KR20180120802A - Method for measuring behavior of moving body and behavior measuring device - Google Patents

Abstract

Measuring the behavior of moving objects without using special equipment. The behavior measuring device 10 is a device for measuring the movement of a moving object 20 based on a first image in a state in which the golf ball 20 is disposed at the movement start point P0 and a second image in the state in which the golf ball 20 is moved, Is measured. The moving direction can be calculated from the displacing direction with respect to the position of the moving object in the two images. Further, the direction of the rotation axis can be calculated from the position of the image of the golf ball 20 in the two images and the difference in the direction facing the golf ball 20.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a moving body measuring method,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a behavior measuring method and a behavior measuring apparatus for measuring a behavior of a moving object.

Conventionally, in measuring the behavior of a moving object such as a golf ball, a method of calculating parameters showing various behaviors by image processing of a plurality of images taken of the moving object is used.

Here, the moving object to be measured is moved at a high speed (therefore, it is difficult to capture with a normal (normal) camera). As a method of photographing an image of a moving object moving at a high speed, A method of opening and closing a shutter a plurality of times (for example) while shooting one image, or a method of opening and closing a shutter in a plurality of strokes while opening and closing the shutter once, There is known a method by multiple exposure in which exposure is performed (refer to Patent Document 2 below).

Japanese Patent Application Laid-Open No. 2001-264016 Japanese Patent Application Laid-Open No. 63-186672

However, in the method related to the above-described prior art, there is a problem that a complicated system such as a special camera capable of high-speed video or multiple exposure and a circuit synchronizing with the strobe is required and the measurement apparatus becomes expensive .

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and an object thereof is to provide a behavior measuring method and a behavior measuring apparatus of a moving object which can measure the behavior of the moving object without using a special device.

In order to achieve the above object, a method for measuring the behavior of a moving object according to the invention of claim 1 is a method for measuring the behavior of a moving object, which measures the behavior of the moving object, A first photographing step of photographing an image of the moving object placed at the movement start point; a movement start detecting step of detecting that the moving object has started to move; Calculating a behavior for calculating at least one of a moving direction of the moving body and a rotational axis direction based on the second photographing step and the second image photographed in the first photographing step and the second photographing step in the first photographing step Process, and the like.

In the moving behavior measuring method according to the invention of claim 2, in the behavior calculating step, the moving speed of the moving body is further calculated based on the elapsed time from when the moving body starts moving to when the second image is picked up .

The moving object movement measuring method according to the invention of claim 3 is characterized in that in the first photographing step and the second photographing step, an image in the same photographing area is photographed, and in the behavior calculating step, And calculates a displacement direction of the position of the moving object and the position of the moving object in the second image as the moving direction.

The moving object movement measuring method according to the invention of claim 4 is characterized in that the moving object is a ball having a known diameter and in the behavior calculating step the movement of the ball in the first image and the second image And calculates the moving direction in a direction orthogonal to the photographing direction in the first photographing process and the second photographing process based on the ratio of the diameter.

In the moving object measuring method according to the invention of claim 5, in the first photographing step and the second photographing step, an image of the moving object is photographed using a plurality of cameras, and in the behavior calculating step A position of the moving object in the three-dimensional space before the start of movement is specified based on the plurality of first images photographed by the plurality of cameras, respectively, and based on the plurality of second images photographed by the plurality of cameras The position of the moving object on the three-dimensional space after starting the movement is specified, and the moving direction is calculated on the basis of the difference (positional difference) between positions on the three-dimensional space of the moving object before and after the start of the movement.

A moving object movement measuring method according to a sixth aspect of the present invention is characterized in that the moving object has a pattern that can be viewed from all directions, and in the behavior calculating step, the position and direction of the drawing in the first image, And the direction of the rotation axis is calculated from the difference between the position of the drawing and the facing side of the second image.

In the movement measuring method for a moving body according to the invention of claim 7, the moving body is started to be moved by being struck by the striking mouth, and in the above-mentioned positioning detection step, detection of the start of striking behavior by the striking mouth Thereby detecting that the moving body is disposed at the movement start point.

The movement measuring method of a moving object according to an eighth aspect of the present invention is characterized in that the placement detection step detects that the moving object is disposed at the movement start point by detecting an arrangement completion signal input from the outside do.

According to a ninth aspect of the present invention, there is provided a method for measuring a movement of a moving body, wherein the moving body starts moving by being struck by a striking mouth, and in the moving start detecting step, And detects that the moving body has started to move.

According to a tenth aspect of the present invention, there is provided a method of measuring a movement of a moving object, the method further comprising a temperature detecting step of detecting a temperature around the moving start point, And the timing at which the moving object starts to move is corrected.

The moving behavior measuring method according to the invention of claim 11 is characterized in that, in the moving start detecting step, the moving object starts to be detected using a passage detecting sensor having the traveling path of the moving object as a detection area .

The movement measuring method of a moving object according to the invention of claim 12 is characterized in that, in the above-mentioned placement detection step, a light projecting part for projecting light (light) onto the movement start point and a light projecting part for projecting light And a detection unit for detecting the presence or absence of the moving object at the movement start point based on a change in the amount of light (light amount) received by the light receiving unit Wherein the moving object is located at the movement start point using a reflection type optical sensor that detects the movement of the moving object.

The moving object movement measuring method according to claim 13 is characterized in that, in the above-mentioned placement detection step, when the reflected light is continuously received for a predetermined time or longer, it detects that the moving object is located at the movement start point.

The moving object movement measuring method according to the invention of claim 14 further comprises a holding unit for noticing that an object is continuously detected for a predetermined time or longer within the detection range of the reflection type optical sensor.

According to a fifteenth aspect of the present invention, in the movement start detecting step, the moving object starts moving by detecting that the moving object has retreated from the movement starting point using the reflection type optical sensor And detecting the one that has occurred.

In the moving object movement measuring method according to the invention of claim 16, the reflective optical sensor has a function of identifying the color of the object, and only when the object is of a predetermined color, within the detection range of the reflective optical sensor, And detects that there is an object.

