KR100871595B1 - A system for measuring flying information of globe-shaped object using the high speed camera - Google Patents

Abstract

A flying information measuring system is provided to prevent overlapping of spherical objects and perform an exact triggering operation when image processing is carried out using a high speed camera. A system for measuring flying information of spherical objects comprises: an image acquisition part including a line scan camera(110) for sensing movements of the spherical objects to check whether there are spherical objects or not and detect initial speeds of the spherical objects, and a first camera(210) and a second camera(240) for acquiring a plurality of images of flying spherical objects by variably generating trigger signals according to the speeds using straight moving speeds of the spherical objects detected by the line scan camera, thereby photographing flight trajectory images of the spherical objects at high speeds at fixed displacement intervals; and a computer processing part(300) for calculating flying positions, flying speeds and rotation amounts of the spherical objects.

Description

Flight information measuring system of spherical object using high speed camera {A SYSTEM FOR MEASURING FLYING INFORMATION OF GLOBE-SHAPED OBJECT USING THE HIGH SPEED CAMERA}

The present invention relates to a flight information measuring system of a spherical object using a high speed camera. More specifically, the overlapping between spherical objects in image processing with a high speed camera is accurately estimated by accurately predicting the initial speed of the spherical object using a line scan camera. The present invention relates to a flight information measurement system that does not occur and enables accurate triggering.

In general, in order to determine the flight trajectory of the flying spherical object, the instantaneous position and velocity of the flying spherical object are measured, and then analyzed to determine the overall flight trajectory of the spherical object. An example of a system for predicting flight trajectories of flying spherical objects is a golf simulation system. The golf simulation system uses a laser device or two to four cameras to measure the instantaneous speed and position of a golf ball that is flying spherical objects. Measured.

Golf simulation system using the conventional laser technology is a patent registration No. 483666 proposed by the present applicant "the flight speed and position measurement system of the circular object using the light curtain". This patent invention analyzes the image shadow of the golf ball to calculate the position information, arranges the light receiving sensor at a certain position, analyzes the interference and shadow information between the shadows in two dimensions, and then converts them into three dimensions to track the flight path of the golf ball. Indirect analysis of flight information that affects However, the golf simulation system using the laser technology has a problem that the installation of a film generator for generating a light film and a light receiving sensor for receiving the generated film and shadow are difficult and complicated.

On the other hand, a golf simulation system using a camera obtains a still image with a camera and analyzes the characteristics of the golf club and the trajectory of the golf ball to calculate parameters that affect the actual trajectory of the golf ball, thereby allowing flight information such as the initial velocity and trajectory angle of the golf ball. How to get An example of such a golf simulation system using a high speed camera is disclosed in Korean Laid-Open Patent Publication No. 2002-62125, "System and method for measuring a golf ball hitting parameter of a golfer." Figure 1a shows a simulation system of the prior art.

The simulation system is composed of a transmitter 31 and the receiver 32, the laser type triggering device 30 for measuring the speed of the golf club approaching the golf ball; A first camera unit 10 provided at an upper end of the holder and including a first light source 12 and a first camera 11; A second camera unit 20 provided at a lower end of the first camera unit 10 and including a second light source 22 and a second camera 21; And a computer 40 for data processing. The patent discloses a continuous analysis of a plurality of frames by a plurality of trigger signals to measure various parameters of the golf ball. The interval of the trigger signal is estimated from the speed of the golf club measured by the trigger device 30. The interval of the predicted trigger signal is appropriately corrected so that the golf balls 1 do not overlap each other in the process of obtaining a continuous still image. The first camera 11 and the second camera 21 are provided with stroboscopic first and second light sources 12 and 22 to obtain a series of still images according to the trigger signal, but to obtain a clear image. .

However, in the simulation system using a conventional camera, the process of acquiring stereo images and converting the image information into three-dimensional information is complicated, and the concurrency is poor, and it takes a long time to separate, extract, and analyze the images. There was a difficult commercialization problem. In addition, the mathematical approach is difficult to calculate the golf ball rotation information even after calculating the position information of the golf ball, there is an inconvenience that users have to use after positioning the ball of a specific shape in a specific position. In addition, it was difficult to accurately predict the time of flight because of difficulty in extracting the trigger area from the high-speed camera.In the process of calculating the actual time and flight trajectory by generating the time of flight signal and then calculating the time of flight. Many errors occurred. In addition, by using the strobe light source for high-speed camera shooting, users suffered from the inconvenience of instantaneous glare, and it was difficult to detect all the flight paths of the golf ball in the golf simulation system even if a complex peripheral sensor is installed.

In particular, the conventional simulation system has a big problem in that it is based on the approach speed of the golf club in setting the trigger time interval. This is because, depending on the type of golf club approaching the golf ball and the hitting condition, even if the golf club has the same speed, the golf ball may have different speeds. That is, in the case of beginners to golf, even if the hitting posture is bad, even if the golf ball is hit at the same speed as the skilled person, there is a fear that the speed of the golf ball is significantly reduced due to the hitting error. In such a situation, it is difficult to obtain continuous still images of non-overlapping golf balls when the same trigger signal interval is given only by the golf club speed as in the conventional simulation system. FIG. 1B shows a still image when golf balls overlap each other due to a prediction error of a trigger signal period. If the measurement objects overlap, it is impossible to analyze the actual flight information. In addition, when the golf club speed and the speed of the golf ball is made as a predictive equation in the related art, when the distance between the measuring device and the golf ball is changed, there is a problem in that the calibration parameters must be newly calibrated. In the conventional system illustrated in FIG. 1, since the first camera unit 10 and the second camera unit 20 are separately mounted, mutual positions may be changed mechanically. In this case, additional calibration is required. There is this.

