KR20040032159A - opto-electric ball velocity vector sensing and determination of golf simulator parameters - Google Patents

Abstract

PURPOSE: A method for measuring a velocity vector and deciding a golf simulation parameter by a photoelectric method is provided to measure a velocity, a vertical angle, a horizontal angle, and rotation forming an equation for an orbit of a flying ball, and offer a measured result as input data for a simulation parameter. CONSTITUTION: The information for the vertical angle and the velocity is obtained by using a location/time comparing circuit(713) to a signal of a vertical angle detecting circuit(706) and a switching circuit(705) placed on a golf tee. The information for the horizontal angle and the velocity is obtained by using a location/time comparing circuit(712) to a signal of a horizontal angle detecting circuit(704) and the switching circuit placed on the golf tee. The information for the angle and the location of the club at an impact moment is obtained by using the location/time comparing circuit(714) to the signal measured in a club angle detector placed around the golf tee. The signal for the vertical angle, the horizontal angle, the club angle, and an impact location is encoded in an interface circuit(800), and is used as the input for the simulator parameter of a computer(900).

Description

Opto-electric ball velocity vector sensing and determination of golf simulator parameters

The method of tracking the trajectory of a flying ball and obtaining the velocity and velocity vector is obtained by dividing the distance between two hit points by the time passing two points around the hitting point (first position). By making a sound with two locations (ㅁ) and connecting a photo sensor and a light source in a straight line at each location to detect light reflected when the ball passed, the vertical and horizontal angles of the ball were obtained. (Korean Utility Model Registration No. 20-0261712) . It can be detected only when the ball enters the heart, and there is a significant error when the actual green is reached because the concept of spatial vector is not introduced. Hass Group has developed a method for detecting various swing motions and positions using electro-optical sensors, but it is too complex and too expensive to be of practical value (US patent: U.S. Pat. No. 4137566). In order to detect the speed and direction of the ball, a linear array of light detectors was attached to the pads of the sensing system, and when the ball was hit, the angle of the club head was measured to measure the horizontal angle of the ball. It was determined by measuring the position of two points by an optical sensor (US Pat. No.5472205), and a method of determining the speed and angle of the ball with a Doppler microwave tachometer was used (US Pat. No. US Pat. 5700204).

The present invention arranges a light sensor on a horizontal plane and a vertical plane on which the ball is projected to obtain a trajectory of a ball flying through a three-dimensional space, and makes a beam screen by configuring an LED and a cylindrical lens. The intensity and position of the light reflected by the ball passing through the beam screen are measured and the measured values are used to determine the speed, horizontal angle, vertical angle and rotation of the ball's three-dimensional projectile equation.

An object of the present invention is to provide an input data for simulator variables by measuring the speed, horizontal angle, vertical angle and rotation constituting the decoration of the trajectory of the ball flying in the manufacture of a virtual golf simulator.

When the point light source is placed at the focal point of the cylindrical lens, the screen of the beam irradiated to the ball is constructed by using the characteristic of traveling in a straight line at right angles to the direction in which the light travels. When the ball passes through the horizontal and vertical beam screens, it detects the reflected light and provides information about the horizontal and vertical position. By placing a light emitting element (LED) and a detector switch on the golf tee where the ball starts, no signal is generated while the ball is positioned, and a signal for detecting the light reflected by the beam screen and a switching signal generated when the ball starts. You can get speed by dividing the distance between two signals by the time difference of. The angle of the club and the position of the club where the ball is impacted at the moment of hitting the ball by the arrangement of the light emitting element and the sensor at the position of the golf tee provide information about the rotation.

It is an object of the present invention to provide input data for variables of a golf practice simulator device so as to simulate the trajectory of a ball flying with information obtained from a ball flying in real time.

1 is a device diagram for measuring the velocity vector and the horizontal and vertical angle and rotation of the carrying ball.

