JP4388907B2 - Moving object detection device and speed measurement device - Google Patents

Description

  The present invention relates to a moving object detection device that detects passage of each point at a plurality of different points of a moving object that moves in space, and a moving object speed measurement device that measures the moving speed of each point. In particular, the present invention relates to a moving object detection apparatus using a reflection type photo interrupter.

  Many reflection type and transmission type photo interrupters are used to measure the speed of a moving object. In the prior art, the reflection type photo interrupter has an advantage that the device itself can be miniaturized by integrating the light source and the light receiving sensor, but on the other hand, the reflectance of the surface of the moving object is low. If the shape of the moving object is not constant or partially different, the detection accuracy varies depending on the reflectance of the surface of the moving object and the shape of the moving object. The golf club shaft and head are not suitable for measuring the speed of the golf club shaft, and the speed of the golf club shaft and head is exclusively used for the transmission type photo interrupter.

  A transmissive photo interrupter detects the passage of a moving object by blocking light projected along a predetermined optical path with a shaft or head of a swinging golf club, and two optical paths separated by a predetermined distance. The speed of the moving object is measured based on the time difference of the detection timing for blocking the signal. A golf club head speed measuring device using this transmissive photo interrupter is disclosed in, for example, Patent Document 1.

  However, in the transmissive photointerrupter, the light receiving sensor must be accurately arranged on the optical axis of the light source, so that the moving object passes between them, and the light source and the light receiving sensor are arranged apart from each other. . However, since it is necessary to prevent the optical axes of the light source and the light receiving sensor from moving, it is necessary to fix the light source and the light receiving sensor at a distance from each other, and the apparatus must be large. There wasn't. In order to solve this problem, the applicant has developed a head speed measuring device for a golf club head in which a light source and a light receiving sensor are integrated by reflecting with a retroreflective reflecting means and mounting of the reflecting means is easy. This is disclosed in Patent Document 2.

  However, when a person grips a golf club and swings, the shaft and head of the golf club pass through a substantially constant path, but do not pass through a constant path accurately, and variations occur between swings. Is inevitable. For this reason, the predetermined position (position where the moving speed is measured) arranged on the shaft or head of the golf club passes through a slightly different route for each swing.

On the other hand, the measurement of the moving speed by the transmission type speed measuring device is to measure the moving speed at the position of the optical path of the projected light. Therefore, although the speed of the object passing through the position can be accurately measured, Since the predetermined position of the golf club (the position where the moving speed is measured) does not always pass through the position, the position of the predetermined position placed on the moving object where the passing position is not stable, such as a golf club where a person swings. When it is desired to measure the speed, it is inevitable that an error occurs in the measured moving speed due to an error in the passing position between the position of the optical path and a predetermined position of the golf club (position where the moving speed is measured). And when the range of the position which measures the moving speed of a golf club is expanded, a bigger error will arise.
JP-A-10-206451 JP 2004-301797 A

  The present invention solves such problems of the prior art, and can reliably detect the passage of a moving object without changing the detection accuracy depending on the reflectance of the surface of the moving object or the shape of the moving object. An object of the present invention is to provide a moving object detection device capable of reliably detecting the passage of a predetermined position for measuring the moving speed even for a moving object whose passing position is not stable.

In order to solve the above-described problems, the present invention provides a moving object detection apparatus that detects the passage of a predetermined measurement target region in each space at each of a plurality of different points of a moving object moving in the space. A plurality of reflection markers provided at each of the plurality of points of the moving object, a light source that projects projection light toward the measurement target region, and the projection reflected by each of the plurality of reflection markers. A line sensor that detects reflected light of the light, and the line sensor includes a plurality of photosensors arranged in one direction, and each photosensor receives the reflected light coming from the measurement target region, respectively. is intended to detect, said line sensor includes a feature that detects reflected light incident along the arrangement direction of said photo sensor to the photo sensor in time series Providing a sensing device for moving objects that.

