CN101890218A - Virtual golf simulator, sensor therein and sensing method of virtual golf simulator - Google Patents
Virtual golf simulator, sensor therein and sensing method of virtual golf simulator Download PDFInfo
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- CN101890218A CN101890218A CN2009102034088A CN200910203408A CN101890218A CN 101890218 A CN101890218 A CN 101890218A CN 2009102034088 A CN2009102034088 A CN 2009102034088A CN 200910203408 A CN200910203408 A CN 200910203408A CN 101890218 A CN101890218 A CN 101890218A
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Abstract
The invention provides a virtual golf simulator, a sensing device therein and a sensing method of the virtual golf simulator. The virtual golf simulator senses the position of a golf ball, the angle, the speed, the direction and the rotation of the golf ball after being hit, the track of a golf club after hitting the golf ball and the like, and correctly reproduces the flying distance of the golf ball and the properties of the ball to the greatest extent. Therefore, the sensing device of the virtual golf simulator in one embodiment of the invention comprises a first sensing device and a second sensing device, wherein the first sensing device is arranged in front of a club swing trainer for hitting the golf ball, and is used for measuring at least one of the speed, the horizontal angle and the rotation of the hit golf ball; and the second sensing device is arranged on one side of the club swing trainer, and is used for sensing the position of the golf ball placed on the club swing trainer and measuring at least one of the speed, the vertical angle and the rotation of the hit golf ball.
Description
Technical field
The method for sensing that the present invention relates to the virtual golf simulator, is arranged on the sensor in this simulator and is used for the virtual golf simulator, more particularly, a kind of like this virtual golf analogue means is provided, be arranged on wherein sensor device and the method for sensing of virtual golf analogue means, moving of this virtual golf analogue means induction golf and golf clubs, the linksman embodies speed, angle, direction and the rotation (spin) etc. of golf, so that can experience the sensation when participating in the cintest that plays in actual court.
Background technology
Recently, along with the people's who participates in golf sports increase, the so-called screen golf system that has occurred utilizing the Golfing practice of virtual golf analogue means and can enjoy the virtual golf match.
Such screen golf system is the screen that can show the virtual golf place in indoor setting, and the linksman bats towards above-mentioned screen, the speed of induction golf, direction etc., the stroke of demonstration golf on above-mentioned screen.
In the screen golf system, need to embody to greatest extent speed, direction, angle and rotation, so that like the people who plays golf to experience presence to greatest extent near the golf of actual conditions.
Summary of the invention
The object of the present invention is to provide a kind of position that can in the virtual golf analogue means, respond to golf, by angle, speed, direction and the rotation of the golf after impacting, the track of the golf clubs after the batting etc., as far as possible correctly reproduce the flying distance of golf and ball matter etc. the virtual golf analogue means, be arranged on wherein sensor device and the method for sensing of virtual golf analogue means.
To achieve these goals, according to one embodiment of the invention, the sensor device of golf simulating equipment comprises: first sensing device, be arranged on the place ahead of the putting practice device that is used to impact golf, be used for measuring at least one of speed, horizontal direction angle and rotation of the golf that is impacted; And second sensing device, be arranged on the side of above-mentioned putting practice device, be used to respond to the position that is placed on the golf on the above-mentioned putting practice device, and measure the speed of the golf that is impacted, the angle of vertical direction and at least one in the rotation.
And preferably, above-mentioned first sensing device comprises: luminous detecting means is arranged on the place ahead of above-mentioned putting practice device, in fact towards vertical top irradiates light; And light-receiving detecting means (or being subjected to the light detecting means), be arranged side by side near above-mentioned luminous detecting means, receive the light that reflects by golf or club from the light of above-mentioned luminous detecting means irradiation, thus induction golf or club.Above-mentioned second sensing device comprises: luminescence unit is arranged on irradiates light on the side of above-mentioned putting practice device, so that light crosses above-mentioned putting practice device; And light receiving unit, be arranged on the another side of above-mentioned putting practice device, be used to receive light from above-mentioned luminescence unit irradiation, and induction golf.
And, preferably, also comprising control part, it receives induction information from above-mentioned light-receiving detecting means and above-mentioned light receiving unit, and the position and the mobile relevant information of processing and golf.
And preferably, above-mentioned light receiving unit comprises: first feel of the ball is answered light receiver, is made of a plurality of light receiving elements that form a line, and the golf that is impacted in above-mentioned serving position portion is responded to first; Second feel of the ball is answered light receiver, and a plurality of light receiving elements that distance to a declared goal is arranged into row constitute by answering light receiver to be separated by with above-mentioned first feel of the ball, and the golf that is impacted at above-mentioned serving position is carried out secondary induction; The 3rd feel of the ball is answered light receiver, is made of a plurality of light receiving elements that form a line, and the golf that is impacted at above-mentioned golf ball nail is responded to first; And the 4th the feel of the ball answer light receiver, a plurality of light receiving elements that distance to a declared goal is arranged into row constitute by answering light receiver to be separated by with above-mentioned the 3rd feel of the ball, and the golf that is impacted at above-mentioned golf ball nail is carried out secondary induction.
And, preferably set gradually above-mentioned first feel of the ball along the direction of advance of golf and answer light receiver, second feel of the ball to answer light receiver, the 3rd feel of the ball to answer the light receiver and the 4th feel of the ball to answer light receiver at above-mentioned light receiving unit.
And preferably, above-mentioned light receiving unit comprises: the first ball position induction part is used to respond to golf and whether is placed on above-mentioned serving position; And the second ball position induction part, be used to respond to golf and whether be placed on above-mentioned golf and nail on.
And, preferably, also comprising display part, it is arranged on the above-mentioned light receiving unit, is used to show whether putting golf on the above-mentioned serving position and above-mentioned golf nails on whether putting golf.