As a result, the conventional golf ball hitting simulation system has a problem that it is difficult to popularize due to the immature processing technology, the problem of the initial golf ball progression speed prediction, and the need for excessive calibration.

The present invention is to solve the above problems, by switching the existing camera trigger signal period prediction to the actual speed signal period, by measuring the initial speed of the spherical object at a high speed to trigger so that the spherical objects do not overlap each other in a continuous still image The present invention aims to provide a flight information measurement system of a spherical object capable of generating a signal.

In addition, the present invention is to provide a flight information measuring system that can calculate the three-dimensional image position of the spherical object at high speed in a stereo method using two high-speed camera.

In addition, the present invention is to provide a flight information measuring system that can calculate the flight information accurately by initially predicting the traveling speed as well as the traveling direction of the spherical object, and by expanding and analyzing only the moving area in the acquired still image.

In order to achieve the above object, the present invention provides a system for measuring flight information of a spherical object 500, the line for detecting the presence and initial speed of the spherical object 500 by detecting the movement of the spherical object 500 Scan camera 110; By using the linear movement speed of the spherical object 500 detected by the line scan camera 110 to generate a trigger signal variably according to the speed to shoot the flight trajectory image of the spherical object 500 at a constant displacement interval at high speed An image acquisition unit (200) provided with a first camera (210) and a second camera (240) for acquiring a plurality of images of the spherical object (500) in flight; And a computer processor 300 which analyzes the image of the spherical object 500 in flight acquired through the image acquisition unit 200 and calculates the flight position, the flight speed and the rotation amount of the spherical object 500. It provides a flight information measuring system of a sphere 500 characterized in that.

The measurement system further includes at least one light source for the first camera 210, the second camera 240 and the line scan camera 110, the first camera 210, the second camera 240 The line scan camera 110 and the light source are arranged in one structure on the same line.

In addition, the light source is continuously irradiated with light on the flight trajectory of the spherical object, the first light source 220 for the first camera 210, the second light source 230 for the second camera 240 It includes, but the first camera 210 and the second camera 240 is spaced at the same interval, the camera spacing is characterized by using a stereo technique that is affected by the height displacement constant.

The computer processing unit 300 includes a digital input / output unit 310 for converting a plurality of image data of a spherical object 500 transmitted from the image acquisition unit 200 into digital data; Calculate the center points of the image images of the spherical object 500 converted to digital data, set a plurality of virtual lines connecting the center point of the spherical object image image and the camera photographing the spherical object image, and then The central processor calculates the virtual intersection point to determine the instantaneous flight position of the spherical object 500, and calculates the flight speed of the spherical object 500 using the image acquisition signal period between the identified instantaneous flight positions of the spherical object 500. It is preferable to comprise a (320).

In addition, in the process of setting a virtual line connecting the center point of the spherical object 500 image to the camera photographing the spherical object image, the central processor 320 corrects the camera position according to the photographing characteristic value of the camera. It is more advantageous to achieve.

Meanwhile, at least two identifiable marker lines 510 having intersections are formed on a surface of the spherical object 500, and the computer processing unit 300 includes a plurality of spherical shapes obtained through the image acquisition unit 200. The three-dimensional pitch angle, yaw angle and roll angle of the spherical object according to the displacement of the intersection point are calculated by analyzing the position of the intersection point between the marker line 510 and each marker line 510 included in the image of the object 500.

In addition, the flight information measuring system further includes a display unit 400, the computer processing unit 300 is a flight trajectory of the spherical object 500 using the flight position, the flight speed and the rotation amount of the spherical object 500. It calculates and outputs it to the display unit 400.

In addition, the flight information measuring system further includes a second line scan camera 114 in the traveling direction of the line scan camera 110 and the spherical object 500, and the computer processing unit 300 is the line scan camera 110, 114 ) Predicts the initial flight direction of the spherical object 500 by using the passing coordinates of the spherical object 500 detected by them, and enlarges the area corresponding to the moving direction among the captured images transmitted from the image acquisition unit 200. It is desirable to calculate the flight position, flight speed and rotation amount.

According to the provision of the spherical object flight information measuring system of the present invention, it is possible to obtain flight information of the spherical object quickly and accurately. In particular, the system of the present invention measures the initial state by directly targeting the spherical object, and accordingly generates a trigger signal for the still image, it is possible to operate smoothly without failing to acquire information even under various hitting conditions. In addition, the flight trajectory measurement accuracy of the spherical object is remarkably improved by predicting the flight direction of the spherical object in advance and expanding only the portion.

