WO2011002227A2 - Procédé et dispositif de mesure de la vitesse du fer droit et fer droit comprenant ce dispositif - Google Patents

Procédé et dispositif de mesure de la vitesse du fer droit et fer droit comprenant ce dispositif Download PDF

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Publication number
WO2011002227A2
WO2011002227A2 PCT/KR2010/004252 KR2010004252W WO2011002227A2 WO 2011002227 A2 WO2011002227 A2 WO 2011002227A2 KR 2010004252 W KR2010004252 W KR 2010004252W WO 2011002227 A2 WO2011002227 A2 WO 2011002227A2
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WIPO (PCT)
Prior art keywords
putter
photo
displacement
sensor
speed
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PCT/KR2010/004252
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English (en)
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WO2011002227A3 (fr
Inventor
Young Chan Kim
Chang Heon Woo
Gee Hyuk Lee
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Golfzon Co., Ltd.
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Publication of WO2011002227A2 publication Critical patent/WO2011002227A2/fr
Publication of WO2011002227A3 publication Critical patent/WO2011002227A3/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • A63B69/3676—Training appliances or apparatus for special sports for golf for putting
    • A63B69/3685—Putters or attachments on putters, e.g. for measuring, aligning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
    • G01P3/38—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light using photographic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
    • G01P3/68—Devices characterised by the determination of the time taken to traverse a fixed distance using optical means, i.e. using infrared, visible, or ultraviolet light
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/32—Determination of transform parameters for the alignment of images, i.e. image registration using correlation-based methods
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/05—Image processing for measuring physical parameters
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/30—Speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/805—Optical or opto-electronic sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/806—Video cameras
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/807—Photo cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20021—Dividing image into blocks, subimages or windows
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20224—Image subtraction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30221—Sports video; Sports image

