JP2014178292A - Speed detection apparatus, speed detection method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve detection accuracy of speed of a plurality of movable bodies.SOLUTION: A speed detection apparatus comprises: a speed detection unit for detecting, on the basis of a detection signal outputted by a Doppler sensor in accordance with travel speed of an object, a plurality of speeds of at least one of a first speed, which is the speed of a first speed detection target object, and a second speed, which is the speed of a second speed detection target object; and a speed determination unit for selecting, from among combinations of a first speed and a second speed in the first speeds and the second speeds detected by the speed detection unit, one combination on the basis of a reference value calculated by using the first speed and the second speed in each combination and a predetermined reference value and then outputting the first speed and the second speed in the selected combination as detection results, respectively.

Description

  The present invention relates to a speed detection device, a speed detection method, and a program.

Conventionally, a technique for detecting the speed of a moving body using a Doppler sensor is known. For example, Patent Document 1 describes the following speed measurement device. The speed measuring device sets a boundary point when the numerical value of the signal of the Doppler sensor continuously increases or decreases a predetermined number of times. The speed measuring device obtains the maximum speed based on the maximum value in the period before the boundary point, and obtains the average speed based on the average value in the period after the boundary point. For example, the maximum speed required by the speed measuring device is the golf club head speed, and the average speed is the Bose speed.
Patent Document 2 describes a speed measuring device that calculates the head speed based on the minimum period data in the signal of the Doppler sensor and calculates the ball speed by frequency analysis of the signal of the Doppler sensor.

JP 2011-89907 A JP 2010-25737 A

However, in the case of the speed measurement device described in Patent Document 1, there is a possibility that a state in which the numerical value of the signal of the Doppler sensor continuously increases or decreases a predetermined number of times appears due to, for example, noise. In such a case, a timing different from the actual shot timing is set as a boundary point, and there is a possibility that the calculation accuracy for the head speed and the ball speed is lowered.
However, in Patent Document 1, when the numerical value of the Doppler sensor signal continuously increases or decreases a predetermined number of times at a timing different from the actual shot timing, a configuration for preventing this from being detected as a boundary point Is not specifically described.

  Also in the speed measurement device described in Patent Document 2, the minimum period in the signal of the Doppler sensor is not necessarily detected corresponding to the actual head speed, but appears due to the influence of noise or the like, for example. there is a possibility. Thus, when based on the minimum period that does not correspond to the actual head speed, the head speed is erroneously detected. Further, in Patent Document 2, if noise is superimposed on the signal of the Doppler sensor, the noise is also superimposed on the frequency analysis result, so that the ball speed may be erroneously detected. However, Patent Document 2 also does not describe a configuration for avoiding such erroneous detection due to noise or the like.

  The present invention has been made in view of the above circumstances, and an object thereof is to reduce the possibility of erroneous detection in speed detection based on a detection signal of a Doppler sensor.

  Means employed by the present invention to solve the above problems will be described below. In order to facilitate understanding of the present invention, reference numerals in the drawings will be appended in parentheses for convenience in the following, but the present invention is not intended to be limited to the illustrated forms.

  In order to solve the above-described problem, a speed detection device according to an aspect of the present invention is the first speed detection target speed based on a detection signal output by a Doppler sensor in accordance with the moving speed of an object. A speed detector (201) that detects a plurality of at least one of the first speed and the second speed that is the speed of the second speed detection target; the first speed detected by the speed detector; Based on a reference value calculated using the first speed and the second speed in each combination, and a predetermined reference value, from among the combinations of the first speed and the second speed in each of the two speeds A speed determination unit (202) that selects one combination and outputs each of the first speed and the second speed in the selected combination as a detection result.

  In the speed detection device as one aspect of the present invention, the speed determination unit may select one combination whose reference value is closest to the reference value from among the combinations.

  Further, in the speed detection device according to one aspect of the present invention, the speed determination unit may determine whether the reference value is the standard among combinations of candidates in which the reference value is included in a predetermined constant numerical value range. One combination closest to the value may be selected.

Further, in the speed detection device as one aspect of the present invention, the speed detection unit includes a speed data generation unit (212) that generates speed data indicating a speed according to a time series based on the detection signal; One or a plurality of the analysis start time points when the deviation index value indicating the degree of deviation between the peak speed value from the analysis start time point to the analysis time point and the speed value at the analysis time point reaches a predetermined value. And a separation point setting unit (215) for setting each detected time as a separation point, and specifying one or a plurality of speed detection periods based on the separation point, and the identified speed detection period And a first speed detector (218) that detects one or more first speeds based on the peak value of the speed data.
The speed detection apparatus as described in any one of Claim 1 to 3.

