KR20090120889A - Moving object detecting method and apparatus - Google Patents

Abstract

PURPOSE: Moving object detecting method and apparatus are provided, which can accurately sense movement of the moving object by compensating the affect of the ambient light. CONSTITUTION: A moving object detecting method comprises a step(S520) to receive the standard photoelectric signal of more than one from the reference beam sensor exposed to the ambient light; a step(S530) to calculate the mean value of the standard photoelectric signal; a step(S540) to receive the moving body photoelectric signal from the moving body optical sensor exposed to the moving body light source; and a step(S570) to produce more than one of the location or moving speed of the moving body based on the mean value and moving body photoelectric signal.

Description

Moving object detecting method and apparatus

The present invention relates to a method and apparatus for detecting a moving object, and more particularly, to a moving object detecting method and apparatus for accurately detecting a moving object by measuring and processing light around the moving object.

The golf population is rapidly increasing as golf is recently recognized as a popular sport.

However, golf, unlike other sports such as baseball, basketball, soccer, etc., requires a wide play ground, which is disadvantageous in that it is restricted in many places.

In order to solve this problem, it is the golf simulation apparatus that appeared. By applying sensor technology, the golf simulation device measures the position and speed of the golf ball or golf club (or golf club head) and outputs the simulation results on the screen so that the user can enjoy the golf game in the narrow place as if they are on the field. Make sure

The most important technical factor in this golf simulation device is sensor technology. As the sensor technology of the golf simulation device, an ultrasonic sensor or an infrared (IR) sensor, a laser sensor, or a general optical sensor has been used.

Among them, the most widely used optical sensors such as IR (InfraRed) sensor, laser sensor, and general optical sensor detect the change of the photoelectric signal generated when the light output from the light source reaches the optical sensor. Recognize golf balls.

Recently, however, the golf simulation apparatus using the optical sensor frequently malfunctions without recognizing the position or speed of the golf ball. This is because in addition to the light source corresponding to the optical sensor, there is an ambient light source that affects the optical sensor.

1 is a view showing the interior of the indoor golf practice range. Referring to FIG. 1, in a golf indoor practice area, a light source 110 and a light sensor 120 for recognizing a moving object are disposed on a moving path of a golf ball, so that a golf ball or a golf club according to the movement of the golf ball or the swing of the golf club ( Or golf club head) is to detect the position and speed.

However, since the interior of the golf training range is dark, in addition to the light source 110 corresponding to the light sensor 120, the ambient light sources such as the projection display device 160 and the lights 165, 170, and 180 are further installed. According to the structure and position of the golf training range, when natural light enters the window, natural light may act as ambient light.

For this reason, the ambient light emitted from the display device, the illumination, or the like is reflected or diffracted on the optical surface such as the screen 150 or the floor, thereby affecting the optical sensor 120, thereby preventing the golf ball from being recognized.

Accordingly, the present invention has been made to solve the above-described problems, the present invention is to provide a moving object detecting method and apparatus that can accurately detect the movement of the moving object by removing the influence of the ambient light source.

According to one aspect of the present invention, a moving object detecting method is provided.

According to an embodiment of the present invention, there is provided a moving object detecting method of a motion sensing device, the method comprising: receiving at least one reference photoelectric signal from a reference light sensor exposed to ambient light; Calculating an average value of the reference photoelectric signal; And receiving a moving object photoelectric signal from a moving object optical sensor exposed to a moving light source with the moving path of the moving object interposed therebetween. Comprising a step of calculating the at least one of the position or the moving speed of the moving object based on the average value and the moving object photoelectric signal is provided.

Receiving the reference photoelectric signal and calculating the average value of the reference photoelectric signal may be repeated at a predetermined time period.

Computing at least one of the position or the moving speed of the moving object comprises the steps of: generating a corrected photoelectric signal by correcting the moving photoelectric signal using the average value; And calculating at least one of a position and a moving speed of the movable body based on the corrected photoelectric signal.