Definitions

  • the present invention relates to a putter speed measurement device, a putter including the same, and a putter speed measurement method and more particularly to a putter speed measurement device, a putter including the same, and a putter speed measurement method, in which a swing speed of a putter is optically measured when putting is performed with the putter.
  • Golf is generally played by striking a golf ball using golf clubs such as a driver, an iron, and a putter, from a tee box to a hole. Unlike when a golf ball is struck with a full swing using a driver or an iron, a golf ball is gently struck using a putter to roll into the hole on the green.
  • golf clubs such as a driver, an iron, and a putter
  • the golfer needs to constantly practice putting while checking the speed of their putter in order to finely control the speed of the putter when putting.
  • an inertial sensor such as an accelerometer or a gyro sensor, a tilt sensor utilizing fluid flow with respect to gravity, or the like are used to measure the speed of the putter.
  • sensors have advantages in that they can be embedded in the putter and require no external reference device.
  • speed of the putter is calculated by indirectly estimating a change in the location of the putter from a physical quantity associated with the movement of the putter such as acceleration, angular speed, or an angle with respect to gravity
  • sensors have problems in that it is essentially difficult to measure an accurate putter speed due to errors accumulated through integration or errors of a model used for estimation in the procedure for estimating the location change from the physical quantity.
  • the present invention has been made in view of the above problems, and it is an object of the present invention to provide a putter speed measurement device, a putter including the same, and a putter speed measurement method, wherein it is possible to measure an accurate putter speed by measuring a position change of the putter due to movement of the putter and estimating a displacement of the same according to an optical measurement method using an optical sensor such as an image sensor and/or a photo-sensor and then calculating the speed of the putter from the estimated displacement and it is also possible to display the measured putter speed on the display unit to improve golfer comfort.
  • an optical sensor such as an image sensor and/or a photo-sensor
  • a putter speed measurement device including an image sensing module for continuously capturing images of a surface on which a golfer swings as a putter moves, a displacement estimation module for estimating a displacement by which the putter has moved as comparing images captured by the image sensing module, and a controller for calculating a speed of the putter according to the displacement estimated by the displacement estimation module.
  • a putter speed measurement device including a photo-sensing module including a first photo-sensor and a second photo-sensor, each generating a signal according to an intensity of light reflected from a surface on which a golfer swings as a putter moves, the second photo-sensor being separated from the first photo-sensor by a predetermined distance, a displacement estimation module for estimating a displacement by which the putter has moved as comparing signals generated by the first and second photo-sensors, and a controller for calculating a speed of the putter according to the displacement estimated by the displacement estimation module.
  • a putter speed measurement device including an image sensing module for continuously capturing images of a surface on which a golfer swings as a putter moves, a first displacement estimation module for estimating a displacement by which the putter has moved as comparing images captured by the image sensing module, a photo-sensing module including a first photo-sensor and a second photo-sensor, each generating a signal according to an intensity of light reflected from a surface on which a golfer swings as a putter moves, the second photo-sensor being separated from the first photo-sensor by a predetermined distance, a second displacement estimation module for estimating a displacement by which the putter has moved as comparing signals generated by the first and second photo-sensors, and a controller for calculating a speed of the putter by applying respective weights to the displacements estimated by the first and second displacement estimation modules.
  • a putter including a shaft, a putter head, an image sensing module for continuously capturing images of a surface on which a golfer swings as a putter moves, the image sensing module being either internally or externally mounted to the shaft or the putter head so as to capture images of the surface, a displacement estimation module for estimating a displacement by which the putter has moved as comparing images captured by the image sensing module, a controller for calculating a speed of the putter according to the displacement estimated by the displacement estimation module, and a display unit for displaying information regarding the speed of the putter calculated by the controller, the display unit being mounted to one of the shaft and the putter head.
  • a putter including a shaft, a putter head, a photo-sensing module including a first photo-sensor and a second photo-sensor, each generating a signal according to an intensity of light reflected from a surface on which a golfer swings as a putter moves, the second photo-sensor being separated from the first photo-sensor by a predetermined distance, the photo-sensing module being either internally or externally mounted to the shaft or the putter head so as to capture images of the surface, a displacement estimation module for estimating a displacement by which the putter has moved as comparing signals generated by the first and second photo-sensors, a controller for calculating a speed of the putter according to the displacement estimated by the displacement estimation module, and a display unit for displaying information regarding the speed of the putter calculated by the controller, the display unit being mounted to one of the shaft and the putter head.