  In the speed detection device according to one aspect of the present invention, the speed detection unit includes a speed distribution data generation unit (223) that generates speed distribution data indicating a distribution for each speed component based on the detection signal. A second speed detector (224) that detects one or a plurality of second speeds based on the peak value of the intensity of the speed component in the speed distribution data may be provided.

  In addition, the speed detection method as one aspect of the present invention is based on a detection signal output by the Doppler sensor in accordance with the moving speed of the object. A step of detecting a plurality of at least one of a second speed that is a speed of the object, a first speed and a second of the first speed and the second speed detected by the speed detection step; From the combinations of speeds, one combination is selected based on a reference value calculated using the first speed and the second speed in each combination and a predetermined reference value. You may provide the step which outputs each 1st speed and 2nd speed as a detection result, respectively.

  In addition, a program as one embodiment of the present invention includes a first speed and a second speed, which are speeds of a first speed detection target, based on a detection signal output from a Doppler sensor according to a moving speed of an object to a computer. A speed detection step for detecting a plurality of at least one of the second speeds that are the speeds of the detection objects, and a first speed for each of the first speed and the second speed detected by the speed detection step. And selecting a combination based on a reference value calculated using the first speed and the second speed in each combination and a predetermined reference value from among the combinations of the second speed and the second speed This is for executing a speed determining step of outputting each one of the first speed and the second speed in the combination as a detection result.

  As described above, according to the present invention, it is possible to reduce the possibility of erroneous detection in speed detection based on the detection signal of the Doppler sensor.

It is a figure which shows the structural example of the system containing the speed detection apparatus which concerns on this embodiment. It is a figure which shows the structural example of the speed detection apparatus which concerns on this embodiment. It is a figure which shows the example of the speed data in this embodiment. It is a figure which shows the process example which the separation point setting part and 1st speed detection part corresponding to the speed data shown in FIG. 3 perform. It is a figure explaining the example of a detection process of the ball speed which the example of speed distribution data shows, and the 2nd speed detection part performs. It is a flowchart which shows the example of a process sequence which the Doppler sensor and speed detection apparatus which concern on this embodiment perform.

  In the present embodiment, a case where the speed detection device is applied to a shot in golf will be described.

[System configuration example]
FIG. 1 shows a configuration example of a system including a speed detection device 200 in the present embodiment. In the system shown in FIG. 1, when the player swings the golf club 1 and shots the ball 2, the speed of the head 1a of the golf club (head speed) and the speed of the ball 2 hit by the head 1a (ball speed). ) Is detected. Based on the detected head speed and ball speed, the system can display information about the user's swing and shot in a predetermined manner and present it to the player.

  The system shown in FIG. 1 includes a Doppler sensor 100, a speed detection device 200, an information processing device 300, and a display device 400.

The Doppler sensor 100 outputs a detection signal corresponding to the speed at which the object moves. In the present embodiment, the objects to be detected by the Doppler sensor 100 are the golf club head 1a (first speed detection target) and the ball 2 (second speed detection target).
The Doppler sensor 100 is installed so as to transmit a microwave toward the shot position from behind the shot position where the ball 2 is teeed up, for example, along the flying line direction of the ball 2.

  For example, the Doppler sensor 100 transmits a microwave having a predetermined frequency F1 and receives a microwave reflected by an object existing in the transmission direction of the microwave. At this time, if the object is moving, the frequency F2 of the microwave reflected from the object and reaching the Doppler sensor 100 changes from the frequency F1 according to the moving speed due to the Doppler effect. The Doppler sensor 100 outputs a detection signal indicating a Doppler shift frequency Fd represented by a frequency F1-F2 = Fd, for example. The Doppler shift frequency Fd is proportional to the velocity of the object.

  The speed detection device 200 receives a detection signal output from the Doppler sensor 100 and detects a head speed (first speed) that is the speed of the head 1 a and a ball speed (second speed) that is the speed of the ball 2. The speed detection device 200 can detect the initial speed when the ball 2 is shot, for example, as the ball speed.

The information processing apparatus 300 uses the information on the head speed and the ball speed detected by the speed detection apparatus 200 to generate information about the player's swing and shot, such as the flight distance. Then, the information processing device 300 causes the display device 400 to display the head speed and ball speed information, the generated information, and the like in a predetermined manner. By viewing the information displayed on the display device 400, the player can numerically or visually confirm his / her swing and shot quality.
The display device 400 displays an image according to the control of the information processing device 300.

The system shown in FIG. 1 has a configuration in which a Doppler sensor 100, a speed detection device 200, an information processing device 300, and a display device 400 are connected by wire or wirelessly.
Note that two or more of the speed detection device 200, the information processing device 300, and the display device 400 in the system according to the present embodiment may be integrated into one housing.

