KR101070378B1 - Apparatus and method for measuring initial position and velocity of a object which moves on plane - Google Patents

Abstract

The present invention relates to an apparatus and method for measuring dynamic information of an object, and more particularly, to an apparatus and method for measuring an initial position and velocity of an object moving on a plane.

An apparatus for measuring initial position and speed of an object moving on a plane according to the present invention includes a first measuring unit, a second measuring unit, and a calculating unit. The first measuring unit includes a first sensor string including a plurality of light receiving sensors arranged to obtain position information of a stationary object on a plane, and a first light source that emits light to the light receiving sensors of the first sensor string. The second measuring unit measures position information at least two viewpoints of the object moving on the plane. The calculating unit calculates the initial position and velocity of the object from the time and position information obtained by the first measuring unit and the second measuring unit.

2D motion, sensor train, initial position, speed, light receiving sensor,

Description

Apparatus and method for measuring the initial position and velocity of a moving object on a plane {APPARATUS AND METHOD FOR MEASURING INITIAL POSITION AND VELOCITY OF A OBJECT WHICH MOVES ON PLANE}

The present invention relates to an apparatus and method for measuring dynamic information of an object, and more particularly, to an apparatus and method for measuring an initial position and velocity of an object moving on a plane.

In the present specification, as an application of the present invention, an apparatus and a method for measuring an initial position and a velocity of a gate ball and a golf ball moving in a plane are provided, but are not limited thereto. The apparatus and method according to the invention can be used to measure the initial position and velocity of all objects moving in two dimensions on a plane.

Recently, a golf simulation system has been developed and commercialized by combining computer graphics technology and technology for measuring the speed of a golf ball to play golf without actually going to the golf course. A golf simulation system, commonly called 'screen golf', measures dynamic data (kinetic data) on the golf ball's speed and flight angle in a certain space adjacent to the golf ball, and calculates the flight trajectory of the golf ball. It is expected to output a three-dimensional image on the screen installed in front of the turn at bat, recently gaining a great popularity in Korea.

The most important technical element of this golf simulation system is to accurately measure the dynamic information of the golf ball. Many patent applications and registrations have been made regarding the device and method for measuring the dynamic information of the three-dimensional motion of the golf ball. An apparatus and method for measuring dynamic information of an exercise are disclosed in Korean Patent No. 10-0761789 (name of the invention: a sensing device for a golf putting simulator and a golf putting simulator using the device).

1 is a view for explaining the principle of the Korean patent. The sensing device for a golf putting simulator is composed of at least two light emitting devices 1, 2, at least two reflecting devices 3, 4, and at least two light receiving devices 5, 6. The two light emitting devices 1 and 2 emit light in parallel, and the two light reflecting devices 3 and 4 respectively reflect the light rays so that the two light receiving devices 5 and 6 receive the light rays, respectively.

As for the direction measurement method, the time interval between the golf ball 7 passing the first light beam and the second light beam toward the reflective mirrors 3 and 4 by using the on / off signals of the light receiving devices 5 and 6 is measured. This is called t ₁ , and the time between the time when the golf ball 7 passes the first light beam toward the reflection mirror 3 from the time when the light is reflected by the reflection mirror 3 and passes to the light receiving device 5. Measure the interval and call it t ₂ . Based on this definition, the golf ball is settled at a fixed fixed point and the golf ball is rolled by angle to obtain the correlation equation between t ₂ / t ₁ and the moving angle. In actual play, t ₂ / t ₁ is measured and substituted into the correlation equation previously obtained to determine the moving angle to measure the direction of putting.

The advancing speed of the golf ball is obtained by multiplying the distances of the two light emitting devices 1 and 2 measured in advance by the tangent of the golf ball's moving angle and dividing the measured t ₁ .

However, the conventional golf putting simulation sensing device has the following problems.

First, even during play, there is a problem that the initial position of the ball must be fixed and used at the initial position, which is the basis of the correlation equation, obtained in advance. This may cause errors because it is difficult to position the ball exactly at the reference point during the actual play, and it is also cumbersome for the user to always hit the same position.

Second, if a ball having a larger diameter than the golf ball is used, if the size of the golf simulation system is maintained, the range of the direction angle at which valid data can be generated is greatly limited. 2) It is difficult to broadly apply to objects of various sizes because the space between them and the size of the system are limited.

The present invention is to improve the problems of the golf putting simulation sensing device as described above. It is an object of the present invention to provide an apparatus and method for automatically detecting the initial position of an object moving on a plane and simply measuring the direction and speed of the ball without error.

