last beam 222.OL in the beam layout of FIG. 5A. The outer last beam 222.OL has a shorter length than the inner beam 222.I. The outer last beam 222.OL extends linearly from a first end 223.OL.1 to a second 223.OL.2, with the first end 223.OL.1 having four through-holes 224 to accommodate a bracket 226. The outer last beam 222.OL can have a length (LOL) of about 10 ins or more, 12.5 ins or more, 15 ins or more, 17.5 ins or more, or 20 ins or more. The outer last beam 222.OL can have a length in range from about 10 ins to 20 ins.

FIG. 5F is a cross-sectional view of each of the beams 222.1, 222.M, 222.O, and 222.OL of FIGS. 5B-5D. As shown in FIG. 5F, each beam 222.1, 222.M, 222.O, and 222.OL in the beam layout 220 is a hollow rectangular beam having the same cross-section, height (H), width (W), and wall thickness (t). Each beam 222.1, 222.M, 222.O, and 222.OL can have a height of about 2 ins or more, 3 ins or more, 4 ins or more, 5 ins or more, or 6 ins or more. Each beam 222.1, 222.M, 222.O, and 222.OL can have a height in a range from about 2 ins to 6 ins. Each beam 222.1, 222.M, 222.O, and 222.OL can have a width of about 1 in or more, 1.5 ins or more, 2 ins or more, 2.5 ins or more, 3 ins or more, 3.5 ins or more, or 4 ins or more. Each beam 222.I, 222.M, 222.O, and 222.OL can have a width in a range from about 1 in to 4 ins. Each beam 222.1, 222.M, 222.O, and 222.OL can have a wall thickness of about 83/1000 ins or more, 3/25 ins or more, 47/250 ins or more, ¼ ins or more, or ⅜ ins or more. Each beam 222.1, 222.M, 222.O, and 222.OL can have a wall thickness in a range from about 83/1000 ins to ⅜ ins.

FIG. 6 is a top view depicting an example of the raceway layout 230 of the turntable 200. Each raceway 232 in the raceway layout 230 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer). The raceways 232 are arranged in a common plane that is orthogonal to the central axis 201 of the turntable 200. The raceways 232 are concentric with one another about the central axis 201 of the turntable 200. In this example, the raceways 232 include: (i) a center plate 232.C positioned on the central axis 201, (ii) an inner raceway 232.I positioned about the center plate 232.C, (iii) a middle raceway 232.M positioned about the inner raceway 232.I, and (iv) an outer raceway 232.O positioned about the middle raceway 232.M. As shown in FIG. 6, each of the center place 232.C, inner raceway 232.I, middle raceway 232.M, and outer raceway 232.O has a respective top surface 233.C, 233.I, 233.M, and 233.O that is flat and parallel to another.

The center plate 232.C has a circular shape with a central point positioned on the central axis 201 of the turntable 200. The center plate 232.C can have a diameter (D_C) of about 120 ins or more, 130 ins or more, 140 ins or more, or 150 ins or more. The center plate 232.C can have a diameter in range from about 120 ins to 150 ins.

The inner 232.I, middle 232.M, and outer 232.O raceways each have an annulus shape that is concentric with the central axis 201 of the turntable 200. In this example, each of the inner 232.I, middle 232.M, and outer 232.O raceways has the same radial thickness (t). Each of the inner 232.I, middle 232.M, and outer 232.O raceways can have a radial thickness of about 40 ins or more, 50 ins or more, 60 ins or more, 70 ins or more, 80 ins or more, 90 ins or more, or 100 ins or more. Each of the inner 232.I, middle 232.M, and outer 232.O raceways can have a radial thickness in a range from about 40 ins to 100 ins.

The inner raceway 232.I can have an inner diameter (D_I) of about 400 ins or more, 410 ins or more, 420 ins or more, 430 ins or more, or 440 ins or more. The inner raceway 232.I can have an inner diameter in a range from about 400 ins to 440 ins. The inner raceway 232.I can have an outer diameter (D_I+t) of about 460 ins or more, 470 ins or more, 480 ins or more, 490 ins or more, or 500 ins or more. The inner raceway 232.I can have an outer diameter in a range from about 460 ins to 500 ins.

The middle raceway 232.M can have an inner diameter (DM) of about 880 ins or more, 890 ins or more, 900 ins or more, 910 ins or more, or 920 ins or more. The middle raceway 232.M can have an inner diameter in a range from about 880 ins to 920 ins. The middle raceway 232.M can have an outer diameter (DM+t) of about 940 ins or more, 950 ins or more, 960 ins or more, 950 ins or more, 960 ins or more, 970 ins or more, or 980 ins or more. The middle raceway 232.M can have an outer diameter in a range from about 940 ins to 980 ins.

The outer raceway 232.O can have an inner diameter (D_O) of about 1400 ins or more, 1410 ins or more, 1420 ins or more, 1430 ins or more, or 1440 ins or more. The outer raceway 232.O can have an inner diameter in a range from about 1400 ins to 1440 ins. The outer raceway 232.O can have an outer diameter (D_O+t) of about 1460 ins or more, 1470 ins or more, 1480 ins or more, 1490 ins or more, or 1500 ins or more. The outer raceway 232.O can have an outer diameter in a range from about 1460 ins to 1500 ins.

The center plate 232.C and each of the inner 232.I, middle 232.M, and outer 232.O raceways can have a thickness of about ¼ ins or more, ⅜ ins or more, ½ ins or mire, ⅝ ins or more, or ¾ ins or more. The center plate 232.C and each of the inner 232.I, middle 232.M, and outer 232.O raceways can have a thickness in a range from about ¼ ins to ¾ ins.

FIG. 7 is an isometric view depicting an example of the understructure for the turntable 200. Particularly, FIG. 7 shows the respective layouts 220 and 230 for the beams 222 and raceways 232 when affixed to one another and supported on the stanchions 252.

As shown in FIG. 7, each inner beam 222.I has its first end 223.I.1 affixed to the center plate 232.C via a first inner bracket 226.1.1 and its second end 223.1.2 affixed to the inner diameter of the inner raceway 232.I via a second inner bracket 226.1.2. Each middle beam 222.M has its first end 223.M. 1 affixed to the outer diameter of the inner raceway 232.I via a first middle bracket 226.M.1 and its second end 223.M.2 affixed to the inner diameter of the middle raceway 232.M via second middle bracket 226.M.2. Each outer beam 222.O has its first end 223.O.1 affixed to the outer diameter of the middle raceway 232.M via a first outer bracket 226.0.1 and its second end 223.O.2 affixed to the inner diameter of the outer raceway 232.O via a second outer bracket 226.O.2. Each outer last beam 222.OL has its first end 223.OL.1 affixed to the outer diameter of the outer raceway 232.O via an outer last bracket 226.OL.

FIG. 8 is a top view depicting an example of the stanchion layout 250 for the turntable 200. As shown in FIG. 8, the stanchions 252 are arranged into three concentric circular arrays about the central axis 201 of the turntable 200, with each circular array of stanchions 252.I, 252.M, and 252.O positioned beneath a corresponding one of the inner 232.I, middle 232.M, or outer 232.O raceways. The circular arrays of stanchions 252.I, 252.M, and 252.O includes: (i) an inner circular array of stanchions 252.I positioned about the central axis 201 of the turntable 200, (ii) a middle circular array of stanchions 252.M positioned about the inner circular array of stanchions 252.I, and (iii) an outer circular array of stanchions 252.O positioned about the middle circular array of stanchions 252.M. Each stanchion 252 in a circular array of stanchions 252.I, 252.M, and 252.O is positioned equidistant from the central axis 201 and equidistant from an adjacent stanchion 252 in the circular array.

In this example, the stanchion layout 250 includes 48 stanchions. Particularly, the inner circular array of stanchions 252.I includes 8 stanchions, the middle circular array of stanchions 252.M includes 16 stanchions, and the outer circular array of stanchions 252.O includes 24 stanchions. More generally, the stanchion layout 250 can include 25 or more stanchions, 50 or more stanchions, 75 or more stanchions, 100 or more stanchions, 150 or more stanchions, or 200 or more stanchions. The stanchions 252 are arranged in to the three concentric circular arrays of stanchions 252.I, 252.M, and 252.O that is cyclic every 45 degrees about the central axis 201 of the turntable 200, i.e., the stanchion layout 250 has 8-fold cyclic symmetry. An inner 252.I, middle 252.M, and outer 252.O stanchion are positioned on a radial line 202.I.M.O at 0 degrees, an outer stanchion 252.O is positioned on a radial line 202.O.1 at 15 degrees, a middle stanchion 252.M is positioned on a radial line 202.M at 22.5 degrees, and an outer stanchion 252.O is positioned on a radial line 202.O.2 at 30 degrees. The cycle then repeats at 45 degrees.

FIGS. 9A-9D are various views depicting an example of a stanchion assembly (“stanchion”) 252 in the stanchion layout 250 of FIG. 8. FIG. 9A is a front view of the stanchion 252 in a plane orthogonal to the R-direction of the turntable 200. FIG. 9B is a side view of the stanchion 252 in a plane orthogonal to the Θ-direction of the turntable 200. FIG. 9C is a top view of the stanchion 252 in a plane orthogonal to the z-direction. FIG. 9D is an isometric view of the stanchion 252.

As shown in FIGS. 9A-9D, the stanchion 252 is an assembly that forms a supported “T”-shaped structure. The stanchion assembly 252 includes four coplanar beams 254.1, 254.2, 254.3, and 254.4, and a base plate 256 that are affixed to one another. For example, the beams 254.1 to 254.4 and base plate 256 can be directly welded to one another. Each beam 254.1 to 254.4 and the base plate 256 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer).

In this example, each of the beams 254.1 to 254.4 is a linear I-beam having a same cross-section, height (H), width (W), and flange (or web) thickness (t). Each of the beams 254.1 to 254.4 can have a height of about 6 ins or more, 7 ins or more, 8 ins or more, 9 ins or more, or 10 ins or more. Each of the beams 254.1 to 254.4 can have a height in a range from about 6 ins to 10 ins. Each of the beams 254.1 to 254.4 can have a width of about 4 ins or more, 5 ins or more, 7 ins or more, or 8 ins or more. Each beam 254.1-4 can have a width in a range from about 4 ins to 8 ins. Each of the beams 254.1 to 254.4 can have a flange (or web) thickness of about 83/1000 ins or more, 3/25 ins or more, 47/250 ins or more, ¼ ins or more, or ⅜ ins or more. Each of the beams 254.1 to 254.4 can have a flange (or web) thickness in a range from about 83/1000 ins to ⅜ ins. Each of the beams 254.1 to 254.4 can have a respective length (L₁, L₂, L₃, and L₄) of about 40 ins or more, 45 ins or more, 50 ins or more, 55 is or more, or 60 ins or more. Each of the beams 254.1 to 254.4 can have a respective length in a range from about 40 ins to 60 ins.

The first beam 254.1 has: (i) its first end 255.1.1 affixed to the base plate 256, and (ii) its second end 255.1.2 affixed at a midpoint between the first 255.2.1 and second 255.2.2 ends of the second beam 254.2. This forms the “T”-shaped structure of the stanchion 252. The first beam 254.1 extends in the z-direction between its first 255.1.1 and second 255.1.2 ends. The second beam 254.2 extends in the Θ-direction between its first 255.2.1 and second 255.2.2 ends.

The third beam 254.3 provides structural support for the second beam 254.2. The third beam 254.3 has: (i) its first end 255.3.1 affixed between the first 255.1.1 and second 255.1.2 ends of the first beam 254.1, and (ii) its second end 255.3.2 affixed to the first end 255.2.1 of the second beam 254.2. The third beam 254.3 extends linearly at an angle (φ₁₃) to the first beam 254.1 between its first 255.3.1 and second 255.3.2 ends, e.g., an angle of 30 degrees or more, 37.5 degrees or more, or 45 degrees or more. The first 255.3.1 and second 255.3.2 ends of the third beam 254.3 are each cut at an angle for appropriate alignment with the first 254.1 and second 254.2 beams, e.g., an angle of 30 degrees or more, 37.5 degrees or more, or 45 degrees or more.

The fourth beam 254.4 provides structural support for the second beam 254.2. The fourth beam 254.4 has: (i) its first end 255.4.1 affixed between the first 255.1.1 and second 255.1.2 ends of the first beam 254.1, and (ii) its second end 255.4.2 affixed to the second end 255.2.2 of the second beam 254.2. The fourth beam 254.4 extends linearly at an angle (φ₁₄) to the first beam 254.1 between its first 255.4.1 and second 255.4.2 ends, e.g., an angle of 30 degrees or more, 37.5 degrees or more, or 45 degrees or more. The third 254.3 and further 254.4 beams can have the same angle to the first beam 254.1 The first 255.4.1 and second 255.4.2 ends of the fourth beam 254.4 are each cut at an angle for appropriate alignment with the first 254.1 and second 254.2 beams, e.g., an angle of 30 degrees or more, 37.5 degrees or more, or 45 degrees or more.

FIG. 10A is a top view depicting an example of a base plate layout 251 for the turntable 200. As shown in FIG. 10A, the base plates 256 of each of the stanchions 252 are arranged into three concentric circular arrays about the central axis 201 of the turntable 200, corresponding to the stanchion layout 250 as described above with reference to FIG. 8. In some implementations, the base plate 256 of each stanchion 252 is affixed to a concrete pad 270 that maintains a level height across the stanchions 252 (and the turntable 200 supported thereon).

FIG. 10B is a top view depicting an example of a base plate 256 of a stanchion 252. FIG. 10C is a side view of the base plate 256. In this example, the base plate 256 has a square shape having a width equal its length (L). The base plate 256 can have a length and width of about 8 ins or more, 9 ins or more, 10 ins or more, 11 ins or more, 12 ins or more, 13 ins or more, 14 ins or more, 15 ins or more, or 16 ins or more. The base plate 256 can have a length and width in a range from about 8 ins to 16 ins. The base plate 256 can have a thickness of ½ ins or more, ¾ ins or more, 1 in or more, 1¼ ins or more, 1½ ins or more, 1¾ ins or more, or 2 ins or more. The base plate 256 can have a thickness in a range from about ½ ins to 2 ins.

