JP2009247751A - Movable body position detection device and movable body position detection method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device which prevents the swing for hitting a sphere on a plate from being interfered by a sensor unit. <P>SOLUTION: In a movable body position detection device 10, the first to the fifth sensor units 30, 40, 50, 60, 70 which detect the position of a movable body (a club head) 100 which moves above a plate 20 are installed beneath the plate 20 made of a transparent acrylic resin plate. A control device 80 calculates the height position of the movable body 100 passing from the top face of the plate 20 on the basis of the time difference of ON/OFF of each detection signals obtained from at least the second, the third sensor units 40, 50. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a moving body position detecting device and a moving body position detecting method, and more particularly to a moving body position detecting apparatus and a moving body position for detecting a position through which a moving body that gives acceleration to a sphere placed at a predetermined height passes. It relates to a detection method.

  In the following, as a moving body position detecting device for estimating the flying direction (ballistic trajectory) of a sphere by measuring the speed, height position, moving direction, etc. of the moving body when the moving body strikes the sphere, for example, golf A description will be given of an amusement device that performs the simulation. However, the present invention provides a simulated experience of a ball game that gives an acceleration by impact to a sphere other than a golf ball (for example, hockey that hits a ball with a racket instead of a golf club, ice hockey, polo, cricket, etc.) The present invention can also be applied to a type game device.

  For example, in a golf game apparatus, a state in which a player actually hits a golf ball placed on a tee by swinging a golf club is detected, and the speed of the club head (moving body) is detected based on the detected data. From the height position of the club head and the like, the flight direction (ball trajectory) and the flight distance of the golf ball as the hit object are calculated.

  When determining the flight direction (ballistic trajectory) and flight distance of a golf ball, data such as the club head speed, club head loft angle, club head movement direction relative to the golf ball, as well as the club head height position, etc. The arithmetic processing is performed based on the above. Thus, when simulating the flight state of a golf ball, it is important to detect the movement of the club head. In particular, by detecting the moving height position of the club head when the player swings the golf club, it is possible to know where to hit the golf ball of the club head and hit it, so that not only the flight state of the golf ball but also the club It is possible to detect the state of the moment when the head hits the golf ball (the height direction relative to the hit position that is supposed to be the best shot and the deviation information in the front-rear direction).

  As a detection device for detecting the height position of such a club head, for example, there are devices described in Patent Documents 1 to 3 below.

  As a conventional moving body position detecting device, as seen in Patent Document 1, in order to simulate the trajectory of a golf ball, a sensor unit in which a plurality of light emitting elements and a plurality of light receiving elements are arranged in parallel in the height direction is used. There is an apparatus for measuring the passing height position of a golf ball by standing on both sides and passing the golf ball between the pair of sensor units.

  Further, as another conventional moving body position detecting device, as seen in Patent Document 2, a pair of sensor units is erected in front of a position where a player stands, and a club head is passed between the sensor units to make a golf ball. There is a device that measures the moving direction and moving speed of the club head in the process of skipping, and measures the passing height of the club head based on the measured value.

Further, as another conventional moving body position detecting device, as shown in Patent Document 3, a device that measures the movement of a golf ball by triangulation with a sensor unit disposed below in a state where the golf ball is placed on a tee. There is also.
Japanese Patent Laid-Open No. 6-126021 JP 2005-503219 A Japanese Patent No. 3025335

  However, the detection devices described in Patent Documents 1 and 2 detect a height position of a golf ball or club head provided between a pair of sensor units by providing a pair of sensor units upright on a floor surface. Since the ballistic direction of the golf ball is calculated, there is a possibility that the club head may collide with the sensor unit when the player swings the golf club. There was a problem that it was difficult to swing.

  Moreover, in the detection apparatus described in the said patent document 3, although it becomes the structure which measures the position of a golf ball by triangulation based on the detection signal from the sensor unit arranged below the floor surface, in this case In this case, it is necessary to process image information from a sensor unit comprising a CCD camera, so that the processing load is high, and if an error occurs in the image information from the CCD, the predicted arrival position of the hit ball is accurately determined. It cannot be simulated.

  Therefore, in view of the above circumstances, the present invention is an apparatus and a control for simulating the predicted arrival position of a hit ball by a more accurate and simple method based on the moving body position detecting apparatus and the moving body position detecting method that solve the above problems. It aims to provide a method.

