KR100930528B1 - Measuring device for putter speed and putter including the same and measuring method for putter speed - Google Patents

Abstract

PURPOSE: A putter speed measuring device, a putter comprising the same and a method for measuring putter speed are provided to improve convenience of a golfer by displaying accurately measured putter speed on a display device. CONSTITUTION: An image sensing module(200) comprises an image sensor(210) and a lens module(220). The image sensing module is connected to a displacement estimation module(230). The image sensing module is located toward a floor(B). The image sensing module photographs images of the floor continuously. The displacement estimation module finally estimates displacement according to the movement of the putter by comparing the photographed images. The displacement estimation module transfers the finally estimated displacement to a controller(M). The controller calculates the speed of the putter. A display unit(300) displays the calculated speed of the putter.

Description

PUTTER SPEED MEASUREMENT AND PUTTER AND PUTTER SPEED MEASUREMENT METHOD THEREOF {MEASURING DEVICE FOR PUTTER SPEED AND PUTTER INCLUDING THE SAME AND MEASURING METHOD FOR PUTTER SPEED}

The present invention relates to a putter speed measuring device and a putter and a method for measuring the putter speed, and more particularly, a putter speed measuring device and a putter including the same to measure the swing speed of the putter during golf putting; It relates to a method of measuring the putter speed.

In general, a golf game is played by hitting a golf ball with a golf club such as a driver, iron, and putter from a tee box to a hole cup. When a golf ball is hit by a full swing like a driver or an iron club Unlike putting, the golf ball is pushed lightly from the green to the hole cup.

That is, in the case of putting, unlike other golf clubs, the fine speed control of the putter is directly connected to the putting success.

In order to finely adjust the speed of the putter when putting, it is necessary to constantly grasp the speed of the putter and practice continuously.The golfer can improve his putting ability by detecting and displaying the speed of the putter. Many different products related to a putter speed measuring device and a putter having the same have been introduced.

Conventionally, inertial sensors such as acceleration sensors and gyro sensors, or tilt sensors using a flow of fluid against gravity have been used to measure the speed of a putter.

These sensors have the advantage that they can be embedded in the putter and do not require an external reference device.However, by inferring the positional change of the putter indirectly from the physical quantities such as the acceleration of the putter's movement, the angular velocity and the angle to gravity, Since the speed is calculated, accurate putter speed measurement is fundamentally difficult due to error accumulation due to integration or errors in the model used for estimating positional changes from physical quantities.

The present invention measures an accurate putter speed by measuring a change in position according to the movement of the putter by an optical measuring method such as an optical sensor such as an image sensor and / or a photo sensor, thereby estimating displacement and calculating the speed of the putter therefrom. The present invention provides a putter speed measuring device and a putter and a putter speed measuring method including the same, to improve the golfer's convenience by displaying the same through a display device.

An apparatus for measuring a putter speed according to an embodiment of the present invention includes an image sensing module configured to continuously photograph an image of a bottom surface as a putter moves; A displacement estimation module for estimating the displacement of the putter by comparing the image picked up by the image sensing module; And a controller provided to calculate the speed of the putter according to the value calculated by the displacement estimation module.

Also preferably, the display unit further comprises a display unit for displaying information on the speed of the putter calculated by the controller.

Also preferably, the image sensing module may include a two-dimensional image sensor and a lens module configured to form an image on the two-dimensional image sensor by light reflected from the bottom surface.

Also preferably, the image sensing module may include a one-dimensional image sensor and a lens module configured to form an image on the one-dimensional image sensor by light reflected from the bottom surface.

On the other hand, the apparatus for measuring the putter speed according to another embodiment of the present invention, the first photosensor for generating a predetermined signal according to the amount of light reflected from the bottom surface as the putter moves, and the predetermined distance from the first photosensor A photo sensing module including a second photo sensor spaced apart; A displacement estimation module for estimating the displacement of the putter by comparing the signals generated by the first photosensor and the second photosensor, respectively; And a controller provided to calculate the speed of the putter according to the value calculated by the displacement estimation module.

