JP5334185B2 - Virtual golf simulator and sensing device provided therein - Google Patents

Description

  The present invention relates to a virtual golf simulator, a sensing device provided in the virtual golf simulator, and a sensing method of the virtual golf simulator. More specifically, the present invention can feel the field feeling that a golfer actually plays a golf game in a field. As described above, the present invention relates to a virtual golf simulator that senses the movement of a golf ball and a golf club and realizes the speed, angle, direction, spin, and the like of the golf ball, a sensing device provided therein, and a sensing method of the virtual golf simulator.

  In recent years, with the increase in the golf population, a so-called screen golf system has been introduced in which golf practice using a virtual golf simulator and virtual golf competition can be enjoyed.

  In such a screen golf system, a screen capable of displaying a virtual golf course is installed in a room, and when a golfer hits a golf ball toward the screen, the speed, direction, etc. of the golf ball are sensed and the golf ball is displayed on the screen. It is a system that displays progress.

  In the screen golf system, it is necessary to embody the speed, direction, angle, and spin of the hit golf ball as closely as possible so that golfers who enjoy golf can feel the field feeling to the fullest.

  Therefore, the present invention senses the position of the golf ball, the angle of the golf ball after hitting, the speed, the direction and the spin, the trajectory of the golf club after hitting, etc. in the virtual golf simulator, and the golf ball with maximum accuracy. It is an object of the present invention to provide a virtual golf simulator that can embody the flight distance and sphere quality, a sensing device provided in the virtual golf simulator, and a sensing method of the virtual golf simulator.

  In order to solve the above problems, a sensing device of a golf simulator according to an embodiment of the present invention is provided in front of a swing mat for hitting a golf ball, and the velocity, horizontal angle of the hit golf ball, A first sensing device for measuring at least one of the spins, a speed of the golf ball hit by detecting the position of the golf ball provided on one side of the swing mat and placed on the swing mat; A second sensing device that measures at least one of a vertical angle and spin.

  Preferably, the first sensing device is provided in front of the swing mat, and is provided side by side in close proximity to the light emitting sensing unit that emits light substantially vertically upward. A light receiving sensing unit that senses the golf ball or the golf club by receiving light reflected by the golf ball or the golf club out of the light emitted from the light emitting sensing unit, and the second sensing device includes: A light emitting unit provided on one side of the swing mat for irradiating light across the swing mat, and a light emitting unit provided on the other side of the swing mat for receiving light emitted from the light emitting unit. And a light receiving unit for sensing a golf ball.

  Preferably, the apparatus further includes a control unit that receives information sensed from the light receiving sensing unit and the light receiving unit and processes information regarding the position and movement of the golf ball.

  Preferably, the light receiving unit includes a plurality of light receiving elements arranged in a line, and firstly detects a golf ball hit at the ground position portion, and the first ball detecting light receiving portion. A plurality of light receiving elements aligned in a row at a predetermined interval from a one ball sensing light receiving portion, and a second ball sensing light receiving portion for secondarily sensing a golf ball hit at the ground position portion; A plurality of light receiving elements that are aligned, and a third ball sensing light receiving unit that primarily senses a golf ball hit by the golf tee, and a third row sensing light receiving unit that are aligned in a row at a predetermined interval. And a fourth ball sensing light receiving unit that secondarily senses a golf ball hit by the golf tee.

  Preferably, the first ball sensing light receiving unit, the second ball sensing light receiving unit, the third ball sensing light receiving unit, and the fourth ball sensing light receiving unit are sequentially provided along the traveling direction of the golf ball in the light receiving unit. It is characterized by being able to.

  Preferably, the light receiving unit senses whether or not the golf ball is placed on the golf tee, and a first ball position sensing unit that senses whether or not the golf ball is placed on the ground position. And a second ball position sensing unit.

  Preferably, the light receiving unit includes a display unit that displays whether or not a golf ball is placed on the ground position and whether or not a golf ball is placed on the golf tee. And

  Preferably, the light receiving unit includes a ball detachment detecting unit that detects whether or not the golf ball is placed in a predetermined area other than the ground position portion, and a tee height detection that detects the height of the golf tee. And a portion.

  Meanwhile, a golf simulator according to an embodiment of the present invention includes a swing plate provided with a swing mat for hitting a golf ball, a first sensing device provided in front of the swing mat, and one side of the swing mat. Sensed by a second sensing device provided, a video output device that displays golf simulation video information including golf course video information and golf ball movement video information on a screen, and the first and second sensing devices. Main processing for receiving information relating to the speed, angle and spin of the golf ball calculated based on the result, constructing the golf simulation video information based on the information, and controlling the video output via the video output device And a device.

