JPH07159117A - Light detection and measurement device for moving body - Google Patents

Abstract

PURPOSE:To precisely measure the two-dimensional position and speed of a moving body by projecting a fan-shaped infrared flux to the vertical cross section of the moving body in the moving direction, receiving scattered reflected light from the moving body with a pair of light sensors and detecting the position and speed in accordance with the principle of trigonometrical survey. CONSTITUTION:Light from plural infrared light emitting diodes 1 are formed as a plane fan-shaped light flux 3 with a projecting cylindrical lens 2 and projected in the vertical cross section of a moving body 4 in the moving direction. The light flux 3 has a width L, and the body 4 passing through the light flux 3 at a short time T (T=L/V) in respect to the speed V continuously emits scattered reflected light during this time. Individual parts 5a, 5b of the scattered reflected light are gathered by a pair of light receiving lenses 6a, 6b spaced apart at a distance D and image-formed on light sensors 7a, 7b, respectively. For the light sensor 7a, 7b, one-dimensional array linear sensors are used as light spot position detecting elements to detect the two-dimensional position of the body 4 with high precision. By programming in a CPU 13, it is applicable to strike judgement.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving object light detecting and measuring apparatus for accurately and optically measuring the position and speed of a moving object.

[0002]

2. Description of the Related Art Microwave radars and laser radars are available as means for accurately and remotely measuring the passing position of a moving object in a vertical section without contact and contact.
On the other hand, on the other hand, determination of strikes, balls, etc. in baseball always requires improvement of the determination technique and skill, although there is a ball referee behind the catcher, there is a wide margin of determination error and subjective determination, It is difficult to make an objective and accurate determination.

[0003]

In order to solve the above problems, the present invention solves the above problems by, for example, means for projecting a light beam emitted from an infrared light source in a fan shape and vertically passing through the projected fan-shaped light surface. The reflected light from the moving object is separated by a predetermined position 2
A unit for detecting a position by a pair of condensing lens system and an optical sensor, an algorithm unit for calculating and determining a passing coordinate of a moving object by using position detection output electric signals of the two optical sensors, and an image of the calculation result. A graphic display system means for outputting, the light projecting means, the position detecting means, the algorithm means, and a computer and software for assisting the construction of the graphic display system means are provided. The present invention is characterized in that it is a moving object light detecting and measuring device that detects a throwing ball as a moving object.

[0004]

In this structure, when the moving object passes through the fan-shaped luminous flux of infrared rays or visible rays projected on the vertical cross section in the substantially moving direction, the moving object produces scattered reflected light during the passing time. create. The scattered reflected light is guided to the optical sensor by a pair of condensing lenses installed facing each other with a certain distance in the cross-sectional direction. When an image line sensor is used along the cross section as an optical sensor,
The two sets of that line sensor detect the reflected light from the moving object at different elevation angles and therefore at different positions on the sensor as images corresponding to the elevation angle. Therefore, from the value of the constant distance between the two sensors and the value of the detected position of the moving object on the line sensor, the cross-sectional passing position information of the moving object is determined using a calculation algorithm by the principle of triangulation, and is displayed graphically. This is to get the video output to the display using the system.

When the device of the present invention is operated as a baseball strike determining device, the object is achieved by mounting an arithmetic algorithm for comparing and discriminating the coordinate position of the strike zone set in advance and the detected ball passing position. Can be done. Further, in the present device, the light projecting means and the light receiving means are housed under the home base, and the light projecting window portion and the light receiving window portion are arranged along the front edge of the home base on the pitching side. It is possible to accurately detect the passing position of the ball at the front edge of the home base, which is the position to be determined, and to instantaneously and objectively determine whether or not it is a strike.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, a light flux emitted from a plurality of infrared light emitting diodes 1 arranged in a fan shape is arranged by a cylindrical lens 2 for projecting light into a flat fan shape light flux 3.
The light is projected within the vertical cross section of the moving object 4 in the substantially moving direction. The flat-plate fan-shaped light beam 3 has a width of approximately L as shown in the side view of FIG. 3, and the moving object 4 has a short time T = L depending on the velocity v.
It passes through the light flux 3 at a time of / v. During that time, the luminous flux 3
And a part 5a of the scattered reflected light is reflected by the light receiving lens 6
An image is formed on the optical sensor 7a via a. Further, a part 5b of the scattered reflected light similarly passes through the light receiving lens 6b, and then the optical sensor 7b.
Image on. For the optical sensors 7a and 7b, various widely known one-dimensional array linear image sensors such as CCD image line sensor, MOS image line sensor, photodiode line sensor and semiconductor position detector can be applied as the light spot position detecting element. it is obvious. When a photodiode line sensor is used, t can be obtained from the detection time of each element, and the speed v can be determined. In order to remove the background noise light input to the optical sensor, the optical filters 7c and 7d are used for the purpose of passing only the optical wavelength band of the light source.
Is placed in the window of the optical sensor.

