201100144 六、發明說明： 【發明所屬之技術領域】 本發明係有關一種推桿速度之測晉壯 及推桿速度之測量方法，尤其是推料;=1測3置之推桿、以 推桿、以及推桿速度之測量方法， =U相量裝置之 桿的揮桿速度是以光學方式測量/、^用射干以進行推桿動作時，推 【先前技術】 Ο ο 球，高爾夫球是用推揮桿-擊高爾夫 桿。成韻推桿直接取決於推桿的細敏速度㈣，而不像其他的高爾夫球 ，爾夫球使用者需要經常練習推桿， 。已引進許多推桿速度測量裝置及包 —i’，rm不推桿速度以使高_夫球使用者改善其推桿能力。 的傾斜感測器，或類似元件係被用以測量推桿的速度。力之机體机動 具顿點，_是_於推桿岐Μ Hi既然轉速度是藉由與推桿移___量，如加 器於重力的角度，而間接估計推桿位置的變化，所以這類的感測 二^為二聚集所累積的誤差或在由物理量中估計位Μ化的 中用於估计之換型的誤差，基本上报難測量到精確的推桿速度。 【發明内容】 推桿是在ίί問題下做成，且本發明之主要目的在提供一種 測量精確㈣置、。括_1裝置的推桿、以及速度測量方法，其中 如影像感制細剛_彳_置改變，並細康使用 ’…錢/或紐心的光學制||之光_量方法雜計該推桿 3 201100144 的位移，然後由估計的位移以曾 測量的推桿速度，以改善高爾也可在顯示單元上顯示所 依據本發，伽，上収其他㈣ 組、位移估計模組及控彻之推桿速度 影像感挪模 測模組用於連續擷取在高爾夫球使用者隨著推其中該影像感 影像’該轉料触㈣縣比 =料·之-表面上的 桿移動的位移，該控制器用於依據該；脉的影像估計推 的速度。 私估计杈組所估計的位移計算推桿 依據本發明的另一特點，提供— ❹ 控制器的推桿速度測量裝置，其令該感^驗、位移估計模紐及 二光感測器，每個光_器依據:，也含具卜光感測器與第 之-表面上所反射的光線; 感測器分隔開-段預設距離，該位祕;;模;測器是與該第-光 益與第二光感測器所產生的信#估 、，；思耆比較该第一光感測 該位移估計模組所估計的位移計"算推桿的位移’該控制器用於依據 依據本發明的另一特點，提供—々i 2、光感測模組、第二位移估t;模組估計 ο 之—表面上的影像，該第===夫球，者隨著推桿移動而揮桿 操取的影像估計該推桿移動的 二3於1^者比較該影像感測模組所 二光感測器，每個光感測器依據“；爾f測模組包含f 感測器及第 之一表面上所反射的光線強度產生= 吏用^隨者推捍移動而揮桿 測器分隔開-段預設_ &，^―域〉聰與該第-光感 測器及第二光感測器所產生模組用於隨著比較該第-光感 施加個別權重至該第-及第^ °才干移動的位移，該控制器用於藉 度。 料估計模組所估計的位移計算推桿的速 依據本發明的另一特點，提供__ 位移估計模組、控制器以及顯^ 丙干頭、影像感測模組、 取在高爾夫球使用者隨著推桿移動二，衫像感測模組用於連續擷 模組係設置於該手柄或該推桿 面上的影像，該影像感測 _的内部或外部以擷取該表面的影像，該位 4 201100144 =======_雜桿移 _ 顯示單元餘顯相於雜· 2驗料鼻推桿的逮度，該 元係設置於該手柄及該推桿頭的其I之—。桿之速度的資訊’且該顯示單 依據本發明的另一特點，提供— 一 位移估計模組、控彻及顯元、^ 幡頭、域測模組、 θ Ο 揮桿之-表面上所反射的光線強度產生:;爾=:隨推 一光感測器分隔開-段預設距離，該光與該第 頭的内部或外部以操取該表面的影像 置於辭柄或該推桿 一光感測器及第二光感測器所產生的信二於隨著比較該第 用於依據該位移估計模組所估計的位移計算推“ 控制器 顯示關於該控制器所計算的推桿之速度的資訊，該^該=早元用於 柄及該推桿頭的其中之一。 、、早疋你。又置於該手 依據本發明的另-特點，提供__種包括手柄、 # 第-位移估計模組、光感測模組、第二位移估計模组換組、 ，像感測模組用於連續操取在高爾夫球使用麵 =之—表面上的影像’該影像感測模組係設置於該手柄或姉= 以操取該表面的影像，該第—位移估計模組用於 ς員二 弟光感測益分隔開一段預設距離，該光感測模組係^ : 桿頭的内部或外部以操取該表面的影像，該第二位移柄或雜 光感測器及第二光感測器所產生的信號估計心動== =關於措施加個別權重至該第-及第二位移估計模組所估計的 亡推桿的速度，該顯示單元用於顯示關於該控制器所計算的推桿之^ 資訊’該顯示單元係設置於該手柄及該推桿頭的其中之—。、又、 依據本發明的另一特點，提供一種推桿速度之測量方法，’、 括·_藉一影像感測模組連續擷取在高爾夫球使用者隨著推桿移動=揮俨= 5 201100144 動 的據較所擷取的影像估計推桿移 括:提供=::=度_包 著推桿移動而揮::與户 的每-個，依據在高爾夫球使用者隨 感測器與該第—光感測器分隔開—=ί=度!ί產生—信號，該第二光 較該第-光感測器 又預距離，精—位移估計模组隨著比 及依^7糊__====##糊位移；以 Ο ❸ 括：㈣，該方法包 -表面上的影像；夫球制麵著推桿移動而揮桿之 移動的位移;藉第」光感計==較所録的影像估計推样 動之該表面上所反射的光線碎'^^-的母一個，依據從該推桿移 感測器分隔開-段預設距離· ’該第二光感測器與該第-光 測器及第二光感測器的:估計模組隨著比較該第-光感 依據本二：:=n_桿的速度。 及推桿速度之测量方法具有 ^相量裝置之推桿、以 變以測量射轉錢，制挪鶴_桿位置改 測器的光學測量法以估計推:崎像感測器及/或光感測器的光學感 而且也可顯示戶斤測量的推产、亲，. 二，後由估計位移以計算推桿速二7 適感。、干速度於顯不單疋上以改善高爾夫球使用者的舒 【實施方式】 以下將參考圖式以詳細說明推 挪量裝置之推桿及雜速度之測量方法。u及包含_桿速度 至圖4而說s/，該^ 例’包括推桿速度測量裝置的推桿係參考圖】 推桿的概念。 ’該寺圖式顯示依據本發明實施例包含推桿速二之1 如圖]所示 ’依據本發明實施丫列，包括推桿速度測量裝 置的推桿〗00 6 201100144 -推桿頭12°，而且也包括影像感測模組2⑻以及顯示單 .單^的細…而顯示 的頂=單元並不—定要繼手柄11G w於推桿頭12〇 =象感測模組200包括影像感測器2]〇及鏡頭模組 取我球使用者揮桿在表面B上的影像，亦 貝 而實===:或CCD影像感測器的實 員兄—1了 U維(1D)或二維(2D购象感測器而實現。 Ο ^^.^ 220 ^ 射的光線折射，以使得影像形成於影像感測器別上心«面B所反 ：連使用者隨著推桿_ ::r移以計算推桿速度一計算的推桿速=: 圖2象定要如圖1所示設置於手柄110的孔润⑴令。 肩不衫像感測楔組2〇〇是設置 丁 的實施例本質上是箄、 卜邛的貫施例。第2圖 “：:，觀高_使用_==影像感 在圖2的戶、施例中，影像感測模組2〇〇只需要# ，、 面朝下，且影像感測模組細可在手柄11〇上、;^胁手柄則外部以 設置於手柄m外部以面朝下。 1的不同位置並以不同方式而 柄】====可在推桿頭⑶前端的某—位置而設置於手 者所揮桿的會==感_組2：^及高爾夫球使用 某—位置而設置於手柄n()卜斤不如果影像感測模組200是在 及表面B之間的路徑時，則可:推:===影像 ⑽=需大小的孔洞， L影像感測模組設置於推桿頭12()的實施例。 201100144 在圖I及圖2所示的實施例中，在 及影像感測模組200之間確保有足约的距離以^配斤揮桿的表面B以 組200是設置於手柄11〇的内部 ^ ®為影像感測模 推桿㈣，也·是設置於 類似方式以確保足夠的焦距。 彳置料頌120的形狀或 所定頭⑽中 施例，除了賴_組的設置位置以^施淋貝上4於圖1的實 ο 桿頭是定義成使得空間⑵的頂部與推 H 4 γ 所需距離，以保持影像感測模組2〇〇的隹距。 例。：===於推桿〇外部以面朝下的實施 測模組與表面Β之嶋適當^。㈣用恤件而在影像感 圖5以說嘱圖1至圖4所示實施例的推桿之推桿速度測 移1121G及鏡麵組22G的觀職組係連結至位 ❹ r===:r=== 並。~計算推桿-度 是2^f^6r兒明當圖5所示影像感測模組200的影像感測器训 如像感測态時用以由所擷取影像圖框以估計位移的程序。 像，6(e)顯示所操取影像在時間u及t2被分割成複數個次影 il)的⑭彳^\的次影像是顯示於圖6⑻至圖6(e)的左側，而時間t2(t2> 勺-人衫像疋顯不於圖6⑷至圖6(e)的右側。 計夷Γ據=明實施例，使用推桿速度測量裝置之影像感測模組的位移估 々土上疋藉著.比較在時間tl所擷取的影像中被分割成複數個次 母-個與在_ t2所擷取的影像中被分割成複數個次影像的每—個了計算 8 201100144 對應於％^ tI的:切像與刺t2的 對應於所計算·^的極小值 =像之_|制綠值、以及估計 之影像移動的位移來進行。 ☆象位移為對應於從時間ti至時間ο 為了解釋圖6尹依據次影像變 ^影像感·顺得之職的知、處理程序，我們定義， ^具有〇现範圍内f數對(以)代表，其 如圖6所示，計算時間tl的次号如有至，範圍内的數值。 