JPH0698959A - Fly measuring device for spherical object - Google Patents

Abstract

PURPOSE:To highly accurately calculate the elevation angle, horizontal angle and speed of a flying object flying at high speed without requiring any complicated configuration. CONSTITUTION:The fly start of a flying object 3 is detected by crossing a light beam emitted from a light emitting source 4 to a light receiver 5 and as a result, the measurement of time is started by an operation processing part 6. The flying object 3 in the middle of flying crosses two light beams emitted from a multi-beam light emitting part 1 at least, and the light beams are detected by a multi-beam light reception part 2. Based on a signal from the multi-beam light reception part 2, the operation processing part 6 detects the time for the flying object 3 to cross the light beams and corresponding to the detected time, the elevation angle, horizontal angle and speed of the flying object 3 are calculated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flight measuring device for a sphere for calculating the elevation angle, horizontal angle and velocity of a flying object such as a golf ball hit by a club at high speed.

[0002]

2. Description of the Related Art The following devices are known as devices for measuring the launch angle and flight speed of a golf ball launched by a club. (1) A magnetic sensor for detecting the club head is arranged immediately before the impact position. At the time of impact, the club head speed, face angle, blow direction, hitting area, and the like are calculated based on the AC waveform obtained from the magnetic sensor. In addition, in order to detect the ball after impact, two systems of ball detection units are sequentially arranged along the flight direction of the ball. Here, each ball detection unit has a configuration in which an infrared diode and a plurality of phototransistors are arranged so as to face each other with a ball flight line therebetween. In such a configuration, if the output light of the infrared diode is blocked by the ball that is impacted and flies, a ball detection signal is obtained from the phototransistor that should receive this output light. In this way, based on the detection signal obtained from each phototransistor of each ball detection unit, the ball ejection direction (left and right blur angle), elevation angle, initial velocity, etc. are calculated. Here, the detection signal of the phototransistor of each ball detection unit includes not only the component corresponding to the infrared diode in the ball detection unit but also the component corresponding to the infrared diode in the other ball detection unit. Then, in order to detect the ball position, it is necessary to separate these two components in the detection signal. Therefore, each infrared diode is driven by a two-phase pulse signal having a phase difference of 180 °. Further, the two components included in the detection signal of the phototransistor are sampled by the two systems of sampling pulses synchronized with each pulse signal. The position of the ball is detected from this ball detection signal, and the horizontal flight angle (horizontal deviation angle), elevation angle, initial velocity, etc. of the ball are calculated from the detection result (Mitsubishi Electric Technical Report vol.58, No. 2.1).
984). (2) A semi-reflective semi-circular strip is attached to the ball, and a flying ball is illuminated with light from an illumination device, and the light reflected by the strip is detected by a plurality of sensors. Then, from the detection result by the sensor, the reachable distance, the distance to the left or the right, and the difference in the height of the ball from the optimum height, which will result when actually playing on the golf course, etc. It is detected (JP-A-48-40514). (3) Two systems of ball detectors are sequentially arranged along the flight direction of the ball. Each ball detector has a structure in which a light source and a plurality of phototransistors are arranged so as to face each other with a ball flight line therebetween. As each light source, a light-emitting element and a means for collecting the output light of this light-emitting element are housed in a closed box having a slit on the front surface,
The output light of each light source is received by the phototransistor of the corresponding system. With such a configuration, the passing time and the passing distance when the ball passes between the ball detection units are calculated based on the detection signal obtained from each phototransistor, and the speeds of the club and the ball are measured based on the calculation result. Be done
4387). In addition, an apparatus for measuring the flight angle or speed of the ball by optically detecting the ball is disclosed in Japanese Patent Laid-Open No.
It is disclosed in JP-A-1111729, JP-A-56-43505, and JP-A-61-204514.

[0003]

However, all the above-mentioned conventional measuring devices have a problem that the structure of the device is complicated. Also, particularly in the case of the device (1), 2
Since a series of ball position detecting means is required, the assembly accuracy has a great influence on the measurement accuracy, and the number of parts is increased and the cost is disadvantageous. In addition, the shape of the flying body that the ball is a sphere is not considered, and there is a problem that the calculation accuracy is low. In the case of the device (2),
Only special balls such as those provided with super-reflective strips can be used, and the device (3) has a problem that only the speed of the club or the ball can be measured.

The present invention has been made under such a background, and an object thereof is to provide a flight measuring apparatus for a sphere having a simple structure and capable of obtaining a highly accurate result.

[0005]

According to a first aspect of the present invention, there is provided a flight measuring device for a spherical body, comprising: a flight start detecting means for detecting that the flying body starts to fly from a predetermined flight starting point; Are arranged in front of the flying body in the flight direction, and each of the plurality of light beams is along a plane separated from the flight starting point by a predetermined distance, and at least two of them are at least the flying body and the flying body. A multi-beam light emitting unit that emits light in each of the intersecting directions, a multi-beam light receiving unit that receives a plurality of light beams emitted by the multi-beam light emitting unit, and a plurality of light beams output by the multi-beam light emitting unit. Of the two light beams that intersect the flying object, the time from when the flying object starts to fly to when each light beam starts to intersect and when the intersection ends are timed. The flying object elevation angle based on Rutotomoni the regimen during results, is characterized by comprising a calculating means for calculating a horizontal angle and speed. The flight measuring device for a sphere according to claim 2, wherein a flight start detecting means for detecting that the flying body starts flying from a predetermined flight starting point, and a flight direction forward of the flying object as seen from the flight starting point. Placed,
A plurality of light beams each along a plane that is separated from the flight start point by a certain distance, and at least 2 of each
A multi-beam emitting section that emits light in a direction in which a book at least intersects a flying object, a multi-beam receiving section that receives a plurality of light beams output by the multi-beam emitting section, and the multi-beam emitting section At least three of the plurality of parallel light beams, which are arranged in front of the flying unit in the flight direction of the multi-beam receiver and the multi-beam receiving unit, and travel in the vertical direction along the same plane. A parallel multi-beam light emitting unit that emits at least at intervals such that they intersect, a parallel multi-beam light receiving unit that receives a plurality of light beams output by the parallel multi-beam light emitting unit, and a parallel multi-beam light emitting unit outputs the light beams. Of the plurality of light beams, the three light beams that intersect the flying object, the flying object starts to intersect each light beam, and then the intersection ends. A plurality of light beams intersecting the projectile among the plurality of light beams output by the multi-beam light emitting unit, each of which is timed, and the horizontal angle of the projectile is calculated based on the timed result. Of the two light beams that intersect the flying object, the time from when the flying object starts flying to when it intersects with each light beam and the time when the intersecting ends are respectively measured, and And an arithmetic processing unit for calculating an elevation angle and a velocity of the flying object based on a time measurement result and the horizontal angle.