The calculating of at least one of the position and the moving speed of the movable body may further include detecting the presence of the movable body by comparing the movable body photoelectric signal with a movable threshold which is a reference of the existence of the movable body. .

Computing at least one of the position and the moving speed of the moving body comprises the steps of: correcting the moving object threshold that is the reference of the existence of the moving object using the average value to generate a correction threshold value; And comparing the moving object photoelectric signal with the correction threshold to detect the presence of the moving object.

A moving object motion detection method of a motion detecting device, comprising: receiving a moving object photoelectric signal from a moving object optical sensor located on a moving path of the moving object; Storing the mobile photoelectric signal in a memory; Calculating an average value of a mobile photoelectric signal stored in the memory; And calculating at least one of the position and the moving speed of the movable body based on the movable photoelectric signal and the average value.

The mobile photoelectric signal stored in the memory and calculated as an average value may be received at different times.

The moving object optical sensor may be a one-dimensional optical sensor array or a two-dimensional optical sensor array having coordinates, and a measured photoelectric signal stored in the memory and calculating an average value may be received at different coordinates among the coordinates.

According to another aspect of the present invention, a motion sensing device is provided.

According to an embodiment of the present invention, a motion detecting device for detecting a movement of a moving body, the motion sensing device comprising: at least one reference light sensor exposed to ambient light to generate a reference photoelectric signal; A mobile optical sensor for generating a mobile photoelectric signal by being exposed to a mobile light source with a moving path of the mobile interposed therebetween; An average value calculator configured to receive the reference photoelectric signal from the at least one reference optical sensor and calculate an average value; A comparator for outputting a corrected moving body photoelectric signal by using the average value of the average calculating unit and the moving body photoelectric signal of the moving body optical sensor as two inputs; And a host processor configured to calculate at least one of a position or a moving speed of the movable body by using the corrected movable body photoelectric signal output from the comparator.

The average value calculator may update the average value at a preset time period, and the motion detection apparatus may further include a memory in which the average value is stored.

According to another aspect of the present invention, a recording medium is provided.

According to an embodiment of the present invention, in a recording medium in which a program for implementing a moving object motion detection method of a motion sensing device is recorded, the one or more reference photoelectric signals are received from a reference light sensor exposed to ambient light. step; Calculating an average value of the reference photoelectric signal; And receiving a moving object photoelectric signal from a moving object optical sensor exposed to a moving light source with the moving path of the moving object interposed therebetween. A recording medium having a program recorded thereon for implementing a moving object motion detecting method comprising calculating at least one of a position or a moving speed of the moving object based on the average value and the moving object photoelectric signal.

According to a preferred embodiment of the present invention, the movement of the moving body can be accurately detected by compensating the influence of the ambient light flowing from the ambient light source in addition to the light source corresponding to the optical sensor.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all transformations, equivalents, and substitutes included in the spirit and scope of the present invention. In the following description of the present invention, if it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings, and in the following description with reference to the accompanying drawings, the same or corresponding components are given the same reference numerals and redundant description thereof will be omitted. Shall be.

2 is a view showing a part of the configuration of a moving object detecting apparatus according to an embodiment of the present invention.

The motion detecting apparatus includes a moving object optical sensor 120, reference light sensors 230 and 240, a comparator 210, an average value calculator 220, and a host processor 250. It is apparent that the motion detection device of the present invention can be used as a detection device for detecting not only golf balls but also various moving objects 100 such as baseball balls and soccer balls.

The moving object optical sensor 120 is positioned on the moving path of the moving object 100. That is, the position on the moving path of the moving object 100 indicates that the moving object optical sensor 120 is disposed so that the moving object 100 passes between the moving object optical sensor 120 and the moving object light source 110.