According to a seventeenth aspect of the present invention, there is provided a movement measuring device for a moving object, which measures the behavior of the moving object, comprising: a placement detection means for detecting that the moving object is disposed at a movement start point; An image pickup means arranged so as to include the movement start point in an image pickup area and an image pickup means for picking up an image taken by the image pickup means on the basis of a detection result by the placement detection means and the movement start detection means, Based on a first image which is an image of the moving object placed at the movement start point and a second image which is an image of the moving object after start of movement, the moving direction of the moving object or the rotation axis And a direction calculating means for calculating at least one of the direction and the direction.

The movement measuring device according to claim 18 is characterized in that the behavior calculating means further calculates the moving speed of the moving object based on the elapsed time from when the moving object starts moving to when the second image is captured .

In the movement measuring device for a moving object according to the invention of claim 19, the photographing means photographs the first image and the second image in the same photographing area, and the behavior calculating means calculates the behavior of the moving object And calculates the displacement direction between the position of the moving object and the position of the moving object in the second image as the moving direction.

The movement measuring device according to claim 20 is characterized in that the photographing means is a plurality of cameras and the behavior calculating means calculates the behavior of the moving object on the basis of a plurality of the first images photographed by the plurality of cameras, A position on the three-dimensional space of the mobile body after the start of movement is specified based on the plurality of second images photographed by the plurality of cameras, And calculates the moving direction based on a difference between positions on the three-dimensional space of the moving object.

According to the invention of Claim 1 and Claim 17, the moving direction and the rotational axis direction of the moving object are calculated based on the first image of the moving object at the moving start point and the second image of the moving object after the moving start Therefore, the behavior of the moving object can be measured without using a special device, and the cost associated with the measurement of the behavior of the moving object can be reduced.

According to the invention of Claim 2 and Claim 18, since the moving speed is measured in addition to the moving direction and the rotating axis direction of the moving object, more detailed moving behavior information can be obtained.

According to the invention of claim 3 and claim 19, since the displacement direction of the position of the moving body in two images is calculated as the moving direction, the moving direction in the image plane can be easily measured.

According to the invention of claim 4, since the moving direction in the direction orthogonal to the photographing direction (image plane) is calculated on the basis of the ratio of the diameter of the movable body (ball) in two images, The moving direction of the moving object can be measured, and more detailed behavior information of the moving object can be obtained.

According to the invention of claim 5 and claim 20, since the moving direction of the moving object is calculated by the stereo photographing using a plurality of cameras, the moving direction in the direction orthogonal to the photographing direction (image plane) can be more accurately calculated.

According to the invention of claim 6, since the direction of the rotation axis is calculated from the position of the pattern and the difference of the direction on the two images, it is possible to easily measure the direction of the rotation axis which is difficult to measure even with a Doppler sensor or the like.

According to the invention of claim 7, since it is detected that the moving body is disposed at the movement start point by detecting the start of the striking action by the striking mouth, the first image can be taken without performing the operation or the like by the measuring person, The operation can be simplified.

According to the eighth aspect of the present invention, since it is detected that the moving object is disposed at the movement start point by detecting the placement completion signal inputted from the outside, as compared with the detection of the start of the hitting behavior by the hit ball, Can be detected at the movement start point.

According to the invention of claim 9, since it is detected that the moving object starts to move by detecting the sound of the moving object by the striking mouth, it is possible to easily detect the start of moving of the moving object within a short time by using a microphone.

According to the invention of claim 10, since the timing at which the moving object starts to move is corrected based on the temperature around the moving start point, the timing at which the moving object starts to move can be specified more accurately.

According to the invention of claim 11, since it is detected that the moving body has started to move using the passage detecting sensor having the traveling path on the moving path of the moving body, it is possible to reliably detect that the moving body has started to move Can be detected.

According to the invention of claim 12, since the mechanism for detecting that the moving object is disposed at the movement start point and the mechanism for detecting that the moving object has started to move are the same sensor, the system configuration can be simplified. Further, since the detection range of the reflection type optical sensor may be an extremely narrow range called a movement start point, the measurement can be carried out without difficulty even if the space used is limited.

According to the thirteenth aspect of the present invention, when the reflected light from the movement start point is continuously received for a predetermined time or more, it is detected that the moving object is disposed at the movement start point, Thereby making it possible to improve the degree of detection (accuracy).

According to the invention of claim 14, there is further provided a holding section for holding the object in the detection range continuously for a predetermined period of time or more. Therefore, when the operator starts the movement of the object, And it is advantageous for efficiently shooting an image of an object.

According to the invention of claim 15, since it is detected that the moving object has started to move when the moving object has moved away from the movement starting point, it is possible to perform more stable measurement than when using the sound of the hit.

According to the invention of claim 16, since the reflection type optical sensor has a function of identifying the color of the object, it becomes easy to recognize a specific object, and it is advantageous in improving the recognition degree of the reflection type optical sensor.

BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is an explanatory view showing a schematic configuration of a moving object measuring apparatus 10 according to a first embodiment. FIG.
Fig. 2 is a block diagram showing the configuration of the computer 18. Fig.
3 is a block diagram showing the functional configuration of the behavior measuring device 10. As shown in Fig.
Fig. 4 is a flow chart showing a procedure of processing by the behavior measuring device 10. Fig.
5 is an explanatory diagram schematically showing an example of a photographed image by the photographing means 106. Fig.
6 is an explanatory diagram schematically showing an example of a photographed image by the photographing means 106. Fig.
Fig. 7 is an explanatory view showing another configuration of the behavior measuring device 10. Fig.
Fig. 8 is an explanatory view showing the error due to the presence or absence of the temperature correction.
Fig. 9 is an explanatory view showing another configuration example of the behavior measuring device 10. Fig.
10 is an explanatory diagram showing a schematic configuration of a movement measuring device 30 of the moving object according to the second embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, with reference to the accompanying drawings, a description will be given in detail of a preferred embodiment of a behavior measuring method and a behavior measuring apparatus according to the present invention.