[0006]

According to the first aspect of the invention, the flight start detecting means detects the flight start of the flying object, and the arithmetic processing means starts the time measurement. The flying object intersects with at least two light beams emitted from the multi-beam light emitting unit during flight, and the light beam is detected by the multi-beam light receiving unit. The arithmetic processing means detects the time when the flying object crosses each light beam based on the signal from the multi-beam light receiving portion. Then, the arithmetic processing means calculates the elevation angle, the horizontal angle, and the velocity of the flying object from the detected time. According to the invention of claim 2, the flight start detection means detects the flight start of the flying object, and the arithmetic processing means thereby starts the time measurement. The flying object intersects with at least two light beams emitted from the multi-beam light emitting unit during flight, and the light beam is detected by the multi-beam light receiving unit. Further, the flying object intersects with at least three of the light beams emitted from the parallel multi-beam light emitting section, and the light beam is detected by the parallel multi-beam light receiving section. The arithmetic processing means detects the time when the flying object intersects each light beam based on the signals from the multi-beam receiving part and the parallel multi-beam receiving part, and the elevation angle, horizontal angle, and velocity of the flying object are detected according to the detected time. To calculate.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. <First Embodiment> FIG. 1 is a block diagram showing the arrangement of a flight measuring apparatus for a spherical body according to the first embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a multi-beam light emitting unit, which emits a plurality of light beams B1, B2, ..., Bn (see FIG. 3). The detailed configuration of the multi-beam emission unit 1 will be described later. Reference numeral 2 denotes a multi-beam light receiving unit, which is a light beam B1, B2, ..., Bn emitted from the multi-beam light emitting unit 1.
Is received and converted into an electric signal. 3 is a spherical flying object, which flies in the direction of arrow u. 4 is a light emitting source, 5 is a light emitting source 4
Is a photodetector that receives the output light of and converts it into an electric signal.
The spherical flying object 3 is arranged in the immediate vicinity of the straight line connecting the light emitting source 4 and the light receiver 5, and the output light of the light emitting source 4 is always blocked by the launched spherical flying object 3. . An arithmetic processing unit 6 controls the driving of the multi-beam light emitting unit 1 and calculates the protruding elevation angle, horizontal angle and speed of the spherical flying object 3 based on the signal obtained from the multi-beam light receiving unit 2. At the time of this calculation, the position of the spherical flying object 3 is specified by assuming the orthogonal coordinate system shown in FIG. Here, the Y axis of the orthogonal coordinates is in the horizontal plane and coincides with the emission direction of the light emitted from the light emitting source 4 to the light receiver 5.
The X axis lies in the horizontal plane and is orthogonal to the Y axis, and the Z axis is perpendicular to the Y axis and the X axis. Multi-beam emission unit 1
The light beams B1, B2, ..., Bn emitted by all are emitted so as to be parallel to the YZ plane.

FIG. 2 is a block diagram showing an electrical configuration of the light emitting source 4, the multi-beam light emitting unit 1, the light receiver 5, the multi-beam light receiving unit 2 and the arithmetic processing unit 6 described above.

The arithmetic processing unit 6 is composed of a control unit 6a for controlling the driving of the multi-beam light emitting unit 1 and an arithmetic processing circuit 6b for processing a signal obtained from the multi-beam light receiving unit 2. The multi-beam light emitting unit 1 has a light emitting element 1a made of a semiconductor laser or the like, and a drive circuit 1b for driving the light emitting element 1a. Similarly, the light emitting source 4 has a light emitting element 4a and a drive circuit 4b for driving the light emitting element 4a. The drive circuits 1b and 4b respectively cause the light emitting elements 1a and 4a to emit light in accordance with the control signal from the control section 6a.

The light receiver 5 comprises a light receiving element 5a, a current / voltage converter 5b, an amplifier 5c and a waveform shaper 5d. Here, the light receiving element 5a receives the output light of the light emitting source 4. When the output light of the light emitting source 4 is blocked by the spherical flying object 3, the amount of light received by the light receiving element 5a changes, and as a result, the output current of the light receiving element 5a changes. A voltage waveform corresponding to this change in output current is output from the current / voltage converter 5b. The voltage waveform output by the current / voltage converter 5b is amplified by the amplifier 5c, shaped by the waveform shaper 5d, and output.

The multi-beam light receiving section 2 has light receiving elements 2a _k (k = 1 to n) for respectively receiving the n light beams B1 to Bn output from the multi beam light emitting section 1. Also, for each of the light receiving element 2a _k, similar to the photodetector 5, the current / voltage converter 2b _k, a timer counter 2e _k and 2f _k with amplifier 2c _k, the waveform shaper 2d _k is provided is provided. Here, the timer counters 2e _k and 2f _k are
Timing is started by the signal obtained from the waveform shaper 5d. Further, the timer counters 2e _k and 2f _k stop measuring time based on the change in the signal obtained from the waveform shaper 2d _k .

