KR101156404B1 - System for detecting moving data of moving body - Google Patents

Abstract

The present invention relates to a system for detecting movement information of a moving object moving in a predetermined moving space, the light emitting unit comprising a plurality of light emitting elements for irradiating light toward the moving space; A light receiving unit comprising a plurality of light receiving elements for receiving light emitted from the light emitting unit; An operation unit for sequentially blinking the light emitting elements; Analyzing the flashing state information of the light emitting device flickering by the operating unit and the detection information of the light receiving elements for detecting a change in the light emitted from the light emitting device by the movement of the moving object for a predetermined time of the moving object Since the information is composed of a control unit for calculating the movement information, the shadow information of the moving object detected by the light receiving unit corresponds to a single light emitting element that is light, and accurately detects movement information such as the speed, position, and moving direction of the moving object. In addition, the moving information detection system of the moving object provides an effect of relatively accurately classifying the type of the object moving the moving space.

Sequential flashing, blocking member, opening, moving information

Description

Moving information detection system of moving object {SYSTEM FOR DETECTING MOVING DATA OF MOVING BODY}

The present invention relates to a system for detecting movement information such as a moving speed, a position, and a moving direction of a moving object. More particularly, the present invention relates to flashing state information and a plurality of light receiving elements of a plurality of light emitting elements which are sequentially flashing. The present invention relates to a system capable of detecting movement information of a moving object from shadow information detected by a light receiving unit.

In general, in order to predict the trajectory of the moving object, first, motion information such as the speed and position of the moving object is detected by using an optical sensor installed in a predetermined area. Such a moving object may mean, for example, a golf ball in a golf simulation system that detects a trajectory of a golf ball using light.

In a general golf simulation system, a golf ball hit by a golf club moves in a predetermined space in which a light emitting sensor and a light receiving sensor are installed. While the golf ball moves in a moving space where light is emitted from the light emitting element, the light receiving sensor detects a shadow formed by the golf ball or reflected light reflected from the golf ball. As a result, the light receiving sensor analyzes the movement information such as the moving speed, the position of the golf ball, and detects the movement trajectory of the golf ball based on the movement information.

However, since the conventional golf simulation system has a structure in which a plurality of light emitting parts and a light receiving part are installed in one-to-one correspondence, three points of the light emitting part, the golf ball, and the light receiving part are connected when the golf ball passes through each plane formed by the light emitting part and the light receiving part. Only information about one straight line can be obtained, and it was very limited to obtain accurate position information where the golf ball is located on the straight line. Therefore, in order to improve the accuracy of the movement information of the moving object moving in a certain moving space, the detection efficiency of the light receiving sensor should be improved or the number of installation of the light emitting sensor and the light receiving sensor should be increased. It increased the cost.

In particular, since the conventional golf simulation system could not obtain various information about the golf ball and the golf club before the collision, the moment of collision, and the after collision, it is insufficient to provide a realistic feeling when the golfer swings the golf club. It was. In addition, since the range of the plane formed by the light emitting portion and the light receiving portion is limited, it was not possible to detect a moving state outside the range of the limited angle of right and left and up and down.

In addition, in a space in which a conventional golf simulation system is installed, other lighting equipment is provided in addition to the light emitting portion, so that the light receiving portion is affected by the movement information of the golf ball under the influence of strong illumination of various wavelengths installed in the ceiling or the periphery. It has a problem that the accuracy is poor, such as calculating the error result.

In addition, in order to install the conventional golf simulation system, the installation space of the basic equipment must be secured, so it is a reality that it is very difficult to install outdoors or install mobile.

In addition, the light irradiated from the plurality of light emitting sensors interfere with each other and as a result it acted as a cause of limiting the detection efficiency of the light receiving sensor against the shadow or reflected light of the golf ball.

In addition, since the light emitted from the plurality of light emitting sensors interfere with each other, even if the detection efficiency of the light receiving sensor is improved, the types of objects moving in the moving space cannot be accurately recognized. For example, there are various types of golf clubs such as a driver, a plurality of irons, and wood, but in the conventional golf simulation system, the light receiving sensor could not accurately distinguish these types of golf clubs.

The present invention has been proposed to solve the conventional problems as described above, the light receiving sensor efficiently detects the shadow or reflected light of the moving object by the light emitted from the light emitting sensor to detect the speed, position, direction of travel, etc. An object of the present invention is to provide a system capable of accurately detecting the movement information of.

Another object of the present invention is to provide a moving information detection system of a moving object that can accurately distinguish the types of moving objects in the moving space.