ο 當由二個次影像之間的差異所計算的;^僧夺曰間ί2的次影像之間的差異。 值在圖6(a)中是以Ε(0，0)表示，在圖s⑼中=Ε(χ，，y)表示時’則該誤差 以E〇, 0)表示，在圖6⑹中以 _，〇)表不’在圖6(c)中 在此，誤差值e(〇，0)表干為1)表不’在圖6(e)中以Ε(0，υ表示。201100144 VI. Description of the Invention: [Technical Field] The present invention relates to a method for measuring the height of a push rod and measuring the speed of the push rod, in particular, pushing the material; And the method of measuring the speed of the push rod, the swing speed of the rod of the =U phasor device is optically measured /, and when the shot is used for the putter action, the [previous technique] Ο ο ball, the golf ball is used Push the swing bar - hit the golf club. The rhyme push rod is directly dependent on the fine-sensing speed of the putter (4), unlike other golf balls, the golf ball user needs to practice the putter frequently. A number of putter speed measuring devices and packages have been introduced - i', rm does not push the bar speed to enable the high-ball user to improve their putter ability. A tilt sensor, or the like, is used to measure the speed of the putter. The force of the body of the motor has a point, _ is _ in the putter 岐Μ Hi since the speed is by the amount of ___ with the push rod, such as the angle of gravity of the adder, indirectly estimated the change of the position of the putter, Therefore, the sensing of this type is the error accumulated by the two aggregations or the error of the type change used for estimating the position in the physical quantity estimation, and it is basically difficult to measure the accurate fader speed. SUMMARY OF THE INVENTION The pusher is made under the ίί problem, and the main object of the present invention is to provide a measurement accuracy (four). Including the 117 device's putter, and the speed measurement method, such as the image sensing fine _ _ _ change, and use the '... money / or the heart of the optical system | | light _ amount method The displacement of the putter 3 201100144, and then the estimated displacement to the measured fader speed to improve the Gore can also be displayed on the display unit according to the hair, the gamma, the other (4) group, the displacement estimation module and the control The push-push speed image sensing module is used for continuously capturing the displacement of the rod on the surface of the golfer as the image of the image is sensed by the user. The controller is configured to estimate the speed of the push based on the image of the pulse. According to another feature of the present invention, the estimated displacement calculation putter of the private estimation group provides a push rod speed measuring device of the controller, which makes the sensor, the displacement estimation module and the two-light sensor each The light_device is based on: and also includes the light reflected by the light sensor and the first surface - the sensor is separated by a predetermined distance, the position is secret; the mold; the detector is The signal generated by the first photon and the second photosensor is estimated, and the first light is sensed by the displacement estimating module to estimate the displacement of the displacement gauge. According to another feature of the present invention, there is provided - 々i 2, a light sensing module, a second displacement estimate t; a module estimates ο - an image on the surface, the === ball, with The image of the putter moving and swinging is estimated to be two or three of the pusher movements. The two photosensors of the image sensing module are compared, and each photosensor is based on the "f; Including the f sensor and the intensity of the light reflected on the first surface is generated = ^ use the follower to move and the swing detector separates - the segment preset _ &, ^― 〉 