In this embodiment, as an example of the moving body, the golf ball 20 is hit by the golf club 22 and the moving golf ball 20 is explained.

(Example 1)

BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is an explanatory view showing a schematic configuration of a movement measuring device 10 according to a first embodiment of the present invention. FIG.

1A is a side view (rear view) of the configuration of the behavior measuring device 10, and FIG. 1B is a view of the periphery of the golf ball 20 in FIG. 1A seen from the upper surface (upper surface).

1A shows a meter (player) I to strike a golf ball 20 by a golf club 22. As shown in Fig. The golf ball 20 is placed on a tee 24 inserted in the ground surface (horizontal plane) G and is hit by the golf club 22 in this state, do. That is, in the example of FIG. 1A, the position of the golf ball 20 on the tee 24 becomes the movement start point P0.

It is also possible to carry out the measurement in the state in which the golf ball 20 is placed on the tee 24 or in the state in which the golf ball 20 is placed on the ground G, Or the position of the golf ball 20 on the ground G as the movement start point.

1B indicates the target moving direction when the golf ball 20 is hit by the golf club 22. As shown in Fig. Hereinafter, the origin of the coordinates of the space in which the behavior measuring device 10 is installed is referred to as a movement start point P0, and the direction parallel to the ground G is the x axis, the direction opposite to the gravity direction is the z axis, The x-axis and the direction orthogonal to the z-axis are taken as the y-axis. In Fig. 1, for convenience of illustration, each coordinate axis is shown at a position away from the movement start point P0 which is the origin.

Reference symbol M is a mark given to the surface of the golf ball 20.

The behavior measuring device 10 includes a camera 12, an illumination unit 13, a microphone 14, a passing detection sensor 15, a temperature sensor 16 (see FIG. 3), and a computer 18 .

The camera 12 is a camera for photographing a still image and is provided so that an area including a movement start point P0 of the golf ball 20 serves as a photographing area. In this embodiment, the camera 12 is fixed in the vicinity of the ground G and photographs the photographing area H including the movement start point P0 as shown in Fig. 1B.

The image photographed by the camera 12 is output to the computer 18, which will be described later.

The photographing timing of the camera 12 is controlled by the photographing control means 108 of the computer 18 described later.

The illumination light 13 is turned on in conjunction with the photographing timing of the camera 12, and brightens the vicinity of the photographing area H. [ Thus, the golf ball 20 can be clearly displayed on the captured image.

1B, the illustration of the illumination 13 is omitted in order to clarify the positional relationship between the camera 12 and the passing detection sensor 15 which will be described later.

The microphone 14 picks up ambient speech and outputs it to the computer 18 as a voice signal.

In this embodiment, the microphone 14 is provided to pick up the hit sound of the golf ball 20 and to detect the start of movement of the golf ball 20. [

1B, the microphone 14 is omitted in order to clarify the positional relationship between the camera 12 and the passing detection sensor 15 described later.

The passing detection sensor 15 is a sensor for detecting that an object has passed through an area for detection using, for example, infrared rays.

The detection result of the passing detection sensor 15 is output to the computer 18, which will be described later.

1B, the detection area N1 is set behind the installation position of the golf ball 20 (in the direction opposite to the target movement direction X), and the detection area N1 It is detected that the golf club 22 has passed.

Incidentally, in this embodiment, the passage detecting sensor 15 is provided in parallel with the camera 12 in the x-axis direction, and therefore the passage detecting sensor 15 is not shown in Fig. 1A.

The temperature sensor 16 (see Fig. 3) detects the temperature around the point at which the measurement is performed, that is, around the movement start point P0 of the golf ball 20.

The temperature detected by the temperature sensor 16 is output to a computer 18, which will be described later.

In the present embodiment, the temperature sensor 16 is provided for more accurately estimating the time at which the sound produced by the microphone 14 is generated.

The computer 18 calculates the behavior data of the golf ball 20 using information output from other components such as the other camera 12 and the microphone 14 or the like.

2 is a block diagram showing the configuration of the computer 18. As shown in Fig.

The computer 18 includes a CPU 1802, a ROM 1804, a RAM 1806, a hard disk device (HDD) 1808, a disk device 1810, a keyboard 1812, a mouse 1814, a display 1816 A printer 1818, an input / output interface (I / F) 1820, and the like.

The ROM 1804 stores a control program and the like, and the RAM 1806 provides a working area.

The hard disk device 1808 stores a program (behavior measurement program) dedicated for measuring the behavior of the golf ball 20.

The disk device 1810 records and / or reproduces data to / from a recording medium such as a CD or a DVD.

The keyboard 1812 and the mouse 1814 receive operation inputs by the meter.

The display 1816 displays and outputs data, the printer 1818 prints out data, and the display 1816 and the printer 1818 output data.

The input / output interface 1820 is for exchanging data with the camera 12, the microphone 14, the passing detection sensor 15, the temperature sensor 16, and the like.

In addition, a small information device such as a smart phone or a tablet may be used as the computer 18.

Although the computer 18 and the camera 12 are connected by wiring in Fig. 1, the communication between these devices may be performed by wireless communication.

When the computer 18 (including a smartphone or a tablet) has the camera 12 or the microphone 14, the camera 12 or the microphone 14 provided in the computer 18 It is also possible to take an image and collect sound. In this case, the number of devices constituting the behavior measuring device 10 can be reduced, and the labor and space for installing the devices can be omitted.

Fig. 3 is a block diagram showing the functional configuration of the behavior measuring device 10. As shown in Fig.

The behavior measuring device 10 is functionally equivalent to the batch detecting means 102, the movement start detecting means 104, the photographing means 106, the photographing control means 108, the behavior calculating means 110, (112).

Among these configurations, the imaging control means 108 and the behavior calculation means 110 are realized by the CPU 1802 of the computer 18 executing the behavior measurement program.

