JP4548162B2 - Moving object detection device and speed measurement device - Google Patents

Description

  The present invention relates to a moving object detection device that detects the passage of a moving object and a moving object speed measurement device that measures the moving speed of the moving object. In particular, the present invention relates to a moving object using a reflective photointerrupter. By arranging at least two detection devices and detection devices for the moving object, the moving object is detected from the time difference between the detection timings of the reflected light detected by the detection device for each moving object and the mutual distance of the detection device for the moving object. The present invention relates to a speed measuring device that measures the moving speed of the robot.

  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, and a transmissive photo interrupter is exclusively used for measuring the speed of the golf club shaft and head.

  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 at which the signal is cut off. 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. However, since the moving object passes between them, 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 separate positions together, and the apparatus must be large. There wasn't. In order to solve this problem, the applicant has made the golf club head in which the light source and the light receiving sensor are integrated by reflecting the light from the light source with the retroreflective reflecting means, thereby facilitating the mounting of the reflecting means. A speed measuring device 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 measures the moving speed at the position of the optical path of the projected light, but the speed of the object passing through the position can be accurately measured, but the optical path The predetermined position of the golf club (the position at which the moving speed is measured) does not always pass through the position of 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 a path through which 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. Provided is a moving object detection device capable of reliably detecting passage of a predetermined position for measuring a moving speed even for a moving object whose passage position is not stable, and a speed measurement device using the moving object detection device. It is intended to do.

In order to solve the above-described problems, the present invention provides a moving object detection device that detects, with respect to a moving object that moves in space, each of the moving object that passes through different measurement target regions in the space, A reflection marker provided on the moving object, a light source that emits fan-shaped projection light for projecting to different measurement target regions, and the projection light emitted from the light source is transmitted and reflected to branch off, The first half mirror that projects one branched light as a first projection light onto a predetermined measurement area, and the other light branched by the first half mirror is the first projection light. At least one second half mirror that reflects in a parallel direction and projects the second projection light onto a measurement area different from the first projection light and transmits the other light; The transmitted light that has passed through the second half mirror is reflected in a direction parallel to the first projection light, and is different from the first projection light and the second projection light as third projection light. Reflecting means for projecting on the measurement area, first reflected light reflected by the reflective marker of the moving object, and returning through the reverse path of the first projection light, reverse path of the second projection light A moving object detection device, comprising: a second reflected light that passes back through the light path; and a light receiving sensor that detects the third reflected light that passes back through a reverse path of the third projection light. provide.

The first half mirror reflects the projection light emitted from the light source and projects the reflected light on the predetermined measurement region as the first projection light. The first reflected light returning through the reverse path of light is transmitted and guided to the light receiving sensor, and the second half mirror returns through the reverse path of the second projection light. The second reflected light is reflected and guided to the first half mirror, the second reflected light is reflected by the first half mirror and guided to the light receiving sensor, and the reflecting means The third reflected light that passes back through the reverse path of the third projection light is reflected and guided to the second half mirror, and the third reflected light passes through the second half mirror. Transmitted and guided to the first half mirror, the first half mirror Is preferably introduced into the third light receiving sensor is reflected light reflected by Fumira.

The first half mirror transmits the projection light emitted from the light source, and projects the transmitted light as a first projection light onto a predetermined measurement area, and the first projection. The first reflected light returning through the reverse path of light is reflected and guided to the light receiving sensor, and the second half mirror returns through the reverse path of the second projection light. The second reflected light is reflected and guided to the first half mirror. The second reflected light is transmitted by the first half mirror and guided to the light receiving sensor. The third reflected light that passes back through the reverse path of the third projection light is reflected and guided to the second half mirror, and the third reflected light passes through the second half mirror. Transmitted and guided to the first half mirror, the first half mirror Said third reflected light is guided to the light receiving sensor is transmitted by Fumira also preferred.