2 is a ray tracing diagram for making a beam screen of irradiation light using a cylindrical lens;

3 is a ray tracing diagram for making a beam screen of irradiation light using a roll lock lens;

Figure 4 is a picture of the trajectory of the ball flying off the golf tee.

Figure 5 is a golf club hitting angle measuring device.

6 is a block diagram of a signal processor

The equations for ball trajectories are interpreted differently when flying in two-dimensional planes and in three-dimensional space. When flying in a two-dimensional plane, the horizontal angle ( ) Do not need to be considered, but when flying in three-dimensional space, ) And horizontal angle ( Should be taken into account. Initial velocity , Vertical angle ( ), Horizontal angle ( The trajectory equation of the artificial In the plane

(One)

Is given by From here Is the acceleration of gravity.

Vertical plane In the plane, we can derive

(2)

The maximum horizontal distance can be expressed in coordinates

(3)

to be.

1 is a device diagram for measuring the velocity vector and the horizontal and vertical angle and rotation of the flying ball. Golf practice board 100, the second LED transmitter 200, the second LED receiver 300, golf tee 400, the first LED transmitter 500, club angle detector 600, signal processing unit ( 700, the interface 800, and the computer 900. The first LED transmitter and receiver consists of a light emitting diode (LED), a photodide IC detector and a driving circuit, the second LED transmitter and receiver consists of an LED and a driving circuit, and the second LED receiver is a photodiode IC detector and a driving circuit. Configure.

2 is a ray tracing diagram for making a beam screen of irradiation light using a cylindrical lens. LED 201, cylindrical lens 202 and beam screen 202. The light from the focal point passes through the cylindrical lens and then travels in a straight line without spreading, and the shape of the beam forms a straight beam screen perpendicular to the traveling direction. LD may be used instead of the LED in the above configuration, and FIG. 2 is used as the second LED transmitter 200.

FIG. 3 is a ray tracing diagram of a method different from FIG. 2 for making a beam screen of irradiation light using a convex lens. FIG. LED 201, a convex lens 203 and a beam screen 205. The light from the LED located at the focal point is straight without passing through the convex lens, and the beam form is a bundle of beams having a constant volume, and a beam screen is formed in a direction perpendicular to the traveling direction. LD may be used instead of the LED in the above configuration, and FIG. 2 is used as the second LED transmitter 200.

4 is a drawing of the trajectory of the ball 410 flying in the golf tee 400. The vertical support 250 includes a second LED transmitter and a second LED receiver. The ball from the golf tee has a horizontal angle ( ) And vertical angle ( To fly). The vertical angle is measured by the second LED transmitter 200, the second LED receiver 300, and the first LED transmitter 500 positioned on the golf tee 400, and the horizontal angle is golf practice. The second LED transmitter 200, the second LED receiver 300, and the first LED transmitter 500 positioned on the golf tee 400 are horizontally arranged on the board 100.

5 is a golf club hitting angle measuring device diagram. Club angle detection unit 600 is composed of a golf club 601, a golf ball 602, a light emitting diode 603, a photodiode IC detector 604. Arrange the light emitting diodes 603 and the photodiode IC detector 604 alternately and arrange them in a generally rectangular shape to calculate a position detected by the photodiode IC detector 604 the moment the ball on the golf tee 400 is hit. To determine the club position of the impact of the golf club 601 and the ball.

The first transmitter / receiver 500 forms an optocoupler switch using the light emitting diode 603 and the photodiode IC detector 604. When the ball is placed on the golf tee 400, the switch is open so that no current flows. As soon as the ball hits the ball, the switch is closed to form a circuit for the current to flow.

