JP2002071802A - Velocity measuring device, speed measuring device and method, and moving direction measuring device and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a velocity measuring device capable of accurately measuring the actual speed of a measuring object and its moving direction without requiring a complicated composition. SOLUTION: An ultrasonic wave is transmitted from a transmitter 11 toward an impact point of a ball 3, and a reflected wave from a head portion 2a passing the impact point is received by three receivers 21x, 21y, and 21z. Relative moving velocities of the head portion to each receiver are respectively calculated on the basis of Doppler signal components included in the reflected wave received by each receiver. The relative moving velocities are obtained as velocity component vectors of the head portion in each receiving direction and the velocity component vectors are added to determine a velocity vector of the head portion at the impact point. Magnitude of the velocity vector is used as speed of the head portion and its direction is displayed in a display part as a deviation angle in an X-axis direction in a horizontal plane and an angle to the horizontal plane.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed measuring device for measuring the speed and moving direction of a measuring object such as a golf club head during a golf swing, a ball thrown by a pitcher, a running car, and the like. TECHNICAL FIELD The present invention relates to a speed measuring device and method for measuring speed, and a moving direction measuring device and method for measuring a moving direction of a measurement target.

[0002]

2. Description of the Related Art Conventionally, as a speed measuring device for detecting the speed of an object to be measured, a Doppler obtained by receiving a wave reflected from the object to be measured using waves such as sound waves and radio waves. 2. Description of the Related Art There is known an apparatus that measures the speed of an object to be measured based on a signal component. Such a speed measuring device can measure the speed of the measuring object by calculating the relative speed of the measuring object with respect to the present device based on the Doppler signal component. As this kind of speed measuring device, a speed gun for measuring the speed of a ball thrown by a pitcher is known, but it can also be used for a head speed measuring device for measuring a head speed of a golf club or a bat. It is.

[0003]

However, the speed of a measuring object measured by the above-mentioned conventional speed measuring device depends on the direction connecting the device and the measuring object, that is, when the measuring device reflects from the measuring object. This is the speed in the wave receiving direction for receiving waves. For this reason, in order to measure the actual speed of the measuring object, the present apparatus must be arranged on an extension of the moving direction of the measuring object at a predetermined measuring point. Therefore, there is a problem that the actual speed of the measurement target cannot be accurately measured unless the moving direction of the measurement target passing through the measurement point is known in advance.

[0004] Depending on the type of the object to be measured, it may be significant to know the moving direction. For example, the direction of movement of the golf club head during a golf swing, especially the direction of movement of the club head at the moment of impact on the ball, is closely related to the direction of travel of the ball, the ball line, etc., and is therefore meaningful when checking the swing. Becomes Also, the direction of movement of the ball thrown by the pitcher,
For example, the angle at which a fork ball falls, the angle at which a curve bends, and the like are significant when checking pitching forms and the like. However, the above-mentioned conventional speed measuring device,
Although it is possible to measure the traveling direction of the measurement object with respect to the device, whether the measurement object is moving toward or away from the device, There is also a problem that it is not possible to measure the direction of movement as to whether the object is moving in the direction.

[0005] To solve such a problem,
A speed measuring device that captures an image of a golf club head during a golf swing, which is a measurement target, from a plurality of directions at high speed using a large number of cameras, processes the image, and measures the head speed and the swing trajectory. Has been proposed. According to this speed measuring device, it is possible to accurately measure the speed of the measuring object even if the moving direction of the measuring object is not known in advance. It is also possible to know the moving direction of the measurement target, for example, the moving direction of the club head at the time of impact. However, this speed measuring device requires a large number of cameras and an image processing device for performing image processing on a picked-up image, so that the equipment becomes large and the cost increases.

SUMMARY OF THE INVENTION The present invention has been made in view of the above background, and a first object of the present invention is to provide a method for measuring an object to be measured without requiring a complicated configuration as in the conventional apparatus using a large number of cameras described above. It is an object of the present invention to provide a speed measuring device capable of accurately measuring the speed of a moving object and measuring the moving direction of the moving object. A second object is to accurately measure an object to be measured whose moving direction is not known in advance without requiring a complicated configuration as in the conventional apparatus using a large number of cameras described above. It is an object of the present invention to provide a speed measuring device and a speed measuring method capable of measuring a speed. A third object is to provide a moving direction measuring device and a moving direction measuring method capable of measuring the moving direction of a measurement target without requiring a complicated configuration as in the conventional device using a large number of cameras described above. It is to provide.

[0007]

In order to achieve the first object, the invention of claim 1 is a speed measuring apparatus for measuring the speed of a measuring object at a predetermined measuring point and the moving direction thereof. Transmitting means for transmitting a wave generated based on a reference signal having a predetermined frequency toward the measurement point;
Receiving means for receiving the reflected wave at a plurality of receiving positions different from each other in a receiving direction for receiving the reflected wave from the measurement object; and each of the reflections received at the plurality of receiving positions. Based on the Doppler signal component of the wave, relative speed calculation means for calculating the relative speed of the measurement object in each receiving direction, and each relative speed and each receiving position calculated by the relative speed calculation means, Speed vector calculating means for calculating a speed vector of the measurement object based on a positional relationship with the measurement point, and a speed for calculating the magnitude of the speed vector which is the speed of the measurement object at the measurement point It has a calculating means and a moving direction calculating means for calculating a direction of the velocity vector which is a moving direction of the measuring object at the measuring point.

In this velocity measuring device, a wave such as a sound wave is transmitted by a wave transmitting means toward a measuring point, and reflected waves from an object to be measured passing through the measuring point are transmitted to a plurality of waves by a wave receiving means. Receives waves at the receiving position. In this wave receiving means, waves subjected to Doppler shift in each wave receiving direction by the measurement object are received at the respective wave receiving positions. Then, based on the Doppler signal component included in the reflected wave received at each receiving position, the relative speed of the measuring object with respect to each receiving position is calculated by the relative speed calculating means.
The relative velocities for each receiving position obtained in this way are used together with the positional relationship between each receiving position and the measurement point for calculating the velocity vector of the measurement object by the velocity vector calculating means. The relative speed vector of each relative speed corresponds to the cosine component of the speed vector with respect to the angle between the relative speed vector and the speed vector of the measurement object. Therefore, the velocity vector of the measurement object at the measurement point is obtained from these relationships. Then, by calculating the magnitude of the velocity vector by the velocity calculating means, the actual velocity of the measuring object at the measuring point can be obtained. Further, by calculating the direction of the velocity vector by the moving direction calculating means, the moving direction of the measuring object at the measuring point can be obtained.

Here, when notifying the user of the speed measuring device of the moving direction of the object to be measured, the direction of the speed vector calculated by the moving direction calculating means is expressed in a form according to a certain criterion, You will be notified. For example, with respect to the horizontal plane, an angle between the velocity vector and the horizontal plane is expressed as a moving direction of the measurement target,
An angle between the speed vector and a predetermined target direction is expressed as a moving direction of the measurement target, and is notified to the user. The direction of the obtained speed vector is reported as the moving direction of the measurement target, or the obtained data of the direction of the speed vector is used for another data processing without notifying the user. The output format at that time is variously selected depending on the purpose of use of the speed measuring device, the motion characteristics of the object to be measured, and the like.