  Meanwhile, a sensing method for a golf simulator according to an embodiment of the present invention includes a step of determining whether to perform a tee shot or a ground shot with the main processing device, and whether the golf tee is hit or not at the ground position portion. Selecting a sensor for detecting a golf ball depending on whether it is hit; detecting whether a golf ball is placed on the golf tee or ground position; and hitting golf ball and hitting golf Calculating a velocity, a horizontal angle, a vertical angle and a spin of the golf ball based on a result of sensing the club.

  According to the virtual golf simulator of the present invention, the position of the golf ball, the angle of the golf ball after hitting, the speed, the direction and the spin, the trajectory of the golf club after hitting, and the like are detected, and the golf ball flies with maximum accuracy. Since the distance and the sphere quality can be realized, it is possible to make the golfer feel a field feeling like actually enjoying a golf game in the field.

It is a figure which shows the screen golf system to which the virtual golf simulator by one Example of this invention was applied. It is a schematic block diagram which shows the structure of the virtual golf simulator shown in FIG. It is a figure which shows the sensing apparatus with which the swing plate of the virtual golf simulator shown in FIG. 1 was equipped. It is a schematic block diagram which shows the structure of the sensing apparatus of the virtual golf simulator shown in FIG. It is a perspective view which shows more specifically the sensing apparatus of the virtual golf simulator shown in FIG. It is a top view which shows the sensing apparatus of the virtual golf simulator shown in FIG. 3 in detail. It is a figure for demonstrating the principle which measures the horizontal direction angle etc. of a golf ball with the sensing apparatus of the virtual golf simulator shown in FIG. It is a figure for demonstrating the principle which measures the speed of a golf ball, etc. with the sensing apparatus of the virtual golf simulator shown in FIG.

  Embodiments of a virtual golf simulator, a sensing device provided in the virtual golf simulator, and a sensing method of the virtual golf simulator according to the present invention will be described in detail with reference to the accompanying drawings.

  First, a virtual golf simulator according to an embodiment of the present invention will be described with reference to FIGS. 1 and 2.

  As shown in FIGS. 1 and 2, the virtual golf simulator according to an embodiment of the present invention includes a swing plate 100, a sensing device S, a video output device 40 that outputs a predetermined video on a screen 50 provided on the front surface, and a user. And a main computer 1 for storing and processing all data necessary for golf simulation.

  In addition, it is preferable that the camera 30 is provided so as to take a picture of the motion of the golfer swinging.

  The main computer 1 includes a main processing device 10 and a sub processing device 20.

  The main processing device 10 controls the sensing device S, the swing plate 100, the operation unit 60, the video output device 40, and the like so that a virtual golf simulation is performed.

  The swing plate 100 is provided such that a golfer hits a golf ball with a golf club while standing on the swing plate 100, and the sensing device S plays a role of sensing the movement of the golf ball hit by the golfer on the swing plate 100.

  The sub processing device 20 analyzes the video obtained from the camera 30 and displays it on the screen via the video output device 40.

  The main processing device 10 preferably includes a central control unit 11, a video output control unit 12, a 3D video processing engine 13, a 3D video DB 14, and the like.

  The 3D video DB 14 stores video data for implementing video so that the same environment as an actual golf course is displayed on the screen 50.

  The 3D video processing engine 13 processes the video data stored in the 3D video DB 14 so that it is displayed stereoscopically.

  The video output control unit 12 controls the 3D video processing engine 13 to implement a predetermined video, and controls the video to be output via the video output device 40.

  That is, golf simulation video information (including not only golf course video information and golf ball movement video information, but also any other video information related to the golf simulation displayed on the screen, such as information related to the current game state) is displayed on the screen. The video output control unit 12 controls the 3D video processing engine 13 and the video output device 40 so as to be displayed on the screen 50.

  Then, the central control unit 11 receives the sensing result from the sensing device S, and performs general control so that appropriate video simulation video information is embodied by the video output control unit 12 based on the sensing result.

  In addition, the swing plate 100 is preferably provided so as to be able to adjust the inclination in order to realize the actual golf course situation, and the operation of the swing plate 100 is preferably controlled by the central control unit 11.

  On the other hand, when it is determined that the golf ball flying distance is a predetermined distance or more from the result of sensing the speed, direction, angle, spin, etc. of the golf ball hit by the golfer, the golfer's swing stance is photographed by the camera 30, It is displayed on the screen 50 for a predetermined time.

  A device in charge of the realization and display of such an image is the sub-processing device 20.

  That is, the camera 30 shoots every time a golfer takes a swing stance while hitting a golf ball. At this time, the sensing device S senses the speed, direction, angle, spin, etc. of the golf ball hit by the golfer. The data is transmitted to the main processing device 10, and the main processing device 10 transmits it to the sub processing device 20.

  The hitting analysis unit 21 of the sub processing device 20 determines whether or not the golfer's recording is above a certain level based on the data transmitted from the main processing device 10, and the video analysis unit 22 of the sub processing device 20 If the golfer's record is above a certain level based on the result of the analysis in 21, a video that appropriately represents the golfer's swing stance is extracted from the video that has already been shot and transmitted to the video output device 40 for video output. The device 40 displays it on the screen 50.