  In addition, it is preferable that the said line sensor detects the reflected light which injects into each photo sensor in time series.

  The reflective marker is a retroreflective reflector formed in a tape shape and affixed to the moving object, and reflects the projection light on a reverse path of an optical path from the light source to the measurement target region. It is preferable to do.

Further, it is preferable that the moving object is a golf club, and the reflection marker is provided at a predetermined position of the shaft and the head.
The measurement target region is preferably a line-shaped region extending in a direction substantially perpendicular to the ground.

In addition, the present invention measures the moving speed of each moving object by measuring the moving speed at each point when the moving object passes through a predetermined measurement target space for a plurality of different points of the moving object moving in the space. A plurality of reflective markers provided at each of the plurality of points of the moving object, and a plurality of light sources that respectively project projection light toward different measurement target regions in the measurement target space; A line sensor that detects the reflected light of the projection light that is reflected by each of the plurality of reflection markers and is projected onto different measurement target areas, a time difference in the detection timing of the reflected light in the line sensor, and each measurement target area A calculating unit that calculates a moving speed of each point of the moving object based on the mutual distance between the plurality of photosensors. There are arranged side by side in one direction, the reflected light the photo sensor is coming from said measurement target region is intended to detect each of said line sensor, the photo sensor along the arrangement direction of said photo-sensor In addition, a moving object velocity measuring device is also provided which is characterized in that it detects reflected light incident on the chronologically .

  In addition, it is preferable that the said line sensor detects the reflected light which injects into each photo sensor in time series.

  The reflective marker is a retroreflective reflector formed in a tape shape and affixed to the moving object, and reflects the projection light on a reverse path of an optical path from the light source to the measurement target region. It is preferable to do.

Further, it is preferable that the moving object is a golf club, and the reflective marker is provided at a predetermined position of the shaft or the head.
The measurement target region is preferably a line-shaped region extending in a direction substantially perpendicular to the ground.

  Since the moving object detection device of the present invention is configured as described above, the reflective marker is provided by providing the reflective marker at a predetermined position (position where the moving speed is measured) of the moving object, for example, a golf club. It is possible to accurately detect when a predetermined position passes through a predetermined measurement target region, and the passage of the moving object can be performed without changing the detection accuracy depending on the reflectance of the surface of the moving object or the shape of the moving object. It can be detected reliably.

  In addition, a plurality of moving object detection devices are arranged at a predetermined interval, and the interval D of the moving object detection devices is divided by the time difference T of the detection timing of each moving object detection device, thereby providing a reflective marker. Thus, it is possible to obtain a speed measuring device that can measure the moving speed of the predetermined position and can accurately measure the speed of the moving object even for a moving object whose passage position is not stable.

  Hereinafter, a moving object detection device and a speed measurement device according to the present invention will be described based on preferred embodiments shown in the accompanying drawings.

  FIG. 1 is a side view showing a schematic configuration of a passage detection device 10 that detects passage of a shaft and a head of a golf club, which is an embodiment of the moving object detection device of the present invention. FIG. 2 is a plan view showing a schematic configuration of a speed measuring device 40 that measures the speed of the shaft and head of a golf club which is an embodiment of the speed measuring device of the present invention. 3 is a cross-sectional view illustrating an example of a retroreflective reflector, and FIG. 4 is a diagram illustrating a light receiving surface of the line sensor 20. FIGS. 5A and 5B are diagrams for explaining detection of reflected light by the line sensor, and FIG. 6 is a plan view showing a main part of another embodiment of the speed measuring device shown in FIG. It is.

  As shown in FIG. 1, a passage detection device 10 that is an embodiment of a moving object detection device of the present invention is directed toward a measurement target space including a predetermined measurement target region 36 through which a golf club 30 that is a moving object passes. The light source 14 that projects the projection light 12 that spreads in a conical shape as indicated by the alternate long and short dash line along the predetermined optical path A (indicated by the solid line), and the projection light 12 is reflected by the reflective marker 16, and the predetermined optical path A And a line sensor 20 that detects reflected light B (shown by a broken line) that returns through a reverse path. In the present embodiment, a light emitting diode (LED) is used as the light source 14. The light source in the present invention can be any light source such as a halogen lamp or a laser diode as long as it is a light emitter that projects light with sufficient luminance within the range through which the reflective marker 16 passes.