Plan view As shown in FIG. 2, each optical sensor 7
By arranging the longitudinal directions of a and 7b in parallel with the vertical cross section, as shown in FIG. 4, the respective optical sensors 7a and 7b are arranged.
Positions Xa and Xb of the image forming light spot generated on the optical sensor according to the supplementary angles θ1 and θ2 of the elevation angle at which the moving object is desired from the center of
Changes with each. In this embodiment, for example, two Fresnel lenses having an aperture diameter of 30 mm and a focal length f = 22 mm are superposed to have a short focus f = 11 mm and an aperture angle of 90.
And an F-number of 0.4, and the number of elements of the linear image sensor is 1024, the elevation resolution is 0.0
It is 88 degrees, and the position resolution of a moving object passing through a position 1.5 m away is 2.6 mm, and highly accurate two-dimensional position detection can be realized.

With reference to FIG. 4, a method of calculating the passing two-dimensional coordinates (X, Y) of a moving object will be described below. X on the lens surface
As the axis, take the Y axis vertically above the center as shown in FIG.
The Y coordinate of the optical sensor is arranged at the lens focal length f. now,
Assuming that the positions of the light spots on the sensors detected for the moving object are (Xa, f) and (Xb, f), respectively, the calculation formula X = D (Xa + Xb) / 2 is obtained in the same manner as the principle of triangulation.
The passing two-dimensional coordinates (X, Y) are calculated from (D-Xb + Xa) and Y = Df (D-Xb + Xa).

The operation method of the signal system in this embodiment will be described with reference to FIGS. 1 and 5. Host computer 1
3 through serial communication MOS linear image sensor A7
a and B7b accumulation exposure time φTG is 1.25 ms
The Z80 series one-chip microcomputer 10 operating at 10 MHz is used for control, which can be changed within the range of 12.5 ms, and the 4M clock for timing is divided by the programmable counter 11. The MOS sensors 7a and 7b are driven at 666 KHz, which is a 6-division of 4 MHz, and 1.53 ms is required to scan one line. The left and right two-channel video signals are taken into the host computer 13 by the 50 MHz flash operation 8-bit A / D converters 12a and 12b.

The fetched data is arithmetically processed by the configuration of software programmed in the host computer 13 and displayed on the display 14.

A configuration example of the software will be described with reference to FIG. This program consists of the following menus, and is selected and executed. (A) Capture of optical sensor data and waveform display, (b) calculation of two-dimensional position,
(C) data smoothing processing, (d) file input / output,
(E) Setting of position calculation parameters, (f) Determination of passing through a predetermined zone (2D, 3D display), (g) Photosensor exposure time setting, etc.

(A) In the photosensor data fetching and waveform display routine, two image line sensors having light spot position detection information are used to convert A / D converters 12a, 12a.
Data is taken into the host computer 13 via b, and each signal waveform is output and displayed on the display 14. Also, the sampling conditions can be variously changed by setting.

(B) The two-dimensional position calculation routine is performed on the original data and the smoothed data calculated in (c).
Calculate the dimensional position and display the coordinates in units of (mm). The calculation method detects the maximum value of the light intensity, converts the position from the position number of the array of optical sensors into Xa and Xb coordinates, and according to the calculation formula described in the calculation method of FIG. 4, the two-dimensional position of the moving object ( Calculate X, Y).

(C) The waveform data processing routine is a smoothing processing routine that removes noise components from the measured data and reproduces the original signal waveform. Although there are various known processing methods, in the present embodiment, the value of each element of the line sensor is replaced with a local average value around it (smoothing by local averaging processing). This method requires a small amount of calculation and is suitable for high-speed processing.

(A) The file input / output routine can read the data file, save the original data and the smoothed data, and display the data graphically.

