JP2009294048A - Behavior measuring device of moving body, and behavior measuring method of moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a behavior measuring device of a moving body and a behavior measuring method of the moving body for measuring highly accurately the behavior of the moving body. <P>SOLUTION: This device includes: a photographing part for performing multiple photographing by changing brightness of a marker image provided on the moving body, continuously at fixed time intervals from at least two different directions, and acquiring a plurality of marker images; an extraction part for correlating each marker photographed based on a marker having different brightness in the order of photographing, and extracting the position of a center point of each marker; a data storage part for storing and preserving a three-dimensional shape model wherein the moving body is reproduced, and the position of a corresponding point on the three-dimensional shape model corresponding to a marker characteristic point on the three-dimensional shape model; and a calculation part for calculating the position and the direction of the three-dimensional shape model so that the position of each corresponding point of the plurality of markers agrees with the position of the image of the marker extracted by the extraction part, and calculating time series data of the position and the direction of the three-dimensional shape model wherein the behavior of the moving body is reproduced. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a moving body behavior measuring apparatus and a moving body behavior measuring method that continuously multiplex-shoots a provided marker from at least two different directions at constant time intervals and measures the behavior of the moving body, In particular, the present invention relates to a moving body behavior measuring apparatus and a moving body behavior measuring method capable of measuring the behavior of a moving body with high accuracy.

Currently, a measuring device has been proposed in which a plurality of cameras are provided along a path of a moving body, the moving body is imaged to measure movement (movement and behavior) of the moving body, and movement information such as a moving speed and a rotation amount is obtained. ing.
Among such moving body measuring devices, there are devices that measure the behavior of a golf club head when a golfer actually hits a golf club, in particular, the behavior of the striking surface of the golf club head before and after launch (Patent Document). 1 and 2).

  Patent Document 1 discloses an apparatus for measuring the behavior of a golf club head during golf swing. In Patent Document 1, a marker provided on the surface of a golf club head or a golf club shaft is continuously captured from at least two different directions, and a marker is selected from markers in the captured image. An extraction unit for extracting the position of the marker feature point to be characterized, a three-dimensional shape model reproducing the golf club head, and the position of the corresponding point on the three-dimensional shape model corresponding to the marker feature point on the three-dimensional shape model And calculating the position and orientation of the three-dimensional shape model so that the position of the corresponding point matches the position of the marker feature point extracted by the extraction unit in the three-dimensional coordinate system. A calculation unit that calculates time-series data of the position and orientation of the three-dimensional shape model that reproduces the above behavior.

Patent Document 2 discloses a golf club head behavior analysis device that analyzes the behavior of a golf club head during a shot by photographing the golf club head.
In Patent Document 2, a head speed detector that detects a head speed at the time of a shot, and a laser beam at least at two locations in the direction crossing the passing direction of the golf club on the rear side in the swing direction with respect to the head speed detector. , A trigger sensor that detects that each of the laser beams is blocked by the passage of the golf club, and a detection result of the trigger sensor as an input, and a swing speed according to the speed and sequence in which the plurality of laser beams are blocked And a shot determining means for detecting a swing direction and determining whether or not a shot has been performed, and at least two strobe lights capable of illuminating a golf club head included in the golf club in a certain region in the swing direction at the time of the shot Tool and swing detected by shot judging means In the shooting screen, the strobe lighting setting means that sequentially emits a plurality of strobe illuminators at a timing according to the degree, and the golf club head irradiated by the strobe illuminator are photographed from different directions of viewing angles at a plurality of locations in the area. And at least two camera devices that multiplex-shoot images of a plurality of golf club heads, camera driving means for performing shooting by the camera device at a timing according to the swing speed detected by the shot determining means, and a camera device. Head behavior calculating means for capturing a plurality of photographed golf club head image information and obtaining the behavior of the golf club head at the time of a shot, and output means for outputting a calculation result by the head behavior calculating means are provided. In Patent Document 2, at least three marks are provided on the face portion.

JP-A-2005-34619 JP 2007-167549 A

  However, although Patent Document 1 describes that a marker provided on a golf club head is photographed from at least two directions and a feature point of the marker is extracted, no consideration is given to photographing of this marker. Absent. For this reason, in Patent Document 1, there is no reference when associating markers photographed in each direction, and there is a possibility of mistakes in association, and the behavior of the golf club head is necessarily measured with a predetermined accuracy. There is a possibility of not being able to.

  Also in Patent Document 2, although multiple shooting using a strobe is performed, no consideration is given to shooting. For this reason, even if multiple images of a plurality of golf club heads are shot in the shooting screen by two camera devices, there is no reference when associating each mark, and there is a possibility that a mistake may occur during the association. There is. For this reason, there is a possibility that the behavior of the golf club head cannot be measured with a predetermined accuracy.

  An object of the present invention is to provide a moving body behavior measuring apparatus and a moving body behavior measuring method capable of solving the problems based on the prior art and measuring the behavior of the moving body with high accuracy.

  In order to achieve the above object, a first aspect of the present invention is a moving body behavior measuring apparatus for measuring the behavior of a moving body, wherein the plurality of moving bodies are provided on the moving body from at least two different directions. The multiple markers are continuously photographed at regular time intervals to obtain images of a plurality of markers viewed from at least two different directions, and the brightness of the marker image is changed during the multiple photography. An image of the marker photographed on the basis of the detected marker image is detected by detecting an image of the marker photographed while changing the luminance among a plurality of marker images of the multiple photographed images. Each of the associated marker images, for each associated marker image, an extraction unit that extracts the position of the center point of each marker image of the multiple photographed image, a three-dimensional shape model that reproduces the moving body, 3D A data storage unit that stores and saves the position of the corresponding point on the three-dimensional shape model corresponding to the marker on the shape model, and the marker in which the position of the corresponding point is extracted by the extraction unit for the plurality of markers A calculation unit that calculates time-series data of the position and orientation of the three-dimensional shape model that reproduces the behavior of the moving body by calculating the position and orientation of the three-dimensional shape model so as to coincide with the position of the image of It is intended to provide a moving body behavior measuring apparatus characterized by having

In the present invention, when the photographing unit continuously performs multiple photographing, the photographing unit takes the exposure time at the time of photographing at least once and shortens or lengthens the marker to be photographed. It is preferable to change the brightness of the image.
In this case, when the exposure time at the time of shooting is at least once and shorter or longer than at the time of other shooting, the speed of the moving body is V (m / s), the exposure time is T (μs), and the marker The exposure time T is preferably T ≦ 0.5 L / V × 10 ³ (T ≦ 500 L / V), where L is the length in the moving direction.

  Further, in the present invention, when the photographing unit continuously performs multiple photographing, the photographing unit is photographed by increasing or lowering the light intensity at the time of photographing at least once more than at the time of other photographing. It is preferable to change the brightness of the marker image.