Cong and the first photo sensor and the second photo sensor are used to generate a module for comparing the displacement of the first light sense to the first and the second movements of the first light sensor. According to another feature of the present invention, the estimator of the __ displacement estimation module, the controller, and the display head, the image sensing module, and the The golfer moves with the pusher 2, and the shirt image sensing module is used for the image of the continuous 撷 module set on the handle or the face of the pusher, and the image senses the inside or outside of the image to capture the The image of the surface, this bit 4 201100144 ======== Miscellaneous rod shift _ display unit residual appearance in the miscellaneous 2 test nose rod, the element is set in the handle and the putter head The information of the speed of the rod - and the display sheet is provided according to another feature of the present invention - a displacement estimation module, a control and display element, a hoe, a domain test module, and a θ Ο The intensity of the light reflected on the surface of the rod produces:: = = as separated by pushing a light sensor - the preset distance, the light The inside or the outside of the head is used to manipulate the image of the surface to be placed in the handle or the light generated by the light sensor and the second light sensor, and the second is used according to the displacement estimation module. The estimated displacement calculation pushes "the controller displays information about the speed of the putter calculated by the controller, which is used for one of the handle and the putter head. I will marry you early. In addition, according to another feature of the present invention, the invention provides a handle, a #first-displacement estimation module, a light sensing module, a second displacement estimation module, and a sensing module. The image sensing module is disposed on the handle or 姊= to capture an image of the surface, and the first displacement estimation module is used for the employee. The second light sense is separated by a predetermined distance. The light sensing module is: internal or external to the head to capture the image of the surface, the second displacement handle or stray light sensor and the first The signal generated by the two photosensors estimates the heartbeat == = with respect to the measure plus individual weights to the estimated speed of the dead pusher of the first and second displacement estimating modules, the display unit is used for displaying the controller The calculated information of the putter is that the display unit is disposed in the handle and the pusher head. According to another feature of the present invention, a method for measuring the speed of the push rod is provided, wherein the image sensing module is continuously captured by the golfer as the golfer moves = swing = 5 201100144 According to the estimated image taken by the putter: provide =::= degrees _ including the putter move and wave:: with each of the households, according to the golf user with the sensor and the The first-light sensor is separated by -= ί= degree! ί generates - the signal, the second light is pre-distance from the first-light sensor, and the fine-displacement estimation module follows the ratio and __====## Paste displacement; Ο ❸ :: (4), the method package - the image on the surface; the volleyball face with the push rod moving and the movement of the swing movement; by the "light sensor" = = Compared with the recorded image, the light reflected by the surface of the sample is broken, and the mother is separated by the distance from the push rod sensor. The sensor and the first photodetector and the second