In order to solve the above problems, the present invention has the following means.
(1) The present invention provides a moving body position detecting device that detects a position where a moving body that gives acceleration to a sphere placed at a predetermined height from the floor surface passes.
It is disposed below the floor surface, and the detection direction is attached to the floor surface in a rearward direction inclined at a predetermined angle, and the moving body passes closer to the sphere from the front of the mounting position of the sphere. A front sensor unit for detecting
A rear side that is disposed below the floor surface and has a detection direction attached to the front surface that is inclined at a predetermined angle with respect to the floor surface, and detects that it has passed closer to the sphere than behind the mounting position of the sphere. A sensor unit;
Calculation means for calculating a passing position of the moving body with respect to the sphere from a time difference between detection signals obtained from the front sensor unit and the rear sensor unit;
With
The front sensor unit and the rear sensor unit are arranged to face each other so that the detection directions of the front sensor unit and the rear sensor unit intersect with each other at a predetermined angle on the mounting position of the sphere.
(2) The present invention calculates the height position of the moving body based on the time difference between the time when the front sensor unit detects the moving body and the time when the rear sensor unit detects the moving body. This solves the above-mentioned problem.
(3) In the present invention, the front sensor unit and the rear sensor unit are arranged in pairs on both sides in the X-axis direction orthogonal to the Y-axis direction that is the moving direction of the moving body. Is a solution.
(4) In the present invention, a plurality of sensors are arranged in a line at predetermined intervals in the X-axis direction orthogonal to the Y-axis direction, which is the moving direction of the moving body, and the moving body is the mounting position of the sphere An X-axis direction rear sensor unit for detecting that the first rear position with respect to
A plurality of sensors are arranged in a line at predetermined intervals in the X-axis direction orthogonal to the Y-axis direction as the moving direction of the moving body, and the moving body has a predetermined position in front of the mounting position of the sphere. An X-axis direction front sensor unit that detects passing,
By providing the above, the above-mentioned problems are solved.
(5) The present invention is based on the time difference between the time when the X-axis direction rear sensor unit detects the moving body and the time when the X-axis direction front sensor unit detects the moving body. The above problem is solved by calculating the speed.
(6) The present invention provides a displacement in the moving direction of the moving body with respect to the sphere or a position of the moving body with respect to the sphere based on detection positions in the X-axis direction of at least two sensors of the X-axis direction rear sensor unit. The above-mentioned problem is solved by calculating the tilt angle.
(7) The present invention relates to a detection position in the X-axis direction of the sensor that outputs a detection signal in the X-axis direction rear sensor unit and an X-axis of the sensor that outputs a detection signal in the X-axis direction front sensor unit. The above-mentioned problem is solved by calculating a positional shift of the moving body in the moving direction with respect to the sphere or an inclination angle of the moving body with respect to the sphere based on a difference from a direction detection position.
(8) The present invention relates to a moving body position detection method for detecting a height position through which a moving body that gives acceleration to a sphere placed at a predetermined height from the floor surface passes.
It is disposed below the floor surface, and the detection direction is attached to the floor surface in a rearward direction inclined at a predetermined angle, and the moving body passes closer to the sphere from the front of the mounting position of the sphere. Reading a first detection signal for detecting
It is disposed below the floor surface and is attached in a forward direction whose detection direction is inclined at a predetermined angle with respect to the floor surface, and detects that it has passed close to the sphere from behind the mounting position of the sphere. The process of reading the detection signal of 2;
A process of calculating a passing height position of the moving body with respect to the sphere from the time difference between the first and second detection signals;
By solving this problem, the above-mentioned problems are solved.
(9) The present invention provides the mobile object position detection method according to (8),
A step of reading a rear position detection signal for detecting that the moving body has reached a predetermined rear position with respect to the mounting position of the sphere;
A step of reading a front position detection signal for detecting that the moving body has passed a predetermined front position that is forward of the mounting position of the sphere;
Calculating the speed of the moving body relative to the sphere from the time difference between the detection signals;
By solving this problem, the above-mentioned problems are solved.
(10) The present invention provides the mobile object position detection method according to (8),
A step of calculating a displacement in a moving direction of the moving body with respect to the sphere or an inclination angle of the moving body with respect to the sphere based on detection positions in the X-axis direction of at least two sensors of the rear position detection signals. Thus, the above-mentioned problem is solved.
(11) The present invention provides the mobile object position detection method according to (8),
The moving direction of the movable body relative to the sphere based on the difference between the detected position in the X-axis direction of the sensor that outputs the rear position detection signal and the detected position in the X-axis direction of the sensor that outputs the front position detection signal Alternatively, the problem is solved by having a process of calculating an inclination angle of the moving body with respect to the sphere.

  According to the present invention, the moving body is obtained from the time difference between detection signals obtained by detecting the presence or absence of an object within a set distance obtained from two sensor units arranged to face each other with a predetermined angle below the floor surface. Therefore, the player can easily swing, and the height position of the moving body can be measured with a relatively inexpensive beam sensor.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a perspective view showing an embodiment of a moving body position detecting apparatus according to the present invention. FIG. 2 is a plan view of the moving body position detection device as viewed from above. FIG. 3 is a front view of the moving body position detection device viewed from the side in the form of a cross section. FIG. 4 is a right side view of the moving body position detecting device.

  As shown in FIGS. 1 to 4, the moving body position detecting device 10 detects the position of a moving body (club head) 100 that moves above the plate 20 below the plate 20 made of a transparent acrylic plate. First to fifth sensor units 30, 40, 50, 60, and 70 are provided. Since the first to fifth sensor units 30, 40, 50, 60, 70 are arranged below the plate 20, the upper surface of the plate 20 is a flat surface without protrusions. Therefore, the player can concentrate the nerve at the position of the sphere 200 on the plate 20 when swinging. In this embodiment, the first to fifth sensor units 30, 40, 50, 60, 70 use a type of beam sensor called a distance setting reflection type. As a feature of the distance setting reflection type beam sensor, by setting the distance band to be a dead zone in the sensor, the presence / absence of an object in the target band is ignored by detecting the presence / absence of an object in the band. Can do. In the case of this embodiment, by setting a distance of about 15 mm from the sensor unit body as a dead zone, it is possible to detect the club head which is the moving body 100 through the plate 20 made of a transparent acrylic plate. However, a beam sensor that can detect the transmission of the plate 20 is not necessarily required to implement the present application. For example, the detection can be performed only by providing a detection hole on the sensing position of the plate 20.

  In addition, a sphere support portion 210 on which the sphere (ball) 200 is placed stands at the center of the upper surface of the plate 20. The sphere 200 is placed on the upper end of the sphere support unit 210 so as to be supported at a predetermined height from the upper surface of the plate 20.

  In the golf simulation game apparatus to which the present embodiment is applied, a ball having a diameter larger than that of an actual golf ball and having elasticity is used, so that golf can be enjoyed as if it were a game. . The moving body 100 for flying the sphere 200 by hitting is similar in appearance to a golf club, but is lighter than an actual golf club and larger than the actual golf club depending on the diameter of the sphere 200. Is formed. These designs are an embodiment in which even beginners who are not familiar with golf do not flick, but for the time being, the ball can be skipped. When using golf clubs or golf balls according to actual golf standards Even in the case of a design smaller than the actual golf standard, the present application can be implemented.

The first sensor unit (X-axis direction rear sensor unit) 30 is a detection unit that detects that the moving body 100 has reached the first rear position P1 with respect to the mounting position P4 of the sphere 200. Optical sensors 30 ₁ to 30 ₁₅ are arranged in a line in the X-axis direction orthogonal to the movement direction (Y-axis direction). The optical sensors 30 ₁ to 30 ₁₅ emit a light B 1 (infrared ray) in the vertical direction and output a detection signal when receiving reflected light from the moving body 100.