(E) In setting the position calculation parameters,
Set the required numerical value when calculating the position of a moving object. The setting parameters are the total length of the line sensor, the total number of elements, the center coordinates, the lens focal length f, the distance D between the two line sensors, the lens aberration correction value, and the like.

(F) The predetermined zone determination routine continuously executes the above (a), (c) and (b) to identify whether or not the coordinates of the moving object are within a predetermined zone set in advance. Then, the coordinate value and the determination result as to whether or not the vehicle has passed the predetermined zone are displayed on the display and further displayed graphically in two dimensions or three dimensions. In this routine, continuous mode measurement and real time mode measurement are provided. For example, the former repeats the measurement by key input, and the latter repeats the measurement in real time until there is a key input.

(G) The photosensor exposure time setting routine is
This is because the time for accumulating charged particles (electrons, holes) in each element by photoelectric conversion is set, and light detection is performed with appropriate sensitivity.

Next, an embodiment in which the above embodiment is operated as a baseball pitching ball strike determination device will be described with reference to FIG. The light-projecting unit (components: 1,
1a, 1b, 2) and a light receiving part (constituent elements: 6a, 6b,
7a, 7b, 7c, 7d, 8a, 8b, 9, 10, 1
7) is housed in a housing case 18 shown in FIG. 7, a window 17 for projecting light is provided on the home base 15, the cylindrical lens 2 is arranged, and windows 16a, 16b for receiving light are further provided and Fresnel lenses 6a, 6b are arranged. Then, similarly to FIG. 1, the light projecting section and the light receiving section are configured and installed in the case 18. Signal line 1
A host computer 13, A / D converters 12a and 12b, and a display 14 are externally arranged via 9a and a power supply line 19b.

Based on the above construction, the moving object is a pitching ball and the passing area judgment of the software is set to the strike zone to operate the same as in the above embodiment. When the strike zone should be set based on the batter's individual physical characteristics, it is registered for each individual in advance, and the coordinates of the strike zone of each individual are read in the predetermined zone determination routine of the software and compared with the light detection coordinates. The judgment result is displayed together with the graphic display of the passing ball position.

The housing case 18 of FIG. 7 can be made simple and small, and it can be embedded in the ground under the home base, and the signal line and the power supply line can be used by connecting to a host computer installed outside through the ground. Of course, for practice, the housing case 18 can be installed on the ground or, in a gymnasium or the like, installed on the floor.

FIG. 8 shows another embodiment capable of detecting the velocity and the three-dimensional passing position. As shown in FIG. 8, the light emitting unit and the light receiving unit described in FIG.
It is also housed in 02 and juxtaposed in the substantially moving direction of the moving object to project light. The reflected light from the moving object is detected and calculated, the positions (X1, Y1) and (X2, Y2) are known, and the three-dimensional locus in the predetermined zone can be displayed graphically.

As a result, when used as a pitching ball determination device, the type of pitched ball can be determined, and the velocity can be calculated from the passage time measurement between the two points.

FIG. 9 shows another embodiment using a two-dimensional array sensor. The light projecting unit is the same as that of the above embodiment, a two-dimensional array sensor 20 is provided as shown in FIG. 9 instead of the image line sensor, and a moving object (see FIG.
Then, the reflection image of the pitching ball 4a) is measured by the two-dimensional array sensor 2
The image is formed on 0, the position is detected, and a graphic display is made on the display 14 by making full use of the same method as the software.

Although an example of using a light emitting diode as a light source is shown in each of the above-mentioned embodiments, it is obvious that the same effect can be obtained by using other light sources or semiconductor laser oscillators.

It is clear that the respective configurations shown in the above-mentioned embodiments are based on the present invention even if the combination is appropriately changed without changing the gist of the present invention.

[0027]

As described above, according to the present invention, the means for projecting the luminous flux emitted from the light source in a substantially fan shape and the reflected light from the moving object passing vertically to the projected fan-shaped light surface are predetermined. 2 sets of condensing lens system and optical sensor for detecting the position of the moving object and two-dimensional coordinates of the moving object are calculated by using the electric signals of the position detection output of the two optical sensors. An algorithm means, a graphic display system means for outputting a calculation result as an image, a light projecting means, a position detecting means, a computer and software for assisting the construction of the algorithm means and the graphic display system means are provided. Since it is configured, the two-dimensional position of the moving object passing through the fan-shaped light surface can be accurately detected without contact, and it can be used as a position confirmation sensor of the moving object for various measurements. When used as a strike determination device for a ball, even if there is a mistake in the strike judgment by the ball referee or a difference in subjective judgment, it is possible to objectively and accurately display the judgment data on whether or not the strike. .