photosensor: the estimation module compares the first light perception according to the speed of the second::=n_rod. And the measuring method of the push rod speed has the push rod of the phasor device, the optical measuring method for measuring the shooting money, and the moving crane_rod position detector to estimate the push: the kinematic sensor and/or the light The optical sense of the sensor can also show the push production of the household, the pro, and the second, and then the estimated displacement to calculate the putter speed. The dry speed is not limited to improve the comfort of the golfer. [Embodiment] The method of measuring the push rod and the misalignment of the amount of the device will be described in detail below with reference to the drawings. u and include the _bar speed to Figure 4 and say s/, which includes the concept of the push rod of the push rod speed measuring device. 'The temple pattern display includes a pusher speed two according to an embodiment of the present invention. As shown in the figure, 'the implementation according to the present invention, including the push rod of the push rod speed measuring device〗 00 6 201100144 - putter head 12° And also includes the image sensing module 2 (8) and the display list. The single ^ unit is displayed and the top = unit does not have to be followed by the handle 11G w on the putter head 12 〇 = like the sensing module 200 includes image sense Detector 2] 〇 and the lens module take the image of the user's swing on the surface B, but also the real ===: or the CCD image sensor's actual brother - 1 U-dimensional (1D) or Two-dimensional (2D purchase of image sensor is realized. Ο ^^.^ 220 ^ The light is refracted so that the image is formed on the image sensor, and the face is reversed: even the user follows the putter _ ::r shift to calculate the putter speed. Calculate the pusher speed =: Figure 2 is set to the hole run (1) set on the handle 110 as shown in Figure 1. The shoulder strap is like the sense wedge set 2〇〇 is set The embodiment of D is essentially a general example of 箄 and 邛. Figure 2:::, view height _ use _== image sense in the household, example of Figure 2, image sensing module 2〇〇 Only need # , , face Next, the image sensing module can be finely placed on the handle 11〇; the handle is externally disposed outside the handle m to face down. 1 different positions and handles in different ways] ==== The position of the front end of the putter head (3) is set to the swing of the hand. ==Sense_Group 2:^ and the golf ball is set to the handle n() using the position of the golf ball. 200 is the path between and the surface B, then: push: === image (10) = hole of need size, L image sensing module is set in the embodiment of the putter head 12 () 201100144 in Figure I In the embodiment shown in FIG. 2, it is ensured that there is a sufficient distance between the image sensing module 200 and the surface B of the swinging arm. The group 200 is disposed inside the handle 11A. The sensing die pusher (4) is also set in a similar manner to ensure a sufficient focal length. The shape of the 颂120 or the set head in the fixed head (10), except for the set position of the 赖 _ group The head of Figure 1 is defined such that the distance between the top of the space (2) and the push H 4 γ is required to maintain the pupil distance of the image sensing module 2 . Example: === The push rod 〇 is externally facing down to perform the test module and the surface Β. ^ (4) Using the placket in the image sense 5 to say the push rod speed of the push rod of the embodiment shown in Figs. 1 to 4 The observation group of the 1121G and the mirror group 22G is connected to the position ❹ r===:r=== and the calculation of the putter-degree