In addition, the apparatus for measuring the putter speed according to another embodiment of the present invention, the image sensing module for continuously photographing the image of the bottom surface as the putter moves; A first displacement estimation module for estimating the displacement of the putter by comparing the image picked up by the image sensing module; A photo sensing module including a first photosensor for generating a predetermined signal according to the amount of light reflected from the bottom surface as the putter moves, and a second photosensor spaced apart from the first photosensor by a predetermined distance; A second displacement estimation module for comparing the signals generated by the first photosensor and the second photosensor, respectively, and estimating the displacement of the putter; And a controller configured to calculate a speed of the putter by a fusion algorithm by applying weights to the values calculated by the first displacement estimation module and the second displacement estimation module, respectively.

Also preferably, the display unit further comprises a display unit for displaying information on the speed of the putter calculated by the controller.

On the other hand, the putter according to an embodiment of the present invention, the shaft and the putter head; An image sensing module mounted on one of an inner space and an outer space of the shaft or the putter head to continuously photograph an image of the bottom surface as the putter moves; A displacement estimation module for estimating the displacement of the putter by comparing the image picked up by the image sensing module; A control unit provided to calculate the speed of the putter according to the value calculated by the displacement estimation module; And a display unit mounted on one of the shaft and the putter head and displaying information on the speed of the putter calculated by the controller.

On the other hand, the putter according to another embodiment of the present invention, the shaft and the putter head; A first photosensor mounted at one of the inner space and the outside of the shaft or the putter head toward the bottom to generate a predetermined signal according to the amount of light reflected from the bottom; and a predetermined distance from the first photosensor A photo sensing module including a second photo sensor spaced apart; A displacement estimation module for estimating the displacement of the putter by comparing the signals generated by the first photosensor and the second photosensor, respectively; A control unit provided to calculate the speed of the putter according to the value calculated by the displacement estimation module; And a display unit mounted on one of the shaft and the putter head and displaying information on the speed of the putter calculated by the controller.

On the other hand, the putter according to another embodiment of the present invention, the shaft and the putter head; An image sensing module mounted on one of the inner space and the outer space of the shaft or the putter head to continuously photograph an image of the bottom surface as the putter moves; A first displacement estimation module for estimating the displacement of the putter by comparing the image picked up by the image sensing module; A first photosensor mounted at one of the inner space and the outside of the shaft or the putter head toward the bottom to generate a predetermined signal according to the amount of light reflected from the bottom; and a predetermined distance from the first photosensor A photo sensing module including a second photo sensor spaced apart; A second displacement estimation module for comparing the signals generated by the first photosensor and the second photosensor, respectively, and estimating the displacement of the putter; A control unit configured to calculate a speed of the putter by a fusion algorithm by applying weights to the values calculated by the first displacement estimation module and the second displacement estimation module, respectively; And a display unit mounted on one of the shaft and the putter head and displaying information on the speed of the putter calculated by the controller.

On the other hand, the method for measuring the putter speed according to an embodiment of the present invention, the step of continuously imaging the image of the bottom surface by the image sensing module as the putter moves; Estimating the displacement of the putter by the displacement estimation module by comparing the captured images; And calculating a speed of the putter according to the displacement estimated by the displacement estimation module.

Also preferably, the displacement estimating may include comparing each of the corresponding sub-images of the image captured at time t2 with respect to the plurality of divided sub-images of the image captured at time t1, and an error value according to the difference of each sub-image. And estimating the displacement of the subimage corresponding to the minimum value among the error values of each subimage as a displacement for the movement of the image from time t1 to time t2.

On the other hand, the method for measuring the putter speed according to another embodiment of the present invention, the first photo sensor and the second photo sensor is spaced apart from the first photo sensor by a predetermined interval as the putter moves to the amount of light reflected from the bottom surface, respectively Generating a predetermined signal accordingly; Estimating the displacement of the putter by the displacement estimation module by comparing signals generated by the first photosensor and the second photosensor, respectively; And calculating a speed of the putter according to the displacement estimated by the displacement estimation module.

Also preferably, the displacement estimating may include calculating an error value according to a difference between a signal generated by the first photosensor and a signal generated by the second photosensor, and allowing the error value to be a minimum value. Determining the displacement of the case as the estimated displacement.