Here, it is preferable that the moving object is a golf club, and the markers are provided in at least three places on the surface of the golf club head or the golf club shaft.
Moreover, it is preferable that the marker is provided at least at three or more locations on the surface of the golf club head or the golf club shaft, and the extraction unit extracts a center point of the marker as a marker feature point.
The marker is provided on at least one of an upper end surface and a side end surface that are in contact with the striking surface of the golf club head, for example. Further, at least one marker is provided on the hosel part of the golf club head, for example.

  Further, in the present invention, from the time-series data of the calculated position and orientation of the three-dimensional shape model, the hitting point position of the golf ball on the hitting surface is determined, the head speed at the hitting point position is calculated, and the golf club head It is preferable to have an analysis unit that performs at least one calculation of the effective loft angle.

  According to a second aspect of the present invention, there is provided a moving body behavior measuring method for measuring the behavior of a moving body, wherein a plurality of markers provided on the moving body are set at a constant time interval from at least two different directions. A process of acquiring a plurality of marker images viewed from at least two different directions by continuously performing multiple shooting, and changing the brightness of the marker image when performing the multiple shooting, and multiple shooting Among the plurality of marker images in the captured image, the marker image captured at different brightnesses is detected, and the captured marker images are associated with each other in the order of capturing, based on the detected marker image. A step of extracting a position of a center point of each marker image of the multiple captured image, a three-dimensional shape model reproducing the moving body, and the marker feature points on the three-dimensional shape model The position of the corresponding point on the corresponding three-dimensional shape model is stored and saved in advance, and the position of the corresponding point for the plurality of markers matches the position of the image of the marker extracted by the extraction unit. And calculating the time series data of the position and orientation of the three-dimensional shape model that reproduces the behavior of the moving body by calculating the position and orientation of the three-dimensional shape model. It is intended to provide a behavior measurement method.

In the present invention, when the photographing unit continuously performs multiple photographing, the photographing unit takes the exposure time at the time of photographing at least once and shortens or lengthens the marker to be photographed. It is preferable to change the brightness of the image.
In this case, when the exposure time at the time of shooting is at least once and shorter or longer than at the time of other shooting, the speed of the moving body is V (m / s), the exposure time is T (μs), and the marker When the length in the moving direction is L (mm), the exposure time T is preferably T ≦ 0.5 L / V × 10 ³ .

  Further, in the present invention, when the photographing unit continuously performs multiple photographing, the photographing unit is photographed by increasing or lowering the light intensity at the time of photographing at least once more than at the time of other photographing. It is preferable to change the brightness of the marker image.

  According to the present invention, when a plurality of markers provided on a moving body are continuously multiplex-photographed at a constant time interval, and the multiplex photographing is performed, the photographic unit that shoots by changing the brightness of the marker image and the multiplex photographing Among the plurality of marker images in the image, the marker image captured by changing the brightness is detected, and the captured marker images are associated with each other in the order of capturing with the detected marker image as a reference. By providing an extraction unit that extracts the position of the center point of each marker in the multiple captured image, the image of the mark captured at the same timing can be specified. Thereby, the images of the marks photographed in each direction can be associated with each other, and the accuracy of behavior measurement of the moving body can be increased. For example, in a golf club head, it is possible to accurately measure the position and orientation of a very important hitting surface immediately before launching a golf ball.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a mobile object behavior measuring apparatus and a mobile object behavior measuring method according to the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.
FIG. 1 is a schematic diagram showing a moving body behavior measuring apparatus according to an embodiment of the present invention. FIG. 2A is a schematic diagram illustrating an irradiation / imaging unit of the moving body behavior measuring apparatus according to the embodiment of the present invention, and FIG. 2B illustrates the moving body according to the present embodiment illustrated in FIG. It is a block diagram which shows the processing structure of the computer used for a behavior measuring device.

  A moving body behavior measurement system (hereinafter, referred to as a measurement system) 10 shown in FIG. 1 launches a golf ball b during a golf swing in which a golfer 40 grips a golf club 50a and strikes the golf ball b in the striking direction a. An apparatus for measuring the behavior of front and rear golf club heads.

In the system 10 of the present embodiment, a behavior measurement unit 12 that measures the behavior of the golf club head 54, and a process that has a function of controlling the behavior measurement unit 12 and performing image processing on image data obtained by the behavior measurement unit 12 and the like. Device 14.
The irradiation / imaging unit 12 a is connected to the processing unit 16 of the processing device 14. As will be described later, the processing unit 16 controls the irradiation / imaging unit 12a, captures data of an image captured by the irradiation / imaging unit 12a, and performs signal processing, image processing, and operation analysis. The processing unit 16 will be described in detail later.

The behavior measurement unit 12 includes an irradiation / imaging unit 12a that images the golf club head 54 from two different directions, and the irradiation / imaging unit 12a is provided with a transparent member in an imaging range of the irradiation / imaging unit 12a. The case 12b is installed on the ground.
The behavior measurement unit 12 houses the irradiation / imaging unit 12a in a case 12b and is portable to facilitate transportation. Accordingly, the behavior measuring unit 12 can be carried and the behavior of the golf club head 54 before and after the golf ball is launched can be measured in a predetermined environment regardless of indoors or outdoors.
In this embodiment, the golf club head 54 before and after launching the golf ball b is photographed from two different directions. In the present invention, at least two different directions such as three different directions, four directions,... The golf club head 54 may be photographed.

As shown in FIG. 2A, the irradiation / imaging unit 12a includes an irradiation light source 20 that irradiates a measurement target, a half mirror 22 that transmits and reflects light incident on a boundary surface, a camera 24, Reflecting mirrors 26, 26a, and 26b each having a total reflection surface for reflection and having a function of adjusting the reflection direction (angle) and position of the total reflection surface.
The irradiation light source 20, the half mirror 22, the camera 24, and the reflection mirrors 26, 26 a, and 26 b are attached to the surface 28 a of the flat substrate 28.

Here, FIG. 3A is a schematic diagram showing an example of the arrangement position of the marker provided on the wood-based golf club head, and FIG. 3B is the arrangement position of the marker provided on the iron-based golf club head. (C) is a schematic diagram which shows the example of a marker.
For example, as shown in FIG. 3A, in a wood-based golf club 50 a having a golf club shaft 52 and a golf club head 54, markers 60 a to 60 c are positioned on the crown 54 a of the golf club head 54. They are arranged to form the vertices of a triangle.
Further, as shown in FIG. 3B, in an iron-based golf club head 50 b having a golf club shaft 52 and a golf club head 56, the golf club head 56 that contacts the striking surface 76 a of the golf club head 56. Markers 60 a to 60 c are provided on the upper end surface 56 b and the hosel part 58.