[Configuration example of speed detection device]
FIG. 2 is a block diagram illustrating a configuration example of the speed detection device 200. A speed detection device 200 shown in FIG. 2 includes a speed detection unit 201 and a speed determination unit 202.

  The speed detection unit 201 detects a plurality of at least one of the head speed and the ball speed based on a detection signal output by the Doppler sensor 100 according to the moving speed of the object. Hereinafter, an example in which the speed detection unit 201 detects two head speeds and two ball speeds will be described.

The speed detection unit 201 includes a head speed detection unit 201A and a ball speed detection unit 201B.
The head speed detection unit 201 </ b> A detects the head speed based on the detection signal of the Doppler sensor 100. The head speed detection unit 201A includes a digital input unit 211, a speed data generation unit 212, a noise filter 213, a first averaging unit 214, a separation point setting unit 215, a noise filter 216, a second averaging unit 217, and a first speed detection. Part 218.

  The digital input unit 211 receives a detection signal output from the Doppler sensor 100 and converts the detection signal into a pulse signal whose pulse width changes in time series according to the Doppler shift frequency Fd.

  The speed data generation unit 212 receives the pulse signal output from the digital input unit 211 and generates speed data indicating the speed according to the time series. The speed data generation unit 212 receives, for example, a pulse signal for a predetermined time from the digital input unit 211 when generating the speed data, and generates speed data for a predetermined time by the input pulse. The speed data generation unit 212 accumulates (holds) the generated speed data.

  The noise filter 213 is a filter that passes only components in a predetermined speed range and removes components outside the speed range from the speed data generated by the speed data generation unit 212. Thereby, the noise which appeared as a speed component which cannot be taken as head speed and ball speed among the noises in speed data can be removed.

  The first averaging unit 214 averages the speed data output from the noise filter 213 by a predetermined averaging number N. The average number of times of the first averaging unit 214 is, for example, 10 (N = 10) times. The first averaging unit 214 outputs the speed data averaged in this way to the separation point setting unit 215.

The separation point setting unit 215 sets one or a plurality of separation points based on the input speed data. The separation point is a point (time point) that divides a speed detection period in which one head speed is detected in a time series of speed data.
For this reason, the separation point setting unit 215 analyzes the velocity data. Here, the analysis of the speed data means that the speed is sequentially detected according to the time series from the analysis start time determined in the time series of the speed data. The analysis time point is a time point selected as a speed detection target in the time series of speed data, and sequentially moves according to the time series of speed data in the process of analysis.
The separation point setting unit 215 is a time point when the deviation index value indicating the degree of deviation between the velocity peak value from the analysis start time to the analysis time of the velocity data and the velocity value at the analysis time reaches the target value (deviation time). Is set as the separation point.

The divergence index value here is a case where the speed increase / decrease ratio at the time of analysis with respect to the peak speed value is taken as an example. The deviation index value in this case is, for example, (speed at the time of analysis / peak value of speed) −1
Can be obtained as follows.
Specifically, when the target value of the divergence index value is −15% (−0.15), the time at which the speed is reduced by 15% with respect to the peak speed value from the analysis start time to the analysis time is the divergence time. is there.

In the present embodiment, two head speeds are detected. In response to this, the separation point setting unit 215 sets two separation points. For this reason, the separation point setting unit 215 detects a divergence time corresponding to each of a plurality of analysis start points, and sets each detected divergence time as a separation point.
Specifically, the separation point setting unit 215 detects the speed according to the time series of the speed data with the start time of the speed data as the first analysis start time. Then, the separation point setting unit 215 detects, as the first divergence time, the time when the divergence index value reaches the target value in the time series after the first analysis start time and the speed peak value until the analysis time. To do.

  Next, the separation point setting unit 215 sets a predetermined time after the first divergence time as the second analysis start time. As an example, the separation point setting unit 215 sets the first divergence time as the second analysis start time. The separation point setting unit 215 detects the speed according to the time series of the speed data from the second analysis start time. The separation point setting unit 215 detects, as a second divergence point, a time point at which the divergence index value has reached the target value in a time series after the second analysis start point and the speed peak value until the analysis point.

  Similar to the noise filter 213, the noise filter 216 extracts only components in a predetermined speed range from the speed data output from the speed data generation unit 212, and removes components outside the speed range as noise.

