JP2016087427A - Behavior measuring method and behavior measuring device for mobile object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To measure behavior of a mobile object without using a special instrument.SOLUTION: A behavior measuring device 10 measures behavior of a mobile object on the basis of: a first image that shows a state where a golf ball 20 is placed at a movement start point P0; and a second image that is an image after the golf ball 20 is hit and starts moving. A moving direction is calculated from a displacement direction of the mobile object between positions in the two images. And, a rotational axis direction is calculated from a difference in position and direction of a pattern of the golf ball 20 between the two images.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a behavior measuring method and a behavior measuring device for measuring the behavior of a moving object.

Conventionally, when measuring the behavior of a moving body such as a golf ball, a method of calculating parameters indicating various behaviors by performing image processing on a plurality of images taken by the moving body is used.
Here, since the moving body to be measured moves at a high speed, it is difficult to shoot with a normal camera. As a method of capturing an image of a moving body that moves at high speed, in addition to a method using high-speed video with a high frame rate, for example, a method of opening and closing a shutter a plurality of times while capturing a single image (Patent Document 1 below) (See, for example, Patent Document 2 below).

JP 2001-264016 A JP 63-186672 A

  However, the above-described method according to the prior art requires a complicated system such as a special camera capable of high-speed video, multiple exposure, and a circuit synchronized with a strobe, and there is a problem that a measuring instrument is expensive.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a behavior measurement method and a behavior measurement apparatus for a movable body that can measure the behavior of the movable body without using a special device. There is.

In order to achieve the above-mentioned object, the behavior measuring method for a moving body according to the invention of claim 1 is a behavior measuring method for a moving body that measures the behavior of the moving body, and the moving body is arranged at a movement start point. An arrangement detecting step for detecting the movement, a first imaging step for taking an image of the moving body arranged at the movement start point, and a movement start detection for detecting that the moving body starts moving. A second imaging step of capturing an image of the moving body after starting the movement, a first image captured in the first imaging step, and a second image captured in the second imaging step. And a behavior calculating step of calculating at least one of the moving direction and the rotation axis direction of the moving body based on the image.
In the behavior measuring method of the moving body according to the invention of claim 2, in the behavior calculating step, based on an elapsed time from when the moving body starts to move until the second image is taken, The moving speed is further calculated.
According to a third aspect of the present invention, there is provided a method for measuring a behavior of a moving body, wherein the first photographing step and the second photographing step take images in the same photographing region, and the behavior calculating step includes the first photographing step. The displacement direction between the position of the moving body in the image of the second image and the position of the moving body in the second image is calculated as the movement direction.
In the behavior measuring method of the moving body according to the invention of claim 4, the moving body is a ball having a known diameter, and in the behavior calculating step, the diameter of the ball in the first image and the second image. On the basis of this ratio, the moving direction in the direction orthogonal to the shooting direction in the first shooting step and the second shooting step is calculated.
In the behavior measuring method of the moving body according to the invention of claim 5, the photographing unit is a plurality of cameras, and the behavior calculating unit is a plurality of the first images respectively photographed by the plurality of cameras. The position of the moving body in the three-dimensional space before starting the movement based on the three-dimensional space is specified, and the three of the moving bodies after starting the movement based on the plurality of second images respectively captured by the plurality of cameras. A position in a three-dimensional space is specified, and the moving direction is calculated based on a difference between positions of the moving body in a three-dimensional space before and after the start of movement.
In the behavior measurement method for a mobile object according to the invention of claim 6, the mobile object has a symbol that is visible from all directions, and in the behavior calculation step, the position and orientation of the symbol in the first image The rotation axis direction is calculated from a difference between the position and orientation of the symbol in the second image.
According to a seventh aspect of the present invention, there is provided a method for measuring a behavior of a moving body, wherein the moving body starts moving by being hit by a hitting tool, and in the arrangement detecting step, the start of hitting behavior by the hitting tool is detected. Thus, it is detected that the moving body is arranged at the movement start point.
In the movement measuring method for a moving body according to an eighth aspect of the present invention, in the arrangement detecting step, it is detected that the moving body is arranged at the movement start point by detecting an arrangement completion signal input from the outside. It is characterized by.
According to a ninth aspect of the present invention, there is provided the method for measuring a behavior of a moving body, wherein the moving body starts to move by being hit by a hitting tool, and in the movement start detecting step, the hitting sound of the moving body by the hitting tool. And detecting that the moving body has started to move.
The behavior measurement method for a moving body according to the invention of claim 10 further includes a temperature detection step of detecting a temperature around the movement start point, wherein the movement start detection step is based on the temperature around the movement start point. The timing at which the moving body starts moving is corrected.
According to an eleventh aspect of the present invention, in the movement start detection step, the movement start detection step uses a passage detection sensor whose detection area is on the movement path of the moving body. It is characterized by detecting.
The behavior measuring method of the moving body according to the invention of claim 12 is characterized in that, in the arrangement detecting step, the light projecting unit that projects light to the movement start point, and the moving body is located at the movement start point. A reflective optical system comprising: a light receiving unit that receives reflected light reflected by the moving body; and a detection unit that detects the presence or absence of the moving body at the movement start point based on a change in the amount of light received by the light receiving unit. Using a sensor, it is detected that the moving body is arranged at the movement start point.
In the movement measuring method for a moving body according to the invention of claim 13, in the arrangement detecting step, when the reflected light is continuously received for a predetermined time or more, it is detected that the moving body is arranged at the movement start point. It is characterized by that.
According to a fourteenth aspect of the present invention, in the movement start detection step, the movement is detected by detecting that the moving body has retreated from the movement start point using the reflective optical sensor. It is characterized by detecting that the body has started moving.
A behavior measuring apparatus for a moving body according to a fifteenth aspect of the invention is a behavior measuring apparatus for a moving body that measures the behavior of the moving body, and an arrangement detecting unit that detects that the moving body is arranged at a movement start point. A movement start detecting means for detecting that the moving body has started moving, a photographing means arranged so as to include the movement start point in a photographing region, a detection result by the placement detecting means and the movement start detecting means. Based on the imaging control means for controlling the imaging operation by the imaging means, a first image that is an image of the moving body arranged at the movement start point, and an image of the moving body after the start of movement And a behavior calculating means for calculating at least one of the moving direction and the rotational axis direction of the moving body based on the second image.
According to a sixteenth aspect of the present invention, in the behavior measuring device for a moving body, the behavior calculating means is configured to determine the movement of the moving body based on an elapsed time from when the moving body starts to move until the second image is captured. The moving speed is further calculated.
According to a seventeenth aspect of the present invention, in the moving body behavior measuring apparatus, the photographing unit photographs the first image and the second image in the same photographing region, and the behavior calculating unit includes the first image capturing unit. A displacement direction between the position of the moving body in the image and the position of the moving body in the second image is calculated as the movement direction.
In the behavior measuring apparatus for a moving body according to the invention of claim 18, the moving body is a ball having a known diameter, and the behavior calculating means is a diameter of the ball in the first image and the second image. The moving direction in a direction orthogonal to the shooting direction of the shooting unit is calculated based on the ratio.
According to a nineteenth aspect of the present invention, in the moving body behavior measuring apparatus, the photographing means is a plurality of cameras, and the behavior calculating means is a plurality of the first images respectively photographed by the plurality of cameras. The position of the moving body in the three-dimensional space before starting the movement based on the three-dimensional space is specified, and the three of the moving bodies after starting the movement based on the plurality of second images respectively captured by the plurality of cameras. A position in a three-dimensional space is specified, and the moving direction is calculated based on a difference between positions of the moving body in a three-dimensional space before and after the start of movement.
The behavior measuring apparatus for a moving body according to the invention of claim 20 is characterized in that the moving body has a symbol that can be viewed from all directions, and the behavior calculating means includes the position and orientation of the symbol in the first image. The rotation axis direction is calculated from a difference between the position and orientation of the symbol in the second image.
In the behavior measuring apparatus for a moving body according to the invention of claim 21, the moving body starts moving when it is hit by a hitting tool, and the arrangement detecting means detects the start of hitting behavior by the hitting tool. Thus, it is detected that the moving body is arranged at the movement start point.
According to a twenty-second aspect of the present invention, the arrangement detecting unit detects that the moving object is arranged at the movement start point by detecting an arrangement completion signal input from the outside. It is characterized by.
According to a twenty-third aspect of the present invention, there is provided a behavior measuring apparatus for a moving body, wherein the moving body starts moving by being hit by a hitting tool, and the movement start detecting means is a hit sound of the moving body by the hitting tool. And detecting that the moving body has started to move.
The behavior measuring apparatus for a moving body according to the invention of claim 24 further comprises temperature detection means for detecting a temperature around the movement start point, and the movement start detection means is based on the temperature around the movement start point. The timing at which the moving body starts moving is corrected.
According to a twenty-fifth aspect of the present invention, in the movement measuring device for a moving object, the movement start detecting means uses a passage detection sensor whose detection area is on the moving path of the moving object. It is characterized by detecting.
According to a twenty-sixth aspect of the present invention, the arrangement detecting unit and the movement start detecting unit include a light projecting unit that projects light onto the movement start point, and the moving unit at the movement start point. A light receiving unit that receives the reflected light reflected by the moving body, and a detection unit that detects the presence or absence of the moving body at the movement start point based on a change in the amount of light received by the light receiving unit, It is a reflection type optical sensor provided with.
According to a twenty-seventh aspect of the present invention, in the movement measuring apparatus for a moving body, the arrangement detecting unit detects that the moving body is arranged at the movement start point when the reflected light is continuously received for a predetermined time or more. It is characterized by that.
The behavior measuring apparatus for a moving body according to the invention of claim 28 is characterized in that the movement start detecting means detects that the reflected light is no longer received after detecting that the moving body is arranged at the movement start point. It is characterized by detecting that the moving body has started moving.

