KR20170016559A

KR20170016559A - Sensor

Info

Publication number: KR20170016559A
Application number: KR1020150109610A
Authority: KR
Inventors: 고국원
Original assignee: 선문대학교 산학협력단
Priority date: 2015-08-03
Filing date: 2015-08-03
Publication date: 2017-02-14

Abstract

The purpose of the present invention is to provide a sensor for predicting an arriving point of a golf ball moved by hit. A sensor of the present invention comprises: a photographing module photographing a golf ball moved from a first position to a second position, a target point, by hit; and an analysis unit analyzing an image photographed in the photographing module, and predicting an arriving point of the golf ball, wherein a plurality of photographing modules can be formed in different positions along a first direction from the first position to the second position.

Description

[0001]

The present invention relates to a sensing device for predicting a point of arrival of a golf ball moving by batting.

The conventional golf practice range, which is provided for practicing golf in a relatively small space, indoors or outdoors, has been widely used for customers who can not go to the actual field due to time and cost, and for customers who need practice to improve their golf skills.

Such a conventional golf driving range generally includes a swing plate capable of swinging a golf club to strike a golf ball, a protective net for preventing a blown golf ball from flying out of the golf range, and a screen for providing a target point .

However, since the conventional golf driving range does not provide a way to track the movement of the golf ball after the golf ball has reached the protection net, it is difficult for the user to grasp the arrival point of the golf ball.

Korean Patent Registration No. 0359929 discloses a swing plate that provides a slope but does not disclose a point where a golf ball clogged in a protective net is not blocked by a protection net.

Korean Patent Registration No. 0359929

The present invention is intended to provide a sensing device for predicting the arrival point of a golf ball moving by impact.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not intended to limit the invention to the precise forms disclosed. Other objects, which will be apparent to those skilled in the art, It will be possible.

The sensing device of the present invention includes a photographing module for photographing a golf ball moving from a first position to a second position corresponding to a target point by a stroke; And an analyzing unit for analyzing the image taken by the photographing module and predicting an arrival point of the golf ball, wherein the photographing module comprises: And a plurality of these may be provided.

The sensing device of the present invention may include a plurality of photographing modules disposed at different positions along the direction in which the golf ball travels and an analyzing unit for analyzing the images photographed by the photographing modules.

This allows us to understand the speed of the golf ball including the speed and the direction of movement.

In addition, since the rotational direction including the rotational direction and the rotational speed of the golf ball is grasped, the trajectory of the golf ball can be grasped accurately.

Then, the arrival point of the golf ball can be accurately predicted using the detected moving speed and the rotational speed.

Therefore, if the sensing device of the present invention is installed in various facilities that simulate a golf course in a limited space, the user can be provided with an environment similar to an actual field.

1 is a schematic view showing a sensing device of the present invention.
2 is a schematic diagram showing the operation of the sensing device of the present invention.
3 is a schematic view showing another operation of the sensing device of the present invention.
4 is a schematic view showing deflection of golf.
5 is a schematic view showing a rotating golf ball;
6 is a schematic view showing a golf ball photographed by the photographing module.
7 is a schematic view showing a golf ball photographed by two photographing modules.
8 is a schematic view showing a plurality of photographing modules in a plan view.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The sizes and shapes of the components shown in the drawings may be exaggerated for clarity and convenience. In addition, terms defined in consideration of the configuration and operation of the present invention may be changed according to the intention or custom of the user, the operator. Definitions of these terms should be based on the content of this specification.

1 is a schematic view showing a sensing device of the present invention.

The sensing apparatus shown in FIG. 1 may include a photographing module 110 and an analysis unit 130.

The photographing module 110 can photograph the golf ball 10 moving from the first position P1 toward the second position P2 corresponding to the target point by the stroke. The data output from the photographing module 110 may be image data, and means for generating image data such as a camera may be provided in the photographing module 110 in order to acquire image data.