  The second averaging unit 217 averages the speed data generated by the noise filter 216 with an averaging number M smaller than the average number N (for example, N = 10) of the first averaging unit 214. The averaging number of the second averaging unit 217 is, for example, 4 (M = 4). The second averaging unit 217 outputs the speed data averaged in this way to the first speed detection unit 218. Note that the averaging number N of the first averaging unit 214 and the averaging number M of the second averaging unit 217 may be the same or different. In the present embodiment, the average number of times M is smaller than the average number of times N as described above. However, the average number of times M may be larger than the average number of times N.

The first speed detection unit 218 specifies a speed detection period based on the separation point, and detects the head speed based on a peak value of speed data in the specified speed detection period.
Specifically, the first speed detection unit 218 of the present embodiment specifies two speed detection periods based on the two separation points set by the separation point setting unit 215, and each of these two speed detection periods. The head speed in each of the two speed detection periods is detected based on the peak value of the speed data at. Thus, the two head speeds detected by the first speed detection unit 218 are candidates for determining the final head speed detection result. Note that the first speed detection unit 218 of the present embodiment sets the speed detection period from the start time of the speed data to be speed detected to the first separation point (divergence time) and the second from the first separation point. Up to the separation point (at the time of divergence).

The ball speed detection unit 201B detects the ball speed based on the detection signal of the Doppler sensor 100.
The ball speed detection unit 201B includes an analog input unit 221, an A / D conversion unit 222, a speed distribution data generation unit 223, and a second speed detection unit 224.

The analog input unit 221 inputs an analog detection signal output from the Doppler sensor 100. For example, the analog input unit 221 is specifically an input terminal corresponding to an analog signal.
The A / D converter 222 converts the analog detection signal input by the analog input unit 221 into a digital detection signal. The digital detection signal output from the A / D conversion unit 222 is obtained by quantizing the waveform of the detection signal of the Doppler sensor 100.

The velocity distribution data generation unit 223 generates velocity distribution data indicating the distribution of velocity components for the digital detection signal input from the A / D conversion unit 222. For this purpose, the velocity distribution data generation unit 223 may convert the input digital detection signal into data in the frequency domain by fast Fourier transform. That is, the velocity distribution data generation unit 223 may perform frequency analysis on the digital detection signal. The velocity distribution data generated in this way indicates the intensity for each velocity component in the detection signal.
The speed distribution data generation unit 223 receives a digital detection signal for a predetermined time from the A / D conversion unit 222 and generates speed distribution data for a predetermined time from the input detection signal. To do. The velocity distribution data generation unit 223 accumulates (holds) the generated velocity distribution data.

The second speed detector 224 detects the ball speed based on the peak value of the velocity component intensity in the velocity distribution data generated by the velocity distribution data generator 223.
In the present embodiment, the second speed detector 224 detects the ball speed based on two different peak values. The two ball speeds thus detected are candidates for determining the final ball speed detection result.

The speed determination unit 202 outputs one head speed and ball speed as a final detection result from the two head speeds and ball speed detected by the speed detection unit 201.
For this purpose, the speed determination unit 202 selects one combination from the combinations of the head speed and the ball speed in the head speed and the ball speed detected by the speed detection unit 201. At this time, the speed determination unit 202 selects one combination based on a reference value calculated using the head speed and the ball speed in each combination and a predetermined reference value. The speed determination unit 202 outputs each one head speed and ball speed in the selected combination as detection results.

  As can be understood from the above description, in the present embodiment, the first speed detector 218 detects two head speeds, and the second speed detector 224 detects two ball speeds. In the following, one of the two head speeds detected by the first speed detection unit 218 is referred to as a first candidate head speed, and the other is referred to as a second candidate head speed. One of the two ball speeds detected by the second speed detection unit 224 is referred to as a first candidate ball speed, and the other is referred to as a second candidate ball speed.

  In this case, a combination candidate obtained by each one head speed and ball speed is a combination of the first candidate head speed and the first candidate ball speed, a combination of the first candidate head speed and the second candidate ball speed, the second There are four combinations of the candidate head speed and the first candidate ball speed, and the combination of the second candidate head speed and the second candidate ball speed.

The speed determination unit 202 calculates a reference value by using the head speed and the ball speed in each combination when selecting one combination from the above four combinations of candidates. In the present embodiment, a case where the reference value is a meet rate is taken as an example. The meet rate can be obtained by dividing the ball speed (initial speed) by the head speed.
The higher the meet rate, the more efficiently the movement of the head 1a in the swing is transmitted to the ball 2. For example, the initial velocity of the ball increases and the flight distance also increases.
The reference value may be a value based on the difference between the head speed and the ball speed, for example, in addition to the ratio between the head speed and the ball speed such as the meat rate. The reference value may be a value obtained by a predetermined calculation using other parameters in addition to the head speed and the ball speed.