Each corner C1, C2, C3, and C4 of the base plate 256 has two respective through-holes 257, e.g., for mechanically fastening the base plate 256 to a concrete pad 270 and aligning the base plate 256 in the base plate layout 251. The first C1 and third C3 corners are opposite each other, and the second C2 and fourth C4 corners are opposite each other.

The first corner C1 of the base plate 256 includes two through-holes 257.1.1 and 257.1.2 that are colinear with a center point C0 of the base plate 256 along the R-direction of the turntable 200, where the second through-hole 257.1.2 is positioned between the first through-hole 257.1.1 and the center point C0. The second corner C2 of the base plate 256 includes two through-holes 257.2.1 and 257.2.2 that are colinear with a center point C0 of the base plate 256 along the Θ-direction of the turntable 200, where the second through-hole 257.2.2 is positioned between the first through-hole 257.2.1 and the center point C0. The third corner C3 of the base plate 256 includes two through-holes 257.3.1 and 257.3.2 that are colinear with the center point C0 of the base plate 256 along the R-direction of the turntable 200, where the second through-hole 257.3.2 is positioned between the first through-hole 257.3.1 and the center point C0. The fourth corner C4 of the base plate 256 includes two through-holes 257.4.1 and 257.4.2 that are colinear with the center point C0 of the base plate 256 along the Θ-direction of the turntable 200, where the second through-hole 257.4.2 is positioned between the first through-hole 257.4.1 and the center point C0.

The first through-holes 257.1.1 and 257.3.1 of the first C1 and third C3 corners and the second through-holes 257.2.2 and 257.4.2 of the second C2 and fourth C4 corners are positioned on respective vertices of a circumscribed square having a width equal to its length (W) and centered with the base plate 256. The second through-holes 257.1.2 and 257.3.2 of the first C1 and third C3 corners are positioned inside the circumscribed square and the first through-holes 257.2.1 and 257.4.2 of the second C2 and fourth C4 corners are positioned outside the circumscribed square.

FIG. 11A is a top view depicting an example of the air caster layout 240 for the turntable 200. As shown in FIG. 11A, the air caster assemblies 242 are arranged into three concentric circular arrays of air caster assemblies 242.I, 242.M, and 242.O about the central axis 201 of the turntable 200. The air caster assemblies 242 in the air caster layout 240 have a one-to-one correspondence with the stanchions 252 in the stanchion layout 250 (as described above with reference to FIG. 8). That is, each air caster assembly 242 in the air caster layout 240 is centered on and affixed to a respective stanchion 252 in the stanchion layout 250.

FIG. 11B is a top view depicting an example of an air caster assembly 242 in the air caster layout 240 of FIG. 10A. FIG. 10C is a side view of the air caster assembly 242. As shown in FIGS. 11B-11C, the air caster assembly 242 is defined by a solid plate 245 and a (e.g., raised) rim 247 supported on the top surface 243 of the solid plate 245. The solid plate 245 and the rim 247 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer). In this example, the solid plate 245 has a rectangular shape. The solid plate 245 can have a length (L) of about 40 ins or more, 45 ins or more, 50 ins or more, 55 ins or more, or 60 ins or more. The solid plate 245 can have a length in a range from about 40 ins to 60 ins. The solid plate 245 can have a width (W) of about 15 ins or more, 20 ins or more, 25 ins or more, or 30 ins or more. The solid plate 245 can have a width in a range from about 15 ins to 30 ins. The solid plate 245 can have a thickness of about ¼ ins or more, ⅜ ins or more, ½ ins or more, ⅝ ins or more, ¾ ins or more, or 1 in or more. The solid plate 245 can have a thickness in a range from about ¼ ins to 1 in. The rim 247 can have a height (H) of about ¼ ins or more, ⅜ ins or more, ½ ins or more, ⅝ ins or more, ¾ ins or more, or 1 in or more. The 247 can have a height in a range from about ¼ ins to 1 in.

The rim 247 has five linear segments 247.1.1, 247.1.2, 247.2.1, 247.2.2, and 247.0 that each extend along the top surface 243 of the solid plate 245. The zeroth segment 247.0 is connected and orthogonal to each of the first 247.1.1, second 247.1.2, third 247.2.1, and fourth 247.2.2 segments. The first 247.1.1, second 247.1.2, third 247.2.1, and fourth 247.2.2 segments are separated from one another and parallel to one another. The zeroth 247.0, second 247.1.2, and fourth 247.2.2 segments each extend along a respective edge of the solid plate 245. The first 247.1.1 and third 247.2.1 segments each extend across a middle portion of the solid plate 245. The first 247.1.1, second 247.1.2, third 247.2.1, and fourth 247.2.2 segments each include a respective overhanging edge 249.1.1, 249.1.2, 249.2.1, and 249.2.2 that extends over (and is parallel to) the top (bearing) surface 243 of the solid plate 245. Each overhanging edge 249.1-2.1-2 can extend a distance of about ¼ ins or more, ⅜ ins or more, ½ ins or more, ⅝ ins or more, ¾ ins or more, or 1 in or more. Each overhanging edge 249.1-2.1-2 can extend a distance in a range from about ¼ ins to 1 in.

The air caster assembly 242 defines two air casters 246.1 and 246.2 each configured as a flat thrust air caster. The air casters 246.1 and 246.2 are symmetric with each other in the air caster assembly 242. That is, the second air caster 246.2 is the mirror image of the first air caster 246.1. The area bounded by the first 247.1.1, second 247.1.2, and zeroth 247.0 segments of the rim 247 defines an (e.g., open) recess 241.1 of the first air caster 246.1, where the recess 241.1 has the shape of a “U”. Likewise, the area bounded by the third 247.2.1, fourth 247.2.2, and zeroth 247.0 segments of the rim 247 defines an (e.g., open) recess 241.2 of the second air caster 246.2, where the recess 242.2 also has the shape of a “U”. The area bound by the first 247.1.1, third 247.2.1, and zeroth 247.0 segments of the rim 247 defines an (e.g., open) cavity 241.0 between the first 241.1 and second 242.2 recesses. The recesses 241.1 and 241.2 may facilitate formation of pressured air pockets, e.g., to accommodate preloading of the turntable 200 before it is lifted from the stanchions 252.

A recess 241 having a U-shape can provide improved functionality of an air caster 246 during operation and continued maintenance of the turntable 200, particularly when an airbag is utilized with the air caster 246. For example, in some implementations, each air caster 246 includes a respective airbag positioned in the air caster 246's recess 241, e.g., filling the recess 241. In this case, each air caster 246 is configured similarly to an (e.g., inverted) air caster. The airbag can inflate to slightly lift the turntable 200 before flotation of the turntable 200 on a cushion of air. Alternatively, or in addition, inflation of the airbag can accommodate preloading of the turntable 200 as the pressure in the diaphragm can be precisely monitored (e.g., via a pressure sensor 288) and controlled (e.g., via the computing system 500). An airbag, also referred to as a “bladder”, a “diaphragm”, or a “membrane”, can be composed of a durable and flexible material such as rubber or plastic. Examples include, but are not limited to, neoprene rubber, Kevlar-reinforced rubber, nylon-reinforced elastomer, butyl rubber, and polyurethane.

Here, the airbag can be inserted into the open side of the recess 241 and inflated with supply air, while three segments of the rim 271, e.g., the first 247.1.1, second 247.1.2, and zeroth 247.0 segments, secure the airbag in place. The overhanging edge 249 can provide a guide (or slot) for the airbag during insertion into the recess 241, as well as securing the airbag therein. For example, in some implementations, the airbag can be affixed to a rectangular frame that has an outer profile flush with the inner profile of the recess 241 and the overhanging edges 249.1 and 249.2 extending over the recess 241. After operating for an extended period, the airbag can then be removed from the open side of the recess 241 for maintenance (or replacement). Moreover, when the airbags are inflated and the turntable 200 rotates on top of the air casters 246, the centrifugal force exerted on an air caster 246 could potentially push an airbag out of the air caster 246's recess 241 if it was not secured therein. To achieve a similar effect without the maintenance access, a recess 241 can also be fully closed, that is, subtended on all four sides by segments of the rim 247. In this case, an airbag can be inserted into the top of the recess 241, or otherwise installed in the recess 241, before the turntable 200 is positioned (or assembled) over the stanchions 252.

Note, an airbag can be configured in multiple ways depending on the implementation. In some examples, the airbag is airtight and shaped like a torus or toroid. In these cases, when the airbag inflates, it creates an airtight (or nearly airtight) seal between the top (bearing) surface 243 and the bottom (guide) surface 234 of a raceway 232. Once the pressure in the airbag is higher than the counterpressure of the turntable 200, air can be expelled through the center of the toroidal-shaped airbag, thereby generating a thin film of air between a top surface of the airbag and the bottom (guide) surface 234 of the raceway 232. In other examples, the airbag can include holes (or nozzles) on its top surface to allow air to escape, provide thrust, and regulate the pressure within the airbag. In these cases, the airbag can be shaped as an ellipsoid or a cuboid, e.g., to expel air entirely (or almost entirely) through the top surface of the airbag. The number, size, shape, and/or arrangement of the holes on the top surface of the airbag can be engineered to provide an even discharge of air and stable lift across the exposed surface of the airbag.

As shown in FIGS. 11B-11C, the first air caster 246.1 includes a first restriction orifice 248.1.1 for supplying compressed air to the recess 241.1, and a second restriction orifice 248.1.2 for supplying (or receiving) compressed air to (or from) the recess 241.1. The second restriction orifice 248.1.2 has a smaller diameter than the first restriction orifice 248.1.1. Each of the first 248.1.1 and second 248.1.2 restriction orifices extends linearly between the top (bearing) surface 243 and the bottom surface 244 of the solid plate 245. The second air caster 246.2 has the same configuration as the first air caster 246.1 except its restriction orifices 248.2.1 and 248.2.2 are mirrored with respect to the restriction orifices 248.1.1 and 248.1.2 of the first air caster 246.1.

The function of each of the restriction orifices 248.1.1 and 248.1.2 can vary depending on the presence or absence of an airbag, as well as the configuration of the airbag. For example, for a toroidal-shaped (e.g., airtight) airbag, the second restriction orifice 248.1.2 can supply air to the toroidal-shaped airbag for inflation. The first restriction orifice 248.1.1, positioned in the center of the toroidal-shaped airbag, can expel air through the center upon inflation of the airbag. Alternatively, in the case of an ellipsoidal- or cuboidal-shaped airbag, e.g., including holes or nozzles on its top surface, the first restriction orifice 248.1.1 can supply air to the airbag and the second restriction orifice 248.1.1 can supply or receive air from the airbag. The restriction orifices 248.1.1 and 248.1.2 can be connected to compressed air lines 285 interfacing, e.g., via valves, on the bottom surface 244 of the solid plate 245. This allows the first air caster 246.1 to discharge compressed air between the top (bearing) surface 243 and the bottom (guide) surface 234 of a raceway 232, either directly and/or via an airbag that includes holes or nozzles. In some implementations, the second restriction orifice 248.1.2 is pneumatically coupled to a pressure sensor 288 for monitoring the air pressure in the recess 241.1, e.g., see FIG. 15.

FIG. 12 is a top view depicting another example of the understructure for the turntable 200. Here, in addition to the stanchions 252, the understructure further includes a set of (e.g., four) central stanchions 252.C positioned beneath the center plate 232.C, and a table construction 262 affixed to the central stanchions 252.C. For example, the table construction 262 can be directly welded to each of the central stanchions 252.C.

FIG. 13A is a top view depicting a central portion of the understructure of FIG. 12. As shown in FIG. 13A, each central stanchion 252.C has an “X”-shaped configuration when viewed from above. Each central stanchion 252.C is positioned equidistant from the central axis 201 of the turntable 200 and equidistant from an adjacent central stanchion 252.C. The central stanchion 252.C is configured similarly to the stanchion 252 depicted in FIGS. 9A-9D except the central stanchion 252.C includes another horizonal beam in addition to the second beam 254.2, establishing the “X”-shaped configuration. The table construction 262 is supported on the central stanchions 252.C and has a set of (e.g., eight) air casters 246 affixed thereto. Like the air caster assemblies 242 depicted in FIG. 2, the top (bearing) surfaces 243 of each air caster 246 mates with the bottom (guide) surface 234C of the center plate 232.C.

FIG. 13B is a top view depicting an example of the table construction 262. The table construction 262 includes a set of linear beams 264, e.g., hollow rectangular beams, having the same cross-section, height, width, and wall thickness. Each of the beams 264 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer). Each of the beams 264 can have a length of about 80 ins or more, 90 ins or more, 100 ins or more, 110 ins or more, or 120 ins or more. Each of the beams 264 can have a length in a range from about 80 ins to 120 ins. The beams 264 are coplanar, affixed to one another, and arranged into a rectangular grid, e.g., via welding, mechanical fastening, or both. In this example, the table construction 262 is composed of ten beams 264, including: (i) six first beams 264.1.1, 264.1.2, 264.1.3, 264.1.4, 264.1.5, and 264.1.6 that are separated and parallel to one another, and (ii) four second beams 264.2.1, 256.2.2, 256.2.3, and 256.2.4 that are separated and parallel to one another. Each of the six first beams 264.1.1-6 is orthogonal to each of the four second beams 264.2.1-4, forming a 3-by-5 rectangular grid of spaces between the first beams 264.1.1-6 and second beams 264.1.1-4.

FIG. 14A is a top view depicting an example of an air caster 246 affixed to the table construction 262. FIG. 14B is a side view of the air caster 246. The air caster 246 is configured as a flat thrust air caster, like the first 246.1 and second 246.2 air casters of the air caster assembly 242 depicted in FIGS. 11B-11C.

The air caster 246 is defined by a solid plate 245 and a (e.g., raised) rim 247 supported on the top (bearing) surface 243 of the solid plate 245. The solid plate 245 and the rim 247 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer). In this example, the solid plate 245 has a square shape with a length (L) equal to its width. The solid plate 245 can have a length and width of about 35 ins or more, 40 ins or more, 45 ins or more, or 50 ins or more. The solid plate 245 can have a length and width in a range from about 35 ins to 50 ins. The solid plate 245 can have a thickness of about ¼ ins or more, ⅜ ins or more, ½ ins or more, ⅝ ins or more, ¾ ins or more, ⅞ ins or more, or 1 in or more. The solid plate 245 can have a thickness in a range from about ¼ ins to 1 in. The rim 247 can have a height (H) of about ¼ ins or more, ⅜ ins or more, ½ ins or more, ⅝ ins or more, ¾ ins or more, ⅞ ins or more, or 1 in or more. The rim 247 can have a height in a range from about ¼ ins to 1 in.