The first position P1 may be a position where the golf ball 10 is stopped. For example, in a practice field simulating a golf course, a first position P1 may be provided on the swing plate on which the golf ball 10 is placed. The second position P2 may be a position where a user hitting the golf ball 10 using the golf club desires to have the golf ball 10 arrive. The second position P2 may be a point of the hole corresponding to the final destination of the golf ball 10 or a passing point for reaching the hole.

The analysis unit 130 may analyze the image photographed by the photographing module 110 and predict an arrival point of the golf ball 10. [ It is necessary to photograph the golf ball 10 at the first point and the second point to predict the arrival point of the golf ball 10. Since the positions of the golf balls 10 struck by the golf clubs are different at the first and second points of view, a plurality of shooting modules 110 may be provided to capture the golf ball 10 at each point in time. Specifically, the photographing modules 110 may be provided at a plurality of different positions along a first direction (x-axis direction in the drawing) from the first position P1 to the second position P2.

The photographing module 110 disposed at different positions in the first direction may be provided on the floor. If the first position P1 is the room, the photographing module 110 may be installed on the ceiling or the wall.

The second position P2 can be displayed as image data on the screen 50 corresponding to the protection net 30 that prevents the hit golf ball 10 from flying beyond the set range. At this time, the first direction may be a direction from the first position P1 to the screen 50.

When the protective net 30 is provided, the maximum distance that the golf ball 10 struck by the golf club can fly is the distance from the first position P1 to the protective net 30. The analysis unit 130 may analyze the movement of the actual golf ball 10 moving to the protection net 30 and predict the arrival point of the golf ball 10 if the protection net 30 is not blocked.

A source for analysis of the analysis unit 130 may be provided from the imaging module 110.

Specifically, the plurality of photographing modules 110 may be disposed at the same interval L from each other. The photographing module 110 may include a plurality of cameras for photographing the golf ball 10 to grasp the three-dimensional position. For example, when two cameras 112 and 114 are provided in one shooting module 110 similar to a human eye, a three-dimensional stereoscopic image, that is, a position of the golf ball 10, It is possible to grasp the depth of the golf ball 10 corresponding to the distance from the golf ball 10 to the ground.

The analysis unit 130 may determine that the first imaging module 110 is the first imaging module 110 and the second imaging module 110 that is the second imaging module 110 of the plurality of imaging modules 110, The speed of the golf ball 10 and the trajectory of the golf ball 10 can be obtained using the shot image and the shot image of the second shooting module 110. [

2 is a schematic diagram showing the operation of the sensing device of the present invention.

The analysis unit 130 calculates the distance L between the first imaging module 110 and the second imaging module 110 by using the distance L between the first imaging module 110 and the first imaging module 110, The position of the golf ball 10 photographed at the first photographing module 110 (1), the second time t2 at which the golf ball 10 is photographed at the second photographing module 110 (2) The speed of the golf ball 10 can be calculated using the position of the golf ball 10.

For example, if L is 1 m, t1 is 0.1 second, and t2 is 0.2 second, then the analyzer 130 determines that the golf ball 10 has moved 1 meter for 0.1 second after subtracting t1 from t2, Equation 1 can be applied.

Here, v is the speed (scalar amount) of the golf ball 10, s is the moving distance of the golf ball 10, and t is the moving time.

According to Equation (1), the speed of the golf ball 10 can be calculated to be 10 m / s. Here, the position of the golf ball 10 photographed by the first photographing module 110 (1) and the position of the golf ball 10 photographed by the photographing module 110 (2) may be reflected as a correction value. 2, the distance between the golf ball 10 photographed by the first photographing module 110 and the first photographing module 110 is smaller than the distance between the golf ball 10 photographed by the second photographing module 110 10) and the second photographing module 110 (2), the actual moving distance of the golf ball 10 may be 1.1 m, which is larger than 1 m, or the like. 1.1 m at this time can be substituted into s in Equation (1).