is 2^f^6r, the image sensing shown in Fig. 5 The image sensor of the module 200 is used as a program for estimating the displacement from the image frame when the image is sensed. For example, 6(e) shows that the captured image is divided into plural numbers at times u and t2. The secondary image of 14彳^\ of the secondary shadow il) is shown on the left side of Fig. 6(8) to Fig. 6(e), and the time t2 (t2> scoop-shirt image is not shown in Fig. 6(4) to Fig. 6(e) On the right side. According to the embodiment, the displacement of the image sensing module using the push rod speed measuring device is estimated to be divided into a plurality of secondary mothers by comparing the images captured at time t1. Calculated for each of the plurality of sub-images in the image captured by _t2, 201100144 corresponds to %^tI: the minimum value of the tangent image and the thorn t2 corresponding to the calculated ^^=image The _|the green value and the estimated displacement of the image movement are performed. ☆ Image displacement corresponds to the time from time ti to time ο In order to explain the knowledge and processing procedure of Figure 6 Yin according to the image change, the image sense, and the job, we define that ^ has a f-number in the range Representative, as shown in FIG. 6, the sub-number of the time t1 is calculated as the value in the range. ο When calculated by the difference between the two sub-images; ^ is the difference between the sub-images of ί2. The value is represented by Ε(0,0) in Fig. 6(a), and =Ε(χ,,y) in the figure s(9), then the error is represented by E〇, 0), and in Fig. 6(6), _ , 〇) Table does not 'in Figure 6 (c) here, the error value e (〇, 0) is dry 1) The table is not represented by Ε (0, 在 in Figure 6 (e).
值印，（))絲红崎 相對位移 ’而誤I 移動。 ’、 對位移係對應於像素在X方向上的 對應於圖6⑻至圓6(e)中誤差值之極小 像圖框之間的位移。 ，私疋被決定成該二個影 例如’當圖6(c)令的誤差值E〇 值時’估計該影像已經由時間 =3至圖6(e)中誤差值的極小 ❹ 以下是更一般的解釋。當Fn 上移動—個像素。 二’ y)是定義成影像在位置(x, 數時1 匕對應於二《像之間的差異的誤差值E(p，q)可由=方且程= E(P. q) ν-ι>-ι .\-n_, Σ Σ (F^y)~Fu+l(x^Piy + q)r 在此，D是正整數，代表在χ方向 且仏㈣及仏qa。誤差值Ε(Ρ，q)是針對移動量， =_間的，移是由所獲得之t_ E(p，q)的極小獲得，且 移估计(p，q)是表示成以下方程式。 、弋亦即，位 9 201100144 依據該方程式的定義，在圖6⑻至圖6(e)中，D = 1以及 _，(0,-1), (1,0), (-1,0)}。 Φ {(ϋ, Λ -μΓ，7(ΓΪ圖職示在時間u及時間ί2所擷取的影像被分割成複數個 切象’/、中圖5所不影像感測模組2〇〇的影像感測器2川是出 測器’其中時間d的次影像是顯示在圖7⑻至圖7⑷的左側，而時間邮2 >tl)的次影像是顯示在圖7⑻至圖7(e)的右側。 在此’我們定韻影像❹m所麟之影像的大小係包括 ❹ Ο ::個：像素以及垂直方向上的—個γ像素’且影像令的某—像：X 代表，/、中X具有〇至χ_1範圍内的數值。 ’、 對應於圖7⑻至圖7(c)所示次影像之間的差異的誤差值E 计异2D影像感測器所擷取之影像間的誤差值的相同方式而計y。洌/、 誤差是在圖7⑻時計算，誤差值㈣是在圖7(bm算 妓值E⑴是在圖7⑷時計算，且對應於誤差值的極小值的位移曰)=舁， 對應於時間tl至時間t2之移動的位移。 疋汁成 以下是更一般的解釋。當Fn是定義成影像在時間 Fn(x)疋疋義成影像在位置“χ，，的像素值，而誤差值邮)以日卞，則 義。 卜万程式定 X~D — 1 E(p) = ^ (Fn(x) - Fu+1(x + p))2Value printed, ()) silk red and white relative displacement ‘and error I move. The displacement system corresponds to the displacement between the extremely small image frames of the pixel in the X direction corresponding to the error values in Figs. 6(8) to 6(e). The private sputum is determined to be the two shadows such as 'when the error value E 〇 of Figure 6(c) is 'predicted' the image has been extremely small from the time = 3 to the error value in Fig. 6(e) ❹ General explanation. Move on Fn - one pixel. Two ' y) is defined as the position of the image at the position (x, the number 1 匕 corresponds to the difference between the two "images of the error value E (p, q) can be = square and Cheng = E (P. q) ν-ι> ;-ι .\-n_, Σ Σ (F^y)~Fu+l(x^Piy + q)r Here, D is a positive integer representing the χ direction and 仏(4) and 仏qa. Error value Ε(Ρ , q) is for the amount of movement, between =_, the shift is obtained by the minimum of the obtained t_E(p,q), and the displacement estimate (p,q) is expressed as the following equation. 