  Then, the analysis video output control unit 23 of the sub-processing device 20 controls the hit ball analysis unit 21, the video analysis unit 22, the video output device 40, and the like so that the video is displayed.

  On the other hand, referring to FIG. 3 and FIG. 4, a sensing device for a virtual golf simulator according to an embodiment of the present invention will be described more specifically.

  FIG. 3 is a diagram more specifically showing a portion of the swing plate 100 shown in FIG. 1 where the sensing device is mounted. The swing plate 100 is a golf club on which a golf ball is placed and a scaffold portion 101 where a golfer takes a swing stance. And a swing mat 200 provided with a tee 210 and a ground position portion 220.

  Here, the golf tee 210 is a portion on which a golf ball is placed so that a golfer makes a tee shot, and the ground position portion 220 is a golfer's driver shot (Iron Shot). And a golf ball is placed so as to make a putting shot or the like (hereinafter collectively referred to as “ground shot”).

  As shown in FIGS. 3 and 4, the sensing device of the virtual golf simulator according to the embodiment of the present invention is provided on the first sensing devices 510 and 520 provided in front of the swing mat 200 and on one side surface of the swing mat 200. Second sensing devices 300 and 400.

  Each of the first sensing devices 510 and 520 and the second sensing devices 300 and 400 employs a method of sensing a golf ball or golf club by a light emission and light reception method.

  That is, light is generated by the light emitting element, and this light is received by the light receiving element, but an object blocks the light generated from the light emitting element while passing between both elements, and the light receiving element cannot receive light. Detect objects from

  As shown in FIGS. 3 and 4, the first sensing device includes a light emitting sensing unit 510 and a light receiving sensing unit 520.

  The light emission sensing unit 510 is provided in front of the swing mat 200 and irradiates light substantially vertically upward. At this time, the light emitted from the light emitting sensing unit 510 may be transmitted to the golfer and give an unpleasant feeling. Therefore, it is preferable that the light emission angle is automatically adjusted.

  For example, when putting, since the golfer lowers the neck deeply while bringing the body close to the golf ball, the light irradiated vertically upward from the light emitting sensing unit 510 may affect the golfer.

  In this case, the light emitting sensing unit 510 can be controlled to automatically adjust the direction of the irradiated light so as not to face the golfer.

  The light receiving sensing unit 520 senses the golf ball or the golf club by receiving the light reflected from the golf ball or the golf club out of the light emitted from the light emitting sensing unit 510.

  On the other hand, as shown in FIGS. 3 and 4, the second sensing device includes a light emitting unit 300 and a light receiving unit 400.

  As shown in FIG. 3, the light emitting unit 300 is provided on one side of the swing mat 200. The light receiving unit 400 is provided on the other side of the swing mat 200 and receives light emitted from the light emitting unit 300.

  Then, as shown in FIG. 4, the light emitting sensing unit 510 of the first sensing device and the light emitting unit 300 of the second sensing device emit light under the control of the adjusting unit R.

  In addition, the light receiving sensing unit 520 of the first sensing device and the light receiving unit 400 of the second sensing device are connected to the control unit M.

  The results sensed by the light receiving sensing unit 520 and the light receiving unit 400 are transmitted to the control unit M, and based on the sensed result, the control unit M calculates data on the speed, direction, angle, spin, etc. of the golf ball.

  Then, the calculated data is transmitted to the main processing device 10. The mechanism between the main processing device 10 and the sensing device S will be described in detail later.

  On the other hand, the control unit M is connected to the golf tee 210 of the swing mat 200 and controls so that the height of the golf tee 210 is adjusted according to the height of the golf tee 210 preset by the golfer.

  A more detailed configuration of such a sensing device will be described with reference to FIGS. 5 and 6 as follows.

  FIG. 5 is a perspective view showing a sensing device provided on the front and side surfaces of the swing mat 200, and FIG. 6 is a plan view of the sensing device shown in FIG.

  As shown in FIGS. 5 and 6, the swing mat 200 is provided with a golf tee 210 and a ground position portion 220.

  The light emitting sensing unit 510 provided in front of the swing mat 200 includes a plurality of light emitting elements arranged in a row in the horizontal direction. In this case, each light emitting element is provided so as to emit light substantially vertically upward.

  The light receiving sensing unit 520 includes a plurality of light receiving elements aligned in a row in parallel with the light emitting sensing unit 510 at a predetermined interval.

  Meanwhile, the light emitting unit 300 provided on one side surface of the swing mat 200 includes a first light emitting unit 310 and a second light emitting unit 320, and is provided so as to irradiate light in different directions.

  The first light emitting unit 310 and the second light emitting unit 320 are preferably arranged side by side along one side surface of the swing mat 200.

  The light receiving unit 400 provided on the other side of the swing mat 200 so as to receive the light emitted from the light emitting unit 300 includes a ball position detecting unit 451, 452, 460, 470, a ball detecting unit 410, 420, 430, 440.

