WO2017006860A1

WO2017006860A1 - Imaging device, object behavior measurement device, imaging control method, and object behavior measurement method

Info

Publication number: WO2017006860A1
Application number: PCT/JP2016/069650
Authority: WO
Inventors: 三枝　宏
Original assignee: 株式会社プロギア
Priority date: 2015-07-07
Filing date: 2016-07-01
Publication date: 2017-01-12
Also published as: KR102277827B1; JP2017022440A; KR20180014759A; KR20200037453A; JP6829372B2; KR102104846B1

Abstract

In order to easily and precisely control imaging timing when capturing images of a moving object, an imaging device 10 comprises: an imaging unit 12 that captures images of a moving golf ball 20; a reflective optical sensor 14 that detects the presence of the golf ball 20 inside a detection range; and an imaging control unit 182. After detecting a golf ball 20 inside the detection range above a tee 24, the imaging control unit 182 controls the imaging timing for the imaging unit 12, if departure by the golf ball 20 from the detection range is detected and using the timing of the departure as a reference. The detection range of the reflective optical sensor 14 is set, for example, above the tee 24.

Description

Imaging apparatus, object behavior measuring apparatus, imaging control method, and object behavior measuring method

The present invention relates to an imaging device for imaging an object, an object behavior measuring device, an imaging control method, and an object behavior measuring method.

Conventionally, as a method for measuring the behavior of a moving body such as a golf ball, a method using an image photographed by a photographing device (camera) is known.
Here, in order to image a moving body that moves at high speed, a means for recognizing that the moving body has entered the imaging range of the imaging apparatus is required. As such a passage recognition means, for example, an optical sensor is widely used.
As an example (first method) of shooting a moving object using an optical sensor, when shooting a ball for a ball game that starts moving by striking with a striking tool, on the travel path of the striking tool (position just before striking, etc.) ), The detection range of the optical sensor is set, and shooting is performed with the passage of the impact tool as a trigger.
For example, as a second method, there is a method in which a detection range of an optical sensor is set on a predicted movement path of a ball game ball after hitting and shooting is performed using the passage of the ball game ball as a trigger.
For example, as a third method, the detection range of the reflective optical sensor is set at the fixed position (such as on a golf tee) of the ball game ball before hitting, and the ball game ball is retreated from the fixed position. There is a method of shooting.

As an example of the technique using the third method, for example, in Patent Document 1 below, a golf swing by a practitioner is continuously photographed and the presence or absence of a golf ball on the tee is detected by a ball sensor. A swing analysis system is disclosed that outputs a trigger signal when it is detected that there is no golf ball on the tee after the start of shooting, and stops shooting after a predetermined time has elapsed from the output of the trigger signal.

JP-A-5-15628

However, when the hitting tool is detected by the optical sensor as in the first method, there is a distance between the passing position of the hitting tool and the shooting range of the camera (movement path of the ball for ball game). There is a problem that a mechanism for adjusting the photographing timing by calculating the speed and the like is required.
In addition, when the passage of a ball game ball as a moving object is recognized by the optical sensor as in the second method, the optical sensor is covered so as to cover the entire area through which the ball game ball may pass. There is a problem that it is necessary to set a detection range, and the equipment becomes expensive.
In addition, when the passage of an object is recognized by a reflective optical sensor as in the third method, there is a problem that even if objects other than the detection target (such as a human hand or foot) pass, a false reaction occurs.
The present invention has been made in view of such circumstances, and an object of the present invention is to provide a photographing apparatus and a photographing control method capable of easily and accurately controlling photographing timing when photographing a moving object, and the same. It is an object to provide a behavior measuring apparatus and a behavior measuring method of an object using an object.