Embodiments of the present invention will be described in detail with reference to the accompanying drawings. FIG. 2 is a perspective view of a spherical object flight information measuring system of the present invention, FIG. 3 is a perspective view of a spherical object having a marker line, and FIG. 4 is a conceptual view of a line scan camera trigger signal processing. In addition, FIG. 5 is a conceptual diagram showing coordinates of a single image obtained from a camera during the flight of a flying object, and FIG. 6 is a conceptual diagram in which spherical objects appearing on video images captured by two high-speed cameras are moved on the same axis. 7 is a state diagram illustrating the position of a spherical object in the stereo images obtained by the first camera and the second camera. On the other hand, Figure 8 is a conceptual diagram showing that the shape of the spherical object including the marker line according to the present invention is rotated based on the x, y, z axis according to the shooting time point, Figure 9 is a block configuration of the flight information measurement system of the spherical object 10 is an explanatory view of a flight direction prediction method using a double line scan camera, and FIG. 11 shows an operation flowchart of a flight information measuring system of a spherical object according to the present invention. Matters that are not required as a part that is not different from the prior art are excluded from the description, but the technical spirit and protection scope of the present invention are not limited thereto.

First, the spherical object flight information measuring system of the present invention will be described in detail with reference to FIG. 2. Flight information measuring system of the present invention includes a line scan camera 110, and measure the flight start and flight start speed of the spherical object 500, and generates a trigger signal for high-speed shooting of the image acquisition unit 200 Initial velocity measurement unit 100; An image acquisition unit 200 obtaining a series of high speed still images at predetermined time intervals using a first camera 210 and a second camera 240 according to a trigger signal of the initial speed measurement unit 100; Computer processing unit for obtaining the three-dimensional image position and the trajectory of the spherical object 500 to fly by receiving the acquired still image, the speed is determined by differentiating the position, and the amount of rotation of the spherical object 500 ( 300); And a display unit 400.

The image acquisition unit 200 is disposed on the central ceiling of the space where the system is normally installed, as shown in FIG. Preferably, it is advantageous to be disposed directly above the starting position of the spherical object 500.

The line scan camera 100 disposed at the center of the image acquisition unit 200 scans the starting area of the spherical object 500 at regular time intervals under the control of the computer processing unit 300 using a line filter. When a signal having a magnitude is input, the width of the signal is calculated to obtain a unidirectional speed, and a trigger signal is generated so that the first camera 210 and the second camera 240 take a still picture by using the signal period according to the speed. Detailed explanations will be added at the bottom of the description.

The first camera 210 and the second camera between the first camera 210 and the second camera 240 spaced at predetermined intervals so that the image acquisition unit 200 can photograph the flight path of the spherical object 500. A first light source unit 220 and a second light source unit 230 are provided to irradiate a light source so that the camera 240 smoothly photographs the flying spherical object. The line scan camera 110 is disposed between the two light sources 220 and 230. In the present invention, the first light source unit 220 and the second light source unit 230 is configured as always lighting. The reason for the change from the strobe method to the constant lighting type is that when the image signal of the spherical object 500 is photographed with a high speed camera, the exposure time is short and the image appears dark. Generally, a light source is provided. This is because there is a serious problem. In the exemplary embodiment of the present invention, the first light source unit 220 and the second light source unit 230 are configured as constant lighting so as to compensate for this, so that when the spherical object 500 moves, the instantaneous capture signal appears evenly bright while the user's moment Prevent glare The distance between the first camera 210 and the second camera 240 is installed at intervals of about 600 to 800 mm so as to clearly distinguish the stereo images taken in double, but not to interfere with the surrounding installation environment. The installation interval may vary depending on the situation, and may be appropriately modified according to the magnification of the camera and the scale and characteristics of the system.

The image acquisition unit 200 is electrically connected to the computer processing unit 300 disposed on the side of the flight information measuring system. The computer processor 300 includes a digital input / output unit 310 and a central processor 320. The digital input / output unit 310 converts the output image signal of the first camera 210 and the output image signal of the second camera 240 into digital data under a control of the central processor 320 to a buffer (not shown). send.

The central processor 320 transmits a timing control signal for digital data input / output to the digital input / output unit 310, and analyzes and calculates an output signal transmitted to a buffer through the digital input / output unit 310 to substantially fly a spherical object. Calculate the information. The central processor 320 calculates the center points of the image images of the spherical object 500 converted into digital data, respectively, and captures the center point of the spherical object 500 image image and the image of the spherical object 500. After establishing a plurality of virtual lines (see FIGS. 5 and 6) connecting the 240, the virtual intersection point of each virtual line is calculated to determine the instant flight position of the spherical object 500. Thereafter, the flight speed of the spherical object is calculated using the identified instantaneous flight position of the spherical object 500 and the image acquisition signal period. In addition, the central processor 320 analyzes the position of the intersection point between the marker line 510 and each marker line 510 included in the image of the spherical object 500 converted into digital data to determine the amount of rotation of the spherical object 500. Calculate quickly Detailed calculation methods will be described later.

The spherical object flight information measuring system of the present invention further includes a display unit 400. The display unit 400 may include a projector 410 and a screen 420 for viewing a screen projected by the projector 410. Background images of a golf course according to the flight position of the spherical object 500 are combined through the flight trajectory information of the spherical object 500 processed by the central processor 320, and the combined image of the spherical object 500 is real-time. Provide a blow point. In this application, an embodiment is described with reference to the combination of the projector 410 and the screen 420, but the display unit 400 is not limited thereto.