The speed determination unit 202 selects one combination whose meet rate is closest to the reference value from among the combinations of candidates whose meet rate is included in a predetermined constant numerical range.
Specifically, the speed determination unit 202 first excludes, from among the candidates for the four combinations, combinations for which the meet rate is not included in the certain numerical range. Next, the speed determination unit 202 selects one combination of meat rates that is closest to the reference value from the remaining candidates that are not excluded. The speed determination unit 202 outputs the head speed and the ball speed in one combination selected in this way as detection results. When a value based on the difference between the head speed and the ball speed is adopted as the reference value, the reference value is also a value corresponding to this.

[Head speed and ball speed detection processing example]
Next, an example of head speed and ball speed detection processing by the speed detection device 200 of the present embodiment will be described. First, an example of head speed detection processing by the head speed detection unit 201A will be described.
FIG. 3 shows an example of speed data generated by the speed data generation unit 212. The speed data indicates a speed according to a time series, and the horizontal axis in FIG. 3 is time, and the vertical axis is a data value (speed).
4 is data obtained by averaging the speed data of FIG. 3 N times by the first averaging unit 214 (hereinafter referred to as first averaged speed data). 4 is data obtained by averaging the speed data in FIG. 3 M (M <N) times by the second averaging unit 217 (hereinafter referred to as second averaged speed data). is there.

  First, the separation point setting unit 215 performs analysis (speed detection) according to a time series using the start time t0 of the first averaged speed data shown in FIG. 4 as the analysis start time, so that the peak value at the time t1 is obtained. A time point t2 corresponding to pk1 is detected as a deviation time point. Specifically, when the target value of the divergence index value is an increase / decrease ratio of −15% with respect to the peak, the time point t2 that is the time of divergence is the first in the time series of the first averaged speed data after the peak value pk1 at the time point t1. At a point when the speed drops to 85% of the peak value pk1.

Thus, after the speed of the first averaged speed data reaches the peak value pk1, the state where the speed decreases to a certain ratio of the peak value pk1 is the timing when the head 1a of the golf club 1 hits the ball 2. It can be estimated that it corresponds. This is because the head speed of the head 1a of the golf club 1 sharply decreases when it hits the ball 2 during a shot.
Therefore, the separation point setting unit 215 sets the time point t2 as the deviation point detected as described above as the first first separation point Pdv1.

  The first speed detection unit 218 determines the period from the start time t0 to the first separation point Pdv1 at time t2 shown in FIG. 4 as the first speed detection period. In addition, the first speed detector 218 detects the maximum peak value appearing in the second averaged speed data indicated by the solid line in the first speed detection period. The first speed detection unit 218 acquires the maximum peak value detected in this way as the first candidate head speed Vh1.

  Next, the separation point setting unit 215 performs the analysis according to the time series with the first separation point Pdv1 at the time point t2 as the second analysis start time point, so that the time point t4 corresponding to the peak value pk2 at the time point t3 is obtained. Detect as the time of deviation. Then, the separation point setting unit 215 sets the time t4 as the deviation time detected as described above as the second second separation point Pdv2.

  The first speed detection unit 218 determines a period from time t2 to second separation point Pdv2 at time t4 shown in FIG. 4 as a second speed detection period. The first speed detection unit 218 detects the maximum peak value appearing in the second average speed data in the solid line during the second speed detection period. The first speed detection unit 218 acquires the maximum peak value detected in this way as the second candidate head speed Vh2.

For example, the first speed detection unit 218 sets only one analysis start point in the speed data, and detects one head speed from one speed detection period based on the separation point set based on the one analysis start point. You may make it do.
However, when only one head speed is detected in this way, there is a possibility that the deviation point detected as the separation point is different from the actual shot timing due to the influence of noise or the like. Similarly, there is a possibility that the maximum peak value in the second averaged speed data appears regardless of the head speed due to the influence of noise or the like.
Therefore, if a plurality of speed detection periods are provided and head speed candidates are detected in each speed detection period as in the example of the present embodiment, the speed corresponding to the actual head speed from the speed data. Is likely to be detected.

In the above example, the first speed detection unit 218 determines the maximum peak value in the first speed detection period and the maximum peak value in the second speed detection period as the first candidate head speed Vh1 and the second candidate, respectively. It is detected as the head speed Vh2.
However, for example, the value obtained by performing a predetermined calculation on the maximum peak value in the first speed detection period is set as the first candidate head speed Vh1, and the value obtained by performing the predetermined calculation on the maximum peak value in the second speed detection period. The value may be the second candidate head speed Vh2.
Further, in the above example, the time point at which the speed drops to a certain percentage of the peak value is set as the deviation time point. However, the data value corresponding to the divergence time may be set based on the peak value. For example, a time point when the predetermined value is subtracted from the peak value may be set as the divergence time.