  The light receiving unit 400 includes a unit case 401 and various sensors built therein. Here, each sensor is preferably disposed on a surface of the unit case 401 facing the light emitting unit 300 and is provided so as to receive light emitted from the light emitting unit 300.

  The light receiving unit 400 receives light from the light emitting unit 300 in two areas.

  That is, the light emitted from the light emitting unit 300 to the light receiving unit 400 is the light emitted from the first light receiving region SR1 that is a region that receives the light emitted from the first light emitting unit 310 and the light emitted from the second light emitting unit 320. It is divided into a second light receiving region SR2, which is a region for receiving light.

  As shown in FIG. 5, the first light receiving region SR1 is formed on the rear side when the first sensing devices 510 and 520 are provided on the basis of the swing mat 200 and the opposite side is the rear, as shown in FIG. The two light receiving regions SR2 are formed on the front side.

  Since the first light emitting unit 310 is located on the front side of the second light emitting unit 320, the light path irradiated from the first light emitting unit 310 to the first light receiving region SR1 and the second light emitting unit 320 to the first light emitting unit The paths of the light irradiated to the two light receiving regions SR2 intersect each other.

  Light is irradiated from the first light emitting unit 310 to the first light receiving region SR1 across the swing mat 200. At this time, the light irradiated from the first light emitting unit 310 to the first light receiving region SR1 is shown in FIG. As described above, it is preferable to pass immediately before the ground position portion 220.

  Then, light is irradiated from the second light emitting unit 320 to the second light receiving region SR2 across the swing mat 200. At this time, the light irradiated from the second light emitting unit 320 to the second light receiving region SR2 is as shown in FIG. It is preferable to pass the golf tee 210 as shown in FIG.

  On the other hand, the ball sensing unit of the light receiving unit 400 includes a first ball sensing light receiving unit 410 and a second ball sensing light receiving unit 420 provided in the first light receiving region SR1, and a third ball sensing light receiving unit provided in the second light receiving region SR2. The unit 430 and the fourth ball sensing light receiving unit 440 are preferably included.

  The first ball sensing light receiving unit 410, the second ball sensing light receiving unit 420, the third ball sensing light receiving unit 430, and the fourth ball sensing light receiving unit 440 are preferably arranged sequentially from the rear side to the front side of the swing mat 200. .

  That is, when the golf ball is hit, the golf ball can be effectively sensed by sequentially arranging the golf ball along the traveling direction.

  The first ball sensing light receiving unit 410 and the second ball sensing light receiving unit 420 sense a golf ball hit at the ground position unit 220. In the case of a driver shot or an iron shot, the first ball sensing light receiving unit 410 primarily detects the hit golf ball, and the second ball sensing light receiving unit 420 secondarily detects the hit golf ball. Sense.

  When putting is performed at the ground position 220, the hit golf ball is primarily detected by the first ball sensing light receiving unit 410 and secondarily detected by the light receiving sensing unit 520 of the first sensing device. can do.

  The third ball sensing light receiving unit 430 and the fourth ball sensing light receiving unit 440 sense a golf ball hit by the golf tee 210. That is, when a golf ball placed on a golf tee is tee shot, the third ball sensing light receiving unit 430 primarily senses the hit golf ball and the fourth ball sensing light receiving unit 440 is hit. Is detected secondarily.

  The process of calculating the speed, direction, angle, spin, etc. of the golf ball based on the result of sensing the golf ball by each ball sensing light receiving unit will be described later.

  Meanwhile, the ball position sensing unit of the light receiving unit 400 includes a first ball position sensing unit 451 and a ball detachment sensing unit 460 provided in the first light receiving region SR1, and a second ball position sensing unit 452 provided in the second light receiving region SR2. And a tee height sensing unit 470.

  The first ball position sensing unit 451 has a function of sensing whether or not a golf ball is placed on the ground position unit 220.

  A display unit 402 is provided at the upper end of the unit case 401 of the light receiving unit 400, and when the golf ball is placed on the ground position unit 220, the display unit 402 performs a certain display.

  The ball detachment detection unit 460 has a function of detecting the golf ball when the golf ball is not placed on the ground position unit 220 and the front side of the golf ball is positioned.

  If the golf ball is placed off the ground position portion 220, the ball detachment detecting unit 460 detects it and causes the display unit 402 to display that the ball is detaching.

  On the other hand, the second ball position sensing unit 452 senses whether or not a golf ball is placed on the golf tee 210. When the golf ball is placed on the golf tee 210, the display unit 402 displays this.

  The tee height sensing unit 470 senses the height of the golf tee 210. That is, if the golfer sets the desired height of the golf tee 210 in advance, the control unit M (see FIG. 4) senses the current height of the golf tee 210 through the tee height sensing unit 470, and The height of the golf tee 210 is adjusted.

