KR102582362B1 - floor golf simulation system using two cameras - Google Patents

Abstract

The present invention relates to a floor-type golf simulation system using two cameras, which analyzes images captured by first and second cameras arranged vertically up and down to confirm the flight of the reference point (tee) ball into the air. First step, a second step of obtaining first and second direction vectors toward the ball from the first and second cameras through images captured and input by the first and second cameras, the first and second direction vectors obtained in the second step, Steps 2 and 3 to obtain the relative coordinates of the ball with the first camera as the zero point by triangulating with a constant value including the second direction vector and the position information and viewpoint angles of the first and second cameras. The fourth step of storing the array of relative coordinates of the ball obtained by repeatedly executing it, the fifth step, first and second steps of calculating the relative direction vector and speed of the ball using the three-dimensional coordinates of the ball stored in the fourth step. A sixth step of estimating the direction of movement of the club by analyzing the video image captured by the camera, a seventh step of simulating sidespin based on the difference between the direction of movement of the club and the azimuth of the ball and preset data, the ball It consists of an eighth step of simulating backspin based on the launch angle and preset data, and a ninth step of calculating ball trajectory data based on the backspin, sidespin, azimuth angle, and launch angle of the flying ball.

Description

Floor golf simulation system using two cameras}

The present invention relates to a floor-type golf simulation system using two cameras. More specifically, the direction vector of the two cameras facing the ball, the position of the camera, and the gaze direction constant value are used to obtain the relative coordinates of the ball and determine the direction of the ball. floor using two cameras that can increase the accuracy of golf ball trajectory data calculated with information including the direction of the ball by estimating the direction of the ball and correcting the direction of the ball according to the change in direction of the camera centered on the Z axis. It is about a type golf simulation system.

Recently, there has been active development of various devices that allow users to enjoy popular sports games such as baseball, soccer, basketball, and golf in the form of interactive sports games through simulation indoors or in specific locations. I'm losing.

In particular, the so-called screen golf system has recently emerged, and when a user holds a golf club and makes a golf swing and hits the ball placed on the hitting mat, a sensor detects this, extracts the physical characteristics of the moving golf ball, and based on this, creates a virtual golf ball. Technology is being developed that allows users to enjoy golf in virtual reality by simulating the trajectory of the ball on a golf course.

In order to enable simulation of sports using balls such as golf balls in such interactive sports games, research and development on various sensing systems to accurately detect physical information about the movement of the moving ball is very actively underway. .
As a result, a number of patent applications in the relevant technology field have been filed and already disclosed, among which is Patent No. 10-1963090 (registration notice dated March 27, 2019) titled 'Virtual Complex Play Method Using Simulated Golf Clubs' The 'golf simulation device', as described in claim 1, includes a screen that displays a virtual golf course and a virtual golf ball; And a control unit that calculates the movement of the virtual golf ball in the virtual golf course; A complex play method is provided so that the user can play in any one of the first and second play modes, In the first play mode, the user hits an actual golf ball placed on the hitting plate, the control unit calculates the movement of the virtual golf ball based on the result of hitting the actual golf ball, and the second play mode In this mode, the user swings only the golf club without hitting the actual golf ball, and the control unit calculates the movement of the virtual golf ball based on the result of swinging the golf club.
In addition, in Patent No. 10-1048089 (registration notice issued on July 8, 2011), 'Virtual golf simulation device and sensing device and sensing method used therefor', as described in claims 1, 10, and 13, the sensing device is , A sensing device used in a virtual golf simulation device, comprising: at least one sensor unit that continuously acquires images of a certain shooting range where a hit is made; A grabber that obtains and stores the image from the sensor unit; A shot detector that receives and processes the image transmitted from the grabber to detect whether the shot is ready and whether a hit has been made by the user; and an image processing unit that extracts physical characteristic information of the moving ball by processing the image when a hit is detected by the shot detector,
The simulation device includes a camera unit that continuously acquires images of a certain shooting range in which a strike is made; and a grabber that obtains and stores images from the camera unit, a shot detector that receives and processes images transmitted from the grabber to detect whether preparations for hitting are complete and whether a hit has been made by the user, and the shot detector When a hit is detected, a sensing device including a sensing processing unit including an image processing unit that extracts physical characteristic information of the moving ball by processing the image, and the trajectory of the ball according to the information extracted from the sensing processing unit. It consists of an image implementation unit that implements a simulation image for
The sensing method for virtual golf simulation includes the steps of continuously acquiring images of a certain shooting range where a hit is made; receiving and storing the continuously acquired images; Detecting whether preparation for hitting is complete by receiving the stored image and processing the image; When the preparation for hitting is completed, detecting whether a hitting has been made by the user; and, when the hit is detected, extracting physical characteristic information of the moving ball by processing the image.
In addition, the 'network golf system using a golf ball detection sensor' of Patent No. 10-1729746 (registration notice on April 25, 2017) is a golf ball detection system that detects the position and direction of the golf ball, as described in claim 4. It includes a sensor, calculates the speed according to the position and direction of the golf ball, calculates the distance based on wind direction and humidity information, and controls golf practice machines and golf games installed at other golf driving ranges or other batting tables through a network. , a golf practice machine provided indoors; And a golf practice relay server that relays golf practice or a golf game between the golf practice machine and a golf practice machine provided on another golf course or in another batting box, and the golf practice machine detects the position and direction of the golf ball. sensor; Camera for filming golfers; a wind vane to measure wind direction; Hygrometer to measure humidity; Calculate the distance by applying the measured wind direction and humidity information to the position and direction information of the detected golf ball, and control the storage and display of golf game information generated according to the calculated distance and speed information and the detected position and direction information. and a control unit that controls transmission of the golf game information, wherein the control unit includes a speed calculation unit that calculates speed based on position information of the detected golf ball. A direction calculation unit that calculates the position and direction information detected by the golf ball sensor as golf ball direction information; a distance calculation unit that calculates the distance by applying wind direction and humidity information to the speed and direction information; It includes an image processing unit that processes images acquired by the camera.