In order to achieve the above-described object, an imaging apparatus according to a first aspect of the present invention includes an imaging unit for imaging a moving object, a detection unit in which a light projecting unit and a light receiving unit are integrated, and light reception by the light receiving unit. A reflective optical sensor comprising: a detection unit that detects the presence or absence of the object in a detection range on the light emitting direction side of the light projecting unit based on the amount of light emitted; and the object is detected in the detection range. And a shooting control unit that controls the shooting timing of the shooting unit with reference to the leaving timing when it is detected that the object has left the detection range.
In the photographing apparatus according to a second aspect of the present invention, the photographing control unit performs photographing by the photographing unit only when the retreat is detected after the object is continuously detected within the detection range for a predetermined time or more. It is characterized by implementing.
According to a third aspect of the present invention, there is provided a photographing apparatus further comprising a notifying unit that notifies that the object is continuously detected for a predetermined time or more within the detection range.
According to a fourth aspect of the present invention, the reflective optical sensor has a function of identifying the color of the object, and the object is within the detection range only when the object has a predetermined color. It is detected that it is present.
The imaging apparatus according to a fifth aspect of the invention is characterized in that a response speed of the reflective optical sensor is 1 ms or less.
According to a sixth aspect of the present invention, the object is a ball game ball launched by a hitting tool, the detection range includes a launch position of the ball game ball, and the shooting control unit includes the hitting tool. The photographing unit is controlled so as to photograph a plurality of images after launching the ball for ball game.
An object behavior measuring apparatus according to a seventh aspect of the invention is an object behavior measuring apparatus using the photographing apparatus according to any one of the first to sixth aspects, wherein the photographing control unit includes: The imaging timing is controlled so as to capture a plurality of images while the object is located in the imaging range, and the moving direction, the rotation axis direction, and the moving speed of the object using the plurality of images captured by the imaging unit. A behavior calculating unit that calculates at least one of the above is provided.
In the object behavior measuring apparatus according to an eighth aspect of the present invention, a plurality of the photographing units are provided along a target movement direction of the object, and the behavior calculating unit is configured to detect the plurality of objects on the photographed image. An angle formed by a line segment connecting the center positions and a line segment parallel to the ground is calculated as the moving direction in the vertical direction of the object.
The object behavior measuring apparatus according to the invention of claim 9 is characterized in that the object is a ball having a known diameter, and the behavior calculating unit is configured based on a ratio of the diameter of the ball between a plurality of captured images. The moving direction in a direction orthogonal to the shooting direction of the shooting unit is calculated.
In the object behavior measurement apparatus according to the invention of claim 10, the behavior calculation unit is configured to detect the object during a period when a plurality of images are captured based on a ratio between a distance on the plurality of images and a distance on the real space. A moving distance is calculated, and the moving speed is further calculated by dividing the moving distance by an elapsed time during which the plurality of images are captured.
In the behavior measuring apparatus for an object according to an eleventh aspect of the invention, the moving body has a symbol that can be visually recognized from all directions, and the behavior calculating unit determines the position and orientation of the symbol between a plurality of captured images. The rotation axis direction is calculated from the difference.
According to a twelfth aspect of the present invention, there is provided a photographing control method for controlling a photographing device for photographing a moving object, wherein light projected from a light projecting unit is received by a light receiving unit and received by the light receiving unit. A detection step of detecting the presence or absence of the object within a detection range on the light emitting direction side of the light projecting unit based on the amount of light emitted, and after detecting the object within the detection range, the object from the detection range And a shooting control step of controlling shooting timing by the shooting device with reference to the leaving timing when it is detected that the camera has left.
An object behavior measuring method according to a thirteenth aspect of the invention is an object behavior measuring method using the photographing control method according to the twelfth aspect, wherein the object is placed in a photographing range of the photographing apparatus in the photographing control step. The imaging timing is controlled so as to capture a plurality of images while the image is positioned, and at least any one of the moving direction, the rotation axis direction, and the moving speed of the object using the plurality of images captured by the imaging device It further includes a behavior calculating step for calculating the above.