According to invention of Claim 1 and Claim 15, based on the 1st image which image | photographed the state by which the moving body has been arrange | positioned in a movement start point, and the 2nd image which image | photographed the moving body after a movement start Since the moving direction and the rotation axis direction of the moving body are calculated, the behavior of the moving body can be measured without using a special device, and the cost required for measuring the behavior of the moving body can be reduced.
According to the second and sixteenth aspects of the invention, since the moving speed is measured in addition to the moving direction and the rotation axis direction of the moving body, more detailed behavior information of the moving body can be obtained.
According to the invention of Claim 3 and Claim 17, since the displacement direction of the position of the moving body in the two images is calculated as the movement direction, the movement direction in the image plane can be easily measured.
According to the invention of claim 4 and claim 18, since the moving direction in the direction orthogonal to the photographing direction (image plane) is calculated based on the ratio of the diameter of the moving body (ball) in the two images, the three-dimensional The moving direction of the moving body in the space can be measured, and more detailed behavior information of the moving body can be obtained.
According to the fifth and nineteenth aspects of the present invention, since the moving direction of the moving body is calculated by stereo shooting using a plurality of cameras, the moving direction in the direction orthogonal to the shooting direction (image plane) in particular is more accurate. Can be calculated.
According to the sixth and twentieth aspects of the invention, since the rotation axis direction is calculated from the difference between the position and orientation of the symbols in the two images, the rotation axis direction that is difficult to measure even with a Doppler sensor or the like is easily measured. be able to.
According to the seventh and twenty-first aspects of the present invention, since it is detected that the moving body is arranged at the movement start point by detecting the start of the striking behavior by the striking tool, the measurer does not perform an operation or the like. The first image can be taken, and the measurement operation can be simplified.
According to the eighth and twenty-second aspects of the present invention, since it is detected that the moving body is arranged at the movement start point by detecting the arrangement completion signal input from the outside, the start of the striking behavior by the striking tool is detected. Compared to the detection, it can be detected more reliably that the moving body is arranged at the movement start point.
According to the invention of claim 9 and claim 23, since the impact sound of the moving body by the hitting tool is detected to detect that the moving body has started to move, it can be easily and quickly moved using the microphone. The start of body movement can be detected.
According to the tenth and twenty-fourth aspects of the present invention, the timing at which the moving body starts moving is corrected based on the temperature around the movement start point, so that the timing at which the moving body starts moving can be specified more accurately. .
According to the eleventh and twenty-fifth aspects of the present invention, it is detected that the moving body has started to move using a passage detection sensor having a detection area on the moving path of the moving body. In comparison, it is possible to detect that the moving body has started moving more reliably.
According to the twelfth and twenty-sixth aspects of the present invention, the mechanism for detecting that the moving body is arranged at the movement start point and the mechanism for detecting that the moving body starts moving are the same sensor. The system configuration can be simplified. In addition, since the detection range of the reflective optical sensor may be a very narrow range as the movement start point, even if the space for use is limited, measurement can be performed without difficulty.
According to the invention of claim 13 and claim 27, when the reflected light from the movement start point is continuously received for a predetermined time or more, it is detected that the moving body is arranged at the movement start point. It is possible to improve the detection accuracy by preventing erroneous detection of a moving object or a hitting tool.
According to the fourteenth and twenty-eighth aspects of the present invention, when the moving body moves away from the movement start point, it is detected that the moving body has started moving. Can do.