In the velocity measuring apparatus according to the present invention, the reflected wave from the object to be measured is received at a plurality of receiving positions, and the number of the receiving positions is determined by moving the measuring object on a two-dimensional plane. At least two objects need to be prepared, and at least three
You need to prepare one.

According to a second aspect of the present invention, in the speed measuring device of the first aspect, the transmitting means continuously transmits a wave toward the measuring point. It has a measurement timing detecting means for detecting a measurement timing when the measurement point is reached.

When measuring the speed and the moving direction of the measuring object at the measuring point, the velocity vector of the measuring object is finally obtained from the Doppler signal component contained in the reflected wave from the measuring object at the measuring point. Need to ask.
Here, as a method of obtaining the Doppler signal component based on the reflected wave from the measurement target at the measurement point, a wave from the transmission means is transmitted to the measurement target at a pinpoint timing when the wave reaches the measurement point. There is a method in which waves are reflected and the reflected waves are received. However, with this method, it is extremely difficult to obtain the above Doppler signal component when the measurement target moves at high speed or when the timing at which the measurement target reaches the measurement point cannot be grasped in advance. Therefore, in the velocity measuring device of the present invention, the wave is continuously transmitted from the wave transmitting means, and the reflected wave is continuously received. Thereby, many Doppler signal components around the measurement point including the Doppler signal component at the measurement point can be sampled. Therefore, even when the measurement target moves at a high speed, the Doppler signal component at the measurement point can be obtained.

Here, there is no remarkable difference between the Doppler signal component at the measurement point and the Doppler signal component at other points. Is difficult to specify. Therefore, in the speed measuring device according to the present invention, the measuring timing when the measuring object reaches the measuring point is detected by the measuring timing detecting means. This makes it possible to easily specify the Doppler signal component at the measurement point from among a large number of sampled Doppler signal components based on the measurement timing.

According to a third aspect of the present invention, in the speed measuring device of the second aspect, the relative speed calculated by the relative speed calculating means based on the measurement timing detected by the measurement timing detecting means. Has a relative speed specifying means for specifying a relative speed based on a Doppler signal component of a reflected wave from the measurement object at the measurement point for each of the reception positions, and the speed vector calculation means has a relative speed A velocity vector of the measurement object at the measurement point is calculated using the relative velocity at each wave receiving position specified by the specifying means.

In this velocity measuring device, the relative velocity specifying means determines the relative velocity based on the Doppler signal component of the reflected wave received at each receiving position based on the measurement timing detected by the measurement timing detecting means. The relative velocity of the measurement object at the measurement point is specified for each wave receiving position. Accordingly, the velocity vector calculation means can calculate the velocity vector of the measurement target at the measurement point based on the specified relative speeds and the positional relationship between each reception position and the measurement point.

According to a fourth aspect of the present invention, in the speed measuring device of the second aspect, the Doppler signal of the reflected wave received by the receiving means based on the measurement timing detected by the measurement timing detecting means. From the ingredients,
For each of the wave receiving positions, having Doppler signal component specifying means for respectively specifying a Doppler signal component of the reflected wave from the measurement object at the measurement point, the relative velocity calculating means, by the Doppler signal component specifying means The relative velocity is calculated based on the Doppler signal component at each of the specified receiving positions.

In this velocity measuring device, based on the measurement timing detected by the measurement timing detecting means, the Doppler signal component specifying means selects from among the Doppler signal components of the reflected waves received at each receiving position. The Doppler signal component of the reflected wave from the measurement object at the measurement point is specified for each reception position. Then, the relative velocity calculating means calculates the relative velocity based on the Doppler signal component of the reflected wave at each of the specified receiving positions. In the speed measuring device according to the third aspect,
The relative velocity must be calculated for all of the sampled Doppler signal components, but the velocity measuring device according to the present invention specifies the Doppler signal component at the measurement point before calculating the relative velocity, and then specifies the relative velocity. The relative speed is calculated using the Doppler signal component. Therefore, it is only necessary to calculate the relative speed only once for each receiving direction.

Further, the invention of claim 5 is based on claims 1, 2,
In the speed measuring device of 3 or 4, the moving direction calculating means obtains the speed vector by projecting the speed vector from a normal direction to a predetermined reference plane including a planned moving direction of the measuring object at the measuring point. And a reference plane included angle calculating means for calculating an angle between the projected vector and the velocity vector.

In this velocity measuring device, a predetermined moving direction of the object to be measured at the measuring point is set, and the normal direction to the predetermined reference plane including the predetermined moving direction is calculated by the reference plane included angle calculating means. To obtain a projection vector obtained by projecting the velocity vector, and calculate an angle between the projection vector and the velocity vector obtained by the velocity vector calculation means. Therefore, according to this speed measuring device, for example, when measuring the speed of a club head during a golf swing, which is a measurement target, at the ball impact point as a measurement point, the club head is used as a hit target for the ball. Assuming that the direction in which the head enters straight and horizontally is the predetermined movement direction, if the reference plane is a horizontal plane, it is possible to measure how many times the club head has deviated from the horizontal plane.

Further, the invention of claim 6 is the invention of claims 1, 2,
In the speed measuring device according to 3 or 4, the moving direction calculating means projects the speed vector from a normal direction to a predetermined reference plane including a planned moving direction of the measuring object at the measuring point. The present invention is characterized in that it has a planned movement direction included angle calculation means for calculating an angle formed between the obtained projection vector and the planned movement direction vector toward the planned movement direction.

In this velocity measuring device, a predetermined moving direction of the object to be measured at the measuring point is set, and the normal line to the predetermined reference plane including the predetermined moving direction is calculated by the anticipated moving direction included angle calculating means. A projection vector obtained by projecting the velocity vector from the direction is obtained, and an angle between the projection vector and the planned movement direction vector toward the planned movement direction is calculated. Therefore, according to this speed measurement device, for example, when measuring the speed of the club head during the golf swing which is the measurement target, the ball head is a measurement point, the club head, the ball,
If the direction of straight and horizontal approaching the impact target is the planned movement direction, and if the reference plane is a horizontal plane,
The number of horizontal displacements of the club head can be measured.

In the speed measuring device according to the fifth and sixth aspects, the predetermined moving direction and the predetermined reference plane are defined as:
It is appropriately determined according to the purpose of the measurement, the motion characteristics of the measurement object, and the like.

Also, the invention of claim 7 is based on claims 1, 2,
In the speed measuring apparatus of 3, 4, 5 or 6, the wave receiving means includes a plurality of wave receivers arranged at the plurality of wave receiving positions, respectively, so that a positional relationship between the wave receivers does not change. To
It has a receiver supporting member for supporting each of the receivers.

As described above, the velocity vector of the object to be measured, which is required to determine the speed and the moving direction of the object to be measured, is calculated using the positional relationship between the measurement point and each receiving position. . Therefore, in order to accurately calculate the velocity vector, it is necessary to fix the positional relationship between each receiving position and the measuring point, and to set the measuring object at the measuring point with the receivers arranged at each receiving position. It must receive reflected waves from objects. Therefore, before starting the measurement, it is necessary to appropriately arrange all the receivers at the measurement point. In the velocity measuring device according to the present invention, the plurality of receivers respectively arranged at the plurality of reception positions are supported by the receiver support member so that the positional relationship therebetween does not change. Therefore, compared to the case where each receiver is arranged separately,
It is easy to fix the positional relationship between each receiver and the measurement point.