9 201100144 According to the definition of the equation, in Fig. 6(8) to Fig. 6(e), D = 1 and _, (0, -1), (1, 0), (-1, 0)}. Φ {(ϋ , Λ -μΓ,7 (The image captured by time and time ί2 is divided into multiple cut images'/, image sensor of image sensing module 2〇〇 in Figure 5 2 is the output of the detector 'where the secondary image of time d is displayed on the left side of FIG. 7 (8) to FIG. 7 (4), and the secondary image of time stamp 2 > tl) is displayed on the right side of FIG. 7 (8) to FIG. 7 (e). The size of the image of the image of our rhyme image includes: ❹ Ο :: a pixel and a γ pixel in the vertical direction and a certain image- :X stands for /, and X has a value in the range from 〇 to χ_1. ', the error value E corresponding to the difference between the sub-images shown in Fig. 7(8) to Fig. 7(c) is calculated by the 2D image sensor. y is taken in the same way as the error value between images. 洌/, the error is calculated in Fig. 7(8), and the error value (4) is calculated in Fig. 7 (bm 妓 value E(1) is in Fig. 7(4), and corresponds to the error value. The displacement of the minimum value 曰) = 舁, corresponds to the displacement of the movement from time t1 to time t2. The following is a more general explanation of the 疋 juice. When Fn is defined as the image at the time Fn(x), the image is at the position. "χ,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,, 2
：D 在此，D是正整數，p代表在x方向上的移動量，且_D < 值E(p)係針對一些“p”而獲得，且對應於所獲得之誤 ~ = 誤差 值最後是被決定成—位移。亦即，位移估計⑻是以以下方V， P = argmin E(p):D Here, D is a positive integer, p represents the amount of movement in the x direction, and _D < value E(p) is obtained for some "p" and corresponds to the obtained error ~ = error value last Is determined to be - displacement. That is, the displacement estimate (8) is the following V, P = argmin E(p)
-〇Sp<D ,-D<q<D 依據該方程式的定義，在圖7(a)至圖7(c)中，D=1以及 ( 圖8顯示依據本發明實施例包括推桿速度測量裝置的推卜1，〇, 1}。 201100144 圖8所示的實施例中，係使用包括二個光感測器24〇及25〇的光感測 模組以估計位移。 〜、 每個光感測器240及250較佳地包括如光電晶體以輸出類比传卢 一像素光學_，其鱗是正比於由__反射之 即，每個光感測器240及250是設置於推觸120上以面向高爾夫球使用 者所揮桿的表面Β，ϋ鎌表面β所反射的规強度以產生特定信號，且 對應於推桿移動的位移是使用所產生的信號而估計。 Ο Ο 旦具體而言’在推桿速度測量裝置以及包含依據該實施例之推桿速度測 里裝置的推桿中，計算對應於由第一光感測器施所產生之信號以及由第 -先感測器25G所產生之信號之_差異的誤差值，而且極小化誤 位移是被決定成估計的位移。 、 當第-光感測器24〇在時間tl的輸出是⑽，第二光感測器在時 4 tl的輪出是f2⑴’以及表面B的反射·是s(x)時 以及第二光感測器250的個別輸出是以數學方式如以下所表5指 fi(t) = k * s(v*t) f2⑴=k * s(v*t + d) ，’ V f桿的速度’而d是二光感測器之間的距離。 邊一k唬之間的差異可定義成如下。 Ε(τ) k2- 〇Sp<D, -D<q<D According to the definition of the equation, in Figures 7(a) to 7(c), D = 1 and (Figure 8 shows the measurement of the push rod speed according to an embodiment of the present invention) In the embodiment shown in Fig. 8, a light sensing module including two photo sensors 24 〇 and 25 〇 is used to estimate the displacement. The sensors 240 and 250 preferably include, for example, a photo-electric crystal to output an analog-to-pixel optical _, the scale of which is proportional to the reflection by __, and each of the photo sensors 240 and 250 is disposed on the push 120 On the surface of the swing facing the golfer, the gauge intensity reflected by the surface β is used to generate a specific signal, and the displacement corresponding to the movement of the push rod is estimated using the generated signal. Ο 具体 具体In the push rod speed measuring device and the push rod including the push rod speed measuring device according to the embodiment, the signal corresponding to the signal generated by the first light sensor and the first-first sensor 25G are calculated. The error value of the difference of the generated signal, and the minimization of the mis-displacement is determined as the estimated displacement. When the output of the photo-light sensor 24 时间 at time t1 is (10), the rotation of the second photo sensor at time 401 is f2(1)' and the reflection of surface B is s(x) and the second light sensation The individual outputs of the detector 250 are mathematically represented by the following table 5: fi(t) = k * s(v*t) f2(1) = k * s(v*t + d) , 'V f rod speed' d is the distance between the two photosensors. The difference between the edges and k唬 can be defined as follows: Ε(τ) k2