1 is an explanatory diagram showing a schematic configuration of a moving body behavior measuring apparatus 10 according to a first embodiment; 2 is a block diagram showing a configuration of a computer 18. FIG. 2 is a block diagram showing a functional configuration of the behavior measuring apparatus 10. FIG. 4 is a flowchart illustrating a processing procedure performed by the behavior measurement apparatus 10. It is explanatory drawing which shows typically an example of the picked-up image by the imaging means. It is explanatory drawing which shows typically an example of the picked-up image by the imaging means. It is explanatory drawing which shows the other structure of the behavior measurement apparatus. It is explanatory drawing which shows the error by the presence or absence of temperature correction. It is explanatory drawing which shows the other structural example of the behavior measuring apparatus. It is explanatory drawing which shows schematic structure of the moving body behavior measuring apparatus 30 concerning Embodiment 2. FIG.

Exemplary embodiments of a moving body behavior measuring method and a behavior measuring apparatus according to the present invention will be explained below in detail with reference to the accompanying drawings.
In the present embodiment, a golf ball 20 that is hit and moved by a golf club 22 will be described as an example of a moving body.

(Embodiment 1)
FIG. 1 is an explanatory diagram illustrating a schematic configuration of a moving body behavior measuring apparatus 10 according to the first embodiment.
FIG. 1A is a diagram of the configuration of the behavior measuring apparatus 10 as viewed from the side, and FIG. 1B is a diagram of the periphery of the golf ball 20 in FIG. 1A as viewed from above.
FIG. 1A shows a measurer (player) I who wants to hit the golf ball 20 with the golf club 22. The golf ball 20 is placed on a tee 24 inserted into the ground (horizontal plane) G. In this state, the golf ball 20 is hit by the golf club 22 and starts moving. That is, in the example of FIG. 1A, the position of the golf ball 20 on the tee 24 is the movement start point P0.
Whether the measurement is performed with the golf ball 20 mounted on the tee 24 or the measurement is performed with the golf ball 20 mounted on the ground G, that is, whether the position of the golf ball 20 on the tee 24 is a movement start point. Whether or not the position of the golf ball 20 on the ground G is set as the movement start point is arbitrary by the measurer I.
Reference numeral X denotes a target moving direction when the golf ball 20 is hit with the golf club 22. Hereinafter, the origin of the coordinates of the space in which the behavior measuring apparatus 10 is installed is defined as a movement start point P0, the target movement direction X is the direction parallel to the ground G, the x axis, the direction opposite to the gravitational direction is the z axis, the x axis, and The direction orthogonal to the z axis is taken as the y axis. In FIG. 1, for the convenience of illustration, each coordinate axis is illustrated at a position away from the movement start point P0 that is the origin.
Reference symbol M is a mark given to the surface of the golf ball 20.

The behavior measuring apparatus 10 includes a camera 12, an illumination 13, a microphone 14, a passage detection sensor 15, a temperature sensor 16 (see FIG. 3), and a computer 18.
The camera 12 is a camera that captures a still image, and is installed so that an area including the movement start point P0 of the golf ball 20 is an imaging area. In the present embodiment, the camera 12 is fixedly installed in the vicinity of the ground G, and images the imaging region H including the movement start point P0 as shown in FIG. 1B.
An image photographed by the camera 12 is output to a computer 18 described later.
The shooting timing of the camera 12 is controlled by a shooting control unit 108 of the computer 18 described later.
The illumination 13 is turned on in conjunction with the shooting timing of the camera 12 and brightens the vicinity of the shooting area H. Thereby, the golf ball 20 can be clearly displayed on the photographed image.
In FIG. 1B, the illumination 13 is not shown in order to clarify the positional relationship between the camera 12 and a passage detection sensor 15 described later.

The microphone 14 collects ambient sounds and outputs them to the computer 18 as sound signals.
In the present embodiment, the microphone 14 is provided for collecting the hitting sound of the golf ball 20 and detecting the start of movement of the golf ball 20.
In FIG. 1B, the microphone 14 is not shown in order to clarify the positional relationship between the camera 12 and a passage detection sensor 15 described later.
The passage detection sensor 15 is a sensor that detects that an object has passed through the detection area using, for example, infrared rays.
The detection result of the passage detection sensor 15 is output to the computer 18 described later.
In the present embodiment, as shown in FIG. 1B, the passage detection sensor 15 is configured such that a detection area N1 is set behind the installation position of the golf ball 20 (opposite the target movement direction X), and the golf club passes through the detection area N1. It is detected that 22 has passed.
In the present embodiment, the passage detection sensor 15 is not shown in FIG. 1A because the passage detection sensor 15 is installed side by side with the camera 12 in the x-axis direction.
The temperature sensor 16 (see FIG. 3) detects the temperature at which the measurement is performed, that is, the temperature around the movement start point P0 of the golf ball 20.
The temperature detected by the temperature sensor 16 is output to the computer 18 described later.
In the present embodiment, the temperature sensor 16 is provided to more accurately estimate the time of occurrence of the impact sound collected by the microphone 14.

The computer 18 calculates the behavior data of the golf ball 20 using information output from other components such as the other camera 12 and the microphone 14.
FIG. 2 is a block diagram showing the configuration of the computer 18.
The computer 18 includes a CPU 1802, a ROM 1804, a RAM 1806, a hard disk device 1808, a disk device 1810, a keyboard 1812, a mouse 1814, a display 1816, a printer 1818, an input / output interface 1820, etc. have.
A ROM 1804 stores a control program and the like, and a RAM 1806 provides a working area.
The hard disk device 1808 stores a dedicated program (behavior measurement program) for measuring the behavior of the golf ball 20.
The disk device 1810 records and / or reproduces data on a recording medium such as a CD or a DVD.
A keyboard 1812 and a mouse 1814 accept operation inputs from the measurer.
A display 1816 displays and outputs data, and a printer 1818 prints and outputs data. The display 1816 and the printer 1818 output data.
The input / output interface 1820 exchanges data with the camera 12, the microphone 14, the passage detection sensor 15, the temperature sensor 16, and the like.

Note that a small information device such as a smart phone or a tablet may be used as the computer 18.
In FIG. 1, the computer 18 and devices such as the camera 12 are connected by wiring, but communication between these devices may be performed by wireless communication.
When the computer 18 (including a smart phone or a tablet) includes the camera 12 and the microphone 14, the camera 12 and the microphone 14 included in the computer 18 are used to capture an image and collect sound. Also good. In this case, it is possible to reduce the number of devices constituting the behavior measuring apparatus 10 and save time and effort for installing the devices.