  Meanwhile, each of the first ball sensing light receiving unit 410, the second ball sensing light receiving unit 420, the fourth ball sensing light receiving unit 430, and the fourth ball sensing light receiving unit 440 includes a plurality of light receiving elements. And are preferably arranged in a line.

  As shown in FIG. 5, it is preferable that the first ball sensing light receiving unit 410 and the second ball sensing light receiving unit 420 are arranged at a predetermined distance from each other, and are arranged in a line so as to be inclined at a predetermined angle.

  It is preferable that the third ball sensing light receiving unit 430 and the fourth ball sensing light receiving unit 440 are disposed at a predetermined distance from each other and arranged in a line in a substantially vertical direction.

  Next, with reference to FIG.4 and FIG.5, the sensing method of the virtual golf simulator by one Example of this invention is demonstrated.

  When a virtual golf competition is performed by the virtual golf simulator, it is determined whether the golfer takes a tee shot or a ground shot according to the competition situation.

  The main processing device 10 determines whether the golfer takes a tee shot or a ground shot in the current situation, and transmits the result to the control unit M.

  And the control part M selects and determines the sensor which detects a golf ball by whether it is hit | damaged by a golf tee or a ground position part.

  For example, if the golfer is to make a tee shot at present, the golf ball should be hit with a golf tee, and the control unit M determines whether or not the golf ball is placed on the golf tee. Sense through 452.

  If it is sensed that there is no golf ball on the golf tee, an error is displayed on the display unit 402, and if there is a golf ball on the golf tee, a display for that is displayed.

  Then, the control unit M causes the third ball sensing light receiving unit 430, the fourth ball sensing light receiving unit 440, and the light receiving sensing unit 520 to sense a golf ball hit by a golf tee.

  Further, for example, when a golfer performs an iron shot, the golf ball should be hit at the ground position portion, and the control unit M determines whether or not the golf ball is placed at the ground position portion. Sensing is performed through the sensing unit 451.

  If the golf ball is not correctly placed on the ground position, this is displayed on the display unit 402 to inform the golfer.

  Then, the control unit M causes the first ball sensing light receiving unit 410, the second ball sensing light receiving unit 420, and the light receiving sensing unit 520 to sense a golf ball hit at the ground position.

  Here, the golf ball hit at the ground position may be detected by the third ball sensing light receiving unit 430 in addition to the first ball sensing light receiving unit 410 and the second ball sensing light receiving unit 420.

  In this case, the velocity of the golf ball is calculated based on the results sensed by the first ball sensing light receiving unit 410 and the second ball sensing light receiving unit 420, and the result sensed by the third ball sensing light receiving unit 430 is calculated. It is preferable to appropriately calculate the velocity of the golf ball using the correction value.

  If the golfer putts, putting is to hit the golf ball so that it rolls with a putter, so it can be said that the golf ball is not launched at a certain angle like an iron shot.

  Therefore, when the golfer puts a situation, the control unit M can cause the first ball sensing light reception 410 and the light reception sensing unit 520 to sense the golf ball.

  As described above, based on the sensed result, the control unit M calculates values such as the speed, angle, and spin of the golf ball and transmits them to the main processing device 10, and based on this, the main processing device 10 Implement moving images and display them on the screen.

  Next, an example of a method for calculating the speed, direction, angle, and spin of a golf ball in a virtual golf simulator according to an embodiment of the present invention will be described with reference to FIGS.

  First, a method for sensing and sensing a golf ball with the light emitting unit 300 and the light receiving unit 400 will be described with reference to FIGS.

  As shown in FIG. 6, the first light emitting unit 310 irradiates the first light receiving region SR1 of the light receiving unit 400 with light in the L1 to L2 range. At this time, the first ball position sensing unit 451 and the ball separation sensing unit 460 are used. The first ball sensing light receiving unit 410 and the second ball sensing light receiving unit 420 receive light in the L1 to L2 range.

  At this time, as shown in FIG. 6, when the golf ball B is placed on the ground position part 220, the first ball position sensing part 451 cannot receive light while blocking the L1 part, and the first ball position sensing part 451 This makes it possible to sense that the golf ball B is correctly placed on the ground position portion 220.

  If the golf ball B slightly deviates from the ground position part 220 to the front, the ball breakage detection part 460 blocks the ball breakage detection part 460, so that the ball breakage detection part 460 cannot receive light. You can sense that you are.

  On the other hand, of the light emitted from the first light emitting unit 310, the first ball sensing light receiving unit 410 receives the light in the range of S11 to S12, and the second ball sensing light receiving unit 420 receives the light in the range of S21 to S22. .

  When the golf ball B is hit at the ground position portion 220, it first passes through the light in the S11 to S12 range, and then passes through the light in the S21 to S22 range.