  The projection light emitted from the light source may be halogen light, and the projection light emitted from the light source may be laser light. The projection light emitted from the light source may be visible light.

  The light receiving sensor may be a single photosensor. The light receiving sensor may be a line sensor in which a plurality of photosensors are arranged in one direction and the reflected light incident on each photosensor is detected in time series.

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

  The moving object is preferably a golf club, and the reflective marker is preferably provided at a predetermined position of the shaft or the head.

The present invention is also a moving object speed measuring apparatus for measuring a moving speed of a moving object that moves in a space when the moving object passes through a predetermined measurement target space, and is provided in the moving object. A reflection marker, a light source that emits fan-shaped projection light to be projected onto different measurement target regions in the measurement target space, and the projection light emitted from the light source is transmitted and reflected to branch off, The first half mirror that projects one branched light as a first projection light onto a predetermined measurement area, and the other light branched by the first half mirror is the first projection light. At least one second half mirror that reflects in a parallel direction and projects the second projection light onto a measurement area different from the first projection light and transmits the other light; and Her The transmitted light that has passed through the mirror is reflected in a direction parallel to the first projection light, and is projected as a third projection light onto a measurement area different from the first projection light and the second projection light. Reflected by the reflection means and the reflection marker of the moving object, the first reflected light returning through the reverse path of the first projection light, and returning through the reverse path of the second projection light. A light receiving sensor that detects second reflected light and third reflected light that passes back through a reverse path of the third projected light, and the first reflected light and the second reflected light in the light receiving sensor. A moving object speed measurement comprising: a calculating unit that calculates a moving speed of the moving object from a time difference between detection timings of the light and the third reflected light and a mutual distance between the measurement target regions. A device is also provided.

The first half mirror reflects the projection light emitted from the light source and projects the reflected light onto the predetermined measurement area as the first projection light and the first projection. The first reflected light returning through the reverse path of light is transmitted and guided to the light receiving sensor, and the second half mirror returns through the reverse path of the second projection light. The second reflected light is reflected and guided to the first half mirror, the second reflected light is reflected by the first half mirror and guided to the light receiving sensor, and the reflecting means The third reflected light that passes back through the reverse path of the third projection light is reflected and guided to the second half mirror, and the third reflected light passes through the second half mirror. Transmitted and guided to the first half mirror, the first half mirror Is preferably introduced into the third light receiving sensor is reflected light reflected by Fumira.

The first half mirror transmits the projection light emitted from the light source, and projects the transmitted light as a first projection light onto a predetermined measurement area, and the first projection. The first reflected light returning through the reverse path of light is reflected and guided to the light receiving sensor, and the second half mirror returns through the reverse path of the second projection light. The second reflected light is reflected and guided to the first half mirror, the second reflected light is transmitted by the first half mirror and guided to a light receiving sensor, and the reflecting means includes: The third reflected light that passes back through the reverse path of the third projection light is reflected and guided to the second half mirror, and the third reflected light passes through the second half mirror. To the first half mirror and the first half Said by Ra third reflected light is guided to the light receiving sensor is transmitted also preferred.

  Since the moving object detection device of the present invention is configured as described above, it can reliably detect the passage of the 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. And a moving object detection device capable of reliably detecting passage of a predetermined position for measuring the moving speed even for a moving object whose passing position is not stable, and speed measurement using this moving object detection device An apparatus can be provided.

  Then, by providing a reflective marker at a predetermined position (position where the moving speed is measured) of a moving object, for example, a golf club, it is possible to accurately determine when the predetermined position provided with the reflective marker has passed the position of the laser beam. It is possible to detect, and the passage of the moving object can be reliably detected without changing the detection accuracy depending on the reflectance of the surface of the moving object and the shape of the moving object.