And preferably, above-mentioned light receiving unit comprises: ball breaks away from induction part, is used for responding to golf and whether is placed on appointed area outside the above-mentioned serving position; And ball staple height induction part, be used to respond to the height of above-mentioned golf ball nail.
In addition, according to one embodiment of the invention, golf simulating equipment comprises: swivel plate (swing plate), and above-mentioned swivel plate is provided with the putting practice device that is used to impact golf; First sensing device is arranged on the place ahead of above-mentioned putting practice device; Second sensing device is arranged on the side of above-mentioned putting practice device; Image output device shows the golf analog image information of the mobile image information of the image information comprise golf course and golf on screen; And primary processing unit, this primary processing unit is controlled, so that reception is according to the information of speed, angle and the spin of the relevant golf of the induction result calculating of above-mentioned first sensing device and second sensing device, constitute above-mentioned golf simulating equipment image information based on this information, by above-mentioned image output device output image.
In addition, according to one embodiment of the invention, the method for sensing of golf simulating equipment is characterised in that and comprises: above-mentioned primary processing unit judgement is kicked off or is batted; According to being to impact or impact the sensor of selecting to respond to golf at above-mentioned serving position at above-mentioned golf ball nail; Whether induction golf is positioned on above-mentioned golf ball nail or the serving position; And, calculate speed, horizontal direction angle, vertical direction angle and the rotation of golf based on to by the induction result of the golf clubs of the golf that impacted and batting.
Description of drawings
Fig. 1 has been suitable for the schematic diagram of the screen golf system of virtual golf analogue means according to an embodiment of the invention.
Fig. 2 is the block diagram that briefly shows the formation of virtual golf analogue means shown in Figure 1.
Fig. 3 is arranged on the sensing device schematic diagram on the swivel plate of virtual golf analogue means shown in Figure 1.
Fig. 4 is the formation block diagram that briefly shows the sensing device of virtual golf analogue means shown in Figure 3.
Fig. 5 is the detail perspective view that the sensing device of virtual golf analogue means shown in Figure 3 constitutes.
Fig. 6 is the detailed plan view of the sensing device of virtual golf analogue means shown in Figure 3.
Fig. 7 is used for illustrating the principle schematic of measuring the horizontal direction angle etc. of golf at the sensing device of virtual golf analogue means shown in Figure 6.
Fig. 8 is used for illustrating the principle schematic of measuring the speed etc. of golf at the sensing device of virtual golf analogue means shown in Figure 6.
The specific embodiment
With reference to accompanying drawing to the virtual golf analogue means that the present invention relates to and be arranged on wherein sensing device and the method for sensing of virtual golf analogue means be described in more details.
At first, the virtual golf analogue means that first embodiment of the invention is related to that sees figures.1.and.2 describes.
As depicted in figs. 1 and 2, the virtual golf analogue means that relates to of first embodiment of the invention comprises swivel plate (swing plate) 100, sensing device S, operates with operating portion 60 and the master computer 1 that is used to store and handle needed all data of golf simulating equipment to image output device 40, the user of the display 50 output specify images that are arranged on the front.
And, preferably include camera 30, so that can take the action of linksman's swing.
Above-mentioned master computer 1 comprises primary processor 10 and sub-processor 20.
Above-mentioned primary processor 10 is control sensing device S, swivel plate 100, operating portion 60 and image output device 40 etc., thereby realizes the device that plays the master control effect of virtual golf simulating equipment.
Above-mentioned swivel plate 100 is the devices that utilize club batting for the linksman, and above-mentioned sensing device S is the mobile device of responding to of golf that the linksman is impacted on swivel plate 100.
Above-mentioned sub-processor 20 is to analyze the image that obtains from camera 30, is shown as the device of picture by above-mentioned image output device 40.
Preferably, above-mentioned primary processor 10 comprises central control part 11, image output control part 12,3-D view processing motor 13 and 3-D view DB14 etc.
Storing the view data that is used for reproduced image among the above-mentioned 3-D view DB14, on screen 50, to show the environment identical with actual golf course.
Above-mentioned 3-D view processing motor 13 is to be used for the view data that is stored in above-mentioned 3-D view DB 14 is processed, and makes it be shown as the device of stereo structure.
In addition, the above-mentioned 3-D view processing motor 13 of above-mentioned image output control part 12 controls makes its image that reproduces appointment, and it is delivered to image output device 40 and controls its output.
Promptly, image output control part 12 control 3-D view processing motor 13 and image output device 40 etc., so that on screen 40, show the image information (not only comprise the image information of golf course and the mobile image information of golf, also comprise with the golf simulated race relevant all images information such as information relevant) of golf simulating equipment with the competition status of present stage.
In addition, central control part 11 is responsible for whole control, receives the induction result from above-mentioned sensing device S, so that image output control part 12 reproduces the image information of appropriate golf simulated race based on this induction result.
And, preferably above-mentioned swivel plate 100 is set to the angle of inclination to be adjusted into the state of realistic golf course, preferably by the action of the above-mentioned swivel plate 100 of above-mentioned central control part 11 controls.
In addition, induction results such as speed, direction, angle and the rotation of the golf that impacts according to the linksman, the flying distance of judging golf is when distance to a declared goal is above, and the swinging position by camera 30 these linksmans of shooting shows the stipulated time on screen 50.
The device of managing the reproduction of above-mentioned image and demonstration etc. is sub-treating apparatus 20.
Promptly, camera 30 all can be taken swinging position when the linksman impacts golf, at this moment speed, direction, angle and the rotations etc. of sensing device S golf that the linksman is impacted are responded to, and being passed to primary processing unit 10, primary processing unit 10 passes to sub-treating apparatus 20 again.