On the other hand, according to another embodiment of the present invention, a method for measuring a putter speed includes: continuously photographing an image of a bottom surface by an image sensing module as the putter moves; Estimating the displacement of the putter by a first displacement estimation module by comparing the captured images; Generating a predetermined signal according to the amount of light reflected from the bottom surface of the first photosensor and the second photosensor spaced apart from the first photosensor by a predetermined distance as the putter moves; Estimating the displacement of the putter by a second displacement estimation module by comparing signals generated by the first photosensor and the second photosensor, respectively; And calculating a velocity of the putter by a fusion algorithm by applying weights to the values calculated in the first displacement estimation module and the second displacement estimation module, respectively.

Also preferably, the method may further include displaying information on the calculated speed of the putter on the display unit.

The apparatus for measuring the putter speed according to the present invention, and the method for measuring the putter and the putter speed having the same, estimates displacement by measuring a change in position according to the movement of the putter by an optical measuring method using an optical sensor such as an image sensor and / or a photo sensor. And by calculating the speed of the putter from this it is possible to measure the accurate putter speed and to display it on the display device has the effect of improving the comfort of the golfer.

An embodiment of an apparatus for measuring a putter speed according to the present invention, an embodiment of a putter and a method for measuring the putter speed thereof will be described in more detail with reference to the accompanying drawings.

First, a putter equipped with a putter speed measuring device according to some embodiments of the present invention will be described with reference to FIGS. 1 to 4. 1 to 4 are diagrams showing the concept of a putter having a putter speed measuring apparatus according to each embodiment of the present invention.

As shown in FIG. 1, the putter 100 including the apparatus for measuring the putter speed according to the exemplary embodiment of the present invention includes a shaft 110 and a putter head 120 and is provided in the shaft 110. It may be configured to include an image sensing module 200 mounted in the hole 111 and the display unit 300 provided on the shaft 110.

The display unit 300 is not necessarily provided on the shaft 110, but may be provided at an upper end of the putter head 120.

The image sensing module 200 includes an image sensor 210 and a lens module 220. The image sensing module 200 is an image of the bottom surface B, that is, light reflected from the bottom surface B. It is provided to pick up the image of the bottom surface B from the.

The image sensor 210 may be implemented as a solid state image sensor such as a CMOS or a CCD, or may be implemented as a one-dimensional image sensor or a two-dimensional image sensor.

The lens module 220 is a module including at least one lens (Lens) or a combination thereof that refracts the light traveling from the bottom surface B to form an image on the image sensor 210.

Therefore, when the putter 100 is moved, the image sensing module 200 continuously captures an image of the bottom surface B and estimates the displacement from the difference of the continuous image frames to display on the display unit 300. The speed of is to be measured.

However, as illustrated in FIG. 1, the image sensing module 200 may not necessarily be provided in the hole 111 inside the shaft 110.

2 illustrates a case in which the image sensing module 200 is mounted outside the shaft 110 of the putter. 2 except for the installation position of the image sensing module 200 is substantially the same as the embodiment shown in FIG.

As shown in FIG. 2, the image sensing module 200 which is external to the shaft 110 is provided to face downward and is configured to capture an image of the bottom surface B. FIG.

In FIG. 2, the image sensing module 200 is installed on the shaft 110 to face the bottom surface B and is installed on either side of the shaft 110. It can be determined in various ways.

For example, as shown in FIG. 2, the image sensing module 200 may be installed to face the bottom surface B toward the front of the putter head 120, and the image sensing module 200 and the bottom surface B may be interposed between the putter head (B). 120 is installed so as not to block. If the putter head 120 blocks the bottom surface B from the position where the image sensing module 200 is installed, a hole having a predetermined size is drilled into the putter head 120 and the bottom surface B through the hole. It is also possible to make this image pick up.

3 and 4 illustrate a case in which the image sensing module 200 is mounted on the putter head 120.

1 and 2, the image sensing module 200 may be mounted inside or outside the shaft 110 to secure a distance from the bottom surface B to the image sensing module 200. Even if the image sensing module 200 is mounted on the putter head 120, a sufficient focal length can be secured from the installation position of the image sensing module 200 or the shape of the putter head 120. It is possible to.

