JP4436990B2 - Ball trajectory measuring device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an apparatus for measuring the trajectory of a ball, and more particularly to a ball trajectory measuring apparatus suitable for measuring the position coordinates of the trajectory of a golf ball.
[0002]
[Prior art]
As a golf ball trajectory measuring device, conventionally, the following devices have been proposed. That is,
(1) In Japanese Patent Laid-Open No. 6-323852 and the like, a CCD camera with a shutter function is used, image data photographed by this CCD camera is taken into an arithmetic unit, and image processing and other arithmetic processing are performed. An apparatus is disclosed in which a multi-layered image is generated by writing only in a multi-layer memory, and a ball trajectory is measured from the multi-layered image.
[0003]
(2) Also, in Japanese Patent Laid-Open No. 2001-145718, using two or more CCD cameras installed behind the hitting position and in the direction perpendicular to the flight direction of the golf ball, image data and flight of the CCD camera behind the hitting position An apparatus for measuring the trajectory of a golf ball by performing the same processing as described above based on the direction and the image data of the CCD camera in the vertical direction is disclosed.
[0004]
(3) In addition, two CCD cameras are installed in the left-right direction (horizontal direction and perpendicular to the flight direction of the golf ball) of the hitting position, and triangulation is performed based on a pair of image data taken from the left-right direction. An apparatus for measuring the trajectory of a golf ball by a legal method has also been proposed.
[0005]
[Problems to be solved by the invention]
With the ball trajectory measuring device of (1) above, the trajectory of the golf ball can be observed, but the exact position coordinates of the golf ball trajectory cannot be measured.
[0006]
In the ball trajectory measuring device of the above (2), the position coordinates of the trajectory of the golf ball can be measured to a certain degree. However, in order to photograph the entire trajectory of the golf ball, the CCD installed in the direction perpendicular to the flight direction of the golf ball A large number of cameras are required. Further, calculation of the position coordinates of the ball trajectory requires calibration in a very large space and is difficult. Furthermore, a CCD camera installed in a direction perpendicular to the flight direction of the golf ball may have difficulty in increasing the distance in the direction perpendicular to the flight direction of the ball due to the geographical relationship between the golf course and the ball trajectory measurement field. Many are usually placed close to the flight trajectory of the ball. Therefore, since the golf ball is photographed with the CCD camera facing upward, it is difficult to take an image sufficient for image processing due to the influence of, for example, clouds.
[0007]
In the ball trajectory measuring device of (3) above, if the distance between the two CCD cameras installed in the left-right direction of the hitting position is small, the intersection angle of the two CCD cameras with respect to the ball becomes small, so the accuracy decreases. It is difficult to accurately measure the position coordinates of the ball trajectory. Conversely, if the distance between the two CCD cameras in the left-right direction is increased, the measurement accuracy is improved, but the accuracy decreases as the golf ball moves further away, and calibration in a large space is required in calculating the position coordinates of the ball trajectory. Necessary.
[0008]
The present invention has been made in view of these disadvantages. The CCD camera can be easily installed, can be stably measured regardless of the weather, etc., and can be easily calibrated. The object is to provide a ball trajectory measuring device capable of measuring series data with high accuracy.
[0009]
[Means for Solving the Problems]
The invention made in order to solve the above-described problems includes (a) at least two CCD cameras installed on the straight line connecting the striking position and the target position, behind the striking position and in front of the target position; b) a control unit for controlling the timing of photographing by these CCD cameras, and (c) a triangle based on a pair of image data photographed simultaneously by these CCD cameras and the position, optical axis direction and angle of view of the CCD camera. It is a ball trajectory measuring device provided with the calculating part which calculates the position coordinate of a ball | bowl by a surveying method. Here, the “target position” means the target position of the ball drop point. Further, “front” means a target position direction based on the hitting position, and “rearward” means the opposite direction.