Horizontal angle ( ) Is measured from the second LED transmitter 200, the second LED receiver 300 and the first transmitter / receiver 500 arranged horizontally on the golf practice board 100, and the vertical angle ( ) Is determined by analyzing signals measured from the second LED transmitter 200, the second LED receiver 300, and the first transmitter / receiver 500 arranged perpendicular to the vertical support 250. The second LED light receiver 300 detects the intensity of light reflected from the ball flying to the photodiode IC detector. The photodiode IC detector is arranged so that the golf ball has a radius of 21.35mm so that it can be located shorter than the radius of the ball. Since the intensity of the voltage varies linearly with the intensity of light sensed by the photodiode IC detector, the circuit is configured to determine the horizontal angle in proportion to each intensity if detected by the two photodiode IC detectors. As an example of a calculation to determine the horizontal angle, if the third photodiode IC detector represents 10 degrees of horizontal angle and the fourth photodiode IC detector represents 15 degrees, the ratio of the intensity of light detected by the two photodiode IC detectors is 7 For: 3, the horizontal angle is 10 degrees + (15 degrees-10 degrees) * (7/10) = 13.5 degrees.

Initial speed ( ) Is determined by substituting the measured horizontal and vertical angles and the position of the detected photodiode IC detector in Equation (1). Initial speed ( As another method of determining), dividing the distance between the second LED receiver 300 and the first transmitter / receiver 500 and the time taken by the flying distance, the magnitude of the velocity projected on the horizontal plane and the vertical plane is measured. Since the velocity is a vector, the direction is considered using the horizontal and vertical angles.

The signal processor 700 processes the signal with respect to the measured speed, angle, and rotation, and uses the input to the simulator variable. 6 is a block diagram of the signal processor 700. The high frequency oscillated by the high frequency vibration circuit 701 is amplified by the amplifying circuit 702 to operate the LED driving circuit 703 to generate LED light.

The photodiode IC detector of the vertical angle detection circuit 704 is used to obtain the reflected optical signal, amplify the signal in the amplification and noise cancellation circuit 708, and remove the noise mixed with the signal. The position angle and time comparison circuit 710 is used to obtain the information of the vertical angle and the speed of the vertical angle detection circuit 706 and the switching circuit 705 of the golf tee 400.

The optical diode IC detector of the horizontal angle sensing circuit 706 is used to obtain the reflected optical signal, and the amplification and noise canceling circuit 708 is used to amplify the signal and to remove noise mixed with the signal. The position and time comparison circuit 709 is used to obtain information about the horizontal angle and the speed with respect to the signals of the horizontal angle detecting circuit 704 and the switching circuit 705 at the position of the golf tee 400.

By using the club angle detection circuit 709 to obtain the reflected light signal of the club using the photodiode IC detector, amplify the signal in the amplification and noise canceling circuit 708, and remove the noise mixed with the signal do. Regarding the position measured with respect to the signal measured by the club angle detector 600 positioned around the golf tee 400, the angle of the club and the position at which the ball impacted the club at the moment of hitting the golf ball using the time comparison circuit 709. Get information.

Signals relating to the vertical angle, horizontal angle, speed, club angle and impact position are encoded in the interface circuit 800 and used as inputs for the computer 900 simulator variables via the USB interface.

The present invention reproduces the same foreground as the outdoor golf course on the simulator, by measuring the speed, the horizontal angle, the vertical angle, the rotation of the ball by the photoelectric method, by accurately recognizing the information about the golf ball trajectory hit in real time to hit the ball You can decide where you flew. Advantages of the present invention are as follows.

First, the measurement method is simple. It measures the spatial position and time of the ball by recognizing the reflected light when the ball passes through the LED beam screen. And because it consists of a beam screen can reduce the detection error due to the reflected light.

For example, the application of various variables. It provides a simulator manufacturing base considering ball speed, horizontal angle, vertical angle and rotation. It is possible to extract simulator variables for variety of pitches.

Third, the price is low. Many LEDs are not needed because the beam screen is made using cylindrical and convex lenses.

Fourth, it is universal. Produced by the "b" type, because the reference point using the golf tee 400 has the advantage that does not have to modify the existing golf board.

Fifth, good portability. It is convenient to use in the driving range or at home, and can be manufactured for the portable handheld.