  • a putter including a shaft, a putter head, an image sensing module for continuously capturing images of a surface on which a golfer swings as a putter moves, the image sensing module being either internally or externally mounted to the shaft or the putter head so as to capture images of the surface, a first displacement estimation module for estimating a displacement by which the putter has moved as comparing images captured by the image sensing module, a photo-sensing module including a first photo-sensor and a second photo-sensor, each generating a signal according to an intensity of light reflected from a surface on which a golfer swings as a putter moves, the second photo-sensor being separated from the first photo-sensor by a predetermined distance, the photo-sensing module being either internally or externally mounted to the shaft or the putter head so as to capture images of the surface, a second displacement estimation module for estimating a displacement by which the putter has moved as comparing signals generated by the first and
  • a method for measuring a speed of a putter including continuously capturing, by an image sensing module, images of a surface on which a golfer swings as a putter moves, estimating a displacement by which the putter has moved as comparing, by a displacement estimation module, the captured images, and calculating a speed of the putter according to the displacement estimated by the displacement estimation module.
  • a method for measuring a speed of a putter including generating, by each of a first photo-sensor and a second photo-sensor, a signal according to an intensity of light reflected from a surface on which a golfer swings as a putter moves, the second photo-sensor being separated from the first photo-sensor by a predetermined distance, estimating a displacement by which the putter has moved as comparing, by a displacement estimation module, signals generated by the first and second photo-sensors, and calculating a speed of the putter according to the displacement estimated by the displacement estimation module.
  • a method for measuring a speed of a putter including continuously capturing, by an image sensing module, images of a surface on which a golfer swings as a putter moves, estimating a displacement by which the putter has moved as comparing, by a first displacement estimation module, the captured images, generating, by each of a first photo-sensor and a second photo-sensor, a signal according to an intensity of light reflected from the surface as the putter moves, the second photo-sensor being separated from the first photo-sensor by a predetermined distance, estimating a displacement by which the putter has moved as comparing, by a second displacement estimation module, signals generated by the first and second photo-sensors, and calculating a speed of the putter by applying respective weights to the displacements estimated by the first and second displacement estimation modules.
  • a putter speed measurement device, a putter including the same, and a putter speed measurement method according to the present invention have advantages in that it is possible to measure an accurate putter speed by measuring a position change of the putter due to movement of the putter and estimating a displacement of the same according to an optical measurement method using an optical sensor such as an image sensor and/or a photo-sensor and then calculating the speed of the putter from the estimated displacement, and it is also possible to display the measured putter speed on the display unit to improve golfer comfort.
  • FIGS. 1 to 4 illustrate the concept of a putter including a putter speed measurement device according to embodiments of the present invention
  • FIG. 5 is a block diagram illustrating a control mechanism of the putter speed measurement device included in the putter according to the embodiment shown in FIG. 4;
  • FIG. 6 illustrates an example of a displacement estimation method when an image sensor of an image sensing module of a putter speed measurement device is a 2D image sensor according to an embodiment of the present invention
  • FIG. 7 illustrates an example of a displacement estimation method when an image sensor of an image sensing module of a putter speed measurement device is a 1D image sensor according to another embodiment of the present invention
  • FIG. 8 schematically illustrates an example wherein a photo-sensing module is applied to a putter speed measurement device of a putter according to another embodiment of the present invention
  • FIG. 9 illustrates a graph for comparison between a displacement estimation method using a 1D image sensor and a displacement estimation method using two photo-sensors.
  • FIG. 10 is a block diagram illustrating a control mechanism of a putter speed measurement device which employs both a displacement estimation method using a 1D image sensor and a displacement estimation method using two photo-sensors according to another embodiment of the present invention.
  • FIGS. 1 to 4 illustrate the concept of the putter including the putter speed measurement device according to the embodiments of the present invention.
  • a putter 100 including a putter speed measurement device includes a shaft 110 and a putter head 120 and may also include an image sensing module 200, which is provided in a hole 111 defined in the shaft 110, and a display unit 300 provided on the shaft 110.
  • the display unit 300 is not necessarily provided on the shaft 110 and may be provided on a top of the putter head 120.
  • the image sensing module 200 includes an image sensor 210 and a lens module 220 and functions to capture an image of a surface(B) on which a golfer swings, i.e., to capture light reflected from the surface (B).
  • the image sensor 210 may be implemented as a solid image sensor such as a CMOS or CCD image sensor and may be implemented as a one-dimensional (1D) or two-dimensional (2D) image sensor.
  • the lens module 220 includes at least one lens or a combination of lenses which refract light reflected from the surface (B) so that an image is formed on the image sensor 210.
  • the image sensing module 200 continuously captures images of the surface(B) on which a golfer swings as the putter 100 moves and estimates a displacement of the putter from a difference of consecutive image frames and the speed of the putter is calculated from the estimated displacement, and the calculated putter speed is then displayed on the display unit 300.
  • the image sensing module 200 is not necessarily provided in the hole 111 in the shaft 110 as shown in FIG. 1.
  • FIG. 2 illustrates an embodiment in which the image sensing module 200 is externally mounted to the shaft 110.
  • the embodiment of FIG. 2 is substantially identical to that of FIG. 1, except for the mounting location of the image sensing module 200.