  A plurality of reflection markers 16 (two in the illustrated example) are provided on a moving object that moves substantially orthogonal to the optical path A of the projection light 12, in this embodiment the golf club 22. Each of the reflection markers 16a and 16b may be any reflector as long as it reflects the projection light 12 spreading in a conical shape toward the reverse path of the projection path of the projection light 12. However, in order to reliably reflect a sufficient amount of light toward the reverse path of the projected optical path A, it is desirable to use a retroreflective reflector.

  As shown in FIG. 3, the retroreflective reflector generally has a configuration including a binder layer 24, a reflective layer 26, a surface film layer 28, and a glass bead layer 30 including a plurality of glass bead rows. .

  In the retroreflective reflector having such a configuration, the light L incident at the incident angle θ is projected from the surface film layer 28 by refraction and reflection by the surface film layer 28, the glass bead layer 30, and the reflection layer 26. It has a function of projecting at an angle θ. In other words, the retroreflective reflector reflects the incident light into reflected light that passes back through the reverse path of the optical path of the incident light.

  For example, as shown in FIG. 3, the retroreflective reflector can be easily pasted by applying an adhesive 32 to the back surface, and the shape of the reflector is also various shapes such as a sheet shape or a tape shape. Since a commercially available sheet-like or tape-like retroreflective reflector is cut to a required size, a predetermined position (such as a shaft or It can be used by sticking to the head speed measuring position).

  In the embodiment of FIG. 1, the half mirror 34 is disposed at a position sufficiently close to the light source 14 that projects the projection light 12 spreading in a conical shape. The half mirror 34 transmits a part of the projection light projected from the light source 14, irradiates the measurement target space including the measurement target region 36 with the projection light 12 spreading in a conical shape, and is reflected by the reflection marker 16. Then, a part of the reflected light returning through the reverse path of the projection path of the projection light 12 is reflected and guided to the line sensor 20. In the example of FIG. 1, the half mirror 34 transmits a part of the projection light projected from the light source 14, irradiates the projection light 12 to the measurement target space (optical path A shown in FIG. 1), and is reflected by the reflection marker 16. Then, a part of the reflected light returning through the reverse path (reflected optical path B shown in FIG. 1) of the optical path A is reflected and guided to the line sensor 20 arranged in a direction perpendicular to the light source 14.

  In the line sensor 20, n photosensors 24a, 24b,..., 24n are arranged in a line in one direction. As shown in FIG. 4, the light receiving surface of the line sensor 20 is configured such that the light receiving surfaces of the photosensors 24a, 24b,. The line sensor 20 detects (scans) reflected light incident on each photosensor 24 (received by each photosensor) in time series, and is long in one direction corresponding to the light receiving surface of the line sensor 20. Reflected light coming from a rectangular area (line area) is received and detected. In the passage detection device 10, the line sensor 20 is arranged so as to be able to receive light arriving from a predetermined measurement area 36 in a line shape. Conversely, the measurement target area 36 is determined by the light receiving surface (light receiving area) of the line sensor 20.

  In the illustrated example, the measurement target region 36 is set as a line-shaped region extending in a direction substantially perpendicular to the ground, and light (reflected light) arriving from the line-shaped measurement target region 36 is line sensor 20. The line sensor 20 and the half mirror 34 are arranged so that can be received. The passage detection device 10 determines the passage time of the measurement target region 36 at each measurement point (a point where a reflection marker to be described later is pasted) of the moving object passing through the linear measurement target region 36 determined by the line sensor 20. Detect. Since the present invention uses such a line sensor, it is necessary to irradiate projection light limited to this line-shaped measurement target area when detecting a moving object passing through the line-shaped measurement target area in the measurement target space. There is no. According to the moving object detection device of the present invention, the movement passing through the linear measurement target region in the measurement target space without using a large and expensive device such as a laser beam irradiation means for irradiating the measurement target space in a line shape. It is possible to detect an object.