Next, a specific structure of the multi-beam emitting section 1 will be described with reference to FIG. In FIG. 3, reference numeral 1c is a collimator lens that collimates the output light of the light emitting element 1a. 1d is a slit for processing the parallel light obtained from the collimator lens 1c into an appropriate beam shape. Also,
1e, 1g, ... Are beam splitters. Here, the light beam that has passed through the slit 1d sequentially passes through the beam splitters 1e, 1g, ... And is then reflected by the total reflection mirror 1i. In this way, the light beam B1 having the smallest elevation angle from the Y axis is obtained. On the other hand, a part of the light beam that has passed through the slit 1d is reflected by the beam splitter 1e. This reflected light is totally reflected by the total reflection mirror 1f and enters the total reflection mirror 1i.
Here, the reflected light of the total reflection mirror 1f enters the total reflection mirror 1i at an incident angle larger than that of the transmitted light of the beam splitter 1g. Therefore, the light reflected from the total reflection mirror 1f is reflected by the total reflection mirror 1i, so that a light beam B2 having a larger elevation angle than the light beam B1 is obtained. Similarly, the light that has passed through the slit 1d is reflected by the beam splitter 1
By passing through e, 1g and total reflection mirrors 1h, 1i, a light beam B3 having a larger elevation angle than the light beam B2 can be obtained. Although not shown, the light beams B4 to Bn having different elevation angles can be obtained with the same configuration. The elevation angles of the light beams B1 to Bn are the beam splitters 1e, 1g, ...
・ Adjust according to the set angle. Further, in order to make the light intensities of the emitted light beams B1 to Bn uniform, beam splitters 1e, 1g, ... Having different light reflectance and transmittance are used.

Further, as the multi-beam light emitting section 1, FIG.
A configuration as shown in is also conceivable. In FIG. 4, a light emitting element 1a ′, a collimator lens 1c ′, and a slit 1d ′ are provided for each emitted light beam.

Next, the operation of the flight measuring device for a sphere will be described. In the following, as shown in FIG. 5, the reference coordinates are A (0,0,0), and the central coordinates of the spherical flying object 3 placed at a predetermined flight start point are B (0, y ₀ , z ₀ ), and the coordinates of the light emitting point Q of the multi-beam light emitting unit 1 are (x ₅ , 0,
0). Further, the velocity of the spherical flying object 3 in the flight direction is v, the rising angle of elevation is θ, the blurring angle with the target flight line s,
That is, the projection horizontal angle is α, and the radius of the spherical flying object 3 is r
And

First, the spherical flying object 3 placed at the flight starting point
However, it starts flying in the direction of arrow u by being hit. At this time, the spherical flying object 3 intersects with the light beam traveling from the light emitting source 4 to the light receiver 5, and the amount of light incident on the light receiver 5 changes.
In the light receiver 5, as shown in FIG. 2, a change in the amount of light is detected as a change in current in the light receiving element 5a which is a photoelectric conversion unit. The change in current is converted into a change in voltage by the current / voltage converter 5b, and is amplified to an appropriate signal level in the amplifier 5c. Further, the signal whose waveform has been shaped by the waveform shaper 5d is controlled by the control unit 6a by the timer counter 2e _k (k = 1 to 1) in the multi-beam receiving unit 2.
n) and 2f _k (k = 1 to n). Each timer counter 2e _{k (k} = 1~n) and 2f _{k (k} = 1~
n) starts counting by receiving the signal from the waveform shaper 5d.

The spherical flying object 3 continues to fly after crossing the light beam emitted from the light emitting source 4, and at least two of the plurality of light beams emitted from the multi-beam emitting section 1 toward the multi-beam receiving section 2 are emitted. Crosses two light beams.
Then, the light receiving amount of at least two light receiving elements among the light receiving elements 2a _k (k = 1 to n) changes, and these changes appear as a change in the current of each light receiving element. As a result, the signals P1, P2, output from the waveform shaper 2d _k (k = 1 to n),
The level of at least two signals among Pn changes with time. Based on this signal change, the control section 6a causes the timer counter 2e corresponding to the signal change.
The stopping of counting of _k and 2f _k is controlled. And
According to the count values of the timer counters 2e _k and 2f _k ,
The time when the spherical flying object 3 starts to intersect with any one of the light beams B1, B2, ... An example will be described below.

As shown in the examples of FIGS. 6 and 7, it is assumed that the spherical flying object 3 intersects the light beam B2 and the light beam B3. First, since the spherical flying object 3 does not intersect the light beam B1, the amount of light incident on the light receiving element 2a1 does not change. Therefore, the output signal P1 of the waveform shaper 2d1 does not change as shown in FIG. Therefore, the timer counters 2e1 and 2f1 continue counting until they count over, and after the count is over, the count value becomes 0 and stops. On the other hand, the light beam B2 intersects the spherical flying object 3 and the amount of light received by the light receiving element 2a2 changes, so that the signal P2 shown in FIG. 7 is output from the waveform shaper 2d2. Here, the time when the spherical flying object 3 starts to intersect the light beam B2 is t2, and the time when the spherical flying object 3 finishes intersecting is t3. Then, the timer counter 2e2 stops counting due to the signal change at t2. Further, the count of the timer counter 2f2 is stopped by the signal change at t3. Similarly, the signal P3 output from the waveform shaper 2d3 according to the output change of the light receiving element 2a3 that receives the light beam B3 is also shown in FIG.
It changes as shown in. In this example, the spherical flying object 3 begins to intersect the light beam B3 at t1 and ends at t4. Then, the change of the signal P3 at t1 stops the counting of the timer counter 2e3, and the change at t4 stops the counting of the timer counter 2f3. Since the signals other than the signals P2 and P3 do not change like the signal P1, the timer counters 2e2, 2f2, 2
Counters other than e3 and 2f3 continue counting and stop at 0. Then, of the count values of each timer count, the count value which is not 0, that is, the timer counter 2e
The count values of 2, 2f2, 2e3 and 2f3 are calculated by the arithmetic processing unit 6b.
Is taken into. With these count values, the light beam B2 and the light beam B3 have been emitted after the spherical flying object 3 started to fly.
The elapsed time until the intersection with is calculated.

Next, the calculation processing of the velocity and the launch angle (elevation angle and horizontal angle) of the spherical flying object 3 by the arithmetic processing unit 6b will be described with reference to the flowchart of FIG. Hereinafter, as shown in FIG. 5, a case where the spherical flying object 3 intersects the light beam B2 and the light beam B3 will be described. Here, in FIG. 6, the angle of the light beam B1 with respect to the horizontal plane is w1, the angle (w1 + Δw) of the light beam B2 is w2, and the angle {w1 + Δw × (n−1)} of the light beam Bn is wn. .