FIG. 3 is a block diagram showing a functional configuration of the behavior measuring apparatus 10.
The behavior measuring apparatus 10 is functionally configured by an arrangement detection unit 102, a movement start detection unit 104, an imaging unit 106, an imaging control unit 108, a behavior calculation unit 110, and a temperature detection unit 112.
Among these configurations, the imaging control unit 108 and the behavior calculation unit 110 are realized when the CPU 1802 of the computer 18 described above executes a behavior measurement program.

The arrangement detection unit 102 detects that the golf ball 20 as a moving body is arranged at the movement start point.
When the movement start point of the golf ball 20 is on the tee 24 as in the present embodiment, the placement detection unit 102 detects that the golf ball 20 is placed on the tee 24.
In the present embodiment, the arrangement detection unit 102 is realized by the passage detection sensor 15, for example.
As described above, the passage detection sensor 15 detects the passage of the golf club 22 through the detection area N1 with the rear of the installation position of the golf ball 20 as the detection area N1 as shown in FIG. 1B.
The golf club 22 passes through this area when the measurer I takes an address posture and performs a backswing and a downswing. Therefore, by detecting the passage of the golf club 22 with the passage detection sensor 15, it is possible to detect that the golf ball 20 is disposed on the tee 24, that is, disposed at the movement start point.
That is, the golf ball 20 that is a moving body starts moving by being hit by the golf club 22 that is a hitting tool, and the arrangement detection means 102 starts the hitting behavior (swing) by the golf club 22 that is the hitting tool. By detecting this, it is detected that the moving body is arranged at the movement start point.
Note that the detection area N1 of the passage detection sensor 15 is not limited to the rear of the installation position of the golf ball 20, but may be any range that can detect that the golf club 22 has started swinging.

Further, the arrangement detection unit 102 is not limited to the passage detection sensor 15 and may be a Doppler sensor. For example, as shown in FIG. 7A, a Doppler sensor 19 is installed in the vicinity of the camera 12 so that the antenna directivity direction N2 faces the rear of the installation position of the golf ball 20. Then, the Doppler signal is detected to detect the approach (start of swing) of the golf club 22 with respect to the directing direction N2.
Further, for example, the Doppler sensor 19 is installed behind the installation position of the golf ball 20 so that the antenna directivity direction N3 coincides with the target movement direction X (x axis), and the golf club 22 approaches the directivity direction N3. (Start of swing) may be detected.

Moreover, the arrangement | positioning detection means 102 may detect that the moving body has been arrange | positioned in the movement start point by detecting the arrangement | positioning completion signal input from the outside.
That is, the measurer I may input that the golf ball 20 is placed on the tee 24 using the keyboard 1812 of the computer 18 or may be input using a dedicated remote controller or switch.

The movement start detection means 104 detects that the golf ball 20 as a moving body has started moving.
In the present embodiment, the hitting sound of the golf ball 20 is collected by the microphone 14 and the start of movement of the golf ball 20 is detected. That is, the movement start detection means 104 detects that the moving body has started moving by detecting the impact sound of the moving body by the hitting tool.
Note that since various sounds such as the voice of the measurer I are collected by the microphone 14, a frequency band indicating the hitting sound of the golf ball 20 is specified in advance, and the sound of this frequency band is detected using voice recognition. It may be detected that the golf ball 20 has started moving by identifying that the sound has been collected.

Further, the movement start detection means 104 is not limited to the microphone 14 and may be a passage detection sensor.
Specifically, the passage detection sensor 15 is installed so that the front of the installation position of the golf ball 20 becomes a detection area, and the golf ball 20 or the golf club 22 is detected to pass through the detection area, thereby playing golf. It may be detected that the ball 20 has started moving.
That is, it may be detected that the moving body has started to move using a passage detection sensor whose detection area is on the moving path of the moving body.
In this case, the detection area of the passage detection sensor 15 is preferably set very close to the tee 24 so that shooting can be performed while the golf ball 20 is positioned in the shooting area of the shooting means 106 described later.

The photographing means 106 is arranged so as to include the moving start point P0 of the moving body in the photographing region, and photographs an image in the photographing region.
As described above, in the present embodiment, the camera 12 constitutes the photographing unit 106, and the photographing region H is set so as to include the tee 24 that is the movement start point P0.
The photographing means 106 does not need to be a special camera such as a high-speed video, and it is sufficient if an image (still image) can be photographed by photographing timing control by the photographing control means 108 described later.

The imaging control unit 108 controls the imaging operation by the imaging unit 106 based on the detection results by the arrangement detection unit 102 and the movement start detection unit 104.
More specifically, when the placement detection unit 102 detects that the golf ball 20 is placed at the movement start point, the shooting control unit 108 displays an image (first image) of the golf ball 20 placed at the movement start point. The imaging means 106 is controlled to take an image. In addition, when the movement start detection unit 104 detects that the golf ball 20 has started moving, the shooting control unit 108 takes a picture so as to shoot an image (second image) of the golf ball 20 after the start of movement. The means 106 is controlled.
Thereby, two images before and after the start of movement of the golf ball 20 (before and after launch) are obtained.

The behavior calculating unit 110 moves the moving body based on the first image that is an image of the moving body that is arranged at the movement start point and the second image that is an image of the moving body after the start of movement. At least one of the direction and the rotation axis direction is calculated.
The behavior calculation unit 110 further calculates the moving speed of the moving body based on the elapsed time from when the moving body starts moving until the second image is captured.
The behavior calculation unit 110 includes at least one of a movement direction calculation unit 1102, a rotation axis direction calculation unit 1104, and a movement speed calculation unit 1106. These calculate the moving direction, the rotation axis direction, and the moving speed, which are behavior information of the moving body.

Here, a behavior information calculation method by the behavior calculation unit 110 will be described.
FIG. 5 is an explanatory view schematically showing an example of a photographed image by the photographing means 106.
FIG. 5A shows the first image, which is a photograph of the golf ball 20 placed at the movement start point, and FIG. 5B shows the second image, which is a photograph of the golf ball 20 after the start of movement. It is. Further, FIG. 5C superimposes FIGS. 5A and 5B after removing elements other than the golf ball 20 from FIG. 5B.
6 is also an explanatory view schematically showing an example of an image taken by the photographing means 106. FIG. 6A is the same as FIG. 5A, and FIG. 6B is a direction in which the golf ball 20 approaches the camera 12 (y 6C is an image when the golf ball 20 moves in a direction away from the camera 12 (y coordinate minus direction).