[0010]
According to the ball trajectory measuring device, since the CCD camera is installed behind and ahead of the target position on a straight line connecting the hit position and the target position, the CCD camera can be easily installed. In addition, the distance between the CCD camera behind the strike position and the CCD camera ahead of the target position can be secured, and the moving speed of the ball within the screen is in terms of accuracy and image recognition (that is, if the moving speed is too fast, image recognition is performed). On the other hand, if the moving speed is too slow, the accuracy is reduced), and the measurement speed is improved. Furthermore, since the elevation angle of the CCD camera is not so large as compared with the case where the CCD camera is installed in a direction perpendicular to the flight direction, a clear and stable image can be obtained regardless of the weather. In addition, since the CCD camera is positioned substantially on the same straight line as the flight direction, the position coordinates of the ball trajectory can be easily calibrated.
[0011]
Based on the optical axis direction and angle of view of the CCD camera behind the strike position and the CCD camera ahead of the target position and a pair of image data photographed simultaneously by these CCD cameras in the calculation unit, the CCD camera behind the strike position And calculate the elevation angle θ ₁ of the ball at the position of and the elevation angle θ ₂ of the ball at the position of the CCD camera ahead of the target position,
From this elevation angle θ ₁ , elevation angle θ ₂ and the distance L between the CCD camera behind the strike position and the CCD camera ahead of the target position, the position of the CCD camera behind the strike position is the origin, and the coordinates in the target position direction are X, Two-dimensional position coordinates with Z in the height direction,
X = L * tanθ ₂ / (tanθ ₁ + tanθ ₂ ) (1)
Z = L * tanθ ₁ * tanθ ₂ / (tanθ ₁ + tanθ ₂ ) (2)
It is good to calculate by said numerical formula (1) and (2).
[0012]
As described above, the elevation angles θ ₁ and θ ₂ of the ball at that time are calculated based on a pair of image data photographed simultaneously by the CCD camera behind the hitting position and the CCD camera ahead of the target position, and these elevation angles are calculated according to the above formula. By substituting into (1) and (2), the two-dimensional position coordinates X and Z can be calculated. Therefore, the time series data of the position coordinates of the ball can be obtained by performing the above calculation based on a pair of image data at each time point.
[0013]
Further, in the calculation unit, based on the optical axis direction and angle of view of the CCD camera behind the strike position and the CCD camera ahead of the target position and a pair of image data photographed simultaneously by these CCD cameras, The elevation angle θ ₁₁ of the ball at the CCD camera position, the elevation angle θ ₂₁ of the ball at the CCD camera position in front of the target position, the lateral angle θ ₁₂ of the ball at the CCD camera position behind the hit position, and the forward position of the target position Calculate the left-right angle θ ₂₂ of the ball at the position of the CCD camera;
From the elevation angle θ ₁₁ , elevation angle θ ₂₁ , left-right direction angle θ ₁₂ , left-right direction angle θ _22, and distance L between the CCD camera behind the strike position and the CCD camera ahead of the target position, the position of the CCD camera behind the strike position Is the origin, the coordinate in the target position direction is X, the coordinate in the height direction is Z, and the position in the left-right direction is Y,
Y = L * tanθ ₁₂ * tanθ ₂₂ / (tanθ ₁₂ + tanθ ₂₂ ) (3)
(Tanθ ₁₁ * tanθ ₁₁ + tanθ ₂₁ * tanθ ₂₁ ) * X * X
+ 2 * tanθ ₂₁ * tanθ ₂₁ * L * X
+ (Tanθ ₁₁ * tanθ ₁₁ −tanθ ₂₁ * tanθ ₂₁ ) * Y * Y
-Tanθ ₂₁ * tan θ ₂₁ * L * L = 0 (4)
tanθ ₁₁ * tan θ ₁₁ * (X * X + Y * Y) −Z * Z = 0 (5)
It is good to calculate by said numerical formula (3), (4) and (5). Here, “left / right direction” means a direction perpendicular to the target position direction with respect to the CCD camera behind the hitting position, and “left / right direction angle” means a direction angle in the left / right direction with reference to the target position direction. Means.
[0014]
As described above, the elevation angle θ ₁₁ , elevation angle θ ₂₁ , left-right direction calculated based on the pair of image data simultaneously captured by the CCD camera behind the hitting position and the CCD camera ahead of the target position, the optical axis direction and the angle of view of the CCD camera. By substituting the angle θ ₁₂ and the left-right direction angle θ ₂₂ into the above formulas (3), (4), and (5), the three-dimensional position coordinates X, Y, Z taking into account the lateral blur with respect to the target position direction Can be obtained.