First, in step S1, it is detected from which signal beam the spherical flying object 3 intersects by outputting a signal from the multi-beam receiving section 2. Here, when it is known which light beam the spherical flying object 3 intersects,
The range of elevation angle θ and horizontal angle α can be narrowed down.
A region selection process for narrowing down this range is performed in step S
In 1. Hereinafter, this area selection processing will be described. For example, when the spherical flying object 3 intersects the light beam B1 and the light beam B2, the elevation angle θ and the horizontal angle α are as shown in FIG.
Is estimated to be any value within the region A, and the elevation angle θ falls within the range of 0 ≦ θ <8 and the horizontal angle α falls within the range of −4 ≦ α <10. In addition, the spherical flying object 3 has a light beam B1, a light beam B2,
And the light beam B3, the elevation angle θ and the horizontal angle α are estimated to be values in the region B in FIG. 8, the elevation angle θ is 8 ≦ θ <12, and the horizontal angle α is −10 ≦ α <−.
Within the range of 4. When the spherical flying object 3 intersects the light beam B2 and the light beam B3 as in this example, the area C
Is selected. Then, in step S2, the variable range of the elevation angle θ and the horizontal angle α is set for the region selected in step S1. In the case of the region C, the elevation angle θ is set in the range of 13 ≦ θ <18, and the horizontal angle α is set in the range of −4 ≦ α <10. Next, in step S3, the time at which the spherical projectile 3 starts intersecting with each light beam and the time at which it intersects for each combination of the projecting angles θ and α in this region are calculated. The calculation method will be described below.

In FIG. 5, v is the velocity of the spherical flying object 3 in the flight direction, and C is the center coordinate of the spherical flying object 3 t seconds after the impact.
Assuming that (x ₁ , y ₁ , z ₁ ), x ₁ = vtcos θcosα (1) y ₁ = vtcos θsin α + y ₀ (2) z ₁ = vtsin θ + z ₀ (3) Further, when the center coordinates of the spherical flying object 3 are at C (x ₁ , y ₁ , z ₁ ), the intersection point D (x
_3, when y _3, z ₃₎ and crossed the coordinate of the intersection point (x _3, y _3, z ₃₎ is _{x 3 = x 5 ... (4} ) y 3 = (y 1 + z 1 tanw) / ( 1 + tan ² w) (5) z ₃ = y ₃ tanw (6) Here, it is represented and the radius of the spherical projectile 3 and r and ^{_{(x 3 -x 1) 2 +}} (y 3 -y 1) 2 + (z 3 -z 1) 2 = r 2 ... (7) it can. Then, (7) to (1) Substituting ~ (6) (x ₅ -vtcosθcosα) ² + - a _{{(vtcosθsinαsinw + y 0 sinw)} (vtsinθcosw + z 0 cosw)} 2 = r 2 ... (8). When the equation (8) is expanded, (vt) ² {(cosθcosα) ² + (cosθsinαsinw-sinθcosw) ² } + 2vt {(cosθsinαsinw-sinθcosw) (y ₀ sinw-z ₀ cosw) -x ₅ cos θcosα} + {x ₅ ² + a _{(y 0 sinw-z 0 cosw} ) 2 -r 2} = 0 ... (9). Here, (cosθcosα) ² + (cosθsinαsinw−sinθcosw) ²
= A (cos θsin αsinw−sin θcosw) (y ₀ sinw−z ₀ cos
When _{w) -x 5 cosθcosα = B x} 5 2 + (y 0 sinw-z 0 cosw) 2 -r 2 = a C, (9) equation ^{Av 2 t 2 + 2Bvt + C} = 0 ... (10) next, t = It can be expressed as {−B ± √ (B ² −AC)} / vA (11). Therefore, the time t at which the spherical flying object 3 starts to intersect the light beam is t = {-B-√ (B ² -AC)} / vA (12), and the time t at which the crossing ends is t = {-B + √ (B ² −AC)} / vA (13)

Further, in step S3, step S
For two light beams corresponding to the area selected in 1, the ratio k1 of the time when the spherical flying object 3 starts to intersect with each other is obtained. Here, (12) from the equation, the time t2 at which the spherical projectile 3 starts to intersect the light beam B2 is t2 = - a ^{{B2-√ (B2 2 -A2C2} )} / vA2 ... (14). ^{However, A2 = (cosθcosα) 2 +} (cosθsinαsinw2-sinθcos
w2) ² B2 = (cos θsin αsinw2−sin θcosw2) (y ₀ sinw2
_{-Z 0 cosw2) -x 5 cosθcosα C2} = x 5 2 + (y 0 sinw2-z 0 cosw2) and ² -r ^2. Further, the time t1 at which the spherical flying object 3 begins to intersect the light beam B3 is t1 = {-B3-√ (B3 ² -A3C3)} / vA3 (15). ^{However, A3 = (cosθcosα) 2 +} (cosθsinαsinw3-sinθcos
w3) ² B3 = (cos θsin αsinw3−sin θcosw3) (y ₀ sinw3
_{-Z 0 cosw3) -x 5 cosθcosα C3} = x 5 2 + (y 0 sinw3-z 0 cosw3) and ² -r ^2. Then, the time t2 at which the spherical flying object 3 starts to intersect with the light beam B2 and the time t1 at which it starts to intersect with the light beam B3.
The determining the ratio k1 when k1 = t2 / t1 = A3 { -B2-√ (B2 2 -A2C2)} / A2 {-B3-√ (B3 2 -A3C3)} ... (16) with. Here, the elevation angle θ and the horizontal angle α in the region C
Since the range is set to 13 ≦ θ <18 and −4 ≦ α <10, the elevation angle θ is 13 and the horizontal angle α is 1
Calculate the case of 0. Next, in step S4 (13)
From the formula, the ratio k2 of the time t3 when the spherical flying object 3 finishes crossing the light beam B2 and the time t4 when it finishes crossing the light beam B3.
The a seek when k2 = t3 / t4 = A3 { -B2 + √ (B2 2 -A2C2)} / A2 {-B3 + √ (B3 2 -A3C3)} ... (17). Here again, similarly to step S4, the case where the value of the elevation angle θ is 13 and the value of the horizontal angle α is 10 is calculated.
Further, in step S5, the difference k3 between k1 and k2 is obtained and set as k3 = k1-k2 (18).