r-T (s W) — sOt' - ντ + d))2dt， 在此，τ表示該二信號之間的相對時間延遲，而 異的時間瞧長度。 肖决疋撼 =果表面反射函數s⑻是常數或s(x)是非週期性 二d時脅)具有極小值。在此，當Ε(τ)具有極小值時，:价可= 省略機械結構的詳細說明，比如第—光感測器勘及第二光感測器25〇 201100144 所示實施例的機械結構。 ‘貝上是等於圖1至圖 推桿速度測量裝置及依據本發明另一命 的推桿可包括影像感測模組及光感測模植。Λ e 推桿速度測量裝置 感測模組包括㈣像感測器而光 模組的方法是互補 象感測模組的方法以及使用光感劍r-T (s W) — sOt' - ντ + d)) 2dt, where τ represents the relative time delay between the two signals, and the length of time 瞧. Xiao 疋撼 = fruit surface reflection function s (8) is a constant or s (x) is a non-periodic two d 胁 risk) has a minimum value. Here, when Ε(τ) has a minimum value, the price can be omitted from the detailed description of the mechanical structure, such as the mechanical structure of the embodiment shown in the first photosensor and the second photo sensor 25 〇 201100144. ‘Beet is equal to FIG. 1 to the push rod speed measuring device and the push rod according to another life of the present invention may include an image sensing module and a light sensing module. Λ e Push rod speed measuring device The sensing module includes (4) the sensor and the optical module is a method of complementary sensing module and uses the light sense sword
⑽桿速度為零時，梳齒狀的方向是垂直，而 面的影像。 齒狀的方向會更加朝水平傾斜。 w干t又曾加時，韨 娜=補二水平矩形代表1D雜€難在及㈣所 •另一方面，圖9所示的二水平矩形代表位於二位置μ 光學感測器所獲得之明亮信號的時間變化。 上的二佃 定。這二種方法相類似’因為二個m信號的相對位移是經圖案比較⑽ 差別在於使用1D影像感測器的方法會觀察到空間移 個光感測器的方法會觀察到時間移動。 使用二 然而，在這二方法中，二個1D信號必須具有共同部分。 如圖9所示，隨著推桿的速度降低，梳齒狀的方向會更垂 使用1D影像感測器時，所獲得之二個信號的共同部分u之大小备而畲 而當使用二個光感測器時，所獲得之二健號的共同部分L2 g增加’ 少。 人小會成 亦即，當推桿的速度很高時’很難使用①影像感測器感測 用1D影像感測器所獲得之二個信號的共同部分L1會很大，因而在戶為使 的信號中發生較小的改變，而且很容紐用二個光感測器感測，續得 二個光感測器所獲得之二個信號的共同部分u會很小，因而 ::使用 號中發生較大的改變。 X件的信 12 201100144 用二細測器i 分li之大小會減少’而當使 亦即，當推桿的速部分L2之大小會增加。 使用1D影像感測器所獲得之_個 吏用ID影像感測裔感測，因為 得的信射發域大_部扣錄小，而在所獲 二個光感測n所獲得之m卢 —個光l’h因為使用 號中發生較小的改變。统心分L2會很大，因而在所獲得的信 ο 因為=^^_料，無_二織制_計速度， 以估計速度面因為田某一速度時’無法使用1d影像感測器 快時測器的方法較有優勢，而當速度 物如圖10所示，使用每個第一位移估計模組230與第二位移估 中第一位移估計模組230使用影像感測模組 ㈣的t=感測器240與第二光感測器 計模組230所估叶之取後措施加個別權重至使用第—位移估 桿速=?；：；：權重至使用該二方法所獲得之位移而用以計算推 V = (A*Va + B*Vb)/(A + B) 从丄在此’ Va表示藉第一位移估計模組230的估計，v表干藉黛 估計模組·的估計，而A與B表示用於估計的個別不错第—位移 所叶=個模組的每—個所估計的權重可在使用該模組以估計速度而 在極小練(或差異)(E)較小時而被調節至較大值，而且該權重可 被之推桿速度中每個模組估計的可靠度時： 乜了以經驗方式獲得，比如依據模擬結果所獲得的資料。 13 201100144 以上所述者僅為用以解釋本發明之較佳實施例， 明做任何形式上之限制，是以，凡有在相同之發w下所=== 之任何修御或變更，皆仍應包括在本發明意圖保護之範嘴。 备 【圖式簡單說明】 附圖的、特點及其他優點從詳細說明並結合所 =至圖4顯示依據本發明實施規含推桿速度測量裝置之推桿的概 Ο ❾ =據圖4實施例包含於推桿内之推桿速度測量裝觸^ 圖ό顯示依據本發明實施例當推 像感測器是抑蝴輸影糊模組的影 施例當推桿迷度測量裝置的影像感測模組 實施_機阻應用至 ==；：=2=^_職嫩用二個 圖10是顯示使用1D影像感 器之一方法的推桿速度測量裝置 感測 【主要元件符號說明】 100推桿 110 111 120 121 200 210 手柄 孔洞 推桿頭 空間 影像感測模組 影像感測器 14 201100144 220 鏡頭模組 230 位移估計模組 240 光感測器 250 光感測器 260 位移估計模組 300 顯示單元 B 表面 d 距離 M 控制器(10) When the rod speed is zero, the direction of the comb-tooth is vertical, and the image of the surface. The direction of the teeth will be more horizontally inclined. w dry t has been added time, 韨娜 = fill two horizontal rectangles represent 1D 杂 及 and (4) on the other hand, on the other hand, the two horizontal rectangle shown in Figure 9 represents the brightness obtained in the two position μ optical sensor The time variation of the signal. The second set. These two methods are similar 'because the relative displacement of the two m signals is a pattern comparison (10). The difference is that the method of using a 1D image sensor observs that the method of spatially shifting the photosensor will observe the time shift. Use 2 However, in these two methods, the two 1D signals must have a common part. As shown in Fig. 9, as the speed of the push rod is lowered, the direction of the comb-like shape will