[0015]
The distance L between the CCD camera behind the hitting position and the CCD camera ahead of the target position is preferably 1.2 times or more the ball flight distance. By making the distance L between the CCD cameras 1.2 times or more of the flight distance, the elevation angle of the optical axis of the CCD camera can be suppressed and the influence of the weather on the obtained image can be reduced.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings as appropriate. FIG. 1 is a schematic configuration diagram illustrating a ball trajectory measuring apparatus according to an embodiment of the present invention, and FIG. 2 is a schematic side view illustrating a method for measuring a two-dimensional position coordinate of a ball trajectory by the ball trajectory measuring apparatus of FIG. FIG. 3 is a schematic perspective view for explaining a method for measuring the three-dimensional position coordinates of the ball trajectory by the ball trajectory measuring apparatus of FIG. 1, and FIGS. 4 to 7 are diagrams for explaining the shooting mode of the ball trajectory by the ball trajectory measuring apparatus of FIG. FIG.
[0017]
The ball trajectory measuring device of FIG. 1 measures the position coordinates of the trajectory of a golf ball, and includes a CCD camera 1, 2, a recording unit 3, 4, a computer unit 5, a trigger unit 6, a synchronization signal generating unit 7, and a hub. 8, a cable compensator 9, and a monitor 10. Among these components, the computer unit 5, the trigger unit 6, and the synchronization signal generator 7 constitute the control unit, and the recording units 3 and 4 and the computer unit 5 constitute the arithmetic unit. That is, the computer unit 5 has both the control unit and the calculation unit, but it is also possible to provide a computer unit for each function.
[0018]
The CCD camera 1 is provided with a shutter function, and is installed on the straight line connecting the striking position A and the target position B and behind the striking position A as shown in FIG. The optical axis of the CCD camera 1 is directed in the target position B direction. Therefore, the CCD camera 1 captures a flying golf ball from behind, and continuous image data is acquired.
[0019]
The CCD camera 2 has the same shutter function as the CCD camera 1 and is installed on the straight line connecting the striking position A and the target position B and in front of the target position B as shown in FIG. Has been. The optical axis of the CCD camera 2 is directed in the striking position A direction. Therefore, the CCD camera 2 captures a flying golf ball from the front and obtains continuous image data.
[0020]
The CCD camera 1 and the CCD camera 2 are photographed in synchronism with a synchronization signal generated from a synchronization signal generator 7, and a pair of image data photographed at the same time can be acquired. At least one CCD camera 1 or 2 may be installed, and a plurality of CCD cameras may be installed by changing the optical axis direction (elevation angle).
[0021]
The recording unit 3 records image data captured by the CCD camera 1 behind the hitting position A for each frame. On the other hand, the recording unit 4 records image data captured by the CCD camera 2 in front of the target position B for each frame. The recording unit 3 and the recording unit 4 are not particularly limited, and for example, a time plus VTR, a digital disk recorder, a moving picture board, or the like is used.
[0022]
As means for synchronizing the image data for each frame of the CCD camera 1 and the CCD camera 2 recorded in the recording unit 3 and the recording unit 4,
(1) Use a video board with frame synchronization.
(2) Use a digital disk recorder with frame synchronization.
(3) A time plus VTR is used, and a black screen signal or the like is sent to the time plus VTR at the start of recording. Based on the recorded black screen or the like, frame synchronization is performed on arithmetic processing in the computer unit 5;
(4) Means such as using the same time plus VTR, further including a time code generator, and recording a frame number signal sent from the time code generator simultaneously with the frame data are adopted.
[0023]
In the means of (3) above, as a method of transmitting the black screen signal, a device for creating a black screen is separately connected between the CCD cameras 1 and 2 and the recording units 3 and 4, and recording is performed from this device. There is a method of transmitting black screen signals to the units 3 and 4 at the same time, and in the case of the CCD cameras 1 and 2 having no auto iris function, there is a method of directly transmitting the black screen signal to the CCD cameras 1 and 2.