Another object of the present invention is to configure the light-receiving unit in the plane in order to efficiently detect the shadow of the plurality of moving objects by the light emitted from the light emitting sensor before the collision between the speed, position, direction of travel and the object It is possible to obtain various information of moving objects by continuously and accurately detecting the motion information such as the moment of collision and the collision, and the light emitting part and the light receiving part form one closed space, It provides unlimited movement information in all directions of the front, rear, top, bottom, left and right, and minimizes the installation space while minimizing the influence of the strong light of the surroundings. There is a purpose.

In order to achieve the above object, according to the present invention, a system for detecting the movement information of a moving object moving a predetermined moving space and a light emitting unit consisting of a plurality of light emitting elements for irradiating light toward the moving space; A light receiving unit comprising a plurality of light receiving elements for receiving light emitted from the light emitting unit; An operation unit for sequentially blinking the light emitting elements; Analyzing the flashing state information of the light emitting device flickering by the operating unit and the detection information of the light receiving elements for detecting a change in the light emitted from the light emitting device by the movement of the moving object for a predetermined time of the moving object Characterized in that the control section for calculating the movement information.

The predetermined time is adjusted to the number of flashing periods of the light emitting devices or to a point in time at which the light receiving device for detecting a change in light due to the shadow of the moving object is changed.

A plurality of light receiving sensor lines including a plurality of light receiving elements are arranged in the light receiving unit.

A blocking member having an opening corresponding to the light receiving sensor line is formed in front of the light receiving part, and the opening maintains a different opening angle so that the light receiving sensors constituting the light receiving sensor line face the light emitting part.

According to the present invention, the moving information detecting system of the moving object sequentially flashes a plurality of light emitting elements constituting the light emitting unit so that the other light emitting elements are turned off while one light emitting element is on, and thus the moving object detected by the light receiving unit. The pictograph information of the corresponds to a single light emitting device, which provides an effect of accurately detecting movement information such as speed, position, and moving direction of a moving object.

In addition, according to the present invention, the movement information detection system of the moving object exhibits the effect of relatively accurately distinguishing the type of the object moving the moving space.

Hereinafter, with reference to the accompanying drawings will be described a preferred embodiment of a moving information detection system of a moving object according to the present invention.

1 to 3 are schematic diagrams of a moving information detection system of a moving object according to the present invention. FIG. 1 is an explanatory diagram illustrating a method of detecting a position of a moving object, and FIG. 2 is a flashing period in a light emitting unit. Is a description of a case in which a moving trajectory of a moving object is accurately obtained by keeping a short time, and FIG. 3 is an explanatory diagram for classifying types of moving objects, and FIG. 4 is a diagram illustrating a moving information detecting system of a moving object It is a cross section.

In the present specification, the term 'sequentially blinking' refers to, for example, a light emitting unit in which a set of four light emitting elements A1, A2, A3, and A4 are arranged in order, and the light emitting elements are in the order thereof. It may mean flashing as it is, but it is not limited thereto and may also mean randomly selecting the order of blinking. The term 'moving' may mean moving a certain object at a predetermined height from the ground, but may not be limited thereto and may mean moving on the ground.

According to the present invention, a system for detecting movement information of a moving object moving a predetermined moving space includes a light emitting unit (100) consisting of a plurality of light emitting elements (110, 120) for irradiating light toward the moving space; , A light receiving unit 200 including a plurality of light receiving elements receiving light emitted from the light emitting unit 100, an operation unit 300 which sequentially flashes the light emitting elements 110 and 120, and an operation unit 300. The moving information of the moving object is analyzed by analyzing the blinking state information of the light emitting devices 110 and 120 flickering by the detection information of the light receiving elements for detecting the change of light emitted from the light emitting device by the movement of the moving object. It consists of a control unit 400 for calculating the.

First, the light emitting unit 100 and the light receiving unit 200 are spaced at predetermined intervals, and the space between the light emitting unit 100 and the light receiving unit 200 is limited to a moving space in which the moving object moves. The light emitter 100 and the light receiver 200 are positioned to face each other with the moving space therebetween.

Although a plurality of light emitting devices may be installed in the light emitting unit 100, only two light emitting devices 110 and 120 are shown in the drawings for convenience of description. The light emitting devices 110 and 120 irradiate light toward the light receiving unit 200 across the moving space.