As shown in FIGS. 14A-14B, the rim 247 includes three linear segments 247.1, 247.2, and 247.0 each extending along the top (bearing) surface 243 of the solid plate 245. The zeroth segment 247.1 is connected and orthogonal to each of the first 247.1 and second 247.2 segments. The first 247.1 and second 247.2 segments are separated from each other and parallel to each other. The first 247.1, second 247.2, and zeroth 247.0 segments each extend along a respective edge of the solid plate 245. The first 247.1 and second 247.2 segments each include a respective overhanging edge 249.1 and 249.2 that extends over (and is parallel to) the top (bearing) surface 243 of the solid plate 245. Each overhanging edge 249.1 and 249.2 can extend a distance of about ¼ ins or more, ⅜ ins or more, ½ ins or more, ⅝ ins or more, ¾ ins or more, ⅞ ins or more, or 1 in or more. Each overhanging edge 249.1 and 249.2 can extend a distance in a range from about ¼ ins to 1 in.

The area bounded by the first 247.1, second 247.2, and zeroth 247.0 segments of the rim 247 defines an (e.g., open) recess 241 of the air caster 246, where the recess 241 has the shape of a “U”. For example, the air caster 246 can utilize an airbag as described above for the air caster assembly 242 in FIGS. 11B-11C. The air caster 246 further includes a first restriction orifice 248.1 for supplying compressed air to the recess 241, and a second restriction orifice 248.2 for supplying (or receiving) compressed air to (or from) the recess 241. The second restriction orifice 248.2 has a smaller diameter than the first restriction orifice 248.1. Each of the first 248.1 and second 248.2 restriction orifices extend linearly between the top (bearing) surface 243 and the bottom surface 244 surface of the solid plate 245. The restriction orifices 248.1 and 248.2 can be connected to compressed air lines 285 interfacing, e.g., via valves, on the bottom surface 244 of the solid plate 245. This allows the air caster 246 to discharge compressed air between the top (bearing) surface 243 and the bottom (guide) surface 234C of the center plate 232.C, either directly or via an airbag that includes holes or nozzles. In some implementations, the second restriction orifice 248.2 is pneumatically coupled to a pressure sensor 288 for monitoring the air pressure in the recess 241.

FIG. 15 is a side view depicting an outer portion of the understructure for the turntable 200. In this example, the understructure further includes compressed air lines 285.T and 285.P, a drive motor 290, and an actuator assembly 295 for operating the turntable 200. Note, the understructure can include multiple ones of the drive motor 290 (and multiple respective ones of the actuator assembly 295) positioned about the perimeter of the turntable 200 for rotating the turntable 200 about its central axis 201. The understructure of the turntable 200 can include a set of 2 or more drive motors, 3 or more drive motors, 4 or more drive motors, 5 or more drive motors, 10 or more drive motors, 15 or more drive motors, 20 or more drive motors, 25 or more drive motors, or 50 or more drive motors. The set of drive motors 290 can be arranged into a circular array about the central axis 201 of the turntable 200, and each driver motor 290 in the set can be mechanically coupled to the turntable 200 for rotating the turntable 200 about its central axis 201. A drive motor 290 can be a high-power drive motor consuming a voltage of 230 volts (“V”) or more, 400 V or more, 480 V or more, 690 V or more, or 800 V or more, and a current of 90 amps (“A”) or more, 120 A or more, 150 A or more, 300 A or more, 450 A or more, or 600 A or more.

As shown in FIG. 15, the base plate 256 of a stanchion 252 is affixed to a concrete pad 270, e.g., via mechanical fastening (e.g., bolts). The top (bearing) surface 243 of an air caster assembly 242 mates with the bottom (guide) surface 234.O of the outer raceway 232.O. The bottom surface 244 of the air caster assembly 242 is affixed to the second beam 254.2 of the stanchion 252. The air caster assembly 242 overhangs the second beam 254.2 such that the restrictions orifices 248.1.1, 248.1.2, 248.2.1, and 248.2.2 of the air caster assembly 242's two air casters 246.1 and 246.2 are accessible. Two compressed air lines 285.T.1 and 285.T.2 are connected to the first restriction orifices 248.1.1 and 248.2.1 for supplying compressed air to the recesses 241.1 and 242.2 of the air casters 246.1 and 246.2. Two additional compressed air lines 285.P.1 and 285.P.2 are connected between the second restriction orifices 248.1.2 and 248.2.2 and two pressure sensors 288.1 and 288.2 for monitoring the air pressure in the recesses 241.1 and 242.2. In this example, the pressure sensors 288.1 and 288.2 are secured to the second beam 254.2 of the stanchion 252, on the underside of the second beam 254.2's “I”-shaped inner profile. The computing system 500 can be communicatively coupled (e.g., wirelessly) to the pressure sensors 288.1 and 288.2 to receive the pressure readings during operation of the turntable 200. For example, coupling a (e.g., local) pressure sensor 288 at each air caster 246 provides a map of the counterpressure (and weight) exerted on the understructure. The computing system 500 can use the map of the counterpressure (and weight) exerted on the understructure to perform load balancing.

Also notice, the open side of the recesses 241.1 and 242.2 faces inwards, that is, towards the central axis 201 of the turntable 200. As mentioned above, the open side of the recesses 241.1 and 242.2 provides service and maintenance access. For example, a respective airbag can be inserted into each of the recesses 241.1 and 242.2 while the turntable 200 rests on the stanchions 252. After extended use, the airbags can then be removed from the recesses 241.1 and 242.2 and replaced. Moreover, as the centrifugal force of the turntable 200 due to its rotation is radial, that is, directed away from the central axis 201, the rim 247 secures the airbags in place.

The drive motor 290 is secured to an end 255 of the stanchion 252's second beam 254.2 at a pivot point 293. The drive motor 290 is configured to tilt about the pivot point 293. The drive motor 290 includes one or more friction wheels 291 that contact the bottom (guide) surface 234.O of the outer raceway 232.O. The friction wheel(s) 291 is configured to rotate about a radial rotational axis 292 that intersects the central axis 201 of the turntable 200. Hence, when the friction wheel(s) 291 contacts the bottom (guide) surface 234.O of the outer raceway 232.O, the drive motor 290 can generate a tangential force (or an applied torque) on the turntable 200. Particularly, when the turntable 200 floats above the stanchions 252, the drive motor 290 can generate the applied torque on the turntable 200 that causes the turntable 200 to rotate about its central axis 201. In some implementations, the drive motor 290 can also include a torque sensor that measures the applied torque generated on the turntable 200 by the drive motor 290. The torque sensor can provide a data signal to the computing system 500 that augments, or serves as an alternative to, the sensed air pressure in the recesses 241.1 and 241.2 of the air casters 246.1 and 246.2, e.g., to indicate when more air pressure is needed to lift the turntable 200 at this particular position.

The actuator assembly 295 is supported on the concrete pad 270 and is positioned beneath the drive motor 290. The actuator assembly 295 is configured to tilt the drive motor 290 about its pivot point 293. In this example, the actuator assembly 295 includes a linear actuator 296, a head 297 affixed to the linear actuator 296, a casing 298 for the linear actuator 296, and a tripod stand 299 supporting the casing 298 and linear actuator 296 upright on the concrete pad 270. The head 297 of the linear actuator 296 is in contact with the drive motor 290 such that the linear actuator 296 can extend (or retract) to enable (or relieve) contact between the drive motor 290's friction wheel(s) 291 and the bottom (guide) surface 234.O of the outer raceway 232.O.

In some implementations, the understructure of the turntable 200 furthers include the rotary encoder 235 positioned at the perimeter of the turntable 200. For example, the rotary encoder 235 can be a wheel rotary encoder, e.g., an incremental or absolute wheel rotary encoder, having an encoder wheel that contacts the bottom (guide) surface 234.O of the outer raceway 232.O. The encoder wheel can be configured to rotate due to the motion of the turntable 200 to record an arc length traversed by the turntable 200. The rotary encoder 235 can then recover the current angle of the turntable 200 from the arc length and radius of the turntable 200.

FIG. 16 is a schematic diagram depicting an example of an air supply system 280 for the turntable 200. The air supply system 280 is configured to supply compressed air to each of the air casters 246 during operation of the turntable 200. As shown in FIG. 16, the air supply system 280 includes an air compressor 281, one or more compressed air tanks 282, a main pneumatic manifold 284, a set of pneumatic sub-manifolds 286.1 to 286.N, and a set of compressed air lines 285 for pneumatically coupling the components of the air supply system 280 to one another.

Note, in implementations when the green zone 120 is located within an arena or a stadium, the air compressor 281 can be positioned outside the arena or stadium, e.g., due to the size of the air compressor 281 and/or the noise generated by the air compressor 281. The compressed air tank(s) 282, main pneumatic manifold 284, and pneumatic sub-manifolds 285.1 to 286.N can each be positioned underneath the turntable 200. For example, the main pneumatic manifold 284 can be positioned on (or near) the central axis 201 of the turntable 200. The pneumatic sub-manifolds 286 can each be affixed to a respective stanchion 252, e.g., in a circular array about the central axis 201 of the turntable 200.

The air compressor 281 is configured to intake ambient air from its surroundings and discharge it at a higher pressure. The air compressor 281 can be pneumatically coupled, e.g., via a compressed air line 285, to the compressed air tank(s) 282 to fill the compressed air tank(s) 282 with compressed air. The compressed air tank(s) 282 store the compressed air for use during operation of the turntable 200. Although one compressed air tank 282 is shown in FIG. 16, in some implementations, the air supply system 280 can include 2 or more compressed air tanks, e.g., 3 or more, 4 or more, 5 or more, 10 or more, 15 or more, 20 more compressed air tanks. This allows the air supply system 280 to store a relatively large volume of compressed air. In some implementations, the air compressor 281 is an industrial-sized air compressor that can output compressed air at relatively high flow rates and/or pressures.

To supply each of the air casters 246 with compressed air at a controlled and standard flow rate and/or pressure, a compressed air tank 282 can be pneumatically coupled to the main pneumatic manifold 284 via a (“main”) compressed air line 285.M connected therebetween. A main (e.g., electronic) air control valve 283M is positioned on the main compressed air line 285.M for adjusting the flow rate and/or pressure of the compressed air output from the compressed air tank 282 to the main pneumatic manifold 284.

The main pneumatic manifold 284 is also pneumatically coupled to each of the pneumatic sub-manifolds 286.1 to 286.N via respective (“secondary”) compressed air lines 285.S.1 to 285.S.N connected therebetween. The main pneumatic manifold 284 divides down the flow rate and/or pressure of the compressed air received from the compressed air tank 282 and outputs the compressed air to each of the pneumatic sub-manifolds 286.1 to 286.N. In some implementations, the air supply system 280 can include 5 or more pneumatic sub-manifolds, 6 or more pneumatic sub-manifolds, 7 or more pneumatic sub-manifolds, 8 or more pneumatic sub-manifolds, 9 or more pneumatic sub-manifolds, 10 or more pneumatic sub-manifolds, 15 or more pneumatic sub-manifolds, or 20 or more pneumatic sub-manifolds. Secondary air control valves 283.S.1 to 283.S.N are positioned on the secondary compressed air lines 285.S.1 to 285.S.N for individually adjusting the flow rate and/or pressure of the compressed air output from the main pneumatic manifold 284 to the pneumatic sub-manifolds 286.1 to 286.N.

Each pneumatic sub-manifold 286 is pneumatically coupled to a respective set of air casters 246.1 to 246.M via respective (“tertiary”) compressed air lines 285.T.1 to 285.T.M connected therebetween. Like the main pneumatic manifold 284, each pneumatic sub-manifold 286 divides down the flow rate and/or pressure of the compressed air received from the main pneumatic manifold 284 and outputs the compressed air to its respective set of air casters 246.1 through 246.M. As a result, the air supply system 280 can divert a single supply input from a compressed air tank 282 into tens, hundreds, or more controlled outputs for the air casters 246. Tertiary air control valves 283.T.1 to 283.T.M are positioned on the tertiary compressed air lines 285.T.M to 285.T.M for individually adjusting the flow rate and/or pressure of the compressed air output from the pneumatic sub-manifold 286 to the set of air casters 246.1 to 246.M.

In general, the computing system 500 is communicatively coupled with each of the air control valves 283.M, 283.S.1.N, and 283.T.1.N.1-M of the air supply system 280. This allows the computing system 500 to automatically sequence discharging compressed air to the air casters 246 with driving of the drive motor(s) 290. Particularly, the control system 500 can adjust a respective opening of each air control valve 283 to induce a particular flow rate and/or pressure through the air control valve 283's compressed air line 285. The flow rate and/or pressure of the compressed air is controllable at each point in the air supply system 280 to enable balancing of counterpressure at each air caster 246 when the turntable 200 is lifted off the stanchions 252. For example, to perform a control loop, the computing system 500 can automatically adjust each of the air control valves 283 based on readings from a (e.g., local) pressure sensor 288 at each air caster 246 when the turntable 200 is being levitated.

II. Examples of Turntable Understructures including Wheel Caster Assemblies

FIG. 17 is an isometric view depicting an example of a stanchion 252 configured with a set of four wheel caster assemblies 742.1, 742.2, 742.3, and 742.4. The set of wheel caster assemblies 742.1 to 742.4 can be used in place of an air caster assembly 242 for enabling the semi-frictionless motion of the turntable 200 as it rotates about its central axis 20. That is, each stanchion 252 in the stanchion layout 250 can have a respective set of four wheel caster assemblies 742.1 to 742.4 affixed thereto. The set of wheel caster assemblies 742.1 to 742.4 is designed as an alternative to the air caster assembly 242 (and the air supply system 280), but with the raceway layout 230 and the stanchion layout 250 remaining the same, with optional structural improvements to the stanchion layout 250 described with reference to FIGS. 25-27D.