[0024]
The trigger unit 6 generates a trigger signal as a measurement (recording) start signal, and specifically includes a sensor such as a light shielding optical sensor. This sensor is provided in the vicinity of the hitting position A, and is configured to detect the passage of a golf club or the hit golf ball. Thus, when a golf ball hit is detected, a trigger signal is transmitted from the trigger unit 6 to the computer unit 5, and a control signal is transmitted from the computer unit 5 to the recording units 3 and 4 to start recording.
[0025]
The computer unit 5 includes a control unit that controls recording start or stop for the recording units 3 and 4, an image processing unit that performs image processing on image data for each frame recorded in the recording units 3 and 4, and an image-processed image Calculation means for calculating the position coordinates of the golf ball based on the data is included. Therefore, the control means belongs to the control section, and the image processing means and calculation means belong to the calculation section.
[0026]
The image processing means performs a difference peak hold calculation on the image data recorded in the recording units 3 and 4 in the order of frames. Specifically, only the pixel memory having the changed peak among the pixels of each frame memory is held, and the memory having no change is erased. Since the golf ball image is whiter than the background and becomes the whitest portion in the light / dark determination, the background is erased by this image processing, and image data in which only the golf ball image remains can be generated.
[0027]
As a calculation means, (a) when calculating a two-dimensional position coordinate where the position of the CCD camera 1 behind the hitting position is the origin, the coordinate of the target position direction is X, and the coordinate of the height direction is Z, (b In some cases, a three-dimensional position coordinate is calculated by adding a position Y in the left-right direction to the two-dimensional position coordinate.
[0028]
First, the calculation of two-dimensional position coordinates will be described with reference to FIG. The calculation of the two-dimensional position coordinates includes a step of calculating the elevation angle of the golf ball C and a step of calculating the two-dimensional position coordinates. The elevation angle calculating step uses a pair of image-processed frame data photographed simultaneously by the CCD cameras 1 and 2, and performs a black and white inversion determination by horizontal scanning on these frame data, so that the image on the golf ball image is displayed. The vertical position is detected, and the elevation angle θ ₁ of the golf ball C at the position of the CCD camera 1 behind the striking position based on the detection result and the optical axis direction (elevation angle) and field angle of the CCD cameras 1 and 2 at the time of shooting. And the elevation angle θ ₂ of the golf ball C at the position of the CCD camera 2 ahead of the target position.
[0029]
In the two-dimensional position coordinate calculation step, the elevation angle θ ₁ , the elevation angle θ ₂ calculated in the elevation angle calculation step, and the distance L between the CCD camera 1 and the CCD camera 2 are calculated.
X = L * tanθ ₂ / (tanθ ₁ + tanθ ₂ ) (1)
Z = L * tanθ ₁ * tanθ ₂ / (tanθ ₁ + tanθ ₂ ) (2)
Substituting into the above formulas (1) and (2), the two-dimensional position coordinates X and Z of the golf ball C are calculated.
[0030]
From the CCD camera 1, the CCD camera 2, the golf ball C shown in FIG.
tanθ ₁ = Z / X
tanθ ₂ = Z / (L−X)
Is derived, and the above equations (1) and (2) can be obtained by deriving X and Z from the simultaneous equations.
[0031]
By performing the above-described calculation of the two-dimensional position coordinates for each pair of frame data captured simultaneously in succession, the time-series two-dimensional position coordinates of the trajectory of the golf ball C can be obtained.
[0032]
Next, the calculation of the three-dimensional position coordinates will be described with reference to FIG. The calculation of the three-dimensional position coordinates includes a step of calculating the elevation angle and the left-right direction angle of the golf ball C, and a step of calculating the three-dimensional coordinates. The elevation angle / left-right direction angle calculation step uses a pair of image-processed frame data photographed simultaneously by the CCD cameras 1 and 2 and performs black and white inversion determination by horizontal scanning and vertical scanning on these frame data. A golf ball at the position of the CCD camera 1 is detected based on the detection result, the optical axis direction (elevation angle) and the angle of view of the CCD cameras 1 and 2 at the time of shooting. The elevation angle θ _{11 of} C, the elevation angle θ ₂₁ of the golf ball C at the position of the CCD camera 2, the horizontal angle θ ₁₂ of the golf ball C at the position of the CCD camera 1, and the left and right of the golf ball C at the position of the CCD camera 2 The direction angle θ ₂₂ is calculated.