Next, an example of ball speed detection processing by the ball speed detection unit 201B will be described.
FIG. 5 shows an example of velocity distribution data generated by the velocity distribution data generation unit 223. The velocity distribution data indicates the intensity distribution for each velocity component in the detection signal of the Doppler sensor 100. In FIG. 5, the horizontal axis is speed, and the vertical axis is intensity.
The second speed detection unit 224 in the present embodiment detects the first candidate ball speed and the second candidate ball speed based on the peak value of the velocity component intensity in the velocity distribution data, for example, as follows.

First, the second speed detection unit 224 detects the maximum peak value in the speed distribution data as the first candidate ball speed Vb1. In the velocity distribution data shown in FIG. 5, the maximum peak value is the peak value pk11. Therefore, the second speed detection unit 224 in this case detects the speed corresponding to the peak value pk11 as the first candidate ball speed Vb1.
Next, the second speed detection unit 224 detects the second candidate ball speed Vb2 based on another peak value excluding the maximum peak value (peak value pk11) in the speed distribution data according to a predetermined algorithm. In the example of FIG. 5, the peak value pk12 is detected as the second candidate ball speed Vb2.

  As understood from the above description, the first speed detection unit 218 and the second speed detection unit 224 in the present embodiment detect two head speed candidates and two ball speed candidates, respectively. In response to this, the speed determination unit 202 selects one head speed and one ball speed as detection results from among these candidates, for example, as follows.

Here, there are four combinations of the head speed and the ball speed obtained by each of the two head speeds detected as described above and the ball speed.
The speed determination unit 202 calculates a meet rate as a reference value for each of the four combinations. The meet rate is obtained by dividing the ball speed (initial speed) by the head speed. The speed determination unit 202 excludes, from among the four combinations, combinations whose calculated meet rate values are not included in the predetermined constant numerical value range. Here, the certain numerical range is determined based on, for example, a generally assumed range of meat rates. A combination in which the value of the meet rate is not included in the certain numerical value range may be regarded as an erroneous detection of at least one of the head speed and the ball speed.

  Then, the speed determination unit 202 selects a combination of meet rates that is closest to a predetermined reference value from among combinations in which the calculated meet rate values are included in a certain range. A specific example of the reference value is “1.35”, for example. The speed determination unit 202 outputs the head speed and ball speed in the selected combination as a detection result. The information processing apparatus 300 in FIG. 1 executes information processing using the head speed and ball speed detection results output in this way.

As described with reference to FIG. 4, the separation point setting unit 215 is a divergence index that indicates the degree of divergence between the peak speed value from the analysis start point to the analysis point in the time series of speed data and the speed value at the analysis point. The time when the value reaches the target value is set as a separation point (first separation point Pdv1, second separation point Pdv2).
For example, in Patent Document 1, the point in time when the signal value increases or decreases a predetermined number of times is used as a boundary point (corresponding to a “separation point”), but the signal value increases or decreases a predetermined number of times continuously. There is a possibility that many patterns appear at a timing that does not correspond to the original shot timing. That is, when a signal value is based on a pattern that continuously increases or decreases a predetermined number of times, it is difficult to detect a peak corresponding to an actual shot timing with high accuracy.
On the other hand, in the case of this embodiment, the peak value of the speed from the analysis start time to the analysis time is detected as a larger speed value as the analysis time moves in time series. It can be updated every time. This makes it possible to detect the speed peak value in the speed data and the divergence point (separation point) corresponding to the peak value with higher accuracy, and to improve the head speed detection accuracy.

In addition, as shown in FIG. 4, when the head speed is detected, the first average speed data used by the separation point setting unit 215 for setting the separation point is determined by the number of averaging times larger than the second average speed data. Has been generated. That is, the degree of smoothing of the first average speed data is higher than that of the second average speed data.
By using the first averaged velocity data smoothed in this way for setting the separation point, for example, the fluctuation component of the velocity data which is unnecessary for detecting the peak and the point of separation (separation point) is suppressed. Therefore, the accuracy with respect to the setting of the separation point can be further increased.

Furthermore, in the present embodiment, the first speed detection unit 218 and the second speed detection unit 224 detect a plurality of head speed and ball speed candidates, respectively. Then, the speed determination unit 202 selects an optimum combination from the combinations of the head speed and the ball speed, thereby obtaining a detection result of each one of the head speed and the ball speed.
Thereby, for example, the first speed detection unit 218 and the second speed detection unit 224 detect each head speed and ball speed, and output the detection result as it is, thereby increasing the accuracy of the detection result. be able to.