As shown in FIG. 17, each wheel caster assembly 742.1, 742.2, 742.3, and 742.4 includes a respective wheel caster 746.1, 746.2, 746.3, and 746.4, a respective caster bracket 744.1, 744.2, 744.3, and 744.4 for adjustably positioning and affixing the respective wheel caster 746.1, 746.2, 746.3, and 746.4, and a respective mounting plate 754.1, 754.2, 754.3, and 754.4 for mechanically fastening the respective caster bracket 744.1, 744.2, 744.3, and 744.4 to the stanchion 252. The first 748.1, second 748.2, third 748.3, and fourth 748.4 mounting plates are parallel to each other, the first 748.1 and third 748.3 mounting plates are coplanar with each other, and the second 748.2 and fourth 748.4 mounting plates are coplanar with each other.

The first wheel caster assembly 742.1 is positioned on a front side of the stanchion 252 that faces towards the central axis 201 of the turntable 200. The first wheel caster 746.1 includes a first wheel 756.1 which is configured to rotate about a first rotational axis 747.1. The first wheel caster 746.1 is affixed to the first caster bracket 744.1 via mechanical fastening for positioning the first rotational axis 747.1 of the first wheel 746.1 along a radial direction, e.g., such that the first rotational axis 747.1 intersects the central axis 201 of the turntable 200. The first caster bracket 744.1 is affixed to the first mounting plate 748.1 via mechanical fastening. The first mounting plate 748.1 is affixed to the first end 255.2.1 of the second beam 254.2 and the second end 255.3.2 of the third beam 254.3 via welding, which secures the first wheel caster assembly 742.1 to the stanchion 252.

The second wheel caster assembly 742.2 is positioned opposite to the first wheel caster assembly 742.1. The second wheel caster assembly 742.2 is positioned on a back side of the stanchion 252, opposite its front side, that faces away from the central axis 201 of the turntable 200. The second wheel caster 746.2 includes a second wheel 756.2 which is configured to rotate about a second rotational axis 747.2. The second wheel caster 746.2 is affixed to the second caster bracket 744.2 via mechanical fastening for positioning the second rotational axis 747.2 of the second wheel 746.2 along a radial direction, e.g., such that the second rotational axis 747.2 intersects the central axis 201 of the turntable 200. The second caster bracket 744.2 is affixed to the second mounting plate 748.2 via mechanical fastening. The second mounting plate 748.2 is affixed to the first end 255.2.1 of the second beam 254.2 and the first end 255.4.1 of the fourth beam 254.4 via welding, which secures the second wheel caster assembly 742.2 to the stanchion 252.

The third wheel caster assembly 742.3 is positioned on the front side of the stanchion 252 that faces toward from the central axis 201 of the turntable 200. The third wheel caster 746.3 includes a third wheel 756.3 which is configured to rotate about a third rotational axis 747.3. The third wheel caster 746.3 is affixed to the third caster bracket 744.3 via mechanical fastening for positioning the third rotational axis 747.3 of the third wheel 746.3 along a radial direction, e.g., such that the third rotational axis 747.3 intersects the central axis 201 of the turntable 200. The third caster bracket 744.3 is affixed to the third mounting plate 748.3 via mechanical fastening. The third mounting plate 748.3 is affixed to the second end 255.2.2 of the second beam 254.2 and the second end 255.4.2 of the fourth beam 254.4 via welding, which secures the third wheel caster assembly 742.3 to the stanchion 252.

The fourth wheel caster assembly 742.4 is positioned opposite to the third wheel caster assembly 742.3. The fourth wheel caster assembly 742.4 is positioned on the back side of the stanchion 252, opposite its front side, that faces away from the central axis 201 of the turntable 200. The fourth wheel caster 746.4 includes a fourth wheel 756.4 which is configured to rotate about a fourth rotational axis 747.4. The fourth wheel caster 746.4 is affixed to the fourth caster bracket 744.4 via mechanical fastening for positioning the fourth rotational axis 747.4 of the fourth wheel 746.4 along a radial direction, e.g., such that the fourth rotational axis 747.4 intersects the central axis 201 of the turntable 200. The fourth caster bracket 744.4 is affixed to the fourth mounting plate 748.4 via mechanical fastening. The fourth mounting plate 748.4 is affixed to the second end 255.2.2 of the second beam 254.2 and the second end 255.4.2 of the fourth beam 254.4 via welding, which secures the fourth wheel caster assembly 742.4 to the stanchion 252.

Different configurations of the wheel casters 746.1 to 746.4 can be established via the adjustable positioning of the caster brackets 744.1 to 744.4. The first rotational axis 747.1 of the first wheel 756.1 and the second rotational axis 747.2 of the second wheel 756.2 can be parallel or colinear with each other, such that the first 756.1 and second 756.2 wheels rotate in a common direction or about a common axis. The third rotational axis 747.3 of the third wheel 756.3 and the fourth rotational axis 747.4 of the fourth wheel 756.4 can be parallel or colinear with each other, such that the third 756.3 and fourth 756.4 wheels rotate in a common direction or about a common axis. The first 747.1, second 747.2, third 747.3, and fourth 747.4 rotational axes can be coplanar with each other, such that the first 746.1, second 746.2, third 746.3, and fourth 746.4 wheels rotate in a common plane.

In general, the wheel caster assemblies 742 mate with the raceways 232 of the turntable 200, such that the wheels 756 are in contact, allowing the turntable 200 to roll along the wheels 756 as it rotates about its central axis 201. As shown in FIG. 17, the wheel caster assemblies 742 are in fixed positions with respect to the turntable 200 as it rotates and, therefore, are “inverted” when compared to conventional wheel casters that typically move with the rolling object. For example, conventional wheel casters are typically secured to an underside of a large, heavy object to lift the object off the ground and allow semi-frictionless movement of the object. In contrast, the wheel caster assemblies 742 do not move with the turntable 200, instead providing a circular conveyor, e.g., a circular skate wheel conveyor, for the turntable 200.

FIG. 18A is an isometric view depicting an example of a caster bracket 744 of a wheel caster assembly 742. FIG. 18B is a top view depicting the caster bracket 744 shown in FIG. 18A. The caster bracket 744 is configured to enable adjustable positioning and affixing of a wheel caster 746 of the wheel caster assembly 742, e.g., to position the rotational axis 747 of the wheel caster 746 along a radial direction.

As shown in FIGS. 18A-18B, the caster bracket 744 is a perpendicular bracket (e.g., a supported “T” bracket) including a base plate 745.O, two right-angle plates (e.g., ribs) 745.1 and 745.2, and a caster mounting plate 745.3 affixed to one another via welding. Each of the plates 745.O, 745.1, 745.2, and 745.3 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer). The base plate 745.O can have one or more chamfered corners. The base plate 745.O can have a width (W) and/or a length (H) of about 5 ins or more, 7.5 ins or more, 10 ins or more, 12.5 ins or more, 15 ins or more, or 20 ins or more. The base plate 745.O can have a width and/or a height in a range from about 5 ins to 25 ins. The caster mounting plate 745.3 can have a width (W) and/or a length (L) of about 5 ins or more, 7.5 ins or more, 10 ins or more, 12.5 ins or more, 15 ins or more, 20 ins or more. The caster mounting plate 745.3 can have a width and/or a height in a range from about 5 ins to 20 ins. Each of the plates 745.O, 745.1, 745.2, and 745.3 can have a thickness of about ¼ ins or more, ⅜ ins or more, ½ ins or more, ⅝ ins or more, ¾ ins or more, ⅞ ins or more, or 1 in or more. Each of the plates 745.O, 745.1, 745.2, and 745.3 can have a thickness in a range from about ¼ ins to 1 in.

The caster mounting plate 745.3 is affixed to a front surface 741.0 of the base plate 745.O and arranged perpendicularly to the base plate 745.0. The caster mounting plate 745.3 has a mounting surface 741.3 for mounting the wheel caster 746 thereon. The mounting surface 745.3 has four through-hole slots 743.0.1, 743.0.2, 743.0.3, and 743.0.4 each shaped as a curved rounded rectangle. Each of the through-hole slots 743.0.1 to 743.0.4 is positioned at a respective corner of the caster mounting plate 745.3 and faces inwards, towards a center of the caster mounting plate 745.3. The through-hole slots 743.0.1 to 743.0.4 are configured to accept respective fastener assemblies 710 for adjustably securing the wheel caster 746 on the mounting surface 745.3. Particularly, the through-hole slots 743.0.1 to 743.0.4 allow the angle of the wheel caster 746's rotational axis 747 to be adjusted.

The caster mounting plate 745.3 divides the front surface 741.0 of the base plate 745.O into a first area 741.0.1 and a second area 741.0.2. The first area 741.0.1 has four through-hole slots 743.0.1, 743.0.2, 743.0.3, and 743.0.4 therein, each shaped as a rounded rectangle. The second area 741.0.1 has two through-hole slots 743.0.5 and 743.0.6 therein, each shaped as a rounded rectangle. The through-hole slots 743.0.1 to 743.0.6 are parallel to each other and positioned perpendicular to the mounting surface 745.3 of the caster mounting plate 745.3. The first 743.01, third 743.03, and fifth 743.05 through-hole slots are colinear with each other, and the second 743.02, fourth 743.04, and sixth 743.06 through-hole slots are colinear with each other. The through-hole slots 743.0.1 to 743.0.6 are configured to accept respective fastener assemblies 710 for adjustably securing the caster bracket 744 on the mounting plate 748 of the wheel caster assembly 742. Particularly, the through-hole slots 743.0.1 to 743.0.8 allow a heigh of the caster bracket 744 on the mounting plate 748 to be adjusted.

The right-angle plates 745.1 and 745.2 are affixed to the front surface 741.0 of the base plate 745.O and the mounting surface 745.3 of the caster mounting plate 745.3 along respective edges of the base plate 745.O and the caster mounting plate 745.3. The right-angle plates 745.1 and 745 can provide structural support for the caster bracket 744 during loading of the turntable 200.

FIGS. 19A-19C are three-dimensional views depicting an example of the mounting plate 748.3 of the wheel caster assembly 742.3 installed on the stanchion 252. FIG. 19D is a three-dimensional view depicting an example of the caster bracket 744.4 of the wheel caster assembly 742.4 mounted on the stanchion 252 via the mounting plate 748.4. A mounting plate 748 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer). The mounting plate 748 can have one or more chamfered corners. The mounting plate 748 can have a width (W) and/or a length (H) of about 5 ins or more, 7.5 ins or more, 10 ins or more, 12.5 ins or more, 15 ins or more, or 20 ins or more. The mounting plate 748 can have a width and/or a height in a range from about 5 ins to 25 ins. The mounting plate 748 can have a thickness of about ¼ ins or more, ⅜ ins or more, ½ ins or more, ⅝ ins or more, ¾ ins or more, ⅞ ins or more, or 1 in or more. The mounting plate 748 can have a thickness in a range from about ¼ ins to 1 in.

As shown in FIGS. 19A-19C, the mounting plate 748.3 is directly welded to the second beam 254.2 of the stanchion 252 via two weld joints 720.1 and 720.2, and the fourth beam 254.4 of the stanchion 252 via a third weld joint 720.3. A weld joint 720 can be sized according to the American Welding Society (“AWS”) D1.1:2000 guidelines. Particularly, a weld joint 720 can have a fillet weld size that is: (i) the same as the thickness of the base metal for metal having thicknesses of ¼ ins or less, or (ii) 1/16 ins less than the thickness of the base metal for metal having thicknesses of greater than ¼ ins For example, a weld joint 720 can have a fillet weld size of ½ ins or less, ⅝ ins or less, ¼ ins or less, ⅛ ins or less, or 1/16 ins or less.

The mounting plate 748.3 is aligned with the second end 255.2 of the second beam 254.2. Particularly, the mounting plate 748.3 has edges (depicted in FIGS. 19A-19C as diagonal cross hatches) that are flush with a top surface and the second end 255.2 of the second beam 254.2 (depicted in FIGS. 19A-19C as diamond cross hatches). As shown in FIG. 19D, the caster bracket 744.4 is adjustably secured to the mounting plate 748.4 via respective fasteners assemblies 710.0.1 to 710.0.6 extending through the through-hole slots 743.0.1 to 743.0.6. Here, each of the fasteners assembly 710.0.1 to 710.0.6 includes a bolt 712 threaded by a first washer 713.1 on a back side of the mounting plate 713.1, a second washer 713.2 on a front side of the mounting plate 713.2 following the first washer 713.1, a lock washer 715 following the second washer 713.2, and a nut 714 following the lock washer 715. For example, the bolt 712 can be size ½ ins or size 9/16 ins in Grade 8 plated hardware, e.g., torqued to 80 ft.lbs. or more, 90 ft.lbs. or more, 100 ft.lbs. or more, 110 ft.lbs. or more, or 120 ft.lbs. or more.

FIGS. 20A-20B are three-dimensional views depicting an example of a wheel caster 746 of a wheel caster assembly 742. As shown in FIGS. 20A-20B, the wheel caster 746 includes a base plate 752, a wheel 756, an axle fork 754 including two horns 755.1 and 755.2, an axle 757, and two retaining washers 758.1 and 758.2 threading the axle 757. Each of the base plate 752, wheel 756, axle fork 754, and axle 757 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer). The base plate 752 can have a width (W) and/or a length (L) of about 5 ins or more, 7.5 ins or more, 10 ins or more, 12.5 ins or more, 15 ins or more, or 20 ins or more. The base plate 752 can have a width and/or a height in a range from about 5 ins to 25 ins. The base plate 752 can have a thickness of about ¼ ins or more, ⅜ ins or more, ½ ins or more, ⅝ ins or more, ¾ ins or more, ⅞ ins or more, or 1 in or more. The mounting plate 748 can have a thickness in a range from about ¼ ins to 1 in. The wheel 756 can have a radius (R_c) of about 1 in or more, 2 ins or more, 3 ins or more, 4 ins or more, 5 ins or more, 7.5 ins or more, or 10 ins or more. The wheel 756 can have a radius in a range from about 1 in to 10 ins. The wheel 756 can have a thickness (t_c) in a range from about 1 in to 10 ins. In some implementations, the wheel 756 can sustain a maximum temperature of 150 degrees Fahrenheit or more, 175 degrees Fahrenheit or more, 200 degrees Fahrenheit or more, or 250 degrees Fahrenheit or more.