According to an eighth aspect of the present invention, in the speed measuring device of the seventh aspect, the speed vector calculating means arranges the receiver support member so as to have a specific positional relationship with respect to a horizontal plane. In the position vector of each receiving position at the time,
Based on the relative velocity vector obtained by multiplying the relative velocity at each receiving position, the velocity vector of the object to be measured is calculated, and when the receiver supporting member is actually arranged, the identification is performed. The plane parallel to the horizontal plane when arranged so as to have the positional relationship, horizontal measuring means for measuring the angle formed with the horizontal plane, and the position vector used for calculating the speed vector by the speed vector calculating means And a position vector correcting means for correcting a position vector when the receiver support member is actually arranged based on the angle measured by the horizontal measuring means.

In this velocity measuring device, each receiver is supported by the receiver support member such that the positional relationship among the plurality of receivers arranged at the respective receiving positions does not change. Therefore, the position vector of each wave receiving position when the wave receiver supporting member is arranged so as to have a specific positional relationship with respect to the horizontal plane can be grasped in advance. Therefore, the velocity vector calculation means can obtain the relative velocity vector by multiplying the position vector of each reception position that is grasped in advance by the relative velocity of the measurement target obtained at each reception position. However, when the receiver support member is actually arranged, the specific positional relationship of the receiver support member with respect to the horizontal plane often collapses. For example, when the receiver support member is disposed on the ground, and when the ground is not horizontal, the receiver support member is disposed in a state of being inclined with respect to a horizontal plane, and the specific positional relationship is broken. . In the state where the specific positional relationship is broken in this way, the position vector used by the velocity vector calculation means has a different result from the position vector when actually arranged. Therefore, if the measurement is performed in this state, an error occurs in the magnitude and the direction of the velocity vector calculated by the velocity vector calculation means, and it becomes impossible to accurately measure the speed of the object to be measured and the moving direction thereof. Therefore, in the velocity measuring device according to the present invention, when the receiver supporting member is actually arranged, the horizontal measuring means sets a plane parallel to a horizontal plane when the receiver is arranged to have the specific positional relationship, Measure the angle between Then, based on the angle, the position vector used for the velocity vector calculation means is corrected to the position vector when the receiver supporting member is actually arranged.

[0027] Further, the invention of claim 9 is based on claims 1, 2,
3, 4, 5, 6, 7, or 8, the velocity measuring device, characterized by having a positional relationship fixing means for fixing a positional relationship between the plurality of wave receiving positions and the measuring point. is there.

In this velocity measuring device, the positional relationship between the plurality of wave receiving positions and the measuring point is fixed by positional relationship fixing means. Therefore, before starting the measurement, there is no need to perform an operation for appropriately determining the receiving position of the measuring point by the receiving unit.

According to a tenth aspect of the present invention, there is provided a speed measuring apparatus for measuring a speed of an object to be measured, wherein the speed measuring device generates a wave based on a reference signal having a predetermined frequency. Transmitting means for transmitting the reflected wave toward the object to be measured, and receiving means for receiving the reflected wave at a plurality of receiving positions different in receiving direction for receiving the reflected wave from the object to be measured. When,
Based on the Doppler signal components of each of the reflected waves received at the plurality of receiving positions, relative speed calculating means for calculating the relative speed of the measurement object in each receiving direction,
The relative velocity calculated by the relative velocity calculation means and the magnitude of the velocity vector of the measurement object obtained based on the positional relationship between the respective receiving positions and the measurement points,
Speed calculation means for calculating the speed of the measurement object.

In this speed measuring device, the velocity vector of the object to be measured obtained based on the relative speed at each receiving position and the positional relationship between each receiving position and the measuring point is the same as in the first aspect. Is calculated as the speed of the measurement object.

The invention according to claim 11 is a speed measuring method for measuring the speed of an object to be measured, comprising transmitting a wave generated based on a reference signal of a predetermined frequency to the object to be measured. Receiving a reflected wave at a plurality of receiving positions in which the reflected wave from the object to be measured with respect to the wave transmitted in the transmitting step is different from each other. A wave step, a relative velocity calculation step of calculating a relative velocity of the object to be measured in the respective reception directions based on a Doppler signal component of each reflected wave received in the reception step, and the relative velocity calculation The magnitude of the velocity vector of the measurement object obtained based on the relative speed calculated in the step and the positional relationship between the reception positions and the measurement point is calculated as the speed of the measurement object. And a speed calculation step. It is intended to.

In this speed measuring method, the speed of the object to be measured can be obtained by executing each processing performed by each means of the speed measuring device according to the tenth aspect.

In order to achieve the third object, a twelfth aspect of the present invention is a moving direction measuring device for measuring a moving direction of a measuring object at a predetermined measuring point, based on a reference signal of a predetermined frequency. A wave transmitting means for transmitting the generated wave toward the measurement point, and a plurality of receiving positions in which the receiving directions for receiving the reflected wave from the object to be measured are different from each other. Receiving means for receiving, and relative velocity calculating means for calculating a relative velocity of the object to be measured in each receiving direction based on a Doppler signal component of each reflected wave received at the plurality of receiving positions And, the relative velocity calculated by the relative speed calculation means and the direction of the velocity vector of the measurement object obtained based on the positional relationship between each receiving position and the measurement point, the said at the measurement point, Measurement object It is characterized in that it has a moving direction calculating means for calculating a moving direction.

In this moving direction measuring device, the velocity vector of the measuring object obtained based on the relative velocity at each receiving position and the positional relationship between each receiving position and the measuring point is the same as in the first aspect. Is calculated as the moving direction of the measurement object at the measurement point.

A thirteenth aspect of the present invention is a moving direction measuring method for measuring a moving direction of a measuring object at a predetermined measuring point, wherein the wave generated based on a reference signal of a predetermined frequency is measured by the measuring method. A wave transmitting step of transmitting a wave toward a point, and a plurality of wave receiving positions for receiving reflected waves from the object to be measured with respect to the wave transmitted in the wave transmitting step, at a plurality of wave receiving positions different from each other; A wave receiving step of receiving a wave, and a relative speed calculating step of calculating a relative speed of the object to be measured in each wave receiving direction based on a Doppler signal component of each reflected wave received in the wave receiving step. And, the relative velocity calculated in the relative speed calculation step and the direction of the velocity vector of the measurement object obtained based on the positional relationship between each receiving position and the measurement point, the said at the measurement point Object to be measured It is characterized in that it has a movement direction calculation step of calculating a moving direction.

In this moving direction measuring method, the processing performed by each means of the moving direction measuring device according to the twelfth aspect can be executed to obtain the moving direction of the measuring object at the measuring point.

[0037]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described as a speed measuring device for measuring the speed of a club head at the moment when a golf club head, which is an object to be measured, impacts a ball during a golf swing and the direction of movement of the club head. An embodiment applied to a head speed measuring device (hereinafter, simply referred to as a “measuring device”) will be described. This measuring device can also be used as a speed measuring device and a moving direction measuring device.

First, the configuration of a sensor device that is a part of the measuring device according to the present embodiment will be described. FIG. 1 is an external view illustrating a schematic configuration of a sensor device 1 according to the present embodiment. The sensor device 1 is arranged at a position located behind the ball 3 when the player swings the golf club 2. When the player swings the golf club 2, the club head 2 a points to the arrow A in the figure.
Move toward the ball 3 from the direction shown in FIG. Then, the player swings such that the club head 2a at the moment of impact moves in the X-axis direction as the planned movement direction indicated by the one-dot chain line in the figure. For the sake of convenience in the following description, the surface of the ball 3 to which the face of the club head 2a hits is referred to as an impact point, which is a measurement point, and FIG. Is shown.