The optical sensors 30 ₁ to 30 ₁₅ irradiate light upward, and only the optical sensor that the moving body 100 reaches upward outputs a detection signal. Therefore, position data in the X-axis direction of the moving body 100 is measured from the position of the optical sensor that has output the detection signal. In addition, the optical sensors 30 ₁ to 30 ₁₅ are eleven light beams in which the distance between the _two optical sensors 30 ₁ , 30 ₂ , 30 ₁₄ , and 30 ₁₅ arranged at both ends is arranged in the center. It is set wider than the interval between the sensors 30 ₃ to 30 ₁₃ . This is because the detection accuracy is improved by narrowing the interval between the optical sensors 30 ₃ to 30 _{13 in} the vicinity of the center where the moving body 100 has a relatively high probability, and both end portions where the probability that the moving body 100 passes is relatively low. The number of sensors is reduced by widening the sensor interval.

In the present embodiment, the first sensor unit 30 has 15 optical sensors 30 ₁ to 30 ₁₅ , but the number of sensors and the sensor interval can be arbitrarily changed.

The optical sensors 30 ₁ to 30 ₁₅ are arranged in a row in the X-axis direction orthogonal to the moving direction (Y-axis direction) of the moving body 100. Therefore, when the face of the moving body 100 is translated in the Ya direction with the orientation extending in the X-axis direction, and the face center of the moving body 100 contacts the sphere 200, the optical sensors 30 ₁ to 30 ₁₅ are Each detection signal is output simultaneously.

Further, when the face of the moving body 100 is inclined with respect to the X-axis direction, each detection signal of the optical sensors 30 ₁ to 30 ₁₅ is output with a phase difference from the sensor corresponding to the passing range of the moving body 100. . Accordingly, it is possible to obtain the face inclination of the moving body 100 immediately before coming into contact with the sphere 200 based on the phase difference between the detection signals of the optical sensors 30 ₁ to 30 ₁₅ .

After the moving body 100 is detected by the first sensor unit 30, the second sensor unit (front sensor unit) 40 has the moving body 100 at a second rear position P2 approaching the placement position P4 of the sphere 200. reached a detecting means for detecting that a pair of optical sensors 40 1 in the X-axis direction orthogonal to the moving direction of the moving body _100, 40 ₂ are juxtaposed.

The optical sensors 40 ₁ and 40 ₂ emit light B2 (infrared rays) in a direction opposite to the moving direction (Ya direction) of the moving body 100 (Yb direction) and have an inclination angle α with respect to the horizontal plane. Is attached. The optical sensors 40 ₁ and 40 ₂ receive the reflected light from the moving body 100 and output a detection signal while the moving body 100 reaches the second rear position P2 and passes through the first front position P5. To do.

The third sensor unit (rear sensor unit) 50 is a third sensor unit that is rearward (Yb direction) from the mounting position P4 of the spherical body 200 after the moving body 100 contacts the spherical body 200 and accelerates the spherical body 200 forward. A detection means for detecting that the rear position P3 has been reached, and a pair of optical sensors 50 ₁ and 50 ₂ are arranged in parallel in the X-axis direction orthogonal to the moving direction of the moving body 100.

The optical sensors 50 ₁ and 50 ₂ emit light B3 (infrared rays) in the moving direction (Ya direction) of the moving body 100, and are attached so as to have an inclination angle α with respect to the horizontal plane.

That is, as shown in FIG. 3, the optical sensors 40 ₁ , 40 ₂ of the _second sensor unit 40 and the optical sensors 50 ₁ , 50 ₂ of the third sensor unit 50 are respectively viewed from the X-axis direction with the light B 2. , B3 is attached with an inclination of a predetermined angle upward so that the detection direction, which is the irradiation direction of B3, intersects at the center height position of the sphere 200 placed on the sphere support 210. Therefore, the optical sensors 40 ₁ and 40 _{2 of} the second sensor unit 40 and the optical sensors 50 ₁ and 50 ₂ of the third sensor unit 50 accurately determine the height position of the moving body 100 with the center of the sphere 200 as a reference. For example, when the crossing position of the lights B2 and B3 is shifted upward from the center of the sphere 200, it moves from the lower side of the sphere 200 as “duffling” in golf terms. When the height position of the moving body 100 becomes difficult to detect, or when the crossing position of the lights B2 and B3 is shifted downward from the center of the sphere 200, the sphere 200 is like a “top” in golf terms. It becomes difficult to detect the height position of the moving body 100 that has moved from above.

The optical sensors 50 ₁ and 50 ₂ receive the reflected light from the moving body 100 and receive detection signals while the moving body 100 passes the second front position P6 after reaching the third rear position P3. Output.

In addition, the inclination angles α of the optical sensors 40 ₁ and 40 ₂ of the _second sensor unit 40 and the optical sensors 50 ₁ and 50 ₂ of the third sensor unit 50 are determined by the light B2 emitted from each sensor with respect to the horizontal direction. It means the angle of the irradiation direction of B3, and is set to an angle of α≈45 ° in FIG. The inclination angle α is not limited to 45 °, and for example, the moving body 100 can be detected if it is within a range of α = 15 ° to 75 ° from the relationship with the installation space of the plate 20. Further, the angle β at which the light B2 emitted from the optical sensors 40 ₁ and 40 ₂ and the light B3 emitted from the optical sensors 50 ₁ and 50 ₂ intersect is set to be approximately 30 ° to 150 °. It is desirable.

The fourth sensor unit (X-axis direction front sensor unit) 60 is configured so that after the moving body 100 is detected by the third sensor unit 50, the moving body 100 is positioned forward (Ya direction) from the mounting position P4 of the sphere 200. The photosensors 60 _{1 to} 60 ₁₅ are arranged in a line in the X-axis direction orthogonal to the moving direction of the moving body 100. The detecting means detects that the third front position P7 is reached.