  The marker is provided, for example, on at least one of the upper end surface and the side end surface of the golf club head that is in contact with the striking surface that strikes the golf ball, and is provided on the hosel portion of the golf club head. Furthermore, the markers are provided in at least three or more places on the golf club head, and the arrangement positions are set so that these markers form a vertex of the triangle and do not rest on one straight line.

  For example, the markers 60a, 60b, and 60c have a retroreflection function of reflecting the irradiation light of the irradiation light source 20 in the irradiation direction so that the images of the markers 60a, 60b, and 60c can be always identified when the image is taken by the camera 24. It has become. For example, the markers 60a, 60b, and 60c are obtained by cutting a known retroreflective sheet into a predetermined shape.

In the present embodiment, in order to obtain the marker position as will be described later, for example, marker feature points obtained from the marker are used. This marker feature point is a point that characterizes the marker.
For example, as shown in FIG. 3C, when the markers 60a to 60c have a circular shape, the center points of the circular shapes are set as marker feature points 61a to 61c, and the positions are extracted by the image processing unit 32 described later. The

In the present invention, in addition to the circular markers 60a, 60b, and 60c of the present embodiment shown in FIG. 3C, for example, a regular polygon such as a regular triangle or a square can be used. . In this case, the position of the extracted marker feature point can be the center point (centroid point) of the marker in the case of each regular polygon.
Moreover, the shape of each marker does not need to be the same, The thing of the above-mentioned shape can also be combined freely. Also in this case, each marker feature point of each marker is, for example, the center point (center of gravity) of the marker.

  The irradiation light source 20 of the irradiation / imaging unit 12a can emit continuous light and can increase or decrease the amount of light at a predetermined timing. The irradiation light source 20 is provided on the surface 28 a of the flat substrate 28, and is arranged so as to irradiate the markers 60 a to 60 c of the golf club head 54 via the half mirror 22.

  The half mirror 22 is flat and has a boundary surface that emits (reflects and transmits) light incident from one side. Here, the half mirror 22 is erected perpendicular to the surface 28 a of the substrate 28, and the optical path of the light emitted from the irradiation light source 20 forms an incident angle of approximately 45 (°) with respect to the boundary surface of the half mirror 22. The boundary surface is directed in the incident direction.

  The camera 24 has a light receiving portion such as a lens and picks up an image incident on the light receiving portion. The line of sight of the camera 24 is directed to a position where light emitted to the half mirror 22 of the irradiation light source 20 is transmitted, passes through the half mirror 22, and is a marker 60a of the golf club head 54 (not shown in FIG. 2A). It is provided on the surface 28a of the substrate 28 so as to form an angle of approximately 90 (°) with the optical path of the irradiation light irradiated to ˜60c.

  As illustrated in FIG. 2A, in the irradiation / imaging unit 12 a, the irradiation light source 20 emits continuous light toward the boundary surface of the half mirror 22. The emitted light is transmitted through the half mirror 22, and transmitted light that is transmitted through the position A on the boundary surface of the half mirror 22 is emitted. The emitted transmitted light is applied to the markers 60a to 60c provided on the golf club head 54 (not shown in FIG. 2A) and reflected light from the markers 60a to 60c (hereinafter referred to as marker reflection). Reflective mirrors 26 a and 26 b are provided so that the light 1) returns to the half mirror 22. The directions and positions of the reflecting surfaces of the reflecting mirrors 26 a and 26 b are adjusted so that the marker reflected light 1 enters the boundary surface of the half mirror 22.

  Since the marker reflected light 1 is reflected light that travels in the opposite direction to the irradiation light and the optical path of the irradiation light coincides, the light irradiated from the boundary surface of the half mirror 22 to the markers 60 a to 60 c is the boundary surface of the half mirror 22. And the incident angle at which the marker reflected light 1 is incident on the boundary surface of the half mirror 22 are substantially the same. Thus, the reflected light incident on the half mirror 22 is reflected toward the camera 24 and is incident on a light receiving unit such as a lens of the camera 24.

On the other hand, as shown in FIG. 2 (a), the light reflected by the half mirror 22 out of the light emitted from the irradiation / imaging unit 12a is incident on the total reflection surface of the reflection mirror 26, and the light totally reflected here. Irradiates the markers 60 a to 60 c provided on the golf club head 54 as irradiation light.
Reflected light from the markers 60 a to 60 c (hereinafter referred to as marker reflected light 2) at this time overlaps with the optical path of irradiation light that is totally reflected from the reflecting mirror 26 and irradiates the retroreflective marker, and is totally reflected by the reflecting mirror 26. Head to the surface. The marker reflected light 2 is reflected toward the half mirror 22 on the total reflection surface of the reflection mirror 26. In the half mirror 22, the reflection angle (emission angle) of the light emitted from the half mirror 22 toward the reflection mirror 26 and the incident angle at which the marker reflected light 2 enters the half mirror 22 are substantially the same.
Further, the marker reflected light 2 transmitted through the half mirror 22 is incident on a light receiving unit such as a lens of the camera 24 together with the marker reflected light 1 reflected by the half mirror 22.
Therefore, the camera 24 captures an image of the reflected marker by the two reflected lights from the markers 60 a to 60 c that substantially match the optical path of the irradiation light reflected from two different directions.

In this case, the position and orientation of the reflection mirror 26 are adjusted so that the image by the marker reflected light 2 and the image by the marker reflected light 1 are captured at different positions.
Thus, the image of the reflection marker of the moving object can be taken as a stereo image with one camera. The two images are captured in, for example, a two-divided manner in the vertical direction of the image.

By providing the reflection mirrors 26 a and 26 b in the optical path of the marker reflected light 1, the optical path from which the marker reflected light 1 reaches the half mirror 22 from the markers 60 a to 60 c can be lengthened and aligned with the optical path of the marker reflected light 2. That is, with the configuration shown in FIG. 2A, the optical path lengths of the marker reflected lights 1 and 2 to the camera 24 can be substantially uniform.
By bringing the optical path length closer in this way, the camera 24 can focus and image two images of the marker.

  In this case, when the light irradiated from two different directions is emitted from the boundary surface of the half mirror 22, the respective reflected angles of the two reflected lights (marker reflected lights 1 and 2) reflected from the marker are It substantially coincides with the incident angle of the corresponding reflected light when entering the boundary surface. Therefore, the two reflected light images of the markers 60a to 60c provided on the golf club head 54 can be taken with high contrast.

In the case where a reflection mirror is provided in the optical path, the number of times of reflection including the reflection at the half mirror 22 is included in the optical path until the two reflected lights from the marker reach the camera 24, or both are even times. It is preferable that reflection mirrors 26a, 26b,. By aligning the number of reflections of the two reflected lights to an even number or an odd number, the images of the two reflected lights captured by the camera 24 can be aligned to one of a normal image and a virtual image. The direction (up / down or left / right, etc.) in which 60c moves can be unified.
In this case, since there are two reflecting mirrors 26a and 26b provided in the optical path of the marker reflected light 1, the marker reflected light 1 is reflected three times in the order of the reflecting mirror 26b, the reflecting mirror 26a, and the half mirror 22. The marker reflected light 2 is reflected once by the mirror 26. That is, the number of times the two reflected lights (marker reflected lights 1 and 2) are reflected on the optical path from the markers 60a to 60c to the camera is an odd number.