The sensor device 1 has three arms 4A and 4 as receiver supporting members extending in directions orthogonal to each other.
B, 4C. Of these arms, the first arm 4A and the second arm 4B contact the ground to support the sensor device 1. In this state, the third arm 4
C extends vertically upward with respect to the ground. Further, the sensor device 1 includes the first arm 4
A is set so as to be located on an extension of a projection line when the X-axis direction in the figure is projected onto the ground from a vertical direction.
This sensor device 1 includes a first wave receiver 2 constituting wave receiving means.
The sensor device 1 is fixed to the ball 3 so that the distance between 1A and the ball 3 is 1 m. A start button 5 for starting measurement is provided at an end of the first arm 4A of the sensor device 1.

In the sensor device 1, the third arm 4C is provided with one transmitter 11 constituting a transmitting means. The transmitter 11 is arranged at a position slightly higher than the ball 3 and transmits ultrasonic waves in a direction substantially parallel to the longitudinal direction of the first arm 4A. The third arm 4C has a first receiver 21A arranged at substantially the same height as the ball 3 and a third arm 4C.
And a third receiver 21C disposed at a longitudinal end of the third receiver. The third receiver 21C is provided with the first receiver 21C.
It is arranged at a position 50 cm higher than A. A second receiver 21 is provided at the longitudinal end of the second arm 4B.
B is provided. The second receiver 21B is located at a position 5 cm lower than the first receiver 21A and at a position 50 cm away from the axis of the third arm 4C.

FIG. 2 is a block diagram showing a schematic configuration of the entire measuring apparatus according to the present embodiment. This measuring device controls an ultrasonic transmitting unit 10 as a transmitting unit, three ultrasonic receiving units 20 as a receiving unit, an impact sound detecting circuit 31 as a measuring timing detecting unit, and each unit. In addition, a signal processing unit 40 for performing arithmetic processing of various signals and a display 50 as a notification unit are provided. Hereinafter, the configuration and operation of each unit will be described.

In the ultrasonic transmitting section 10, a predetermined frequency F
The ultrasonic wave is continuously transmitted toward the vicinity of the ball 3 based on the reference signal o. The ultrasonic transmitting unit 10 includes a reference oscillator 12 for generating a reference signal having a predetermined frequency Fo.
And an output amplifier 13 for amplifying the reference signal to a predetermined level, and a transmitter 11 for converting a predetermined electric signal amplified by the output amplifier into an ultrasonic wave.

In the ultrasonic wave receiving section 20, the ultrasonic wave transmitted from the ultrasonic wave transmitting section 10 is used for moving the club head 2a.
And receives the ultrasonic wave including the returned reflected wave, and extracts a Doppler signal component from a received signal of the received ultrasonic wave. The ultrasonic wave receiving unit 20 is provided with the above 3
The two receivers 21A, 21B, 21C are provided respectively. Since all the ultrasonic receiving units 20 have the same configuration, only the first ultrasonic receiving unit 20A having the first receiver 21A will be described below, and the other ultrasonic receiving units 20B and 20C will be described. Is omitted.

In the first ultrasonic wave receiving section 20A, the ultrasonic waves received by the first receiver 21A are converted into electric signals, amplified by the preamplifier 22, and input to the notch filter 23. In the notch filter 23, the center frequency of the attenuation band is set to the reference frequency Fo. Thereby, the strong ultrasonic wave directly propagated from the transmitter 11 is attenuated, and the weak reflected wave from the club head 2a can be efficiently extracted from the received ultrasonic wave. As the notch filter 23, for example, a filter in which low-pass filters and high-pass filters having the same cutoff frequency are combined in parallel can be used. In this case, a characteristic having a relatively high Q can be obtained. The attenuation rate of the notch filter 23 with respect to the fundamental wave signal component is appropriately set so that the subsequent circuit can perform predetermined signal processing.

The reflected wave signal component of the received signal obtained by passing through the notch filter 23 is amplified by an amplifier 24 and then reflected by a filter group 25 from the reflected wave signal component through a Doppler shift from the reflected wave signal component. A Doppler signal component having a frequency that can be taken by the wave signal component is extracted. The filter group 25 sets the frequency band in which the Doppler signal component due to the reflected wave from the
Divided into five frequency bands HH, HL,
Five band-pass filters BPF1, BPF2, BPF3, BPF that respectively pass only M, LH, and LL
4, BPF5. The reflected wave signal components output from the amplifier 24 and branched into five are respectively converted into the band-pass filters BPF1, BPF2, BPF3, and BPF.
4 and BPF5. Then, each band signal Se (Se) passing through each band-pass filter
HH to SeLL) are output to the signal detector group 26 and the output selector 28. Note that the number of bandpass filters provided in the filter group 25 is not limited to five, and is appropriately determined according to the measurement speed range and the required measurement accuracy.

Each band signal Se passed through the filter group 25 is input to a signal detector group 26. The signal detector group 26 includes five signal detectors corresponding to the number of bandpass filters provided in the filter group 25. These signal detectors, when the band signal Se output from the corresponding band-pass filter has a higher signal level than a preset threshold value in each signal detector, the detection signal Sf 27.

Each band signal Se that has passed through the filter group 25 is also input to an output switch 28. Under the control of the signal selection unit 27, the output switch 28 converts one of the input band signals Se into the frequency counter 2
9 is output. Here, the signal selection unit 27 selects the detection signal with the lowest frequency from the detection signals Sf output from the signal detector group 26, controls the output switch 28,
The frequency counter 29 outputs a band signal Sh corresponding to the selected detection signal Sf. That is, the signal selection unit 27 selects the Doppler signal component of the ultrasonic wave received by the first receiver 21A that has the lowest frequency. The reason for selecting the lowest frequency from the Doppler signal components is that the Doppler signal component of the ultrasonic wave received by the first receiver 21A is not necessarily the club head 2.
The signal is not limited to the signal from a, but includes Doppler signal components such as a reflected wave reflected by the player's body and a reflected wave reflected by the club shaft.
Here, the club head 2a, which is the measurement target, is considered to have the highest speed among the reflection targets existing within the measurement range in the present embodiment, and thus has the lowest frequency among the detected Doppler signal components. By selecting one, a Doppler signal component based on the reflected wave from the club head 2a can be obtained.

In this embodiment, the frequency Fo of the reference signal is set to 40 kHz, and the measurement speed range is set to 15 to 60 m.
/ S, the frequency band that the reflected wave signal component that has undergone the Doppler shift can take is 28.192 k
Hz to 36.680 kHz. Therefore, the band-pass filters BPF1, BPF2, BPF of the filter group 25
3, BPF4 and BPF5 have respective frequency bandwidths when the frequency range is divided into five as passbands.

The frequency Fi based on the band signal Sh output from the output switch 28 is sampled by the frequency counter 29, and the frequency data is stored in the memory 30. Thus, the memory 30 sequentially stores frequency data based on the Doppler signal components reflected from the position of the moving club head 2a at each time. The frequency Fi sampled here is the first
It has undergone a Doppler shift in the wave receiving direction from the wave receiver 21A toward the club head 2a. Similarly,
In the memories of the second ultrasonic receiver 20B and the third ultrasonic receiver 20C having the second receiver 21B and the third receiver 21C, the receiving direction from each receiver to the club head 2a is stored. , Respectively, are stored.