Similarly to the first sensor unit 30, the optical sensors 60 _{1 to} 60 ₁₅ irradiate light B4 (infrared rays) in the vertical direction, and the moving body 100 finishes passing after reaching the third front position P7. Only the optical sensor located below it outputs a detection signal. Therefore, position data in the X-axis direction of the moving body 100 after acceleration is applied to the sphere 200 from the position of the optical sensor that has output the detection signal is measured by the optical sensors 60 _{1 to} 60 ₁₅ . In addition, the optical sensors 60 _{1 to} 60 ₁₅ are eleven light beams in which the distance between the _two optical sensors 60 ₁ , 60 ₂ , 60 ₁₄ , and 60 ₁₅ disposed at both ends is disposed in the center. It is set wider than the interval between the sensors 60 _{3 to} 60 ₁₃ . This enhances the narrower to the detection accuracy of the distance between the optical sensor 60 _{3-60 13} relatively high near the central probability that the mobile body 100 to pass through, a relatively low end portions probability that the mobile body 100 to pass through The number of sensors is reduced by widening the sensor interval.

In the present embodiment, the fourth sensor unit 60 has 15 optical sensors 60 _{1 to} 60 ₁₅ , but the number of sensors and the sensor interval can be arbitrarily changed.

Since the optical sensors 60 _{1 to} 60 ₁₅ are arranged in a line in the X-axis direction orthogonal to the moving direction of the moving body 100, the optical sensors 60 _{1 to} 60 ₁₅ extend in the X-axis direction after the face of the moving body 100 contacts the sphere 200. When parallel movement is performed in the Ya direction with the existing orientation, the detection signals are output simultaneously.

When the face of the moving body 100 is tilted with respect to the X-axis direction after hitting the sphere 200, the detection signals of the optical sensors 60 _{1 to} 60 ₁₅ correspond to the passing range of the moving body 100. Output from the sensor with a phase difference. Therefore, the face inclination of the moving body 100 immediately after contacting the sphere 200 can be obtained based on the phase difference between the detection signals of the optical sensors 60 _{1 to} 60 ₁₅ .

Fifth sensor unit 70 is a detection unit sphere 200 to detect whether or not present in the loading position P4, the light sensor 70 irradiates light from the X-axis direction perpendicular to the moving direction of the moving body 100 ₁ Is provided. Light sensor 70 ₁ outputs a detection signal when receiving light reflected from the sphere 200 to emit infrared light.

  Each detection signal from the first to fifth sensor units 30, 40, 50, 60, 70 is output to the control device 80. As shown in FIG. 5, the control device 80 moves from the upper surface of the plate 20 on the basis of the time difference between the detection signals obtained from the first to fourth sensor units 30, 40, 50, 60 as described later. Calculation means 90 for calculating the height position through which 100 passes and the speed of moving body 100 is provided.

  In addition, the calculation unit 90 stores measurement data such as the on / off timing of each detection signal, the time difference between the detection signals, the moving direction of the moving body 100, the inclination direction and the inclination angle of the moving body 100 with respect to the X axis in the memory 92. At the same time, the measurement data is output to the control circuit of the game device, for example, via the output means 94.

  Here, the state at the moment when the moving body 100 strikes the sphere 200 will be described. FIG. 6 is a perspective view showing a moment when the moving body 100 strikes the sphere 200. As shown in FIG. 6, when the contact surface (face) 100a of the moving body 100 contacts the sphere 200, it is desirable to hit the center of the sphere 200 with the center (sweet spot) of the contact surface 100a. The lobe angle (real loft) of the contact surface 100a at the moment of impact is almost determined by the projecting angle (the vertical direction of the trajectory) of the sphere 200, and the flying distance of the sphere 200 is determined by the speed of the moving body 100 and the projecting angle of the sphere 200. Is decided.

  Furthermore, as shown in FIGS. 7 and 8, the height of the moving body 100 is higher than the best shot called the top where the contact surface 100 a of the moving body 100 comes into contact with the height position H1 to H3 above the center of the spherical body 200. When the club head passes the position (position H1 indicated by a broken line in FIG. 7) and when the best shot (position H2 indicated by the solid line in FIG. 7) where the contact surface 100a of the moving body 100 contacts the center of the sphere 200 In some cases, the club head passes through a position lower than the best shot called duffle where the contact surface 100a of the moving body 100 contacts below the center of the sphere 200 (position H3 indicated by a one-dot chain line in FIG. 7). .

  The duff is called duff a ball or behind the ball in English, and includes the case where the moving body 100 comes into contact with the lower surface of the sphere 200 after contacting the floor surface in front of the sphere 200. Also means that the club head contacts the ball at a low position.

  The trajectory of the sphere 200 changes in the Y1 to Y3 directions when the height position of the moving body 100 at the moment of contact with the sphere 200 (at the time of hitting) is H1 to H3. Further, when the sphere 200 is rotated in the θx direction by the movement of the moving body 100, the flying distance of the sphere 200 changes depending on the rotation direction and the rotational force.

  Further, as shown in FIG. 9, the face is open with respect to the X-axis direction by the angles R1 to R3 around the Z-axis of the contact surface 100a of the moving body 100 at the moment of contact with the sphere 200 (in FIG. 9). In the case of a position R1 indicated by a broken line), in a state parallel to the X-axis direction (position R2 indicated by a solid line in FIG. 9), and in a state in which the face is closed in the X-axis direction (dashed line in FIG. 9). The position R3) shown in FIG.

  The trajectory of the sphere 200 changes in the X1 to X3 directions according to the angle θz with respect to the X-axis direction of the moving body 100 at the moment of contact with the sphere 200 (at the time of hitting). Further, when the sphere 200 is rotated in the θz direction by the movement of the moving body 100, the bending state changes in the lateral direction (X direction) of the sphere 200 by the rotation direction and the rotational force.

  Here, the output timing of the detection signal output when the passing position of the moving body 100 is detected will be described with reference to FIG. 10A is a waveform diagram of the detection signal S1 output from the first sensor unit 30, FIG. 10B is a waveform diagram of the detection signal S2 output from the second sensor unit 40, and FIG. FIG. 4D is a waveform diagram of the detection signal S3 output from the third sensor unit 50, and FIG. 4D is a waveform diagram of the detection signal S4 output from the fourth sensor unit 60. FIG.