In this case, the light emitting devices 110 and 120 are sequentially blinked by the operation unit 300, and as a result, the light emitted from each light emitting device is interrupted. However, it is preferable to keep the light irradiated from the light emitting unit 100 to be continuous without being interrupted. For example, while one light emitting device is turned on by the operation unit 300, the other light emitting devices are turned off, and this flashing operation is sequentially performed. As a result, the light irradiated from the light emitting unit 100 is not interrupted to maintain a continuous state. In addition, the light emitting unit 100 transmits information on the flashing state of the light emitting devices 110 and 120 to the control unit described below.

The operation unit 300 may include circuit components (not shown) constituting a sequential flashing circuit or drive components (not shown) for opening and closing the front surface of the light emitting devices 110 and 120 by mechanical operation. Can be. That is, the operation unit 300 may be formed of components that can individually control the light emitted from the light emitting device. In order to obtain relatively accurate movement information about the moving object, the operation unit 300 preferably maintains the flashing period of the light emitting devices 110 and 120 as short as possible. For example, the blink cycle can be maintained at about 10 ~ 100㎲. The flashing period may serve as a reference of a time point for detecting the position of the moving object in the moving space as described below. Here, one flashing cycle means when all the light emitting elements constituting one set are blinking.

The light receiving unit 200 is provided with a plurality of light receiving elements. Preferably, the light receiving unit 200 has a structure in which a plurality of light receiving elements constitute one light receiving sensor line 210, and a plurality of such light receiving sensor lines 210 are arranged. This means that the light receiving elements constituting the light receiving unit 200 are arranged in a plane. In this case, when a specific light receiving element detects a change in the light emitted from the light emitting elements 110 and 120 of the light emitting unit 100 by moving the moving space, the light receiving unit 200 of the light receiving elements The sensing information is transmitted to the control unit 400 described below.

On the other hand, in order to prevent the external light irradiated from the light emitting elements other than the light emitting elements 110, 120, such as natural light, lighting, etc. to the light receiving element of the light receiving unit 200, the light receiving sensor in front of the light receiving unit 200. A blocking member 500 having an opening 510 corresponding to the line 210 may be provided. The opening 510 may have a predetermined width to prevent the external light from being irradiated onto the light receiving element of the light receiving unit 200.

In the blocking member 500, the opening 510 may be formed to distinguish a plurality of rows of the light receiving sensor line 210. This is to expose the light receiving sensor line 210 through the opening. In particular, the openings 510 preferably maintain different opening angles so that the light receiving elements are directed toward the light emitting elements of the light emitting portion 100 through them. That is, as shown in Fig. 4, when the light emitting element is provided in close proximity to the ground, in the blocking member 500, the opening located at the lowermost portion is kept substantially parallel to the ground, but at the top The opening located has the largest angle of inclination with respect to the ground.

The controller 400 moves the moving space based on the blinking state information of the light emitting devices 110 and 120 provided from the light emitting unit 100 and the sensing information of the light receiving elements provided from the light receiving unit 200 as described above. Movement information such as a moving speed, a position, and a moving direction of the moving object is calculated.

On the other hand, the control unit 400 may be stored in advance to the data for sorting the type of the moving object to move the moving space for each type. When the shadow information of the moving object detected by the light receiving element is provided to the controller 400, the controller 400 compares the shadow information with the data to determine the type of the moving object.

Hereinafter, an embodiment of a movement information detection system for a moving object according to the present invention will be described.

First, in the drawings, the spatial coordinates of (X, Y, Z) are introduced to calculate moving information such as moving direction, moving speed and position of the moving object for convenience of description. In this case, the distance between the light receiving unit 200 and the light emitting unit 100, in particular, the distance between the light receiving unit 200 and the light emitting devices 110 and 120 has a fixed value. In the light emitting unit 100, the distance between the light emitting devices 110 and 120 also has a fixed value.

The light emitting devices 110 and 120 of the light emitting unit 100 emit light toward the light receiving unit 200. As described above, the light emitting elements 110 and 120 are sequentially flashed by the operation unit 300, but the light from the light emitting unit 100 is continuously irradiated toward the light receiving unit 200. When the object does not move through the space between the light emitter 100 and the light receiver 200, the illuminance of light irradiated toward the light receivers of the light receiver 200 does not change.

Meanwhile, in the following description, the time interval Δt between the first time point t1 and the second time point t2 may be adjusted to a physical value, for example, 10 ms or 50 ms, but is not limited thereto. It can adjust according to the number of flashing cycles in a light emitting part. For example, the time interval Δt may be adjusted to three or five flashing cycles. Preferably, the time interval Δt between the first time point t1 and the second time point t2 may have changed the detection state of the light receiving element for detecting a change in light caused by the shadow of the moving object moving in the moving space. You can also adjust the view point.