  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 of 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 speed measuring device 10 that measures the speed of a shaft and a head of a golf club, which is an embodiment of a moving object detection device and a speed measuring device according to the present invention. FIG. FIG. 3 is a cross-sectional view showing an example of a retroreflective reflector. FIG. 4 is a plan view showing the main part of another embodiment of the speed measuring device of the present invention, and FIG. 5 is a plan view showing the main part of another embodiment of the speed measuring device of the present invention. 4 is a diagram showing an example different from FIG.

  As shown in FIGS. 1 and 2, a speed measuring device 10 according to an embodiment of the present invention has a single light source 14 that projects a projection light 12 (shown by a solid line) along a predetermined optical path. As shown in FIG. 2, a part of the light projected from the light source 14 is transmitted through the half mirror 16, and the other is reflected and branched in two directions. The speed measuring device 10 projects the light branched in this way onto different measurement target areas (partial areas) on the upstream side (the lower side in the figure) and the downstream side (the upper side in the figure) when swinging the golf club 30. One light that is transmitted and branched by the half mirror becomes the first projection light 12a that is projected as it is to the first partial region, and the other light is reflected again by the mirror 20 that is the reflecting means, and the optical path is changed. As the second projection light 12b parallel to the first projection light 12a, the light is projected onto the first partial region.

  Here, the half mirror 16 that transmits part of the projection light and reflects the other to split the light in two directions is described as a general term for members having such a function. In addition, a member such as a half prism is also included.

  As will be described in detail later, the first projection light 12a and the second projection light 12b are reflected by a reflection marker 26 provided on the shaft of the golf club 24, and are opposite to the optical paths of the projection lights 12a and 12b. The first reflected light 28a and the second reflected light 28b return through the path. Then, the first reflected light 28a is reflected by the half mirror 16 and enters the single light receiving sensor 30, and the second reflected light 28b is transmitted through the half mirror 16 and the first reflected light 28a. It becomes the same optical path and enters the light receiving sensor 30.

  When the golf club 24 that is a moving object swings, the shaft of the golf club 24 moves substantially orthogonal to the first projection light 12a and the second projection light 12b, and is provided on the shaft of the golf club 24. When the reflected marker 26 crosses the optical path of the first projection light 12a and the second projection light 12b, the reflection marker 26 reflects the projection light 12a and 12b to become reflected light 28a and 28b.

  The reflection marker 26 reflects the light so as to pass back through the reverse path of the optical path of the projection light 12a and 12b, and can use an arbitrary bright surface, but the reflected light is more reliably projected. It is desirable to employ a retroreflecting reflector so as to pass back through the reverse path of the optical path of the light 12. As shown in FIG. 3, the retroreflective reflector generally includes a binder layer 32, a reflective layer 34, a surface film layer 36, and a glass bead layer 38 made up of a plurality of rows of glass beads. Yes.

  The retroreflective reflector having such a configuration allows the laser light L incident at the incident angle θ to be refracted and reflected by the surface film layer 36, the glass bead layer 38, and the reflection layer 34 from the surface film layer 36. It has a function of projecting at a projection 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.

  This retroreflective reflector is commercially available in various shapes, for example, in the form of a sheet or tape as shown in FIG. 3, so it is formed in this commercially available sheet or tape. The retroreflective reflector thus made can be used by being attached to a predetermined position of the golf club 24 (position for measuring the speed of the shaft or the head) with the adhesive 40, and this retroreflective reflector can be used. When used, almost all of the projection light 12 becomes reflected light 28, and the reflected light 18 having a sufficient amount of light to be detected by the light receiving sensor 30 is reflected.

  Here, the light source 14 is a laser beam irradiation device capable of projecting a laser beam that expands in a fan shape, as indicated by a one-dot chain line in FIG. In the case of using laser light as an irradiation light source, in the case of linear laser light, the reflection marker 26 provided on the shaft of the golf club 24 may move off the position of the laser light and may not be reflected. Thus, it is desirable to use a laser beam irradiation apparatus capable of projecting a laser beam spreading in a fan shape. In the present embodiment, each of the irradiation ranges of the laser beam spreading in a fan shape is a measurement target region (partial region) on the upstream side (the lower side in the drawing) and the downstream side (the upper side in the drawing). In this embodiment, since light is irradiated only on the measurement target region, the light receiving sensor 30 for detecting reflected light from the measurement target region detects light coming from a relatively wide range including the measurement target region. A relatively inexpensive single photosensor may be used.