The impact sound detection circuit 31 receives the reflected wave signal component output from the amplifier 24 of the first ultrasonic wave receiving section 20A, and the club head 2a included in the reflected wave signal component collides with the ball 3. This is a circuit for detecting the impulsive sound when it is performed. The reflected wave signal component output from the amplifier 24 is obtained by removing a signal having a frequency around 40 kHz from the received signal. Therefore, when the club head 2a collides with the ball 3, the amplifier 24 outputs a reflected wave signal component including an impact sound signal due to the impact sound. Since the impact sound signal is a signal having a very large level as compared with the Doppler signal component due to the reflected wave from the club head 2a, the impact sound detection circuit 31 detects only a signal having a level exceeding a predetermined threshold. It can be composed of a comparator for detecting.

The signal processing unit 40 includes an arithmetic unit 41 constituted by a CPU and the like, and a ROM 42 storing a program to be executed by the arithmetic unit 41. The frequency data stored in each memory 30 of the three ultrasonic wave receiving units 20A, 20B, and 20C is read by a calculation unit 41 that executes a speed calculation program stored in a ROM 42, and corresponds to the frequency data. Calculate speed data. In the signal processing unit 40, the arithmetic unit 41 executes various programs stored in the ROM 42 to control each unit of the measuring device.

Next, a description will be given of a measuring method for measuring the speed and the moving direction of the club head 2a of the golf club 2 at the moment when the ball 3 is impacted by using the above-described measuring device.

FIG. 3 is an explanatory diagram showing the positions of the respective receivers 21A, 21B and 21C in an orthogonal coordinate system with the impact point as the origin. This rectangular coordinate system is the same as the rectangular coordinate system shown by the dashed line in FIG. In FIG.
Point A indicates a receiving position by the first receiver 21A, point B indicates a receiving position by the second receiver 21B, and point C:
The wave receiving position by the third wave receiver 21C is shown. Since the sensor device 1 is fixed to the ball 3 in advance, the positional relationship between each of the receivers 21A, 21B, 21C and the impact point is determined in advance. That is, the first
The receiving position of the receiver 21A is located at the coordinates of (-1, 0, 0) in the above-described orthogonal coordinate system. Also,
The receiving position of the second receiver 21B is (-1, 0.5,-
0.05), the receiving position of the third receiver 21C is
It will be located at the coordinates of (-1, 0, 0.5). The unit of the component in this orthogonal coordinate system is m (meter), and will be appropriately omitted below.

When starting the measurement, the player holds the golf club 2 and takes an address for the ball 3,
The switch 5 provided at the end of the first arm 4A of the sensor device 1 shown in FIG. 1 is pressed by the club head 2a. Thereby, as shown in FIG. 2, a measurement start signal is output from the switch 5 to the arithmetic unit 41 of the signal processing unit 40. When receiving the measurement start signal, the arithmetic unit 41 executes the measurement execution program stored in the ROM 42 and starts the measurement.

FIG. 4 is a flowchart showing the processing operation of the calculation unit 41 for executing the measurement execution program. When receiving the measurement start signal from the switch 5, the arithmetic unit 41 outputs a transmission start command for starting the generation of the reference signal to the reference oscillator 12 of the ultrasonic transmission unit 10 (S).
1). Thereby, the ultrasonic wave of about 40 kHz is continuously output from the transmitter 11 toward the vicinity of the ball 3.
Then, when the player swings the golf club 2, reflected waves from the moving club head 2a are received by the respective receivers 21A, 21B, 21C. The ultrasonic waves received by the receivers 21A, 21B, 21C are processed by the ultrasonic receivers 20A, 20B, 20C, and the frequency data is sequentially stored in the respective memories 30. Thus, each of the ultrasonic wave receiving units 20A, 20B, 20C
Sample the frequency data of the Doppler signal component.

When the club head 2a of the golf club 2 collides with the ball 3 due to the swing of the player, a collision sound is emitted. This collision sound is generated by each of the receivers 21A,
21B and 21C, the impact sound detection circuit 3
Only the impact sound received by the first receiver 21A is detected at 1. The impact sound detection circuit 31 outputs an impact sound detection signal to the arithmetic unit 41 of the signal processing unit 40 at the moment when the impact sound signal is detected.

When receiving the impact sound detection signal (S2), the calculating section 41 firstly receives the ultrasonic wave receiving section 2 of the first receiver 21A.
A sampling stop command for stopping sampling of frequency data is output to the frequency counter 29 at 0A (S3). Thereby, the first ultrasonic wave receiving unit 20
At A, the storage of the frequency data in the memory 30 is stopped. Here, the first receiver 21A, the second receiver 21
The distance from the impact point differs between B and the third receiver 21C. Specifically, the first receiver 21A is 1 m, the second receiver 21B is 1.119 m, and the third receiver 2
1C is 1.118 m. For this reason, the first receiver 21
Another ultrasonic wave receiving unit 2 at the timing when A receives the impact sound
When the sampling stop command is output to the frequency counters 29 of 0B and 20C, these other ultrasonic wave receiving units 20B and 2C
At 0C, the reflected wave from the club head 2a immediately before the impact cannot be received.

Therefore, the arithmetic section 41 is provided for each of the receivers 21.
Each of the ultrasonic wave receiving units 20A, 20B, 20C according to the difference in the distance from the impact point between A, 21B, 21C.
Are sequentially output to the frequency counter 29. Specifically, after outputting a sampling stop instruction to the frequency counter 29 of the first ultrasonic wave receiving unit 20A,
The signal is output to the frequency counter 29 of the second ultrasonic wave receiving unit 20B after 0.3437 ms, and to the frequency counter 29 of the third ultrasonic wave receiving unit 20C after 0.3227 ms (S4, S5).

In this manner, all the ultrasonic wave receiving units 2
After completing the sampling at 0, the arithmetic unit 41 reads out the frequency data stored in the last address of the memory 30 of each of the ultrasonic wave receiving units 20A, 20B, 20C (S
6). This frequency data corresponds to the reflected wave from the club head 2a immediately before impact. And
The speed vector calculation program stored in the ROM 42 is executed using the read frequency data (S
7).

The arithmetic unit 41 that executes the speed vector calculation program reads out the read frequency data Fi _A , F
i _B , Fi _C and the reference oscillator 12 of the ultrasonic transmitting unit 10
From each of the receivers 21A, 21B, and 21C based on the arithmetic expression shown in the following Expression 1 from the reference frequency Fo output from
If, obtaining cosine component v _a of the velocity vector V in the straight line connecting the above impact point (origin), v _b, and v _c. Here, the symbol c in the arithmetic expression shown in the following equation 1 indicates the speed of sound. In this embodiment, since the transmitter 11 is arranged at substantially the same position as the first receiver 21A, these are regarded as the same position.

[0061]

V _a = c · (Fi _A −Fo) / (Fi _A + Fo) v _b = c · [1− (2Fi _A · Fo) / {(Fi _A + Fo) · Fi _B }] v _c = c · [1- (2Fi _A · Fo) / {(Fi _A + Fo) · Fi _C }]

Since the sound speed c used in the arithmetic expression shown in the above equation 1 varies depending on the air temperature, it is desirable to correct the sound speed fluctuation due to the air temperature in order to perform accurate speed measurement. Therefore, in the present embodiment, based on the air temperature measured by a temperature measuring device (not shown), an accurate sound velocity is calculated from the following equation (2), and the sound velocity c used in the above equation (1) is corrected. I do. The symbol t in the arithmetic expression shown in the following equation 2 indicates the air temperature measured by the temperature measuring device.