  FIGS. 5A and 5B are diagrams illustrating detection of reflected light by the line sensor 20 and are graphs showing examples of the light amount of the reflected light 18 detected by the line sensor 20. Each of the photosensors 24a to 24n constituting the line sensor 20 divides the measurement target region 36 into n pieces of light (reflected light) arriving from different divided regions 38a, 38b, 38c,. Receive light. In this embodiment, the line sensor 20 scans the amount of light received by each of the plurality of photosensors from the top to the bottom at the scan time α (scans the measurement target region 36 from the top to the bottom). The change in the amount of light received by each sensor is detected. In “passing in order” in FIG. 5A, the golf club 22 to which the reflection markers 16 a and 16 b are attached moves while being inclined with respect to the measurement target region 36, and the reflection markers 16 a and 16 b are moved to the measurement target region 36. This indicates the amount of light detected by the line sensor 20 when sequentially passing through.

  Further, “simultaneously pass” in FIG. 5B is when the golf club 22 to which the reflective markers 16a and 16b are attached passes through the measurement target region 36 in a state substantially parallel to the measurement target region 36 at the same time. The amount of light detected by the line sensor 20 is shown in FIG.

  In this embodiment, since the scanning by the line sensor 20 is performed from the top to the bottom, the reflection marker 16a is detected at a relatively early timing (first half time) of the scanning time α as shown in the graph, The reflection marker 16b is always detected at a relatively late timing (second half time) in the scan time α. For this reason, by checking the position of the peak of the amount of light, even if the reflection markers 16a and 16b pass through the measurement target region 36 at the same time as shown in FIG. It is possible to distinguish between the reflected light and the reflected light from the reflective marker 16b. The passage detection device 10 of the present invention is configured in this way.

  The passage detection device 10 of the present invention is used in the moving object speed measurement device of the present invention. Hereinafter, the configuration and operation of the moving object speed measurement device of the present invention will be described, and the operation of the passage detection device 10 will also be described.

  As shown in FIG. 2, at least two sets of moving object detection devices 10 are arranged in a speed measuring device 40 which is a moving object speed measuring device of the present invention. In the speed measurement device 40, the moving object detection device 10 is disposed on the upstream side (lower side in the drawing) and the downstream side (upper side in the drawing) when the golf club 30 is swung. Each moving object detection device 10 includes a dash-dot line along a predetermined optical path A (shown by a solid line) toward a measurement target space including a predetermined measurement target region 36 through which the golf club 22 that is a moving object passes. And a reflected light B (shown by a broken line) that is reflected by the reflection marker 16 and returns through a reverse path of a predetermined optical path A. ) To detect the line sensor 20. From each light source 14, the projection light 12 is emitted in a substantially parallel direction, and the projection light 12 is irradiated onto different measurement target regions (partial regions) in the measurement target space through which the golf club 22 passes. Each partial region is separated by a distance D in the passing direction of the golf club 30. The upstream and downstream detection devices 10 are connected to the data processing device 50. The data processing device 50 uses the detection timings of the golf club 30 in the upstream and downstream detection devices 10 to detect the passage of each measurement point, and the distance D of the partial region, thereby measuring each of the golf clubs 22. The passing speed of the measurement target space at each point is calculated.

  By swinging the golf club 22 provided with the reflection markers 16a and 16b at each measurement point, the shaft of the golf club 22 moves substantially orthogonal to the projection light 12, and the reflection marker provided on the shaft of the golf club 22 When 16a and 16b cross the measurement target region (partial region) 36 of the lower moving object detection device, the reflected light 18 is detected by the line sensor 20 to detect the first moving object, When the reflection markers 16a and 16b cross the measurement target region (partial region) 36 of the upper moving object detection device, the reflected light 18 is detected by the line sensor 20 and the second moving object is detected. Each upstream and downstream line sensor 20 sends a detection signal to the data processor 50 in response to detection of the passage of the golf club 30.