Next, in step S6, the measured time T2 when the spherical flying object 3 starts to intersect with the light beam B2, which is counted by the timer counters 2e2, 2f2, 2e3, and 2f3, and the light beam B3 begins to intersect. The ratio K1 to the measured time T1 is calculated. K1 = T2 / T1 (19) Similarly, in step S7, the ratio K2 between the actual measurement time T3 when the spherical flying object 3 has finished crossing the light beam B2 and the actual measurement time T4 when it completely crosses the light beam B3 is obtained. . K2 = T3 / T4 (20) Then, in step S8, the difference K3 between K1 and K2 is obtained and K3 = K1-K2 (21). Next, in step S9, steps S3 to
K1, k2, k3 obtained in S5 and step S
Substituting K1, K2, and K3 obtained in 6 to S8 into the following equation. Δ1 = (K1-k1) ² + (K3-k3) ² (22) Alternatively, Δ1 = (K2-k2) ² + (K3-k3) ² (22) 'may be used. Next, in step S10, the value of Δ1 is held. Then, the process proceeds to step S11, and the value 13 of the elevation angle θ and the value 10 of the horizontal angle α are stored. Next, in step S12, the elevation angle θ and the horizontal angle α in the area are
For all, it is determined whether or not the processing from step S3 to step S10 has been completed. If the result of this determination is "NO", the flow returns to step S3. Next, for example, the value of the elevation angle θ is set to 13, the value of the horizontal angle α is set to 11, and the process proceeds to step S10 to obtain the value of Δ2. Then, in step S10, the value of Δ1 and the value of Δ2 are compared.
As a result of comparison, if the value of Δ2 is smaller, step S1
The process proceeds to 1, and the value 13 of the elevation angle θ and the value 11 of the horizontal angle α at this time are stored. As a result of the comparison in step S10,
If the held value of Δ1 is smaller, the process proceeds to step S12. In step S12, it is determined whether or not the processing from step S3 to step S10 has been completed for all elevation angles θ and horizontal angles α in the area. Then, steps S3 to S12 are repeated until the value of the elevation angle θ reaches 18 and the value of α reaches -4. When step S3 to step 12 are completed for all the elevation angle θ and the horizontal angle α in the area, step S3 is performed.
The determination result in 12 is "YES", and the process proceeds to step S13. Then, in step S13, the velocity v of the spherical flying object 3 is obtained. Here, velocity v, (11) a v solving for v = - is obtained from ^{{B-√ (B 2 -AC} )} / AT ... (23). In this equation (23), the elevation angle θ and the horizontal angle α stored in step S11, that is, the elevation angle θ and the horizontal angle α when the value of Δ is the minimum, and the actual measurement time T at which the light beam begins to intersect are calculated. substitute. Alternatively, instead of doing this, v = {-B + √ (B ² -AC)} / AT (23) 'is substituted into the equation (23)' by substituting the measured time T at which the light beam has finished crossing. May be. Then, from the equation (23), using the measured time T2 when the light beam B2 starts to intersect, v = {-B2-√ (B2 ^2- A2C2)} / A2T2 (24) The velocity v is obtained. ^{However, A2 = (cosθcosα) 2 +} (cosθsinαsinw2-sinθcos
w2) ² B2 = (cos θsin αsinw2−sin θcosw2) (y ₀ sinw2
_{-Z 0 cosw2) -x 5 cosθcosα C2} = x 5 2 + (y 0 sinw2-z 0 cosw2) and ² -r ^2. As described above, the elevation angle, the horizontal angle, and the velocity of the spherical flying object 3 are obtained. In this embodiment, in step 1 shown in FIG. 8, the calculation is performed by narrowing down the range of the elevation angle θ and the horizontal angle α based on the area shown in FIG. 9, but the speed of the calculation processing section 6b is high. In this case, the elevation angle and the horizontal angle in the entire range may be sequentially calculated.

As described above, according to the present embodiment, it is possible to measure the flight direction and velocity of a flying object with high accuracy even when the range of the launch angles θ and α is wide. Further, since the continuous emission beam is used, there is little error even when measuring a high speed object.

<Second Embodiment> FIG. 10 shows a second embodiment of the present invention.
1 is a block diagram showing a configuration of a flight measuring device for a spherical body according to an example. In this figure, the parts corresponding to the parts in FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted. Reference numeral 7 in FIG. 10 is a surface velocity sensor, which irradiates a light beam on the object to be measured and detects the reflected light to detect the surface speed of the object to be measured. With this surface speed sensor 7,
The surface velocity of the side portion of the spherical flying object 3 flying in the direction of the arrow u is detected. Reference numeral 8 is a surface speed sensor similar to the surface speed sensor 7, and detects the surface speed of the lower part of the spherical flying object 3. FIG. 11 shows a configuration example of the surface speed sensors 7 and 8. The light emitted from the light emitting element 41 is collimated by the collimator lens 4
After being collimated by the beam splitter 2, the beam splitter 43 splits the beam into beams BM1 and BM2. After passing through the beam splitter 43, the beam BM1 is reflected by the total reflection mirror 44, and the beam BM2 is reflected by the total reflection mirror 4.
Reflected by 5. Beam BM1 and beam BM2
Are angle δ with respect to each other in the space where the spherical flying object 3 passes.
Is set to intersect at. Beams BM1 and BM2
Are reflected by the spherical flying object 3. Each reflected light is converged on the light receiving element 47 by the condenser lens 46. The light receiving element 47 outputs an electric signal corresponding to the addition result of the reflected lights of the beams BM1 and BM2. The surface velocity of the spherical flying object 3 is calculated based on this electric signal. In addition,
This calculation will be described later. However, this configuration is shown in FIG.
When used as the surface velocity sensor 7 shown in FIG. 0, the beams BM1 and BM2 are arranged so as to directly irradiate the sides of the sphere. When this structure is used as the surface speed sensor 8, a total reflection mirror 9 is used. The total reflection mirror 9 reflects the light beam output by the surface velocity sensor 8 to irradiate the lower part of the spherical flying object 3 and returns the reflected light to the surface velocity sensor 8.