According to the first and twelfth aspects of the present invention, the imaging timing of the imaging unit is controlled based on the timing at which the object moves out of the detection range after the object is detected within the detection range of the reflective optical sensor. It is possible to take an image after detecting that the object has started to move, which is advantageous in reliably taking an image of the movement of the object. For example, it is possible to obtain a stable detection result as compared to the case where the start of movement of an object is detected by sound (such as a hitting sound). Further, it is advantageous in simplifying the system configuration as compared with the case where the start of movement of the object is detected from the movement of the impact tool. In addition, since shooting can be performed at any time after the object starts moving, shooting timing can be set according to the moving speed of the object, the position of the shooting unit, etc., improving the versatility of the shooting device This is advantageous.
According to the invention of claim 2, since the photographing by the photographing unit is performed only when the object is detected within the detection range continuously for a predetermined time or longer, when the object that is not the object to be photographed enters the detection range This is advantageous in preventing accidental shooting.
According to the third aspect of the present invention, the information processing apparatus further includes a notification unit that notifies that the object has been continuously detected within the detection range for a predetermined time or longer, so that when the operator starts moving the object, The movement start timing can be accurately set, which is advantageous for efficiently capturing an image of an object.
According to the invention of claim 4, since the reflective optical sensor has a function of identifying the color of an object, it is easy to recognize a specific object, which is advantageous in improving the recognition accuracy of the reflective optical sensor. Become.
According to the fifth aspect of the present invention, since the response speed of the reflective optical sensor is 1 ms or less, it is possible to quickly take an image after the object has left the detection range, even when the moving speed of the object is high. This is advantageous for sure shooting.
According to the invention of claim 6, since the object is a ball game ball that is launched by a hitting tool, and the detection range of the reflective optical sensor includes the launch position of the ball game ball, the ball game ball immediately after launch is photographed. This is advantageous in applying the photographing apparatus to a behavior calculation apparatus that calculates the behavior. In addition, since the detection range of the reflective optical sensor is set as the launch position of the ball game ball, the detection range of the sensor is a minimum range, which is advantageous in simplifying the system of the photographing apparatus.
According to the seventh and thirteenth aspects of the present invention, since the behavior of the object is measured using an image taken at an arbitrary time after the movement of the object starts, it is advantageous in accurately measuring the behavior of the object. Become.
According to the invention of claim 8, since the displacement direction of the center position of the object position in the plurality of images is calculated as the vertical movement direction, the movement direction in the image plane can be easily measured.
According to the ninth aspect of the present invention, since the moving direction in the direction orthogonal to the photographing direction (image plane) is calculated based on the ratio of the diameters of the objects in the plurality of images, the moving direction of the moving body in the three-dimensional space is determined. It is possible to measure and obtain more detailed behavior information of the moving body.
According to the invention of claim 10, the moving speed immediately after the start of the movement of the object can be calculated, and the behavior of the object can be grasped in more detail.
According to the eleventh aspect of the invention, since the rotation axis direction is calculated from the difference between the positions and orientations of the symbols in a plurality of images, the rotation axis direction that is difficult to measure even with a Doppler sensor or the like can be easily measured.

It is explanatory drawing which shows schematic structure of the imaging device 10 concerning embodiment. 2 is a block diagram illustrating a functional configuration of the imaging apparatus 10. FIG. 2 is a block diagram showing a hardware configuration of a computer 18. FIG. 3 is a flowchart illustrating a processing procedure performed by the imaging apparatus 10. It is explanatory drawing which shows typically an example of the picked-up image by the imaging | photography part. It is explanatory drawing which shows typically an example of the picked-up image by the imaging | photography part. FIG. 6 is an explanatory diagram illustrating another configuration of the photographing apparatus 10.