The base plate 752 is positioned on the mounting surface 741.3 of the caster mounting plate 745.3 of a caster bracket 744. The base plate 752 is adjustably secured to the caster mounting plate 745.3 via respective fasteners assemblies 710.3.1 to 710.3.4 extending through the through-hole slots 743.3.1 to 743.3.4 of the caster bracket 744. The horns 758.1 and 758.2 of the fork 754 are directly welded to the base plate 752 and suspend the axle 757, which defines the rotational axis 747 of the wheel caster 746. The horns 758.1 and 758.2 extend in a direction perpendicular to the base plate 752. The wheel 756 is positioned on the axle 757 between the horns 758.1 and 758.2 of the fork 754 and is configured to rotate on the axle 757. The first horn 758.1 is positioned between the first retaining washer 758.1 and the wheel 756, and the second retaining washer 758.2 is positioned between the second retaining washer 758.1 and the wheel 756.

FIGS. 21A-21C are three-dimensional view depicting an example of the stanchion 252 configured with the set of wheel caster assemblies 747.1, 747.2, 747.3, and 747.4, a spring assembly 760, a drive motor 290, a drive support beam assembly 770, and a drive support stand 780. FIG. 21A is an isometric view depicting the stanchion 252. FIG. 21B is a front view depicting the stanchion 252. FIG. 21C is a zoomed-in front view depicting the wheel caster assembly 742.3, the spring assembly 760, the drive motor 290, the drive support beam assembly 770, and the drive support stand 780.

As shown in FIGS. 21A-21C, the spring assembly 760 is supported on the drive support stand 780, the drive support beam assembly 770 is supported on the spring assembly 760 and attached to a pivot plate 771 on the stanchion 252, and the drive motor 290 is supported on the drive support beam assembly 770. When the turntable 200 is operating, the spring assembly 760 is configured to apply a restoring force on the drive support beam assembly 770, which causes the friction wheels 291.1 and 291.2 to contact the bottom (guide) surface 234 of a raceway 232 of the turntable 200 with a particular pressure, e.g., increasing friction and/or an applied torque on the turntable 200. Here, each of the wheels 756.1, 756.2, 756.3, and 756.4 of the wheel caster assemblies 742.1, 742.2, 742.3, and 742.4 is positioned radially between the friction wheels 291.1 and 291.2. That is, each of the wheels 756.1 to 756.4 is positioned at radiuses from the central axis 201 of the turntable 200 that are between the respective radiuses of the friction wheels 291.1 and 291.2 from the central axis 201. This allows, for example, the bottom (guide) surface 234 of a raceway 232 to be polished where the wheels 756.1 to 756.4 contact the surface 234, and to be left unpolished (or polished differently) where the friction wheels 291.1 and 291.2 contact the surface 234. Such implementations facilitate both improved semi-frictionless motion of the turntable 200 via the wheels 756.1 to 756.4 and mechanical coupling to the turntable 200 via the friction wheel 291.1 and 291.2.

The drive support stand 780 includes four legs 782.1, 782.2, 782.3, and 782.4, a base plate 784, a spring mounting plate 786, support columns 783, and a threaded rod 763 affixed to one another, e.g., via welding, mechanical fastening, or both. The drive support stand 780 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer). Each of the legs 782.1 to 782.4 has a respective first end affixed to the base plate 784 and a respective second end affixed to the spring mounting plate 786. The legs 782.1 to 782.4 are parallel to one another and orthogonal to the base plate 784 and the spring mounting plate 786. The legs 782.1 to 782.4 extend linearly from the base plate 784 to the spring mounting plate 786, elevating the spring mounting plate 786 to a fixed height. The threaded rod 763 extends linearly from a mounting surface 787 of the spring mounting plate 786. The spring assembly 760 is mounted to the threaded rod 763 and is axially aligned with the threaded rod 763. The support columns 783 are affixed between adjacent ones of the legs 782.1 to 782.4 and provide structural support for the drive support stand 780. In this example, the drive support stand 780 includes support columns 783 affixed between the first and second ends of the legs 782.1 to 782.4, and at the second ends of the legs 782.1 to 782.4 where the legs 782.1 to 782.4 meet the spring mounting plate 786.

FIG. 22A is an isometric view depicting the pivot plate 771, the drive support beam assembly 770, and the drive support stand 780. The drive support beam assembly 770 includes a first beam 772.1, a second beam 772.2, a first mounting tab 784.1, and a second mounting tab 784.2 that are affixed to one another, e.g., via welding, mechanical fastening, or both. The drive support beam assembly 770 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer).

As shown in FIG. 22A, each of the first 772.1 and second 772.2 beams is a hollow rectangular beam having the same cross-section, height, width, length and wall thickness. The first 772.1 and second 772.2 beams are parallel to each other and orthogonal to the first 784.1 and second 784.2 mounting tabs. The first 772.1 and second 772.2 beams each have a respective first end 773.1.1 mechanically coupled to the pivot plate 771, and a respective second end 733.1.2 and 733.2.2 on which the first 784.1 and second 784.2 mounting tabs are affixed. The first 784.1 and second 784.2 mounting tabs are parallel to each other and establish a mounting fixture for supporting the drive motor 290.

FIG. 22B-22D are three-dimensional views depicting the pivot plate 771 attached to the drive support beam assembly 770. The pivot plate 771 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, or a pure metal such as titanium or aluminum. The pivot plate 771 can have a thickness of about ¼ ins or more, ⅜ ins or more, ½ ins or more, ⅝ ins or more, ¾ ins or more, ⅞ ins or more, or 1 in or more. The pivot plate 771 can have a thickness in a range from about ¼ ins to 1 in.

As shown in FIGS. 22B-22D, the pivot plate 771 is welded to the second end 254.4.2 of the fourth beam 254.2 of the stanchion 252 via a weld joint 720 and aligned with the second end 255.2 of the second beam 542.2 of the stanchion 252. Particularly, the pivot plate 771 has edges (depicted in FIGS. 22B-22D as diagonal cross hatches) that are flush with the second end 255.2 of the second beam 254.2 (depicted in FIGS. 22B-22D as diamond cross hatches). The pivot plate 711 is positioned symmetrically between the mounting plates 748.3 and 748.4 (depicted in FIG. 22C as having an equal spacing (d) between each of the mounting plates 748.3 and 748.4). The pivot plate 771 defines a rotational axis 293 about which the drive support beam assembly 770 is configured to pivot responsive to the restoring force of the spring assembly 760. In this example, the drive support beam assembly 770 is mechanically coupled to the pivot plate 771 via a fastener assembly 710 extending along the rotational axis 293. The fastener assembly 710 includes a bolt 712 extending along a respective through-hole in each of the pivot plate 771, the first end 773.1.1 of the first beam 772.1 of the drive support beam assembly 770, and the first end 773.2.1 of the second beam 772.2 of the drive support beam assembly 770.

FIG. 23A is a front view depicting the spring assembly 760 positioned between the drive support beam assembly 770 and the drive support stand 780. FIG. 23B is a three-dimensional view depicting the spring assembly 760 positioned between the drive support beam assembly 760 and the drive support stand 780. The spring assembly 760 includes a spring 762, a bottom spring perch 764.1, a top spring perch 764.2, a first bolt 714.1, a second bolt 714.2, a first washer 713.1, a second washer 713.2, a lock washer 715, and a third bolt 714.3. The spring 762, bottom spring perch 764.1, and top spring perch 764.2 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer).

The spring 762 is positioned between the bottom spring perch 764.1 and the top spring perch 764.2. The bottom 764.1 and top 764.2 spring perches establish a housing for the spring 762 positioned therein. The spring perches 764.1 and 764.2 can maintain the spring 762 in the correct position so it can compress and extend without shifting. The spring perches 764.1 and 764.2 can carry the returning force of the spring 762 into the drive support beam assembly 770. The threaded rod 763 is threaded by the first nut 714.1, the second nut 714.2 following the first nut 714.2, the first washer 713.1 following the second nut 714.2, the bottom spring perch 764.1 following the second nut 714.2, and the spring 762 following the bottom spring perch 764.1. The second nut 714.2 act as a spring tensioner that tensions the spring 762 based on the tightness of the second nut 714.2, and the first nut 714.1 acts as a lock nut that locks the second nut 714.2 in place. The top spring perch 764.2 is affixed to the drive support beam assembly 770 via the bolt 712 threaded by the second washer 713.2, the lock washer 715 following the second washer 713.2, and the third bolt 714.3 following the lock wash 715. The bolt 714.3 extends through a gap between the first 733.1 and second 733.2 beams of the drive support beam assembly 770 at their respective second ends 773.1 and 773.2.

FIG. 24 is a bottom view depicting an example of a stanchion configured with a wheel caster assembly 742 having a wheel caster 746 positioned at a titling angle (q). FIG. 24 and the description below provides methods for assembling the wheel caster assemblies 742 to the stanchions 252.

A. Precise alignment of the wheel caster 746.

I. Setting the titling angle of the wheel caster 746 to be tangent to a raceway 232.

First, lift the raceway 232 to relive pressure from the wheel caster 746. Second, utilize a straight edge (e.g., a straight edge of about 5 ft to 7 ft) against the wheel 756 of the wheel caster 746. Third, center the straight edge to the wheel caster 746. Fourth, adjust the tilting angle of the wheel caster 746 so that the ends of the straight edge are equal on each end to the edge of the raceway 232 (depicted as equal displacements (d) from the edge of the raceway 232. Fifth, once the tilting angle is adjusted, tighten the fastener assemblies 710 of the caster bracket 744 to about 80 ft-lbs. Sixth, lower the raceway 232 onto the wheel casters 746.1 to 746.4 of each of the stanchions 252.

II. Setting the height of the wheel casters 746.

First, once all the wheel casters 746.1 to 746.4 have been adjusted, rotate the turntable 200 by hand and allow the turntable 200 to settle. Second, the weight of the turntable 200 should settle (e.g., rotate) to the lowest point. Third, once the lowest point has been determined, vertically adjust the caster brackets 744.1 to 744.4 at the lowest point. Fourth, repeat the preceding operations as needed.

B. Adjusting the pressure of the drive motor 290.

II. Tighten the second nut 714.2 until the spring 762 has compressed to a target length (e.g., a target length of about 5 ins to 7 ins) between the bottom of the bottom spring perch 764.1 and the bottom of the drive support beam assembly 770.

II. Tighten the first nut 714.1.

III. If more pressure on the friction wheels 291.1 and 291.2 is involved. First, loosen the first nut 714.1. Second, tighten the second nut 714.2 (e.g., by about ⅛ ins to ⅜ ins). Third, tighten the first nut 714.1.

IV. Ensure each spring 765 has the same compressed length for each drive motor 290 to keep engagement the same across all the drive motors 290.

FIG. 25 is a top view depicting an example of the stanchion layout 250 of the set of stanchions 252 configured with a set of tangential bracing beams 802 and a set of radial bracing beams 804. Each of the tangential 802 and radial 804 beams can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer). Each of the tangential 802 and radial 804 beams in the beam layout 220 can be a hollow rectangular beam having the same cross-section, height, width, and wall thickness. Each of the tangential 802 and radial 804 beams can have a height of about 2 ins or more, 3 ins or more, 4 ins or more, 5 ins or more, or 6 ins or more. Each of the tangential 802 and radial 804 beams can have a height in a range from about 2 ins to 6 ins. Each of the tangential 802 and radial 804 beams can have a width of about 1 in or more, 1.5 ins or more, 2 ins or more, 2.5 ins or more, 3 ins or more, 3.5 ins or more, or 4 ins or more. Each of the tangential 802 and radial 804 beams can have a width in a range from about 1 in to 4 ins. Each beam 222.I, 222.M, 222.O, and 222.OL can have a wall thickness of about 83/1000 ins or more, 3/25 ins or more, 47/250 ins or more, ¼ ins or more, or ⅜ ins or more.

As shown in FIG. 25, each tangential 802 and radial 804 bracing beam 804 connects a first stanchion 252.1 to a second, adjacent stanchion 252.2 in the stanchion layout 250. Tangential bracing beams 802 connect two stanchions 252.1 and 252.2 together that are positioned adjacent to each other in the same circular array of stanchions 252.I, 252.M, or 252.O. Radial bracing beams 804 connect two stanchions 252.1 and 252.2 together that are positioned adjacent to each other on the radial line 202.I.M.O at 0 degrees (modulo 45 degrees.)

FIG. 26 is a front view depicting an example of the stanchion 252 in the stanchion layout 250 shown in FIG. 25. As shown in FIG. 26, the stanchion 252 includes a set of four rectangle brackets 258.1.1, 258.1.2, 258.1.3, and 258.1.4 affixed to the first beam 254.1 and a set of four triangle brackets 258.3.1, 258.3.2, 258.4.1, and 258.4.2 affixed to the third 254.3 and fourth 254.4 beams, e.g., via welding, mechanical fastening, or both. Each bracket 258 can be composed of a metal alloy such as iron alloy (e.g., steel), a steel alloy, a titanium alloy, or an aluminum alloy, a pure metal such as titanium or aluminum, and/or an engineering material such as fiber-reinforced polymer (e.g., carbon fiber-reinforced polymer or glass fiber-reinforced polymer).

The rectangle brackets 258.1.1, 258.1.2, 258.1.3, and 258.1.4 are coplanar with each other within a common plane that is perpendicular to the second beam 254.2. The first rectangle bracket 258.1.1 is affixed to a front surface of the first beam 254.1 that faces the central axis 201 of the turntable 200 and positioned between the first ends 255.3.1 and 255.4.1 of the third 254.3 and fourth 254.4 beams. The second rectangle bracket 258.1.2 is affixed to the second end 255.1.2 of the first beam 254.1 on the front surface of the third beam 254.3. The third rectangle bracket 258.1.3 is affixed to a back surface of the first beam 254.1, opposite its front surface, that faces away from the central axis 201 of the turntable 200 and positioned between the first ends 255.3.1 and 255.4.1 of the third 254.3 and fourth 254.4 beams. The fourth rectangle bracket 258.1.4 is affixed to the second end 255.1.2 of the first beam 254.1 on the back surface of the first beam 254.1.