  As shown in FIG. 10, the detection signals of the first to fourth sensor units 30, 40, 50, 60 are output in time series according to the positions P1 to P7 where the moving body 100 moves in the Ya direction. The First, when the contact surface 100a of the moving body 100 reaches the first rear position P1, the detection signal S1 from the first sensor unit 30 is turned on, and when the moving body 100 passes the first rear position P1, The detection signal S1 from one sensor unit 30 is turned off.

  Next, when the contact surface 100a of the moving body 100 reaches the second rear position P2, the detection signal S2 from the second sensor unit 40 is turned on, and the moving body 100 passes the first front position P5. The detection signal S2 from the second sensor unit 40 is turned off.

  When the contact surface 100a of the moving body 100 reaches the third rear position P3, the detection signal S3 from the third sensor unit 50 is turned on, and the moving body 100 passes the second front position P6. The detection signal S3 from the third sensor unit 50 is turned off. The detection signal S3 is output with a predetermined time difference from the detection signal S2, and there is a time zone in which the detection signal S3 is output simultaneously.

  After that, when the contact surface 100a of the moving body 100 reaches the third front position P7, the detection signal S4 from the fourth sensor unit 60 is turned on, and the moving body 100 passes the third front position P7. The detection signal S4 from the fourth sensor unit 60 is turned off.

  Here, a calculation method for obtaining the height positions H1 to H3 of the moving body 100 based on the time difference Toff from the detection signals S2 and S3 will be described.

  11A to 11C are waveform diagrams showing experimental results of the detection signals S2 and S3 according to the height position of the moving body 100. FIG. FIG. 11A shows the output timing of the detection signals S2 and S3 when the height position of the moving body 100 is H1 (top), and the time difference Toff between the detection signals S2 and S3 is T1. FIG. 11B shows the output timing of the detection signals S2 and S3 when the height position of the moving body 100 is H2 (best shot), and the time difference Toff between the detection signals S2 and S3 is T2 (T1> T2). . FIG. 11C shows the output timing of the detection signals S2 and S3 when the height position of the moving body 100 is H3 (difficult), and the time difference Toff between the detection signals S2 and S3 is T3 (T1> T2> T3). ).

  From this experimental result, there is a correlation between the time difference Toff between the detection signals S2 and S3 and the height position of the moving body 100, and it is determined whether the height position of the moving body 100 is H1 to H3 by the time difference Toff. It becomes possible to do.

  Here, in FIG. 10, the distance in the Y-axis direction between the first sensor unit 30 and the fourth sensor unit 60 is Da, and the detection signal S4 is turned on or off after the detection signal S1 is turned on or off. Let Ta be the time until.

The speed Sa of the moving body 100 is obtained by dividing the separation distance Da by the time Ta as shown in the following equation (1).
Sa = Da / Ta (1)
The ideal height position of the moving body 100 that is the best shot is Hs, and the time difference when the ball 200 is hit at this height position Hs is Toff1 (best shot reference value).

If the height position when the moving body 100 actually hits the sphere 200 at the speed SPat is Hs, the ratio A1 between the speed SPat of the moving body 100 and the height position Hs is obtained.
A1 = Hs / SPat (2)
Next, the time difference Toff2 at the ideal height H2 at the speed of the moving body 100 when actually hit is obtained.
Toff2 = A1 × K1 × Toff1 (3)
Next, a ratio A2 to an ideal impact is obtained from the off time difference Toff3 when the detection signals S2 and S3 are switched from on to off.
A2 = Toff3 / Toff2 (4)
The height position Hch of the moving body 100 is obtained from the following equation.
Hch = A2 × K2 × Hs (5)
The above K1 and K2 are coefficients determined by conditions such as the distance between the second and third sensor units 40 and 50, the inclination angle α, the height of the sphere support 210, and the like.

  Here, control processing executed by the control device 80 will be described. FIG. 12 is a flowchart of main control processing executed by the control device 80. 13A and 13B are flowcharts of the interrupt process.

  The control device 80 performs timer interrupt initialization in S11 of FIG. For example, 100 μsec is set as the interrupt time interval. In S12, it is checked whether or not the off flag of the fourth sensor unit 60 is set. In S12, when the OFF flag of the fourth sensor unit 60 is not set (in the case of NO), the process proceeds to S13, and it is checked whether or not the set time of the timer has elapsed. In S13, when the set time of the timer has elapsed (in the case of YES), the process proceeds to S14, and interrupt processing described later is executed. Then, the process returns to S12. If the set time of the timer has not elapsed in S13 (NO), the process returns to S12 without performing interrupt processing.

  In S12, when the OFF flag of the fourth sensor unit 60 is set (in the case of YES), since the detection signal of each sensor unit 30, 40, 50, 60 is detected, the process proceeds to S15. The elapsed time of the detection signal is written in the memory 92, and calculation processing (calculation formulas (1) to (4) above) for obtaining the height position of the moving body is performed. Then, the process returns to S12.

  The control device 80 executes the processes shown in FIGS. 13A and 13B at the interrupt time interval. As shown in FIG. 13A, in S21, the detection signals output from the sensor units 30, 40, 50, and 60 are read and input processing is performed.

  In S22, it is checked whether or not the ON flag of the first sensor unit 30 is set. In S22, when the ON flag of the first sensor unit 30 is not set (in the case of NO), the process proceeds to S23, and it is checked whether or not the detection signal S1 from the first sensor unit 30 is ON. In S23, when the detection signal S1 is ON (in the case of YES), the process proceeds to S24, where the ON flag of the first sensor unit 30 is set and the elapsed time data is reset. This completes the interrupt process. In S23, when the detection signal S1 is OFF (in the case of NO), the interrupt process is terminated without performing the process of S24.