In the prior art, including the above prior art documents, various detection methods such as a detection device using an infrared sensor, a detection device using a laser sensor, a detection device using an acoustic sensor, and a detection device using a camera sensor are appearing. In order to accurately detect the state of a moving ball, research is being actively conducted on a camera sensor type sensing device that acquires and analyzes images of the moving ball.

In addition, the conventional IR sensor golf system uses a halogen bulb as lighting and uses only two IR sensor modules arranged in two rows in front of the ball, that is, in front of the ball facing the screen, so that the ball flies in the air due to a hit. The ball is detected and recognized, but in this case, since the flight of the ball is simply detected twice by two IR sensor modules arranged in two rows, the flight of the ball is not detected continuously and repeatedly, so the flight information of the ball is sent to the club along with the ball's flight information. There is a problem with low accuracy.

In particular, since the resolution of the IR sensor module is low, there is a problem in that information about the direction of movement of the club or ball, speed of the ball, rotation, etc. based on the information detected by the IR sensor module also has low accuracy.

The present invention, which aims to solve the problems of the prior art as described above, is a floor-type golf simulation using two cameras that can increase the accuracy of the golf ball trajectory data calculated with information including this by increasing the accuracy of the direction of movement of the ball. The purpose is to provide a system.

The purpose of the present invention as described above is to analyze the images captured by the first and second cameras arranged vertically up and down, and confirm the flight of the reference point (tee) ball into the air; A second step of obtaining first and second direction vectors pointing toward the ball from the first and second cameras through images captured and input by the first and second cameras; A third step to obtain the relative coordinates of the ball with the first camera as the zero point by triangulating with the first and second direction vectors obtained in the second step and constant values including the position information and viewpoint angles of the first and second cameras. step; a fourth step of storing an array of relative coordinates of the ball obtained by repeatedly executing the second and third steps; A fifth step of calculating the relative moving direction vector and speed of the ball using the three-dimensional coordinates of the ball stored in the fourth step; A sixth step of estimating the direction of movement of the club by analyzing video images captured by the first and second cameras; A seventh step of simulating side spin based on the difference between the moving direction of the club and the azimuth of the ball and preset data; An eighth step of simulating backspin based on the launch angle of the ball and preset data; and a ninth step of calculating trajectory data of the ball based on the backspin, sidespin, azimuth, and launch angle of the flying ball. This is achieved by a floor-type golf simulation method using two cameras.