The triangle brackets 258.3.1, 258.3.2, 258.4.1, and 258.4.2 are coplanar with each of the beams 254.1 to 254.4 of the stanchion 252. The first triangle bracket 258.3.1 is affixed to the first end 255.3.1 of the third beam 254.3 on a bottom surface of the third beam 254.3. The second triangle bracket 258.3.2 is affixed to the second end 255.3.2 of the third beam 254.3 on the bottom surface of the third beam 254.3, e.g., and flush with the first end 255.2.1 of the second beam 254.2. The third triangle bracket 258.3.2 affixed to the first end 255.4.1 of the fourth beam 254.4 on the bottom surface of the third beam 254.3. The fourth triangle bracket 258.3.2 is affixed to the second end 255.3.2 of the third beam 254.3 on the bottom surface of the third beam 254.3, e.g., and flush with the first end 255.2.1 of the second beam 254.2.

FIG. 27A is a front view depicting an example of two stanchions 252.1 and 252.2 in the stanchion layout 250 shown in FIG. 25 connected to each other via two tangential bracing beams 802.1 and 802.1. FIG. 27C is a detail view (“Detail A”) depicting an example of a tangential bracing beam 802 connecting to a stanchion 252. As shown in FIGS. 27A and 27C, the first tangential bracing beam 802.1 has a first end affixed to the first triangle bracket 258.3.1 of the first stanchion 252.1 and a second end affixed to the fourth triangle bracket 258.4.2 of the second stanchion 252.2, e.g., via welding, mechanical fastening, or both. The second tangential bracing beam 802.2 has a first end affixed to the second triangle bracket 258.3.1 of the first stanchion 252.1 and a second end affixed to the fourth triangle bracket 258.4.2 of the second stanchion 252.2, e.g., via welding, mechanical fastening, or both. Thus, the first 802.1 and second 802.2 tangential bracing beams create an “X”-shaped bracing between the first 252.1 and second 252.2 stanchions, e.g., providing improved structural support of the stanchions 252.1 and 252.2 in the Θ-direction.

FIG. 27B is a side view depicting an example of two stanchions 252.1 and 252.2 in the stanchion layout 250 shown in FIG. 25 connected to each other via two radial bracing beams 804.1 and 804.2. FIG. 27D is a detail view (“Detail B”) depicting an example of a radial bracing beam 804 connecting to a stanchion 252. As shown in FIGS. 27B and 27D, the first radial bracing beam 804.1 has a first end affixed to the first rectangle bracket 258.1.1 of the first stanchion 252.1 and a second end affixed to the fourth triangle bracket 258.1.3 of the second stanchion 252.2, e.g., via welding, mechanical fastening, or both. The second radial bracing beam 804.2 has a first end affixed to the second rectangle bracket 258.1.2 of the first stanchion 252.1 and a second end affixed to the fourth triangle bracket 258.1.4 of the second stanchion 252.2, e.g., via welding, mechanical fastening, or both. Thus, the first 804.1 and second 804.2 radial bracing beams create an “X”-shaped bracing between the first 252.1 and second 252.2 stanchions, e.g., providing improved structural support of the stanchions 252.1 and 252.2 in the R-direction.

FIG. 28A is a schematic diagram depicting an outer (edge) portion of the golf green 300 while supported on the turntable 200, with some components, e.g., air caster 242 and/or wheel caster 742 assemblies, omitted for clarity. As shown in FIG. 28A, the turntable 200 is positioned within a concrete pit of an arena or a stadium. The concrete pit includes a (e.g., leveled) concrete pad 270 and a concrete outer wall 272 arranged laterally about the turntable 200. The golf green 300 is supported on the turntable 200 such that edges of the golf green 300 and outer wall 272 are (e.g., relatively) imperceptible, e.g., allowing a player 12 to hit a real-world golf ball 118 over the edges without negatively impacting the golf shot.

In more detail, the golf green 300 includes an undulation layer 310 and a green surface 320. The undulation layer 310 is supported on the top surface 211 of the turntable 200, and the green surface 320 is supported on the undulation layer 310. Here, the undulation layer 310 includes a foam substrate 312 and a waterproofing membrane 314. The foam substrate 312 is supported on the top surface 211 of the turntable 200, and the waterproofing membrane 314 is supported on the foam substrate 312. In general, the foam substrate 312 defines the topography of the golf green 300's primary zone 301, i.e., the non-reconfigurable portion of the golf green 300. The foam substrate 312 can have a thickness along its perimeter (e.g., an edge height) of about 8 ins or more, 9 ins or more, 10 ins or more, 11 ins or more, or 12 ins or more. The foam substrate 312 can have a thickness along its perimeter in a range from about 8 ins to 12 ins. The waterproofing membrane 314 protects any underlying electronics arranged beneath the foam substrate 312, e.g., a cable management system 400 as depicted in FIG. 31.

The green surface 320 includes a sheet drain 322, a layer of insulation material 324, and the layers of grass 326.PR, 326.FR, and 326.RR. The sheet drain 322 is supported on the waterproofing membrane 313 of the undulation layer 310, the layer of insulation material 324 is supported on the sheet drain 322, and the layers of grass 326.PR, 326.FR, and 326.RR are supported on the layer of insulation material 324. The sheet drain 322 can have a thickness of about ¼ ins or more, ⅜ ins or more, ½ ins or more, ⅝ ins or more, ¾ or more, ⅞ ins or more, or 1 in or more. The sheet drain 322 can have a thickness in a range from about ¼ ins to 1 in. The layer of insulation material 324 can have a thickness of about ⅛ ins or more, ¼ ins or more, ⅜ ins or more, or ½ ins or more. The layer of insulation material 324 can have a thickness in a range from about ⅛ ins to ½ ins.

With suitably chosen thicknesses for each of the layers 322, 324, and 326, the green surface 320 can perform similarly to an outdoor real green grass surface. For example, a real-world golf ball 118 may bounce, check, and roll on the green surface 320 in a similar manner as if the real-world golf ball 118 was hit onto an outdoor real green grass surface. The green surface 320 can also perform similarly as an outdoor real green grass surface when putting a real-world golf ball 118 on the layer of putting grass 326.PR of the green surface 320. Moreover, in some implementations, one or more of the layers of grass 326.PR, 326.FR, 326.RR, or one or more sections of one or more of the layers of grass 326.PR, 326.FR, 326.RR, can be real grass. The real grass can be watered and maintained as the sheet drain 322 and the waterproofing membrane 314 prevent water from penetrating the underlying structures of the golf green 300 and turntable 200, e.g., any underlying electronics or other water-sensitive components.

Referring again to FIG. 28A, a knee wall 273 is supported on the top surface 211 of the turntable 200 and subtends the perimeter of the undulation layer 310, the sheet drain 322, and the layer of insulation material 324 of the golf green 300. The knee wall 273 can be composed of solid wood, plywood, orientated strand board, laminated veneer lumber, hardboard, and/or a wood-like engineering material, such as wood-plastic composite, bamboo plywood, phenolic resin panel, fiber cement board, polyvinyl chloride board, or composite trim board. The knee wall 273 secures (or locks) the undulation layer 310 into the golf green 300 and provides a top surface to secure down the layers of grass 326 of the golf green 300. Particularly, the layer of fairway grass 326.FR of the golf green 300 folds over the knee wall 273 and down into the gap between the turntable 200 and the outer wall 272.

A panel 274 is supported on the top surface of the outer wall 272 of the concrete pit. The panel 274 can composed of solid wood, plywood, orientated strand board, laminated veneer lumber, hardboard, or a wood-like engineering material, such as wood-plastic composite, bamboo plywood, phenolic resin panel, fiber cement board, polyvinyl chloride board, or composite trim board. The panel 274 has an annulus shape that is concentric with the central axis 201 of the turntable 200. Like the knee wall 273, the panel 274 provides a top surface to secure down the layer of fairway grass 326.FR of the fixed zone 130, which folds over the panel 274 and down into the gap between the turntable 200 and the outer wall 272. The combination of the two layers of fairway grass 326.FR folding into the gap, opposing each other, fills the gap visually and allows the turntable 200 to rotate with minimal friction. Moreover, the top surfaces of the kneel wall 273 and the panel 274 are parallel to each other and positioned in a common plane such that the two layers of fairway grass 326.FR are level with each other.

As shown in FIG. 28A, the concrete pit is situated in a layer of dirt 278 having a compacted stone base 276 and a concrete base 277 supported thereon. The layer of dirt 278 and the compacted stone base 276 bound the outer wall 272 of the concrete pit. The sheet drain 322, the layer of insulation material 324, and the layer of fairway grass 326.FR of the fixed zone 130 are supported on the compacted stone base 276. The stands 132 are supported on the concrete base 277. A nailer board 275 is embedded within the compacted stone base 276. The nailer board 275 can be composed of solid wood, plywood, orientated strand board, laminated veneer lumber, hardboard, and/or a wood-like engineering material, such as wood-plastic composite, bamboo plywood, phenolic resin panel, fiber cement board, polyvinyl chloride board, or composite trim board. The nailer board 275 subtends the sheet drain 322 and the layer of insulation material 324 of the fixed zone 130. The nailer board 275 may provide a top surface to secure down the layer of fairway grass 326.FR of the fixed zone 130. A rail cam 134, e.g., for filming a golf game being played on the field of play 100, is supported on a rail 135. The rail 135 is supported on the compacted stone base 276 and arranged immediately adjacent the stands 132. A lighted ribbon 136, e.g., for displaying advertisements and/or on-the-fly updates of the golf game, is supported on the layer of fairway grass 326.FR of the fixed zone 130 and arranged immediately adjacent the rail 135. In some implementations, the light ribbon 136 is an

FIG. 28B is a schematic diagram depicting an interior portion of the golf green 300 while supported on the turntable 200.

As shown in FIG. 28B, each actuation zone 302.1, 302.2, and 302.3 of the golf green 300 includes a respective actuation system 330.1, 330.2, and 330.3 embedded within the golf green 300's undulation layer 310. In general, the actuation systems 330 are designed to move the green surface 320 to reconfigure the portion of the golf green 300's topography identified by the actuation zones 302. In this example, each actuation system 330.1, 330.2, and 330.3 is supported on a respective platform 316.1, 316.2, and 316.3 that elevates the actuation systems 330.1, 330.2, and 330.3 to different respective heights above the turntable 200. As mentioned above with reference to FIG. 1C, this defines the neutral topographic variation of each of the golf green 300's actuation zones 302 when the linear actuators of the actuation systems 330 are at zero height. The first platform 316.1 can have a height of about 2 ft or more, 2.25 ft or more 2.5 ft or more. 2.75 ft or more, or 3 ft or more. The first platform 316.1 can have a height in a range from about 2 ft to 3 ft. The second platform 316.2 can have a height of about 2.5 ft or more, 2.75 ft or more, 3 ft or more, 3.25 ft or more, or 3.5 ft or more. The second platform 316.2 can have a height in range from about 2.5 ft to 3.5 ft. The third platform 316.3 can have a height of about 3 ft or more, 3.25 ft or more, 3.5 ft or more, 3.75 ft or more, or 4 ft or more. The third platform 316.3 can have a height in a range from about 3 ft to 4 ft.

A respective control board 530.1, 530.2, and 530.3 for each actuation system 330.1, 330.2, and 330.3 is mounted on the underside of the turntable 200, e.g., on the bottom surface 212 of the top surface layer 210, such that the control boards 530.1, 530.2, and 530.3 rotate in conjunction with turntable 200. As shown in FIG. 28B, each control board 530 is mounted directly beneath its respective actuation system 330. In general, the placement of the control boards 530 on the underside of the turntable 200 avoids excessive twisting of various lines and cables when the turntable 200 rotates, as well as providing case of access for troubleshooting or repairs in the event of malfunction (or periodic maintenance).

Each control board 530 can be electrically connected to its respective actuation system 330 via power lines 416 and control (e.g., data) lines 418 for suppling power and controlling the linear actuators of the actuation system 330. The power 416 and control 418 lines can be arranged according to a cable management system 400, e.g., see FIG. 31 for further details, that positions the power 416 and control 418 lines beneath the top surface layer 210 of the turntable 200. In some implementations, a control board 530 includes a power supply unit (“PSU”) 532 for suppling power to each linear actuator 534.1 to 534.N of an actuation system 330. In some implementations, the control board 530 also includes a respective driver board (“DB”) 534.1 to 534.N for each linear actuator 340.1 to 340.N of the actuation system 330 to individually control the linear actuator.

FIGS. 29A-29C are various views depicting an example of the foam substrate 312 of the golf green 300's undulation layer 310. FIG. 29A is a top view of the foam substrate 312. FIG. 29B is an isometric view of the foam substrate 312. FIG. 29C is a side view of the foam substrate 312.

As shown in FIGS. 29A-29C, the foam substrate 312 defines the topography of the golf green 300's primary zone 301. The foam substrate 312 also includes a respective cutout 313.1, 312.2, and 312-3 for positioning each of the platforms 316.1, 316.2, and 316.3 and respective actuation systems 330.1, 330.2, and 330.3 therein, thus facilitating the reconfigurability of the golf green 300's actuation zones 302.1, 302.2, and 302.3. In some implementations, the foam substrate 312 can be composed of high-density foam, such as high-density poly(ethylene-vinyl acetate) (“PEVA”), polyurethane, or polyethylene. A high-density foam substrate 312 can provide a firm surface that can be walked on, e.g., as if it were solid earth, but having a significantly lighter weight load on the turntable 200. In some implementations, the foam substrate 312 may be segmented into multiple individual pieces, e.g., to allow the foam substrate 312 to be fabricated and assembled from smaller, more manageable pieces. For example, the substrate 312 may be segmented into 50 or more individual pieces, 75 or more, 100 or more, 150 or more, 200 or more, 250 or more, or 500 or more individual pieces.

FIG. 30A is a side view depicting an example of an actuation system 330 that can be embedded within the undulation layer 310 of the golf green 300. The actuation system 330 includes a table 331, a frame 334 supported on the table 311, a covering 336 overlaying the frame 334, and an array of linear actuators 340.1 to 340.N is arranged within a sunken bottom 335 of the frame 334. FIG. 30B is a top view of the actuation system 330, omitting the covering 336 for clarity.

In this example, the covering 336 includes two layers of polycarbonate 337.1 and 337.2 and two layers of rubber 338.1 and 338.2 supported on the two layers of polycarbonate 337.1 and 337.2. The table 331 includes a support beam 332 extending horizontally between two adjustable feet 333.1 and 333.2. The table 331 can be positioned on a platform 316 supported on the top surface 211 of the turntable 200, which elevates the frame 334 to the desired height above the turntable 200. The green surface 320 can then be supported on the covering 336.