An apparatus for measuring initial position and speed of an object moving on a plane according to the present invention includes a first measuring unit, a second measuring unit, and a calculating unit. The first measuring unit includes a first sensor string including a plurality of light receiving sensors arranged to obtain position information of a stationary object on a plane, and a first light source that emits light to the light receiving sensors of the first sensor string. The second measuring unit measures position information at least two viewpoints of the object moving on the plane. The calculating unit calculates the initial position and velocity of the object from the time and position information obtained by the first measuring unit and the second measuring unit.

In addition, in the initial position and velocity measuring device of the object moving on the plane, the second measuring unit is a light receiving sensor for receiving the light beam from the second light source and the second light source formed at a predetermined distance from the plane. Preferably includes at least two second sensor arrays arranged.

In addition, in the initial position and velocity measuring device of the object moving on the plane, the light receiving sensor that does not receive the light emitted from the second light source by the object when the object passes over the second sensor train at least It is preferable to set the interval between the light receiving sensors of the second sensor string so that there are two.

An initial position and velocity measuring method of an object moving on a plane according to the present invention includes a first measurement including a first sensor array in which a plurality of light receiving sensors are arranged and a first light source that emits light to the light receiving sensors of the first sensor array. The first measurement unit comprises a second measuring unit for measuring position information at at least two viewpoints of an object moving on a plane and a plane, and an arithmetic unit which performs calculations from information obtained by the first measuring unit and the second measuring unit. A method of measuring an initial position and a velocity of an object moving along the plane from an arbitrary position in a part and passing through the second measuring part, the stop formed in the first sensor string using information measured by the first measuring part. Obtaining a first linear equation passing through the center point of the shadow of the object and the first light source, the two positions at different points of time measured by the second measuring unit Obtaining a second linear equation of a straight line passing through two points corresponding to the two position coordinates and a moving direction and a speed of the object by using a table and time information, wherein the first linear equation and the second linear equation Obtaining the intersection point, characterized in that it comprises the step of obtaining the initial position of the object.

According to the present invention, there is provided a method and apparatus that can easily and accurately measure the initial position and velocity of an object moving on a plane. In particular, according to the present invention, since the initial position of the object can be known by the information obtained after the movement, it provides a basis for easily measuring the speed without the task of accurately positioning the object.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

To help understand, describe an object moving on a plane as a ball shaped like a sphere. However, the apparatus and method according to the invention can be used to measure the initial position and velocity of all objects moving in two dimensions on a plane.

FIG. 2 is a schematic diagram of an apparatus for measuring initial position and velocity of an object moving on a plane according to the present invention, and FIG. 3 is a schematic diagram showing an embodiment shown in FIG. 2 on a coordinate plane.

Referring to FIG. 2, the first measuring unit 10 includes a first light source 11 and a first sensor string 12. The first light source 11 emits light in a direction in which the ball 40 is initially positioned, and receives the light of the first light source 11 opposite to the first light source 11 with respect to the ball 40. The first sensor train 12 is installed in the plane. The first sensor string 12 includes a plurality of light receiving sensors arranged at regular intervals in a direction parallel to the plane so as to obtain shadow information generated by the stationary ball 40 blocking the light emitted from the first light source 11. It consists of (13).

The second measuring unit 20 is located in a path along which the ball 40 moves, and when the moving ball 40 passes through the second measuring unit 20, the second measuring unit 20 is positioned at the position coordinates of the ball 40 at at least two viewpoints. Measure information. Various sensors may be considered according to the position sensing method of the second measuring unit 20. For example, a pressure sensor may be used to measure the position coordinates of the point where the pressure of the ball is measured, a moving image of the ball may be taken to measure the position of the ball by image processing, or an optical sensor such as an infrared sensor. A sensor can also be used to measure the position coordinates of the point where the ball passes by a change in the on / off signal. Hereinafter, the configuration of the second measuring unit 20 using the optical sensor will be described.

When the second measuring unit 20 is configured using the light receiving sensors 24 and 25 as shown in FIG. 2, the second light source 21 should be further included. In this case, the second measuring unit 20 includes the second light source 21 and the second sensor strings 22 and 23 arranged to be spaced apart at regular intervals from the second light source 21 and the light receiving sensors 24 and 25. do. The ball passing through the second measuring unit 20 passes through each of the second sensor lines 22 and 23, thereby extracting location information at each point in time.

In the second sensor strings 22 and 23, the light receiving sensors 24 and 25 are spaced at regular intervals and arranged in a line as shown in FIGS. 2 and 3. When the ball is positioned on the second sensor strings 22 and 23, an off signal is generated by the light receiving sensors 24 and 25 positioned below the ball by a shadow formed by covering a light beam emitted from the second light source 21. Since the center point of the ball is located on the second sensor strings 22 and 23 when the off signal is generated to the maximum number of light receiving sensors 24 and 25, the ball 40 is displayed through the information at that time. We can get the center point coordinate of. In addition, the interval between the light receiving sensors 24 and 25 may be considered in various ways, but the smaller the interval, the more accurate position information may be obtained as the off signal is generated in many light receiving sensors. It is preferable to set the interval so that at least two light receiving sensors 24 and 25 generate an off signal when passing over the 22 and 23.