First, a method for calculating the moving direction θh in the up-down direction (on the xz plane) will be described.
As shown in FIG. 5C, a line segment L1 connecting the center point P1 of the golf ball 20 in the first image and the center point P2 of the golf ball 20 in the second image, and the center of the golf ball 20 in the first image The moving direction in the vertical direction (on the xz plane) can be specified by the angle θh formed by the line segment L2 that passes through the point P1 and is parallel to the ground G.
That is, the behavior calculation unit 110 calculates the displacement direction between the position of the moving body in the first image and the position of the moving body in the second image as the movement direction.
When the optical axis of the camera 12 is not parallel to the ground G but is inclined in the vertical direction, the vertical movement direction θh is calculated after correcting the inclination.

Next, a method for calculating the moving direction θw in the left-right direction (on the xy plane) will be described.
When the golf ball 20 is moving in a left-right direction with respect to the target movement direction X, the diameter of the golf ball 20 on the image is different before and after the movement starts as shown in FIG.
In the example of FIG. 6, when the golf ball 20 moves in a direction approaching the camera 12 as shown in FIG. 6B, the diameter R1 becomes larger than the diameter R0 of the golf ball 20 before the movement start in FIG. 6A. (R1> R0) When the golf ball 20 moves away from the camera 12 as shown in FIG. 6C, the diameter R2 decreases (R2 <R0).
Since the shooting magnification and the angle of view of the camera 12 are known, the moving direction θw in the left-right direction (on the xy plane) can be specified based on the difference in the diameter of the golf ball 20 before and after the start of movement.
For example, as shown in FIG. 6B, when the golf ball 20 moves in the direction approaching the camera 12 (the y-coordinate plus direction), the larger the diameter of the golf ball 20 on the image, the larger the curvature in the camera 12 direction. It will be. 6C, when the golf ball 20 moves in the direction away from the camera 12 (y coordinate minus direction), the smaller the diameter of the golf ball 20 on the image, the larger the direction opposite to the camera 12 is. Will be.
That is, the behavior calculation unit 110 calculates a movement direction in a direction orthogonal to the shooting direction of the camera 12 based on the ratio of the diameters of the golf balls in the first image and the second image.

As another method for calculating the movement direction θw, stereo measurement using a plurality of cameras 12 may be performed.
FIG. 9 is an explanatory diagram illustrating another configuration example of the behavior measuring apparatus 10.
In FIG. 9, two cameras 12A and 12B are installed so that an area including the movement start point P0 of the golf ball 20 is an imaging area. Camera parameters such as the positions of the cameras 12A and 12B, the shooting direction (orientation), and the shooting magnification are specified in advance.
With the cameras 12A and 12B, images before and after the start of movement of the golf ball 20 (before and after launch) are simultaneously photographed.
Then, the position of the golf ball 20 on the images photographed by the respective cameras 12A and 12B is specified, and the position of the golf ball 20 in the three-dimensional space before and after the start of movement is specified using the above camera parameters. The moving direction θw of the golf ball 20 can be calculated from the difference in the position of the golf ball 20 in the three-dimensional space before and after the start of movement.
That is, based on the plurality of first images photographed by the plurality of cameras 12A and 12B, the position of the moving body before the start of movement is specified in the three-dimensional space and photographed by the plurality of cameras 12A and 12B, respectively. The position of the moving body in the three-dimensional space after the start of movement is specified based on the plurality of second images thus obtained, and the moving direction is calculated based on the difference between the positions of the moving body in the three-dimensional space before and after the movement starts. You may make it do.
As described above, by shooting using a plurality of cameras, the moving direction θw of the golf ball 20 can be calculated with higher accuracy.

Next, a method for calculating the rotation axis direction will be described.
As shown in FIG. 5, a mark M is added to the golf ball 20. Based on the position and direction of the mark M of the golf ball 20 before and after the start of movement, the rotation axis direction of the golf ball 20 can be specified.
In addition, it is preferable that the mark M added to the golf ball 20 has a pattern that appears on the image no matter which direction the golf ball 20 rotates. As such a symbol, for example, various conventionally known symbols such as a line segment drawn over the entire circumference of the golf ball 20 as shown in FIG. 5 can be used.
That is, the moving body has a symbol that can be seen from all directions, and the behavior calculation means 110 determines the direction of the rotation axis from the difference between the symbol position and orientation in the first image and the symbol position and orientation in the second image. Is calculated.

Next, a method for calculating the moving speed will be described.
The calculation of the moving direction and the rotational axis direction described above can be performed with only two images before and after the start of movement, but for calculating the moving speed, the second image is taken after the moving body starts moving. It is necessary to specify the elapsed time until
In calculating the moving speed, first, the moving distance of the golf ball 20 is calculated. Since the shooting magnification of the camera 12 is known as described above, the ratio between the distance on the image and the distance on the real space is known, and the position of the golf ball 20 (movement start point) and the first distance in the first image. The two-dimensional movement distance on the xz plane of the golf ball 20 can be calculated from the relationship with the position of the golf ball 20 in the second image.

Next, the time when the moving body starts moving is specified. When the movement start detection means 104 is the microphone 14, the time when the hit sound is detected by the microphone 14 can be set as the time when the moving body starts moving.
At this time, a value obtained by dividing the distance between the movement start point and the microphone 14 by the speed of sound is calculated as a delay time until the hitting sound reaches the microphone 14, and this delay time is calculated from the time when the hitting sound is detected by the microphone 14. You may deduct.

Further, the sound velocity value may be corrected using the measured temperature of the temperature sensor 16 which is the temperature detecting means 112 for detecting the temperature around the movement start point. That is, a value closer to the actual sound speed is calculated using a generally used sound speed C = 331.5 + 0.61t (t is Celsius temperature) and the time until the hit sound reaches the microphone 14 is calculated. May be. Thereby, the time when the moving body starts moving can be specified with higher accuracy.
FIG. 8 is an explanatory diagram showing errors due to the presence or absence of temperature correction.
FIG. 8A shows the time required for the hitting sound generated at the movement start point P0 to reach the microphone 14 when the distance between the microphone 14 and the movement start point P0 is 0.5 m. In FIG. 8, values below the decimal point of the sound speed value are omitted.
The sound velocity value is 331 m / s when the temperature is 0 ° C. and 352 m / s when the temperature is 35 ° C.
Therefore, the time required for the hitting sound to reach the microphone 14 is 1.51 ms at an air temperature of 0 ° C. and 1.42 ms at an air temperature of 35 ° C.
FIG. 8B shows the error estimated for each moving speed of the golf ball 20.
For example, when the moving speed of the golf ball 20 is 40 m / s, the distance that the golf ball 20 moves within the time required for the hitting sound to reach the microphone 14 (see FIG. 8A) is 60.4 mm at an air temperature of 0 ° C. (Distance moved at 1.51 ms), 56.8 mm (distance moved at 1.42 ms) at a temperature of 35 ° C.
Here, when the temperature correction of the sound velocity value as described above is not performed, the moving distance is calculated as a moving distance of 1.51 ms as in the case of the air temperature of 0 ° C. That is, at a temperature of 35 ° C., the distance traveled at 1.42 ms is calculated as the distance traveled at 1.51 ms, and the speed is calculated to be slower than actual.
Specifically, while the correct moving speed is calculated as 40.0 m / s at an air temperature of 0 ° C., it is calculated as 37.6 m / s at an air temperature of 35 ° C., which is 2.4 m / s slower than the actual value ( -2.4 m / s) The moving speed is calculated.
Such an error becomes larger as the moving speed of the golf ball 20 becomes faster, and becomes -4.8 m / s at a speed of 80 m / s.
By performing the temperature correction as in the present application, the above error can be prevented and the moving speed can be calculated more accurately.