In the embodiment shown in FIG. 3, the image sensing module 200 is mounted to face down in the space 121 provided inside the putter head 120. Except for the installation position of the image sensing module 200, the matters related to the remaining parts are the same as those of the embodiment shown in FIG.

In order to maintain the focal length of the image sensing module 200, the ceiling portion of the space portion 121 of the putter head 120 may be provided to be spaced apart from the lower end of the putter head 120 by a predetermined distance.

4 illustrates a case in which the image sensing module 200 is fixed to the outside of the putter head 120 and mounted downward. In order to maintain the focal distance between the image sensing module 200 and the bottom surface B, the shape of the putter head 120 may be matched thereto, or the image sensing module 200 and the bottom surface B may be formed by using a predetermined support member. The distance between them can be maintained properly.

On the other hand, with reference to Figure 5 will be described the configuration of the putter speed measurement apparatus of the putter according to the embodiment shown in Figs.

The image sensing module 200 including the image sensor 210 and the lens module 220 is connected to the displacement estimation module 230.

1 to 4, the image sensing module 200 facing the bottom surface B continuously photographs the image of the bottom surface B, and the displacement estimation module 230 captures the captured image. Comparing the images and finally estimating the displacement according to the movement of the putter to the control unit (M) to calculate the speed of the putter to be displayed on the display unit 300.

Here, a process of estimating the displacement from the image frame photographed when the image sensor 210 of the image sensing module 200 illustrated in FIG. 5 is a two-dimensional image sensor will be described with reference to FIG. 6.

FIG. 6 is an image captured when time t is t1 and t2, respectively. FIGS. 6A to 6E illustrate a plurality of sub-images of a captured image. The images are shown at the time t1 for each sub-image on the left and the images at the time t2 (where t2> t1) for each sub-image on the right.

Displacement estimation using the image sensing module of the putter speed measuring apparatus according to an embodiment of the present invention basically corresponds to each of the corresponding sub-images of the image captured at time t2 with respect to the plurality of divided sub-images of the image captured at time t1. The error value is calculated according to the difference of each sub-image, and the displacement of the sub-image corresponding to the minimum value among the error values of each sub-image is estimated as the displacement of the image movement from time t1 to time t2. .

In order to explain the process of estimating the displacement according to the change of the sub-image shown in FIG. 6, the size of the entire image acquired by the image sensor is X pixels horizontally and Y pixels vertically, and the pixels in the image are (x, y). Where x is 0 to X-1 and y to 0 to Y-1.

As shown in FIG. 6, an image difference between each subimage when t = t1 and each subimage when t = t2 is calculated. If the error value calculated by the difference between the two images is represented by E (x, y), E (0,0) for FIG. 6 (a), E (-1,0), ( In the case of c), E (1,0), (d), E (0, -1), and (e), E (0,1).

That is, E (0,0) means that there is no relative displacement between subimages, and E (1,0) means that the relative displacement between subimages has moved 1 pixel in the x direction.

The displacement corresponding to the minimum value among the error values for the cases of (a) to (e) of FIG. 6 is determined as the displacement between two image frames.

For example, when the error value shown in (c) of each of the error values for (a) to (e) of FIG. It is assumed to be one.

More generally, Fn is called a function of the image at time n, and Fn (x, y) is called the pixel value at the (x, y) position of the image, where x = 0, 1, 2 .. When X-1, y = 0, 1, 2 ... Y-1, the error value E (p, q) for the difference between two images can be defined by the following equation.

Where D is a positive integer and p and q represent the amounts of movement in the x and y directions, respectively,-D? P? D and-D? Q? E (p, q) is obtained for various (p, q) cases and the displacement between image frames is determined from the minimum value. In other words, the displacement estimate (p, q) is given by the following equation.

According to the definition of the formula, in the case of (a) to (e) of FIG. 6, D = 1 and (p, q) ∈ {(0,0), (0,1), (0, -1), ( 1,0), (-1,0)}.