In addition, the speed determination unit 202 of the present embodiment selects one combination using a reference value (for example, a meet rate) obtained using the head speed and the ball speed for each combination.
As described above, by using the reference value closely related to the head speed and the ball speed, which are detection targets, for selecting the combination, it is possible to further improve the accuracy of the detection result of the head speed and the ball speed. .

  Note that the speed determination unit 202 omits, for example, a procedure of excluding combinations whose reference values are not included in the certain numerical range from candidates, and one combination whose reference value is closest to the reference value from among the four combinations. May be selected.

[Example of processing procedure]
The flowchart of FIG. 6 shows an example of a processing procedure executed by the Doppler sensor 100 and the speed detection device 200.
First, the Doppler sensor 100 outputs a detection signal (step S101). As described in FIG. 2, the detection signal of the Doppler sensor 100 is branched and input to the head speed detection unit 201A and the ball speed detection unit 201B.

Steps S102 to S111 are processing of the head speed detection unit 201A.
In the head speed detection unit 201A, the digital input unit 211 converts the input detection signal into a pulse signal having a pulse width corresponding to the speed (step S102).
The speed data generation unit 212 receives the pulse signal obtained in step S102 and generates speed data (step S103). The speed data generation unit 212 accumulates (holds) the generated speed data.
The noise filter 213 receives the speed data held by the speed data generation unit 212, extracts only the speed range components that can be taken as the head speed and the ball speed from the speed data, and removes the components outside the speed range as noise ( Step S104).

The first averaging unit 214 averages N times for the speed data from which noise has been removed in step S104, and outputs first averaged speed data (step S105).
The separation point setting unit 215 sets the first separation point Pdv1 as described with reference to FIG. 4 using the first averaged velocity data output in step S105 (step S106). Two separation points Pdv2 are set (step S107).

The noise filter 216 receives the speed data held by the speed data generation unit 212, extracts only the speed range components that can be taken as the head speed and the ball speed from the speed data, and removes the components outside the speed range as noise. (Step S108).
The second averaging unit 217 averages M (M <N) times on the speed data from which noise has been removed in step S108, and outputs second averaged speed data (step S109).
Note that the processing of steps S108 and S109 may be executed in parallel with steps S104 to S107.

The first speed detection unit 218 uses the first separation point Pdv1 set in step S106 and the second averaged speed data output in step S109, as described in FIG. The head speed Vh1 is detected (step S110).
Subsequently, the first speed detection unit 218 uses the first separation point Pdv1, the second separation point Pdv2 set in steps S106 and S107, and the second averaged speed data output in step S109, The second candidate head speed Vh2 is detected (step S111).

Steps S112 to S115 are processes executed by the ball speed detection unit 201B.
In the ball speed detection unit 201B, the A / D conversion unit 222 converts the detection signal of the Doppler sensor 100 input by the analog input unit 221 into digital (step S112).
The velocity distribution data generation unit 223 generates velocity distribution data by performing, for example, fast Fourier transform on the digital detection signal output from the A / D conversion unit 222 in step S112 (step S113). Note that the velocity distribution data generation unit 223 holds the generated velocity distribution data.
The second speed detection unit 224 inputs the speed distribution data held in step S113, and based on the peak value of the speed component intensity in the speed distribution data, for example, as described with reference to FIG. 5, the first candidate ball speed Vb1. Is detected (step S114), and then the second candidate ball speed Vb2 is detected (step S115).

Steps S116 to S119 are processes executed by the speed determination unit 202.
The speed determination unit 202 includes four combinations of the first candidate head speed Vh1, the second candidate head speed Vh2, the first candidate ball speed Vb1, and the second candidate ball speed Vb2 detected in steps S110, S111, S114, and S115. A meet rate is calculated for each (step S116).

The speed determination unit 202 excludes, from among the four combinations, combinations that do not include the meet rate calculated in step S116 in the certain numerical range (step S117). Next, the speed determination unit 202 selects one combination that is closest to a predetermined reference meet rate from combinations in which the meet rate is included in a certain numerical range (step S118).
Then, the speed determination unit 202 outputs the head speed and the ball speed in the combination selected in step S118 as a detection result (step S119).
By such processing, the speed detection device 200 of the present embodiment can obtain the detection result of the head speed and the ball speed with high accuracy.

As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the concrete structure is not restricted to this embodiment, The design etc. of the range which does not deviate from the summary of this invention are included.
Further, the speed detection device of the present embodiment can be applied not only to detection of head speed and ball speed in golf but also to detection of bat and ball speed in baseball, racket and ball speed in tennis and table tennis, for example. .