If the time when the second image is captured by the camera 12 is specified, the elapsed time from when the moving body starts moving until the second image is captured can be specified. The time when the second image is taken is the time when the photographing control means 108 instructs the camera 12 to take a picture or the time when the second image recorded by the camera 12 is taken, and these are substantially the same.
The movement speed of the golf ball 20 is calculated by dividing the movement distance of the golf ball 20 thus calculated by the elapsed time from when the golf ball 20 starts to move until the second image is taken. Can do.

  When the movement start detection means 104 is the passage detection sensor 15, the distance from the movement start point to the detection area of the passage detection sensor 15 and the golf ball 20 by the passage detection sensor 15 after the golf ball 20 starts moving. If it is possible to specify the elapsed time until it is detected, the moving speed can be calculated by dividing the distance by the elapsed time.

FIG. 4 is a flowchart illustrating a processing procedure performed by the behavior measuring apparatus 10.
The behavior measuring apparatus 10 first detects that the moving body is arranged at the movement start point by the arrangement detecting unit 102 (step S402: arrangement detecting step).
When the moving body is placed at the movement start point (step S402: Yes), the shooting control unit 108 instructs the shooting unit 106 to take an image, and the state where the moving body is at the movement start point is shot as the first image. (Step S404: First photographing step).
Next, the behavior measuring apparatus 10 detects that the moving body has started moving by the movement start detecting means 104 (step S406: movement start detecting step).
When the moving body starts moving (step S406: Yes), the shooting control unit 108 instructs the shooting unit 106 to take an image, and the moving state is shot as a second image (step S408: No. 1). 2 shooting process).
Subsequently, the behavior calculation unit 110 calculates the behavior of the moving object such as the movement direction, the rotation axis direction, and the movement speed (step S410: behavior calculation step).
Then, the calculated behavior information is displayed on the display 1816, printing paper, or the like (step S412), and the processing according to this flowchart ends.

As described above, the moving body behavior measurement device 10 according to the first exemplary embodiment captures the first image in which the golf ball 20 is placed at the movement start point P0, and the golf ball 20 after the start of movement. Since the movement direction, rotation axis direction, and movement speed of the golf ball 20 are calculated based on the second image obtained by photographing the golf ball 20, the behavior of the golf ball 20 can be measured without using a special device. The cost for measuring 20 behaviors can be reduced.
Moreover, since the behavior measuring apparatus 10 calculates the displacement direction of the position of the golf ball 20 in the two images as the movement direction, the movement direction in the image plane can be easily measured.
In addition, the behavior measuring apparatus 10 calculates the moving direction in the direction orthogonal to the shooting direction (image plane) based on the ratio of the diameters of the golf balls 20 in the two images, so that the moving body moves in the three-dimensional space. The direction can be measured, and more detailed behavior information of the moving body can be obtained.
In addition, since the behavior measuring device 10 calculates the rotation axis direction from the difference between the position and orientation of the pattern of the golf ball 20 in the two images, it is possible to easily measure the rotation axis direction that is difficult to measure even with a Doppler sensor or the like. Can do.
Moreover, since the behavior measuring apparatus 10 detects that the golf ball 20 is placed at the movement start point P0 by detecting the start of the hitting behavior by the golf club 22, the first measurer does not perform an operation or the like. This image can be taken, and the measurement operation can be simplified.
In addition, if the behavior measuring device 10 detects that the golf ball 20 is placed at the movement start point P0 by detecting a placement completion signal input from the outside, the start of the hitting behavior by the golf club 22 is started. It is possible to more reliably detect that the golf ball 20 is disposed at the movement start point P0 as compared to detecting.
Moreover, since the behavior measuring apparatus 10 detects the impact sound of the golf ball 20 by the golf club 22 and detects that the golf ball 20 has started moving, the golf ball can be easily and quickly used with the microphone 14. The start of 20 movements can be detected.
Further, in the behavior measuring apparatus 10, if the timing at which the golf ball 20 starts to move is corrected based on the temperature around the movement start point P0, the timing at which the golf ball 20 starts to move can be specified more accurately. it can.
Further, in the behavior measuring apparatus 10, if the golf ball 20 is started to move using a passage detection sensor whose detection area is on the movement path of the golf ball 20, the impact sound is detected. In comparison, it is possible to more reliably detect that the golf ball 20 has started moving.

(Embodiment 2)
In the first embodiment, the arrangement detection unit that detects that the moving body is arranged at the movement start point and the movement start detection unit that detects that the moving body starts moving are separate devices. In the second embodiment, the case where the arrangement detection unit and the movement start detection unit are the same device (reflection optical sensor) will be described.
Hereinafter, in Embodiment 2, the same part as Embodiment 1 is attached | subjected the same code | symbol on drawing, and detailed description is abbreviate | omitted.

FIG. 10 is an explanatory diagram of a schematic configuration of the moving body behavior measuring apparatus 30 according to the second embodiment.
10A is a view of the configuration of the behavior measuring apparatus 30 as viewed from the side, and FIG. 10B is a view of the periphery of the golf ball 20 in FIG. 10A as viewed from the top.
In the second embodiment, a reflective optical sensor 32 is installed on the camera 12.
Although not shown, the reflective optical sensor 32 is connected to the computer 18 and outputs the detection result to the computer 18.
The reflective optical sensor 32 includes a light projecting unit that projects light in an arbitrary detection range, a light receiving unit that receives reflected light reflected by the object when the object is located in the detection range, and a light receiving unit that receives light. A detection unit that detects the presence or absence of an object in the detection range based on a change in the amount of light that is generated.