An array of linear actuators 340.1 to 340.N is arranged within a sunken bottom 335 of the frame 334. For example, each linear actuator 340.1 to 340.N can be a jack, such as a scorpion jack or a scissor jack, e.g., see FIG. 30C. The frame 334 can further include a set of spacers for aligning the linear actuators within the frame 334. Each linear actuator 340.1 to 340.N has a respective head 342 affixed thereto that contacts a portion of the covering 336. Each linear actuator 340.1 to 340.N is configured to extend and retract along a respective linear motion axis 341 that is parallel to the central axis 201 of the turntable 200, thus moving a local region of the green surface 320 vertically. In this example, the actuation system 330 includes 189 linear actuators. More generally, the actuation system 330 can include 50 or more linear actuators, 75 or more, 100 or more, 125 or more, 150 or more, 200 or more, 250 or more, or 500 or more linear actuators.

FIG. 30C is a side view depicting an example of a linear actuator 340 of an actuation system 330. In this example, the linear actuator 340 is configured as a scorpion jack or a scissor jack. The linear actuator 330 includes a head 342, a carrier member 344.1, a base plate 344.2, four lifting arms 346.1.1, 346.1.2, 346.2.1, and 346.2.2, a power screw 343, two bearing blocks 345.1 and 345.2, an axle 349, and a motor 348.

One example actuator system can be found, as an example, in U.S. Pat. No. 10,486,047, issued to Coffman and assigned to Full-Swing Golf, Inc., the entirety of which is incorporated by reference herein.

FIG. 31 is a side view depicting an example of the cable management system 400 for the turntable 200. The cable management system 400 is positioned beneath the top surface layer 210 of the turntable 200 and rotates in conjunction with turntable 200. As shown in FIG. 31, the cable management system 400 includes an electrical panel 410 and multiple electric conduits 414. The electrical panel 410 is positioned on the central axis 201 of the turntable 200. Each of the electric conduits 414 extends from the electrical panel 410 to a respective position about the central axis 201 of the turntable 200. The electrical panel 410 may be supported by the bottom (guide) surface 234.O of the center plate 232.C. The electrical panel 410 can include multiple breakers (or safety switches) 412, e.g., for protecting the electrical components connected to the electrical panel 410 against voltage and/or current spikes.

The electrical conduits 414 may be supported on the top surface 233.C and/or the bottom surface 234.C of the center plate 232.C. Here, the center plate 232.C includes two through-holes 420.1 and 420.2 for feeding power lines 416 and control (or data) lines 418 between top 233.C and bottom 234.C surfaces of the center plate 232.C. The power lines 416 extend through the electrical conduits 414 and connect to the electrical panel 410. For example, the power lines 416 may be connected to the actuation systems 330 and the PSUs 532 of the control boards 530. Similarly, the control lines 418 extend through the electrical conduits 414 and connect the actuations systems 303 to the driver boards 534 of the control boards 530.

FIG. 32 is a schematic diagram depicting an example of the computing system 500 of the mixed virtual and real-world golf system 10. In this example, the computing system 500 includes a Simulator Admin Console (“SAC”) 510, a Programmable Logic Controller (“PLC”) 520, and the control boards 530.1, 530.2, and 530.3. The PLC 520 and the control boards 530.1, 530.2, and 530.3 are each communicatively coupled with the SAC 510. As shown in FIG. 32, the SAC 510 and PLC 520 may each include respective processing circuitry 501 and associated memory 502 for storing data and performing computational operations.

The SAC 510 is communicatively coupled with the screen 112, projector 114, sensor(s) 116 and 126, light source(s) 124, and user interface 540. In general, the SAC 510 controls most (or all) aspects of the golf game played on the field of play 100, such as executing the simulation of each hole of the golf course, transmitting the simulation to the projector 114, receiving sensor data from the sensor(s) 116 and 126, performing processing on the sensor data (as described elsewhere herein), transmitting and receiving data to and from the user interface 540, generating control signals for the light source(s) 124 (e.g., based on the sensor data), and generating instructions for the PLC 520 and the control boards 530.1, 530.2, and 530.3 (e.g., based on user inputs from the user interface 540).

The PLC 520 is communicatively coupled with the drive motor(s) 290, the pressure sensors 288, and the air control valves 283 of the air supply system 280. In general, the PLC 520 is configured to generate the appropriate control signals for the drive motor(s) 290 and the air control valves 283 to rotate the turntable 200 about its central axis 201, e.g., based on pressure readings from the pressure sensors 288. For example, the SAC 510 can transmit instructions to the PLC 520 to rotate the turntable 200 to a specified, target angle corresponding to a particular hole. In response, the PLC 520 can generate control signals for the air control valves 283 that causes each of the air control valves 283 to open to an “on” position, discharging compressed air at a controlled flow rate and/or pressure to each of the air casters 246. To balance the counterpressure of the turntable 200 during preloading, the PLC 520 can use readings from the pressure sensors 288 to appropriately adjust one or more of the air control valves 283, thereby altering the flow rate and/or pressure to one or more of the air casters 246. Simultaneously, or near simultaneously, the PLC 520 can generate control signals for the drive motor(s) 290 that causes each of the drive motor(s) 290 to apply a target torque to the turntable 200. The combination of which lifts the turntable 200 off the stanchions 252 and rotates the turntable 200 to the specified, target angle.

Each control board 530 includes a PSU 532 and a set of driver boards 534.1 to 534.N for the respective actuation system 330 that the control board 530 is coupled to. The PSU 532 is configured to supply power for each linear actuator 340.1 to 340.N of the actuation system 330. Each driver board 534 is communicatively coupled to a respective linear actuator 340 of the actuation system 330 for controlling the linear actuator 340. The driver boards 534.1 to 534.N are configured to generate the appropriate controls signals for the linear actuators 340.1 to 340.N of the actuation system 330 to reconfigure the topography of the corresponding actuation zone 302 of the golf green 300. For example, the SAC 510 can transmit instructions to each of the driver boards 534.1 to 534.N to reconfigure the golf green 300 to a specified, target topography corresponding to a particular hole. In response, each driver board 534 can generate control signals for its respective linear actuator 340 that causes the linear actuator 340 to extend or retract to a specified, target height (H_act). The combined elevation change of all the linear actuators 340.1 to 340.N of the actuation systems 330 reconfigures the golf green 300 to the specified, target topography.

FIGS. 33A-33B depict a flowchart of an example process 600 for implementing a golf game in a mixed virtual and real-world environment. The process 600 is an example of a process that can be performed by the mixed virtual and real-world golf system 10 described above with reference to FIGS. 1A-32.

The process 600 may briefly begin with the computing system 500 storing, e.g., in memory 502, data defining one or more holes of a golf course to be played sequentially during the golf game. As mentioned above, each hole of the golf course may be artificial, custom built to match the particular green zone 120 implemented by the mixed virtual and real-world golf system 10.

The process 600 proceeds by performing the operations 602-630 for each hole of the golf course. At 602, the computing system 500 executes a simulation of the current hole of the golf course. At 604, the projector 114 projects the simulation onto the projection surface 113 of the screen 112. The screen 112 is positioned in the screen zone 110 where the virtual portion of the current hole is played.

At 606, a player performs a golf shot on a real-world golf ball 118 from a position in the screen zone 110 that propels the real-world golf ball 118 into the screen 112. If the golf shot is a tee shot, the player can perform the golf shot from the tee box 117. If the golf shot is a golf shot proceeding the tee shot, e.g., a pitching shot, the player may perform the golf shot from the tee box 117 or a different position in the screen zone 110.

At 608, the sensor(s) 116 sense movement of the real-world golf ball 118 after it is hit by the player and generate sensor data characterizing the movement of the real-world golf ball 118. For example, the movement of the real-world golf ball 118 can include one or more of: a velocity of the real-world golf ball 118, an acceleration of the real-world golf ball 118, an angle of ascent of the real-world golf ball 118, a spin/rotation of the real-world golf ball 118, a collision point of the real-world golf ball 118 on the screen 112, and the like. The sensor data is then collected by the computing system 500 for processing.

At 610, the computing system 500 determines, from the sensor data, a stopping point of a virtual golf ball in the simulation of the current hole of the golf course. The stopping point of the virtual golf ball corresponds to the position that the real-world golf ball 118 would have landed, bounced, and rolled on the current hole of the golf course.

At 612, the computing system 500 determines whether an x/y/z coordinate of the virtual golf ball's stopping point corresponds to a position on the green zone 120 representing the current hole of the golf course. If the computing system 500 determines the x/y/z coordinate does not correspond to a position on the green zone 120, the process 600 repeats from operation 606. If the computing system 500 determines the x/y/z coordinate does correspond to a position on the green zone 120, the process 600 proceeds to operation 614.

At 614, the computing system 500 generates control signals for one or more of the light source(s) 124 that cause the one or more light source(s) 124 to illuminate the position on the green zone 120 corresponding to the x/y/z/coordinate of the virtual golf ball. For example, the computing system 500 can direct a respective pointing vector of each of the one or more light source(s) 124 towards the position on the green zone 120.

At 616, the player transitions from the screen zone 110 to the green zone 120 and places the real-world golf ball 118 at the illuminated position on the green zone 120. At 618, the player performs one or more golf shots on the real-world golf ball 118 from one or more positions on the green zone 120, starting from the illuminated position on the green zone 120. For example, the one or more golf shots may include one or more pitching or chipping shots from the fixed zone 130, one or more wedge shots from one or more of the bunkers 304, and/or one or more putting shots on the golf green 300.

At 620, one or more of the cameras 126 monitor the position of the real-world golf ball 118 on the green zone 120 each time it is hit. The user interface 540 receives a respective video feed from each of the one or more cameras 126, e.g., via communications with the computing system 500, which is monitored by a user.

At 622 the user determines whether the real-world golf ball 118 is positioned within the golf hole cup 122 of the golf green 300. If the user determines the real-world golf ball 118 is not positioned in the golf hole cup 122, the process 600 repeats from operation 620. If the user determines the golf ball 118 is positioned within the golf hole cup 122, the process 600 proceeds to operation 624.

At 624, the computing system 500 receives a user input, from the user interface 540, indicating that the current hole of the golf course has finished being played. At 626, responsive to the user input, the computing system 500 retrieves data, e.g., from memory 502, defining the next hole of the golf course to be played. The data defining the next hole includes: (i) a target angle of rotation of the turntable 200, and (ii) a target topography of the golf green 300's actuation zones 302.

At 628, the computing system 500 reconfigures the topography of the green zone 120 to represent the next hole of the golf course. Particularly, the computing system 500 transmits a respective control signal to each of the drive motor(s) 290 that causes the drive motor(s) 290 to rotate the turntable 200 to the target angle. In implementations of the method 600 involving air caster assemblies 242, the computing system 500 also transmits a respective control signal to each of the air control valves 283 of the air supply system 280 to levitate the turntable 200, thereby providing (semi-) frictionless motion of the turntable 200 as it is rotated to the target angle by the drive motors 290. In implementations of the method 600 involving wheel caster assemblies 742, the computing system 500 can provide a target amount of power for a target amount of time to the drive motor(s) 290 that causes the turntable 200 to roll on the wheel caster assemblies 742 and stop at the target angle. In some implementations, the computing system 500 corrects the target angle based on feedback from the rotary encoder 235, which provides a measurement of the current angle of the turntable 200 for the computing system 500. For example, if the drive motor(s) 290 under- or over-shoot the target angle, the computing system 500 can perform a corrective step by reactivating the drive motor(s) 290 in the same or reverse direction, e.g., with reduced power, until the current angle of the turntable 200 coincides with the target angle. Before, after, or in unison with controlling the drive motor(s), the computing system 500 transmits a respective control signal to each of the actuation system(s) 330 that causes the actuation system(s) 330 to reconfigure the golf green 300's actuation zone(s) 302 to the target topography.

At 630, the computing system 500 may then execute a simulation 106. (n+1) of the next hole 104. (n+1) of the golf course 102, repeating the process 600 from operation 602.

Scope of the Disclosure

Several implementations have been described. Nevertheless, it will be understood that various modifications may be made without departing from the spirit and scope of the disclosure. For example, various forms of the flows shown above may be used, with operations re-ordered, added, or removed.

Implementations of the subject matter and the functional operations described in this specification can be implemented in digital electronic circuitry, in tangibly-embodied computer software or firmware, in computer hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of them. Implementations of the subject matter described in this specification can be implemented as one or more computer programs, i.e., one or more modules of computer program instructions encoded on a tangible non transitory program carrier for execution by, or to control the operation of, data processing apparatus. Alternatively, or in addition, the program instructions can be encoded on an artificially generated propagated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal, that is generated to encode information for transmission to suitable receiver apparatus for execution by a data processing apparatus. The computer storage medium can be a machine-readable storage device, a machine-readable storage substrate, a random or serial access memory device, or a combination of one or more of them.

The term “data processing apparatus” refers to data processing hardware and encompasses all kinds of apparatus, devices, and machines for processing data, including by way of example a programmable processor, a computer, or multiple processors or computers. The apparatus can also be or further include special purpose logic circuitry, e.g., a field programmable gate array (“FPGA”) or an application specific integrated circuit (“ASIC”). The apparatus can optionally include, in addition to hardware, code that creates an execution environment for computer programs, e.g., code that constitutes processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more of them.

A computer program, which may also be referred to or described as a program, software, a software application, a module, a software module, a script, or code, can be written in any form of programming language, including compiled or interpreted languages, or declarative or procedural languages, and it can be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program may, but need not, correspond to a file in a file system. A program can be stored in a portion of a file that holds other programs or data, e.g., one or more scripts stored in a markup language document, in a single file dedicated to the program in question, or in multiple coordinated files, e.g., files that store one or more modules, sub programs, or portions of code. A computer program can be deployed to be executed on one computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network.

The processes and logic flows described in this specification can be performed by one or more programmable computers executing one or more computer programs to perform functions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can also be implemented as, special purpose logic circuitry, e.g., a field programmable gate array (“FPGA”) or an application specific integrated circuit (“ASIC”).