In FIG. 10, reference numeral 10 denotes a parallel multi-beam light emitting portion composed of a light emitting element group, and a plurality of light beams HB1 and HB are arranged so as to intersect the spherical flying body 3 at a right angle to the straight traveling direction thereof.
Emit B2, ..., HBn. The plurality of light beams are parallel to each other, and the distances between the respective beams are equal to each other, and are set so that the passing spherical flying object 3 and at least three light beams always intersect. Reference numeral 11 denotes a parallel multi-beam light receiving unit including a light receiving element group, which is arranged to face the parallel multi-beam light emitting unit 10. The parallel multi-beam receiver 11 is shown in FIG.
, The parallel multi-beam light emitting unit 10 has photoelectric converters 11a _k (k = 1 to n) for receiving the n light beams HB1, HB2, ..., HBn respectively. Further, for each photoelectric converter 11a _k , a current / voltage converter 11b _k , an amplifier 11c _k , a waveform shaper 11d _k , and a timer counter 11e _k are provided.
Here, the timer counter 11e _k is the waveform shaper 11d _k.
The start and end of timing is controlled by the change of the signal obtained from.

In the structure described above, when the spherical flying object 3 placed at the position A shown in FIG. 10 starts flying in the direction of arrow u by hitting or the like, a light beam from the light emitting source 4 to the light receiving device 5 is emitted. Then, the same operation as in the first embodiment is performed. After that, the spherical flying object 3 continues to fly and intersects with the light beams emitted from the surface velocity sensors 7 and 8 at the position B shown in FIG. Here, the operation of the surface speed sensor 7 will be described with reference to FIG. As shown in FIG.
When the spherical flying object 3 passes through the space where the beam BM1 and the beam BM2 intersect, the reflected light from the spherical flying object 3 causes a frequency shift due to the Doppler effect. In FIG. 11, when the surface velocity of the spherical flying object 3 at the intersection of the beam BM1 and the beam BM2 is V, the frequency of the light of the beams BM1 and BM2 is C, and the wavelength of the light is λ, the frequency of the reflected light by the beam BM1. f ₁ and beam BM
The frequency f 2 of the reflected light by ₂ is: f ₁ = C− (V / λ) · cos (90−δ / 2) (25) f ₂ = C + (V / λ) · cos (90−δ / 2) )… (26) Therefore, the spherical flying object 3 included in the reflected light
The frequency shift fd proportional to the surface velocity V of is fd = f ₁ −f ₂ = − (2V / λ) · sin δ / 2 (27). The light reflected by the spherical flying object 3 is collected by the condenser lens 46.
And are photoelectrically converted in the light receiving element 47. On the other hand, the surface velocity sensor 8 can also obtain a signal according to the same principle. Surface speed sensor 7 and surface speed sensor 8
The output signal current from the converter is converted into a voltage signal in a current / voltage converter (not shown) and amplified to an appropriate voltage in an amplifier. Then, the A / D converter converts the analog signal into a digital signal.

The spherical flying object 3 which has passed the position B shown in FIG. 10 advances to the position C shown in FIG. 10 and a plurality of light beams B1 emitted from the multi-beam light emitting section 1 toward the multi-beam light receiving section 2. At least two light beams of B2, ..., Bn are crossed. Then, as in the first embodiment, the time when the spherical flying object 3 starts to intersect with any one of the light beams B1, B2, ...

Next, the calculation process of the velocity v of the spherical flying object 3, the elevation angle θ and the horizontal angle α of the spherical flying object 3 will be described. First, regarding at least two light beams of the light beams B1, B2, ..., Bn emitted from the multi-beam light emitting unit 1 with which the spherical flying object 3 intersects, step S3 shown in FIG. 8 of the first embodiment. ~ The process of S9 is performed. That is, one value is obtained for each of θ and α for which Δ≈0 in Δ = (K1-k1) ² + (K3-k3) ² (22) ''.

Here, the calculation processing of the horizontal angle α of the spherical flying object 3 will be described with reference to FIGS. 12 to 15. At the position F of the spherical flying object 3 shown in FIG. 10, the light beams HB1, HB2, ...
.., intersect with at least three light beams of HBn. For example, assume that the spherical flying object 3 intersects the light beams HB1, HB2, and HB3. As a result, the incident light to the photoelectric converters 11a ₁ , 11a ₂ and 11a ₃ is blocked, and as shown in FIG. 14, the photoelectric converters 11a ₁ , 11a ₂ are blocked.
And the electrical signal obtained from 11a ₃ changes. Figure 1
4, the time when the spherical flying object 3 starts to intersect with the light beam HB2 is t21, the time when it starts to intersect the light beam HB1 is t11, and the time when it starts to intersect the light beam HB3 is t31.
Is. The rising times t11, t21, t31 of this signal
, The corresponding timer counters 11e ₁ and 11
e ₂ and 11e ₃ start counting. Then, with the passage of time, the spherical flying object 3 causes the light beams HB1, HB2, H
Crosses the B3 progressing, the photoelectric converter 11a by a spherical projectile 3 has finished intersection of the light beams _1, 11
The electrical signal obtained from a ₂ and 11a ₃ changes. In FIG. 14, the time when the spherical flying object 3 crosses the light beam HB2 is t22, the time when it crosses the light beam HB1 is t12, and the time when it crosses the light beam HB3 is t33. This change in the electric signal is sent to the timer counters 11e ₁ , 11e ₂ and 11e ₃ at the time t 1
At 2, t22 and t32, timer counters 11e ₁ and 11e
₂ and 11e ₃ each stop counting. Then, the count values of the respective timer counters 11e ₁ , 11e ₂ and 11e ₃ are taken into the arithmetic processing section 6.