3 shows an example of a spherical object 500 used in the present invention. The spherical object 500 is, for example, a golf ball. Letting the golf ball fly would be a golf club that the user has swinged. The surface of the spherical object 500 is provided with a plurality of marker lines 510 for measuring the amount of rotation of the flying spherical object 500 to form an intersection point. The marker line 510 referred to in the present invention refers to a curve forming a circle formed on the surface of the spherical object 500 with the center point of the spherical object 500 as a meridion. It is preferable to form two or more marker lines 510 so as to be identified according to the rotation of the spherical object 500. In this application, three marker lines 510 are formed for convenience and speed of formula calculation. The spin calculation divided into side spins and back spins by the three marker lines 510 is performed by a yaw angle, a pitch angle, a roll angle, and the like. It can be implemented.

Next, the spherical object 500 flight information calculation method of the present invention will be described in more detail with reference to FIGS. 4 to 8. 4A shows an operation conceptual diagram of the line scan camera 110 employed in the present invention, and FIG. 4B shows a processing conceptual diagram of the line scan camera trigger signal. As shown in FIG. 4, the line scan camera 110 captures an area where the spherical object 500 starts. The line scan camera 110 is a camera that acquires a two-dimensional image at high speed by scanning in a line unit by using a sensor having a one-dimensional linear structure. A pixel (picxel), which is a component of the CCD sensor, is formed in a one-dimensional array so as to be perpendicular to the direction in which the spherical object 500 is expected to travel to form a camera. Unlike the two-dimensional image camera, the line scan camera 110 has an advantage that a small number of sensors enables image processing at high speed and low cost. In particular, whether high-speed processing of the image data is an important factor in the field of measurement of flight information of another spherical object 500 in the present invention. In this respect, the line scan camera 110 of the present invention has a great advantage over the conventional laser trigger device in terms of the generation of accurate and smooth trigger signal.

As shown in FIG. 4A, when the spherical object 500 passes through the scanning beam surface 111 at a constant triggering period, the pixel of the portion blocked by the spherical object 500 passing through the beam surface 111 may have a different signal value. The data value is used to calculate the initial flight speed of the sphere 500 in association with the triggering period.

The signal processing and initial velocity calculation method of the line scan camera 110 proceeds as shown in FIG. 4B. For example, assuming that the speed of the spherical object 500 is 80 m / s, the spherical object 500 moves at 8 cm / msec, and at this time, the approximate diameter of the spherical object 500 (actually, a golf ball) For example, it takes 0.5msec to move 4cm. In fact, the golf ball is 4.5cm in diameter but limited to 4cm in order to limit the generation of triggers from noise signals caused by the shadow area of the golf ball and other reflected waves. On the other hand, when the line rate is 11.7845 KHz, the line rate period is 0.084857 ms. If nine scan lines are active while the spherical object 500 passes through the beam surface 111, 0.7637 msec is obtained. It can be expected that the golf ball will fly at a speed of approximately 52 m / s. The speed calculated at this time is a speed in a direction perpendicular to the beam plane 111 on which the line scan camera 110 is installed. As the speed of the spherical object 500 calculated as described above decreases the triggering period, the accuracy increases.

Initial flight speed calculation of the spherical object 500 is substantially performed in the signal processing unit 130 of the initial speed setting unit 100 (see Fig. 9). The one-dimensional image obtained by the line scan camera 110 is transmitted to the signal processor 130 at a high speed through the camera link interface 120. It calculates the brightness value of the signal input to the sensor for each scanned line, counts the number of detected pixels, counts the number of consecutive lines, and calculates whether the spherical object 500 starts or the initial flight speed. . For example, in order to detect the progress of an object of about 45 mm, such as a golf ball, if the signal input to the sensor is more than 160DN and 8 pixels or more continuously, it may be determined as a golf ball. The unidirectional velocity of the object is calculated based on the number of consecutive scan lines. The calculation result is transmitted to the computer processor 300 that is electrically connected. On the other hand, the computer processing unit 300 predicts a trigger interval in which the spherical object 500 may not overlap when the high speed cameras 210 and 240 capture a continuous still image based on the transmitted calculation result. do. The interval is transmitted to the initial speed setting unit 100 again, and the trigger unit 140 generates trigger signals of the high speed cameras 210 and 240 based on the interval. The signal is transmitted to the image acquisition unit 200.

Next, a method for calculating flight trajectories and speeds of the spherical object 500 of the present invention by a stereo technique including two high speed cameras 210 and 240 will be described in detail with reference to FIGS. 5 and 6. The first camera 210 and the second camera 240 of the image acquisition unit 200 continuously capture a still image according to the transmitted trigger signal. Since the trigger signal is already adjusted by accurate measurement so that the spherical object 500 does not overlap, a clear image can be obtained to enable flight trajectory calculation according to imaging.