[0033]
The three-dimensional coordinate calculation step includes the elevation angle θ ₁₁ , the elevation angle θ ₂₁ , the left-right direction angle θ ₁₂ , the left-right direction angle θ ₂₂ and the distance L between the CCD cameras 1 and 2 calculated in the elevation angle / left-right direction angle calculation step.
Y = L * tanθ ₁₂ * tanθ ₂₂ / (tanθ ₁₂ + tanθ ₂₂ ) (3)
(Tanθ ₁₁ * tanθ ₁₁ + tanθ ₂₁ * tanθ ₂₁ ) * X * X
+ 2 * tanθ ₂₁ * tanθ ₂₁ * L * X
+ (Tanθ ₁₁ * tanθ ₁₁ −tanθ ₂₁ * tanθ ₂₁ ) * Y * Y
-Tanθ ₂₁ * tan θ ₂₁ * L * L = 0 (4)
tanθ ₁₁ * tan θ ₁₁ * (X * X + Y * Y) −Z * Z = 0 (5)
Substituting into the above mathematical formulas (3), (4) and (5), the three-dimensional position coordinates X, Y and Z of the golf ball C are calculated.
[0034]
By performing the calculation of the three-dimensional position coordinates for each pair of frame data photographed in succession at the same time, the time-series three-dimensional position coordinates of the trajectory of the golf ball C can be obtained.
[0035]
According to the ball trajectory measuring device having the above-described structure, the CCD camera 1 installed behind the hitting position A, the CCD camera 2 installed in front of the target position B, and the timing of photographing of these CCD cameras 1 and 2 are controlled. A pair of image data in which the golf ball C is simultaneously photographed from before and after the flight direction by the control unit that performs the above-described image processing and calculation processing by the calculation unit, so that the time series two-dimensional of the trajectory of the golf ball C is obtained. Position coordinates or three-dimensional position coordinates can be obtained. Therefore, compared with the conventional ball trajectory measuring device, the CCD camera can be easily installed and calibrated, and the position coordinates can be measured with high accuracy.
[0036]
The lower limit of the distance L between the CCD camera 1 and the CCD camera 2 is preferably 1.2 times the flight distance of the golf ball C, and particularly preferably 1.5 times. Thus, by setting the distance L between the CCD cameras 1 and 2 to be equal to or more than the lower limit, the elevation angle in the optical axis direction of the CCD cameras 1 and 2 can be suppressed, and the influence of the weather on the obtained image can be reduced. On the other hand, the upper limit of the distance L between the CCD cameras 1 and 2 is preferably 3 times the flight distance of the golf ball C, and particularly preferably 2 times. This is because if the distance L between the CCD cameras 1 and 2 exceeds the above upper limit, the elevation angle of the golf ball C becomes small and the measurement accuracy decreases.
[0037]
The ground clearance of the CCD cameras 1 and 2 is preferably within 3 m. This is because, when the ground height of the CCD cameras 1 and 2 exceeds 3 m, it becomes difficult to measure the vicinity of the launch point and the vicinity of the falling point, and errors due to correction of position coordinates due to the ground height increase.
[0038]
Next, the shooting mode of the trajectory of the golf ball C by the CCD cameras 1 and 2 will be described with reference to FIGS. 4 is a case where one CCD camera 1 or 2 is installed. Since it is necessary to photograph the golf ball C clearly to the extent that image processing is possible, the angle of view of the CCD cameras 1 and 2 has a predetermined restriction and cannot be made too wide. Therefore, when the CCD cameras 1 and 2 are installed one by one, as shown in FIG. 4, only a target portion of the trajectory of the golf ball C, for example, near the highest point, near the launch position, or near the drop point is photographed. In this shooting mode, the position coordinates of only the target portion of the trajectory of the golf ball C are measured, and the simulation of the entire trajectory is possible using the position coordinates of this portion.