In the present embodiment, the detection range of the reflective optical sensor 32 is matched with the movement start point P0 (on the tee 24). That is, the projection light LI from the light projecting unit is installed so as to pass through the movement start point P0. When the golf ball 20 is not on the tee 24, the projection light LI passes through the movement start point P0, and therefore the reflected light LR is not received by the light receiving unit. On the other hand, when the golf ball 20 is on the tee 24, the reflected light LR reflected by the surface of the golf ball 20 is directed to the light receiving unit, and the amount of light received by the light receiving unit is increased. Thereby, the presence or absence of the golf ball 20 on the tee 24 can be detected.
That is, the reflective optical sensor 32 functions as the arrangement detection unit 102.

Here, the reflective optical sensor 32 may detect that the golf ball 20 is placed at the movement start point when the reflected light is continuously received by the light receiving unit for a predetermined time or more.
This is because, even when an object is detected on or near the tee 24 that is the detection range of the reflective optical sensor 32, the object is not the golf ball 20, but the limb of the measurer I or the golf club 22, for example. This is because if the photographing is performed in this case, erroneous photographing is performed.
When the object within the detection range (on the tee 24) of the reflective optical sensor 32 is the golf ball 20, the measurer I sets the golf ball 20 on the tee and then takes an address posture to perform a swing. A certain amount of time should be required between them. On the other hand, when the object in the detection range of the reflective optical sensor 32 is other than the golf ball 20, there is a high possibility that the object moves immediately and falls outside the detection range.
Therefore, if the photographing is performed only when the detection of the object by the reflective optical sensor 32 is continued for a predetermined time or more, the golf ball 20 can be reliably photographed while preventing the erroneous detection of the object.
In this case, a notification unit may be provided for notifying that the reflected light is continuously received for a predetermined time or longer and the golf ball 20 is recognized as being placed at the movement start point. For example, a lamp or a speaker can be used as the notification unit. The measurer I may set the golf ball 20 on the tee 24 and then start the swing after waiting for notification by the notification unit.

In addition, after it is detected that the golf ball 20 is disposed at the movement start point P0, when the reflected light from the golf ball 20 is not received, the golf ball 20 is hit with the golf club 22, and the golf ball 20 is It can be detected that movement has started.
That is, the reflective optical sensor 32 also functions as the movement start detection unit 104.
As described above, the reflective optical sensor 32 can be used as both the arrangement detection unit 102 and the movement start detection unit 104.

Note that the reflective optical sensor 32 may have a function of identifying the color of an object using an image sensor such as a CMOS sensor. In this case, it is detected that the object is within the detection range only when the object has a specific color.
More specifically, for example, a sensor that detects an object only when a white object that is the color of a general golf ball 20 is within the detection range is used. Thereby, it is possible to prevent the golf club 22 and the limb of the measurer I from being around the tee 24 from being erroneously detected as the golf ball 20, and to improve the detection accuracy of the reflective optical sensor 32.

The reaction speed of the reflective optical sensor 32 is preferably 1 ms or less.
This is because, depending on the moving speed of the golf ball 20, it is required to set the shooting timing of the camera 12 to a very short time after the start of the movement of the golf ball 20. By using the reflective optical sensor 32 having a fast reaction speed, it is possible to set the photographing timing to a faster timing, and the photographing accuracy by the camera 12 can be improved.

As described above, according to the moving body behavior measuring apparatus 30 according to the second embodiment, the mechanism that detects that the golf ball 20 is disposed at the movement start point P0, and the golf ball 20 starts moving. Since the mechanism for detecting this is the same reflective optical sensor 32, the system configuration of the behavior measuring apparatus 30 can be simplified.
Further, since the detection range of the reflective optical sensor 32 may be a very narrow range of the movement start point P0, the measurement can be performed without difficulty even when the space for use is limited.
If the behavior measuring device 30 detects that the golf ball 20 is placed at the movement start point P0 when the reflected light from the movement start point P0 is continuously received for a predetermined time or more, the measurer I It is possible to prevent erroneous detection of the limbs, the golf club 22 and the like as the golf ball 20 and improve the detection accuracy.
Moreover, since the behavior measuring apparatus 30 detects that the golf ball 20 has started moving after it is detected that the golf ball 20 is located at the movement start point P0 and then moves away from the movement start point P0, the behavior measurement device 30 uses the hitting sound. More stable measurement than the case.

  DESCRIPTION OF SYMBOLS 10,30 ... Behavior measuring device, 12 ... Camera, 13 ... Illumination, 14 ... Microphone, 15 ... Passage detection sensor, 16 ... Temperature sensor, 18 ... Computer, 19 ... Doppler sensor, 20 ... ... Golf ball, 22 ... Golf club, 24 ... Tee, 32 ... Reflective optical sensor, 102 ... Placement detection means, 104 ... Moving start detection means, 106 ... Shooting means, 108 ... Shooting control Means, 110... Behavior calculation means, 1102... Movement direction calculation means, 1104... Rotational axis direction calculation means, 1106 ... Movement speed calculation means, 112 ... Temperature detection means, G. Area, I ... Measurer, M ... Mark, N1 ... Detection area, N2 ... Direction direction, N3 ... Direction direction, P0 ... Move start point, P1 ... Center point, P2 ... Center point, R0 …… Direct , R1 ...... diameter, R2 ...... diameter, X ...... target movement direction.

Claims (28)