The moving object light source 110 emits light on the path of the moving object 100, thereby preventing the progress of the light by the moving object 100 in the presence of the moving object 100, thereby detecting the moving object optical sensor 120 (eg, a pixel). It means a light source arranged so that a difference occurs in the difference).

Therefore, when the moving object 100 does not exist, the light emitted from the moving light source 110 disposed to face the moving light sensor 120 is incident to the moving light sensor 120 as it is, and the light sensor corresponds to the incident light. Generates an electrical signal.

As the simplest mobile light sensor 120, a photo diode (PD) may be used. That is, a photodiode is an optoelectronic device that converts light energy into electrical energy. When light having light energy is incident on the photoelectric device, charge transfer occurs in the photoelectric device. The moving object optical sensor 120 of the present invention is not limited to a photo diode, and various photoelectric devices such as photo transistors and image sensors such as complementary metal-oxide semiconductor (CMOS) and charge coupled device (CCD) may be used. It will be apparent to those skilled in the art.

Assuming that the moving object 100 moves the moving object light source 110 and the moving object light sensor 120, the light output from the moving object light source 110 is reflected by the moving object 100 so that the moving object light sensor 120 is moved. Never reach However, light has the properties of reflection and diffraction, so that some of the light may reach the optical sensor. However, since not all of the light is diffracted or reflected and incident on the moving object optical sensor 120, a difference occurs when the light is incident on the moving object optical sensor 120 as it is.

Therefore, the logical object circuit is connected to the moving object optical sensor 120, and the moving object 100 is moved by the moving object light source 110 by measuring the intensity value (for example, voltage and current) of the moving object photoelectric signal generated by the moving object optical sensor 120. And moving between the moving object optical sensor 120.

The moving object optical sensor 120 may be configured as a one-dimensional optical sensor array or a two-dimensional optical sensor array. That is, the optical sensor may be arranged vertically or horizontally on the moving path of the moving object 100 to generate the moving object photoelectric signal for each coordinate. The position and the speed at which the movable body 100 moves may be calculated using the movable body photoelectric signal generated at each coordinate. However, hereinafter, it will be described with respect to one optical sensor for convenience of description.

When the light output from the moving object light source 110 is input to the moving object optical sensor 120 without being affected by the moving object 100, a voltage of 5 V (volt) may be measured. On the other hand, the instantaneous measured voltage of the mobile body 100 between the mobile light source 110 and the mobile light sensor 120 may be 2.5V.

The voltage to be measured may vary depending on the circuit configuration of the moving object optical sensor 120 and is not limited to 5 V and 2.5 V. However, hereinafter, it will be described based on the above 5 V and 2.5 V for convenience of description.

In this case, assuming that the moving object optical sensor 120 is connected to a logic circuit, the logic circuit (a host processor to be described later) may determine that the moving object has passed the corresponding sensor when the moving object optical sensor 120 is 4 V or less compared to the preset moving body threshold value 4 V. FIG. have. The moving object threshold refers to a value used as a reference for determining whether a moving object exists by comparing the moving body photoelectric signal.

In addition, the 5 V and 2.5 V or 4 V signal may be an analog signal, and may include an analog to digital converter (ADC) for converting a signal input to a logic circuit or the like into a digital signal. To be omitted.

As described above with reference to FIG. 1, ambient light output from ambient light sources such as the projection display device 160 or the lights 165, 170, and 180 is reflected on the screen 150, the inner wall, or a golf club, and thus the moving object light sensor 120. ) Can be introduced into. In addition, although not shown in the drawings, natural light flowing from a window or the like may be introduced into the moving object optical sensor 120 as ambient light.

In this case, even when the moving object 100 described above moves between the moving object light source 110 and the moving object optical sensor 120, the moving object photoelectric signal of 4.5 V may be generated instead of generating the moving object photoelectric signal of 2.5 V.

Therefore, the above-described logic circuit compares 4 V and 4.5 V, which is the moving object threshold value, and thus the moving object 100 determines that the moving object 100 does not move between the moving object light source 110 and the moving object optical sensor 120. Therefore, the golf ball, which is the moving object 100, is not output to the screen 150.