The placement detection means 102 detects that the golf ball 20 as a movement is disposed at the movement start point.

When the movement start point of the golf ball 20 is on the tee 24 as in the present embodiment, the placement detection means 102 detects that the golf ball 20 is placed on the tee 24. [

In the present embodiment, for example, the batch detection means 102 is implemented by the passage detection sensor 15. [

1B, the passage detecting sensor 15 is disposed behind the mounting position of the golf ball 20 as a detection area N1 and detects that the golf club 22 passes through the detection area N1 Detection.

The reason why the golf club 22 passes through this area is when the meter I takes the address posture and performs the back swing and the down swing. Therefore, by detecting the passage of the golf club 22 in the passage detecting sensor 15, it is possible to detect that the golf ball 20 is disposed on the tee 24, that is, it is disposed at the movement start point .

That is, the golf ball 20 as a movement starts to move by being struck by the golf club 22 as a striker, and the placement detection means 102 detects the striking behavior by the golf club 22 By detecting the start of the moving object.

In addition, the detection area N1 of the passage detection sensor 15 is not limited to the rear of the installation position of the golf ball 20, but may be within a range capable of detecting the start of swinging of the golf club 22. [

The batch detection means 102 is not limited to the passage detection sensor 15, and may be a Doppler sensor. For example, as shown in Fig. 7A, a Doppler sensor 19 is provided in the vicinity of the camera 12 so that the direction of the antenna N2 is directed to the rear of the mounting position of the golf ball 20. [ Then, the Doppler signal is detected to detect the approach (start of swing) of the golf club 22 with respect to the direction N2.

7B, a Doppler sensor 19 is provided behind the mounting position of the golf ball 20 so that the direction N3 of the antenna is aligned with the target moving direction X (x-axis) , It is also possible to detect approach (start of swing) of the golf club 22 with respect to the direction N3.

Further, the batch detection means 102 may detect that the moving object is disposed at the movement start point by detecting an arrangement completion signal inputted from the outside.

That is, even if the meter I is placed on the tee 24 with the golf ball 20 being input using the keyboard 1812 of the computer 18 or using a dedicated remote controller or switch It is acceptable.

The movement start detecting means 104 detects that the golf ball 20, which is a movement, has started to move.

In the present embodiment, the microphone 14 picks up the hit sound of the golf ball 20, and detects the start of movement of the golf ball 20. In other words, the movement start detecting means 104 detects that the moving body has started moving by detecting the sound of the moving body by the hitting hitting.

Since the microphone 14 picks up various voices such as the voice of the meter I, it is possible to specify the frequency band indicating the hit sound of the golf ball 20 in advance, It is also possible to detect that the golf ball 20 has started to move by identifying the picked-up point.

The movement start detecting means 104 is not limited to the microphone 14 and may be the passage detecting sensor 15. [

Specifically, the passage detecting sensor 15 is provided so that the front of the installation position of the golf ball 20 is the detection area, and the golf ball 20 or the golf club 22 passes through the detection area It is possible to detect that the golf ball 20 has started to move.

In other words, it is also possible to detect that the moving object has started to move using the passage detecting sensor 15 having the moving path of the moving object as the detection area.

In this case, the detection area of the passing detection sensor 15 is set to be extremely close to the tee 24 so that shooting is performed within a shooting area of a shooting means 106 (described later) in which the golf ball 20 is positioned desirable.

The photographing means 106 is arranged to include the moving start point P0 of the moving object in the photographing area, and photographs the image within the photographing area.

As described above, in the present embodiment, the photographing area H is set so that the camera 12 constitutes the photographing means 106 and the photographing area 106 includes the image of the tee 24 as the movement start point P0.

The photographing means 106 need not be a special camera such as a high-speed video, but an image (still image) may be photographed by photographing timing control by the photographing control means 108, which will be described later.

The photographing control means 108 controls the photographing operation by the photographing means 106 on the basis of the detection result by the placement detection means 102 and the movement start detection means 104. [

More specifically, when the placement detection means 102 detects that the golf ball 20 is located at the movement start point, the imaging control means 108 controls the movement of the golf ball 20 And controls the photographing means 106 to photograph an image (first image). When the movement start detecting means 104 detects that the golf ball 20 starts to move, the imaging control means 108 sets the image (second image) of the golf ball 20 after the start of movement And controls the photographing means 106 to photograph.

Thus, two images before and after the start of movement of the golf ball 20 (before and after the shooting) are obtained.

The behavior calculating means 110 calculates at least one of the moving direction of the moving object and the rotating axis direction based on the first image which is the image of the moving object placed at the movement start point and the second image which is the image of the moving object after the start of movement .

Further, the behavior calculating means 110 further calculates the moving speed of the moving object based on the elapsed time from when the moving object starts moving to when the second image is captured.

The behavior calculating means 110 includes at least one of a moving direction calculating means 1102, a rotating axis direction calculating means 1104 and a moving speed calculating means 1106. They calculate movement direction, rotation axis direction, and movement speed, which are behavior information of the moving object, respectively.

Here, a calculation method of the behavior information by the behavior calculation means 110 will be described.

Fig. 5 is an explanatory view schematically showing an example of a photographed image by the photographing means 106. Fig.

5A shows a first image, shows a golf ball 20 in a state in which it is placed at a movement start point, FIG. 5B shows a second image, and shows a golf ball 20 after the start of movement . Fig. 5C shows an example in which elements other than the golf ball 20 are erased from Fig. 5B and then superimposed on Fig. 5A and Fig. 5B.

6A is a view similar to Fig. 5A. Fig. 6B is a view showing a state in which the golf ball 20 is mounted on the camera 12 (Fig. 6A). Fig. 6A is an explanatory view schematically showing an example of a picked- FIG. 6C is an image when the golf ball 20 is moved in the direction away from the camera 12 (negative y coordinate). FIG.

First, a calculation method of the moving direction? H in the up-and-down direction (on the x-z plane) will be described.