The batting analysis portion 21 of sub-treating apparatus 20 judges based on the data that receive from above-mentioned primary processing unit 10 whether this linksman's record reaches certain level, the graphical analysis portion 22 of sub-treating apparatus 20 is according to the analysis result of above-mentioned batting analysis portion 21, when this linksman's record reaches certain level when above, from the image of having taken, extract the image of appropriate reaction linksman swinging position, it is passed to image output device 40, and above-mentioned image output device 40 is presented at it on screen 50.
In addition, 23 pairs of batting of the analysis image output control part of sub-treating apparatus 20 analysis portion 21, graphical analysis portion 22 and image output device 40 etc. are controlled, so that show above-mentioned analysis image.
On the other hand, the sensing device of the virtual golf analogue means that one embodiment of the invention is related to reference to Fig. 3 and Fig. 4 is described in more details.
Fig. 3 is the detailed maps that the part of sensing device is installed in the swivel plate 100 shown in Figure 1, and swivel plate 100 comprises the pedal 101 that is used for the linksman and takes swinging position, the golf ball nail 210 of placing golf and the putting practice device 200 with serving position portion (ground position part) 220.
Here, golf ball nail 210 is meant and is used to place golf, the part of (Tee Shot) so that the linksman kicks off, serving position 220 are to place the part of golf for linksman's rod batting (Driver Shot), iron shot (Iron Shot) and push out (Putting Shot) (below be called " (ground shot) bats ").
As shown in Figure 3 and Figure 4, according to one embodiment of the invention, the sensing device of virtual golf analogue means comprises first sensing device 510,520 that is arranged on putting practice device 200 the place aheads and is arranged on second sensing device 300,400 on the side of putting practice device 200.
Above-mentioned first sensing device 510,520 and second sensing device 300,400 all adopt the mode of responding to golf or golf clubs by luminous and light-receiving mode.
That is, by light-emitting component emission light, receive this light by light receiving element, object blocks the light by the light-emitting component emission through between it, and light receiving element can't receive light, thus sense object.
As shown in Figure 3 and Figure 4, above-mentioned first sensing device comprises luminous detecting means 510 and light-receiving detecting means 520.
Above-mentioned luminous detecting means 510 is arranged on the place ahead of putting practice device 200, in fact towards vertical top irradiates light.At this moment, the light that is produced by above-mentioned luminous detecting means 510 is passed to the linksman sometimes, thereby the sportsman is not felt well, and therefore, preferably is arranged to adjust luminous angle automatically.
For example, during water hazard, the linksman is health low head near the golf time, therefore can have influence on the linksman by luminous detecting means 510 towards the light of vertical top irradiation.
At this moment, can control luminous detecting means 510, adjust the direction of light of irradiation automatically, so that it can be towards the linksman.
Above-mentioned light-receiving detecting means 520 is configured to receive the light that reflects by golf or golf clubs from the light of above-mentioned luminous detecting means 510 irradiations, with induction golf or golf clubs.
On the other hand, as shown in Figure 3 and Figure 4, second sensing device comprises luminescence unit 300 and light receiving unit 400.
As shown in Figure 3, above-mentioned luminescence unit 300 is arranged on a side of putting practice device 200, and above-mentioned light receiving unit 400 is arranged on the opposite side of putting practice device 200, is used to receive the light from above-mentioned luminescence unit 300 irradiations.
In addition, as shown in Figure 4, the luminous detecting means 510 of above-mentioned first sensing device and the luminescence unit 300 of second sensing device control irradiates light by adjustment part R.
In addition, the light receiving unit 400 of the light-receiving detecting means 520 of above-mentioned first sensing device and second sensing device is connected with control part M.
Result by above-mentioned light-receiving detecting means 520 and light receiving unit 400 inductions is passed to above-mentioned control part M, and above-mentioned control part M calculates the data such as speed, direction, angle and rotation of relevant golf based on the induction result.
In addition, the data that calculate are passed to primary processing unit 10.With the mechanism that describes in detail in the back between primary processing unit 10 and the sensing device S.
On the other hand, above-mentioned control part M is connected with the golf ball nail 210 of putting practice device 200 and it is controlled, thereby adjusts the height of above-mentioned golf ball nail 210 according to the height of the predefined golf ball nail 210 of linksman.
The concrete structure of aforesaid sensing device is described in further detail with reference to Fig. 5 and Fig. 6.
Fig. 5 shows the stereogram of the sensing device of the place ahead that is arranged on putting practice device 200 and side, and Fig. 6 is the vertical view of sensing device shown in Figure 5.
As shown in Figure 5 and Figure 6, putting practice device 200 is provided with golf ball nail 210 and serving position portion 220.
And the luminous detecting means 510 that is arranged on putting practice device 200 the place aheads is arranged to a plurality of light-emitting components along laterally neatly forming a line.At this moment, each light-emitting component is arranged in fact towards vertical top irradiates light.
And light-receiving detecting means 520 comprises a plurality of light receiving elements, these a plurality of light receiving elements and above-mentioned luminous detecting means 510 be separated by distance to a declared goal and in parallel forming a line.
On the other hand, the luminescence unit 300 that is arranged on the side of putting practice device 200 comprises first illuminating part 310 and second illuminating part 320, respectively towards the different directions irradiates light.
Preferably the side along putting practice device 200 is arranged side by side above-mentioned first illuminating part 310 and second illuminating part 320.
In addition, be arranged on the another side of putting practice device 200 to receive and comprise ball position induction part 451,452,460,470 and ball induction part 410,420,430,440 from the light receiving unit 400 of the light of above-mentioned luminescence unit 300 irradiations.
Above-mentioned light receiving unit 400 comprises unit housings (unit case) 401 and is built in inner various sensors, at this moment, preferably, on the face relative that each sensor is arranged on unit housings 401, so that can receive from the light of above-mentioned luminescence unit 300 emissions with luminescence unit 300.
Above-mentioned light receiving unit 400 is divided into two zones, is used for receiving light from above-mentioned luminescence unit 300.