That is, even though the photoelectric signal of 2 V (4.5 V-2.5 V) is generated by the ambient light, the logic circuit malfunctions due to the influence on the moving object optical sensor 120.

Therefore, the motion detecting apparatus according to the embodiment of the present invention corrects the moving object photoelectric signal measured from the moving object optical sensor 120.

As a means for correcting this, the motion detecting apparatus according to the embodiment of the present invention includes reference light sensors 230 and 240. The reference light sensors 230 and 240 may be optical sensors having the same photoelectric efficiency as the moving object light sensor 120. However, since the reference light sensor is not for measuring the speed of the moving object, the reference light sensor may not be formed in a one-dimensional or two-dimensional array.

The reference light sensors 230 and 240 are installed in the area around the moving path of the moving object 100. The moving path peripheral area of the moving body is a peripheral space of a space in which the moving body moves, and means a region that is not exposed to the moving object light source 110 and is exposed only to ambient light.

That is, referring to the golf practice range described in FIG. 1, the golf room may be installed in the opposite direction of the screen 150 or at the bottom of the projection display apparatus 160 based on the user. However, the positions of the reference light sensors 230 and 240 are not limited thereto, and the reference light sensors 230 and 240 of the present invention may be installed when the light output from the moving light source 110 has a low probability of being incident. Can function as). At least one reference light sensor 230 or 240 may be installed at different positions.

The ambient light, that is, the ambient light emitted from the projection display device 160 or the lights 165, 170, 180, or the like, introduced into the moving space of the moving object through the window, is incident on the reference light sensors 230, 240. Since the reference light sensors 230 and 240 correspond to the photoelectric elements like the moving object optical sensor 120, the reference light sensors 230 and 240 generate photoelectric signals corresponding to the ambient light.

For example, a photoelectric signal such as 2 V or 2.4 V may be generated according to the installed position, which is transmitted to the average value calculator 220 included in the motion detection apparatus of the present invention. The photoelectric signals generated by the respective reference optical sensors 230 and 240 become reference photoelectric signals for calculating an average value, as will be described later.

The average value calculator 220 calculates an average value of the photoelectric signals received from each reference optical sensor to calculate an average value of 2.2V. The average value calculator 220 may be a logic circuit that performs a calculation of a geometric mean or an arithmetic mean. Receiving the average value by receiving the photoelectric signal from the plurality of reference light sensors 230, 240, the influence of the ambient light depending on the location of the illumination (165, 170, 180) and the internal structure of the golf indoor practice range and various optical factors Because it may vary depending on.

The average value calculator 220 transmits the average value to the comparator 210. In addition, the average value calculator 220 may store the average value in a memory (not shown), and may update the average value stored in the memory by repeating the average value calculation at a preset time period.

The comparator 210 corrects the photoelectric signal (4.5 V) received from the moving object optical sensor 120 using the average value (2.2 V) received from the average value calculator 220. Various methods may be used for the correction method, and the differential operation may be typically performed.

For example, the comparator 210 may be configured as a difference circuit and may output the average value and the photoelectric signal as two inputs, and output a value obtained by subtracting the average value from the photoelectric signal (correction moving body photoelectric signal) (gain 1). If).

Therefore, the corrected moving object photoelectric signal output from the comparator 210 is a value corrected from 4.5 V to 2.3 V, which is transmitted to the host processor 250. The host processor 250 corresponds to the aforementioned logic circuit, and compares the moving object threshold between the moving object light sensor 120 and the moving object light source 110 by comparing the moving object threshold value of 4 V with the corrected moving object photoelectric signal 2.3 V. It can be recognized that it passed.

In FIG. 2, the average value calculator 220 is connected to the comparator 210 to correct the photoelectric signal. However, in the motion detection apparatus according to another exemplary embodiment, the average value calculator 220 is the host processor 250. Or a memory (not shown).