  In S22, when the ON flag of the first sensor unit 30 is set (in the case of YES), the process proceeds to S25, and it is checked whether or not the OFF flag of the first sensor unit 30 is set. In S25, when the off flag of the first sensor unit 30 is not set (in the case of NO), the process proceeds to S26, and it is checked whether or not the detection signal S1 of the first sensor unit 30 is off. In S26, when the detection signal S1 is OFF (in the case of YES), the process proceeds to S27, where the elapsed time is written and the OFF flag of the first sensor unit 30 is set. This completes the interrupt process. In S26, when the detection signal S1 is on (in the case of NO), the interrupt process is terminated without performing the process of S27.

  In S25, when the off flag of the first sensor unit 30 is set (in the case of YES), the process proceeds to S28 shown in FIG. 13B and whether or not the on flag of the second sensor unit 40 is set. To check. In S28, when the ON flag of the second sensor unit 40 is not set (in the case of NO), the process proceeds to S29, and it is checked whether or not the detection signal S2 of the second sensor unit 40 is ON. In S29, when the detection signal S2 is OFF (in the case of YES), the process proceeds to S30, where the elapsed time is written and the OFF flag of the first sensor unit 30 is set. In S29, when the detection signal S2 is on (in the case of NO), the interrupt process is terminated without performing the process of S30.

  In S28, when the off flag of the second sensor unit 40 is not set (in the case of NO), the process proceeds to S31, and it is checked whether or not the off flag of the third sensor unit 50 is set. In S31, when the off flag of the third sensor unit 50 is not set (in the case of NO), the process proceeds to S32, and it is checked whether or not the detection signal S3 of the third sensor unit 50 is off. In S32, when the detection signal S2 is OFF (in the case of YES), the process proceeds to S33, where the elapsed time is written and the OFF flag of the third sensor unit 50 is set. In S32, when the detection signal S3 is ON (in the case of NO), the interrupt process is terminated without performing the process of S33.

  In S31, when the off flag of the third sensor unit 50 is not set (in the case of YES), the process proceeds to S34 to check whether or not the off flag of the fourth sensor unit 60 is set. In S34, when the OFF flag of the fourth sensor unit 60 is not set (in the case of NO), the process proceeds to S35, and it is checked whether or not the detection signal S4 of the fourth sensor unit 60 is ON. In S35, when the detection signal S4 is ON (in the case of YES), the process proceeds to S36, where the ON flag of the fourth sensor unit 60 is set and the elapsed time is written. This completes the interrupt process. In S35, when the detection signal S4 is OFF (in the case of NO), the interrupt process is terminated without performing the process of S36.

  In S34, when the ON flag of the fourth sensor unit 60 is set (in the case of YES), the process proceeds to S37, and it is checked whether or not the OFF flag of the fourth sensor unit 60 is set. In S37, when the OFF flag of the fourth sensor unit 60 is not set (in the case of NO), the process proceeds to S38, and it is checked whether or not the detection signal S4 of the fourth sensor unit 60 is OFF. In S38, when the detection signal S4 is OFF, the process proceeds to S39, where the OFF flag of the fourth sensor unit 60 is set and the elapsed time is written. This completes the interrupt process. If the detection signal S4 is on in S38, the interrupt process is terminated without performing the process in S39.

  In S37, when the OFF flag of the fourth sensor unit 60 is set (in the case of NO), the interrupt process is terminated without performing the processes of S38 and S39.

  Here, determination processing for determining the position of the moving body 100 based on ON / OFF of the detection signals of the sensor units 30, 40, 50, 60 will be described with reference to the flowchart of FIG.

In S100, the control device 80 checks whether all the optical sensors 30 ₁ to 30 ₁₅ of the first sensor unit 30 are off. In S100, when all the optical sensors 30 ₁ to 30 ₁₅ are not turned off (in the case of NO), the process proceeds to S101, and a plurality of sensor numbers turned on among the optical sensors 30 ₁ to 30 ₁₅ are stored in the memory 92. . In the next S102, it is determined whether the position of the moving body 100 in the position P1 on the X axis is on the Y axis, the Xa direction, or the Xb direction, and the determination result is stored in the memory 92. Then, it progresses to S117 mentioned later.

In S100, if all of the optical sensors ₃₀ 1 _{to 30 15} is off (the case of YES), the process proceeds to S103, all the optical sensors ₄₀ 1, 40 ₂ of the second sensor unit 40 checks whether the off To do. In S103, when both the optical sensors 40 ₁ and 40 ₂ are not off (in the case of NO), the process proceeds to S104, and the sensor number that is turned on among the optical sensors 40 ₁ and 40 ₂ is stored in the memory 92. It measured following the elapsed time in S105, (whereas the optical sensor ₄₀ 1, 40 ₂ of either, or both) optical sensors ₄₀ 1, 40 sensors turned on among the _two step S106 is whether or not switched off To check. In S106, (either one of the optical sensors ₄₀ 1, 40 _2, or both) optical sensors ₄₀ 1, 40 sensors turned on among the ₂ when is turned off (in the case of YES), the process proceeds to S 106 a, the measurement until it The elapsed time (time when the detection signal S2 is turned on / off) is stored in the memory 92. Then, it progresses to S117 mentioned later.

In S103, when both the optical sensors 40 ₁ and 40 ₂ are off (in the case of YES), the process proceeds to S107, and it is determined whether or not all the optical sensors 50 ₁ and 50 _{2 of} the third sensor unit 50 are off. To check. In S107, when both the optical sensors 50 ₁ and 50 ₂ are not off (in the case of NO), the process proceeds to S108, and the sensor number that is turned on among the optical sensors 50 ₁ and 50 ₂ is stored in the memory 92. It measured following the elapsed time in S109, (whereas the optical sensor ₅₀ 1, 50 ₂ of either, or both) optical sensors ₅₀ 1, 50 sensors turned on among the _two step S110 is whether or not switched off To check. In S110, (either one of the optical sensors ₅₀ 1, 50 _2, or both) optical sensors ₅₀ 1, 50 sensors turned on among the ₂ when is turned off (in the case of YES), the process proceeds to S110a, the measurement until it The elapsed time (time when the detection signal S3 is turned on / off) is stored in the memory 92. Then, it progresses to S117 mentioned later.