5C, a line segment L1 connecting the center point P1 of the golf ball 20 in the first image and the center point P2 of the golf ball 20 in the second image, The moving direction of the vertical direction (on the xz plane) can be specified by the angle? H formed by the line segment L2 passing through the center point P1 of the ball 20 and parallel to the ground G. [

In other words, the behavior calculating means 110 calculates the displacement direction between the position of the moving object in the first image and the position of the moving object in the second image as the moving direction.

Incidentally, when the optical axis of the camera 12 is not parallel to the ground G but inclined in the vertical direction, the vertical direction moving direction? H is calculated after correcting the inclination.

Next, a calculation method of the moving direction? W in the left-right direction (on the x-y plane) will be described.

In the case where the golf ball 20 is inclined in the lateral direction with respect to the target moving direction X, the diameter of the golf ball 20 on the image is different before and after the start of movement as shown in Fig.

6A, when the golf ball 20 is moved in the direction approaching the camera 12 as shown in FIG. 6B, the diameter R1 of the golf ball 20 before the start of movement of the golf ball 20 shown in FIG. (R1 > R0). When the golf ball 20 moves in the direction away from the camera 12 as shown in Fig. 6C, the diameter R2 becomes smaller (R2 < R0).

It is possible to specify the moving direction? W in the left-right direction (on the xy plane) based on the difference in diameter of the golf ball 20 before and after the start of movement since the imaging magnification and the angle of view of the camera 12 are known have.

For example, when the golf ball 20 moves in the direction (y coordinate plus direction) approaching the camera 12 as shown in Fig. 6B, the larger the diameter of the golf ball 20 on the image, Direction. 6C, when the golf ball 20 moves in the direction away from the camera 12 (negative y-coordinate), the smaller the diameter of the golf ball 20 on the image is, Direction.

That is, the behavior calculating means 110 calculates the moving direction in the direction perpendicular to the photographing direction of the camera 12, based on the ratio of the diameter of the golf ball in the first image and the second image.

As another method of calculating the moving direction? W, stereo measurement using a plurality of cameras 12 may be performed.

Fig. 9 is an explanatory view showing another example of the configuration of the behavior measuring device 10. Fig.

In Fig. 9, two cameras 12A and 12B are provided so that a region including the movement start point P0 of the golf ball 20 is set as a shooting region. The camera parameters such as the position of the cameras 12A and 12B, the photographing direction (facing side), the photographing magnification, and the like are specified in advance.

The cameras 12A and 12B shoot an image before and after the start of movement of the golf ball 20 (before and after the shooting), respectively.

The position of the golf ball 20 on the image photographed by each of the cameras 12A and 12B is specified and the position of the golf ball 20 in the three- And specifies a position on the space. The moving direction? W of the golf ball 20 can be calculated from the difference in position in the three-dimensional space of the golf ball 20 before and after the start of the movement.

That is, the position on the three-dimensional space of the moving object before the start of movement is specified based on the plurality of first images photographed by the plurality of cameras 12A and 12B, respectively, and the plurality of cameras photographed by the plurality of cameras 12A and 12B It is also possible to specify the position on the three-dimensional space of the moving object after starting the movement based on the second image and to calculate the moving direction based on the difference of the position on the three-dimensional space of the moving object before and after the movement starts.

As described above, by photographing using a plurality of cameras, the moving direction? W of the golf ball 20 can be calculated to a higher degree.

Next, a calculation method of the direction of the rotation axis will be described.

As shown in Fig. 5, a mark M is added to the golf ball 20. The direction of the rotation axis of the golf ball 20 can be specified based on the position and direction of the mark M of the golf ball 20 before and after the movement start.

In addition, it is preferable that the mark M added to the golf ball 20 be a pattern such that even if the golf ball 20 rotates in any direction, it is reflected on the image. As such a design, for example, as shown in Fig. 5 and the like, various conventionally known designs such as line segments drawn over the entire circumference of the golf ball 20 can be used.

That is, the moving object has a pattern visible from all directions, and the behavior calculating means 110 calculates the behavior from the difference between the position of the drawing in the first image and the facing direction and the position and direction of the drawing in the second image, Direction.

Next, a calculation method of the moving speed will be described.

The calculation of the movement direction and the rotation axis direction described above can be performed by only two images before and after the movement start. However, the calculation of the movement speed may specify the elapsed time from the start of movement of the moving object to the shooting of the second image There is a need.

To calculate the moving speed, the moving distance of the golf ball 20 is first calculated. Since the imaging magnification of the camera 12 is known as described above, the ratio between the distance on the image and the distance on the actual space is known, and the position (movement start point) of the golf ball 20 in the first image The two-dimensional moving distance of the golf ball 20 on the xz plane can be calculated from the relationship with the position of the golf ball 20 in the second image.

Next, the time at which the mobile unit starts moving is specified. When the movement start detecting means 104 is the microphone 14, it is possible to set the time at which the moving object starts moving when the microphone 14 detects the sound.

At this time, a value obtained by dividing the distance between the movement start point and the microphone 14 by the sound velocity is calculated as a delay time until the hit sound reaches the microphone 14, It is also possible to subtract from the time at which the hit sound is detected.

Further, the sound velocity value may be corrected using the measured temperature of the temperature sensor 16, which is the temperature detection means 112 for detecting the temperature around the movement start point. That is, the nearest value is calculated by the actual sound speed using the equation such as the sound speed C = 331.5 + 0.61t (t is the temperature in degrees Celsius) generally used, and the time until the hit sound reaches the microphone 14 It may be calculated. This makes it possible to specify the time at which the moving object starts to move even higher.

Fig. 8 is an explanatory view showing an error due to the presence or absence of the temperature correction.

8A shows the time required until the hit sound generated at the movement start point P0 reaches the microphone 14 when the distance between the microphone 14 and the movement start point P0 is 0.5 m. Incidentally, in Fig. 8, the value less than the decimal point of the sound velocity value is omitted.

The sound velocity value is 331 m / s at the temperature of 0 ° C and 352 m / s at the temperature of 35 ° C.