In this case, in the side view, as shown in FIG. 7, if the golf ball flies along the route G1, the a1 light receiving element of the first ball detecting light receiving unit 410 detects the golf ball primarily. Then, the b1 light receiving element of the second ball detecting light receiving unit 420 performs secondary detection.
Here, using the distance d1 between the a1 light receiving element and the b1 light receiving element and the movement time t1 from the a1 light receiving element to the b1 light receiving element, the velocity V _{G1 of the} golf ball flying along the G1 path is _expressed by the following equation: 1 can be calculated.

  Meanwhile, the second light emitting unit 320 irradiates the second light receiving region SR2 of the light receiving unit 400 with light in the L3 to L4 range. At this time, the second ball position sensing unit 452, the tee height sensing unit 470, the third ball sensing light receiving unit 430, and the fourth ball sensing light receiving unit 440 receive light in the L3 to L4 range.

  The light in the L3 to L4 range cannot reach the partial light receiving element of the tee height sensing unit 470 while passing through the golf tee 210, and the height corresponding to the light receiving element of the tee height sensing unit 470 blocked thereby. Is detected as the height of the current golf tee 210.

  When the golf ball B is placed on the golf tee 210, it is possible to sense that the golf ball is placed on the golf tee 210 while the second ball position sensing unit 452 is blocked by the golf ball.

  Of the light emitted from the second light emitting unit 320, the light corresponding to S3 is received by the third ball sensing light receiving unit 430, and the light corresponding to S4 is received by the fourth ball sensing light receiving unit 440.

  When the golf ball B is hit with the golf tee 210, it first passes through S3 and then passes through S4.

  At this time, in the side view, as shown in FIG. 7, if the golf ball flies along the route G2, the c1 light receiving element of the third ball detecting light receiving unit 430 primarily detects the ball. The d1 light receiving element of the fourth ball sensing light receiving unit 440 performs secondary detection.

Here, using the distance d2 between the c1 light receiving element and the d1 light receiving element and the movement time t2 from the c1 light receiving element to the d1 light receiving element, the velocity V _{G2 of the} golf ball flying along the G2 path is _expressed by the following equation: 2 can be calculated.

  On the other hand, in FIG. 7, the vertical angle with respect to the golf ball flying along the path of G1 is a ratio calculated by a time value generated when passing through the first ball sensing light receiving unit 410 that senses the golf ball first, It is calculated by substituting it into a predetermined function formula.

  That is, as shown in FIG. 7, when the golf ball is hit at the ground position and passes through the first ball sensing light receiving part 410, the a2 light receiving element of the light receiving element directly above the a1 light receiving element which becomes a reference, and the a1 light receiving The time when the golf ball is sensed by the a3 light receiving element of the light receiving element directly below the element is obtained, and the ratio is applied to a predetermined function calculation formula.

Here, the time a2 receiving element senses a golf ball and _{R a2,} the time a3 receiving element senses a golf ball as _{R a3,} if the ratio value between _{R a2} and _{R a3} and _{X 1,} X _The vertical angle θ _v1 is calculated by substituting _one value into the following log function.

である。 here,

It is.

  On the other hand, in FIG. 7, the vertical angle with respect to the golf ball flying along the path of G2 is the ratio calculated by the time value generated when passing through the third ball sensing light receiving unit 430 that senses the golf ball first, It is calculated by substituting it into a predetermined function formula.

  That is, as shown in FIG. 7, when the golf ball is hit with a golf tee and passes through the third ball sensing light receiving unit 430, the c2 light receiving element of the light receiving element directly above the c1 light receiving element which becomes a reference, and the c1 light receiving element The time when the golf ball is sensed by the c3 light receiving element of the light receiving element directly below is obtained, and the ratio is applied to a predetermined function calculation formula.

Here, the time c2 light receiving element senses a golf ball and _{R c2,} the time c3 receiving element senses a golf ball and _{R c3,} if the ratio value between _{R c2} and _{R c3} and _{X 2,} X _The vertical angle θ _v2 is calculated by substituting the binary value into the following cubic function.

である。 here,

It is.

  On the other hand, with reference to FIG. 8, a method of calculating the horizontal direction angle of the hit golf ball by the light emitting sensing unit 510 and the light receiving sensing unit 520 will be described.

  As shown in FIG. 8, each of the light emitting elements 511 constituting the light emission sensing unit 510 irradiates light vertically upward. Then, the light receiving elements 521 are arranged in a row so as to correspond to the respective light emitting elements, thereby forming the light receiving sensing unit 520.

  Here, as shown in FIG. 8, when the hit golf ball passes over the light emitting sensing unit 510 while flying, the light reflected by the golf ball is received by the light receiving element 521 b constituting the light receiving sensing unit 520. Therefore, the golf ball can be sensed.

  Here, B1 is a position where the golf ball first starts and may be a golf tee or a ground position portion. Since both are applied according to the same principle, whether they are hit with a golf tee or hit with a ground position portion, they will be described in an integrated manner.