FIG. 5 is a conceptual diagram illustrating a single image obtained from a camera in coordinates while the spherical object 500 is flying according to an embodiment of the present invention. 5, the reference coordinate Y axis represents a distance from the starting point of the spherical object 500 and means a distance on the image from the starting point of the spherical object 500, and the X axis represents a left and right flight direction of the spherical object 500. It means the width of the high-speed camera (210, 240), Z axis represents the flight height of the flying object (500). As shown in FIG. 5, the image of the spherical object 500 is positioned on a still image captured by the cameras A, 210, and 240, and the absolute position and the spherical object ( If you know the size of 500), you can calculate the speed by knowing the height and direction of the rough image. Referring to the process of identifying the position of the spherical object 500 through one image image signal, calculating the center point (F) of the image area and connecting the center point with the camera (A), the spherical object 500 in the straight line Will be located. In addition, when the diameter Φ of the spherical object 500 is known in advance, since the size of the image DE varies according to the diameter of the spherical object 500, the height of the spherical object 500 can be calculated. , The relative position (X1, Z1) of the spherical object can be determined.

However, while the area to be imaged is too large, the height displacement and the displacement that determine the left and right directions are so fine that the presently applicable camera calculates a micro displacement, resulting in a displacement difference of about 1 to 2 pixels per 5 cm. There is a problem. In addition, it is known that an error of about 20% appears when calculating the actual left and right directions and heights. In order to solve this problem, the present invention introduces a stereo technique using two high-speed cameras 210 and 240.

FIG. 6 is a conceptual diagram in which spherical objects appearing in video images captured by two cameras are moved on the same axis, and rotation, translation, and transformation are performed to move on the same axis. It was displayed using (Transform). As described above, if the diameter of the spherical object 500 is known in advance, the size of the spherical object 500 can be easily determined by analyzing the size of the spherical object 500. For this purpose, a precision having pixels of 1280 × 1024 or more The accuracy of the error can be minimized through precise calculations by the camera, but in this case, the camera is very expensive, which leads to a decrease in versatility. Therefore, in the embodiment of the present invention, it is possible to determine the exact position of the spherical object 500 in stereo form through two image images.

As shown in FIG. 6, the two cameras A1 and 210 (A2 and 240) are spaced apart from each other by a predetermined distance with respect to the vertical line (X-axis) in the advancing direction of the spherical object 500. It appears as an intersection image. After calculating the center points F1 and F2 of the spherical object 500 in the images of the two cameras A1 and 210 (A2 and 240), the two center points F1 and F2 are determined. Each of the cameras A1 and A2 is connected in series to form two virtual lines in which the spherical objects are located, and by calculating a point at which the virtual lines cross each other, it is possible to determine the exact position of the spherical object 500. This is the same principle as having two human eyes, and is organically coupled to the accurate triggering calculation of the line scan camera 110 of the present invention to enable accurate calculation of flight trajectories.

Meanwhile, in order to determine the exact positions of the high speed cameras 210 and 240, correction may be performed according to a characteristic value of the camera. The characteristic value may be displacement and height at each pixel and distortion correction of each of the high speed cameras 210 and 240. Calibration allows more accurate flight trajectory measurements.

Next, the process of calculating the speed and position of the spherical object 500 in the central processor 320 of the computer processing unit 300 of the present invention will be described with reference to FIG. 7. The continuous still image picked up by the image acquisition unit 200 is transmitted to the computer processing unit 300 which is electrically connected. The transmission passes through the digital input / output unit 310. The computer processing unit 300 may be a personal computer terminal normally encountered, or may be a dedicated terminal developed for a system. Both have a storage device (not shown) for storing a plurality of transmitted still images.

7 is a state diagram showing the position of the spherical object 500 in the stereo image obtained by the first camera 210 and the second camera 240 according to an embodiment of the present invention. First, the central processor 320 obtains a center point of the first spherical object 500 image obtained from the first camera 210 and the second camera 240 in order to calculate the speed of the spherical object 500, After the time, the average time is obtained by measuring the relative position of the spherical object 500 by obtaining the center point of the second image obtained from the first and second cameras 210 and 240. That is, by calculating the moving position of the spherical object 500 per acquisition time of the image passing between the first camera 210 and the second camera 240, the moving speed for each axis is obtained.

The flight information measuring system of the spherical object 500 according to the present invention determines the relative left and right positions of the spherical object 500 in stereo by using the image of the spherical object 500 obtained from the high speed cameras 210 and 240. . Once the position of the left and right spherical objects is confirmed, the absolute coordinates of the spherical object can be converted by inputting characteristic values such as distortion and magnification of the camera into the absolute coordinates (X, Y, Z, Rotation, Translation) of the camera area. Will be. First, the relative position of the spherical object viewed from the camera is obtained as follows.

X1Areaposition = (AbsoluteXPosition-Camera1XArea)

X2Areaposition = (AbsoluteXPosition-Camera2XArea)

Y1Areaposition = (AbsoluteYPosition-Camera1YArea)

Y2Areaposition = (AbsoluteYPosition-Camera2YArea)

Z1Areaposition = (AbsoluteZPosition-Camera1ZArea)

Z2Areaposition = (AbsoluteZPosition-Camera2ZArea)

From here,

X1Areaposition: PIXEL (0,0) position of the area seen by the first camera

X2Areaposition: PIXEL (0,0) position of the area seen by the second camera

Y1Areaposition: PIXEL (0,0) position of the area seen by the first camera

Y2Areaposition: PIXEL (0,0) position of the area seen by the second camera

Z1Areaposition: Bottom position of the area seen by the first camera

Z2Areaposition: Bottom position of the area seen by the second camera

AbsoluteY: Progress Line

AbsoluteX: A line connecting the line with the zero height in the direction of travel

AbsoluteZ: Vertical line in the direction of progress

Camera1XArea: X coordinate converted from absolute coordinates to relative coordinates of the first camera

Camera2XArea: X coordinate that converted absolute coordinates into relative coordinates of second camera

Camera1YArea: Y coordinate converted from absolute coordinates to relative coordinates of first camera

Camera2YArea: Y coordinate converted from absolute coordinates to relative coordinates of second camera

Camera1ZArea: Z coordinate converted from absolute coordinates to relative coordinates of first camera

Camera2ZArea: Z coordinate that converted absolute coordinates to relative coordinates of second camera

to be.