In S107, when both the optical sensors 50 ₁ and 50 ₂ are off (in the case of YES), the process proceeds to S111, and it is determined whether or not all the optical sensors 60 _{1 to} 60 _{15 of} the fourth sensor unit 60 are off. To check. In S111, when all the optical sensors 60 _{1 to} 60 ₁₅ are not off (in the case of NO), the process proceeds to S112, and a plurality of sensor numbers turned on among the optical sensors 60 _{1 to} 60 ₁₅ are stored in the memory 92. . In next step S113, it is determined whether the position of the moving body 100 in the position P7 in the X-axis direction is on the Y-axis, the Xa direction, or the Xb direction, and the determination result is stored in the memory 92. Then, it progresses to S117 mentioned later.

In S114, when all the optical sensors 60 _{1 to} 60 ₁₅ are off (in the case of YES), the process proceeds to S116, and it is determined that the player is in a standby state where the player has not yet performed a swing.

  In S117, the height position of the moving body 110 and the X of the moving body 100 are determined based on the data (on / off timing of each photosensor) obtained in S102, S106a, S110a, S113, and S115 described above. An inclination direction, an inclination angle with respect to the axis, and a shift in the movement direction with respect to the Y axis are calculated.

Next, a specific example of the process of S117 will be described with reference to the flowcharts of FIGS. FIG. 15 is a flowchart showing the determination process of the moving direction of the moving body 100. FIG. 16 is a flowchart showing a determination process of the inclination of the moving body 100 with respect to the X axis. FIG. 17 is a flowchart showing the trajectory determination process of the sphere 200.
[Determination processing of moving direction of moving body 100]
As shown in FIG. 15, a plurality of sensor numbers turned on among the optical sensors 30 ₁ to 30 ₁₅ of the first sensor unit 30 in S201 are read, and the backward passage position in the X-axis direction corresponding to the sensor number Determine.

In the next S202, a plurality of sensor numbers turned on among the optical sensors 60 _{1 to} 60 ₁₅ of the fourth sensor unit 60 are read, and the forward passage position in the X-axis direction corresponding to the sensor number is determined.

  Subsequently, in S203, the movement course of the moving body 100 moving above the plate 20 is determined from the relative positional relationship between the rear passage position data and the front passage position data. For example, it is possible to determine the Y axis direction of the plate 20, the direction inclined in the Xa direction with respect to the Y axis direction, the direction inclined in the XB direction with respect to the Y axis direction, or the like.

In the next S204, the determination result of the moving course of the moving body 100 determined as described above is stored in the memory 92.
[Tilt Determination Processing for Mobile Body 100 with respect to X-Axis]
As shown in FIG. 16, S301 in, when outputting a detection signal from the two or more sensors of the light sensor 30 ₁ to 30 ₁₅ of the first sensor unit 30, two or more detection signals on or off Find the time difference when.

In the next S302, when outputting a detection signal from the two or more sensors of the light sensor 60 _through 603 ₁₅ of the fourth sensor unit 60, obtains the time difference when the on or off more than one detection signal .

In the next S303, the face tilt direction and tilt angle θz with respect to the X direction before the impact of the moving body 100 (before impact) based on the time difference of the detection signals of the optical sensors 30 ₁ to 30 ₁₅ of the first sensor unit 30 (see FIG. 9). Further, the X direction during follow-through (when swinging) after the moving body 100 hits the sphere 200 based on the time difference between the detection signals of the optical sensors 60 _{1 to} 60 ₁₅ of the fourth sensor unit 60. A face tilt direction and a tilt angle θz (see FIG. 9) are obtained.

In the next S304, the face tilt direction and tilt angle θz calculated as described above are stored in the memory 92.
[Ballistic Judgment Processing of Sphere 200]
As shown in FIG. 17, in S <b> 401, the moving course of the moving body 100 is read from the memory 92. Subsequently, in S402, the height (H1 to H3, see FIG. 8) of the moving body 100 is read from the memory 92. In step S403, the face tilt direction and tilt angle θz (see FIG. 9) with respect to the X direction when the moving body 100 is not hit (before impact) and follow-through (when swinging) are read from the memory 92.

  In the next S404, a database in which the relationship between each data and the trajectory of the sphere 200 is stored in advance and each measurement data (movement course of the moving body 100, height of the moving body 100, face tilt direction and tilt angle θz) are stored. Match. In step S405, the ballistic data of the sphere 200 is extracted from the comparison result between each measurement data and the database, and the change in the trajectory of the sphere 200 (best shot, top, duff, slice, hook, etc.) is determined.

  Thus, based on the ON / OFF timing of the detection signals of the first to fourth sensor units 30, 40, 50, 60, the moving state of the moving body 100 and the ballistic change of the sphere 200 that has been hit are also determined. It becomes possible.

  In the above embodiment, the case of detecting the position of a moving body (club head) that hits the golf ball as a sphere has been described as an example. However, the present invention is not limited to this, and the ball is replaced with a racket or the like instead of the other golf club. Of course, the present invention can also be applied to experience-type game devices (for example, hockey, ice hockey, polo, cricket, etc.) for experiencing a sport of hitting in a simulated manner.