[Brief description of drawings]

FIG. 1 is a configuration diagram of a moving object light detection and measurement device.

FIG. 2 is a plan view of a light projecting cylindrical lens 2 and light receiving Fresnel lenses 6a and 6b.

FIG. 3 is a side view of a light projection and a moving object.

FIG. 4 is a coordinate diagram for calculating a moving object position (X, Y).

FIG. 5 is a configuration diagram of an electric signal system.

FIG. 6 is a block diagram of software.

FIG. 7 is a configuration diagram of a housing portion of a strike determination device for baseball.

FIG. 8 is a configuration diagram of a velocity and three-dimensional trajectory measuring device.

FIG. 9 is a configuration diagram of a light detection and measurement device using a two-dimensional array sensor.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 light source 1b power source 2 2'projection lens 3 flat plate fan-shaped light beam 4 moving object 5a, 5b, 5 reflected light 6a, 6b, 6a1, 6b1, 6a2, 6b2 light-receiving lens 7a, 7b optical sensor 7c, 7d light Filter 8a, 8b Controller 9 Timing generator 10 Microcomputer chip 12a, 12b, 12a1, 12b1, 12a2, 12
b2 A / D converter 13 Host computer 14 Display 15 Home base 16a, 16b Light receiving window 17 Light projecting window 18, 101, 102 Housing case

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location // G01B 21/00 D

Claims (8)

[Claims] 1. A means for projecting a light beam emitted from a light source in a substantially fan shape, and two sets of condensing light reflected by a moving object passing vertically through the projected fan-shaped light surface at a predetermined position. Means for detecting a position by means of a lens system and an optical sensor, an algorithm means for arithmetically determining the passing two-dimensional coordinates of a moving object using position detection output electric signals of the two optical sensors, and an image output of the arithmetic result. Graphic display system means,
A moving object light detecting and measuring apparatus comprising a computer and software for assisting in constructing the light projecting means, the position detecting means, the algorithm means and the graphic display system means. 2. The baseball pitching ball is used as the moving object, and a strike determination for pitching is performed by also including arithmetic processing for determining whether or not a strike is made by using comparison with a coordinate position of a strike zone set in advance. Claim 1
The moving object light detection and measurement device described. 3. The light source according to claim 1, wherein a plurality of infrared light emitting diodes arranged in one or more are used, and a plurality of diffused light fluxes from the infrared light emitting diodes are formed into a substantially flat fan shape by using a cylindrical lens. A moving object light detection / measurement apparatus comprising means for projecting light. 4. A condensing lens system characterized by expanding the aperture angle and improving brightness by superimposing a plurality of Fresnel lens plates on the light detecting means according to claim 1, and a wavelength of a light source. A moving object light detection / measurement device, characterized in that an image line sensor is used for detecting the position of reflected light, and a filter that transmits light in the range. 5. A moving object light detecting and measuring apparatus according to claim 2, wherein the strike determination for pitching is performed, and the window for projecting light and the window for detecting position are located in front of the baseball home base. The light projecting means and the position detecting means provided along the edge are housing under the baseball home base to project and receive light from the upper surface of the home base, and the signal line and the power supply line are connected to the housing portion. A moving object light detecting and measuring apparatus characterized in that the computer, the algorithm means, and the graphic display system means are provided outside to make a strike determination for pitching. 6. The velocity of a moving object is detected by measuring and calculating the reflection time of the moving object passing through the fan-shaped light beam according to claim 1 from the output of an optical sensor. The moving object light detection and measurement device according to any one of 1 to 5. 7. The moving object light detecting and measuring device according to claim 1, wherein two devices are arranged side by side at a predetermined distance in a substantially moving direction of the moving object, and A moving object light detecting and measuring apparatus characterized by calculating and outputting a three-dimensional trajectory and speed of a moving object from two-dimensional passing position information. 8. A moving object light detecting and measuring apparatus, wherein a light source of the moving object light detecting and measuring apparatus according to claim 1 is a semiconductor laser oscillator. 9. The moving object light detecting and measuring apparatus according to claim 1, wherein the two light sensors are one two-dimensional array sensor.