A method for measuring the behavior of a moving object that measures the behavior of the moving object,
An arrangement detecting step for detecting that the moving body is arranged at a movement start point;
A first photographing step of photographing an image of the moving body arranged at the movement start point;
A movement start detection step of detecting that the moving body has started moving;
A second photographing step for photographing an image of the moving body after the start of movement;
Based on the first image photographed in the first photographing step and the second image photographed in the second photographing step, at least one of the moving direction or the rotation axis direction of the moving body is calculated. A behavior calculation process;
A behavior measurement method characterized by including In the behavior calculation step, the moving speed of the moving body is further calculated based on an elapsed time from when the moving body starts to move until the second image is captured.
The behavior measuring method according to claim 1, wherein: In the first shooting step and the second shooting step, images in the same shooting region are shot,
In the behavior calculating step, a displacement direction between the position of the moving body in the first image and the position of the moving body in the second image is calculated as the moving direction.
The behavior measuring method according to claim 1 or 2, wherein The moving body is a ball having a known diameter,
In the behavior calculation step, based on a ratio of the diameters of the balls in the first image and the second image, the direction in the direction orthogonal to the shooting direction in the first shooting step and the second shooting step. Calculate the direction of movement,
The behavior measuring method according to claim 3, wherein: In the first photographing step and the second photographing step, an image of the moving body is photographed using a plurality of cameras,
In the behavior calculation step, a position in the three-dimensional space of the moving body before starting movement is specified based on the plurality of first images respectively captured by the plurality of cameras, and the plurality of cameras Based on the plurality of second images taken, the position of the moving body after the start of movement is specified in the three-dimensional space, and based on the difference in the position of the moving body in the three-dimensional space before and after the start of movement. Calculating the direction of movement,
The behavior measuring method according to claim 1 or 2, wherein The mobile body has a design that is visible from all directions,
In the behavior calculating step, the rotation axis direction is calculated from the difference between the position and orientation of the symbol in the first image and the position and orientation of the symbol in the second image.
The behavior measuring method according to any one of claims 1 to 5, wherein the behavior is measured. The moving body starts moving by being hit by a hitting tool,
In the arrangement detection step, by detecting the start of the hitting behavior by the hitting tool, it is detected that the moving body is arranged at the movement start point.
The behavior measuring method according to any one of claims 1 to 6, wherein In the arrangement detection step, by detecting an arrangement completion signal input from the outside, it is detected that the moving body is arranged at the movement start point.
The behavior measuring method according to any one of claims 1 to 6, wherein The moving body starts moving by being hit by a hitting tool,
In the movement start detection step, it is detected that the moving body has started moving by detecting an impact sound of the moving body by the hitting tool,
The behavior measuring method according to any one of claims 1 to 8, wherein A temperature detection step of detecting a temperature around the movement start point;
In the movement start detection step, the timing at which the moving body starts moving is corrected based on the temperature around the movement start point.
The behavior measuring method according to claim 9. In the movement start detection step, it is detected that the moving body has started to move using a passage detection sensor whose detection area is on the moving path of the moving body.
The behavior measuring method according to any one of claims 1 to 8, wherein In the arrangement detection step, a light projecting unit that projects light at the movement start point, a light receiving unit that receives reflected light reflected by the mobile body when the mobile body is located at the movement start point, And a detecting unit that detects the presence or absence of the moving body at the movement start point based on a change in the amount of light received by the light receiving unit, and the moving body is arranged at the movement start point. Detect that
The behavior measuring method according to any one of claims 1 to 6, wherein In the arrangement detection step, when the reflected light is continuously received for a predetermined time or more, it is detected that the moving body is arranged at the movement start point.
The behavior measuring method according to claim 12, wherein: In the movement start detection step, it is detected that the moving body has started moving by detecting that the moving body has retreated from the movement start point using the reflective optical sensor.
The behavior measuring method according to claim 12 or 13, characterized in that: A moving body behavior measuring device for measuring the behavior of a moving body,
Arrangement detecting means for detecting that the moving body is arranged at a movement start point;
Movement start detecting means for detecting that the moving body has started moving;
Photographing means arranged to include the movement start point in the photographing region;
An imaging control means for controlling an imaging operation by the imaging means based on detection results by the arrangement detection means and the movement start detection means;
Based on a first image that is an image of the moving body that is arranged at the movement start point and a second image that is an image of the moving body after the start of movement, the moving direction of the moving body or Behavior calculating means for calculating at least one of the rotation axis directions;
A behavior measuring apparatus comprising: The behavior calculating means further calculates a moving speed of the moving body based on an elapsed time from when the moving body starts moving until the second image is taken.
The behavior measuring apparatus according to claim 15, wherein: The photographing means photographs the first image and the second image in the same photographing region,
The behavior calculating means calculates a displacement direction between the position of the moving body in the first image and the position of the moving body in the second image as the moving direction;
The behavior measuring apparatus according to claim 15 or 16, characterized in that The moving body is a ball having a known diameter,
The behavior calculating unit calculates the moving direction in a direction orthogonal to the shooting direction of the shooting unit based on a ratio of the diameters of the balls in the first image and the second image.
The behavior measuring apparatus according to claim 17. The photographing means is a plurality of cameras,
The behavior calculating means identifies a position in the three-dimensional space of the moving body before the start of movement based on the plurality of first images respectively captured by the plurality of cameras, and the plurality of cameras Based on the plurality of second images taken, the position of the moving body after the start of movement is specified in the three-dimensional space, and based on the difference in the position of the moving body in the three-dimensional space before and after the start of movement. Calculating the direction of movement,
The behavior measurement method according to claim 15 or 16, wherein the behavior is measured. The mobile body has a design that is visible from all directions,
The behavior calculating means calculates the rotation axis direction from the difference between the position and orientation of the symbol in the first image and the position and orientation of the symbol in the second image.
The behavior measuring apparatus according to any one of claims 15 to 19, wherein The moving body starts moving by being hit by a hitting tool,
The arrangement detecting means detects that the moving body is arranged at the movement start point by detecting the start of the striking behavior by the hitting tool.
The behavior measuring apparatus according to any one of claims 15 to 20, wherein The arrangement detection means detects that the moving body is arranged at the movement start point by detecting an arrangement completion signal input from the outside.
The behavior measuring apparatus according to any one of claims 15 to 20, wherein The moving body starts moving by being hit by a hitting tool,
The movement start detection means detects a hit sound of the moving body by the hitting tool and detects that the moving body has started moving.
The behavior measuring apparatus according to any one of claims 15 to 22, wherein the behavior measuring apparatus is characterized in that: Further comprising a temperature detection means for detecting the temperature around the movement start point,
The movement start detection means corrects the timing at which the moving body starts moving based on the temperature around the movement start point.
24. The behavior measuring apparatus according to claim 23. The movement start detection means detects that the moving body has started moving using a passage detection sensor having a detection area on the moving path of the moving body.
The behavior measuring apparatus according to any one of claims 15 to 22, wherein the behavior measuring apparatus is characterized in that: The arrangement detection unit and the movement start detection unit receive a light projecting unit that projects light at the movement start point, and reflected light reflected by the moving body when the moving body is located at the movement start point. A reflective optical sensor comprising: a light receiving unit that detects the presence or absence of the moving body at the movement start point based on a change in the amount of light received by the light receiving unit;
The behavior measuring apparatus according to any one of claims 15 to 20, wherein The arrangement detection means detects that the moving body is arranged at the movement start point when the reflected light is continuously received for a predetermined time or more.
27. The behavior measuring method according to claim 26, wherein: The movement start detection means detects that the moving body starts moving when the reflected light is not received after it is detected that the moving body is arranged at the movement start point.
28. The behavior measuring apparatus according to claim 26 or 27.

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