  Further, a program for realizing the function of the speed detection device 200 described above is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed, thereby executing the speed described above. The processing of the detection device 200 may be performed. Here, “loading and executing a program recorded on a recording medium into a computer system” includes installing the program in the computer system. The “computer system” here includes an OS and hardware such as peripheral devices. Further, the “computer system” may include a plurality of computer devices connected via a network including a communication line such as the Internet, WAN, LAN, and dedicated line. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Thus, the recording medium on which the program is recorded may be a non-transitory recording medium such as a CD-ROM. The recording medium also includes a recording medium provided inside or outside that is accessible from the distribution server in order to distribute the program. The code of the program recorded on the recording medium of the distribution server may be different from the code of the program that can be executed by the terminal device. That is, the format stored in the distribution server is not limited as long as it can be downloaded from the distribution server and installed in a form that can be executed by the terminal device. Note that the program may be divided into a plurality of parts, downloaded at different timings, and combined in the terminal device, or the distribution server that distributes each of the divided programs may be different. Furthermore, the “computer-readable recording medium” holds a program for a certain period of time, such as a volatile memory (RAM) inside a computer system that becomes a server or a client when the program is transmitted via a network. Including things. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient.

DESCRIPTION OF SYMBOLS 1 Golf club 1a Head 2 Ball 100 Doppler sensor 200 Speed detection apparatus 201 Speed detection part 201A Head speed detection part 201B Ball speed detection part 202 Speed determination part 211 Digital input part 212 Speed data generation part 213 Noise filter 214 1st averaging part 215 Separation point setting unit 216 Noise filter 217 Second averaging unit 218 First speed detection unit 221 Analog input unit 222 A / D conversion unit 223 Speed distribution data generation unit 224 Second speed detection unit 300 Information processing device 400 Display device

Claims (7)

Based on a detection signal output by the Doppler sensor in accordance with the moving speed of the object, at least one of a first speed that is the speed of the first speed detection object and a second speed that is the speed of the second speed detection object. A speed detection unit that detects a plurality of either one,
Using the first speed and the second speed in each combination among the combinations of the first speed and the second speed in each of the first speed and the second speed detected by the speed detection unit A speed determining unit that selects one combination based on the calculated reference value and a predetermined reference value, and outputs each of the first speed and the second speed in the selected combination as a detection result; Speed detection device. The speed determining unit is
The speed detection device according to claim 1, wherein, from among the combination candidates, one combination in which the reference value is closest to the reference value is selected. The speed determining unit is
The speed detection device according to claim 2, wherein one combination in which the reference value is closest to the reference value is selected from among combinations of combinations in which the reference value is included in a predetermined constant numerical value range. The speed detector
A speed data generating unit that generates speed data indicating a speed according to a time series based on the detection signal;
One or a plurality of the analysis start time points when the deviation index value indicating the degree of deviation between the peak speed value from the analysis start time point to the analysis time point and the speed value at the analysis time point reaches a predetermined value. A separation point setting unit that detects each corresponding point and sets each detected point as a separation point;
A first speed detection unit that identifies one or a plurality of speed detection periods based on the separation point and detects one or a plurality of first speeds based on a peak value of speed data for each identified speed outstanding period; The speed detection apparatus as described in any one of Claim 1 to 3. The speed detector
A velocity distribution data generation unit that generates velocity distribution data indicating a distribution for each velocity component based on the detection signal;
5. A speed detection apparatus according to claim 1, further comprising: a second speed detection unit configured to detect one or a plurality of second speeds based on a peak value of the intensity of the speed component in the speed distribution data. . Based on a detection signal output by the Doppler sensor in accordance with the moving speed of the object, at least one of a first speed that is the speed of the first speed detection object and a second speed that is the speed of the second speed detection object. Detecting a plurality of any one of them,
Using the first speed and the second speed in each combination from among the combinations of the first speed and the second speed in each of the first speed and the second speed detected in the speed detection step. A speed detection comprising: selecting one combination based on the calculated reference value and a predetermined reference value, and outputting each of the first speed and the second speed in the selected combination as a detection result. Method. On the computer,
Based on a detection signal output by the Doppler sensor in accordance with the moving speed of the object, at least one of a first speed that is the speed of the first speed detection object and a second speed that is the speed of the second speed detection object. A speed detection step of detecting a plurality of either one,
Using the first speed and the second speed in each combination from among the combinations of the first speed and the second speed in each of the first speed and the second speed detected in the speed detection step. A speed selection step of selecting one combination based on the calculated reference value and a predetermined reference value and outputting each of the first speed and the second speed in the selected combination as a detection result is executed. Program to let you.

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