  • the image sensing module 200 is externally mounted to the shaft 110 such that the image sensing module 200 faces downward to capture an image of the surface(B) on which a golfer swings.
  • the image sensing module 200 only needs to be externally mounted to the shaft 110 so as to face downward and the image sensing module 200 may be externally mounted to the shaft 110 to face downward at various positions on the shaft 110 and in various manners.
  • the image sensing module 200 may be mounted to the shaft 110 at a position in front of the putter head 120 such that the putter head 120 does not block the path between the image sensing module 200 and the surface(B) on which a golfer swings as shown in FIG. 2.
  • a hole having a desired size may be formed in the putter head 120 to allow the image sensing module 200 to capture an image of the surface (B) through the hole.
  • FIGS. 3 and 4 illustrate embodiments wherein the image sensing module 200 is mounted to the putter head 120.
  • a sufficient distance can be secured between the surface(B) on which a golfer swings and the image sensing module 200 to match the focusing distance since the image sensing module 200 is internally or externally mounted to the shaft 110.
  • the image sensing module 200 is mounted to the putter head 120, it is also possible to secure a sufficient focusing distance by means of the mounting position of the image sensing module 200, the shape of the putter head 120, or the like.
  • FIG. 3 The embodiment shown in FIG. 3 is characterized in that the image sensing module 200 is mounted in a space 121 defined in the putter head 120 so as to face downward.
  • the embodiment of FIG. 3 is substantially identical to that of FIG. 1, except for the mounting location of the image sensing module 200.
  • the space 121 in the putter head 120 be defined such that a ceiling of the space 121 is separated from a bottom of the putter head 120 by a desired distance so as to maintain the focusing distance of the image sensing module 200.
  • FIG. 4 illustrates an embodiment wherein the image sensing module 200 is externally mounted to the putter head 120 so as to face downward.
  • the shape of the putter head 120 may be designed so as to maintain the focusing distance between the image sensing module 200 and the surface on which a golfer swings or a support member may be used to maintain an appropriate distance between the image sensing module 200 and the surface (B).
  • FIGS. 1 to 4 A configuration of the putter speed measurement device of the putter according to the embodiments illustrated in FIGS. 1 to 4 is described below with reference to FIG. 5.
  • the image sensing module 200 including the image sensor 210 and the lens module 220 is connected to a displacement estimation module 230.
  • the controller M then calculates the speed of the putter and displays the calculated speed on the display unit 300.
  • a procedure for estimating a displacement from image frames captured when the image sensor 210 of the image sensing module 200 shown in FIG. 5 is a 2D image sensor is described below with reference to FIG. 6.
  • FIGS. 6(a) to 6(e) illustrate a plurality of sub-images into which images captured at times t1 and t2 are divided, where the sub-images of time t1 are shown at the left side of FIGS. 6(a) to 6(e) and the sub-images of time t2 (t2>t1) are shown at the right side.
  • Displacement estimation using the image sensing module of the putter speed measurement device is basically performed by comparing each of a plurality of sub-images into which an image captured at time t1 is divided with each of a plurality of sub-images into which an image captured at time t2 is divided, calculating error values corresponding to differences between the sub-images at time t1 and the sub-images at time t2, and estimating a sub-image displacement corresponding to the minimum of the calculated error values to be a displacement corresponding to movement of the image from time t1 to time t2.
  • the size of an image obtained by the image sensor includes X pixels in a horizontal direction and Y pixels in a vertical direction and a pixel in the image is represented by (x,y), where x has a value in a range from 0 to X-1 and y has a value in a range from 0 to Y-1.
  • differences between the sub-images at time t1 and the sub-images at time t2 are calculated.
  • E(x,y) an error value calculated from the difference between two sub-images
  • the error value is represented by E(0,0) in the case of FIG. 6(a), E(-1,0) in the case of FIG. 6(b), E(1,0) in the case of FIG. 6(c), E(0,1) in the case of FIG. 6(d), and E(0,1) in the case of FIG. 6(e).
  • the error value E(0,0) indicates that there is no relative displacement between the two sub-images and E(1,0) indicates that the relative displacement between the two sub-images corresponds to movement by one pixel in an x direction.
  • a displacement corresponding to the minimum of the error values of FIGS. 6(a) to 6(e) is determined to be a displacement between the two image frames.
  • D is a positive integer
  • p and q represent the respective amounts of movement in the x and y directions
  • Error values E(p,q) are obtained for a number of cases of (p,q) and a displacement between image frames is determined from the minimum of the obtained error values E(p,q). That is, the displacement estimation (p,q) is expressed by the following equation.
  • D 1 and (p,q) ⁇ ⁇ (0,0), (0,1), (0,-1), (1,0), (-1,0) ⁇ in the cases of FIGS. 6(a) to 6(e).
  • FIGS. 7(a) to 7(c) illustrate a plurality of sub-images into which images captured at times t1 and t2 are divided in the case where the image sensor 210 of the image sensing module 200 shown in FIG. 5 is a 1D image sensor, where the sub-images of time t1 are shown at the left side of FIGS. 7(a) to 7(c) and the sub-images of time t2 (t2 > t1) are shown at the right side.
  • the size of an image obtained by the image sensor includes X pixels in a horizontal direction and one Y pixel in a vertical direction and a pixel in the image is indexed by x, where x has a value in a range from 0 to X-1.
  • Error values E(x) corresponding to differences between sub-images shown in FIGS. 7(a) to 7(c) are calculated in the same manner as when error values between images captured using the 2D image sensor are calculated.
  • an error value E(0) is calculated in the case of FIG. 7(a)
  • an error value E(-1) is calculated in the case of FIG. 7(b)
  • an error value E(1) is calculated in the case of FIG. 7(c)
  • a displacement corresponding to the minimum of the error values is estimated to be a displacement corresponding to movement from time t1 to time t2.