  In the present invention, various types of light such as a halogen lamp that emits halogen light, an infrared irradiation device that emits invisible light, and a light emitting diode (LED) can be used. When such light is used as irradiation light, for example, if the light irradiation is limited to a predetermined measurement target area by defining the irradiation range of the light with a slit or a lens, the reflection from the measurement target area As the light receiving sensor 30 for detecting light, the above-described relatively inexpensive single photosensor can be used. However, it is difficult to uniformly irradiate the measurement target region with the light irradiation range defined by a slit or a lens, and the apparatus configuration for defining the irradiation region becomes large. For this reason, when irradiating irradiation light with a halogen lamp, a light emitting diode (LED), etc., light is irradiated to the whole measuring object space including a predetermined measuring object area, without prescribing the light irradiation range, It is preferable to use a light receiving sensor that receives light only from the region to be measured. As such a light receiving sensor, for example, a plurality of photo sensors are arranged in a line in one direction, and reflected light incident on each photo sensor (received by each photo sensor) is detected in time series ( A line sensor that scans) may be used. In the passage detection device 10, such a line sensor is arranged so as to be able to receive light coming from a predetermined measurement target region, and receives light arriving only from the predetermined measurement target region. Can do. That is, in this case, the measurement target area can be defined by the light receiving surface (light receiving area) of the line sensor. In the present invention, the light source and the light receiving sensor are not limited, and an appropriate combination may be selected as necessary.

  As described above, the first reflected light 28a reflected by the half mirror 16 and the second reflected light 28b transmitted through the half mirror 16 enter the light receiving sensor 30 through the same optical path. When the golf club 24 moves as shown in FIG. 2, the golf club 24 always crosses the optical path of the second moving object detection device 22 and then crosses the optical path of the first moving object detection device 18. Therefore, in the light receiving sensor 30 that detects the reflected light 28, the second reflected light 28b is always detected first, and the first reflected light 28a is detected later. Even if the light is received, the first reflected light 28a and the second reflected light 28b can be clearly identified and detected. The light receiving sensor 30 sends a detection signal to the data processing device 50 in response to the detection of the passage of the golf club 24.

  In the data processing device 50, the first projection light 12a and the second projection light 12b are respectively projected, the distance D between the respective partial areas, the detection of the first reflected light 28a, and the second reflected light 28b. The moving speed of the golf club 24 (the passing speed of the space to be measured) is calculated based on the time difference from the detection of (detection time difference of the detection signal). According to the speed measuring device 20, even if there is a variation in the locus of the swing, it can be accurately measured regardless of the variation in the swing.

  Note that the above-described reflective marker 26 is not limited to being provided at one location for each golf club 24. For example, a plurality of reflective markers 26 may be provided on the golf club shaft or golf club head of the golf club 24. Good. In the moving object detection device and the moving object speed measurement device according to the present invention, for example, by using the above-described line sensor, it is possible to detect the passage time of each measurement target region for each of the plurality of reflective markers.

  When a plurality of photosensors of the line sensor are scanned in one direction at a scan time α (when the measurement target region is scanned in one direction), the detection timing of the reflected light by each reflective marker at the scan time α is as follows. Varies depending on the position through which the measurement area passes. For example, the golf club 24 is provided with two reflective markers, and one of the two reflective markers passes through the upstream side of the measurement target region in the scanning direction, and which of the reflective markers is downstream in the scanning direction. Suppose that it is known whether to pass the side. In this case, the light detected at a relatively early timing in the scan time α is reflected light reflected by the reflective marker that has passed through the upstream side in the scan direction, and the relatively late timing in the scan time α. It can be determined that the light detected in step (b) is reflected light reflected by the reflection marker that has passed through the downstream side in the scanning direction. In the moving object detection device and the moving object velocity measurement device according to the present invention, by using the above-described line sensor, each of the plurality of reflective markers provided on the moving object passes through a predetermined measurement target region. The time point can be detected, and the moving speed of the point where each reflection marker is provided can be measured.