In this case, the comparator 210 may be omitted. Therefore, in the above-described example, the photoelectric signal measured at 4.5 V is transmitted to the host processor 250 without correction even though the moving object 100 moves in front of the moving object optical sensor 120.

However, the host processor 250 receives an average value of 2.2 V from the average value calculator 220 and corrects 4 V, which is the threshold of the moving object. That is, the correction process of subtracting the average value from the moving body photoelectric signal is omitted, and the correction process of adding the average value to the moving body threshold value of 4V is added.

Therefore, the moving body threshold value that the host processor 250 compares with the moving body photoelectric signal is 6.6 V. The host processor 250 compares 4.5 V and 6.6 V and determines that the moving object 100 has passed between the moving object light source 110 and the moving object optical sensor 120 because the moving object photoelectric signal is smaller than the corrected moving threshold. Can be.

FIG. 3 is a view briefly illustrating an internal circuit configuration of the motion detection apparatus described with reference to FIG. 2.

The moving object light source 111 may use various light sources such as a laser diode (LD), a solid state laser device, a light emitting device (LED), and the like. The motion detecting device of the present invention is not limited to the type of light source.

Photodiode (PD) is used as the moving object light sensor 121 and the reference light sensors 330, 340, and 350. However, in the case of the optical sensor, various photoelectric devices may be used, and semiconductors such as CMOS and CCD may be used.

The light output from the moving object light source 111 is disturbed by the moving object 101 to generate a photoelectric signal below the moving object threshold value in the photodiode 121. For example, due to the moving object, only a part of the light is diffracted, and the like is incident on the photodiode 121, and a charge corresponding to the light energy of the incident light flows.

The current is generated by the flow of charge, which causes the resistor connected to the photodiode to apply a voltage corresponding to the current. For example, it may be 2.5V as described in FIG. However, it is obvious that the magnitude of the voltage may vary depending on design factors such as the magnitude of the resistor.

However, the ambient light incident by the illuminations 165, 170, 180, etc. is incident on the photodiode 121, so that more charge is transferred in the photodiode 121, so that a voltage of 4.5 V may be applied to the resistor.

The reference light sensors 330, 340, 350 are shown as three. Unlike the moving object light sensor 121, the three reference light sensors 330, 340, and 350 generate only the photoelectric signal generated by the ambient light because the moving light source 111 is not disposed to face each other.

For example, each of the reference light sensors 330, 340, and 350 may generate 2.6 V, 2. 2 V, and 1.8 V photoelectric signals according to their positions. The three reference optical sensors are connected to the average value calculator 320 to transmit the photoelectric signals generated to the average value calculator 320.

The average value calculator 320 calculates an average value of three photoelectric signals. In this case the mean value may be an arithmetic mean or a geometric mean. In FIG. 3, the mean value calculator 320 generates an arithmetic mean value.

The average value calculator 320 may calculate an average value of three photoelectric signals by a logic circuit or a circuit configuration. Therefore, the average value is (2.6 + 2.2 + 1.8) /3=2.2 V. The average value is input to the "-" terminal of the two inputs of the comparator circuit 310.

The comparator 310 outputs the value obtained by subtracting the average value from the photoelectric signal (correction moving body photoelectric signal) from the comparator 310. Assume that the gain of the comparator 310 is one. In this case, the output value of the comparator (correction moving body photoelectric signal) is (4.5-2.2) = 2.3V.

Therefore, the output value may be input to the host processor 250 described with reference to FIG. 2. Since the host processor 250 compares the signal of 2.3 V with the moving object threshold value of 4 V, the host processor 250 may recognize that the moving object 101 has passed between the moving object light sensor 121 and the moving light source 111.