  • Fn is defined as a function of an image at time n
  • an error value E(p) can be defined by the following equation.
  • D is a positive integer
  • p represents the amount of movement in the x direction
  • -D ⁇ p ⁇ D Error values E(p) are obtained for a number of cases of “p” and a value of “p” corresponding to the minimum of the obtained error values E(p) is finally determined to be a displacement. That is, the displacement estimation (p) is expressed by the following equation.
  • D 1 and p ⁇ ⁇ -1, 0, 1 ⁇ in the cases of FIGS. 7(a) to 7(c).
  • FIG. 8 illustrates a putter including a putter speed measurement device according to another embodiment of the present invention.
  • a displacement is estimated using a photo-sensing module including two photo-sensors 240 and 250.
  • Each of the photo-sensors 240 and 250 preferably includes a 1-pixel optical sensor such as a phototransistor that outputs an analog signal whose level is proportional to the intensity of light emitted from a target surface. That is, each of the two photo-sensors 240 and 250 is mounted to the putter head 120 so as to face a surface(B) on which a golfer swings and generates a specific signal according to the intensity of light reflected from the surface (B) and a displacement corresponding to movement of the putter is estimated using the generated signal.
  • a 1-pixel optical sensor such as a phototransistor that outputs an analog signal whose level is proportional to the intensity of light emitted from a target surface. That is, each of the two photo-sensors 240 and 250 is mounted to the putter head 120 so as to face a surface(B) on which a golfer swings and generates a specific signal according to the intensity of light reflected from the surface (B) and a displacement corresponding to movement of the putter is estimated using
  • an error value corresponding to the difference between a signal generated by the first photo-sensor 240 and a signal generated by the second photo-sensor 250 is calculated and a displacement which minimizes the error value is determined to be an estimated displacement.
  • Respective outputs of the first photo-sensor 240 and the second photo-sensor 250 are mathematically expressed as follows when the output of the first photo-sensor 240 at time t is f1(t), the output of the second photo-sensor 250 at time t is f2(t), and a function of reflectance of the surface (B) is s(x).
  • k is constant
  • v is the speed of the putter
  • d is the distance between the two photo-sensors.
  • ⁇ denotes a relative time delay between the two signals and T denotes the length of a time interval given for determining the difference.
  • the putter speed measurement device and the putter including the same may include both an image sensing module and a photo-sensing module.
  • a method using the image sensing module and a method using the photo-sensing module are complementary to each other when the image sensing module includes a 1D image sensor and the photo-sensing module includes two photo-sensors.
  • a horizontal axis represents the x direction in which the putter moves
  • a vertical axis represents time
  • a comb teeth pattern represents an image of the surface on which a golfer swings viewed by a 1D sensor.
  • the comb teeth direction is vertical when the putter speed is zero and is more inclined horizontally as the putter speed increases.
  • two vertical rectangles shown in FIG. 9 represent temporal changes of bright signals obtained by two optical sensors located at two positions x1 and x2.
  • the difference is that the method using the 1D image sensor observes spatial movement and the method using the two photo-sensors observes temporal movement.
  • the comb teeth direction is more vertical and therefore the size of a common part L1 of two signals obtained when the 1D image sensor is used increases and the size of a common part L2 of two signals obtained when the two photo-sensors are used decreases.
  • the comb teeth direction is more horizontal and therefore the size of a common part L1 of two signals obtained when the 1D image sensor is used decreases and the size of a common part L2 of two signals obtained when the two photo-sensors are used increases.
  • the method using the 1D image sensor is advantageous when the speed is low, whereas the method using the two photo-sensors is advantageous when the speed is high.
  • a displacement is estimated using each of a first displacement estimation module 230, which uses an image sensing module 200, and a second displacement estimation module 260, which uses a photo-sensing module including a first photo-sensor 240 and a second photo-sensor 250, and a controller M finally calculates a putter speed by applying respective weights to the displacement estimated using the first displacement estimation module 230 and the displacement estimated using the second displacement estimation module 260 and displays the calculated speed on the display unit 300.
  • V (A*VA + B*VB) / (A + B)
  • VA denotes an estimation by the first displacement estimation module 230
  • VB is an estimation by the second displacement estimation module 260
  • a and B denote respective weights for the estimations.
  • the weight of an estimation by each of the two modules may be adjusted to a larger value when the minimum error value (or difference) (E) calculated when the speed is estimated using the module is small and may be adjusted to a smaller value when the minimum error value is large to reflect the reliability of the estimation of each module in the calculated putter speed.
  • the weights A and B may also be determined based on data statistically obtained through experiments and may also be empirically determined, for example, based on data obtained from simulation results.
  • a putter speed measurement device, a putter including the same, and a putter speed measurement method according to the present invention may be widely used in industrial fields associated with sensor-based golf clubs since it is possible to measure an accurate putter speed by calculating the speed of the putter according to an optical measurement method using an optical sensor such as an image sensor and/or a photo-sensor and it is also possible to display the measured putter speed on the display unit to improve golfer comfort.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Electromagnetism (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Biophysics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Golf Clubs (AREA)