  As another embodiment of the moving object detection device and speed measurement device of the present invention, as shown in FIG. 4 showing only the light source 14, the light receiving sensor 30, the half mirror 16 and the mirror 20, a plurality of half mirrors 16 are provided. It is possible to increase the number of moving object detection devices to an arbitrary number. When the number of moving object detection devices is increased in this way, acceleration / deceleration of the moving object between the moving object detection devices can also be measured.

  However, in this case, as the number of the half mirrors 16 is increased, the amount of the projection light 12 in each moving object detection device decreases, so that a sufficient amount of light that can be detected by the light receiving sensor 30 is obtained. You have to be careful.

  Similarly, as shown in FIG. 5 showing only the light source 14, the light receiving sensor 30, and the half mirror 16 and the mirror 20, the same configuration can be achieved even if the positions of the light source 14 and the light receiving sensor 30 are interchanged. . At this time, out of the projection light 12 projected from the light source 14, the light reflected by the half mirror 16 becomes the second projection light 12b, and the light transmitted through the half mirror 16 and reflected by the mirror 20 is the first projection light. 12a. And the 2nd reflected light 28b which is the reflected light (reflected light by a reflective marker) of the 2nd projection light 12b permeate | transmits the half mirror 16, and injects into the light reception sensor 30, and the reflected light of the 1st projection light 12a The first reflected light 28 a (reflected light by the reflective marker) is transmitted through the half mirror 16 and enters the light receiving sensor 30.

  As described above, the speed measurement device 10 that is an example of the moving object detection device and the speed measurement device transmits a single light source 14 and a part of the light projected from the light source 14, and transmits the other. The half mirror 16 that reflects and branches into the first projection light 12a and the second projection light 12b, and either the first projection light 12a or the second projection light 12b that branches off with the half mirror 16 Golf, which is a moving object that moves substantially orthogonal to the optical path between the first projection light 12a and the second projection light 12b, and a mirror 20 that is a reflection means that reflects one side again and makes both optical paths parallel. The club 24, the reflective marker 26 provided on the moving object (golf club 24), and the first reflection reflected by the reflective marker 26 and returning through the reverse path of the light projected from the light source 14 Light 28a and second reflected light 2 a single light receiving sensor 30 that detects either the first reflected light 28a or the second reflected light 28b by reflecting either one of the reflected light b by the half mirror 16 to be the same optical path as the other reflected light; It is composed of

  In the speed measuring device 10, by swinging the golf club 24 provided with the reflective marker 26, the shaft of the golf club 24 moves substantially orthogonal to the optical path of the projection light 12 and is provided on the shaft of the golf club 24. When the reflection marker 26 crosses the optical paths of the first projection light 12a and the second projection light 12b, the reflection light 26 is reflected by the reflection marker 26. In this embodiment, since a retroreflective reflector is used as the reflection marker 26, almost all of the projection light 12 becomes reflected light 28 that returns through the reverse path of the optical path of the projection light 12. A sufficient amount of reflected light 28 enters the sensor 30.

  The procedure for measuring the speed of the golf club 24 with the speed measuring device 10 (moving object speed measuring device) is as follows.