The first measuring unit 10 and the second measuring unit 20 measures the coordinate information of the stopped ball and the moving ball as described above, and the information is transmitted to the operation unit 30. The calculation unit 30 performs the following calculation based on the measured coordinate information.

4 is a flowchart illustrating a method of obtaining an initial position and a velocity of an object moving on a plane, and FIG. 5 is a schematic diagram of a method of measuring the center point coordinates of the ball 40 passing through the second sensor lines 22 and 23. to be. FIG. 5 (a) is a diagram showing a passing state with time as the ball passes through the second sensor rows 22 and 23, and FIG. 5 (b) shows the number of off-light receiving sensors turned off at each time point. Table.

A method of obtaining an initial position and a velocity of an object moving on a plane will be described with reference to FIGS. 3 to 5. Referring to FIG. 3, initially, the ball 40 positioned in the plane in the first measuring unit 10 moves and passes through the respective second sensor rows 22 and 23 of the second measuring unit 20. . When the ball 40 is stationary, the light beam is emitted from the first light source 11 to form a shadow in the first sensor string 12, and when moved, the ball 40 obscures the light beam emitted from the second light source 21. Shadows are formed in each of the second sensor lines 22 and 23. The shadow information measured by the light receiving sensors 13, 24, and 25 of the first sensor string 12 and each of the second sensor strings 22 and 23 is input to the calculator 30. Then, using the information measured by the first measuring unit 10 to obtain the midpoint of the shadow of the stationary ball 40 formed in the first sensor row 12 and the first linear equation passing through the first light source 11 In step S10, the second linear equation of a straight line passing through two points corresponding to the two position coordinates is obtained by using two position coordinates and time information at different points of time measured by the second measuring unit 20. The operation unit 30 performs a step (S20) of obtaining a moving direction and a speed of the ball 40 and a step (S30) of obtaining an initial position of the ball 40 by obtaining an intersection point of the first linear equation and the second linear equation. Measure the initial position and velocity of the ball moving on the plane.

First, using the information measured by the first measuring unit 10 to obtain the midpoint of the shadow of the stationary ball 40 formed in the first sensor row 12 and the first linear equation passing through the first light source 11 Step S10 will be described. This step (S10) is a step (S11) of obtaining the shadow information from the first sensor string 12, the step of calculating the midpoint coordinates of the shadow (S12) and the first straight line passing through the midpoint of the shadow and the first light source 11 Comprising a step (S13) to find the equation. The first light source 11 emits a light beam toward the stationary ball 40 and thus a shadow of the ball 40 is formed in the first sensor row 12. Coordinate information of both ends P _a and P _b of the shadow may be obtained by the on-off signal of the light receiving sensor 13 attached to the first sensor string 12 (S11), and these two points P _a , The coordinate of the midpoint P ₁ of the shadow can be obtained from P _b ) (S12).

When the coordinate of the shadow midpoint is called P ₁ (x ₁ , y ₁ ) and the coordinate of the first light source 11 is P _m (x _m , y _m ), a straight line connecting the point P ₁ and the point P _m ( The first linear equation of m) can be found as follows (S13).

Next, a step (S20) of obtaining a second linear equation of a straight line passing through these two points and a moving direction and speed of the ball from two position coordinates and time information at different points in time of the moving ball will be described. This step (S20) is a step of receiving the position information of the ball moving from the second measuring unit 20 (S21), calculating the center point coordinates of the moving ball (S22), a second straight line from the center point coordinates at two views Computing the equation (S23), and the step of calculating the movement direction and speed of the ball (S24).

The moving ball 40 passes over the second row of sensors 22 and 23 of the second measuring unit 20, and the light receiving sensor 24 of the portion is formed by the shadow formed at the bottom of the ball 40. (25) is obscured, so that the coordinates of the center point of the ball can be calculated from the hidden light receiving sensor coordinates. Referring to FIG. 5, as time passes from t ₁ to t ₅ , the ball 40 changes the number of off-light receiving sensors to two, four, six, four, and two. It can be seen that the center point of the ball 40 is closest to the second sensor row 22 at the time t ₃ when the number of off-light receiving sensors is the largest. Therefore, when the number of off-light receiving sensors is the largest, the coordinate values of the off-light receiving sensors located at both ends are obtained (S21), and the midpoints of both end points are set as the coordinates of the center point of the ball (S22). The diameter of the ball is determined according to the type of golf ball, gate ball, etc., and the distance of the light receiving sensor is also set so that the maximum light receiving sensor is hidden when the center point of the ball is located on the second sensor rows 22 and 23. The number of can be calculated in advance. However, there is a case where the coordinate of the center point of the ball is directly measured without a separate calculation process (S22), such as a pressure sensor.