  In the data processing device 50, the distance D between the upstream and downstream partial regions 36 (the distance between the lower moving object detection device 10 and the upper moving object detection device 10) and the first moving object. The movement speed of each measurement point where the reflection markers 16a and 16b of the shaft of the golf club 30 are provided is calculated based on the time difference between the detection of the second moving object and the detection of the second moving object (detection time difference of the detection signal). According to the speed measuring device 40, even if there is a variation in the locus of the swing, it can be accurately measured regardless of the variation in the swing.

  As described above, since the reflection by the reflection marker 16a and the reflection by the reflection marker 16b are distinguished and detected, the data processing apparatus 50 detects both the first moving object and the second moving object. The reflection by the reflection marker 16a and the reflection by the reflection marker 16b are detected separately, and the time when the reflection marker 16a and the reflection marker 16b are detected by the lower moving object detection device and the upper movement are detected. The time difference from the time point detected by the object detection device can be measured.

A predetermined distance D between the half mirror 34 and the mirror 38 (a distance between the lower moving object detection device and the upper moving object detection device), the first moving object detection, and the second Depending on the time difference from the detection of the moving object, the moving speed of the position where the reflection marker 16 of the shaft of the golf club 22 is provided is measured separately for the position of the reflection marker 16a, the reflection and the position of the reflection marker 16b, and Even if there is a variation in the locus of the swing, it can be accurately measured regardless of the variation in the swing.
As another embodiment of the moving object velocity measuring apparatus of the present invention, as shown in FIG. 6 showing only the light source 14, the line sensor 20, the half mirror 34 and the mirror 38 , a plurality of half mirrors 34 are provided. Accordingly, it is possible to increase the number of partial areas for detecting the passage of a moving object to an arbitrary number (similar to FIG. 2, the number of partial areas may be two). When the number of partial areas for detecting the passage of the moving object is increased in this way, the acceleration / deceleration of the moving object in the space in which the moving object moves can also be measured.

  However, in this case, as the number of the half mirrors 32 is increased, the amount of the projection light 12 that spreads in a conical shape in each moving object detection device decreases, so that it can be detected by the photosensor 18 sufficiently. Care must be taken to obtain the light intensity.

  The calculation procedure when measuring the speed at each measurement point of the golf club 30 with the speed measuring device 40 (moving object speed measuring device) is as follows.

  In FIG. 2, when the golf club 22 is swung in the direction of the arrow, first, the reflective marker 16 crosses the measurement target region (partial region) 36 of the lower moving object detection device, and the reflected light 18 is a line sensor. The first moving object is detected at 20. Subsequently, the reflective marker 16 crosses the measurement target region (partial region) 36 of the upper moving object detection device, and the reflected light 18 is detected by the line sensor 20 to detect the second moving object.

  At this time, when the clock is turned ON by detecting the first moving object and the clock is turned OFF by detecting the second moving object, the golf club 22 is moved from the time when the golf club 22 crosses the lower partial region 36. The time difference T up to the point of crossing the upper partial region 36 can be obtained. Of course, when the time difference T is obtained, it is natural that it can be obtained by the difference between the detection time of the first moving object and the detection time of the second moving object.

  Next, when the distance D between the lower moving object detection device and the upper moving object detection device is divided by this time difference T, the quotient D / T is the moving speed of the position of the reflective marker 16 of the golf club 22. It becomes.

  As described above, since this calculation process can be measured independently for each of the reflection by the reflection marker 16a and the reflection by the reflection marker 16b, in this embodiment, the moving speed of the golf club 22 at the position of the reflection marker 16a. Then, the moving speed at the position of the reflective marker 16b can be measured. Further, when the number of the reflective markers is increased to an arbitrary number, the moving speed at the position of the increased arbitrary number of the reflective markers can be measured. When the reflective marker is attached to the head of the golf club 22, the same is true. Head speed can be measured.