  For example, a half prism, various beam splitters, or the like can be used as long as it is an optical member that reflects and transmits light incident in both directions on the boundary surface instead of the half mirror 22. Here, the ratio of the reflectance at the boundary surface is not particularly limited, but is preferably approximately 1: 1.

  The irradiation light source 20 is not particularly limited as long as it can emit continuous light and can increase or decrease the amount of light at a predetermined timing. Examples of the irradiation light source 20 include a mercury fluorescent lamp, a xenon fluorescent lamp, and an LED that can irradiate continuous light during imaging, and a strobe light source that emits light intermittently at a predetermined timing during imaging by the camera 24. Etc. can be used in combination. Thereby, the camera 24 can perform imaging by multiple exposure of images by reflected light of the markers 60a to 60c.

  Moreover, when imaging the markers 60a to 60c of the golf club head 54, for example, a high-speed video camera or a high-speed shutter camera that captures images at a time interval of 1/2000 second is used as the camera 24. In this case, the camera 24 can perform imaging by multiple exposure of images with the reflected light of the markers 60a to 60c at regular time intervals. Of course, the imaging speed of the high-speed video camera / high-speed shutter camera can be freely set according to the moving speed of the golf club head 54 as the measurement target.

  The processing device 14 shown in FIG. 2B is configured by a computer, and includes a monitor 18a, a processing unit 16, and an operation means 18b.

As will be described later, the monitor 18a has an image (captured image) that has been captured by the irradiation / imaging unit 12a, a signal-processed image, a marker movement time history as shown in FIGS. 6 (a) and 6 (b), Displays the three-dimensional shape model or the behavior of the golf club head expressed using the three-dimensional shape model, and further displays the input screen for setting the processing conditions to be applied to the image and the results obtained in each part. .
The operation system 18b is a mouse or a keyboard, and is used for various input settings such as setting of processing conditions for an image and setting of a display screen displayed on the monitor 18a.

  The processing unit 16 specifies the positions of the marker feature points 61a, 61b, 61c of the markers 60a, 60b, 60c from the image data of the golf club head 54 during the golf swing, and uses the specified positions, respectively. The behavior of the golf club head 54 is calculated.

The processing unit 16 (CPU 38) controls the camera 24 so as to continuously shoot at a constant interval, that is, at a predetermined time interval at the same timing, and increases or decreases the amount of light according to the shooting timing of the camera 24. The amount of light emitted from the irradiation light source 20 (strobe light source) is changed.
For example, when performing multiple shooting, the processing unit 16 (CPU 38) makes the exposure time at a certain shooting timing longer or shorter than the exposure time at the other shooting time at least once so that the marker in the shot image is displayed. Change the brightness of the image.
Further, for example, when performing multiple imaging, the processing unit 16 (CPU 38) increases or decreases the intensity of light from the irradiation light source 20 at least once at a certain imaging timing, and moves the markers 60a to 60c to the camera. 24, the brightness of the images of the markers 60a to 60c is changed.

The processing unit 16 includes a signal processing unit 30, an image processing unit 32, an analysis unit 34, an output unit 36, a CPU 38, and a memory 39, and is connected to the monitor 18a and the operation means 18b.
In the processing unit 16, the signal processing unit 30, the image processing unit 32, the analysis unit 34, and the output unit 36 are portions that function by executing a program. In the present invention, these portions are hardware such as a circuit. It may be configured by wear.

  For example, only the data values of the portions of the markers 60a, 60b, and 60c can be extracted from the signal processing unit 30 so that the marker feature points 61a, 61b, and 61c can be extracted from the images of the markers 60a, 60b, and 60c in the image. This is a part that performs brightness correction and contrast correction of image data under predetermined processing conditions and further performs gradation processing of a predetermined number of gradations so as to be distinguished from data values of other parts.

  The image processing unit 32 is a part that specifies the positions of the marker feature points 61a, 61b, 61c from the image data of the golf club head 54 during the golf swing, and calculates the behavior of the golf club head 54 using the specified positions. is there. The image processing unit 32 specifies the marker feature points 61a, 61b, and 61c of the markers 60a, 60b, and 60c and extracts positions in the three-dimensional coordinate system, and 3 of the extracted marker feature points. A calculation unit 32b that calculates time-series data of the position and orientation of the golf club head 54 using the dimensional coordinate position.

The extraction unit 32a identifies image portions of the markers 60a, 60b, and 60c from the image that has been subjected to the gradation processing of a predetermined number of gradations, and extracts the position thereof.
With respect to the images of the markers 60a, 60b, and 60c taken from different directions at the same time, taken by the irradiation / imaging unit 12a, the position coordinates of the marker feature points 61a, 61b, and 61c are obtained, respectively. Using the position coordinates of each marker feature point 61a, 61b, 61c, the position coordinate in the three-dimensional coordinate system that defines the space through which the golf club head 54 passes is obtained, and the three-dimensional coordinate system of each marker feature point 61a, 61b, 61c. Configured to extract a position at.
As will be described later, at the time of multiple shooting, the markers 60a, 60b, and 60c are shot at a certain shooting timing with increasing brightness. The markers 60a, 60b, and 60c that are photographed in two directions are associated with each other using the marker image having a high luminance among the multiple photographed marker images. In this way, the images of the markers 60a, 60b, 60c photographed by the camera 24 at the same time are specified.

Next, the position coordinates of the marker feature points 61a, 61b, and 61c are obtained for the images of the markers 60a, 60b, and 60c in the images that are taken from the camera 24 at the same time and taken from different directions at the same time. . The position coordinates in the three-dimensional coordinate system defining the space through which the golf club head 54 passes using the obtained position coordinates of the marker feature points 61a, 61b, 61c as the position coordinates of the markers 60a, 60b, 60c. The coordinates are obtained, and the positions of the marker feature points 61a, 61b, 61c in the three-dimensional coordinate system are extracted.
Since the shooting direction of the irradiation / imaging unit 12a is known, the space through which the golf club head 54 passes is represented by obtaining information on the two-dimensional position coordinates in the image shot by the irradiation / imaging unit 12a. The position in the predetermined three-dimensional coordinate system (three-dimensional position coordinates) can be obtained.

  When the images of the markers 60a, 60b, 60c are taken at a predetermined time interval, for example, a time interval of 1/2000 second, each of the images of the markers 60a, 60b, 60c every 1/2000 second The time-series data of the three-dimensional position coordinates of the marker feature point (the center point of the marker) can be obtained. Of course, since each marker 60a, 60b, 60c is provided at three locations on the crown 54a of the golf club head 54, the three-dimensional position coordinates of the three marker feature points 61a to 61c are obtained.