  In FIG. 2, when the golf club 24 is swung in the direction of the arrow, first, the light is reflected across the optical path of the projection light 12 b of the second moving object detection device 22 in which the reflection marker 26 is disposed on the lower side. The reflected light 28b reflected by the marker 26 is detected by the light receiving sensor 30, and the first moving object is detected. Subsequently, the reflected light 28a reflected by the reflection marker 26 across the optical path of the projection light 12 of the first moving object detection device 18 having the reflection marker 26 disposed on the upper side is detected by the light receiving sensor 30, and then the second. The moving object is detected.

  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 24 is arranged on the lower side of the second moving object detecting device 22. The time difference T from the time when the optical path of the projection light 12b crosses to the time when the golf club 24 crosses the optical path of the projection light 12a of the first moving object detection device 18 disposed on the upper side 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 22 and the upper moving object detection device 18 is divided by this time difference T, the quotient D / T is the position of the reflective marker 26 of the golf club 24. It becomes moving speed.

  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 showing a schematic configuration of a speed measuring device that measures the speed of a shaft and a head of a golf club, which is an embodiment of a moving object detection device and a speed measurement device of the present invention. It is a top view which shows the structure of the outline of the speed measuring device shown in FIG. It is sectional drawing which shows an example of the retroreflective reflector affixed on the shaft of a golf club. It is a top view which shows the principal part of the other Example of the detection apparatus and speed measurement apparatus of the moving object of this invention. It is a top view which shows the principal part of the other Example of the moving object detection apparatus and speed measurement apparatus of this invention, and is a figure which shows the example different from FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Speed measuring device 12 Projection light 14 Light source 16 Half mirror 18 1st moving object detection apparatus 20 Mirror 22 2nd moving object detection apparatus 24 Golf club 26 Reflection marker 28 Reflected light 30 Light reception sensor 32 Binder layer 34 Reflection layer 36 Surface film layer 38 Glass bead layer 40 Adhesive

Claims (13)