On the other hand, the absolute coordinates of the spherical object 500 obtained by the relative position is obtained as follows.

X1 = X1Areaposition + PixelX1Position / Camera Magnification

X2 = X1Areaposition + PixelX2Position / Camera Magnification

Y1 = Y1Areaposition + PixelY1Position / Camera Magnification

Y2 = Y1Areaposition + PixelY2Position / Camera Magnification

Z1 = Z1Areaposition + CalibrationPixelPosition / Camera Magnification

Z2 = Z2Areaposition + CalibrationPixelPosition / Camera Magnification

From here,

PixelX1Position: PIXEL X position of the first spherical object

PixelX2Position: PIXEL X position of the second spherical object

PixelY1Position: PIXEL Y position of the first spherical object

PixelY2Position: PIXEL Y position of the second spherical object

CalibrationPixelPosition: Sphere height value of stereo image

to be.

As a result, the velocity of the spherical object obtained by the absolute coordinates is obtained as follows.

Vx = (X2-X1) / TimeInterval

Vy = (Y2-Y1) / TimeInterval

Vz = (Z2-Z1) / TimeInterval

Vx, Vy, and Vz obtained in the above process become initial velocity in each direction of the spherical object 500.

The central processor 320 may calculate not only the speed of the spherical object 500 but also the speed of the golf club. The speed of the golf club is obtained through the same process as the speed calculation process of the spherical object 500. . In addition, the golf club and the spherical object calculated by the above process can be distinguished by calculating the shape or size appearing in the image.

The central processor 320 calculates a three-dimensional flight trajectory of the spherical object based on the flight speed and the position information of the spherical object 500 calculated through the above process. Since the initial velocity of Vx, Vy, and Vz can be calculated using the position coordinate after time, the three-dimensional flight trajectory of the spherical object 500 can be calculated by substituting these values into a general aerodynamic formula. Most of the conventional equipment provides only the initial speed, so it is possible to calculate the rotation amount of each axis that is estimated in actual aerodynamic force or to estimate it using the relative angle to the ball of the club. Could not expect a reversal. However, the present invention is provided to accurately grasp the influence of the variable on the spherical object 500 other than the initial speed by calculating the amount of rotation of the spherical object itself.

Next, a method of obtaining the rotation amount of the spherical object 500 in the central processor 320 of the present invention will be described with reference to FIG. 8. 8 is a state diagram illustrating a concept in which the shape of a spherical object 500 including a marker line 510 (eg, an ellipse) according to an embodiment of the present invention rotates based on the X, Y, and Z axes according to a photographing time point. As shown in FIG. 8, three marker lines 510 having intersection points are formed on the surface of the spherical object 500, and the three-dimensional spherical object 500 and the marker line 510 are photographed in a two-dimensional image. The spherical object 500 becomes a circle and the marker line 510 is displayed as an ellipse. When three ellipses are duplicated based on a single point on a circular object displayed in two dimensions, there is a model of ellipses parallel to 60 degrees and 90 degrees, and two overlapping points appear based on this ellipse. Each ellipse has an angle of 60 degrees, and any combination of angles is 60 degrees. If you have two elliptic equations, the other ellipse can be obtained by multiplying the rotation vector. The method of calculating the rotation is to obtain a three-dimensional rotation amount by obtaining a moving path of different points appearing on a sphere using two or more points appearing on different images. In addition, three-dimensional axes of a sphere can be obtained by using ellipses and points of different images, and a three-dimensional rotation amount can be calculated by a model in which three-dimensional axes are continuously converted.

Two intersection points can be found in the elliptic equation, and the displacement amount (X, Y) coordinates of the intersection points are calculated as the respective rotation amounts of the spherical object 500. By converting the two intersections found in each image into quaternions,

w1 = cos (theta / 2)

x1 = ax * sin (theta / 2)

y1 = ay * sin (theta / 2)

z1 = az * sin (theta / 2)

w2 = cos (theta / 2)

x2 = ax * sin (theta / 2)

y2 = ay * sin (theta / 2)

z2 = az * sin (theta / 2)

The two quaternions can be converted into respective rotation amounts.

On the other hand, pitch angle, yaw angle and roll angle are calculated | required from the said quaternary number. That is, the portion where the line of the marker line 510 (the meridian) of the spherical object 500 appears can be converted into an elliptic equation, and two or three such elliptic equations are obtained at each time point. By using each of these elliptic equations, two matching three-dimensional intersections are obtained, and each intersection coordinate can be obtained when the intersection rotates in the sphere. In this case, all 6 points appear and each 3D point coordinate can be obtained by tracking the point based on the rotation angle range of the point in the range that can rotate based on the first point above. Substituting the three-dimensional intersection coordinates into a quaternion can obtain a three-dimensional rotation angle, and the revolutions per minute can be calculated by obtaining the revolutions per minute by applying the exposure time to the rotation angle.