[0039]
In the photographing mode of FIG. 5, three CCD cameras 1 and 2 are installed, and three specific points of the trajectory of the golf ball C, for example, near the highest point, near the launch position, and near the drop point are photographed. According to this imaging mode, it is possible to measure more detailed trajectory position coordinates than when one unit is installed, and it is possible to more accurately estimate the simulation of all trajectories.
[0040]
In the photographing form of FIG. 6, a large number of CCD cameras 1 and 2 are installed, and all the trajectories of the golf ball C are photographed. The position coordinates of all the trajectories of the golf ball C can be measured most accurately.
[0041]
In the imaging mode of FIG. 7, one CCD camera 1 and 2 is installed on a pan head that can change the elevation angle in the optical axis direction, and the direction of the optical axis of the CCD cameras 1 and 2 as the golf ball C flies. Change the elevation angle and shoot the whole trajectory. Even in this imaging mode, the position coordinates of all the trajectories can be measured. In this shooting mode, as the method of changing the elevation angle of the CCD cameras 1 and 2 in the optical axis direction, (a) a method of predicting the trajectory of the golf ball C and changing it based on pre-designated data so that it can be properly shot, (b There is a method in which the position coordinates are sequentially measured from the photographed image data by the calculation unit, and the moving direction of the golf ball C is predicted and automatically changed from the measurement result. When the optical axis direction of the CCD cameras 1 and 2 is automatically changed, it is necessary to feed back the elevation angle or change amount in the optical axis direction to the calculation unit.
[0042]
Also, CCD cameras 1 and 2 having a zoom function may be used. By enlarging and reducing the image by such a zoom function, the golf ball C can be photographed more clearly, and the accuracy of measurement of the position coordinates can be improved. As a method of changing the zoom of the CCD cameras 1 and 2, (a) a method of predicting the trajectory of the golf ball C and changing based on data designated in advance so as to obtain an appropriate shooting state, and (b) a shot image. There is a method in which the position coordinates are sequentially measured from the data by the calculation unit, and the moving direction of the golf ball C is predicted and automatically changed from the measurement result. Note that this zoom function is effective in the case of the shooting mode of FIG. 7 in which each of the CCD cameras 1 and 2 needs to shoot from a short distance to a long distance. When the zoom is automatically changed, it is necessary to feed back the angle of view of the CCD cameras 1 and 2 to the calculation unit.
[0043]
Further, CCD cameras 1 and 2 having an auto iris function (automatic aperture function) may be used. When shooting, even if the light contrast between the golf ball C and the background changes due to changes in the weather, etc., the aperture is automatically adjusted so that the golf ball C is shot clearly, and image data that is optimal for measurement is obtained. Can be acquired.
[0044]
The ball trajectory measuring apparatus of the present invention is not limited to the above embodiment, and for example, it is possible to use CCD cameras 1 and 2 having no shutter function.
[0045]
【The invention's effect】
As described above, according to the ball trajectory measuring device of the present invention, it is easy to install a CCD camera used for measurement, and stable measurement can be performed without being influenced by the weather or the like. Furthermore, calibration is easy, and time-series data of the position coordinates of the flying ball can be accurately measured. As a result, it is possible to analyze the lift coefficient, drag coefficient, etc. of the hit ball, and for example, it is possible to effectively feed back to the design of the golf ball.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram showing a ball trajectory measuring apparatus according to an embodiment of the present invention.
2 is a schematic side view for explaining a method for measuring the two-dimensional position coordinates of a ball trajectory by the ball trajectory measuring apparatus of FIG. 1; FIG.
FIG. 3 is a schematic perspective view for explaining a method for measuring the three-dimensional position coordinates of the ball trajectory by the ball trajectory measuring apparatus of FIG. 1;
4 is a side view of a ball trajectory for explaining one shooting mode of the ball trajectory by the ball trajectory measuring apparatus of FIG. 1; FIG.