The same method to that in each second heat sensor (22, 23), respectively _{P 2 (x 2, y 2} ) for obtaining the center coordinates of the ball (S22) the _{coordinates, P 3 (x 3, y} 3) At this time, the second linear equation passing through points P ₂ and P ₃ and the moving direction and speed of the ball can be calculated as follows (S23, S24).

The second linear equation can be obtained by the following method (S23).

When the center point of the ball (40) to obtain a time difference measured with a timer, the time at which the position in time and P ₃ is located at the P _2, respectively called a Δt, using the coordinates and Δt of the point P ₂ and the point P ₃ The speed v can be obtained as follows (S24).

As shown in FIG. 3, if the direction of movement of the ball 40 is θ based on the y axis as a positive angle (+), the direction angle θ can be obtained by the following equation (S24).

The initial position P ₀ of the ball is determined as a coordinate value obtained by combining <Equation 1> and <Equation 2> (S30).

In the above, the present invention has been described in detail with reference to preferred embodiments, but the present invention is not limited to the above embodiments, and various modifications can be made by those skilled in the art within the technical idea of the present invention. Is obvious.

For example, in the above embodiment, the shape of the first sensor string 12 and the second sensor strings 22 and 23 is illustrated in the form of a straight line, but various modifications may be made to the shape of an arc.

In addition, in the above embodiment, the light receiving sensors of the first sensor string 12 and the second sensor strings 22 and 23 have been described as being spaced apart at regular intervals, but the intervals between the light receiving sensors vary depending on the position. Various settings are possible.

1 is an illustration of a sensing device for a golf putting simulator according to the prior art

2 is a schematic diagram of an apparatus for measuring initial position and velocity of an object moving on a plane according to the present invention;

3 is a schematic view showing the embodiment shown in FIG. 2 on a coordinate plane;

4 is a flowchart illustrating a method for measuring an initial position and a velocity of an object moving on a plane according to the present invention.

FIG. 5 is a schematic diagram of a method for measuring a center point coordinate of an object passing through a second sensor row in a method for measuring an initial position and a velocity of an object moving on a plane according to the present invention; FIG.

<Description of main parts of drawing>

10 ... First measuring unit 11 ... First light source

12 ... First sensor column 20 ... Second measurement unit

21 ... 2nd light source 22,23 ... 2nd sensor train

13, 24, 25 ... Receiving sensor 30 ...

40 ball

Claims (4)

A first measuring unit including a first sensor string including a plurality of light receiving sensors arranged to obtain position information of a stationary object on a plane, and a first light source that emits light to the light receiving sensors of the first sensor string; A second measuring unit measuring position information of at least two viewpoints of an object moving on the plane; Comprising a calculation unit for calculating the initial position and the velocity of the object from the time and position information obtained by the first measuring unit and the second measuring unit, The calculation unit calculates a first linear equation passing through the center of the shadow of the stationary object formed in the first sensor string and the first light source by using the information measured by the first measurement unit, and measured by the second measurement unit. The second linear equations passing through two points corresponding to the two position coordinates and the moving direction and the speed of the object by using two position coordinates and time information at different time points, and the first linear equation and And an initial position of the object by calculating an intersection point of the second linear equation. The method of claim 1, The second measuring unit may include at least two second sensor strings on which a second light source formed at a predetermined distance from the plane and a light receiving sensor receiving light from the second light source are arranged. Device for measuring the initial position and velocity of a moving object. 3. The method of claim 2, Setting an interval between the light receiving sensors of the second sensor row so that at least two light receiving sensors failing to receive the light emitted from the second light source by the object when the object passes through the second sensor row; Apparatus for measuring the initial position and velocity of an object moving on a plane, characterized in that. A first measuring unit including a first sensor array having a plurality of light receiving sensors arranged thereon and a first light source that emits light to the light receiving sensors of the first sensor array, and measuring positional information at at least two viewpoints of an object moving on a plane; And a calculation unit configured to perform calculations from the information obtained by the first measurement unit and the second measurement unit, and move along the plane from an arbitrary position in the first measurement unit. A method of measuring the initial position and velocity of an object passing through it, Obtaining a first linear equation passing through the center of the shadow of the stationary object formed in the first sensor string and the first light source using the information measured by the first measuring unit; A second linear equation passing through two points corresponding to the two position coordinates and a moving direction and speed of the object are obtained by using two position coordinates and time information at different time points measured by the second measuring unit. step; Obtaining an initial position of the object by obtaining an intersection point of the first linear equation and the second linear equation; Initial position and velocity measurement method of the object moving on the plane comprising a.

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