It is a perspective view which shows one Example of the mobile body position detection apparatus by this invention. It is a top view of a moving body position detection apparatus. It is a front view of a moving body position detection apparatus. It is a right view of a moving body position detection apparatus. It is a block diagram which shows each sensor unit and a control apparatus. 3 is a perspective view showing a moment when a moving body 100 strikes a sphere 200. FIG. FIG. 6 is a right side view showing the contact position of the sphere 200 by the height positions H1 to H3 of the moving body 100. FIG. 6 is a front view showing contact positions of a sphere 200 by height positions H1 to H3 of a moving body 100. 6 is a plan view showing angles R1 to R3 around the Z axis of the contact surface 100a of the moving body 100 at the moment of contact with the sphere 200. FIG. FIG. 6 is a diagram for explaining the output timing of a detection signal for detecting a passing position of a moving body. 6 is a waveform diagram showing experimental results of detection signals S2 and S3 corresponding to the height position H1 of the moving body 100. FIG. 6 is a waveform diagram showing experimental results of detection signals S2 and S3 according to a height position H2 of a moving body 100. FIG. 6 is a waveform diagram showing experimental results of detection signals S2 and S3 corresponding to the height position H3 of the moving body 100. FIG. 3 is a flowchart of main control processing executed by a control device 80. It is a flowchart of the process to interrupt. It is a flowchart of the interruption process performed following the process of FIG. 13A. It is a flowchart of the determination process which determines the position of the mobile body 100 based on ON / OFF of the detection signal of each sensor unit 30,40,50,60. 5 is a flowchart showing a determination process of the moving direction of the moving body 100. 6 is a flowchart illustrating a determination process of the inclination of the moving body 100 with respect to the X axis. 5 is a flowchart showing a trajectory determination process of a sphere 200.

Explanation of symbols

10 moving position detecting device 20 plate 30 first sensor unit ₃₀ 1 _{to 30 15,} 40 _{1, 40 2,} 50 _1, 50 2, 60 _{1 to 60} 15, 70 ₁ light sensor 40 second sensor unit 50 first 3 sensor unit 60 4th sensor unit 70 5th sensor unit 80 Control device 90 Calculation means 92 Memory 100 Mobile body 200 Sphere

Claims (11)

In a moving body position detecting device that detects a position through which a moving body that gives acceleration to a sphere placed at a predetermined height from the floor surface passes,
It is disposed below the floor surface, and the detection direction is attached to the floor surface in a rearward direction inclined at a predetermined angle, and the moving body passes closer to the sphere from the front of the mounting position of the sphere. A front sensor unit for detecting
A rear side that is disposed below the floor surface and has a detection direction attached to the front surface that is inclined at a predetermined angle with respect to the floor surface, and detects that it has passed closer to the sphere than behind the mounting position of the sphere. A sensor unit;
Calculation means for calculating a passing position of the moving body with respect to the sphere from a time difference between detection signals obtained from the front sensor unit and the rear sensor unit;
With
The moving body position detecting device, wherein the front sensor unit and the rear sensor unit are arranged to face each other so that their detection directions intersect each other at a predetermined angle on the mounting position of the sphere.   The calculating means calculates a height position of the moving body based on a time difference between a time when the front sensor unit detects the moving body and a time when the rear sensor unit detects the moving body. The moving body position detection apparatus according to claim 2, wherein   3. The pair of the front sensor unit and the rear sensor unit are arranged on both sides in the X-axis direction orthogonal to the Y-axis direction that is the moving direction of the moving body. Mobile body position detection device. A plurality of sensors are arranged in a row at predetermined intervals in the X-axis direction orthogonal to the Y-axis direction as the moving direction of the moving body, and the moving body is at a first rear position with respect to the mounting position of the sphere. An X-axis direction rear sensor unit for detecting that it has reached,
A plurality of sensors are arranged in a line at predetermined intervals in the X-axis direction orthogonal to the Y-axis direction as the moving direction of the moving body, and the moving body has a predetermined position in front of the mounting position of the sphere. An X-axis direction front sensor unit that detects passing,
The moving body position detecting device according to any one of claims 1 to 3, further comprising:   The calculation means calculates the speed of the moving body based on a time difference between a time when the X-axis direction rear sensor unit detects the moving body and a time when the X-axis direction front sensor unit detects the moving body. 5. The moving body position detecting device according to claim 4, wherein the moving body position detecting device is operated.   The calculation means is configured to detect a displacement in a moving direction of the moving body with respect to the sphere or an inclination angle of the moving body with respect to the sphere based on detection positions of at least two sensors in the X-axis direction rear sensor unit in the X-axis direction. The moving body position detecting device according to claim 4, wherein:   The calculation means includes a detection position in the X-axis direction of the sensor that outputs a detection signal in the X-axis direction rear sensor unit and an X-axis direction of the sensor in the X-axis direction front sensor unit that outputs a detection signal. 5. The moving body position detecting device according to claim 4, wherein a displacement in a moving direction of the moving body with respect to the sphere or an inclination angle of the moving body with respect to the sphere is calculated based on a difference from a detection position. In a moving body position detection method for detecting a height position through which a moving body that gives acceleration to a sphere placed at a predetermined height from the floor surface passes,
It is disposed below the floor surface, and the detection direction is attached to the floor surface in a rearward direction inclined at a predetermined angle, and the moving body passes closer to the sphere from the front of the mounting position of the sphere. Reading a first detection signal for detecting
It is disposed below the floor surface and is attached in a forward direction whose detection direction is inclined at a predetermined angle with respect to the floor surface, and detects that it has passed close to the sphere from behind the mounting position of the sphere. The process of reading the detection signal of 2;
Calculating a passing height position of the moving body with respect to the sphere from the time difference between the first and second detection signals obtained from the front sensor unit and the rear sensor unit;
A moving body position detection method comprising: It is a moving body position detection method of Claim 8, Comprising:
A step of reading a rear position detection signal for detecting that the moving body has reached a predetermined rear position with respect to the mounting position of the sphere;
A step of reading a front position detection signal for detecting that the moving body has passed a predetermined front position that is forward of the mounting position of the sphere;
Calculating the speed of the moving body relative to the sphere from the time difference between the detection signals;
A moving body position detection method comprising: It is a moving body position detection method of Claim 8, Comprising:
A step of calculating a displacement in a moving direction of the moving body with respect to the sphere or an inclination angle of the moving body with respect to the sphere based on detection positions in the X-axis direction of at least two sensors of the rear position detection signals. A moving body position detecting method characterized by the above. It is a moving body position detection method of Claim 8, Comprising:
The moving direction of the movable body relative to the sphere based on the difference between the detected position in the X-axis direction of the sensor that outputs the rear position detection signal and the detected position in the X-axis direction of the sensor that outputs the front position detection signal Alternatively, a moving body position detection method comprising a step of calculating an inclination angle of the moving body with respect to the sphere.

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