[0063]

C = 331.5 + 0.6 · t [m / s]

Next, based on the position coordinate data table stored in the ROM, each of the receivers 21A and 21A shown in FIG.
The position coordinate data of 21B and 21C is read. These positional coordinates data, respectively, for the first receivers _{21A (a 1, a 2,} a 3), the second receivers 21B (b _1,
b ₂ , b ₃ ) and the third receiver 21 </ b> C is (c ₁ , c ₂ , c ₃ ). Using these position data, by calculating the arithmetic expression shown in Formula 3 below, it is possible to calculate the orthogonal coordinate components of the velocity vector _{V (v X, v Y,} v Z) a. Note that, in the following equation 3, the symbols h, i, and j are as shown in the following equation 4.

[0065]

(Equation 3)

(Equation 4)

From the velocity vector components v _X , v _Y , v _Z obtained by the above equations (3) and (4), the magnitude | V | of the velocity vector V can be obtained by the following equation (5). it can.

[0067]

(Equation 5)

The direction of the velocity vector V, that is, the moving direction of the club head 2a at the moment of impact is obtained. The movement direction is determined using a horizontal plane including the X-axis direction, which is the expected movement direction, as a predetermined reference plane.

FIG. 6 is an explanatory diagram for explaining the direction of the speed vector V. In the present embodiment, when the player swings, how much the club head 2a deviates in the horizontal direction from the expected movement direction is measured. That is, based on the following equation 6, the velocity vector V is expressed as X
An angle ρ between the XY projection vector V ′ projected on the Y plane and the X-axis direction as the expected movement direction is calculated. Further, an angle σ between the XY projection vector V ′ and the velocity vector V is calculated based on the following Expression 7, and how much the movement direction of the club head 2a immediately before the impact deviates from the horizontal plane is determined. .

[0070]

Ρ = tan ⁻¹ (v _Y / v _X )

(Equation 7)

Hereinafter, a description will be given of the arithmetic methods represented by the above-described equations 1 to 7 performed by the arithmetic unit 41 based on specific numerical values. Each receiver 21A, 21B, 21
As shown in FIG. 3, the position coordinates of the first receiver 2
1A is A (-1,0,0) and the second receiver 21B is B (-
1, 0.5, -0.05), and the third receiver 21C is C (-
1, 0, 0.5). Assuming that the frequency Fo of the ultrasonic wave transmitted from the transmitter 11 is 40 kHz and the temperature t is 25 ° C., the sound speed c is 346.5 m / s.

Each of the frequency data Fi _A , Fi _B , and Fi _C read from the last address of the memory 30 of each of the ultrasonic wave receiving units 20A, 20B, and 20C is 31755.
869 Hz, 32160.398 Hz, 2236.6
Assume that the frequency is 89 Hz. In this case, the cosine component v _a of each reception direction of the velocity vector V, v _b, v _c is the above Equation 1, respectively, -39.810m / s, -34.951
m / s and -34.048 m / s.

Thus, each velocity vector component v _X ,
v _Y and v _Z are given by the above equations 3 and 4, respectively.
39.810 m / s, 1.738 m / s, 3.486 m
/ S. Therefore, the magnitude of the velocity vector V |
V | and an angle ρ between the X-axis direction and the XY projection vector V ′, and an angle σ between the velocity vector V and the XY projection vector V ′ are given by the above Expressions 5, 6, and 7, The results are as shown in the following Expressions 8, 9 and 10, respectively.

[0074]

| V | = 40.000 [m / s]

Ρ = 2.50 [deg]

Σ = 5.00 [deg]

The magnitude of the velocity vector V shown in Equation 8 above |
V | is the club head 2 at the moment of impact.
It shows the speed of a. Therefore, this calculation result is
The arithmetic section 41 performs the display processing shown in FIG. 4 (S8), and the head speed is displayed on the display 50.

Further, the calculation result of Expression 9 indicates that the moving direction of the club head 2a at the moment of impact is shifted by 2.50 degrees from the X-axis direction which is the expected moving direction in the horizontal direction. . In addition, since this calculation result is a positive value, it is understood that the XY projection vector V ′ is directed to the positive side in the Y-axis direction. From the above, it can be seen that the club head 2a at the moment of impact has moved from the near side to the far side of the player's body at an angle of 2.50 degrees from the expected movement direction with respect to the impact point. That is, this player is performing an inside-out swing. The result is displayed on the display 50 as the angle of approach to the ball 3 in the horizontal direction by performing the display processing shown in FIG.

Further, the calculation result of the above Expression 10 means that the moving direction of the club head 2a at the moment of impact is shifted by 5.00 degrees with respect to the horizontal plane.
Further, since the calculation result indicates a positive value, the club head 2a immediately before the impact has moved upward from the lower side toward the impact point at an angle of 5.00 degrees with respect to the horizontal plane. You can see that. That is, this player is performing an upper blow swing. The result is obtained by the calculation unit 41 shown in FIG.
(S8) is displayed on the display 50 as the angle of approach to the ball 3 in the height direction.

As described above, according to the present embodiment, the instantaneous speed and approach angle at which the club head 2a of the golf club 2 impacts the ball 3 can be accurately measured. You can check the swing by looking at the measurement results. In addition, the measuring apparatus according to the present embodiment can be configured by one transmitter and a plurality of receivers, an arithmetic unit that performs arithmetic processing based on the frequency of the received reflected wave, and the like, so that the cost is low. , The size can be reduced.

In the present embodiment, it is assumed that the measuring device is installed at a driving range, a golf equipment store, or the like.
A tee on which the ball 3 is placed and the sensor device 1 are fixedly arranged. Therefore, the impact point, which is the measurement point,
The positional relationship with the receiving position of each of the receivers 21A, 21B, 21C is determined in advance. For this reason, the position coordinates of each wave receiving position used when the calculation unit 41 executes the measurement execution program use the position coordinate data stored in the ROM 42 as it is. However, in the case where the measuring device is configured to be carried and used by a player, the position coordinates are changed depending on the arrangement of the sensor device 1, so that the position coordinate data in the ROM 42 can be used as it is. Can not. In order to cope with such a case, the measuring device may be provided with an input means such as a touch panel or a numeric keypad, and the player may input each position coordinate data. For example, the distance between the tee on which the ball 3 is placed and the first receiver 21A is input. According to this, the position coordinates of each wave receiving position are calculated from the distance, and the club head 2 at the impact point is calculated.
The speed of a and the moving direction thereof can be obtained.

As shown in FIG. 7, a connecting member 6 may be provided at the end of the first arm 4A of the sensor device 1 as a positional relationship fixing means connected to a tee on which the ball 3 is placed. Here, the connecting plate shown in the figure is used as the connecting member 6, but a tape, a string, or the like can also be used. According to this configuration, since the positional relationship between the impact point and each receiving position is known in advance, it is necessary for the player to measure the distance between the first receiver 21A and the tee and set the sensor device 1. Absent.