  In the present embodiment, imaging is performed from two directions using the irradiation / imaging unit 12a, and three-dimensional position coordinates are obtained from the marker feature points 61a to 61c for the images of the markers 60a to 60c obtained from the respective directions. Desired. For this reason, the image of each marker 60a-60c in each direction needs to correspond with what was image | photographed at the same timing. However, in the case of multiple exposure (multiple shooting), depending on the measurement conditions such as the shooting position with respect to the swing, images of the same number of markers 60a to 60c in each direction may not be recorded in one screen. For this reason, when there is no reference point, the correspondence between the images of the markers 60a to 60c in each direction and those taken at the same timing may be shifted. In the present embodiment, when shooting is performed at a predetermined time interval, the marker is shot with high luminance only at a predetermined timing. This is done, for example, by increasing the exposure time.

As illustrated in FIG. 4, for example, the case where multiple markers are captured on one screen at timings α _{1 to} α ₅ will be described as an example. Here, each timing α _{1 to} α ₅ is the center of the exposure time, and the time interval δ between the center (each timing α _{1 to} α ₅ ) and the center (each timing α _{1 to} α ₅ ) of each exposure time is It is constant. In the present embodiment, the time interval δ between the timings α _{1 to} α ₅ is 1/2000 seconds, that is, 500 μsec.
As shown in FIG. 4, the timing α _1, α _2, α ₃ and alpha ₅ in the exposure time is _{T 1,} only the timing alpha _4, the exposure time is _{T a.} Thus, as shown in FIG. 4, the timing α _1, α _2, α ₃ and alpha _5, the luminance of the image of the marker is _{L 1,} the timing alpha _4, the high brightness _{L a} than the luminance _{L 1} A marker image can be obtained. The exposure time _{T a} is a predetermined multiple of the exposure time _{T 1,} for example, when the exposure time _{T 1} is a 8μ sec exposure time _{T a} is 48μ seconds.

In this embodiment, when the speed of the moving body is V (m / s), the exposure time is T (μs), and the length of the marker in the moving direction is L (mm), the exposure time T The moving distance M of the moving body in between is expressed by M = T × V × 10 ⁻³ (mm).
The moving distance M of the movable body during the allowable exposure time T without causing an adverse effect such as the marker image extending in order to accurately extract the marker feature point is the length L ( mm), that is, M ≦ 0.5L and T × V × 10 ⁻³ ≦ 0.5L.
The moving distance M of the moving body during the allowable exposure time T is more preferably within 20% of the length L (mm) in the moving direction of the marker, that is, M ≦ 0.2L, and T × V It is x10 < ^-3 ><= 0.2L. Therefore, the allowable exposure time T for increasing the luminance is T ≦ 0.5 L / V × 10 ³ (T ≦ 500 L / V), and more preferably T ≦ 0.2 L / V. × 10 ³ (T ≦ 200 L / V).

As shown in FIG. 4, since _a marker image with high luminance La is obtained at timing α ₄ , it becomes a reference for associating the marker images taken from each direction at timings α _{1 to} α ₅ . As a result, the timings α _{1 to} α ₅ can be associated with the marker image taken from two directions.
In this embodiment, when the golf club head 54 provided with the three markers 60a to 60c is imaged, as shown in FIG. 5, the images of the markers from two different directions are divided into two equal parts in the vertical direction. Images are obtained.
In FIG. 5, the six point groups arranged in the vertical direction are six images obtained by viewing the images of the three markers 60 a to 60 c from two different directions, and the three from the top are taken from one direction. a first group _{G 1} of the image of each marker 60 a to 60 c, 3 one from the bottom, a second group _{G 2} of the image of each marker 60 a to 60 c which are taken from the other direction. It is known that the moving direction of the golf club head 54 is from right to left in the drawing.
In both the first group G ₁ and the second group G ₂ , it is understood that the positions representing the images of the respective markers 60 a to 60 c are changed in position and mutual positional relationship due to the movement of the golf club head 54. .

In the present embodiment, as described above, when multiple exposure, in certain imaging timing, have taken such that the luminance of the image of the marker is changed, as shown in FIG. 5, G ₁ and the first group of In both groups G ₂ , groups g ₁ and g ₂ of images (shown in dark color in FIG. 5) of markers 60 a to 60 c having high luminance are obtained.
In the present embodiment, the image groups g ₁ and g _{2 of the} markers 60a to 60c having high luminance are recorded at the same timing. Based on the groups g ₁ and g ₂ , the images of the markers 60a to 60c in the first group G ₁ and the second group G ₂ are associated with each other.

The calculation unit 32b is a part that calculates the position and orientation of the golf club model as time series data from the three-dimensional position coordinates obtained by the extraction unit 32a.
Specifically, the data of the three-dimensional shape model of the golf club head (CAD data) and the information on the position of the corresponding point on the three-dimensional shape model corresponding to the arrangement position of the marker feature point are stored in the memory 39 in advance. The stored data and information are called, and the position coordinates of the corresponding points on the three-dimensional shape model in the three-dimensional coordinate system coincide with the three-dimensional position coordinates of the marker feature points extracted by the extraction unit 32a. As described above, the position and orientation of the three-dimensional shape model are calculated, and the time series data of the position and orientation of the golf club head are calculated using the position and orientation as the position and orientation of the golf club head.

FIG. 6A is a schematic diagram showing a time history of marker movement at a time interval of 1/2000 second determined from the three-dimensional position coordinates of the marker feature points, and FIG. It is a schematic diagram which shows the behavior of a golf club head based on the time history of the movement of the marker shown in FIG.
In FIG. 6 (a), an XYZ representing a golf ball launching direction as an X direction, a direction perpendicular to the direction, a direction parallel to the ground as a Y direction, and a direction perpendicular to the ground as a Z direction in FIG. Coordinate system. Point ε is the launch position of the golf ball.
Since the head speed of a golf club head is usually 30 to 50 (m / sec), the golf club head moves 1.5 to 2.5 (cm) at a time interval δ of 1/2000 second. In FIG. 6A, three plot groups M ₁ and M _{2 to} M ₁₀ representing three markers are positions of three marker feature points extracted from markers photographed at a time interval of 1/2000 _second. Indicates.
Furthermore, as shown in FIG. 6B, the movement of the golf club head is continuously displayed by associating the golf club head with the three plot groups M ₁ and M _{2 to} M ₁₀ representing the markers. Thus, the change in the position of the golf club head and the orientation of the face can be known.