The moving direction of the golf ball 10 needs to be grasped in order to calculate the speed (vector amount) of the golf ball 10. [

3 is a schematic view showing another operation of the sensing device of the present invention.

In FIG. 3, the first photographing module 110 and the second photographing module 110 are installed on the floor, and the state starts in the direction from P1 to P2.

When the golf ball 10 passes the center of the first imaging module 110 and passes through the upper left point of the second imaging module 110, the analysis unit 130 determines that the golf ball 10 is positioned on the left It can be understood that the golf ball 10 is flying toward the upper side while being directed.

When the speed and the traveling direction of the golf ball 10, that is, the speed of the golf ball 10 are grasped, the analysis unit 130 can predict the arrival point of the golf ball 10. Then, the analysis unit 130 may display the arrival point of the golf ball 10 on the screen 50. The influence of the weight, wind, etc. of the golf ball 10 may be reflected at the arrival point of the golf ball 10 in order to increase the reality.

However, there is a high possibility that an arrival point different from the actual golf ball 10 is calculated only by the velocity of the golf ball 10 detected by the analysis unit 130 described above. This is because, in the case of the actual golf ball 10, the golf ball 10 is rotated by the stroke, and the trajectory of the golf ball 10 is warped to the left and right due to the rotation at this time.

4 is a schematic view showing deflection of golf.

Straight, pull, and push indicate that the golf ball 10 is bent in a straight line without bending to the left and right in a plane, and a fade, slice means that the golf ball 10 is bent to the right do. A draw and a hook indicate that the golf ball 10 is bent to the left.

At this time, the fade and slice appear when the golf ball 10 turns to the right in a plane, and the draw and the hook appear when the golf ball 10 turns to the left.

It is necessary to grasp the rotation speed of the golf ball 10 in order to reflect such fades, slices, dots, and hooks.

5 is a schematic view showing a rotating golf ball 10. Fig.

The analyzer 130 analyzes the change of the specific region 11 of the golf ball 10 photographed by the first photographing module 110 and the specific region 11 photographed by the second photographing module 110 The trajectory of the golf ball 10 can be estimated using the time t1 and the second time t2. The arrival point of the golf ball 10 can be predicted using the velocity of the golf ball 10 and the trajectory of the golf ball 10.

5 (a) may be an image photographed at the time t1 by the first photographing module 110 (1). 5 (b) can be an image photographed at the time t2 by the second photographing module 110 (2).

When the specific region 11 of the golf ball 10 photographed at the time t1 is at 12 o'clock and the specific region 11 of the golf ball 10 photographed at the time t2 is at the 9 o'clock position, 130 can be regarded as the golf ball 10 turning to the left. Then, the analysis unit 130 can grasp the angular velocity of the golf ball 10 using the fact that the angle is rotated by the angle a during the time t2 minus t1.

The analysis unit 130 can grasp the direction in which the golf ball 10 is bent and the degree to which the golf ball 10 is bent through the rotation direction and the angular velocity of the golf ball 10, that is, the rotation speed. Then, this state can be combined with the velocity of the golf ball 10 to predict a virtual arrival point that follows the actual point of the golf ball 10.

In summary, the analysis unit 130 uses the specific region 11 of the golf ball 10 photographed by the first photographing module 110 and the specific region 11 photographed by the second photographing module 110 The rotational speed of the golf ball 10 can be calculated. Then, a draw or hook for bending the golf ball 10 to the left on the plane, a fade or a slice for bending the golf ball 10 to the right is estimated using the calculation result, and the estimation result is transmitted to the arrival point of the golf ball 10 Can be reflected.

The photographing module 110 may be installed such that the optical axis thereof is inclined in the first direction so that the setting section 111 corresponding to a part of the entire section from the first position P1 to the second position P2 is photographed. For example, the optical axis of the photographing module 110 is perpendicular to the first direction. Here, the setting period 111 may be a photographing angle range of the photographing module 110 or a size of an area photographed by the photographing module 110.