Furthermore, when the moving object optical sensor 121 is configured as the one-dimensional optical sensor array or the two-dimensional optical sensor array, the host processor 250 may calculate the position and the speed of the moving object by the moving photoelectric signal received from each moving optical sensor. In this case, in the optical sensor array, that is, in FIG. 3, the coordinates of the moving object photoelectric signal (eg, voltage) may be distinguished by differently adjusting the resistance value connected to each photodiode.

4 is a view showing a part of the configuration of the motion detection apparatus according to another embodiment of the present invention.

Referring to FIG. 4, unlike the case described with reference to FIG. 2 or FIG. 2, there is no separate reference light sensor and an average value calculator.

However, the configurations of the moving object light sensor 120 and the moving light source 110 positioned on the moving path of the moving object 100 are the same. Therefore, the photoelectric signal generated from the moving object optical sensor 120 is directly transmitted to the host processor 400. For example, despite the presence of the moving object 100 between the moving object light sensor 120 and the moving object light source 110 due to ambient light output from the lights 165, 170, 180, etc. When a signal is generated, correction is not made and is directly transmitted to the host processor 400.

The host processor 400 stores the moving object photoelectric signal transmitted from the moving object optical sensor 121 in the memory 410.

The mobile light source 110 and the mobile light sensor 120 operate at predetermined time intervals, whereby the mobile light sensor 120 may periodically generate and transmit photoelectric signals to the host processor 400. Stores the photoelectric signal in the reference value memory 410.

When N photoelectric signals preset in the memory are stored, the host processor 400 reads out the N photoelectric signals stored in the memory and calculates an average value of the N photoelectric signals.

The memory 410 may store a preset average value before the host processor 400 calculates an average value of the N photoelectric signals. Therefore, the host processor 400 compares the preset average value with the newly calculated average value. The N photoelectric signals may include both photoelectric signals when the moving object is not present between the moving object optical sensor and the light source (A) and when the moving object is present between the light sensor and the light source (B).

In this case, it is possible to determine how much the moving object optical sensor 120 is affected by the ambient light output from the current lighting 165, 170, 180, etc. according to the ratio of the newly calculated average value to the preset average value. .

That is, in the case of an indoor golf course, since the space is not set for one user, the light intensity of the illumination 165, 170, 180 inside the indoor golf course or the output value of the projection display device 160 may be adjusted according to the user. have. In addition, the illumination environment inside the indoor golf course may change over time, such as the simulation screen changes according to the golf game.

For example, the preset average value may be 4.8 V, but the newly calculated average value may be 7.5 V. Meaning that the preset average value is 4.8 V means that there is almost no effect of ambient light on the moving object optical sensor considering that the photoelectric signal generated by the moving object optical sensor 120 by the light source is 5 V. do.

However, when the newly calculated average value is 7.5 V, it means that an additional 2.5 V photoelectric signal is generated by the ambient light, and the illumination of the indoor golf course is very high.

For this reason, the newly calculated average value of 7.5 V is highly likely to generate a mobile photoelectric signal of 5 V or more even when the golf ball exists between the mobile optical sensor 120 and the mobile light source 110. It means that there is a high possibility of malfunction.

Therefore, the host processor 400 of the present invention compares the preset average value with the newly calculated average value and corrects the moving object threshold by the difference between the preset average value and the newly calculated average value.

In more detail, in the above-described example, when the preset average value is 4.8 V and the newly calculated average value is 7.5 V, the moving body threshold is corrected because the newly calculated average value is 2.7 V higher than the preset average value. .

For example, when the moving body threshold value is 4 V, the difference between the newly calculated average value and the preset average value 2.7 V is added and the moving body threshold value is corrected to 6.7 V.

Therefore, the moving object photoelectric signal is affected by the high ambient light, and despite the presence of the moving object in front of the moving object optical sensor, even when a high photoelectric signal of 5.2 V is transmitted, the moving object photoelectric signal is compared with the corrected moving threshold of 6.7 V. The host processor 400 can accurately recognize the existence of the moving object.