7 is an image photographed when the image sensor 210 of the image sensing module 200 illustrated in FIG. 5 is the one-dimensional image sensor, when the time t is t1 and t2, respectively. (A) to (c) of FIG. 7 respectively show a plurality of divided sub-images of the captured image, the image at time t1 for each sub-image on the left side, and the sub-image for each sub-image. The images at time t2 (where t2> t1) are shown on the right.

The size of the image acquired by the one-dimensional image sensor may be defined as having a horizontal X pixel and a vertical 1 pixel, pixels in the image are indexed by x, and x has a value of 0 to X-1.

Similar to calculating the error value between the images picked up by the two-dimensional image sensor described above, the error value E (x) according to the image difference between each sub-image shown in FIG. 7 is calculated.

7 (a), E (0), (b), E (-1), and (c) calculate E (1), respectively, and calculate the displacement corresponding to the minimum of these values. It is estimated by the displacement moved between time t1 and t2.

More generally, we define Fn as a function of the image at time n, Fn (x) as the pixel value at the x position of the image, and x = 0, 1, 2 ... X-1. If defined, the error value can be obtained by the following equation.

Where D is a positive integer and p represents the amount of movement in the x direction, where-D? For various p cases, E (p) is obtained and the value of p in case of having the minimum value is determined as the final displacement. That is, the displacement estimate p is given by the following equation.

According to the definition of the formula, (a) to (c) of FIG. 7 is a case where D = 1, and p ∈ {-1,0,1}.

On the other hand, Figure 8 shows a putter having a putter speed measuring apparatus according to another embodiment of the present invention.

8 illustrates a case of estimating displacement using a photo sensing module including two photo sensors 240 and 250.

The photo sensors 240 and 250 are preferably provided as a 1-pixel optical sensor such as a phototransistor as a sensor for thrusting an analog signal proportional to the amount of light emitted from a surface thereof. That is, in FIG. 8, the two photo sensors 240 and 250 are installed to face the bottom surface B so as to generate a specific signal according to the amount of light reflected from the bottom surface B, and thereby the movement of the putter. Displacement estimation is done.

The output of the first photosensor 240 at time t is called f ₁ (t) and the output of the second photosensor 250 is called f ₂ (t). S (x), the output of each of the first photosensor 240 and the second photosensor 250 is as follows.

f ₁ (t) = k * s (v * t)

f ₂ (t) = k * s (v * t + d)

Where k is a constant, v is the speed of the putter, and d is the distance between the two photosensors. At this time, the difference between the two signals can be defined as follows.

Where τ represents the relative time delay of the two signals and T represents the length of the temporal interval for comparing the differences.

If the surface reflectance function s (x) is constant or not periodic and sufficiently random, E (τ) has a minimum when v * τ = d. D = v * τ can be determined from τ when E (τ) is the minimum value.

On the other hand, the apparatus for measuring the putter speed according to another embodiment of the present invention and a putter having the same may be provided with an image sensing module and a photo sensing module at the same time.

In particular, when the image sensor of the image sensing module is a one-dimensional image sensor and the photo sensing module includes two photo sensors, the method using the image sensing module and the method using the photo sensing module are complementary as shown in FIG. 9. It can be seen that.

In FIG. 9, the horizontal axis represents the x-axis representing the direction in which the putter moves, the vertical axis represents the time axis, and the comb is an image of the floor seen by the one-dimensional sensor.

If the speed of the putter is zero, the comb teeth are vertical. The faster the putter, the more the incline is in the horizontal direction.

In FIG. 9, the two rectangles drawn horizontally represent an image captured by the one-dimensional image sensor at two time points t = n and t = n + 1.

On the other hand, the two vertically drawn rectangles represent the temporal change of the brightness signal obtained from two photosensors at two positions x1 and x2.

Both methods have a common point in that the relative movement of one-dimensional signals is determined through pattern comparison.

The difference between the two methods is that one-dimensional image sensor observes spatial movement and two photoelectric sensors use temporal movement.

In both methods, the two one-dimensional signals to be compared must have a part in common.