That is, the light that exposes to light receiving unit 400 from luminescence unit 300 is divided into the zone (i.e. the second optical receiving region SR2) of the light that reception shines from the zone (i.e. the first optical receiving region SR1) of the light of first illuminating part, 310 irradiations and reception from second illuminating part 320.
With putting practice device 200 is benchmark, is the place ahead with the side that first sensing device 510,520 is set, and when an opposite side was the rear, as shown in Figure 5, the first optical receiving region SR1 was formed on the rear, and the second optical receiving region SR2 is formed on the place ahead.
Therefore and first illuminating part 310 is positioned at the place ahead of second illuminating part 320, intersects mutually to the path with the light that shines to the second optical receiving region SR2 from second illuminating part 320, the path of the light of first optical receiving region SR1 irradiation from first illuminating part.
Cross putting practice device 200 towards the above-mentioned first optical receiving region SR1 irradiates light from above-mentioned first illuminating part 310, at this moment, as shown in Figure 5, preferably make from above-mentioned first illuminating part 310 and expose to the positive front of the light of the first optical receiving region SR1 via serving position portion 220.
In addition, cross putting practice device 200 towards the above-mentioned second optical receiving region SR2 irradiates light, at this moment, as shown in Figure 5, preferably make from above-mentioned second illuminating part 320 and expose to the light of the second optical receiving region SR2 via golf ball nail 210 from above-mentioned second illuminating part 320.
On the other hand, preferably, the ball induction part of light receiving unit 400 comprises that first feel of the ball that is arranged on the first optical receiving region SR1 answers light receiver 410, second feel of the ball to answer light receiver 420 and the 3rd feel of the ball that is arranged on the second optical receiving region SR2 answers light receiver 430, the 4th feel of the ball to answer light receiver 440.
Preferably, forwards being arranged in order above-mentioned first feel of the ball from the rear of putting practice device 200 answers light receiver 410, second feel of the ball to answer light receiver 420, the 3rd feel of the ball to answer light receiver 430, the 4th feel of the ball to answer light receiver 440.
That is, be arranged in order by the direction that golf after impacting advances along golf, thereby respond to golf expeditiously.
Above-mentioned first feel of the ball answers the light receiver 410 and second feel of the ball to answer 420 pairs of golf that impacted in serving position portion 220 of light receiver to respond to, when rod batting or iron shot, responded to first by the ball that first feel of the ball answers 410 pairs of quilts of light receiver to impact, the golf of answering 420 pairs of quilts of light receiver to impact by second feel of the ball carries out the secondary induction.
When serving position portion 220 pushes the ball, to respond to first by the golf that first feel of the ball answers 410 pairs of quilts of light receiver to impact, the golf that is impacted by 520 pairs of quilts of light-receiving detecting means of first sensing device carries out the secondary induction.
Above-mentioned the 3rd feel of the ball answers the light receiver 430 and the 4th feel of the ball to answer light receiver 440 to be used to respond to the golf that impacts at golf ball nail 210, when opening the golf that golf nails on, responded to first by the golf that the 3rd feel of the ball answers 430 pairs of quilts of light receiver to impact, the golf of answering 440 pairs of quilts of light receiver to impact by the 4th feel of the ball carries out the secondary induction.
Calculate the processes such as speed, direction, angle and rotation of golf about the result who answers light receiver induction golf according to above-mentioned each feel of the ball, will be explained below.
On the other hand, preferably, the ball position induction part of light receiving unit 400 comprises the first ball position induction part 451 that is arranged on the first optical receiving region SR1, the second ball position induction part 452, the ball staple height induction part 470 that ball breaks away from induction part 460 and is arranged on the second optical receiving region SR2.
Whether having placed golf in 451 pairs of serving position portions 220 of the first ball position induction part responds to.
Ball breaks away from induction part 460 and is used for not being placed on serving position portion 220 when golf, but responds to when being positioned at more the place ahead.
If when the placement location of golf had broken away from serving position portion 220, above-mentioned ball broke away from induction part 460 these situations of induction, breaks away from by above-mentioned display part 402 display ball positions.
On the other hand, the second ball position induction part 452 is used to respond to golf and nails on whether putting golf.When putting golf on the golf ball nail 210, show at above-mentioned display part 402.
In addition, ball staple height induction part 470 is used to respond to the height of golf ball nail 210.Promptly, the linksman preestablishes the height of the golf ball nail 210 that oneself needs, control part M (with reference to Fig. 4) passes through the height of the present golf ball nail 210 of above-mentioned ball staple height induction part 470 inductions, and it is adjusted to the height of predefined golf ball nail 210.
On the other hand, preferably, above-mentioned first feel of the ball answer that light receiver 410, second feel of the ball answer that light receiver 420, the 3rd feel of the ball answer that the light receiver 430 and the 4th feel of the ball answer light receiver 440 each all be configured to a plurality of light receiving elements appointed interval of being separated by and form a line.
As shown in Figure 5, preferred first feel of the ball answers the light receiver 410 and second feel of the ball to answer the light receiver 420 distance to a declared goal setting of being separated by, and is obliquely installed into row with specified angle.
Preferred the 3rd feel of the ball answers the light receiver 430 and the 4th feel of the ball to answer the light receiver 440 distance to a declared goal setting of being separated by, and in fact vertically forms a line.
In addition, with reference to Fig. 4 and Fig. 5, the method for sensing of virtual golf analogue means is according to an embodiment of the invention described.
Carry out virtual clock-golf by the virtual golf analogue means, according to playing conditions, decision linksman (tee shot) still bat (the ground shot) that kick off.
In addition, control part M is according to being to nail on to impact or serving position portion impacts the selected sensor that is used to respond to golf at golf.
For example, if be the situation that the linksman should kick off now, golf should nail at golf and be impacted, and whether control part M is placed on golf by the second ball position induction part, 452 induction golf nails on.