The photographing module 110 may have a sampling period equal to or less than a value obtained by dividing the length of the setting section 111 by the maximum speed of the predetermined golf ball 10. [

1, when the photographing module 110 has an optical axis directed upwardly from below, the sampling time of the photographing module 110 is preferably as short as possible in order to photograph the golf ball 10 instantaneously passing rightward to the left.

The sampling time may be a time interval for generating a still image in the photographing module 110. [ For example, if the sampling time is 1 ms, a still image can be generated every 1 ms.

Therefore, if the sampling time is extremely short, no matter how fast the golf ball 10 passes, a plurality of still images including the golf ball 10 can be obtained with one imaging module 110.

In order to grasp the rotation speed of the golf ball 10, the sampling time is preferably short. If the sampling time is long, it is difficult to discriminate whether the image of FIG. 5 (b) is rotated by 90 degrees to the left or by 450 degrees.

FIG. 6 is a schematic view showing the golf ball 10 photographed by the photographing module 110. FIG.

If the sampling time is short, the golf ball 10 is photographed at the time t1 in one photographing module 110, and the golf ball 10 can be photographed again at the time t9 when the sampling time (sampling period) has elapsed. By analyzing the plurality of golf balls 10 photographed in this manner, the moving speed and the rotating speed of the golf ball 10 can be grasped naturally.

However, such a camera having a short sampling time is very expensive and thus has a problem of low productivity.

According to the present invention, since a plurality of cameras are provided, the sampling time length can be increased as much as possible within an allowable range. The allowable range at this time may be a value obtained by dividing the length of the setting period 111 taken by the photographing module 110 by the maximum speed of the predetermined golf ball 10. If the allowable range is satisfied, the golf ball 10 passing through the setting section 111 can be photographed at least once by the photographing module 110.

If one shooting image of each golf ball 10 is obtained from each shooting module 110, the shot image will be equal to the number of shooting modules 110. In other words, if the number of the photographing modules 110 is two, two images of the golf ball 10 are acquired, and if the photographing module 110 is three, three images of the golf ball 10 can be obtained .

7 is a schematic view showing a golf ball 10 photographed by two photographing modules 110. As shown in Fig.

The golf ball 10 can be photographed at the time t1 in the first photographing module 110 (1). In addition, since the sampling cycle of the first imaging module 110 (1) is long, the golf ball 10 may not be photographed at a time other than the time t1 in the first imaging module 110 (1).

The golf ball 10 can be photographed at time t2 in the second photographing module 110 (2). The golf ball 10 may not be photographed other than the time t2 in the second photographing module 110 (2).

In this state, if the time interval between t1 and t2 is large, it may be difficult to accurately grasp the rotation speed of the golf ball 10. [

Therefore, in order to reduce the time interval between t1 and t2, the image taken by each photographing module 110 may partially overlap with the image taken by the other photographing module 110. [ In addition, the sampling time of the first photographing module 110 (1) and the sampling time of the second photographing module 110 (2) may be different from each other.

For example, it is assumed that the first photographing module 110 (1) and the second photographing module 110 (2) have a sampling period of 0.2 seconds.

At this time, the first photographing module 110 (1) can take a photograph at every 0.1 second, 0.3 second, 0.5 second, and so on from the origin. The second photographing module 110 (2) can take photographs at 0.2 second, 0.4 second, 0.6 second, and so on, which are different from the first photographing module 110 (1).

When the first imaging module 110 and the second imaging module 110 operate as described above, the analyzer 130 performs the operations of 0.1 seconds, 0.2 seconds, 0.3 seconds, 0.4 seconds, 0.5 seconds, 0.6 seconds, and so on. It is possible to obtain a still image at intervals of 0.1 second as shown in Fig. That is, the analysis unit 130 may collect all the images captured by the plurality of imaging modules 110 and generate one test image in which the collected images are arranged in a time-series manner. Then, the arrival point of the golf ball 10 can be calculated using the inspection image. In the above example, a still image obtained at 0.1 second intervals, such as 0.1 second, 0.2 second, 0.3 second, 0.4 second, 0.5 second, 0.6 second, ... may correspond to a test image.