A moving object detection device that detects a moving object that moves in space, and detects each of the moving objects passing through different measurement target areas in the space,
A reflective marker provided on the moving object;
A light source that emits projection light spreading in a fan shape for projecting to different measurement target areas,
A first half mirror that transmits and reflects the projection light emitted from the light source, branches the projected light, and projects the branched light as a first projection light onto a predetermined measurement area;
The other light branched by the first half mirror is reflected in a direction parallel to the first projection light and projected as a second projection light onto a measurement area different from the first projection light. At least one second half mirror that transmits the other light; and
The transmitted light that has passed through the second half mirror is reflected in a direction parallel to the first projection light, and is different from the first projection light and the second projection light as third projection light. Reflecting means for projecting to the measurement area;
First reflected light reflected by the reflective marker of the moving object and returned through the reverse path of the first projection light, and second reflection returned through the reverse path of the second projection light A moving object detection device comprising: a light receiving sensor configured to detect light and third reflected light that passes back through a reverse path of the third projection light . The first half mirror reflects the projection light emitted from the light source and projects the reflected light as a first projection light onto a predetermined measurement area, and the first half mirror reflects the projection light. Transmitting the first reflected light returning through a reverse path and guiding it to the light receiving sensor;
The second half mirror reflects the second reflected light returning through a reverse path of the second projection light and guides it to the first half mirror, and the first half mirror The second reflected light is reflected and guided to the light receiving sensor,
The reflecting means reflects the third reflected light returning through the reverse path of the third projection light and guides it to the second half mirror, and the third reflected light is the second reflected light. The first half mirror is transmitted through the first half mirror and is guided to the first half mirror, and the third reflected light is reflected by the first half mirror and guided to the light receiving sensor. Moving object detection device. The first half mirror transmits the projection light emitted from the light source, projects the transmitted light as a first projection light onto a predetermined measurement area, and The first reflected light returning through a reverse path is reflected and guided to the light receiving sensor,
The second half mirror reflects the second reflected light returning through a reverse path of the second projection light and guides it to the first half mirror, and the first half mirror The second reflected light is transmitted through and guided to the light receiving sensor,
The reflecting means reflects the third reflected light returning through the reverse path of the third projection light and guides it to the second half mirror, and the third reflected light is the second reflected light. The first half mirror is transmitted through the first half mirror, and the third reflected light is transmitted through the first half mirror and guided to the light receiving sensor. Moving object detection device.   4. The moving object detection apparatus according to claim 1, wherein the projection light emitted from the light source is halogen light.   4. The moving object detection device according to claim 1, wherein the projection light emitted from the light source is a laser beam. 5.   4. The moving object detection apparatus according to claim 1, wherein the projection light emitted from the light source is visible light.   The apparatus for detecting a moving object according to claim 1, wherein the light receiving sensor is a single photosensor.   7. The line sensor according to claim 1, wherein the light receiving sensor is a line sensor in which a plurality of photo sensors are arranged in one direction and detects reflected light incident on each photo sensor in time series. The moving object detection apparatus according to the item.   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 laser light source to the measurement target region. The moving object detection device according to claim 1, wherein the moving object detection device is a moving object detection device.   The moving object detection device according to claim 1, wherein the moving object is a golf club, and the reflection marker is provided at a predetermined position of a shaft or a head. . A moving object speed measuring device that measures a moving speed of a moving object that moves in a space when the moving object passes through a predetermined measurement target space,
A reflective marker provided on the moving object;
A light source that emits projection light that spreads in a fan shape for projecting onto different measurement target regions of the measurement target space; and
A first half mirror that transmits and reflects the projection light emitted from the light source, branches the projected light, and projects the branched light as a first projection light onto a predetermined measurement area;
The other light branched by the first half mirror is reflected in a direction parallel to the first projection light and projected as a second projection light onto a measurement area different from the first projection light. At least one second half mirror that transmits the other light; and
The transmitted light that has passed through the second half mirror is reflected in a direction parallel to the first projection light, and is different from the first projection light and the second projection light as third projection light. Reflecting means for projecting to the measurement area;
First reflected light reflected by the reflective marker of the moving object and returned through the reverse path of the first projection light, and second reflection returned through the reverse path of the second projection light A light receiving sensor that detects light and third reflected light that passes back through a reverse path of the third projection light ; and
In the light receiving sensor, the moving speed of the moving object is determined from the time difference between the detection timings of the first reflected light , the second reflected light, and the third reflected light, and the mutual distance between the measurement target regions. A moving object velocity measuring apparatus comprising: a calculating unit that calculates a moving object. The first half mirror reflects the projection light emitted from the light source and projects the reflected light as a first projection light onto a predetermined measurement area, and the first half mirror reflects the projection light. Transmitting the first reflected light returning through a reverse path and guiding it to the light receiving sensor;
The second half mirror reflects the second reflected light returning through a reverse path of the second projection light and guides it to the first half mirror, and the first half mirror The second reflected light is reflected and guided to the light receiving sensor,
The reflecting means reflects the third reflected light returning through the reverse path of the third projection light and guides it to the second half mirror, and the third reflected light is the second reflected light. The light beam is transmitted through the half mirror and guided to the first half mirror, and the third reflected light is reflected by the first half mirror and guided to the light receiving sensor. Speed measuring device for moving objects. The first half mirror transmits the projection light emitted from the light source, projects the transmitted light as a first projection light onto a predetermined measurement area, and The first reflected light returning through a reverse path is reflected and guided to the light receiving sensor,
The second half mirror reflects the second reflected light returning through a reverse path of the second projection light and guides it to the first half mirror, and the first half mirror The second reflected light is transmitted and guided to the light receiving sensor,
The reflecting means reflects the third reflected light returning through the reverse path of the third projection light and guides it to the second half mirror, and the third reflected light is the second reflected light. 12. The first half mirror is transmitted through the first half mirror and guided to the first half mirror, and the third reflected light is transmitted through the first half mirror and guided to the light receiving sensor. Speed measuring device for moving objects.

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