Nail on and do not have golf if induce golf, then show mistakes,, then show accordingly if golf has nailed on golf by display part 402.
In addition, control part M makes the 3rd feel of the ball answer light receiver 430, the 4th feel of the ball to answer light receiver 440 and 520 inductions of light-receiving detecting means to nail on the golf that impacts at golf.
And for example when linksman's iron shot, golf is impacted in serving position portion, and whether control part M is by putting golf in the first ball position induction part, the 451 induction serving position portions.
If do not put golf in the serving position portion well, then be shown to the linksman by display part 402.
In addition, control part M makes the golf that first feel of the ball answers light receiver 410, second feel of the ball to answer light receiver 420 and 520 inductions of light-receiving detecting means to impact in serving position portion.
Here, the golf of not only answering the light receiver 410 and second feel of the ball to answer light receiver 420 inductions to impact in serving position portion by first feel of the ball also answers light receiver 430 to respond to the golf that impacts in serving position portion by the 3rd feel of the ball sometimes.
At this moment, preferably, on the one hand, utilization answers the light receiver 410 and second feel of the ball to answer the induction result of light receiver 420 to calculate speed of golf etc. by first feel of the ball, and will answer the induction result of light receiver 430 to be used as the modification value by the 3rd feel of the ball, appropriately calculate the speed of golf etc.
If the linksman pushes away (or touching) ball, be to utilize putter batting owing to push the ball, so that golf rolls, so can not think and the situation that golf is floating at a certain angle to occur as iron shot.
If thereby the linksman pushes the ball, then control part M can make first feel of the ball answer light receiver 410 and light-receiving detecting means 520 induction golf.
As mentioned above, control part M is equivalent based on speed, angle and rotation that the induction result calculates golf, and result of calculation is passed to primary processing unit 10, and primary processing unit 10 reproduces the mobile image of golf etc. based on this value, be presented on the display.
On the other hand, illustrate with reference to Fig. 6 to Fig. 8 and calculate the method example of speed, direction, angle and the rotation of the golf of virtual golf analogue means according to an embodiment of the invention.
At first, with reference to Fig. 6 and Fig. 7, to describing by luminescence unit 300 and the light receiving unit 400 induction golf and the method for carrying out sensing.
As shown in Figure 6, the light of first illuminating part 310 in the first optical receiving region SR1 of light receiving unit 400 irradiation L1～L2 scope, at this moment, the first ball position induction part 451, ball break away from induction part 460, first feel of the ball answers the light receiver 410 and second feel of the ball to answer light receiver 420 all to receive the interior light of L1～L2 scope.
At this moment, as shown in Figure 6, golf ball B is placed in the serving position portion 220, then blocks the L1 part, and the first ball position induction part 451 can't receive light, thereby the first ball position induction part 451 can be sensed and correctly putting golf ball B in the serving position portion 220.
If golf ball B breaks away from a part from serving position portion 220 towards the place ahead, then block ball and break away from induction part 460, ball breaks away from induction part 460 can't receive light, has broken away from serving position portion 220 thereby can respond to golf.
On the other hand, in light by the irradiation of first illuminating part 310, the light of answering light receiver 410 to receive in S11～S12 scopes by first feel of the ball, the light of answering light receiver 420 to receive in S21～S22 scopes by second feel of the ball.
Golf ball B is impacted in serving position portion 220, then at first by the light of S11～S12 scope, then passes through the light of S21～S22 scope.
At this moment, observe from the side, as shown in Figure 7, suppose that golf flies along the G1 path, answer the a1 light receiving element of light receiver 410 that golf is responded to first by first feel of the ball, answer the b1 light receiving element of light receiver 420 that golf is carried out the secondary induction by second feel of the ball.
Here, according to moving to the time t1 of b1 light receiving element apart from d1 and a1 light receiving element between a1 light receiving element and the b1 light receiving element, can calculate along the speed V of the golf of G1 path flight by following formula 1
G1
On the other hand, the light of second illuminating part 320 in the second optical receiving region SR2 of light receiving unit 400 irradiation L3～L4 scope, at this moment, the second ball position induction part 452, ball staple height induction part 470, the 3rd feel of the ball answer the light receiver 430 and the 4th feel of the ball to answer light receiver 440 all to receive the interior light of L3～L4 scope.
Light in L3～L4 scope blocks the part light receiving element of ball staple height induction part 470 during via golf ball nail 210, thereby the height that will be equivalent to the light receiving element that is blocked of ball staple height induction part 470 is sensed as the height of present golf ball nail 210.
And, on above-mentioned golf ball nail 210, place golf ball B, then the second ball position induction part 452 is blocked by golf, is putting golf thereby can sense on the golf ball nail 210.
In light by 320 irradiations of second illuminating part, answer light receiver 430 to receive the light that is equivalent to S3 by the 3rd feel of the ball, answer light receiver 440 to receive the light that is equivalent to S4 by the 4th feel of the ball.
Golf ball B is hit from golf ball nail 210, at first by S3, then passes through S4.
At this moment observe from the side, then as shown in Figure 7, suppose the path flight of golf, then answer the c1 light receiving element of light receiver 430 that golf is responded to first, answer the d1 light receiving element of light receiver 440 that golf is carried out the secondary induction by the 4th feel of the ball by the 3rd feel of the ball along G2.
Here, according to moving to the time t2 of d1 light receiving element apart from d2 with from the c1 light receiving element between c1 light receiving element and the d1 light receiving element, can calculate along the speed V of the golf of G2 path flight by following formula 2
G2
On the other hand, the function calculation formula of the ratio substitution appointment that the time value that produces when utilization is answered light receiver 410 via first feel of the ball of initial induction golf is calculated, thereby the vertical direction angle of the golf that flies along the G1 path in the calculating chart 7.