The analysis unit 34 uses the time-series data of the calculated position and orientation of the golf club head 54, that is, the time-series data of the markers 60 a to 60 c, to determine the hit point position of the golf ball on the hitting surface of the golf club head 54. This is a part for calculating the head speed at the hitting point position, the approach angle, the lie angle, the dynamic loft angle, and the like of the golf club head 54 in the vertical and horizontal directions. For example, the head speed is calculated using the time series data of the marker 60b.
In the present embodiment, for example, the hit position of the golf ball on the face surface 54b (striking surface) of the golf club head 54 can be specified with an accuracy within ± 0.5 (mm), for example. Further, the head speed at the hit point position can be calculated, and the change in the head speed can be calculated with an accuracy within ± 0.5 (m / sec), for example.

  The golf club head 54 during a golf swing moves in a generally circular orbit, and a centrifugal force acts on the center of gravity G of the golf club head 54 at this time. On the other hand, although the golf club head 54 is supported by the golf club shaft 52, the support position by the golf club shaft 52 and the position of the center of gravity of the golf club head 54 do not coincide with each other. A moment acts on the golf club head 54 due to the centrifugal force acting on the golf club. The effective loft angle (dynamic loft angle) of the golf club head 54 refers to the loft angle when the orientation of the face surface 54a (striking surface) of the golf club head 54 is changed by this moment. Of course, in addition to the effective loft angle, the vertical and horizontal approach angles of the golf club head 54 can also be measured, so the direction of the striking surface such as whether the striking surface immediately before launching is closed or closed, and the golf ball. You can also know the position.

  The output unit 36 calculates the calculated hitting position of the golf ball b, the head speed at the hitting position, the approach angle, the lie angle, the dynamic loft angle, and the like of the golf club head 54 in the vertical and horizontal directions. It instructs to output to an external device (not shown) such as a printer.

The CPU 38 is a part that manages and controls each function of the processing unit 16. Further, the CUP 38 controls the camera 24 so as to continuously shoot at a predetermined interval, that is, at a predetermined time interval at the same timing, and increases or decreases the amount of light in accordance with the shooting timing of the camera 24. The light quantity by the irradiation light source 20 (strobe light source) is changed.
The memory 39 is a part that stores and holds the above-described image data, CAD data, and calculation results calculated in each part.

In the present embodiment, the crown 54a of the golf club head 54 is provided with at least two or more markers 60a, 60b, 60c having a circular shape from which a center point is extracted as a marker feature point.
The golf club head 54 is arranged so as to have a predetermined address state, that is, the designed lie angle. In this state, a still image is taken by the irradiation / image pickup unit 12a, and the golf ball is picked up by the extraction unit 32a of the processing unit 16. Information on the arrangement positions of the three markers 60a, 60b, 60c of the club head 54 is accurately obtained. The information on the arrangement position is stored in the memory 39 as a corresponding point on the three-dimensional shape model constituted by CAD data. The information on the arrangement position is, for example, three-dimensional position coordinates with the center of gravity G position of the golf club head 54 as the origin.
The information on the arrangement positions of the three markers 60a, 60b, 60c on the golf club head 54 is obtained more accurately by using a three-dimensional shape measuring instrument using laser light different from the behavior measuring unit 12. It may be stored in advance in the memory 39 of the processing unit 16.

Next, a method for measuring the behavior of the golf club head by the system 10 of this embodiment will be described.
First, the golfer 40 grips the golf club 50 provided with the markers 60a, 60b, and 60c to perform a golf swing. Photographed at 12a.
The image data of the image captured by the irradiation / imaging unit 12a is subjected to predetermined processing by the signal processing unit 30 and is supplied to the image processing unit 32 as digital image data.

In the image processing unit 32, the extraction unit 32a, and multiple exposure for a golf club head 54 in a golf swing, the first group G ₁ of the image of each marker 60a~60c taken from one direction, from the other direction from the photographed image data of the second image and the group G ₂ is captured on one screen of the image of each marker 60a~60c was, brightness recorded at the same timing of the image of the high marker 60a~60c group g ₁ , using a _{g 2,} associates the image of each marker 60a~60c in the first group _{G 1} and the second group _{G 2.} In this case, since the known direction of movement of the golf club head 54, out of the images of the markers 60a~60c in the first group G ₁ and the second group G _2, if a corresponding is able to identify one easily Can be associated.
Next, the positions of the marker feature points of the images of the markers 60a, 60b, and 60c are extracted as three-dimensional position coordinates in the XYZ coordinate system.

  Next, the three-dimensional position coordinates in the XYZ coordinate system of the three corresponding points corresponding to the arrangement positions of the marker feature points of the images of the three markers 60a, 60b, 60c on the three-dimensional shape model reproducing the golf club head 54 However, the time-series data of the position and orientation of the three-dimensional shape model is calculated so as to coincide with the three-dimensional position coordinates of the marker feature points. This time series data is the time series data of the position and orientation of the golf club model.

  From the calculated time-series data, the golf ball hitting position on the face surface 54a (striking face) of the golf club head 54, the head speed at the hitting position, the approach angle in the vertical and horizontal directions of the golf club head 54, At least one or more of calculation of the lie angle, dynamic loft angle head speed, approach angle of the golf club head 54, lie angle, and dynamic loft angle is performed according to an operator's instruction. Thereby, the behavior of the golf club head 54 can be measured. In this case, the movement history of the marker as shown in FIGS. 6A and 6B is displayed on the monitor 18a, and the behavior of the golf club head expressed using the three-dimensional shape model. Golfers' golf swings may be classified based on the behavior of the golf club head 54.

As described above, the system 10 uses a three-dimensional shape model composed of CAD data reproducing a golf club head and information on the positions of corresponding points corresponding to the arrangement positions of the marker feature points on the model. In order to calculate the position and orientation of the three-dimensional shape model so that the position coordinates in the three-dimensional coordinate system of the corresponding points on the shape model match the three-dimensional position coordinates of the marker feature points extracted from the measured markers, The head speed can be calculated.
Further, since the position and orientation of the golf club head can be displayed on the monitor 18a using the three-dimensional shape model, it is possible to reproduce and display the behavior of the golf club head from various directions that have not been conventionally seen. it can. In addition, since the golfer can visually see the behavior of the golf club head due to his / her golf swing as a moving image from various directions, the golfer can easily understand the characteristics of his / her golf swing.

  As described above, three or more marker feature points are extracted from images obtained by photographing various markers provided on the golf club head from two or more directions, and corresponding points on the three-dimensional shape model reproducing the golf club head are extracted. The position and orientation of the three-dimensional shape model are calculated so that the position matches the position of the extracted marker feature point. Thereby, the time series data of the position and orientation of the three-dimensional shape model reproducing the behavior of the golf club head can be calculated, and the behavior of the golf swing can be accurately measured.