As shown in FIG. 8, if the golf ball starting at the B1 position is detected by the light receiving element 521b, the distance h1 between the light receiving element 521a and the light receiving element 521a that is in a straight line and the distance h2 from the B1 position to the light receiving element 521a The horizontal direction angle θ _h of the hit golf ball can be calculated by the following equation (5).

  On the other hand, the golf club that hits the golf ball at the time of hitting the golf ball also passes the light emitted from the light emitting sensing unit 510. At this time, the light receiving sensing unit 520 receives the light reflected by the golf club. A golf club can be sensed.

  From the values relating to the velocity and horizontal and vertical angle of the golf ball obtained by the above formulas 1 to 5, the degree of opening / closing of the golf club by the detection of the golf club, the golf club trajectory data, etc., the following formula 6 Thus, the spin of the golf ball can be calculated. The unit of spin is RPM (number of revolutions per minute).

here,
S _S : Side spin value of a ball (a value representing the degree to which a golf ball is hooked or sliced)
θ _cb : The value obtained by subtracting the horizontal angle of the golf ball from the horizontal angle of the golf club, and the equation for obtaining the horizontal angle of the golf club used here is the same as the equation for obtaining the horizontal angle of the golf ball. is there.
C _w : Weight value of golf club (constant value applied according to club length and loft angle)
V ₀ : Initial velocity of the golf ball (value calculated by the above formula 1 or 2)
Here, C _f = −0.9 C _rf , and C _rf is the face angle of the golf club obtained from the image data measured 40 times continuously.

Claims (10)