According to one aspect of the present invention, the fifth step further includes the step of correcting the direction of the ball by inputting an angle constant value according to the rotation about the Z axis of the first and second cameras. It is characterized by

According to another aspect of the present invention, the position information of the first and second cameras arranged vertically up and down before the first step and the viewpoint angles of the first and second cameras looking at the ball at the reference point are set to constant values. It is characterized in that it further includes the step of:

In addition, another object of the present invention is to analyze the images captured by the first and second cameras input through the image input unit, and confirm the flight of the reference point (tee) ball into the air; a direction vector calculation unit that obtains first and second direction vectors pointing toward the ball from the first and second cameras through images of the first and second cameras input through the image input unit; The relative coordinates of the ball with the first camera as the zero point are obtained by triangulating with the first and second direction vectors obtained from the direction vector calculation unit and constant values including the position information and viewpoint angles of the first and second cameras. Relative coordinate calculation unit; a relative coordinate array storage unit that repeatedly obtains first and second direction vectors by the direction vector calculation unit and relative coordinates by the relative coordinate calculation unit and stores an array of relative coordinates of the ball; a flight information calculation unit that calculates the relative heading vector and speed of the ball using the three-dimensional coordinates of the ball stored in the relative coordinate array storage unit; a moving direction detection unit that detects the moving direction of the club by analyzing video images captured by the first and second cameras; A side spin simulation unit that simulates side spin based on the difference between the direction of movement of the club and the azimuth angle of the ball and preset data; a backspin simulation unit that simulates backspin based on the launch angle of the ball and preset data; and a golf ball trajectory data calculation unit that calculates ball trajectory data based on the backspin, side spin, azimuth, and launch angle of the flying ball. This is achieved by a floor-type golf simulation system using two cameras.

According to one aspect of the present invention, the first and second cameras are arranged vertically up and down and have the same X and Y coordinates.

According to another aspect of the present invention, the flight information calculation unit further includes a correction unit for correcting the direction of the ball by inputting an angle constant value according to rotation about the Z axis of the first and second cameras. It is characterized by

According to another aspect of the present invention, the position information of the first and second cameras and the first and second camera position information that set the viewpoint angles of the first and second cameras looking at the ball of the reference point to constant values. It is characterized in that it further includes an input unit.

According to the present invention, the direction vector of two cameras facing the ball, the position of the camera, and the gaze direction constant value are used to calculate the relative coordinates of the ball to estimate the direction of the ball, depending on the change in the direction of the camera centered on the Z-axis. By correcting the direction of movement of the ball, there is an effect of increasing the accuracy of golf ball trajectory data calculated with information including the direction of movement of the ball.

Figure 1a is a configuration diagram of a floor-type golf simulation system using two cameras according to an embodiment of the present invention.
FIG. 1B is a diagram showing the installation state of the camera and lighting module disclosed in FIG. 1A.
FIG. 2 is a detailed configuration diagram of the golf ball trajectory simulation unit disclosed in FIG. 1A.
FIG. 3 is a flowchart showing a golf ball trajectory simulation process on a golf virtual course by the floor-type golf simulation system using two cameras disclosed in FIG. 1A.

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

FIG. 1A is a configuration diagram of a floor-type golf simulation system using two cameras according to an embodiment of the present invention, and FIG. 1B is a diagram showing the installation state of the camera and lighting module disclosed in FIG. 1A.

According to FIGS. 1A and 1B, the floor-type golf simulation system using two cameras according to an embodiment of the present invention is a high-resolution camera arranged vertically up and down to capture the starting position of the ball and the golf ball flying due to hitting. 1, second cameras 110 and 120, by analyzing images of golf clubs and balls captured by the first and second cameras 110 and 120, the ball for simulation of golf in a virtual golf course is determined. A golf ball trajectory simulation unit 200 that calculates trajectory data, a project drive control unit 400 that controls the operation of a project to display the virtual golf course and the trajectory of the ball, and a screen that displays the virtual golf course and the movement of the golf ball. (500) and a first, It consists of a second camera location information input unit 600.

The position coordinates of the first and second cameras 110 and 120 mentioned above are the position coordinates of the first camera 110, that is, the X, Y Z coordinates are 0, 0, 0, and the first camera 110 An example is that the relative coordinates of the second camera 120, that is, the X, Y, and Z coordinates, are set to 0, 0, and N. The viewpoint angle, which will be explained below, is a value based on the direction of progress of the ball.

Additionally, the first and second cameras 110 and 120 are arranged vertically up and down, and the line of sight of the first and second cameras 110 and 120 intersect. The lighting module 4 is composed of one module together with the first and second cameras 110 and 120. The kiosk 3 including the golf ball trajectory simulation unit 400 is disposed close to the golf mat 2.

FIG. 2 is a detailed configuration diagram of the golf ball trajectory simulation unit 200 disclosed in FIG. 1A.