In this embodiment, the time interval between the centers of the exposure times (timing α _{1 to} α ₅ ) is constant, that is, the time interval δ between the timings α _{1 to} α ₅ is constant, and only the exposure time is increased. Thus, the brightness of the marker image is increased, but the present invention is not limited to this. For example, the exposure time may be the same at the timings α _{1 to} α ₅ , and the light intensity at the time of photographing may be increased only at a certain timing.
As shown in FIG. 7, shooting is performed at the light intensity En at the timings α _{1 to} α ₃ and α ₅ , and is shot at the light intensity E _a higher than the light intensity En only at the timing α ₄ . As a result, as shown in FIG. 7, an image of a marker having _a high luminance L _a (> L ₁ ) can be taken at timing α ₄ . In this case, since the exposure time is not lengthened, problems such as a long marker image do not occur.
Thus, even by increasing the intensity of light shooting to increase the brightness of the marker image of the timing alpha _4, it is possible to obtain the same effect as the present embodiment House embodiment.
As a method of increasing the intensity of light at the time of shooting, for example, the intensity of light further adds a high flash, by the processing unit 16 (CPU 38), when the timing alpha _4, and turns on the added flash method There is.

  Further, in the present embodiment, the brightness of the marker image is increased at a certain timing among the shooting timings, but the present invention is not limited to this. For example, after a predetermined timing, the brightness of the marker image may be increased stepwise by sequentially increasing the exposure time.

In this case, as shown in FIG. 8, among the timings α _{1 to} α ₅ , the timings α ₁ and α ₂ are shot at the exposure time T ₁ , and the subsequent timings α _{3 to} α ₅ are the exposure time. The exposure times T _{2 to} T ₄ are sequentially increased from T ₁ . As a result, as shown in FIG. 8, at the timings α _{3 to} α ₅ , the brightness L _{2 to} L ₄ of the marker image is sequentially higher than the brightness L ₁ of the marker image taken at the exposure time T _1. , Get higher step by step.
Thereby, even when the moving direction of the golf club head (moving body) is not known, the moving direction can be specified based on the respective luminances L _{2 to} L ₄ of the markers, so that the markers 60 a to 60 c photographed from two directions are used. Can be associated with each other.

In this way, the movement of the golf club head can be tracked by increasing the luminance stepwise. For this reason, even when the moving direction of the golf club head is unknown, it is possible to reliably associate the images of the markers 60a to 60c taken from two directions, and to measure the behavior of the golf club head with high accuracy. it can.
Even when the brightness of the images of the markers 60a to 60c is increased stepwise, as described above, the exposure time T for increasing the brightness of the images of the markers 60a to 60c is T ≦ 0.5 L / V. It is necessary to satisfy × 10 ³ (T ≦ 500 L / V), and it is more preferable to satisfy T ≦ 0.2 L / V × 10 ³ (T ≦ 200 L / V).

Note that, when the brightness of the marker image is increased stepwise, the exposure time is increased stepwise, but the present invention is not limited to this. For example, the time interval δ between the timings α _{1 to} α ₅ is made constant, and the exposure time is made constant regardless of the timings α _{1 to} α _5, and the light intensity at the time of shooting is stepwise at the timings α _{3 to} α _5. May be higher.
In this case, as shown in FIG. 9, the timing alpha _1, the alpha _2, taken with the light intensity En, when time alpha _3, taken with the intensity E ₂ of the higher light than the intensity of light En, timing alpha when _4, when a high light intensity E ₃ than the intensity of light E ₂ of the photographing timing alpha _5, shooting with intensity E ₄ high light than the intensity E ₃ of the light. As a result, as shown in FIG. 9, the brightness L ₂ of the marker image at the timing α ₃ is higher than the brightness L ₁ of the marker image at the timings α ₁ and α ₂ , and the timing α ₄ and the timing α ₅ The brightness of the marker image is increased step by step in order of the brightness L ₃ and L ₄ of the marker image. Even in this case, since the exposure time is not lengthened, problems such as a long marker image do not occur.
In addition, as a method of increasing the light intensity at the time of photographing, for example, a strobe capable of changing the light intensity stepwise is further added to the irradiation light source 20, and the processing unit 16 (CPU 38) performs timing α ₃ to. There is a method in which the added strobe is turned on at α ₅ to gradually increase the light intensity E _{2 to} E ₄ during photographing.

  In the present embodiment, the golf club head behavior measuring device provided with the marker has been described as an example, but the present invention is not limited to this. For example, the present invention can also be applied to measurement of movement information of humans, animals, various machines, articles, etc., such as golf balls, baseball balls, and tennis balls.

The present invention can also be applied to, for example, a motion capture that captures a human motion. In this case, the marker is provided on the surface of the human body (skin, clothes, etc.), and the movement of each part of the human body, for example, the face, arms, torso, legs, joints, etc., can be measured, analyzed, recorded, output, etc. in detail. it can.
In this case, the number of moving bodies to be measured (number of persons), the number of reflective markers provided on the human body, the number and position of irradiation light sources / cameras, the device configuration / processing contents of the moving body measuring apparatus, etc. are set as appropriate. The Here, the emission wavelength of the irradiation light source includes the infrared band of 780 (nm) or more in consideration of the influence of indoor lighting at the time of imaging, and the camera, half mirror, reflection mirror, and reflection marker also support this emission wavelength. It is preferable to use what was done. Furthermore, depending on the application and conditions of measurement / analysis, visible light or ultraviolet light may be used as the light emitted from the irradiation light source, and an irradiation light source, a camera, a half mirror, and a reflection marker corresponding to this may be used. Also, the type of camera can be freely selected depending on the application / object of measurement / analysis.

  Motion capture using the present invention can be applied to medical (rehabilitation), entertainment (video game, movie), sports (form analysis), remote device control, and the like. Among these, when applied to sports (form analysis), for example, a reflective marker is attached to various portions of the surface of the human body of the golfer 40 shown in FIG. 1 or the golfer 40 wears clothing, a hat, a grab, etc., provided with the reflective marker. When the golfer 40 performs golf swing while holding the golf club 50a, the reflected light image of each reflective marker is captured, and the golf swing form (human body behavior) of the golfer 40 is analyzed and processed by the processing device 14. Can be recorded and output.

In the present embodiment, a configuration has been described in which images in two directions are acquired by one camera 24 and images of a plurality of markers are acquired as one image. However, the present invention is not limited to this. It is not limited to. For example, you may make it acquire the image of each direction of two directions using two cameras. In this case, a behavior measurement unit, for example, two cameras, an irradiation light source such as a strobe or an infrared projector, a control unit for controlling each camera and each irradiation light source, and an image of an image photographed by each camera It can be constituted by a computer that takes in data and performs signal processing and image processing.
Further, in the behavior measurement unit using these two cameras, as in this embodiment, images in each direction may be recorded together in one image, or may be recorded as separate images. In the present invention, since the brightness of the marker image is changed at the time of multiple shooting, the recorded marker image can be associated with each image even when recording separately. The same effect can be obtained. Even in this case, the shooting direction is not limited to two directions.