In addition, although not shown in FIG. 4, only the photoelectric signal when the movable light source 110 is turned off by turning on / off the movable light source 110 at a predetermined time period (for example, 1 usec.) Is stored in a memory. It is possible to calculate the average value and use it to correct the moving body photoelectric signal or moving body threshold.

In more detail, when the moving object light source 110 is turned off, only the 2.7 V photoelectric signal generated by the ambient light is generated because the light flowing into the moving object light sensor 120 is only ambient light. Therefore, the host processor may measure the average value thereof and perform correction by subtracting the average value from the mobile photoelectric signal received from the mobile light sensor 121 or adding the average value to the mobile body threshold value when the mobile light source 110 is turned on. have.

5 is a flowchart illustrating a process of a moving object detecting method according to an embodiment of the present invention.

Referring to FIG. 5, the motion detection apparatus according to an exemplary embodiment of the present invention receives a photoelectric signal from a reference optical sensor in operation S520 or receives a photoelectric signal in a predetermined time unit from a moving object optical sensor in operation S510.

That is, when there is a separate reference light sensor as described with reference to FIGS. 2 to 3, reference values for calculating an average value are collected from the reference light sensor (S520), but as shown in FIG. If it does not exist, the photoelectric signal is received from the moving object optical sensor in a predetermined unit of time (S510).

After that, the moving object detecting apparatus calculates an average value (S530).

When the process proceeds from step S510, the moving object motion detecting apparatus calculates an average value of the N photoelectric signals preset. However, when the process proceeds from step S520, the average value of the photoelectric signals collected from the reference light sensor is calculated.

After that, the moving object detecting apparatus receives a photoelectric signal from the moving object optical sensor (S540).

The moving object detecting apparatus corrects the photoelectric signal or the moving object threshold value received in step S540 by using the average value calculated in step S530 (S550). A detailed process of correcting the photoelectric signal or the moving object threshold is as described with reference to FIGS. 2 to 4, and thus description thereof will be omitted.

The moving object detecting apparatus detects the presence of the moving object by comparing the photoelectric signal or the moving object threshold value received from the at least one corrected moving object optical sensor (S560).

If it is determined that the moving object does not exist, the process returns to step S510 or step S520 to collect the photoelectric signal for calculating the average value again, from which the average value is calculated again.

If it is determined in step S550 that the moving object exists, the motion detecting apparatus may calculate the coordinates and the moving speed of the moving object. For example, when the motion detecting apparatus includes a moving object optical sensor configured as a one-dimensional sensor array or a two-dimensional sensor array, step S550 described above is performed for each array coordinate.

Therefore, by using the order and time information of the presence of the moving object, it is possible to calculate the speed and position of the moving object.

In addition, even when the position or speed of the moving object is sensed using the CMOS image sensor, the moving object moving method according to the embodiment of the present invention may be used. When the IR light source is installed in front of the CMOS image sensor, the golf ball appears in the shadow (for example, 100 or less of the pixel values 0 to 225) in the captured image while the subject is moving. This can be imaged by time to calculate the position and speed of the golf ball by analyzing the size of the golf ball and the position of the golf ball in the image. In addition, when the optical sensor and the light source described above are disposed in the swing range of the golf club or golf ball, the position and speed of the golf club can be calculated.

However, in the case of the CMOS image sensor, the influence of the ambient light such as lighting is the same, so that the above-described moving object motion detection method may be applied to correct photoelectric signals or moving object thresholds generated in the CMOS image sensor.

In addition, the method of the present invention as described above may be implemented as a program and stored in a computer-readable recording medium (CD-ROM, RAM, ROM, floppy disk, hard disk, magneto-optical disk, etc.).

Although the above has been described with reference to the embodiments of the present invention, those skilled in the art may variously modify and modify the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. It will be appreciated that it can be changed.

1 is a view showing the interior of the indoor golf practice range.