Claims (8)

Measuring the velocity vector, the horizontal and vertical angles and the rotation of the flying ball by photoelectric methods; Golf tee 100, the second LED transmitter 200, the second LED receiver 300, golf tee 400, the first LED transmitter 500, club angle detector 600, signal processor 700 ), The interface 800, the computer 900. The method of claim 1, The second transmitting part for making the beam screen of the irradiation light using the cylindrical lens is composed of LED or LD 201 and the cylindrical lens 202 and the beam screen 202, and the light from the focus does not spread after passing through the cylindrical lens. And a straight beam screen, which forms a straight beam screen at a right angle with respect to the advancing direction. According to claim 1, Transmitting part for making beam screen of irradiation light using convex lens is composed of LED or LD 201, convex lens 204 and beam screen 206, and the light from the LED located at the focus passes through convex lens A method of forming a beam screen in a direction perpendicular to a direction in which the beam proceeds in a straight line without spreading and has a shape of a beam bundle having a constant volume. The vertical angle is measured by the second LED light receiver 200, the second LED light receiver 300, and the first LED light receiver 500 arranged on the vertical support, and the horizontal angle is horizontal to the golf practice board 400. A method of measuring by the second LED transmitter 200, the second LED receiver 300, the golf tee 400, and the first LED transmitter / receiver 500; Means for arranging the photodiode IC detectors and for determining the vertical angle by sensing the intensity of light, the circuitry configured to determine an angle proportional to the sensed intensity of the two detectors when detected by the two photodiode IC detectors. In order to measure the golf club hitting angle, the club angle detector 600 comprises a golf club 601, a golf ball 602, a light emitting diode 603, a photodiode IC detector 604, Arrange the light emitting diodes 603 and the photodiode IC detector 604 alternately, and arrange them in a rectangular shape as a whole to calculate the position detected by the photodiode IC detector 604 at the moment of the ball strike, thereby affecting the golf club angle and the ball. How to determine your club's location. The method of claim 1, The first transmitter / receiver 500 includes an optical coupler switch using a light emitting photodiode and a photodiode IC detector, and when the ball is placed on the golf tee 400, the switch is opened so that no current flows and the ball exits. The momentary switch is closed to form a circuit for the current to flow through. Initial speed ( ) Means for determining by substituting the horizontal and vertical angles measured in equation (1) and the position of the detected photodiode IC detector; The distance between the second LED receiver 300 and the first transmitter / receiver 500 is divided by the time the ball is flying, and the speed is measured using the horizontal and vertical angles measured on the magnitude of the speed projected on the horizontal plane and the vertical plane. Means for determining a vector In the signal processing unit 700 of claim 1, Obtain the reflected optical signal using the photodiode IC detector of the vertical angle detection circuit 704, amplify the signal in the amplification and noise canceling circuit 708, remove the noise mixed with the signal, Means for obtaining the information of the vertical angle and the velocity by using the position and time comparison circuit 710 with respect to the signal of the switching circuit 705 at the position 706 and the golf tee 400; Obtain the reflected optical signal using the photodiode IC detector of the horizontal angle detection circuit 706, amplify the signal using the amplification and noise canceling circuit 708, and remove the noise mixed with the signal to detect the horizontal angle. Means for obtaining the information of the horizontal angle and the speed by using the position and time comparison circuit 709 with respect to the signals of the switching circuit 705 at the position of the circuit 704 and the golf tee 400; By using the club angle detection circuit 709 to obtain the reflected light signal of the club using the photodiode IC detector, amplify the signal in the amplification and noise canceling circuit 708, and remove the noise mixed with the signal A means for obtaining information about the position of the club and the position of the impact of the ball at the moment of hitting the golf ball using the position and time comparison circuit 709 with respect to the signal measured by the club angle detecting unit 600; Means for encoding signals in the vertical circuit, horizontal angle, speed and club angle and impact position in the interface circuit 800 for use as input of computer 900 simulator variables via the USB interface.