[First Embodiment]

The first embodiment describes the principle of detecting the position information of a moving object according to the present invention with reference to FIG.

When the moving object reaches the first point A1 at the first time point t1, the second light emitting device 120 is turned off and the first light emitting device 110 is turned on. The shadow is detected by the first light receiving element a1 of the first light receiving sensor line 212. At this time, the control unit 400 is based on the flashing state information of the light emitting elements provided from each of the light emitting unit 100 and the light receiving unit 200 and the detection information of the light receiving element, the first light receiving element a1 and the first light emitting element 110. ), The first virtual line la1 connecting the virtual lines is selected.

In addition, when the first light emitting device 110 is turned off and the second light emitting device 120 is turned on, the shadow of the moving object is transmitted to the second light receiving device a2 of the first light receiving sensor line 212. Is detected. In this case, the control unit 400 is based on the flashing state information of the light emitting elements provided from each of the light emitting unit 100 and the light receiving unit 200 and the detection information of the light receiving elements (a2) and the second light emitting element ( The second virtual line la2 that virtually connects 120 is selected.

Since the first virtual line 1a1 and the second virtual line 1a2 intersect at the first point A1, the intersection point may be represented as (x1, y, z) in spatial coordinates, and thus, the control unit 400 Is to accurately calculate the position of the moving object at the first time point t1.

That is, A1 = (x1, y, z, t1).

On the other hand, when a predetermined time elapses from the first time point t1 and the moving object reaches the second point A2 at the second time point t2, the second light emitting device 120 is turned off and the first light emitting device 120 is turned off. In the state in which the device 110 is turned on, the shadow by the moving object is detected by the third light receiving element a3 of the first light receiving sensor line 212. At this time, the control unit 400 is based on the flashing state information of the light emitting elements provided from each of the light emitting unit 100 and the light receiving unit 200 and the detection information of the light receiving element third light receiving element a3 and the first light emitting element 110. ), The third virtual line la3 connecting the virtual lines is selected.

In addition, when the first light emitting device 110 is turned off and the second light emitting device 120 is turned on, the shadow of the moving object is transmitted to the fourth light receiving device a4 of the first light receiving sensor line 212. Is detected. In this case, the control unit 400 is based on the flashing state information of the light emitting elements provided from each of the light emitting unit 100 and the light receiving unit 200 and the detection information of the light receiving elements (the fourth light receiving element a4 and the second light emitting element ( The fourth virtual line la4 connecting the 120 virtually is selected.

Since the third virtual line 1a3 and the fourth virtual line 1a4 intersect at the second point A2, the intersection point may be represented as (x2, y, z) on the spatial coordinates, and thus, the controller 400 Is precisely calculating the position of the moving object at the second time point t2.

That is, A2 = (x2, y, z, t2).

The virtual lines as described above can be selected and the intersection of the selected virtual lines can be calculated because the moving speed of the light is too fast compared to the moving speed of the moving object. That is, when the flashing period of the light emitting devices is maintained in units of tens of hundreds to hundreds of microwatts, the flashing state of each of the first light emitting device 110 and the second light emitting device 120 is changed as well as during several flashing cycles. This is because the moving object shows a result of being almost in place.

In addition, the controller 400 may calculate the speed of the moving object from the distance (Δr = A2-A1) at which the moving object moves during the above-described time interval Δt.

That is, ν = Δr / Δt

As a result, it can be seen that the moving object is moving at a speed of v in the moving space.

[Second Embodiment]

The second embodiment will be described with reference to FIG. 2 in the case of accurately detecting the trajectory of the moving object in the moving space when the flashing period in the light emitting unit is kept relatively short.

When the second light emitting device 120 is turned off and the first light emitting device 110 is turned on, when the moving object reaches the first point B1 at the first time point t1, The shadow is detected by the first light receiving element b1 of the first light receiving sensor line 212. At this time, the control unit 400 is based on the flashing state information of the light emitting elements provided from each of the light emitting unit 100 and the light receiving unit 200 and the detection information of the light receiving elements, the first light receiving element b1 and the first light emitting element 110. ), The first virtual line lb1 connecting the virtual lines is selected.

In addition, when the first light emitting device 110 is turned off and the second light emitting device 120 is turned on, the shadow of the moving object is transmitted to the second light receiving device b2 of the first light receiving sensor line 212. Is detected. In this case, the control unit 400 is based on the flashing state information of the light emitting elements provided from each of the light emitting unit 100 and the light receiving unit 200 and the sensing information of the light receiving elements (the second light receiving element b2 and the second light emitting element ( The second virtual line lb2 connecting the 120 may be selected.