Abstract

Cette invention concerne un dispositif de mesure de la vitesse d'un fer droit, un fer droit comprenant ce dispositif et un procédé de mesure de la vitesse d'un fer droit. Il est possible de mesurer une vitesse précise d'un fer droit en évaluant un changement de position du fer droit suite au mouvement de ce dernier et en estimant un déplacement de celui-ci, selon un procédé de mesure optique utilisant un capteur optique tel qu'un capteur d'image et/ou un photodétecteur, et en calculant ensuite la vitesse du fer droit à partir du déplacement estimé, et il est également possible d'afficher la vitesse du fer droit mesurée sur l'unité d'affichage pour permettre au golfeur de peaufiner son coup roulé.
PCT/KR2010/004252 2009-06-30 2010-06-30 Procédé et dispositif de mesure de la vitesse du fer droit et fer droit comprenant ce dispositif WO2011002227A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020090059475A KR100930528B1 (ko) 2009-06-30 2009-06-30 퍼터 속도 측정 장치 및 이를 구비하는 퍼터와 퍼터 속도 측정 방법
KR10-2009-0059475 2009-06-30

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WO2011002227A2 true WO2011002227A2 (fr) 2011-01-06
WO2011002227A3 WO2011002227A3 (fr) 2011-04-14

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KR (1) KR100930528B1 (fr)
TW (1) TWI430823B (fr)
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012106077A1 (fr) * 2011-01-31 2012-08-09 Harsco Corporation Système de visualisation de rail
EP2457943B1 (fr) 2010-11-30 2016-10-12 Rohm and Haas Company Formulations thermodurcissables réactives stables des sucres reducteur et amines
US10796192B2 (en) 2017-03-23 2020-10-06 Harsco Technologies LLC Track feature detection using machine vision
EP4118457A4 (fr) * 2020-03-12 2023-08-16 Elbit Systems Ltd. Système et procédé pour la détermination d'un mouvement relatif entre deux ou plus de deux objets

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000275011A (ja) * 1999-03-26 2000-10-06 Inst Of Physical & Chemical Res 移動体の測定装置および測定方法
US20080287205A1 (en) * 2007-05-17 2008-11-20 Bridgestone Sports C., Ltd. Golf swing measurement device and golf swing measurement system

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07140160A (ja) * 1993-11-19 1995-06-02 Toyota Central Res & Dev Lab Inc 光学式速度計測装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000275011A (ja) * 1999-03-26 2000-10-06 Inst Of Physical & Chemical Res 移動体の測定装置および測定方法
US20080287205A1 (en) * 2007-05-17 2008-11-20 Bridgestone Sports C., Ltd. Golf swing measurement device and golf swing measurement system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2457943B1 (fr) 2010-11-30 2016-10-12 Rohm and Haas Company Formulations thermodurcissables réactives stables des sucres reducteur et amines
WO2012106077A1 (fr) * 2011-01-31 2012-08-09 Harsco Corporation Système de visualisation de rail
US10796192B2 (en) 2017-03-23 2020-10-06 Harsco Technologies LLC Track feature detection using machine vision
US11495009B2 (en) 2017-03-23 2022-11-08 Harsco Technologies LLC Track feature detection using machine vision
EP4118457A4 (fr) * 2020-03-12 2023-08-16 Elbit Systems Ltd. Système et procédé pour la détermination d'un mouvement relatif entre deux ou plus de deux objets

Also Published As

Publication number Publication date
WO2011002227A3 (fr) 2011-04-14
TW201100144A (en) 2011-01-01
TWI430823B (zh) 2014-03-21
KR100930528B1 (ko) 2009-12-09

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