Therefore, the time required until the hit sound reaches the microphone 14 is 1.51 ms at a temperature of 0 캜 and 1.42 ms at a temperature of 35 캜.

FIG. 8B shows an error estimated for each moving speed of the golf ball 20. As shown in FIG.

For example, when the moving speed of the golf ball 20 is 40 m / s, the distance that the golf ball 20 moves within the time required for the hit sound to reach the microphone 14 (see Fig. 8A) 60.4 mm (distance moving to 1.51 ms) at 0 ° C, 56.8 mm (distance moving to 1.42 ms) at 35 ° C temperature.

Here, in the case where the temperature correction of the sound velocity value is not performed, the above moving distance is calculated as a distance moving to 1.51 ms as in the case of the air temperature 0 캜. That is, at a temperature of 35 ° C, the distance traveled to 1.42 ms is calculated as the distance to travel to 1.51 ms, and the speed is calculated to be slower than the actual speed.

Specifically, the correct moving speed is calculated at 40.0 m / s at a temperature of 0 ° C, while it is calculated as 37.6 m / s at a temperature of 35 ° C, which is 2.4 m / s (-2.4 m / s) The moving speed is calculated.

Such an error increases as the moving speed of the golf ball 20 increases, and it may be -4.8 m / s at a speed of 80 m / s.

By performing the temperature correction as in the present application, it is possible to prevent the above-described error and to calculate the moving speed more accurately.

When the time at which the second image is photographed by the camera 12 is specified, the elapsed time from when the moving object starts moving to when the second image is photographed can be specified. The time at which the second image is photographed is the time at which the image pickup control means 108 instructs the camera 12 to take a picture or the second picture taken at the camera 12, and these are substantially the same.

The moving distance of the golf ball 20 calculated in this manner is divided by the elapsed time from the start of movement of the golf ball 20 to the time of shooting of the second image, can do.

When the movement start detection means 104 is the passage detection sensor 15, the distance from the movement start point to the detection region of the passage detection sensor 15 and the distance from the start of movement of the golf ball 20 If the elapsed time from the sensor 15 to the detection of the golf ball 20 can be specified, the moving speed can be calculated by dividing the distance by the elapsed time.

Fig. 4 is a flowchart showing the procedure of the process by the behavior measuring device 10. Fig.

The behavior measuring device 10 detects that the moving object is located at the movement start point by the placement detection means 102 (step S402: placement detection step).

If the moving object is located at the movement start point (step S402: Yes), the image capturing control means 108 instructs the image capturing means 106 to take an image, and the moving object is photographed as the first image Step S404: First shooting step).

Next, the behavior measuring device 10 detects that the moving object has started to move by the movement start detecting means 104 (step S406: movement start detecting step).

When the moving object starts to move (Step S406: Yes), the image capturing control means 108 instructs the image capturing means 106 to take an image and captures the moving object as a second image (Step S408: 2 shooting process).

Subsequently, the behavior calculating means 110 calculates the behavior of the moving body such as the moving direction, the rotational axis direction, and the moving speed (Step S410: a behavior calculating step).

Then, the calculated behavior information is displayed on the display 1816, the print paper or the like (step S412), and the process according to this flow chart is terminated.

As described above, the moving object movement measuring device 10 according to the first embodiment is configured such that the first image of the state in which the golf ball 20 is disposed at the movement start point P0 and the first image of the golf ball 20 after the start of movement, It is possible to measure the behavior of the golf ball 20 without using a special device, and it is possible to measure the movement of the golf ball 20 by using the golf ball 20 20 can be reduced.

Further, since the behavior measuring device 10 calculates the displacement direction of the position of the golf ball 20 in the two images as the movement direction, the movement direction in the image plane can be easily measured.

Further, since the behavior measuring device 10 calculates the moving direction in the direction perpendicular to the photographing direction (image plane) based on the ratio of the diameters of the golf balls 20 in the two images, It is possible to measure the moving direction of the moving body in the moving direction of the moving body, and obtain more detailed behavior information of the moving body.

Further, since the behavior measuring device 10 calculates the direction of the rotation axis from the position of the drawing of the golf ball 20 in the two images and the difference in the facing direction, the direction of the rotation axis, which is difficult to measure even with a Doppler sensor, It can be easily measured.

Since the behavior measuring device 10 detects that the golf ball 20 is disposed at the movement start point P0 by detecting the start of the impact behavior by the golf club 22, It is possible to photograph the first image without any work, and the measurement operation can be simplified.

When the movement measuring device 10 detects that the golf ball 20 is positioned at the movement start point P0 by detecting the placement completion signal inputted from the outside, It is possible to more reliably detect that the golf ball 20 is disposed at the movement start point P0.

The movement measuring device 10 detects the hit sound of the golf ball 20 by the golf club 22 and detects that the golf ball 20 starts to move. It is possible to detect the start of movement of the golf ball 20 within a short time.

Further, by correcting the timing at which the golf ball 20 starts to move based on the temperature around the movement start point P0 in the behavior measuring device 10, it is possible to accurately specify the timing at which the golf ball 20 starts moving can do.

In addition, in the behavior measuring device 10, when it is detected that the golf ball 20 starts to move using the passage detecting sensor having the moving path of the golf ball 20 as the detecting area, It is possible to detect that the golf ball 20 starts to move more reliably.

(Example 2)

In Embodiment 1, the batch detection means for detecting that the moving object is disposed at the movement start point and the movement start detection means for detecting that the moving object has started to move are individual devices. In Embodiment 2, the case where the batch detection means and the movement start detection means are the same apparatus (reflective optical sensor) will be described.

Hereinafter, in the second embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

10 is an explanatory diagram showing a schematic configuration of a movement measuring device 30 of the moving object according to the second embodiment.

FIG. 10A is a side view of the configuration of the behavior measuring device 30, and FIG. 10B is a view of the periphery of the golf ball 20 in FIG. 10A viewed from above.