Exemplary embodiments of a photographing apparatus and a photographing control method according to the present invention will be explained below in detail with reference to the accompanying drawings.
In the present embodiment, a golf ball 20 that is hit by a golf club 22 and moves is taken as an example of an object, and a case where the behavior of the golf ball 20 is measured from a captured image of the imaging device 10 will be described.
FIG. 1 is an explanatory diagram illustrating a schematic configuration of an imaging apparatus 10 according to the embodiment.
FIG. 2 is a block diagram showing a functional configuration of the photographing apparatus 10.
1A is a view of the configuration of the photographing apparatus 10 as viewed from the rear with respect to the launch direction, and FIG. 1B is a view of the periphery of the golf ball 20 in FIG. 1A as viewed from above.
FIG. 1A shows an operator (player) I who wants to hit the golf ball 20 with the golf club 22. The golf ball 20 is placed on a tee 24 inserted into the ground (horizontal plane) G. In this state, the golf ball 20 is hit by the golf club 22 and starts moving. That is, in the example of FIG. 1A, the position of the golf ball 20 on the tee 24 is the movement start position P0.
Whether the measurement is performed with the golf ball 20 placed on the tee 24 or the measurement is performed with the golf ball 20 placed on the ground G, that is, the position of the golf ball 20 on the tee 24 is set as the movement start position P0. Whether the position of the golf ball 20 on the ground G is set as the movement start position P0 is arbitrary by the operator I, but is adjusted so that the detection range of the reflective optical sensor 14 described later includes the movement start position P0. There is a need to.

Moreover, the symbol T shown in FIG. 1B is the target movement direction when the golf ball 20 is hit with the golf club 22. Although not shown in the figure, it is assumed that the target movement direction T is also displaced in the vertical direction (gravity direction).
Hereinafter, the origin of the coordinates of the space in which the photographing apparatus 10 is installed is set as the movement start position P0, the x axis is parallel to the projection line on the ground G in the target movement direction T, the z axis is the direction opposite to the gravity direction, and x The direction orthogonal to the axis and the z-axis is taken as the y-axis. In FIG. 1, for convenience of illustration, each coordinate axis is illustrated at a position away from the movement start position P0 that is the origin.
Reference symbol M is a mark given to the surface of the golf ball 20.

The imaging device 10 includes an imaging unit 12, a reflective optical sensor 14, a lamp 15, and a computer 18.
The imaging unit 12 is a camera that captures a still image.
In the present embodiment, two cameras (first camera 12A and second camera 12B) are installed along the target movement direction T. The first camera 12A uses a predetermined range FA along the target movement direction T including the movement start position P0 as a shooting range. Further, the second camera 12B is installed at a position away from the first camera 12A toward the target movement direction T, and is a predetermined range that is shifted toward the target movement direction T from the shooting range FA of the first camera 12A. The shooting range is FB.
That is, a plurality of photographing units 12 are provided along the launch direction of the golf ball 20, and a plurality of images after the golf ball 20 is launched by the golf club 22 are photographed. Note that a plurality of images may be photographed using a single camera at different photographing times.
In FIG. 1B, the shooting range FA of the first camera 12A and the shooting range FB of the second camera 12B are illustrated as partially overlapping, but they may not overlap.
The positions of the first camera 12A and the second camera 12B are known, and the positions of the imaging ranges FA and FB with respect to the movement start position P0 are also known.
An image photographed by the photographing unit 12 is output to a computer 18 described later.
The shooting timing of the shooting unit 12 is controlled by a shooting control unit 182 of the computer 18 described later.

The reflective optical sensor 14 includes a detection unit 1406 in which a light projecting unit 1402 and a light receiving unit 1404 are integrated, and a detection range on the light projecting direction side of the light projecting unit 1402 based on the amount of light received by the light receiving unit 1404. And a detection unit 1408 for detecting the presence or absence of an object inside.
In this embodiment, a diffuse reflection type sensor is used as the reflection type optical sensor 14, but a regression reflection type sensor or a transmission type sensor may be used.

In the present embodiment, the detection range of the reflective optical sensor 14 is matched with the movement start position P0. That is, the projection light LI from the light projecting unit 1402 is installed so as to pass through the movement start position P0. When there is no golf ball 20 on the tee 24, the projection light LI passes through the movement start position P0. On the other hand, when the golf ball 20 is on the tee 24, the reflected light LR reflected by the surface of the golf ball 20 is directed to the light receiving unit 1404, and the amount of light received by the light receiving unit 1404 increases. Thereby, the presence or absence of the golf ball 20 on the tee 24 can be detected.