If this is expressed as an expression, it is as follows.

Pitch RPM = X-axis rotation angle * 60 seconds / 360 degrees / TimeInterval

Yaw RPM = Y-axis rotation angle * 60 seconds / 360 degrees / TimeInterval

Roll RPM = Z-axis rotation angle * 60 seconds / 360 degrees / TimeInterval

9 is a block diagram of a system for measuring flight information of a spherical object according to the present invention. As described above, the central processor 320 calculates a flight trajectory through the speed, position, and rotation information of the spherical object 500 obtained in the above process, and calculates the flight trajectory information of the calculated spherical object 500. Provides a hitting point of the spherical object through the display device 400 and the golf course image and the spherical object image are transmitted in real time, and the three-dimensional moving image of the spherical object is output in real time. All of the control proceeds with respect to the computer processing unit 300.

Next, a method of precisely processing image information by initial forward direction prediction using the dual line scan cameras 110 and 114 will be described with reference to FIG. 10. The present invention is configured to measure the initial flight departure speed of the spherical object 500 using the line scan camera 110, and accordingly configured to enable high-speed image processing. However, when an additional line scan camera 110 is included, more accurate flight information measurement is possible. That is, as shown in FIG. 10, the apparatus further includes one line scan camera 114 spaced apart in the substantially traveling direction of the spherical object 500, and scans the geometric positions and scans of both line scan cameras 110 and 114. By using the passing coordinates of the detected spherical object 500 on the line, the initial flight direction of the spherical object 500 can be known on the three-dimensional coordinates. The flight direction is used when the flight information is calculated using a series of still images transmitted from the image acquisition unit 200 in the central processor 320. For example, if the flight direction is detected as shown in FIG. 10, the three-dimensional arrangement position of the first line scan camera 110 and the three-dimensional arrangement position of the second line scan camera 114, and L1 and L2 are described. According to the comparison, the initial traveling direction of the spherical object 500 is determined to the left direction. The result of the direction angle is transmitted to the central processor 320, and the central processor 320 determines the area of the still image transmitted from the image acquisition unit 200 to perform image processing based on the result. . In the case of the above example, the spherical object 500 will be the left region where it is expected to fly. Since the resolutions of the high speed cameras 210 and 240 for image acquisition are generally determined, the accuracy is further improved when the image processing is performed by enlarging only a part of the area where the spherical object 500 is expected to be present. That is, only the left region of the captured still image is enlarged, and the image data is corrected by various known image processing methods, and then the spherical object 500 is detected or the left point is calculated for only the region. It can increase dramatically. On the other hand, if a sudden change of the spherical object 500 is scheduled or expected as needed, it may be set as an option to perform normal image processing without going through the above process.

Next, an operation process of the three-dimensional golf simulation system to which the flight information measuring system of the spherical object 500 according to the above-described embodiment of the present invention is applied will be described. 11 is a flowchart illustrating an operation process of a golf simulation system to which a flight information measuring system of a spherical object is applied according to an embodiment of the present invention. For the sake of understanding, the case of measuring the flight trajectory of the golf ball will be described in detail.

Step S110: First, power is applied to each component of the spherical object flight information measuring system so that when the system is turned on, the line scan camera 110 starts the line scan to detect the presence of an object of about 45 mm. .

Step S120: Line scan of the line scan camera 110 is started to calculate the brightness value of the signal input to the sensor, the number of pixels, and the number of consecutive lines.

Step S130: Line scan of the line scan camera 110 to detect the presence of an object of about 45mm to recognize whether the signal input to the sensor is continuously more than 160DN and 8Pixel or more.

Step S140: The unidirectional velocity of the object is calculated based on the line scan rate based on the number of consecutive lines.

Step S150: If the signal of the line scan camera 110 is an object of a predetermined size, the second trigger signal is emitted and converted into a signal width at which a golf ball can be distributed over the entire screen width based on the point of time when the signal becomes less than 45 mm wide. The trigger signal is output and a third trigger signal equal to the width of the primary signal and the secondary signal period is transmitted to the image acquisition unit 200.

Step S210: The first and second cameras 210 and 240 provided in the image acquisition unit 200 according to the trigger signal of the line scan camera 110 perform high-speed photography of the spherical object according to the signal interval. . The captured image data is converted into digital data through the digital input / output unit 310 and then transmitted to the central processor 320.

Step S320: The central processor 320 analyzes the digital image data transmitted through the digital input / output unit 310. First, the spherical object and the golf club are distinguished, and the speed, position, and rotation amount of the separated spherical object are calculated. do.

Step S330: In addition, the central processor 320 substitutes the three-dimensional velocity and position of the spherical object obtained through the step (S320), the three-dimensional rotation amount information and the initial position information of the spherical object into the aerodynamic equation of the spherical object. The three-dimensional flight trajectory is calculated.

Step S410: The golf course background image according to the flight position of the spherical object is combined through the flight trajectory information of the spherical object calculated by the central processor 320, and the combined spherical object flight image provides a hitting point of the spherical object in real time. Is transmitted to the display device 400 is to output the flying image of the spherical object.