  The moving object detection device and speed measurement device of the present invention have been described in detail above, but the present invention is not limited to the above-described embodiments, and various improvements and modifications are made without departing from the scope of the present invention. Of course.

1 is a side view illustrating a schematic configuration of a passage detection device that detects passage of a shaft or a head of a golf club, which is an embodiment of a detection device for a moving object of the present invention. It is a top view which shows the structure of the outline of the speed measuring apparatus which is one Example of the speed measuring apparatus of this invention and measures the speed of the shaft of a golf club, or a head. It is sectional drawing which shows an example of the retroreflective reflector affixed on the shaft of a golf club. It is a figure explaining an example of the light-receiving surface of a line sensor of the detection apparatus of the moving object of this invention. (A) And (b) is a figure explaining the detection of the reflected light by a line sensor. It is a top view which shows the principal part of the other Example of the speed measuring apparatus of the moving object of this invention.

Explanation of symbols

10 Passage detection device 10
DESCRIPTION OF SYMBOLS 12 Projection light 14 Light source 16 Reflection marker 18 Reflection light 20 Line sensor 22 Golf club 24 Binder layer 26 Reflection layer 28 Surface film layer 30 Glass bead layer 32 Adhesive 34 Half mirror 36 Measurement object area 38 Mirror 40 Speed measurement apparatus 50 Data processing apparatus

Claims (8)

For a plurality of different points of moving objects moving in space, each of the points is a moving object detection device that detects the passage of a predetermined measurement target region in the space,
A plurality of reflective markers provided at each of the plurality of points of the moving object;
A light source that projects projection light toward the measurement target region;
A line sensor that detects the reflected light of the projection light reflected by each of the plurality of reflective markers;
The line sensor has a plurality of photosensors arranged in one direction, and each photosensor detects the reflected light coming from the measurement target region ,
The line sensor detects a reflected light incident on each photo sensor along the arrangement direction of the photo sensor in time series, and detects a moving object. The reflection marker is a retroreflective reflector formed in a tape shape and affixed to the moving object, and reflects the projection light on a reverse path of an optical path from the light source to the measurement target region. The apparatus for detecting a moving object according to claim 1 . The moving object is a golf club, wherein the reflective marker, the moving object detection apparatus according to claim 1 or 2, characterized in that provided in a predetermined position of the shaft or head. The mobile object detection device according to claim 1 , wherein the measurement target region is a linear region extending in a direction substantially perpendicular to the ground . A moving object speed measuring device that measures the moving speed of each point when the moving object passes through a predetermined measurement target space for a plurality of different points of the moving object moving in space,
A plurality of reflective markers provided at each of the plurality of points of the moving object;
A plurality of light sources respectively projecting projection light toward different measurement target areas in the measurement target space,
A line sensor that detects the reflected light of the projected light that is reflected by each of the plurality of reflective markers and is projected onto different measurement target areas; and
A calculation unit that calculates a moving speed for each point of the moving object from a time difference in detection timing of reflected light in the line sensor and a mutual distance of each measurement target region;
The line sensor has a plurality of photosensors arranged in one direction, and each photosensor detects the reflected light coming from the measurement target region ,
The apparatus for measuring a velocity of a moving object, wherein the line sensor detects reflected light incident on each photo sensor along a direction in which the photo sensor is arranged in time series . The reflection marker is a retroreflective reflector formed in a tape shape and affixed to the moving object, and reflects the projection light on a reverse path of an optical path from the light source to the measurement target region. The moving object velocity measuring apparatus according to claim 5 , wherein: The moving object speed measuring device according to claim 5 or 6 , wherein the moving object is a golf club, and the reflection marker is provided at a predetermined position of a shaft or a head. 8. The moving object velocity measuring apparatus according to claim 5 , wherein the measurement target area is a line-shaped area extending in a direction substantially perpendicular to the ground .

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