Computers suitable for the execution of a computer program include, by way of example, general or special purpose microprocessors or both, or any other kind of central processing unit. Generally, a central processing unit will receive instructions and data from a read only memory or a random access memory or both. The essential elements of a computer are a central processing unit for performing or executing instructions and one or more memory devices for storing instructions and data. Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto optical disks, or optical disks. However, a computer need not have such devices. Moreover, a computer can be embedded in another device, e.g., a mobile telephone, a smart phone, a personal digital assistant (“PDA”), a mobile audio or video player, a game console, a Global Positioning System (“GPS”) receiver, or a portable storage device, e.g., a universal serial bus (“USB”) flash drive, to name just a few.

Computer readable media suitable for storing computer program instructions and data include all forms of nonvolatile memory, media, and memory devices, including by way of example semiconductor memory devices, e.g., EPROM, EEPROM, and flash memory devices; magnetic disks, e.g., internal hard disks or removable disks; magneto optical disks; and CD ROM and DVD-ROM disks. The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry.

To provide for interaction with a user, implementations of the subject matter described in this specification can be implemented on a computer having a display device, e.g., liquid crystal display (“LCD”)), organic light emitting diode (“OLED”) or other monitor, for displaying information to the user and a keyboard and a pointing device, e.g., a mouse or a trackball, by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback, e.g., visual feedback, auditory feedback, or tactile feedback; and input from the user can be received in any form, including acoustic, speech, or tactile input. In addition, a computer can interact with a user by sending documents to and receiving documents from a device that is used by the user; for example, by sending web pages to a web browser on a user's device in response to requests received from the web browser.

Implementations of the subject matter described in this specification can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a client computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the subject matter described in this specification, or any combination of one or more such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (“LAN”) and a wide area network (“WAN”), e.g., the Internet.

The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. In some implementations, a server transmits data, e.g., a Hypertext Markup Language (“HTML”) page, to a user device, e.g., for purposes of displaying data to and receiving user input from a user interacting with the user device, which acts as a client. Data generated at the user device, e.g., a result of the user interaction, can be received from the user device at the server.

OTHER EMBODIMENTS

In addition to the embodiments of the attached claims and the embodiments described above, the following numbered embodiments are also innovative.

Example 1: A mechanical golf green system, comprising:

• • a golf green;
    • a turntable supporting the golf green, the turntable having:
    • a top surface on which the golf green is disposed;
    • a central axis about which the turntable is configured to rotate; and
    • two or more raceways arranged beneath the top surface opposite the golf green, the two or more raceways being concentric with one another about the central axis;
    • a support structure bearing a weight of the turntable, each of the two or more raceways having a respective guide surface facing the support structure; and
  • two or more bearings affixed to the support structure for enabling rotation of the turntable abouts its central axis, the two or more bearings mating with the respective guide surfaces of each of the two or more raceways.

Example 2: The mechanical golf green system of Example 1, wherein:

• • the two or more bearings are arranged into two or more circular arrays, including one or more respective circular arrays for each of the two or more raceways, that are concentric with one another about the central axis of the turntable; and
  • for each of the two or more raceways, each of the one or more respective circular arrays of the two or more bearings mates with the respective guide surface of the raceway.

Example 3: The mechanical golf green system of Example 1, wherein the bearings comprise inverted air casters, inverted wheel casters, or both.

Example 4: The mechanical golf green system of Example 1, further comprising:

• • two or more motors mechanically coupled to the turntable, each of the two or more motors having a respective set of one or more friction wheels contacting the respective guide surface of one of the two or more raceways.

Example 5: The mechanical golf green system of Example 1, wherein the turntable comprises:

• • a top surface layer having the top surface on which the golf green is disposed; and
  • two or more beams affixed to a bottom surface of the top surface layer opposite its top surface, each beam extending in a respective radial direction orthogonal to the central axis.

Example 6: The mechanical golf green system of Example 1, wherein the golf green comprises:

• • an undulation layer supported on the top surface of the turntable, the undulation layer comprising:
  • a foam substrate disposed on the top surface of the turntable, the foam substrate defining at least a portion of a topography of the golf green; and
  • a waterproofing membrane disposed on the foam substrate; and
  • a green surface disposed on the waterproofing membrane of the undulation layer, the green surface defining a putting region in which a golf hole cup is positioned.

Example 7: The mechanical golf green system of Example 6, wherein the green surface comprises:

• • a sheet drain disposed on the undulation layer;
  • a layer of insulation material disposed on the sheet drain; and
  • a layer of grass disposed on the layer of insulation material, the layer of grass having synthetic grass, real grass, or both.

Example 8: The mechanical golf green system of Example 7, wherein the layer of grass is divided into two or more regions each having grass of a different type, the two or more regions including:

• • the putting region in which the golf hole cup is positioned, the putting region having grass of a given pile height and a given tuft gauge;
  • a fairway region having grass of greater pile height and/or coarser tuft gauge than the grass of the putting region; and
  • a rough region having grass of greater pile height and/or coarser tuft gauge than the grass of the fairway region.

Example 9: The mechanical golf green system of Example 8, wherein the golf green comprises one or more bunkers each positioned in the fairway or rough region of the golf green, each of the one or more bunkers comprising a respective depression in the golf green filled with bunker sand.

Example 10: The mechanical golf green system of any one of Examples 7-9, further comprising:

• • a knee wall disposed on the top surface of the turntable, the knee wall subtending a respective perimeter of each of the undulation layer, sheet drain, and layer of insulation material, wherein the layer of grass overhangs the knee wall;
  • an outer wall arranged laterally about the turntable, the outer wall having a top surface parallel to the top surface of the turntable;
  • a panel disposed on the top surface of the outer wall, the panel having an annulus shape that is concentric with the central axis of the turntable; and
  • a second layer of grass disposed on the panel, the second layer of grass overhanging the outer wall.

Example 11: The mechanical golf green system of Example 10, wherein the panel and the perimeter of the layer of insulation material each have a respective top surface positioned in a common plane that is parallel to the top surface of the turntable.

Example 12: The mechanical golf green system of any one of Examples 6-11, wherein the foam substrate defines a first portion of the topography of the golf green, and a second portion of the topography of the golf green is reconfigurable.

Example 13: The mechanical golf green system of Example 12, wherein the golf green comprises one or more actuation systems embedded within the undulation layer, each of the one or more actuation systems configured to move the green surface to reconfigure the second portion of the topography of the golf green.

Example 14: The mechanical golf green system of Example 13, wherein the turntable comprises:

• • a cable management system arranged beneath the top surface of the turntable, the cable management system comprising:
    • an electrical panel positioned on the central axis of the turntable; and
    • two or more electrical conduits each extending from the electrical panel to a respective position about the central axis of the turntable; and
  • for each of the one or more actuation systems, a respective set of one or more power lines electrically connecting the actuation system to the electrical panel, the respective set of power lines extending through one or more of the two or more electrical conduits.

Example 15: The mechanical golf green system of Example 14, wherein the turntable comprises, for each of the one or more actuation systems:

• • a respective control board positioned beneath the top surface of the turntable; and
  • a respective set of one or more control lines electrically connecting the actuation system to the respective control board, the respective set of control lines extending through one or more of the two or more electrical conduits.

Example 16: A system for implementing a golf game in a mixed virtual and real-world environment, the system comprising:

• • a field of play upon which the golf game is played, the field of play being divided into: (i) a screen zone, and (ii) a green zone defining a portion of a hole of a golf course;
  • a screen positioned in the screen zone, the screen having a projection surface;
  • a projector configured to project a simulation of the hole of the golf course onto the projection surface of the screen;
  • a turntable positioned in the green zone; and
  • a golf green supported on the turntable, the golf green comprising:
    • an undulation layer disposed on the turntable, the undulation layer defining a first portion of a topography of the golf green;
    • a green surface disposed on the undulation layer, the green surface defining a putting region in which a golf hole cup of the hole of the golf course is positioned; and
    • one or more actuation systems embedded within the undulation layer, each of the one or more actuation systems configured to move the green surface of the putting region to reconfigure a second portion of the topography of the golf green.

Example 17: The system of Example 16, wherein the turntable is bounded by a fixed portion of the green zone, and the first portion of the topography of the golf green has a topographic variation that, responsive to rotation of the turntable, changes a height of a golf shot approach line directed towards the golf hole cup from the fixed portion of the green zone.

Example 18: The system of Example 17, wherein the green surface and the fixed portion of the green zone define a fairway region and a rough region of the hole of the golf course.

Example 19: The system of Example 18, wherein the green zone comprises one or more bunkers each positioned in the fairway or rough region of the hole of the golf course, each of the one or more bunkers comprising a respective depression in the fairway or rough region filled with bunker sand.

Example 20: The system of any one of Examples 16-19, wherein the one or more actuation systems includes two or more actuation systems.

Example 21: The system of any one of Examples 16-20, wherein the one or more actuation systems includes three or more actuation systems each orientated at a respective angle in a range from 2 degrees to 178 degrees relative to each other actuation system.

Example 22: The system of any one of Examples 20-21, wherein the golf green comprises, for each of the one or more actuation systems:

• • a respective platform supporting the actuation system on the turntable, the respective platform elevating the actuation system to a different respective height above the turntable than the respective platform of each other actuation system.

Example 23: The system of any one of Examples 16-22, comprising:

• • two or more light sources for illuminating the golf green; and
  • a computing system communicatively coupled with each of the two or more light sources, wherein the computing system is configured, during use of the system, to:
    • execute the simulation of the hole of the golf course;
    • retrieve a coordinate of a virtual golf ball in the simulation;
    • retrieve a current angle of rotation of the turntable;
    • determine, based on the coordinate of the virtual golf ball and current angle of the turntable, a position on the golf green for a real-world golf ball; and
    • transmit, to each of one or more of the two or more light sources, a respective control signal that cause the two or more light sources to illuminate the position on the golf green for the real-world golf ball.

Example 24: The system of Example 23, further comprising:

• • two or more cameras configured to monitor the position of the real-world golf ball on the golf green; and
  • a user interface configured to receive and display a respective video feed from each of the cameras, wherein the computing system is communicatively coupled with the user interface and configured, during use of the system, to:
    • receive, from the user interface, a user input indicating that the hole of the golf course has finished being played; and
    • in response to receiving the user input, retrieve data defining a next hole of the golf course to be played.

Example 25: The system of Example 24, wherein:

• • the data defining the next hole specifies: (i) a target angle of rotation of the turntable, and (ii) a target configuration of the second portion of the topography of the golf green,
  • the system comprises one or more motors each mechanically coupled to the turntable,
  • the computing system is communicatively coupled with the one or more motors and the one or more actuation systems, and
  • the computing system is configured, during use of the system, to:
    • transmit, to each of the one or more motors, a respective control signal that causes the one or more motors to rotate the turntable to the target angle; and
    • transmit, to each of the one or more actuation systems, a respective control signal that causes the one or more actuation systems to reconfigure the second portion of the topography to the target configuration.

Example 26: The system of any one of Examples 16-25, located within an arena or a stadium.

Example 27: A method for implementing a golf game in a mixed virtual and real-world environment, the method comprising:

• • providing a field of play upon which the golf game is played, the field of play being divided into: (i) a screen zone, and (ii) a green zone defining a portion of a hole of a golf course;
  • executing, by a computing system, a simulation of the hole of the golf course;
  • projecting, by a projector, the simulation onto a projection surface of a screen positioned in the screen zone;
  • providing a turntable, positioned in the green zone, on which a golf green is supported, the golf green comprising:
    • an undulation layer supported on the turntable, the undulation layer defining a first portion of a topography of the golf green;
    • a green surface disposed on the undulation layer, the green surface defining a putting region of the hole of the golf course;
    • a golf hole cup positioned in the putting region; and
    • one or more actuation systems embedded within the undulation layer, each of the one or more actuation systems configured to move the green surface of the putting region to reconfigure a second portion of the topography of the golf green;
  • receiving, by the computing system, a user input indicating that the hole of the golf course has finished being played; and
  • in response to receiving the user input:
    • retrieving, by the computing system, data defining a next hole of the golf course to be played, the data specifying: (i) a target angle of rotation of the turntable, and (ii) a target configuration of the second portion of the topography of the golf green;
    • transmitting, by the computing system, a respective control signal to each of one or more drive motors that causes the one or more drive motors to rotate the turntable to the target angle; and
    • transmitting, by the computing system, a respective control signal to each of the one or more actuation systems that causes the one or more actuation systems to reconfigure the second portion of the topography of the golf green to the target configuration.

Example 28: The method of Example 27, wherein the data defining the next hole of the golf course comprises a position of the golf hole cup in the putting region, and the golf hole cup is positioned in a portion of the green surface moved by one of the one or more actuation systems.

Example 29: The method of any one of Examples 27-28, comprising:

• • retrieving, by the computing system, a coordinate of a virtual golf ball in the simulation;
  • retrieving, by the computing system, a current angle of rotation of the turntable;
  • determining, by the computing system, a target position on the golf green for a real-world golf ball based on the coordinate of the virtual golf ball and current angle of the turntable; and
  • transmitting, by the computing system, a respective control signal to each of one or more light sources that cause the one or more light sources to illuminate the position on the golf green for the real-world golf ball.

Example 30: The method of any one of Examples 27-29, wherein the one or more actuation systems are two or more actuation systems.

Example 31: The method of any one of Examples 27-30, wherein each hole of the golf course is defined by respective data specifying: (i) a respective target angle of rotation of the turntable, and (ii) a respective target configuration of the second portion of the topography of the golf green.

While this specification contains many specific implementation details, these should not be construed as limitations on the scope of what may be claimed, but rather as descriptions of features that may be specific to particular implementations. Certain features that are described in this specification in the context of separate implementations can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.

Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing may be advantageous. Moreover, the separation of various system modules and components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products.

In each instance where an HTML file is mentioned, other file types or formats may be substituted. For instance, an HTML file may be replaced by an XML, JSON, plain text, or other types of files. Moreover, where a table or hash table is mentioned, other data structures (such as spreadsheets, relational databases, or structured files) may be used.

Particular implementations of the invention have been described. Other implementations are within the scope of the following claims. For example, the operations recited in the claims, described in the specification, or depicted in the figures can be performed in a different order and still achieve desirable results. In some cases, multitasking and parallel processing may be advantageous.