In FIG. 13, the center position of the stationary spherical flying object 3 is set to position A (0, y ₀ , z ₀ ), and the point E (x ₇ , 0) at the distance 1 in the X-axis direction extends from the Y-axis. A plurality of light beams HB1, HB2, ..., HBn at equal intervals d in the negative direction of
Is radiated. In this figure, assuming that the three-dimensional velocity of the spherical flying object 3 protruding from the position A at an elevation angle θ and a horizontal angle α is v, the two-dimensional plane velocity v _xy is v _xy = v cos θ (33). Further, the radius of the spherical flying object 3 is r, the distance from the center position of the nth light beam from the point E to the center of the spherical flying object 3 is Δd, and the nth light beam from the point E is the spherical flying object 3
Δtn is the time that the light beam crosses, and a spherical flying object 3 that crosses the light beam
If the projection length of is 2rn, then Δtn = 2rn / v _xy (34), and from equation (34), rn = √ (r ² − (Δd · cosα) ² ) (35). However, .DELTA.tn = tn2-tn1, and .DELTA.tn is recorded as the counter value. Further, assuming that the time when the spherical flying object 3 crosses the (n-1) th light beam from the point E is Δtn-1, and the projection length of the spherical flying object 3 which crosses the light beam is 2rn-1, Δtn-1 = 2rn−1 / v _xy (36) and rn−1 = √ (r ² − (d + Δd) ² · cos ² α)) (37) from the equation (36). Similarly, if the time when the spherical flying object 3 crosses the (n + 1) th light beam is Δtn + 1 and the projection length of the spherical flying object 3 that crosses the light beam is 2rn + 1, Δtn + 1 = 2rn + 1 / v _xy becomes (38), and rn + 1 = √ (r ² − (d−Δd) ² · cos ² α)) from Eq. (38) becomes (39). From equations (34), (35), (38) and (39), (Δtn + 1 / Δtn) ² = {r ² − (d−Δd) ² · cos ² α} / {r ² − ( If Δd · cos α) ² } = kn (40), then r ² (kn−1) = {(kn−1) · Δd ² + 2d · Δd−d ² } · cos ² α (41) Become. Similarly, from equations (34), (35), (36) and (37), (Δtn / Δtn-1) ² = {r ² − (Δd · cosα) ² } / {r ² − (d + Δd) ² · cos ² α)} = kn−1 (42) If r ² (kn−1−1) = {(kn−1−1) · Δd ² + 2kn−1d · Δd + kn-1d ² } · cos ² α (43) Then, (41) and (43) from equation (kn-1-1) / (kn -1) = {(kn-1-1) · △ d 2 + 2kn-1d · △ d + kn-1d 2} / {( kn−1) · Δd ² + 2d · Δd−d ² } = K (44) {(kn−1−1) −K (kn−1)} · Δd ² + 2d · Δd (kn −1−K) + (kn−1 + K) · d ² = 0 (45) Therefore, from K = (kn−1−1) / (kn−1) (46), 2d · Δd (kn−1−K) + (kn−1 + K) · d ² = 0 (47) Therefore, Δd = {− (kn−1 + K) · d ² } / 2d (kn−1−K) (48). On the other hand, from FIG. 13, tan α = (nd + Δd) / l (4
9) and the horizontal angle α is α = tan ⁻¹ (nd + Δd) / l ...
(50)

The horizontal angle α obtained as described above is set to (22) ″
By substituting into the equation, the elevation angle θ can be obtained. Also,
The speed v is calculated by the following equation (23) in the first embodiment.

Next, the arithmetic processing unit 6 calculates the velocity v of the spherical flying object 3 obtained as described above, the elevation angle θ, the horizontal angle α, and the frequency data detected by the surface velocity sensor 7 and the surface velocity sensor 8. From the amount of backspin and the amount of side spin in the rotation of the spherical flying object 3. First, the arithmetic processing unit 6 divides this frequency data into n equal parts to obtain block data, and performs a Fourier transform operation for each block data to obtain an average frequency of each block data. And
Since the calculated frequency is proportional to the surface speed of the spherical flying object 3, the average surface speed is calculated for each block data.
Here, it is assumed that the spherical flying object 3 advances from the position A in the direction of the arrow u while the light beam from the surface velocity sensor 7 is applied to the point E (x, y, z). The coordinates of the point E are r, the radius of the spherical flying object 3, and the radius passing through the point E and Z.
When the angle by the axis is φ and the angle by the X axis is β, it is expressed as (x, y, z) = (rsinφcosβ, rsinφsinβ, rcosφ) (51). The average surface speed V _Tn of the block data n to which the point E on the spherical flying object 3 belongs is calculated by the surface speed sensor 7 as V _Tn = v cos θcos α + Δx '(52), and the surface speed component V _TSn due to rotation is V _{TSn. TSn = V Tn -vcosθcosα = △ x} '... is (53). In this way, the surface velocity component V _TSn is calculated for each block data. Further, when the magnitude of the backspin component included in the x component Δx ′ of the surface velocity due to the spin is B and the magnitude of the side spin component is S, Δx ′ = Bz ′ + S · √ (r−x ′ ² − z ′ ² ) = B · z ′ + S · y ′ (54) However, if the center of the sphere 1 is (x ', y',
z ′) = (0,0,0). Then, regarding the relationship between V _TSn obtained by the detection result of the surface velocity sensor 7 and the x component Δx ′ of the surface velocity represented by the back spin amount and the side spin amount of the spherical flying object 3, the sum of the block data is calculated. Calculate as follows. _n Σ _{n = 1} Δ ² = _n Σ _{n = 1} {V _TSn − (B · z ′ + S · y ′)} (55) From the equation (32), _n Σ _{n = 1} Δ ² becomes the minimum back. By obtaining the spin B and the side spin S, the true values of the back spin amount and the side spin amount can be obtained.