The reflective optical sensor 14 may have a function of identifying the color of an object using an image sensor such as a CMOS sensor. In this case, it is detected that the object is within the detection range only when the object has a specific color.
More specifically, for example, a sensor that detects an object only when a white object that is the color of a general golf ball 20 is within the detection range is used. Accordingly, it is possible to prevent erroneous detection of the golf club 22 and the limbs of the operator I around the tee 24 as the golf ball 20 and to improve the detection accuracy of the reflective optical sensor 14.

The reaction speed of the reflective optical sensor 14 is preferably 1 ms or less.
This is because, depending on the moving speed of the golf ball 20 and the position of the photographing unit 12, the photographing timing of the photographing unit 12 is required to be immediately after the golf ball 20 starts to move. By using the reflective optical sensor 14 having a fast reaction speed, it is possible to set the photographing timing to a faster timing, and the photographing accuracy by the photographing apparatus 10 can be improved.

The lamp 15 is an example of a notification unit that notifies that an object has been continuously detected within a detection range of the reflective optical sensor 14 for a predetermined time or more. In this embodiment, the golf ball 20 is placed on the tee 24. When it is detected continuously for a predetermined time or longer, it is turned on to visually notify.
This is to notify the operator I that the preparation for photographing has been completed, as will be described later.
The lamp 15 is installed, for example, in the vicinity of the reflective optical sensor 14 (integrated with the reflective optical sensor 14 in FIG. 1) at a position where the operator I can reasonably visually recognize it in an addressed posture.
Note that an audio output means such as a speaker may be used as the notification unit.
In FIG. 2, the lamp 15 (notification unit) and the computer 18 are connected to each other, but the lamp 15 (notification unit) and the reflective optical sensor 14 may be directly connected.

The computer 18 implements an imaging control unit 182 and a behavior calculation unit 184 by the CPU 1802 executing various programs.
FIG. 3 is a block diagram illustrating a hardware configuration of the computer 18.
The computer 18 includes a CPU 1802, a ROM 1804, a RAM 1806, a hard disk device (HDD) 1808, a disk device 1810, a keyboard 1812, a mouse 1814, a display 1816, a printer 1818, and input / output connected via an interface circuit (not shown) and a bus line. An interface (I / F) 1820 is included.
A ROM 1804 stores a control program and the like, and a RAM 1806 provides a working area.
The hard disk device 1808 stores a shooting control program for controlling shooting timing of the shooting unit 12 and a dedicated program (behavior measurement program) for measuring the behavior of the golf ball 20.
The disk device 1810 records and / or reproduces data on a recording medium such as a CD or a DVD.
A keyboard 1812 and a mouse 1814 receive operation inputs from the operator.
A display 1816 displays and outputs data, and a printer 1818 prints and outputs data. The display 1816 and the printer 1818 output data.
The input / output interface 1820 exchanges data with the photographing unit 12, the reflective optical sensor 14, the lamp 15, and the like.

Note that a small information device such as a smart phone or a tablet may be used as the computer 18.
In FIG. 1, the computer 18 and devices such as the photographing unit 12 are connected by wiring, but communication between these devices may be performed by wireless communication.
Further, when the computer 18 (including a smart phone, a tablet, or the like) includes a camera or a speaker, an image is captured using the camera included in the computer 18 or a notification unit is configured using the speaker included in the computer 18. Notification may be performed. In this case, it is possible to reduce the number of devices constituting the photographing apparatus 10 and to save time and space for installing the devices.

Returning to the description of FIG. 2, when the imaging control unit 182 detects that the object has moved out of the detection range after the object is detected within the detection range of the reflective optical sensor 14, the shooting control unit 182 sets the moving-out timing. As a reference, the photographing timing by the photographing unit 12 is controlled.
The imaging timing control is, for example, that imaging at the imaging unit 12 is performed at a timing at which a predetermined delay time Tx is taken from the reference time T0, where T0 (reference time) is the time when the object has left the detection range.