However, as illustrated in FIG. 9, as the speed of the putter becomes smaller, the comb teeth become vertical, so that the common portion L1 becomes larger when using a one-dimensional image sensor and the common portion L2 becomes smaller when using two photosensors. Lose.

On the other hand, as the speed of the putter increases, the comb teeth become horizontal and the common part L1 becomes smaller when using the one-dimensional image sensor, and the common part L2 becomes larger when the two photosensors are used.

Considering the extreme case, when the speed is 0, when the two photosensors are used, the common part L2 disappears and thus the speed cannot be estimated.

On the other hand, if the speed is above a certain level, the common part (L1) is missing when the one-dimensional image sensor is used, so the speed cannot be estimated.

Even if the speed is not extreme, it is advantageous to use the 1D image sensor when the speed is slow, and when the speed is high, it is advantageous to use two photosensors.

Accordingly, as shown in FIG. 10, the first displacement estimation module 230 using the image sensing module 200 and the second displacement using the photo sensing module (the first photosensor 240 and the second photosensor 250). The estimation module 260 estimates displacements, respectively, and the controller M applies weights to the displacements estimated by the first displacement estimation module 230 and the displacements estimated by the second displacement estimation module 260, respectively. It is possible to calculate the speed so that it is displayed on the display unit 300.

As described above, an example of calculating a putter speed by applying weights to displacements estimated by each method using both methods is as follows.

V = (A * V _A + B * V _B ) / (A + B)

Where V _A is an estimate of the first displacement estimation module 230, V _B is an estimate of the second displacement estimation module 260, and A and B are weights for each estimate.

These weights can be adjusted when the minimum difference value (E) calculated when estimating the speed in each module is small and large so as to reflect the reliability of the estimation value by each module. It can be determined empirically, for example, based on statistically obtained data, or based on data from simulation results.

1 to 4 are diagrams showing the concept of a putter having a putter speed measuring apparatus according to each embodiment of the present invention.

5 is a block diagram illustrating a control system of a putter speed measuring device provided in the putter according to the embodiment shown in FIGS. 1 to 4.

6 is a view for explaining an example of a displacement estimation method when the image sensor of the image sensing module of the putter speed measuring apparatus according to an embodiment of the present invention is a two-dimensional image sensor.

7 is a view for explaining an example of a displacement estimation method when the image sensor of the image sensing module of the putter speed measuring apparatus according to another embodiment of the present invention is a one-dimensional image sensor.

8 is a diagram schematically illustrating a case in which a photo sensing module is applied to an apparatus for measuring the putter speed of a putter according to another embodiment of the present invention.

9 is a diagram illustrating a graph comparing a displacement estimation method using a one-dimensional image sensor and a displacement estimation method using two photo sensors.

FIG. 10 is a block diagram illustrating a control system of a putter speed measuring apparatus to which a displacement estimation method using a one-dimensional image sensor and a displacement estimation method using two photo sensors are simultaneously applied.

Claims (16)