As a result, the first virtual line 1b1 and the second virtual line 1b2 intersect at the first point B1, and the intersection point may be represented as (x1, y1, z1) on the spatial coordinates. 400 accurately calculates the position of the moving object at the first time point t1.

That is, B1 = (x1, y1, z1, t1).

In addition, at the second point B2, the controller 400 selects the third virtual line lb3 that virtually connects the third light receiving element b3 and the first light emitting element 110 and receives the fourth light receiving element. A fourth virtual line lb4 that virtually connects the device b4 and the second light emitting device 120 is selected. As a result, the controller 400 calculates the intersection points x2, y2, and z2 of the third virtual line 1b3 and the fourth virtual line 1b4 as positions of the moving objects.

At this time, between the first point B1 and the second point B2, if the flashing period in the light emitting unit 100 is kept relatively short, the control unit 400 during the flashing period in the light emitting unit 100 By storing and collecting the position information of the moving object which is detected every moment by the light emitted from the light emitting element which is turned on, the virtual orbit which is close to the actual trajectory of the moving object is predicted.

[Third Embodiment]

The third embodiment exemplifies that the type can be distinguished when the non-spherical moving object moves in the moving space with reference to FIG.

For example, when the moving object has a conical structure as shown in the drawing and the bottom surface is directed toward the second light emitting device 120 at the beginning of entry into the moving space, the light irradiated from the first light emitting device 110. A triangular shadow is formed on the light receiving unit 200 by the circular shape, whereas a circular shadow is formed on the light receiving unit 200 by the light emitted from the second light emitting device 120. In this case, the controller 400 recognizes that the moving object has a conical structure by comparing the shadow information provided from the light receiving unit 200 with previously stored data.

The foregoing merely illustrates preferred embodiments of the invention and those skilled in the art to which the invention pertains may make modifications and changes to the invention without departing from the spirit and subject matter of the invention contained in the claims of the invention. Can be.

1 is an explanatory diagram illustrating a principle of detecting a position of a moving object in a moving information detection system of a moving object according to the present invention;

2 is an explanatory diagram for explaining a principle of detecting a moving trajectory of a moving object in the moving information detection system of the moving object according to the present invention;

3 is an explanatory diagram for sorting types of moving objects in a moving information detection system for moving objects according to the present invention;

4 is a cross-sectional view of a moving information detection system of a moving object according to an embodiment of the present invention.

Description of the Related Art

100: light emitting unit

110, 120: light emitting element

200: light receiver

210, 212, 214: Light receiving sensor line

300: operating part

400: control unit

500: blocking member

510 opening

Claims (6)

In the system for detecting the movement information of a moving object moving a predetermined moving space, A light emitting unit (100) consisting of a plurality of light emitting elements (110, 120) for irradiating light toward the moving space; A light receiving unit 200 including a plurality of light receiving elements for receiving light emitted from the light emitting unit 100; An operation unit 300 which sequentially flashes the light emitting elements 110 and 120; Detects a change in light emitted from the light emitting devices 110 and 120 by the flashing state information of the light emitting devices 110 and 120 flashing by the operation unit 300 and the movement of the moving object for a predetermined time. The control unit 400 receives the sensing information of the light receiving elements, and analyzes the intersection of the virtual lines connecting the light emitting element that is lit and the light receiving element that senses the change of light to calculate the movement information of the moving object. Moving information detection system of a moving object, characterized in that consisting of. The method of claim 1, The predetermined time is a movement information detection system of a moving object, characterized in that the predetermined number of flashing cycles of the light emitting elements (110, 120). The method of claim 1, And the predetermined time is selected as a point in time at which a detection state of a light receiving element for detecting a change in light due to a shadow of a moving object moving through the moving space is changed. The method according to any one of claims 1 to 3, The light receiving unit (200) is a movement information detection system of a moving object, characterized in that a plurality of light receiving sensor lines 210 consisting of a plurality of light receiving elements are arranged. 5. The method of claim 4, And a blocking member (500) having an opening (510) corresponding to the light receiving sensor line (210) is provided in front of the light receiving unit (200). The method of claim 5, The opening (510) is a movement information detection system of a moving object, characterized in that for maintaining the different opening angle so that the light receiving sensors constituting the light receiving sensor line (210) toward the light emitting unit (100).

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