In the present embodiment, since two cameras 12A and 12B are installed as the photographing unit 12, different delay times Tx are set for the respective cameras 12A and 12B. More specifically, the first delay time Tx1 is set for the first camera 12A, while the second camera 12B is located farther from the movement start position P0 than the first camera 12A. A second delay time Tx2 longer than Tx1 is set. The shooting control unit 182 controls the shooting timing of each of the cameras 12A and 12B so that an image is shot while the object is located in the shooting range of each of the cameras 12A and 12B (shooting unit).
Each of the delay times Tx1 and Tx2 predicts an approximate value of the moving speed (especially the initial speed) of the golf ball 20 from the golf skill level of the operator I, the type of the golf club 22, and the like, and the position of each camera (movement start position). What is necessary is just to set suitably from the distance from P0).

Further, in the present embodiment, the imaging control unit 182 includes the imaging unit only when an object is detected within the detection range of the reflective optical sensor 14 for a predetermined time or longer and then the object is detected. 12 is performed.
Even if an object is detected on or near the tee 24 that is the detection range of the reflective optical sensor 14, the object is not the golf ball 20, for example, the limb of the operator I or the golf club 22. This is because if the photographing is performed in this case, erroneous photographing is performed.
Here, when the object in the detection range of the reflective optical sensor 14 (on the tee 24) is the golf ball 20, the operator I sets the golf ball 20 on the tee and then takes an address posture to swing. A certain amount of time should be required during the implementation. On the other hand, when the object in the detection range of the reflective optical sensor 14 is other than the golf ball 20, there is a high possibility that the object moves immediately and falls outside the detection range.
Therefore, the shooting control unit 182 performs shooting by the shooting unit 12 only when the detection of the object by the reflective optical sensor 14 is continued for a predetermined time or more, and prevents the object from being erroneously detected, thereby reliably shooting the golf ball 20. It is possible to shoot.
In the present embodiment, the lamp I serving as a notification unit notifies that an object has been continuously detected within a detection range of the reflective optical sensor 14 for a predetermined time or more, so that the operator I can play the golf ball 20 After the tee 24 is set, the swing may be started after the lamp 15 is turned on.

The behavior calculation unit 184 calculates the behavior of the golf ball 20 using the image photographed by the photographing unit 12.
In the present embodiment, the images photographed by the photographing unit 12 are two images: a first image photographed by the first camera 12A and a second image photographed by the second camera 12B.
Further, the behavior of the golf ball 20 is the movement direction, the rotation axis direction, and the movement speed of the golf ball 20 after hitting.

Here, a method for calculating the behavior of the golf ball 20 by the behavior calculation unit 184 will be described.
FIG. 5 is an explanatory diagram schematically illustrating an example of an image captured by the imaging unit 12.
FIG. 5A shows a first image, and a shooting range FA after the first delay time Tx1 is shot with the first camera 12A from the reference time T0 when the golf ball 20 has left the detection range of the reflective optical sensor 14. It is an image.
FIG. 5B shows a second image. The shooting range FB after the second delay time Tx2 (> Tx1) from the reference time T0 when the golf ball 20 moved out of the detection range of the reflective optical sensor 14 is shown in the second camera. It is the image image | photographed by 12B.
Further, FIG. 5C is obtained by superposing FIGS. 5A and 5B after erasing the golf club 22 from FIG. 5A. Since the positions of the two cameras 12A and 12B and the positions of the shooting ranges FA and FB are known, two images can be superimposed as shown in FIG. 5C.

6 is also an explanatory view schematically showing an example of an image taken by the photographing unit 12, FIG. 6A is the same as FIG. 5A, and FIG. 6B is a direction in which the golf ball 20 approaches the second camera 12B. FIG. 6C is an image when the golf ball 20 moves in a direction away from the second camera 12B (y coordinate minus direction).