In the present embodiment, the velocity vector V is calculated on the assumption that the ground is substantially horizontal, and the speed of the club head 2a and the moving direction thereof are measured. First arm 4A and second arm
It is also conceivable that the plane including the arm 4B is set in a state inclined with respect to the horizontal plane. In this state, there is a problem that an error occurs in the measurement result. Therefore, the sensor device 1 may be provided with a linear inclination sensor 7 as a horizontal measuring unit as shown in FIG. When the sensor device 1 is set on a non-horizontal ground, the linear inclination sensor 7 can detect how many degrees the sensor device 1 is inclined with respect to the horizontal. Therefore, based on the angle detected by the linear tilt sensor 7, the ROM
The position coordinate data stored in 42 can be corrected to actual position coordinate data, and accurate speed measurement can be performed.

As the linear tilt sensor 7, for example, D5R-L02-15 manufactured by OMRON can be used. The linear tilt sensor 7 can measure how many times the tilt detection shaft 7a is tilted with respect to the horizontal direction. Therefore, as shown in FIG. 8, by providing two linear tilt sensors 7 so that each tilt detection axis is parallel to the X-axis direction and the Y-axis direction in the rectangular coordinate system, a 360-degree direction with respect to a horizontal plane is provided. Angle detection becomes possible.

In the above embodiment, one operation unit 4
Although the configuration for controlling each unit and performing various operations and the like has been described in 1, the configuration may be such that the processing performed by the arithmetic unit 41 is distributed to a plurality of arithmetic units. For example, a calculation unit that performs control processing of each unit and each of the ultrasonic wave reception units 20A and 20A
Operation units for calculating the relative speed from the frequency data stored in the memories 30 of 0B and 20C are provided in the respective ultrasonic wave receiving units, and separate operation units for integrally processing the operation results of these operation units are provided. Further, a configuration may be adopted. In this case, when receiving the impact sound detection signal from the impact sound detection circuit 31, each of the ultrasonic wave receiving sections 20A, 20B, 20
The relative speed of the club head 2a at the impact point may be specified from among the relative speeds calculated by the calculation unit C.

In the above-described embodiment, the impact sound detection circuit 31 is provided only in the first ultrasonic wave receiving section 20A, and the impact sound is measured based on the timing at which the first receiver 21A receives the impact sound. Alternatively, a configuration may be provided for each ultrasonic wave receiving unit. In the present embodiment, the impact sound detection circuit 31
Although the first receiver 21A, which is also used as the wave receiving means, is also used as the means for receiving the impact sound detected in the above, a sound collecting means such as a separate microphone may be provided. Further, the measurement timing detection means is not limited to one that detects sound as in the present embodiment, and may be one that optically or mechanically detects that the club head 2a has reached the impact point, for example. Good. For example, as the optical measurement timing detection means, a reflection type or transmission type optical sensor capable of detecting the club head 2a reaching just before the impact point is arranged, and the measurement timing is detected based on a signal from the optical sensor. And the like. In addition, as mechanical measurement timing detection means,
A device in which a limit switch or the like is disposed directly below the ball 3 and the measurement timing is detected based on a signal from the limit switch or the like may be used. When such a measurement timing detecting means is used, the time lag at which the reflected wave from the club head 2a immediately before the impact is received is included in the calculation, and the sampled frequency data is used to calculate the time lag based on the reflected wave immediately before the impact. It is necessary to specify frequency data.

In the above embodiment, in addition to the measurement of the head speed of the golf club, the speed and the moving direction at an arbitrary measurement point such as a baseball bat head, a pitcher throwing ball, a disc throw or a hammer throw, etc. Etc. can also be measured.

[0086]

According to the first to ninth aspects of the present invention, measurement can be performed by using relatively inexpensive transmitting and receiving means, and its data processing is more efficient than image processing. Since simple calculations are required, the actual speed of the object to be measured can be measured accurately, and the direction of movement of the object can also be measured without the need for a complicated configuration as in a conventional device using a large number of cameras. There is an excellent effect that can be.

In particular, according to the second to fourth aspects of the present invention, even when the object to be measured moves at a high speed or when the timing at which the object to be measured arrives at the measurement point cannot be grasped in advance, the measurement point is not determined. Has an excellent effect that the Doppler signal component can be easily and reliably obtained.

Further, according to the invention of claim 4, there is an excellent effect that the amount of arithmetic processing is small.

Further, according to the fifth aspect of the present invention, there is an excellent effect that the angle of deviation of the object to be measured on a predetermined reference plane such as a horizontal plane can be measured.

Further, according to the invention of claim 6, there is an excellent effect that an angle at which the object to be measured is shifted with respect to a predetermined reference plane such as a horizontal plane can be measured.

According to the invention of claim 7, if the positional relationship between one of the plurality of receivers and the measurement point is fixed, the positional relationship between all the receivers and the measurement point is fixed. This has an excellent effect that the setting operation of the measuring device can be simplified.

According to the eighth aspect of the present invention, even if the receiver supporting member is disposed in a state inclined with respect to the horizontal plane, the speed of the object to be measured and the moving direction thereof can be accurately measured. There is an excellent effect that can be.

Further, according to the ninth aspect of the present invention, it is not necessary to perform an operation of appropriately arranging each of the receiving positions by the receiving means at the measuring point before starting the measurement. There is an excellent effect that the setting work is simplified.

According to the tenth and eleventh aspects of the present invention, the measurement can be performed by using relatively inexpensive transmitting means and receiving means, and the data processing is simpler than the image processing. Since the calculation is sufficient, it is not necessary to use a complicated configuration as in the conventional device using many cameras, and the accurate speed of the measurement target can be measured even for the measurement target whose movement direction is not known in advance. There is an excellent effect that can be.

According to the twelfth and thirteenth aspects of the present invention, measurement can be performed by using relatively inexpensive transmitting and receiving means, and the data processing thereof is simpler than that of image processing. Since the calculation is sufficient, there is an excellent effect that the moving direction of the measurement target can be measured without requiring a complicated configuration as in a conventional device using a large number of cameras.

[Brief description of the drawings]

FIG. 1 is an external view showing a schematic configuration of a sensor device according to an embodiment.

FIG. 2 is a block diagram illustrating a schematic configuration of the entire measurement apparatus according to the embodiment.

FIG. 3 is an explanatory diagram showing a position of each receiver in the sensor device in an orthogonal coordinate system having an impact point as an origin.

FIG. 4 is a flowchart showing a processing operation of a calculation unit that executes a measurement execution program in the measurement device.

FIG. 5 is an explanatory diagram showing a relationship between _a relative speed vector Va and a speed vector V.

FIG. 6 is an explanatory diagram for explaining a direction of a speed vector calculated by the calculation unit.

FIG. 7 is a schematic view showing a modified example of the sensor device.