Promptly, as shown in Figure 7, obtain respectively the a1 light receiving element just above light receiving element (being the a2 light receiving element) and the a1 light receiving element just below light receiving element (promptly) respond to time of golf, function calculation formula with its ratio substitution appointment, wherein, this a2 light receiving element and a3 light receiving element become golf and are impacted after the benchmark when answering light receiver 410 by first feel of the ball from serving position.
Here, the time with a2 light receiving element induction golf is R
A2, the time of a3 light receiving element induction golf is R
A3, R
A2With R
A3Rate value be X
1The time, by with above-mentioned X
1Logarithmic function below the value substitution calculates vertical direction angle θ
V1
θ
V1=150.09log (X
1)+32.125......... (formula 3)
Here,
On the other hand, with the function calculation formula of the ratio substitution appointment that utilizes the time value that produces when answering light receiver 430 to calculate, thereby calculate among Fig. 7 along the vertical direction angle of the golf of G2 path flight via the 3rd feel of the ball of initial induction golf.
Promptly, as shown in Figure 7, obtain respectively the c1 light receiving element directly over light receiving element, (being the c2 light receiving element) and c1 light receiving element under time of light receiving element (being the c3 light receiving element) induction golf, function calculation formula with this ratio substitution appointment, wherein, to be golf impacted after the benchmark when answering light receiver 430 by the 3rd feel of the ball from golf ball nail for this c2 light receiving element and c3 light receiving element.
Here, the time with c2 light receiving element induction golf is R
C2, the time of c3 light receiving element induction golf is R
C3, R
C2With R
C3Rate value be X
2The time, by with above-mentioned X
2Three-dimensional function below the value substitution calculates vertical direction angle θ
V2
... ... ... ... ... ... ... ... ... ... ... ... (formula 4)
Here,
Below, with reference to Fig. 8, the method for calculating the vertical direction angle of the golf that is impacted by luminous detecting means 510 and light-receiving detecting means 520 is described.
As shown in Figure 8, constitute each light-emitting component 511 of luminous detecting means 510 all towards vertical top irradiates light.And light receiving element 521 forms a line accordingly with each light-emitting component, constitutes light-receiving detecting means 520.
At this moment, as shown in Figure 8, via luminous detecting means 510 tops, then the light by above-mentioned golf reflection is incident to the light receiving element 521b that constitutes light-receiving detecting means 520, thereby can respond to golf in the time of by the golf ball flight that impacted.
Here, B1 is the position that golf sets out first, can be golf ball nail, also can be serving position portion.No matter be to impact, still impact, all be applicable to identical principle, therefore merge explanation in serving position portion at golf ball nail.
As shown in Figure 8, if light receiving element 521b senses from the golf of B1 position, then can simply obtain and B1 in the light receiving element 521a on the line and the distance h 1 between the light receiving element 521b and B1 position to the distance h 2 of light receiving element 521a, thereby can calculate the vertical direction angle θ of the golf that is impacted by following formula 5
h
In addition, the club that impacts golf at square stance also passes through the light that above-mentioned luminous detecting means 510 shines, and at this moment, receives the light that reflects by golf clubs by light-receiving detecting means 520, thereby can respond to golf clubs.
According to the degree that opens or closes of the relevant value of the angle of speed, horizontal direction and the vertical direction of and golf that try to achieve to formula 5, golf clubs that the induction golf clubs obtains, the track data of golf clubs etc. at above-mentioned formula 1, by following formula 6, can calculate the rotation of Gao Erqiu.The unit of rotation is RPM (a per minute rotation number).
S
s=(40 (θ
Cb+ C
w)
1.3+ C
f) (0.02V
0-0.4) ... (formula 6)
Here,
Ss is side spin (side spin) value (value of (hook) degree left-handed when expression impacts golf or dextrorotation (slice) degree) of ball.
θ
CbBe the value that the horizontal direction angle of golf clubs deducts the horizontal direction angle of golf,, ask the mathematical expression of horizontal direction angle of employed golf clubs identical here with the mathematical expression of the horizontal direction angle of asking golf.
C
wBe the weight (according to the length of club and high strike inclined-plane and suitable constant) of golf clubs.
V
oIt is the initial velocity (value that calculates according to above-mentioned formula 1 or formula 2) of golf.
In addition, here, C
f=-0.9C
Rf, Crf is speed (pace) angle of the golf clubs that obtains of the view data according to continuous measurement 40 times.
As mentioned above, according to virtual golf analogue means of the present invention by the position of induction golf, angle, speed, direction and rotation, the track etc. of golf clubs after the batting of golf after the batting, correctly reproduce the flying distance of golf and ball character etc. to greatest extent, thereby make the linksman can experience the presence of in actual competition field, enjoying game of golf.
Claims (23)
1. the sensing device of a virtual golf analogue means is characterized in that, comprising:
First sensing device is arranged on the place ahead of the putting practice device that is used to impact golf, is used for measuring at least one of speed, horizontal direction angle and rotation of the golf that is impacted; And
Second sensing device is arranged on a side of described putting practice device, is used to respond to the position that is placed on the golf on the described putting practice device, and measures in speed, vertical direction angle and the rotation of the golf that is impacted at least one.
2. the sensing device of virtual golf analogue means according to claim 1 is characterized in that,
Described first sensing device comprises:
Luminous detecting means is arranged on the place ahead of described putting practice device, in fact towards vertical top irradiates light; And
The light-receiving detecting means is arranged side by side near described luminescence sensor portion, receives from described luminous detecting means irradiation and the light that reflects by golf or club, thus induction golf or club,
Described second sensing device comprises:
Luminescence unit is arranged on the side of described putting practice device and irradiates light, so that light crosses described putting practice device; And
Light receiving unit is arranged on the opposite side of described putting practice device, receives the light by described luminescence unit irradiation, thus induction golf.