First, a method for calculating the moving direction θh in the up-down direction (on the xz plane) will be described.
As shown in FIG. 5C, a line segment L1 connecting the center point P1 of the golf ball 20 in the first image and the center point P2 of the golf ball 20 in the second image, and the center of the golf ball 20 in the first image The moving direction in the vertical direction (on the xz plane) can be specified by the angle θh formed by the line segment L2 that passes through the point P1 and is parallel to the ground G.
That is, the behavior calculation unit 184 calculates the displacement direction between the position of the golf ball 20 in the first image and the position of the golf ball 20 in the second image as the movement direction. More specifically, an angle formed by a line segment (L1) connecting the center positions of objects on a plurality of captured images and a line segment (L2) parallel to the ground G is defined as the vertical movement direction of the object. calculate.
When the optical axes of the cameras 12A and 12B are not parallel to the ground G but are inclined in the vertical direction, the vertical movement direction θh is calculated after correcting the inclination.

Next, a method for calculating the moving direction θw in the left-right direction (on the xy plane) will be described.
When the golf ball 20 moves while tilting in the left-right direction with respect to the target movement direction T, the diameter of the golf ball 20 on the image is different before and after the movement is started, as shown in FIG.
In the example of FIG. 6, when the golf ball 20 moves in a direction approaching the second camera 12B as shown in FIG. 6B with respect to the diameter R0 of the golf ball 20 of FIG. 6A, the diameter R1 increases (R1 > R0), when the golf ball 20 moves away from the second camera 12B as shown in FIG. 6C, the diameter R2 becomes smaller (R2 <R0).
Since the shooting magnification and angle of view of each camera 12A, 12B are known, the moving direction θw in the left-right direction (on the xy plane) is specified based on the difference in the diameter of the golf ball 20 on the two images. Can do.
For example, when the golf ball 20 moves in the direction approaching the second camera 12B (the y-coordinate plus direction) as shown in FIG. 6B, the larger the diameter of the golf ball 20 on the image, the larger the direction of the second camera 12B. It will be bent greatly. In addition, when the golf ball 20 moves in a direction away from the second camera 12B (y coordinate minus direction) as shown in FIG. 6C, the smaller the diameter of the golf ball 20 on the image, the opposite to the second camera 12B. It will be bent greatly in the direction.
That is, the behavior calculation unit 184 calculates a moving direction in a direction orthogonal to the shooting direction of the shooting unit 12 based on the ratio of the diameter of the golf ball between the first image and the second image (between a plurality of images). To do.

Further, as another method for calculating the moving direction θw, stereo measurement using two cameras may be performed.
FIG. 7 is an explanatory diagram showing another configuration of the photographing apparatus 10.
In FIG. 7A, two

cameras

13A and 13B are installed so as to overlap the imaging ranges FA and FB as much as possible.
Note that camera parameters such as the positions of the cameras 13A and 123, the shooting direction (orientation), and the shooting magnification are specified in advance.
Then, the

cameras

13A and 13B capture images twice at the same time and with a predetermined time to obtain a total of four images. The shooting time is after a predetermined delay time Tx3, Tx4 (Tx3 ≠ Tx4) has elapsed from the reference time, but the time when the golf ball 20 is located in the shooting range FA, FB at any shooting time.
The position of the golf ball 20 on the images photographed by the

respective cameras

13A and 13B is specified, and the position of the golf ball 20 in the three-dimensional space at two times (image shooting time) is specified using the above camera parameters. . The moving direction θw of the golf ball 20 can be calculated from the difference in position of the golf ball 20 in the three-dimensional space at these two times.
Further, as shown in FIG. 7B, the first camera pair 19A composed of two

cameras

17A and 17B installed so that the respective shooting ranges FA and FB overlap with each other and the shooting ranges FC and FD overlap. A total of four cameras with the second camera pair 19B composed of the two

cameras

17C and 17D installed in this manner may be provided for photographing.
In this case, when the golf ball 20 is positioned within the shooting ranges FA and FB, an image is simultaneously shot by the first camera pair 19A (

cameras

17A and 17B). Further, when the golf ball 20 is positioned within the shooting ranges FC and FD, an image is simultaneously shot by the second camera pair 19B (

cameras

17C and 17D).
In this way, four images may be obtained with a total of four cameras.