FIG. 8 is an external view of a linear tilt sensor provided in the sensor device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Sensor apparatus 2 Golf club 2a Club head 3 Ball 4A, 4B, 4C Arm 5 Start button 6 Connecting member 7 Linear inclination sensor 10 Ultrasonic wave transmitting section 11 Transmitter 20 Ultrasonic wave receiving section 21A, 21B, 21C Receiving wave Unit 29 frequency counter 30 memory 31 impact sound detection circuit 40 signal processing unit 41 operation unit 42 ROM 50 display

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Toshihiko Yoshio 10-3 Kitamura, Tottori-shi, Tottori F-term in Ricoh Microelectronics Co., Ltd. 5J083 AC28 AD08 AD15 AD15 AE10 BE54 CA03

Claims (13)

[Claims] 1. A speed measuring device for measuring a speed and a moving direction of an object to be measured at a predetermined measuring point, wherein a wave generated based on a reference signal of a predetermined frequency is directed to the measuring point. A transmitting means for transmitting, a receiving means for receiving the reflected wave at a plurality of receiving positions having different receiving directions for receiving the reflected wave from the object to be measured, and the plurality of receiving means A relative speed calculating means for calculating a relative speed of the object to be measured in a respective receiving direction based on a Doppler signal component of each reflected wave received at the position; and a relative speed calculated by the relative speed calculating means. Speed vector calculating means for calculating a speed vector of the object to be measured based on a speed and a positional relationship between each of the receiving positions and the measurement point; and the speed vector which is the speed of the object to be measured at the measurement point. And speed calculating means for calculating the size, speed measuring apparatus characterized by having a moving direction calculating means for calculating the direction of the velocity vector of the moving direction of the measurement object in the measurement site. 2. The speed measuring device according to claim 1, wherein said wave transmitting means continuously transmits a wave toward said measuring point, and said wave transmitting means transmits said wave to said measuring point. A speed measuring device having a measuring timing detecting means for detecting the measuring timing of the speed. 3. The speed measuring device according to claim 2, wherein, based on the measurement timing detected by the measurement timing detecting means, the relative speed calculated by the relative speed calculating means is selected for each of the reception positions. Having relative speed specifying means for respectively specifying a relative speed based on the Doppler signal component of the reflected wave from the measurement object at the measurement point, the speed vector calculating means, each specified by the relative speed specifying means A velocity measuring device, wherein a velocity vector of the measurement object at the measurement point is calculated using a relative velocity at a wave receiving position. 4. A speed measuring apparatus according to claim 2, wherein said receiving means selects one of said Doppler signal components of the reflected wave received by said receiving means based on the measurement timing detected by said measuring timing detecting means. For each wave position, it has Doppler signal component specifying means for specifying a Doppler signal component of the reflected wave from the measurement object at the measurement point, and the relative velocity calculating means is specified by the Doppler signal component specifying means. A velocity measuring device for calculating the relative velocity based on the Doppler signal component at each receiving position. 5. A speed measuring apparatus according to claim 1, wherein said moving direction calculating means performs a method for a predetermined reference plane including a predetermined moving direction of said measuring object at said measuring point. A velocity measuring apparatus comprising: a projection vector obtained by projecting the velocity vector from a linear direction; and a reference plane included angle calculation means for calculating an angle between the projection vector and the velocity vector. 6. The speed measuring device according to claim 1, wherein said moving direction calculating means is adapted to detect a predetermined reference plane including a predetermined moving direction of said measuring object at said measuring point. A speed calculating device for calculating an angle between a projection vector obtained by projecting the speed vector from the normal direction and a planned movement direction vector toward the planned movement direction, the calculated movement angle included in the planned movement direction; measuring device. 7. The speed measuring apparatus according to claim 1, wherein said wave receiving means comprises a wave receiver arranged at each of said plurality of wave receiving positions. A velocity measuring device having a receiver supporting member for supporting each of the receivers so that a positional relationship between the receivers does not change. 8. A speed measuring apparatus according to claim 7, wherein said speed vector calculating means is configured to determine a position of each wave receiving position when said wave receiver supporting member is arranged so as to have a specific positional relationship with respect to a horizontal plane. Based on the relative velocity vector obtained by multiplying the relative velocity vector at each receiving position by the position vector, the velocity vector of the object to be measured is calculated, and the receiver supporting member is actually arranged. When, when arranged so as to have the above specific positional relationship, a surface parallel to the horizontal plane,
Horizontal measuring means for measuring the angle between the horizontal plane and the position vector used for calculating the speed vector by the speed vector calculating means, based on the angle measured by the horizontal measuring means, the receiver support A velocity measuring device comprising: a position vector correction unit that corrects a position vector when a member is actually arranged. 9. The method of claim 1, 2, 3, 4, 5, 6, 7 or 8.
The speed measuring device according to claim 1, further comprising a positional relationship fixing means for fixing a positional relationship between said plurality of wave receiving positions and said measuring point. 10. A speed measuring device for measuring a speed of an object to be measured, comprising: a wave transmitting means for transmitting a wave generated based on a reference signal of a predetermined frequency toward the object to be measured; Receiving means for receiving the reflected wave at a plurality of receiving positions where the receiving directions for receiving the reflected wave from the measurement object are different from each other,
Based on the Doppler signal components of each of the reflected waves received at the plurality of receiving positions, relative speed calculating means for calculating the relative speed of the measurement object in each receiving direction,
The relative velocity calculated by the relative velocity calculation means and the magnitude of the velocity vector of the measurement object obtained based on the positional relationship between the respective receiving positions and the measurement points,
A speed calculating means for calculating the speed of the object to be measured. 11. A speed measuring method for measuring the speed of an object to be measured, comprising: a transmitting step of transmitting a wave generated based on a reference signal having a predetermined frequency toward the object to be measured; A receiving step of receiving the reflected wave at a plurality of receiving positions in which the receiving directions for receiving the reflected wave from the object to be measured with respect to the wave transmitted in the transmitting step are different from each other; A relative velocity calculating step of calculating a relative velocity of the object to be measured in the respective receiving directions based on the Doppler signal components of each reflected wave received in the step; and a relative velocity calculated in the relative velocity calculating step. A speed calculating step of calculating the speed and the magnitude of the speed vector of the measurement object obtained based on the positional relationship between the respective receiving positions and the measurement point, as the speed of the measurement object. A speed measuring method characterized by the above-mentioned. 12. A moving direction measuring device for measuring a moving direction of an object to be measured at a predetermined measuring point, wherein a wave generated based on a reference signal of a predetermined frequency is transmitted toward the measuring point. A transmitting means, a receiving means for receiving the reflected wave at a plurality of receiving positions having different receiving directions for receiving the reflected wave from the object to be measured, and a receiving means for receiving the reflected wave at the plurality of receiving positions. Based on the Doppler signal component of each wave reflected wave, relative speed calculating means for calculating the relative speed of the measurement object in the respective receiving direction, and the relative speed calculated by the relative speed calculating means and the relative speed Moving direction calculating means for calculating the direction of the velocity vector of the measuring object obtained based on the positional relationship between each wave receiving position and the measuring point as the moving direction of the measuring object at the measuring point. This Moving direction measuring device according to claim. 13. A moving direction measuring method for measuring a moving direction of an object to be measured at a predetermined measuring point, wherein a wave generated based on a reference signal of a predetermined frequency is transmitted toward the measuring point. A receiving step of receiving the reflected wave at a plurality of receiving positions in which receiving directions for receiving a reflected wave from the measurement object with respect to the wave transmitted in the transmitting step are different from each other. A relative speed calculating step of calculating a relative speed of the object to be measured in a respective receiving direction based on a Doppler signal component of each reflected wave received in the receiving step, and a relative speed calculating step The direction of the velocity vector of the object to be measured obtained based on the relative relationship between the respective relative speeds calculated by the above and each of the receiving positions and the measurement point is defined as the moving direction of the object to be measured at the measurement point. calculate Moving direction measuring method characterized by having a dynamic direction calculation step.