3. the sensing device of virtual golf analogue means according to claim 2 is characterized in that, also comprises:
The irradiation of light is adjusted by controlling described luminous detecting means and described luminescence unit in the adjustment part.
4. the sensing device of virtual golf analogue means according to claim 2 is characterized in that, also comprises:
Control part receives induction information from described light-receiving detecting means and described light receiving unit, handles position and mobile relevant information with golf.
5. the sensing device of virtual golf analogue means according to claim 2 is characterized in that,
Described light receiving unit comprises:
The ball position induction part is used to respond to the specified portions whether golf is placed on described putting practice device; And
The ball induction part is responded to the golf that is impacted.
6. the sensing device of golf simulating equipment according to claim 5 is characterized in that,
Golf ball nail that is provided for kicking off on the described putting practice device and the serving position portion that is used to bat,
Described ball induction part comprises that a plurality of feel of the balls answer light receiver, and described a plurality of feel of the balls answer light receiver respectively the golf that impacted at described golf ball nail and the golf that impacted in described serving position portion to be responded to.
7. the sensing device of virtual golf analogue means according to claim 5 is characterized in that,
Golf ball nail that is provided for kicking off on the described putting practice device and the serving position portion that is used to bat,
Described ball induction part comprises:
First feel of the ball is answered light receiver, is made of a plurality of light receiving elements that form a line, and the golf that is impacted in described serving position portion is responded to first;
Second feel of the ball is answered light receiver, by answering light receiver to be separated by distance to a declared goal with described first feel of the ball and a plurality of light receiving elements of forming a line constitute, the golf that is impacted in described serving position portion is carried out the secondary induction;
The 3rd feel of the ball is answered light receiver, is made of a plurality of light receiving elements that form a line, and the golf that is impacted at described golf ball nail is responded to first; And
The 4th feel of the ball is answered light receiver, and a plurality of light receiving elements that distance to a declared goal is arranged into row constitute by answering light receiver to be separated by with described the 3rd feel of the ball, and the golf that is impacted at described golf ball nail is carried out secondary induction.
8. the sensing device of virtual golf analogue means according to claim 7 is characterized in that,
Setting gradually described first feel of the ball at described light receiving unit along the direction of advance of golf answers light receiver, second feel of the ball to answer light receiver, the 3rd feel of the ball to answer the light receiver and the 4th feel of the ball to answer light receiver.
9. the sensing device of virtual golf analogue means according to claim 5 is characterized in that,
The serving position portion that described putting practice device is provided with the golf ball nail that is used to kick off and is used to bat,
Described ball position induction part comprises:
The first ball position induction part is used to respond to golf and whether is placed on described serving position portion; And
The second ball position induction part is used to respond to golf and whether is placed on described golf and nails on.
10. the sensing device of virtual golf analogue means according to claim 9 is characterized in that, also comprises:
Display part is arranged on described light receiving unit, is used to show whether putting golf in the described serving position portion and described golf nails on whether putting golf; And
Control part is controlled described display part according to the induction result of described first ball position induction part or the described second ball position induction part.
11. the sensing device of virtual golf analogue means according to claim 9 is characterized in that,
Described ball position induction part also comprises:
Ball breaks away from induction part, is used for responding to golf and whether is placed on appointed area outside the described serving position portion.
12. the sensing device of virtual golf analogue means according to claim 9 is characterized in that,
Described ball position induction part also comprises:
Ball staple height induction part is used to respond to the height of described golf ball nail.
13. the sensing device of virtual golf analogue means according to claim 12 is characterized in that, also comprises:
Control part is received in the result of described ball staple height induction part induction, according to the height of the described golf ball nail of Height Adjustment of the predefined described golf ball nail of linksman.
14. the sensing device of virtual golf analogue means according to claim 2 is characterized in that,
The serving position portion that described putting practice device is provided with the golf ball nail that is used to kick off and is used to bat,
Described luminescence unit comprises:
First illuminating part is via the place ahead of described serving position portion, towards the first optical receiving region irradiates light of described light receiving unit; And
Second illuminating part, by described golf ball nail, towards the second optical receiving region irradiates light of described light receiving unit,
Described light receiving unit comprises:
First light receiver is arranged on described first optical receiving region, receives the light by described first illuminating part irradiation, is used to respond to the position of golf and move; And
Second light receiver is arranged on described second optical receiving region, receives the light by described second illuminating part irradiation, is used to respond to the position of golf and move.
15. the sensing device of virtual golf analogue means according to claim 14 is characterized in that,
Described first light receiver comprises:
The first ball position induction part is used to respond to golf and whether is placed on described serving position portion;
First feel of the ball is answered light receiver, is made of a plurality of light receiving elements that form a line, and the golf that is impacted in described serving position portion is responded to first; And
Second feel of the ball is answered light receiver, and a plurality of light receiving elements that distance to a declared goal is arranged into row constitute by answering light receiver to be separated by with described first feel of the ball, and the golf that is impacted at described serving position is carried out secondary induction,
Described second light receiver comprises:
The second ball position induction part is used to respond to golf and whether is placed on described golf and nails on;
The 3rd feel of the ball is answered light receiver, is made of a plurality of light receiving elements that form a line, and the golf that is impacted at described golf ball nail is responded to first; And
The 4th feel of the ball is answered light receiver, and a plurality of light receiving elements that distance to a declared goal is arranged into row constitute by answering light receiver to be separated by with described the 3rd feel of the ball, and the golf that is impacted at described golf ball nail is carried out secondary induction.