FIG. 5 is a side view of a ball trajectory for explaining one shooting mode of the ball trajectory by the ball trajectory measuring apparatus of FIG. 1;
FIG. 6 is a side view of a ball trajectory for explaining one shooting mode of the ball trajectory by the ball trajectory measuring apparatus of FIG. 1;
7 is a side view of a ball trajectory for explaining one shooting mode of the ball trajectory by the ball trajectory measuring apparatus of FIG. 1; FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... CCD camera 2 ... CCD camera 3 ... Recording part 4 ... Recording part 5 ... Computer part 6 ... Trigger part 7 ... Synchronization signal generation part 8 ... Hub 9 ... Cable compensator 10 ... Monitor A ... Hitting position B ... Target position C ... Golf ball X ... Position coordinates Z in the target position direction ... Position coordinates Y in the height direction ... Position coordinates in the horizontal direction

Claims (5)

A straight line connecting the hitting position and the target position, and at least one CCD camera Installation behind the striking position,
At least one CCD camera installed on the straight line connecting the striking position and the target position and in front of the target position;
A control unit for controlling the timing of photographing by these CCD cameras;
A ball trajectory provided with a calculation unit that calculates a position coordinate of a ball by a triangulation method based on a pair of image data simultaneously captured by these CCD cameras and the position, optical axis direction, and angle of view of the CCD camera Measuring device. Based on the optical axis direction and angle of view of the CCD camera behind the strike position and the CCD camera ahead of the target position and a pair of image data photographed simultaneously by these CCD cameras in the calculation unit, the CCD camera behind the strike position And calculate the elevation angle θ ₁ of the ball at the position of and the elevation angle θ ₂ of the ball at the CCD camera position ahead of the target position,
From the elevation angle θ ₁ , elevation angle θ ₂ and the distance L between the CCD camera behind the strike position and the CCD camera ahead of the target position, the position of the CCD camera behind the strike position is the origin, the coordinates in the target position direction are X, The ball trajectory measuring device according to claim 1, wherein a two-dimensional position coordinate having a vertical coordinate Z is calculated by the following mathematical formulas (1) and (2).
X = L * tanθ ₂ / (tanθ ₁ + tanθ ₂ ) (1)
Z = L * tanθ ₁ * tanθ ₂ / (tanθ ₁ + tanθ ₂ ) (2) Based on the optical axis direction and angle of view of the CCD camera behind the strike position and the CCD camera ahead of the target position and a pair of image data photographed simultaneously by these CCD cameras in the calculation unit, the CCD camera behind the strike position The elevation angle θ ₁₁ of the ball at the position of the ball, the elevation angle θ ₂₁ of the ball at the position of the CCD camera ahead of the target position, the lateral angle θ ₁₂ of the ball at the position of the CCD camera behind the strike position, and the CCD camera ahead of the target position And the left-right direction angle θ ₂₂ of the ball at the position of
From the elevation angle θ ₁₁ , elevation angle θ ₂₁ , left-right direction angle θ ₁₂ , left-right direction angle θ _22, and distance L between the CCD camera behind the strike position and the CCD camera ahead of the target position, the position of the CCD camera behind the strike position A three-dimensional position coordinate is calculated by the following formulas (3), (4), and (5), where X is the origin, X is the coordinate in the target position direction, Z is the coordinate in the height direction, and Y is the position in the horizontal direction. 2. The ball trajectory measuring device according to 1.
Y = L * tanθ ₁₂ * tanθ ₂₂ / (tanθ ₁₂ + tanθ ₂₂ ) (3)
(Tanθ ₁₁ * tanθ ₁₁ + tanθ ₂₁ * tanθ ₂₁ ) * X * X
+ 2 * tanθ ₂₁ * tanθ ₂₁ * L * X
+ (Tanθ ₁₁ * tanθ ₁₁ −tanθ ₂₁ * tanθ ₂₁ ) * Y * Y
-Tanθ ₂₁ * tan θ ₂₁ * L * L = 0 (4)
tanθ ₁₁ * tan θ ₁₁ * (X * X + Y * Y) −Z * Z = 0 (5)   4. The ball trajectory measurement according to claim 1, wherein a distance L between the CCD camera behind the hitting position and the CCD camera ahead of the target position is 1.2 times or more of a ball flight distance. apparatus. A plurality of CCD cameras having different optical axis angles are provided behind the hitting position,
  5. The ball trajectory measuring apparatus according to claim 1, further comprising a plurality of CCD cameras having different optical axis angles in front of the target position.

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