A first sensing device that is provided in front of a swing mat for hitting a golf ball and measures at least one of a speed, a horizontal angle, and a spin of the hit golf ball;
A second surface provided on one side of the swing mat for detecting a position of a golf ball placed on the swing mat and measuring at least one of a velocity, a vertical angle, and a spin of the hit golf ball; A sensing device;
Including
The swing mat is provided with a golf tee for a tee shot and a ground position for a ground shot,
The second sensing device is
A light emitting unit that is provided on one side of the swing mat and irradiates light across the swing mat;
A light receiving unit that is provided on the other side of the swing mat and includes a first light receiving region and a second light receiving region that receive light emitted from the light emitting unit and sense a golf ball;
Including
The light emitting unit is
A first light emitting unit that irradiates light to the first light receiving region;
A second light emitting unit for irradiating the second light receiving region with light;
Including
The light receiving unit is
A golf ball which is provided in the first light receiving region, receives light emitted from the first light emitting unit, and includes a plurality of light receiving elements aligned in a row, and is used to primarily play a golf ball hit at the ground position portion. A first ball sensing light receiving unit that senses the first ball sensing light and a plurality of light receiving elements that are aligned in a row at a predetermined interval from the first ball sensing light receiving unit. A first light-receiving unit including a second ball-sensing light-receiving unit that senses and a first ball position-sensing unit that senses whether or not the golf ball is placed on the ground position unit ;
A golf ball that is provided in the second light receiving region, receives light emitted from the second light emitting unit, and includes a plurality of light receiving elements aligned in a row, and is primarily used to hit a golf ball hit by the golf tee. A third ball sensing light receiving unit for sensing, and a plurality of light receiving elements arranged in a row at a predetermined interval from the third ball sensing light receiving unit, and secondarily senses a golf ball hit by the golf tee. A second ball sensing light receiving unit, and a second ball position sensing unit that senses whether or not a golf ball is placed on the golf tee ,
A sensing device for a virtual golf simulator. The first sensing device includes:
A light emitting sensing unit that is provided in front of the swing mat and emits light substantially vertically upward;
At least one of the golf ball and the golf club that receives light reflected by at least one of the golf ball and the golf club out of the light emitted from the light emission sensing unit that is provided adjacent to the light emission sensing unit. A light-receiving sensing unit that senses
The virtual golf simulator sensing device according to claim 1, comprising:   3. The virtual golf simulator sensing according to claim 2, further comprising a control unit that receives information sensed from the light receiving sensing unit and the light receiving unit and processes information regarding the position and movement of the golf ball. apparatus.   The first ball sensing light receiving unit, the second ball sensing light receiving unit, the third ball sensing light receiving unit, and the fourth ball sensing light receiving unit are sequentially provided in the light receiving unit along a traveling direction of the golf ball. The sensing device of the virtual golf simulator according to any one of claims 1 to 3. The light receiving unit is
The golf ball is placed on the golf tee based on whether the golf ball is placed on the ground position portion based on the detection result of the first ball position sensing portion and on the sensing result of the second ball position sensing portion. include a display unit for displaying whether or not it has further sensing device of the virtual golf simulator according to claim 1, any one of 4, wherein. The light receiving unit is
Golf ball is a virtual golf simulator according to any one of claims 1 to 5, characterized by further comprising a ball leaving the sensing unit for sensing whether or not placed in a predetermined region other than the ground position portion Sensing device. The light receiving unit is
Sensing apparatus of the virtual golf simulator according to any one of 6 claim 1, characterized by further comprising a tee height sensing unit for sensing the height of the golf tee. The virtual golf simulator according to any one of claims 1 to 7 , wherein the golf tee is configured so that a height of the golf tee can be adjusted according to a height set in advance by a golfer. Sensing device. A first sensing device that is provided in front of a swing mat for hitting a golf ball and measures at least one of a speed, a horizontal angle, and a spin of the hit golf ball;
A second surface provided on one side of the swing mat for detecting a position of a golf ball placed on the swing mat and measuring at least one of a velocity, a vertical angle, and a spin of the hit golf ball; A sensing device;
A virtual golf simulator sensing device including:
The swing mat is provided with a golf tee for a tee shot and a ground position for a ground shot,
The second sensing device is
A light emitting unit that is provided on one side of the swing mat and irradiates light across the swing mat;
A light receiving unit that is provided on the other side of the swing mat and includes a first light receiving region and a second light receiving region that receive light emitted from the light emitting unit and sense a golf ball;
Including
The light emitting unit is
A first light emitting unit that irradiates light to the first light receiving region;
A second light emitting unit for irradiating the second light receiving region with light;
Including
The light receiving unit is
A first ball position sensing unit which is provided in the first light receiving region and receives light emitted from the first light emitting unit and senses whether or not a golf ball is placed on the ground position; and the ground Including a first ball sensing light receiving portion for sensing a golf ball hit at a position portion, and a first light receiving portion including:
The second provided on the light receiving area receiving the light emitted from the second light emitting portion constituted of a plurality of light receiving elements are aligned in a row, senses the golf ball hit in the previous SL golf tee A second light receiving part including a two ball sensing light receiving part and a second ball position sensing part for sensing whether or not a golf ball is placed on the golf tee ;
Including
The sensing device of the virtual golf simulator is
A processing device for determining whether a golfer should take a tee shot or a ground shot in the current situation;
When it is determined that a ground shot is to be made, the position of the golf ball is sensed through the first ball position sensing unit, and the golf ball hit at the ground position is sensed through the first ball sensing light receiving unit. Thus, when it is determined that a tee shot is to be made, the position of the golf ball is sensed through the second ball position sensing unit, and at least the golf ball hit by the golf tee through the second ball sensing light receiving unit A control unit that senses the ball;
A sensing device for a virtual golf simulator. A swing plate provided with a bat for a golfer to take a golf shot, a golf tee for taking a tee shot, and a swing mat provided with a ground position portion for taking a ground shot,
A light emitting sensing unit that is provided in front of the swing mat and irradiates light substantially vertically upward, and is arranged in close proximity to the light emitting sensing unit, and among the light emitted from the light emitting sensing unit, A light receiving sensing unit that receives light reflected by at least one of the golf ball and the golf club and senses at least one of the golf ball and the golf club, and includes a velocity, a horizontal angle, and a spin of the hit golf ball. A first sensing device for measuring at least one of
A light emitting unit that is provided on one side of the swing mat and that emits light so as to cross over the swing mat; and a light that is provided on the other side of the swing mat and that receives light emitted from the light emitting unit. A light receiving unit including a first light receiving region and a second light receiving region for sensing a ball, and a second sensing device that measures at least one of a velocity, a vertical angle, and a spin of a hit golf ball;
A video output device for displaying golf simulation video information including video information of a golf course and moving video information of a golf ball on a screen;
Receiving information related to the velocity, angle and spin of the golf ball calculated based on the results sensed by the first sensing device and the second sensing device, constructing the golf simulation video information based on the information, and outputting the video A main processing device that controls to output video through the device;
Including
The light emitting unit is
A first light emitting unit that irradiates light to the first light receiving region;
A second light emitting unit for irradiating the second light receiving region with light;
Including
The light receiving unit is
A golf ball which is provided in the first light receiving region, receives light emitted from the first light emitting unit, and includes a plurality of light receiving elements aligned in a row, and is used to primarily play a golf ball hit at the ground position portion. A first ball sensing light receiving unit that senses the first ball sensing light and a plurality of light receiving elements that are aligned in a row at a predetermined interval from the first ball sensing light receiving unit. A first light-receiving unit including a second ball-sensing light-receiving unit that senses and a first ball position-sensing unit that senses whether or not the golf ball is placed on the ground position unit ;
A golf ball that is provided in the second light receiving region, receives light emitted from the second light emitting unit, and includes a plurality of light receiving elements aligned in a row, and is primarily used to hit a golf ball hit by the golf tee. A third ball sensing light receiving unit for sensing, and a plurality of light receiving elements arranged in a row at a predetermined interval from the third ball sensing light receiving unit, and secondarily senses a golf ball hit by the golf tee. A second ball sensing light receiving unit, and a second ball position sensing unit that senses whether or not a golf ball is placed on the golf tee ,
Including a virtual golf simulator.

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