According to this, it is possible to have an effect similar to that of using one photographing module 110 having a sampling period of 0.1 second using two photographing modules 110 having a sampling period of 0.2 second.

The analyzer 130 may generate a trigger signal for controlling the photographing module 110 so that the sampling times of the plurality of photographing modules 110 are different from each other. The pulse interval of the trigger signal may be a value obtained by dividing the interval L of each photographing module 110 by the maximum speed of the golf ball 10. According to this, it is possible to acquire at least one still image in which the golf ball 10 is captured from at least one photographing module 110.

8 is a schematic view showing a plurality of photographing modules 110 in a plan view.

In other words, each photographing module 110 takes a multi-vision configuration including two cameras so as to recognize a three-dimensional space.

Each photographing module 110 is arranged along the first direction at an interval of L, and can photograph the golf ball 10 at different times according to the trigger signal generated by the analyzing unit 130.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. Accordingly, the true scope of the present invention should be determined by the following claims.

10 ... golf ball 11 ... specific area
30 ... protective net 50 ... screen
110 ... shooting module 111 ... setting interval
112, 114 ... camera 130 ... analysis unit

Claims

A photographing module for photographing a golf ball moving from the first position to the second position corresponding to the target point by the blow; And
And an analyzing unit for analyzing the image photographed by the photographing module and predicting an arrival point of the golf ball,
Wherein the plurality of imaging modules are provided at different positions along a first direction from the first position toward the second position.

The method according to claim 1,
Wherein the second position is displayed as image data on a screen corresponding to a protective net to prevent the hit golf ball from flying over a set range,
Wherein the first direction is a direction from the first position toward the screen.

The method according to claim 1,
Wherein the plurality of photographing modules are arranged at equal intervals from each other,
Wherein the photographing module includes a plurality of cameras for photographing the golf ball to grasp the three-dimensional position of the golf ball,
The analyzing unit,
A distance between the first photographing module and the second photographing module, a first time at which the golf ball is photographed in the first photographing module, a position of the golf ball photographed at the first photographing module, Calculating a speed of the golf ball using the photographed second time and the position of the golf ball photographed by the second photographing module,
Calculating a rotation speed of the golf ball using the first time and the second time, the change of the specific region of the golf ball photographed by the first photographing module and the specific region photographed by the second photographing module, Estimating a trajectory of the golf ball using the rotational speed of the golf ball,
And estimating an arrival point of the golf ball using the velocity of the golf ball and the trajectory of the golf ball.

The method according to claim 1,
The analysis unit may calculate the rotation speed of the golf ball using a specific region of the golf ball photographed by the first photographing module and the specific region photographed by the second photographing module, A draw or hook which is bent to the left, a fade or slice in which the golf ball is bent to the right, and reflects the estimation result to an arrival point of the golf ball.

The method according to claim 1,
Wherein the photographing module is installed such that an optical axis thereof is inclined in the first direction so that a setting section corresponding to a part of the entire section from the first position to the second position is photographed,
Wherein the photographing module has a sampling period equal to or less than a value obtained by dividing a length of the setting section by a predetermined maximum speed of the golf ball.

The method according to claim 1,
Wherein a sampling time of the first photographing module and a sampling time of the second photographing module are different from each other when the first photographing module and the second photographing module disposed at different positions along the first direction are provided.

The method according to claim 6,
Wherein the analyzing unit collects all of the shot images of the plurality of shooting modules, generates one test image in which the collected shot images are arranged in a time-series manner, and calculates an arrival point of the golf ball using the test image Device.

The method according to claim 6,
Wherein the analyzing unit generates a trigger signal for controlling the photographing module,
Wherein the pulse interval of the trigger signal is a value obtained by dividing an interval of each photographing module by a maximum speed of the golf ball.