  As mentioned above, although the movement measuring apparatus and the movement measuring method of the moving body of the present invention have been described in detail, the present invention is not limited to the above-described embodiment, and various improvements can be made without departing from the gist of the present invention. Of course, changes may be made.

It is a schematic diagram which shows the behavior measuring apparatus of the moving body which concerns on the embodiment of the present invention. (A) is a schematic diagram which shows the irradiation and imaging part of the moving body behavior measuring apparatus of embodiment of this invention, (b) is behavior measuring of the moving body of this embodiment shown to Fig.2 (a). It is a block diagram which shows the processing structure of the computer used for an apparatus. (A) is a schematic diagram which shows an example of the arrangement position of the marker provided in a wood type golf club head, (b) is the schematic which shows an example of the arrangement position of the marker provided in an iron type golf club head. It is a figure and (c) is a schematic diagram which shows the example of a marker. It is a graph which shows the exposure time in each timing, and shows the brightness | luminance of the image of the marker in each timing. It is a schematic diagram which shows an example of the image imaged using the measuring device of embodiment of this invention. (A) is a typical perspective view which shows an example of the time history of the movement of the marker obtained in the measuring device of the present invention, and (b) shows the time history of the movement of the marker shown in FIG. 6 (a). It is a schematic diagram which shows the behavior of the golf club head based. It is a graph which shows the intensity | strength of the light at the time of imaging | photography at each timing, and shows the brightness | luminance of the image of the marker in each timing. It is a graph which shows the exposure time in each timing, and shows the brightness | luminance of the image of the marker in each timing. It is a graph which shows the intensity | strength of the light at the time of imaging | photography at each timing, and shows the brightness | luminance of the image of the marker in each timing.

Explanation of symbols

10 Behavior measurement system (measurement system)
DESCRIPTION OF SYMBOLS 12 Behavior measurement unit 12a Irradiation / imaging part 12b Case 14 Processing apparatus 16 Processing unit 18a Monitor 18b Operation means 20 Irradiation light source 22 Half mirror 24 Camera 26, 26a, 26b Reflection mirror 30 Signal processing part 32 Image processing part 34 Analysis part 36 Output Part 38 CPU
39 Memory 60a-60c Marker 61a-61c Marker feature point

Claims (12)

A moving body behavior measuring device for measuring the behavior of a moving body,
Images of a plurality of markers viewed from at least two different directions are obtained by continuously performing multiple imaging of the plurality of markers provided on the moving body at regular time intervals from at least two different directions. In addition, when performing the multiple shooting, a shooting unit for shooting by changing the brightness of the marker image,
Among the plurality of marker images of the multiple photographed image, the marker image photographed by changing the luminance is detected, and the photographed marker images are associated with each other in the photographing order with reference to the detected marker image. For each associated marker image, an extraction unit that extracts the position of the center point of each marker image of the multiple photographed image;
A three-dimensional shape model that reproduces the moving body, and a data storage unit that stores and saves positions of corresponding points on the three-dimensional shape model corresponding to the markers on the three-dimensional shape model;
The behavior of the moving body is calculated by calculating the position and orientation of the three-dimensional shape model so that the positions of the corresponding points of the plurality of markers coincide with the positions of the image of the marker extracted by the extraction unit. And a calculation unit for calculating time-series data of the position and orientation of the three-dimensional shape model reproducing the above.   When the photographing unit continuously performs multiple photographing, the photographing unit increases the brightness of the image of the marker to be photographed by making the exposure time at the time of photographing at least once shorter or longer than other photographing times. The moving body behavior measuring device according to claim 1 to be changed. When making the exposure time at the time of shooting at least once shorter or longer than at the time of other shooting,
When the speed of the moving body is V (m / s), the exposure time is T (μs), and the length of the marker in the moving direction is L (mm), the exposure time T is T ≦ 0. The apparatus for measuring a behavior of a moving body according to claim 2, which is 5 L / V × 10 ³ .   When the photographing unit continuously performs multiple photographing, the photographing unit increases the intensity of the light at the time of photographing at least once more than at the time of other photographing so that the brightness of the image of the marker to be photographed The apparatus for measuring a behavior of a moving body according to claim 1, wherein: The moving object is a golf club,
The said marker is a behavior measurement apparatus of the moving body of any one of Claims 1-4 provided in the at least 3 or more places of the surface of a golf club head or a golf club shaft.   The said marker is a behavior measuring apparatus of the moving body of Claim 5 provided on at least 1 or more surfaces of the upper end surface and side end surface which contact | abut the striking surface of a golf club head.   The movement measuring device for a moving body according to claim 5 or 6, wherein at least one marker is provided on a hosel portion of a golf club head.   Further, from the time-series data of the calculated position and orientation of the three-dimensional shape model, the hitting position of the golf ball on the hitting surface is specified, the head speed at this hitting position is calculated, and the effective loft angle of the golf club head is calculated. The mobile body behavior measurement apparatus according to claim 5, further comprising an analysis unit that performs at least one of the following. A method for measuring the behavior of a moving object that measures the behavior of the moving object,
Images of a plurality of markers viewed from at least two different directions are obtained by continuously performing multiple imaging of the plurality of markers provided on the moving body at regular time intervals from at least two different directions. And, in the multiple shooting, the step of shooting by changing the brightness of the marker image,
Among the plurality of marker images of the multiple photographed image, the marker image photographed by changing the luminance is detected, and the photographed marker images are associated with each other in the photographing order with reference to the detected marker image. For each associated marker image, a step of extracting the position of the center point of each marker image of the multiple photographed image;
A three-dimensional shape model that reproduces the moving body, and positions of corresponding points on the three-dimensional shape model corresponding to the marker feature points on the three-dimensional shape model are stored and stored in advance;
By calculating the position and orientation of the three-dimensional shape model so that the positions of the corresponding points of the plurality of markers coincide with the positions of the marker images extracted by the extraction unit, And a step of calculating time-series data of the position and orientation of the three-dimensional shape model that reproduces the above.   When the photographing unit continuously performs multiple photographing, the photographing unit increases the brightness of the image of the marker to be photographed by making the exposure time at the time of photographing at least once shorter or longer than other photographing times. The method for measuring a behavior of a moving body according to claim 9, wherein the behavior is changed. When making the exposure time at the time of shooting at least once shorter or longer than at the time of other shooting,
When the speed of the moving body is V (m / s), the exposure time is T (μs), and the length of the marker in the moving direction is L (mm), the exposure time T is T ≦ 0. It is 5L / Vx10 < ³ >, The behavior measuring method of the moving body of Claim 10.   When the photographing unit continuously performs multiple photographing, the photographing unit increases the intensity of the light at the time of photographing at least once more than at the time of other photographing so that the brightness of the image of the marker to be photographed The method for measuring a behavior of a moving object according to claim 9, wherein the behavior is changed.