According to FIG. 2, the golf ball trajectory simulation unit 200 disclosed in FIG. 1A analyzes images captured by the first and second cameras 110 and 120 input through the image input unit 210, and determines a reference point. (tee) A hitting confirmation unit 220 that confirms the flight of the ball into the air, and images from the first and second cameras 110 and 120 input through the image input unit 210. In (110) (120), the direction vector calculation unit 230 obtains the first and second direction vectors toward the ball, the first and second direction vectors obtained by the direction vector calculation unit 230, and the first and second cameras 110 ) by the relative coordinate calculation unit 240 and the direction vector calculation unit 230 to obtain the relative coordinates of the ball with the first camera 110 as the zero point by triangulating with a constant value including the position information and viewpoint angle of (120). In the relative coordinate array storage unit 250, which repeatedly obtains the first and second direction vectors and the relative coordinates by the relative coordinate calculation unit 240 and stores the array of the relative coordinates of the ball, the relative coordinate array storage unit 250 By analyzing the video images captured by the flight information calculation unit 260 and the first and second cameras 110 and 120 to obtain the relative heading vector and speed of the ball using the stored 3D coordinates of the ball, the club's A moving direction detection unit 270 that detects the moving direction, a side spin simulation unit 280 that simulates side spin based on the difference between the moving direction of the club and the azimuth angle of the ball and preset data, the launch angle of the ball and preset data A backspin simulation unit 290, which simulates backspin based on It is composed.

Here, the first and second cameras 110 and 120 may be arranged vertically up and down and have the same X and Y coordinates.

Above, the flight information calculation unit 260 further includes a correction unit 261 that corrects the direction of the ball by inputting an angle constant value according to the rotation about the Z axis of the first and second cameras 110 and 120. It can be configured as follows.

FIG. 3 is a flowchart showing a simulation process of a golf ball trajectory on a golf virtual course by the floor-type golf simulation system using two cameras disclosed in FIG. 1A.

According to FIG. 3, before executing virtual screen golf, that is, a golf ball trajectory simulation on a golf virtual course, the user places the ball (golf ball) at the starting position (tee) on the golf mat and then moves the first and second golf balls to the starting position (tee). The cameras 110 and 120 are arranged vertically (S1) so that the line of sight of the first and second cameras 110 and 120 intersect.

In addition, by manipulating the first and second camera position information input unit 600, the user can obtain the position information of the first and second cameras 110 and 120 arranged vertically up and down and the first and second cameras looking at the ball at the reference point. 2 Set the viewing angles of the cameras 110 and 120 to constant values (S2).

Next, by analyzing the image input through the image input unit 210 by the hitting confirmation unit 220, when it is confirmed that the user hits the ball at the reference point and flies in the air, the direction vector calculation unit 230 is connected to the image input unit ( First and second direction vectors are obtained through images of the first and second cameras 110 and 120 input through 210 (S3). Here, the first direction vector refers to the direction of movement of the ball as seen from the first camera 110, and the second direction vector refers to the direction of movement of the ball as seen from the second camera 120.

Subsequently, the relative coordinate calculation unit 240 calculates the first and second direction vectors obtained from the direction vector calculation unit 230 and constants such as position information and gaze direction (viewing angle) of the first and second cameras 110 and 120. By triangulating with the value, the relative coordinates of the ball with the first camera 110 as the zero point are obtained (S4), and then the relative coordinate array storage unit 250 repeats the steps S3 and S4 above to obtain a direction vector calculation unit (S4). The first and second direction vectors obtained by 230) and the relative coordinates obtained by the relative coordinate calculation unit 240 are acquired and the relative coordinates are stored in an array (S5).

When the three-dimensional coordinates of the ball are stored in the array by the relative coordinate array storage unit 250 as above, the flight information calculation unit 260 uses the three-dimensional coordinates to obtain the relative heading vector of the ball (S6). At this time, the correction unit 261 in the flight information calculation unit 260 can correct the direction of the ball by inputting an angle constant value according to the rotation around the Z axis of the first and second cameras 110 and 120. .

Next, the moving direction detection unit 270 analyzes the changed image in the frame of the image captured by the first camera 110 and 120 to estimate the moving direction of the club (S7), and then the side spin simulation unit ( 280) simulates the sidespin of the ball based on the club's moving direction, the difference in the ball's azimuth angle, and preset data (S18), and the backspin simulation unit 290 simulates the ball's up/down angle and preset data. Simulate the backspin of the ball (S9).

Then, the golf ball trajectory data calculation unit 300 calculates the ball trajectory data based on the backspin, side spin, azimuth, and launch angle of the ball (S10) and displays it on the screen 500 through the project driving control unit 400. Displays the trajectory of the ball along with the virtual golf course.