In a putter speed measuring device mounted on a putter shaft or putter head, An image sensing module configured to continuously photograph an image of the bottom surface as the putter moves; A displacement estimation module for estimating the displacement of the putter by comparing the image picked up by the image sensing module; And A control unit provided to calculate the speed of the putter according to the value calculated by the displacement estimation module; Putter speed measuring device comprising a. The method of claim 1, And a display unit for displaying information on the speed of the putter calculated by the control unit. The image sensing module of claim 1, wherein the image sensing module comprises: Two-dimensional image sensor, And a lens module for forming an image on the two-dimensional image sensor by the light reflected from the bottom surface. The image sensing module of claim 1, wherein the image sensing module comprises: One-dimensional image sensor, And a lens module for forming an image on the one-dimensional image sensor by light reflected from a bottom surface. delete In a putter speed measuring device mounted on a putter shaft or putter head, An image sensing module configured to continuously photograph an image of the bottom surface as the putter moves; A first displacement estimation module for estimating the displacement of the putter by comparing the image picked up by the image sensing module; A photo sensing module including a first photosensor for generating a predetermined signal according to the amount of light reflected from the bottom surface as the putter moves, and a second photosensor spaced apart from the first photosensor by a predetermined distance; A second displacement estimation module for comparing the signals generated by the first photosensor and the second photosensor, respectively, and estimating the displacement of the putter; And A control unit configured to calculate a speed of the putter by a fusion algorithm by applying weights to the values calculated by the first displacement estimation module and the second displacement estimation module, respectively; Putter speed measuring device comprising a. The method of claim 6, And a display unit for displaying information on the speed of the putter calculated by the control unit. Shaft and putter head; An image sensing module mounted on one of an inner space and an outer space of the shaft or the putter head to continuously photograph an image of the bottom surface as the putter moves; A displacement estimation module for estimating the displacement of the putter by comparing the image picked up by the image sensing module; A control unit provided to calculate the speed of the putter according to the value calculated by the displacement estimation module; And A display unit mounted on one of the shaft and the putter head and displaying information on the speed of the putter calculated by the controller; Putter containing. Shaft and putter head; A first photosensor mounted at one of the inner space and the outside of the shaft or the putter head toward the bottom to generate a predetermined signal according to the amount of light reflected from the bottom; and a predetermined distance from the first photosensor A photo sensing module including a second photo sensor spaced apart; A displacement estimation module for estimating the displacement of the putter by comparing the signals generated by the first photosensor and the second photosensor, respectively; A control unit provided to calculate the speed of the putter according to the value calculated by the displacement estimation module; And A display unit mounted on one of the shaft and the putter head and displaying information on the speed of the putter calculated by the controller; Putter containing. Shaft and putter head; An image sensing module mounted on one of an inner space and an outer space of the shaft or the putter head to continuously photograph an image of the bottom surface as the putter moves; A first displacement estimation module for estimating the displacement of the putter by comparing the image picked up by the image sensing module; A first photosensor mounted at one of the inner space and the outside of the shaft or the putter head toward the bottom to generate a predetermined signal according to the amount of light reflected from the bottom; and a predetermined distance from the first photosensor A photo sensing module including a second photo sensor spaced apart; A second displacement estimation module for comparing the signals generated by the first photosensor and the second photosensor, respectively, and estimating the displacement of the putter; A control unit configured to calculate a speed of the putter by a fusion algorithm by applying weights to the values calculated by the first displacement estimation module and the second displacement estimation module, respectively; And A display unit mounted on one of the shaft and the putter head and displaying information on the speed of the putter calculated by the controller; Putter containing. In the putter speed measurement method of the putter speed measuring device mounted on the putter shaft or putter head, comprising an image sensing module and a displacement estimation module, Continuously imaging an image of a bottom surface by the image sensing module as the putter moves; Comparing the picked-up images and estimating the displacement of the putter by the displacement estimation module; And Calculating a speed of the putter according to the displacement estimated by the displacement estimation module; Putter speed measurement method comprising a. The method of claim 11, wherein the displacement estimation step, Comparing each of the corresponding sub-images of the image captured at time t2 with respect to the plurality of divided sub-images of the image captured at time t1, and calculating an error value according to the difference of each sub-image; And estimating the displacement of the sub-image corresponding to the minimum value among the error values of each sub-image as the displacement for the movement of the image from the time t1 to the time t2. delete delete A method of measuring the putter speed of a putter speed measuring device mounted on a putter shaft or putter head and including an image sensing module, a first displacement estimation module, a first photosensor and a second photosensor, and a second displacement estimation module. To Continuously imaging an image of a bottom surface by the image sensing module as the putter moves; Comparing the picked-up images and estimating the displacement of the putter by the first displacement estimation module; Generating a predetermined signal according to the amount of light reflected from a bottom surface of the first photosensor and the second photosensor spaced apart from the first photosensor by a predetermined distance as the putter moves; Estimating a displacement of the putter by the second displacement estimation module by comparing signals generated by the first photosensor and the second photosensor, respectively; And Calculating a speed of the putter by a fusion algorithm by applying weights to the values calculated in the first displacement estimation module and the second displacement estimation module, respectively; Putter speed measurement method comprising a. The method according to any one of claims 11, 12 and 15, The method according to claim 1, further comprising the step of displaying the information on the calculated speed of the putter.

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