In the second embodiment, the reflection type optical sensor 32 is provided on the camera 12. [

Incidentally, although the illustration is omitted, the reflective optical sensor 32 is connected to the computer 18 and outputs the detection result to the computer 18. [

The reflection type optical sensor 32 includes a light projecting portion for projecting light in an arbitrary detection range, a light receiving portion for receiving reflected light reflected by the object when the object is located in the detection range, And a detection unit for detecting the presence or absence of an object in the detection range on the basis of the change.

In this embodiment, the detection range of the reflection type optical sensor 32 is set to the movement start point P0 (on the tier 24). That is, the projection light LI from the transparent portion passes through the movement start point P0. When there is no golf ball 20 on the tee 24, the projection light LI passes through the movement start point P0, so that the light receiving unit does not receive the reflected light LR. On the other hand, when the golf ball 20 is on the tee 24, the reflected light LR reflected from the surface of the golf ball 20 is directed to the light receiving portion, and the amount of light received by the light receiving portion increases. Thus, the presence or absence of the golf ball 20 on the tee 24 can be detected.

In other words, the reflection type optical sensor 32 functions as the placement detection means 102.

Here, the reflection type optical sensor 32 may detect that the golf ball 20 is disposed at the movement start point when the reflected light is received by the light receiving unit continuously for a predetermined time or more.

This is because even if an object is detected on the tee 24 or the vicinity of the tee 24 which is the detection range of the reflective optical sensor 32, the object is not the golf ball 20, Or the head of the golf club 22 or the like. In this case, if the photographing is performed, the photographing is erroneously photographed (erroneous photographing).

When the object in the detection range (on the Tier 24) of the reflection type optical sensor 32 is the golf ball 20, after the golfer I sets the golf ball 20 on the tee, It will take a certain amount of time while taking and swinging. On the other hand, when the object in the detection range of the reflective optical sensor 32 is other than the golf ball 20, there is a high possibility that the object moves immediately and deviates from the detection range.

Therefore, if the photographing is performed only when the detection of the object by the reflection type optical sensor 32 continues for a predetermined time or more, erroneous detection of the object is prevented and the golf ball 20 can be reliably photographed.

In this case, it is also possible to provide a holding section for holding the reflected light to the light receiving section continuously for a predetermined time or more and recognizing that the golf ball 20 is positioned at the movement start point. As the holding portion, for example, a lamp or a speaker can be used. After the golfer I sets the golf ball 20 on the tee 24, it waits for the holding by the holding portion and starts the swing.

When the reflected light from the golf ball 20 is not received after it is detected that the golf ball 20 is positioned at the movement start point P0, the golf ball 20 is hit by the golf club 22, It can be detected that the golf ball 20 has started to move.

In other words, the reflection type optical sensor 32 also functions as the movement start detection means 104.

Thus, the reflection type optical sensor 32 can be used as both the placement detection means 102 and the movement start detection means 104. [

In addition, the reflection type optical sensor 32 may have a function of identifying the color of an object by using an image sensor such as a CMOS sensor. In this case, it is detected that there is an object in the detection range only when the object has a specific color.

More specifically, for example, a sensor that detects an object is used only when an index white object of a general golf ball 20 is within the detection range. This makes it possible to prevent the golf ball 22 or the foot of the meter I from being erroneously detected as the golf ball 20 in the vicinity of the tee 24 and to improve the detection accuracy of the reflection type optical sensor 32 Can be improved.

The reaction speed of the reflective optical sensor 32 is preferably 1 ms or less.

This is because, depending on the moving speed of the golf ball 20, it is required to set the photographing timing of the camera 12 to a very short time after the start of the movement of the golf ball 20. [ By using the reflection type optical sensor 32 having a high reaction speed, the photographing timing can be set at a faster timing, and the degree of photographing by the camera 12 can be improved.

As described above, according to the movement measuring device 30 of the movable body according to the second embodiment, the mechanism for detecting that the golf ball 20 is disposed at the movement start point P0 and the mechanism for detecting when the golf ball 20 starts to move The system of the behavior measuring device 30 can be simplified.

Further, the detection range of the reflection type optical sensor 32 may be an extremely narrow range called a movement start point P0, so measurement can be carried out without difficulty even when the space used for measurement is limited.

Further, in the behavior measuring device 30, when it is detected that the golf ball 20 is disposed at the movement start point P0 when the reflected light from the movement start point P0 continues to be received for a predetermined time or more, It is possible to prevent the hands or the golf club 22 from being erroneously detected by the golf ball 20, thereby improving the degree of detection.

Further, since the behavior measuring device 30 detects that the golf ball 20 has started to move when it is detected that the golf ball 20 is located at the movement start point P0 and then retreated from the movement start point P0, It is possible to perform more stable measurement than when using the sound of the hit.

10, 30 ... ... Behavior measurement device, 12 ... ... Camera, 13 ... ... Lighting, 14 ... ... Mike, 15 ... ... Pass detection sensor, 16 ... ... Temperature sensor, 18 ... ... Computer, 19 ... ... Doppler sensor, 20 ... ... Golf ball, 22 ... ... Golf club, 24 ... ... Tea, 32 ... ... Reflective type optical sensor, 102 ... ... Batch detection means, 104 ... ... Movement start detecting means, 106 ... ... Means for shooting, 108 ... ... Photographing control means, 110 ... ... A behavior calculating means, 1102 ... ... Moving direction calculating means, 1104 ... ... Rotation axis direction calculating means, 1106 ... ... Moving speed calculating means 112, ... Temperature detecting means, G ... ... Floor, H ... ... Shooting area, I ... ... Measurer, M ... ... Mark, N1 ... ... Detection Area, N2 ... ... Orientation direction, N3 ... ... Orientation direction, P0 ... ... Move start point, P1 ... ... Center point, P2 ... ... Center point, R0 ... ... Diameter, R1 ... ... Diameter, R2 ... ... Diameter, X ... ... Goal direction

Claims (20)