In the above, preferred embodiments of the present invention have been shown and described, but the present invention is not limited to the specific embodiments described above, and may be used in the technical field to which the invention pertains without departing from the gist of the present invention as claimed in the claims. Of course, various modifications can be made by those skilled in the art, and these modifications should not be construed as departing from the technical spirit of the present invention.

110, 120: first and second cameras 200: golf ball trajectory simulation unit
210: video input unit 220: hit confirmation unit
230: Direction vector calculation unit 240: Relative coordinate calculation unit
250: relative coordinate array storage unit 260: flight information calculation unit
261: Correction unit 270: Travel direction detection unit
280: Side spin simulation unit 290: Back spin simulation unit
300: Golf ball trajectory data calculation unit 400: Project driving control unit
500: Screen 600: First and second camera location information input unit

Claims (7)

A first step of confirming the flight of the reference point (tee) ball into the air by analyzing images captured by first and second cameras arranged vertically up and down;
A second step of obtaining first and second direction vectors pointing toward the ball from the first and second cameras through images captured and input by the first and second cameras;
A third step to obtain the relative coordinates of the ball with the first camera as the zero point by triangulating with the first and second direction vectors obtained in the second step and constant values including the position information and viewpoint angles of the first and second cameras. step;
a fourth step of storing an array of relative coordinates of the ball obtained by repeatedly executing the second and third steps;
A fifth step of calculating the relative direction vector and speed of the ball using the three-dimensional coordinates of the ball stored in the fourth step;
A sixth step of estimating the direction of movement of the club by analyzing video images captured by the first and second cameras;
A seventh step of simulating side spin based on the difference between the moving direction of the club and the azimuth of the ball and preset data;
An eighth step of simulating backspin based on the launch angle of the ball and preset data; and
Step 9: Calculating ball trajectory data based on the backspin, sidespin, azimuth, and launch angle of the flying ball.
A floor-type golf simulation method using two cameras, consisting of. According to paragraph 1,
The fifth step further includes the step of correcting the direction of the ball by inputting an angle constant value according to the rotation about the Z axis of the first and second cameras. Floor golf simulation method used. According to paragraph 1,
In the first step, the step of setting the position information of the first and second cameras previously arranged vertically and the viewpoint angles of the first and second cameras looking at the ball at the reference point to constant values. A floor golf simulation method using two cameras, characterized in that: A hitting confirmation unit 220 that analyzes the images captured by the first and second cameras 110 and 120 input through the image input unit 210 and confirms the flight of the reference point (tee) ball into the air;
First and second directions toward the ball from the first and second cameras 110 and 120 through the images of the first and second cameras 110 and 120 input through the image input unit 210. A direction vector operation unit 230 that calculates a vector;
The first and second direction vectors obtained from the direction vector calculation unit 230 are triangulated with a constant value including the position information and viewpoint angles of the first and second cameras 110 and 120, and the first camera ( A relative coordinate calculation unit 240 that calculates the relative coordinates of the ball with 110) as the zero point;
A relative coordinate array storage unit 250 that repeatedly obtains the first and second direction vectors by the direction vector calculation unit 230 and the relative coordinates by the relative coordinate calculation unit 240 and stores an array of relative coordinates of the ball. ;
a flight information calculation unit 260 that calculates the relative direction vector and speed of the ball using the three-dimensional coordinates of the ball stored in the relative coordinate array storage unit 250;
a moving direction detection unit 270 that estimates the moving direction of the club by analyzing video images captured by the first and second cameras 110 and 120;
A side spin simulation unit 280 that simulates side spin based on the difference between the moving direction of the club and the azimuth angle of the ball and preset data;
A backspin simulation unit 290 that simulates backspin based on the launch angle of the ball and preset data; and
A golf ball trajectory data calculation unit 300 that calculates ball trajectory data based on the backspin, side spin, azimuth, and launch angle of the flying ball.
A floor golf simulation system using two cameras. According to paragraph 4,
The first and second cameras 110 and 120 are arranged vertically up and down and have the same X and Y coordinates. A floor-type golf simulation system using two cameras. According to paragraph 4,
The flight information calculation unit 260 includes a correction unit 261 that corrects the direction of the ball by inputting an angle constant value according to the rotation around the Z axis of the first and second cameras 110 and 120. A floor-type golf simulation system using two cameras, characterized in that it further includes. According to paragraph 4,
The first and second cameras set the position information of the first and second cameras 110 and 120 and the viewpoint angles of the first and second cameras 110 and 120 looking at the ball at the reference point to constant values. A floor-type golf simulation system using two cameras, characterized in that it further includes a camera position information input unit 600.