16. a virtual golf analogue means is characterized in that, comprising:
Swivel plate, described swivel plate is provided with the putting practice device that is used to impact golf;
First sensing device is arranged on the place ahead of described putting practice device, is used for measuring at least one of speed, horizontal direction angle and rotation of the golf that is impacted;
Second sensing device is arranged on a side of described putting practice device, is used to respond to the position that is placed on the golf on the described putting practice device, and measures in speed, vertical direction angle and the rotation of the golf that is impacted at least one;
Image output device shows the golf analog image information of the mobile image information of the image information comprise golf course and golf on screen; And
Primary processing unit, reception is according to speed, angle and the rotation information of the relevant golf of the induction result calculating of described first sensing device and second sensing device, generate described golf simulating equipment image information based on this information, and by described image output device output image.
17. virtual golf analogue means according to claim 16 is characterized in that, described first sensing device comprises:
Luminous detecting means is arranged on the place ahead of described putting practice device, in fact towards vertical top irradiates light; And
The light-receiving detecting means is arranged side by side near described luminous detecting means, receives the light that reflects by golf or club from the light of described luminous detecting means irradiation, thus induction golf or club,
Described second sensing device comprises:
Luminescence unit is arranged on the side of described putting practice device and irradiates light, so that light crosses described putting practice device; And
Light receiving unit is arranged on the opposite side of described putting practice device, receives from the light of described luminescence unit irradiation, is used to respond to golf,
Described virtual golf analogue means also comprises:
The irradiation of light is adjusted by controlling described luminous detecting means and described luminescence unit in the adjustment part; And
Control part receives the induction result from described light-receiving detecting means and described light receiving unit, handles the position and the mobile message of relevant golf, and these information are passed to described primary processing unit.
18. virtual golf analogue means according to claim 17 is characterized in that,
The serving position portion that described putting practice device is provided with the golf ball nail that is used to kick off and is used to bat,
Described luminescence unit comprises:
First illuminating part is via the front of described serving position portion, towards the first optical receiving region irradiates light of described light receiving unit; And
Second illuminating part, by described golf ball nail, towards the second optical receiving region irradiates light of described light receiving unit,
Described light receiving unit comprises:
The first ball position induction part is arranged on described first optical receiving region, and receives the light of described first illuminating part irradiation, is used to respond to the position of golf;
First feel of the ball answers the light receiver and second feel of the ball to answer light receiver, is used to respond to moving of the golf that impacted;
The second ball position induction part is arranged on described second optical receiving region, and receives the light by described second illuminating part irradiation, is used to respond to the position of golf; And
The 3rd feel of the ball answers the light receiver and the 4th feel of the ball to answer light receiver, is used to respond to moving of the golf that impacted.
19. the method for sensing according to the virtual golf analogue means of claim 17 is characterized in that, comprising:
Described primary processing unit judgement is kicked off or is batted;
According to being to impact or impact at golf ball nail to select sensor that golf is responded in serving position portion;
Whether induction golf is positioned in described golf ball nail or the described serving position portion; And
Based on to by the induction result of the golf clubs of the golf that impacted and batting, calculate speed, horizontal direction angle, vertical direction angle and the rotation of golf.
20. the method for sensing according to the virtual golf analogue means of claim 18 is characterized in that,
Judge square stance when described primary processing unit, described method for sensing comprises:
Whether respond to golf by the described first ball position induction part is positioned in the described serving position portion;
Answer light receiver to being responded to first by described first feel of the ball, answer light receiver to carry out the secondary induction, the golf that impacted and the golf clubs of batting are responded to by described light-receiving detecting means by described second feel of the ball by the golf that impacted; And
Answer the light receiver and second feel of the ball to answer the result of light receiver induction to calculate the speed and the vertical direction angle of the golf that is impacted according to described first feel of the ball, the horizontal direction angle of the golf that result's calculating of responding to according to described light-receiving detecting means is impacted, and the rotation of calculating golf based on all results that responded to.
21. the method for sensing according to the virtual golf analogue means of claim 18 is characterized in that,
Judge square stance when described primary processing unit, described method for sensing comprises:
Whether respond to golf by the described first ball position induction part is positioned in the described serving position portion;
The golf that described first feel of the ball answers light receiver, second feel of the ball to answer the light receiver and the 3rd feel of the ball to answer light receiver induction to be impacted, described light-receiving detecting means is responded to the golf that impacted and the golf clubs of batting; And
Answer light receiver, second feel of the ball to answer the light receiver and the 3rd feel of the ball to answer the result of light receiver induction to calculate the speed and the vertical direction angle of the golf that is impacted according to described first feel of the ball, the horizontal direction angle of the golf that result's calculating of responding to according to described light-receiving detecting means is impacted, and the rotation of calculating golf based on all results that responded to.
22. the method for sensing according to the virtual golf analogue means of claim 18 is characterized in that,
Judge square stance when described primary processing unit, comprising:
Whether respond to golf by the described first ball position induction part is positioned in the described serving position portion;
The golf that described first feel of the ball answers light receiver and the induction of described light-receiving detecting means to be impacted, the golf clubs of described light-receiving detecting means induction batting; And
Answer the result of light receiver and the induction of described light-receiving detecting means to calculate the speed and the horizontal direction angle of the golf that is impacted according to described first feel of the ball.
23. the method for sensing according to the virtual golf analogue means of claim 18 is characterized in that,
When described primary processing unit judgement was kicked off, described method for sensing comprised:
By the described second ball position induction part whether golf is positioned on the described golf ball nail and responds to;
Described the 3rd feel of the ball answers light receiver that the golf that is impacted is responded to first, and described the 4th feel of the ball answers light receiver to carry out the secondary induction, the golf that described light-receiving detecting means induction is impacted and the golf clubs of batting; And
Answer the light receiver and the 4th feel of the ball to answer the result of light receiver induction to calculate the speed and the vertical direction angle of the golf that is impacted according to described the 3rd feel of the ball, the horizontal direction angle of the golf that result's calculating of responding to according to described light-receiving detecting means is impacted, and the rotation of calculating golf based on all results that responded to.
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