Step S420: The above process is repeated until the golf practitioner finishes golf practice.

Next, Figure 12 shows a pilot installation diagram for the operation test of the flight information measurement system of the spherical object according to the present invention.

The flight information measuring system of a spherical object using a high speed camera according to the present invention obtains the image information of the spherical object, and then analyzes the spherical object to calculate the speed, position and rotation of the spherical object. It is possible to calculate the flight trajectory of the sphere. Although an embodiment of the present invention has described a golf simulation system to which a flight information measuring system of a spherical object is applied, it can be applied to various devices that need to measure the flight speed, position, and rotation amount of a spherical object.

Figure 1a is a perspective view of a conventional simulation system for measuring the golf ball hitting parameters

Figure 1b is a still image when the golf ball overlapping phenomenon by a conventional simulation system

2 is a perspective view of a spherical object flight information measurement system of the present invention

Figure 3 is a perspective view of a spherical object formed with a marker line applied in the present invention

4 is a conceptual diagram of processing a line scan camera trigger signal according to the present invention;

5 is a conceptual diagram showing a single image obtained by the coordinates of the camera during the flight of the flying object according to the present invention in coordinates

6 is a conceptual diagram in which spherical objects appearing in video images captured by two high-speed cameras according to the present invention are moved on the same axis.

7 is a state diagram showing the position of the spherical object in the stereo image obtained by the first camera and the second camera according to the present invention;

8 is a conceptual view showing that the shape of the spherical object including the marker line according to the present invention is rotated based on the x, y, z axis according to the photographing time point.

9 is a block diagram of a system for measuring flight information of a spherical object according to the present invention.

10 is an explanatory view of a flight direction prediction method using a double line scan camera of the present invention

11 is an operation flowchart of a flight information measuring system of a spherical object according to the present invention.

12 is a demonstration installation diagram of a flight information measurement system of a spherical object according to the present invention

** Description of the symbols for the main parts of the drawings **

100: initial speed setting unit 110: line scan camera

140: trigger unit 200: image acquisition unit

210: first camera 220: first light source

230: second light source 240: second camera

300: computer processing unit 310: digital input and output unit

320: central processor 400: display unit

500: spherical object 510: marker line

Claims (6)

In the system for measuring flight information of the spherical object 500, A line scan camera 110 for detecting the presence and the initial speed of the spherical object 500 by detecting the movement of the spherical object 500; By using the linear movement speed of the spherical object 500 detected by the line scan camera 110 to generate a trigger signal variably according to the speed to shoot the flight trajectory image of the spherical object 500 at a constant displacement interval at high speed An image acquisition unit (200) provided with a first camera (210) and a second camera (240) for acquiring a plurality of images of the spherical object (500) in flight; And a computer processor 300 which analyzes the image of the spherical object 500 in flight acquired through the image acquisition unit 200 and calculates the flight position, the flight speed and the rotation amount of the spherical object 500. Flight information measuring system of a sphere 500 characterized in that. The method of claim 1, wherein the measuring system further comprises at least one light source for the first camera 210, the second camera 240 and the line scan camera 110, the first camera 210, The second camera 240, the line scan camera 110 and the light source is a flight information measuring system of the spherical object 500, characterized in that arranged in one structure on the same line. The method of claim 2, wherein the light source is a constant illumination to continuously irradiate light on the flight trajectory of the spherical object, and the first light source unit 220, the second camera 240 for the first camera 210 Including a second light source for the 230, the first camera 210 and the second camera 240 is spaced at the same interval, characterized in that using a stereo technique that the camera interval is affected by the height displacement constant Flight information measuring system of the object (500). The method of claim 1, wherein the computer processing unit 300 A digital input / output unit 310 for converting a plurality of image data of the spherical object 500 transmitted from the image acquisition unit 200 into digital data; Computing the center point of the image image of the spherical object 500 converted to digital data, respectively, and set a plurality of virtual lines connecting the center point of the spherical object image image and the cameras 210 and 240 photographing the spherical object image After that, the virtual intersection point of each virtual line is calculated to determine the instantaneous flight position of the spherical object 500, and the flight of the spherical object 500 using the image acquisition signal period between the identified instantaneous flight positions of the spherical object 500. Flight information measuring system of a spherical object 500, characterized in that comprises; a central processor (320) for calculating the speed. The method of claim 1, wherein at least two distinguishable marker lines 510 are formed on the surface of the spherical object 500, and the computer processing unit 300 is obtained through the image acquisition unit 200. 3D pitch angle, yaw angle and roll angle of the spherical object 500 according to the displacement of the intersection point by analyzing the position of the intersection point between the marker line 510 and each marker line 510 included in the plurality of spherical object 500 images Flight information measuring system of a sphere 500 characterized in that to calculate the. According to claim 1, The flight information measuring system further includes a second line scan camera 114 in the direction of travel of the spherical object 500 with the line scan camera 110, the computer processing unit 300 is The initial flight direction of the spherical object 500 is predicted using the passing coordinates of the spherical object 500 detected by the line scan cameras 110 and 114, and corresponds to the moving direction among the captured images transmitted from the image acquisition unit 200. Flight information measuring system of a sphere 500, characterized in that to calculate the flight position, flight speed and rotation amount by expanding only the area.

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