[0033]

As described above, according to the first aspect of the invention, the flight start detecting means for detecting that the flying object starts flying from the predetermined flight starting point, and the flight starting point when viewed from the flight starting point are described above. The plurality of light beams are arranged in front of the flying body in the flight direction, and each of the plurality of light beams is along a plane separated from the flight starting point by a certain distance, and at least two of the light beams at least intersect the flying body. Of the plurality of light beams output by the multi-beam light emitting unit, the multi-beam light emitting unit emitting in each of the directions, the multi-beam light receiving unit receiving each of the plurality of light beams emitted by the multi-beam light emitting unit, For the two light beams that intersect the flying object,
The time from the start of flight of the projectile until the intersection of the respective light beams is started and the time until the end of the intersection are respectively timed, and the elevation angle, horizontal angle and speed of the projectile are based on the timed result. Since the arithmetic processing means for calculating is provided, the elevation angle, the horizontal angle, and the velocity of the flying object flying at high speed can be measured with high accuracy without requiring a complicated configuration. According to the second invention, a flight start detecting means for detecting that the flying body starts to fly from a predetermined flight starting point, and a plurality of plural units arranged in front of the flying body in the flight direction when viewed from the flying start point. A multi-beam light emitting unit which emits the respective light beams along a plane spaced apart from the flight starting point by a certain distance, and in a direction in which at least two of the light beams intersect at least the flying object. A multi-beam light receiving unit that receives a plurality of light beams output from the multi-beam light emitting unit, and the multi-beam light emitting unit and the multi-beam light receiving unit are arranged further in front of the flying direction of the flying object, and are on the same plane. A parallel multi-beam that emits a plurality of parallel light beams that travel in the vertical direction along at intervals such that at least three of them each intersect at least the flying projectile. A light emitting unit, a parallel multi-beam light receiving unit that receives a plurality of light beams output by the parallel multi-beam light emitting unit, and a plurality of light beams output by the parallel multi-beam light emitting unit that intersect the flying object 3 For the light beams of the book, the time from the start of the flight of the flying object to the start of the intersection with each light beam and the time until the end of the intersection are respectively timed, and the flying object is based on the timed result. Of the two light beams that intersect the flying object among the plurality of light beams that intersect the flying object among the plurality of light beams output by the multi-beam light emitting unit, the flying object A calculation process that measures the time from the start of the intersection with each light beam until the end of the intersection, and calculates the elevation angle and velocity of the projectile based on the timing result and the horizontal angle. Is provided with the means, the elevation angle of the projectile flying at high speed, horizontal angle, and the speed, with a simple configuration, and there is an effect that can be measured with high precision.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing the configuration of a flight measuring device for a spherical body according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a circuit configuration according to the embodiment.

FIG. 3 is a diagram showing a configuration example of a light beam emitting means according to the embodiment.

FIG. 4 is a diagram showing a configuration example of a light beam emitting means according to another embodiment.

FIG. 5 is a perspective view for explaining the operation of the flight measuring device for a spherical body according to the embodiment.

FIG. 6 is a vertical cross-sectional view for explaining an intersection between a flying body and a light beam according to the same embodiment.

FIG. 7 is a diagram showing an output signal of the multi-beam light receiving unit according to the embodiment.

FIG. 8 is a flowchart showing a process of measuring a flight angle and a velocity according to the embodiment.

FIG. 9 is a diagram showing a region according to the embodiment.

FIG. 10 is a diagram showing the structure of a flight measuring device for a spherical body according to a second embodiment of the present invention.

FIG. 11 is a vertical sectional view for explaining the operation of the surface speed sensor according to the same embodiment.

FIG. 12 is a diagram showing a circuit configuration of a parallel multi-beam light receiving unit according to the embodiment.

FIG. 13 is a diagram illustrating a horizontal angle calculation process according to the embodiment.

FIG. 14 is a diagram showing an output signal of the parallel multi-beam light receiving unit according to the embodiment.

[Explanation of symbols]

1 ... Multi-beam light emitting unit, 2 ... Multi-beam light receiving unit, 3
... Spherical flying object, 4 ... Emission source, 5 ... Receiver, 6 ... Operation processing unit, 10 ... Parallel multi-beam light emitting unit, 11 ... Parallel multi-beam light receiving unit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yasuyuki Nakajo 10-1 Nakazawa-machi, Hamamatsu-shi, Shizuoka Prefecture Yamaha Stock Company

Claims (2)

[Claims] 1. A flight start detection means for detecting when a flying object starts to fly from a predetermined flight starting point, and a plurality of light beams arranged in front of the flying direction of the flying object as seen from the flight starting point. A multi-beam light emitting unit, each of which emits along a plane separated from the flight start point by a certain distance, and in a direction in which at least two of each cross at least a flying object; The multi-beam light receiving unit that receives a plurality of light beams emitted by the multi-beam light emitting unit, and the two light beams that intersect the projectile among the plurality of light beams output by the multi-beam light emitting unit, The time from the start of flight of the body to the start of the intersection of the respective light beams and the time until the end of the intersection are each timed, and the elevation angle of the flying object based on the timed result,
A flight measuring apparatus for a spherical body, comprising: a calculation processing means for calculating a horizontal angle and a velocity. 2. A flight start detection means for detecting when a flying object starts to fly from a predetermined flight starting point, and a plurality of light beams arranged in front of the flying direction of the flying object when viewed from the flight starting point. A multi-beam light emitting unit, each of which emits light in a direction in which at least two of each of the light beams are along a plane spaced apart from the flight start point by a certain distance, and at least two of the multi-beam light emission units intersect each other. A multi-beam light receiving unit that receives each of a plurality of light beams output by the beam light emitting unit; and a multi-beam light emitting unit and the multi-beam light receiving unit, which are arranged further forward of the flying direction of the projectile, respectively along the same plane. Parallel multi-beam emission in which a plurality of parallel light beams traveling in the vertical direction are emitted at intervals such that at least three of them each intersect at least a flying object. Section, a parallel multi-beam light receiving section that receives each of the plurality of light beams output by the parallel multi-beam light emitting section, and three crossing the flying object among the plurality of light beams output by the parallel multi-beam light emitting section. About the light beam of
The time from the start of the crossing of the projectile with each light beam until the end of the crossing is timed, and the horizontal angle of the projectile is calculated based on the timed result, and output from the multi-beam emitting unit. Of the plurality of light beams that intersect the projectile, among the plurality of light beams that intersect the projectile 2
For the light beams of the book, the time from the start of flight of the projectile to the start of intersection with each light beam and the time until the end of intersection are respectively measured, and based on the time measurement result and the horizontal angle. A flight measuring apparatus for a spherical body, comprising: an arithmetic processing unit for calculating an elevation angle and a velocity of the flying object.