A method of measuring a behavior of a moving object, the method comprising:
A batch detecting step of detecting that the moving body is disposed at the movement starting point;
A first photographing step of photographing an image of the moving object placed at the movement start point,
A movement start detecting step of detecting that the moving body has started to move,
A second photographing step of photographing an image of the moving body after start of movement;
A behavior calculating step of calculating at least one of a moving direction of the moving body and a rotational axis direction based on the first image photographed in the first photographing step and the second image photographed in the second photographing step
And a second step of measuring the movement of the object. The method according to claim 1,
Wherein the movement calculating step further calculates the moving speed of the moving object based on the elapsed time from when the moving object starts moving to when the second image is captured,
Wherein the method comprises the steps of: 3. The method according to claim 1 or 2,
In the first shooting step and the second shooting step, an image in the same shooting area is shot,
In the behavior calculation step, a displacement direction between the position of the moving object in the first image and the position of the moving object in the second image is calculated as the moving direction,
Wherein the method comprises the steps of: The method of claim 3,
The moving body is a ball having a known diameter,
Wherein in the behavior calculation step, based on a ratio of the diameter of the ball in the first image and the second image, the shape of the ball in the direction orthogonal to the shooting direction in the first shooting step and the second shooting step Calculating a moving direction,
Wherein the method comprises the steps of: 3. The method according to claim 1 or 2,
In the first shooting step and the second shooting step, an image of the moving object is captured using a plurality of cameras,
In the behavior calculating step, a position in the three-dimensional space (upper) of the moving object before the start of movement is specified based on the plurality of first images photographed by the plurality of cameras, Dimensional space of the moving object after the start of movement based on the plurality of second images and determines the moving direction based on a difference (positional difference) between positions on the three-dimensional space of the moving object before and after the start of movement Calculating,
Wherein the method comprises the steps of: 3. The method according to claim 1 or 2,
The moving body has a pattern that can be viewed from all directions,
Calculating the direction of the rotation axis from a difference between a position of the drawing and a direction of the drawing in the first image and a position and a direction of the drawing in the second image,
Wherein the method comprises the steps of: 3. The method according to claim 1 or 2,
Wherein the moving body starts moving by being struck by a hitting hole,
Wherein the placement detection step detects that the moving object is disposed at the movement start point by detecting the start of the striking action by the striking mouth,
Wherein the method comprises the steps of: 3. The method according to claim 1 or 2,
Wherein the placement detection step detects a placement completion signal input from the outside to detect that the moving object is disposed at the movement start point,
Wherein the method comprises the steps of: 3. The method according to claim 1 or 2,
Wherein the moving body starts moving by being struck by a hitting hole,
Wherein the moving start detection step detects a hit sound of the moving object by the hitting hole and detects that the moving object has started to move,
Wherein the method comprises the steps of: 10. The method of claim 9,
Further comprising a temperature detecting step of detecting a temperature around the movement start point,
Wherein the moving start detecting step corrects the timing at which the moving body starts moving based on the temperature around the moving starting point,
Wherein the method comprises the steps of: 3. The method according to claim 1 or 2,
Wherein the moving start detecting step detects that the moving object has started to move using a passage detecting sensor having a moving path of the moving object as a detection area,
Wherein the method comprises the steps of: 3. The method according to claim 1 or 2,
Wherein the placement detecting step includes a light projecting unit for projecting light to the movement start point and a light receiving unit for receiving reflected light reflected by the moving object when the moving object is located at the movement start point, And a detection unit for detecting the presence or absence of the moving object at the movement start point based on a change in the amount of light (light amount) received by the light receiving unit, wherein the moving object is moved Detecting that it is disposed at the start point,
Wherein the method comprises the steps of: 13. The method of claim 12,
Wherein the placement detection step detects that the moving object is located at the movement start point when the reflected light is continuously received for a predetermined time or more,
Wherein the method comprises the steps of: 14. The method of claim 13,
Further comprising a holding unit for noticing that an object is continuously detected for a predetermined time or longer within the detection range of the reflection type optical sensor,
Wherein the method comprises the steps of: 13. The method of claim 12,
Wherein the moving start detecting step detects that the moving object has started moving by detecting that the moving object has moved away from the moving starting point by using the reflective optical sensor,
Wherein the method comprises the steps of: 13. The method of claim 12,
The reflection type optical sensor has a function of identifying the color of an object and detects that the object exists within the detection range of the reflection type optical sensor only when the object has a predetermined color,
Wherein the method comprises the steps of: A device for measuring the behavior of a moving object, comprising:
A placement detection means for detecting that the moving body is disposed at a movement start point,
Movement start detecting means for detecting that the moving body has started to move,
Photographing means arranged to include the movement start point in the photographing region,
An imaging control means for controlling an imaging operation by the imaging means on the basis of detection results by the placement detection means and the movement start detection means;
Calculating a movement direction or a rotation axis direction of the moving object on the basis of a first image that is an image of the moving object placed at the movement start point and a second image that is an image of the moving object after movement start, Calculating means
And a control unit for controlling the operation of the device. 18. The method of claim 17,
Wherein the behavior calculation means further calculates the movement speed of the moving object based on the elapsed time from when the moving object starts moving to when the second image is captured,
Wherein the first and second sensors are arranged in a matrix. The method according to claim 17 or 18,
The photographing means photographs the first image and the second image in the same photographing region,
Wherein the behavior calculation means calculates a displacement direction between a position of the moving object in the first image and a position of the moving object in the second image as the moving direction,
Wherein the first and second sensors are arranged in a matrix. The method according to claim 17 or 18,
Wherein the photographing means is a plurality of cameras,
Wherein the behavior calculating means specifies a position on the three-dimensional space of the moving object before the start of movement based on the plurality of first images photographed by the plurality of cameras, Dimensional space of the moving object after the start of movement based on the two images and calculates the moving direction based on the difference in position on the three-dimensional space of the moving object before and after the start of the movement,
Wherein the first and second sensors are arranged in a matrix.

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