2 is a view showing a part of the configuration of a moving object detecting apparatus according to an embodiment of the present invention.

3 is a view schematically illustrating an internal circuit configuration of the motion detection apparatus described with reference to FIG. 2.

4 is a view showing a part of the configuration of a motion detection apparatus according to another embodiment of the present invention.

5 is a flowchart illustrating a process of a moving object detecting method according to an embodiment of the present invention.

Claims (12)

In the motion detection method of the moving object of the motion detection device, Receiving at least one reference photoelectric signal from a reference light sensor exposed to ambient light; Calculating an average value of the reference photoelectric signal; Receiving a moving object photoelectric signal from a moving object optical sensor exposed to a moving light source with the moving path of the moving object interposed therebetween; And And calculating at least one of a position or a moving speed of the moving body based on the average value and the moving body photoelectric signal. The method of claim 1, Receiving the reference photoelectric signal and calculating the average value of the reference photoelectric signal Moving object movement detection method characterized in that repeated in a predetermined time period. The method of claim 1, Computing at least one of the position or the moving speed of the moving body Generating a corrected moving body photoelectric signal by correcting the moving body photoelectric signal using the average value; And And calculating at least one of a position and a moving speed of the moving body based on the corrected moving body photoelectric signal. The method of claim 1, Computing at least one of the position, the moving speed of the moving body And detecting the presence of the moving object by comparing the moving object photoelectric signal with a moving object threshold which is a reference of whether the moving object exists. The method of claim 1, Computing at least one of the position, the moving speed of the moving body Generating a corrected moving object threshold by correcting a moving object threshold which is a criterion of the existence of the moving object using the average value; And And detecting the presence of the moving body by comparing the moving body photoelectric signal with the corrected moving body threshold value. In the motion detection method of the moving object of the motion detection device, Receiving a moving object photoelectric signal from a moving object optical sensor located on a moving path of the moving object; Storing the mobile photoelectric signal in a memory; Calculating an average value of a mobile photoelectric signal stored in the memory; And And calculating at least one of a position and a moving speed of the movable body based on the movable photoelectric signal and the average value. The method of claim 6, The moving object photoelectric signal stored in the memory and the average value is calculated are received at different times. The method of claim 6, Receiving a mobile photoelectric signal And the movable body photoelectric signal includes receiving the movable body photoelectric signal when the movable body light source corresponding to the movable body light sensor is in an OFF state. The method of claim 6, The moving object optical sensor is a one-dimensional optical sensor array or a two-dimensional optical sensor array having coordinates, The moving body photoelectric signal stored in the memory and the average value is calculated are received at different coordinates of the coordinates. In the motion detection device for detecting the movement of the moving object, At least one reference light sensor exposed to ambient light to generate a reference photoelectric signal; A mobile optical sensor for generating a mobile photoelectric signal by being exposed to a mobile light source with a moving path of the mobile interposed therebetween; An average value calculator configured to receive the reference photoelectric signal from the at least one reference optical sensor and calculate an average value; A comparator for outputting a corrected moving body photoelectric signal by using the average value of the average calculating unit and the moving body photoelectric signal of the moving body optical sensor as two inputs; And And a host processor configured to calculate at least one of a position or a moving speed of the movable body by using the corrected movable body photoelectric signal output from the comparator. The method of claim 10, The average value calculator updates the average value at a preset time period, The motion sensing device further comprises a memory in which the average value is stored. In a recording medium having a program recorded thereon for implementing a motion detection method of a moving object of a motion detection device, Receiving at least one reference photoelectric signal from a reference light sensor exposed to ambient light; Calculating an average value of the reference photoelectric signal; And Receiving a moving object photoelectric signal from a moving object optical sensor exposed to a moving light source with the moving path of the moving object interposed therebetween; And calculating at least one of a position or a moving speed of the moving body based on the average value and the moving body photoelectric signal.

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