be more drooping. When the 1D image sensor is used, the common portion u of the two signals obtained is prepared to be smaller. In the case of the photo sensor, the common portion L2 g of the obtained two health symbols is increased by 'less. When the speed of the putter is high, it is difficult to use the 1 image sensor to sense the common part of the two signals obtained by the 1D image sensor, and the common part L1 is large, so A small change occurs in the signal, and it is very sensitive to use two photo sensors to sense, and the common part u of the two signals obtained by the two photo sensors will be small, thus: A big change has occurred in the number. The letter of the X piece 12 201100144 The size of the sub-measurement i will be reduced by the size of the second measuring device, and when it is made, the size of the speed portion L2 of the push rod will increase. The image obtained by using the 1D image sensor is sensed by the ID image, because the obtained signal is large, and the obtained two light sensing n is obtained. - A light l'h because of a minor change in the usage number. The system of points L2 will be very large, so in the letter obtained ο because = ^ ^ _ material, no _ two weaving _ speed, to estimate the speed surface because of a certain speed in the field 'can not use 1d image sensor fast The method of the time measuring device is more advantageous, and when the speed object is as shown in FIG. 10, the first displacement estimating module 230 and the second displacement estimating first displacement estimating module 230 use the image sensing module (4). t=sensor 240 and the second photosensor meter module 230 estimate the post-following measures plus individual weights to use the first-displacement estimated stick speed=?;:;: weight to obtain using the two methods The displacement is used to calculate the push V = (A*Va + B*Vb) / (A + B). From this point, 'Va denotes the estimate by the first displacement estimation module 230, and the v table is used to estimate the module. Estimate, and A and B indicate that each of the estimated weights for each of the individual good-first displacements of the module is estimated to be used in the module to estimate the speed and in the minimum (or difference) (E) When it is small, it is adjusted to a larger value, and the weight can be estimated by the reliability of each module in the fader speed: Information obtained based on the simulation results. 13 201100144 The above description is only for explaining the preferred embodiment of the present invention, and any form limitation is imposed, that is, any modification or change of === under the same hair w It should still be included in the scope of the invention intended to be protected. BRIEF DESCRIPTION OF THE DRAWINGS The features, advantages, and other advantages of the drawings, from the detailed description and in conjunction with the reference to FIG. 4, show an overview of the putter including the push rod speed measuring device according to the present invention. The push rod speed measuring device included in the push rod displays the image sensing method when the push image sensor is a butterfly image transfer module according to an embodiment of the present invention. Module implementation _ machine resistance application ==;:=2=^_ job tenderness two Figure 10 is a push rod speed measuring device that uses one of the 1D image sensor methods to sense [main component symbol description] 100 push Rod 110 111 120 121 200 210 Handle Hole Pusher Head Space Image Sensing Module Image Sensor 14 201100144 220 Lens Module 230 Displacement Estimation Module 240 Light Sensor 250 Light Sensor 260 Displacement Estimation Module 300 Display Unit B surface d distance M controller