Next, a method for calculating the rotation axis direction will be described.
As shown in FIG. 5, a mark M is added to the golf ball 20. Based on the change in the position and the direction of the mark M of the golf ball 20 in the first image and the second image, the rotation axis direction of the golf ball 20 can be specified.
In addition, it is preferable that the mark M added to the golf ball 20 has a pattern that appears on the image no matter which direction the golf ball 20 rotates. As such a symbol, for example, various conventionally known symbols such as a line segment drawn over the entire circumference of the golf ball 20 as shown in FIG. 5 can be used.

Next, a method for calculating the moving speed will be described.
In calculating the moving speed, first, the moving distance of the golf ball 20 is calculated. As described above, since the installation positions and shooting magnifications of the cameras 12A and 12B are known, the ratio between the distance on the image and the distance on the real space is known, and the position of the golf ball 20 in the first image The two-dimensional movement distance on the xz plane of the golf ball 20 can be calculated from the relationship with the position of the golf ball 20 in the second image.
Further, the second image after the first image is captured from the difference between the first delay time Tx1 set for the first camera 12A and the second delay time Tx2 set for the second camera 12B. The elapsed time until shooting can be specified.
That is, the behavior calculation unit 184 calculates the moving distance of the object between the plurality of images taken based on the ratio of the distance on the plurality of images and the distance on the real space, and the plurality of images are taken. The moving speed is calculated by dividing the moving distance by the elapsed time. That is, the moving speed of the golf ball 20 can be calculated by dividing the moving distance of the golf ball 20 between the two images by the elapsed time while the two images are captured.

FIG. 4 is a flowchart illustrating a processing procedure performed by the imaging apparatus 10.
First, the operator I activates the reflective optical sensor 14 (step S400). The reflective optical sensor 14 projects light within the detection range, and determines whether there is an object within the detection range based on the received light amount (step S402).
The reflective optical sensor 14 waits until an object is detected within the detection range (step S402: No loop). When the object is detected (step S402: Yes), a predetermined time elapses while the object is detected. The process returns to step S402 and waits (step S404: No loop). If the object has left the detection range before the predetermined time has elapsed, the process returns to step S402 and the subsequent processing is repeated.
When the state in which the object is detected continues for a predetermined time (step S404: Yes), the lamp 15 as the notification unit is turned on to notify the operator I that the preparation for photographing has been completed (step S406).

Thereafter, until the object leaves the detection range, the process returns to step S406 and waits (step S408: No loop). When the object leaves (step S408: Yes), the imaging control unit 182 determines the exit time (reference time T0). ) After the first delay time Tx1 has elapsed, the first image is taken by the first camera 12A (step S410). Further, after the second delay time Tx2 (> Tx1) has elapsed from the exit time (reference time T0), the second image is taken by the second camera 12B (step S412).
The behavior calculation unit 184 calculates the behavior of the golf ball 20 using the two images taken in steps S410 and S412 (step S414), and displays the calculated behavior information on a display 1816, printing paper, or the like ( Step S416), the process according to this flowchart is terminated.

As described above, the imaging apparatus 10 according to the embodiment performs imaging by the imaging unit 12 with reference to the timing at which the object moves out of the detection range after the object is detected within the detection range of the reflective optical sensor 14. Since the timing is controlled, it is possible to take a picture after detecting that the object has started to move, which is advantageous in reliably taking a picture of the movement of the object.
For example, it is possible to obtain a stable detection result as compared to the case where the start of movement of an object is detected by sound (such as a hitting sound). Further, it is advantageous in simplifying the system configuration as compared with the case where the start of movement of the object is detected from the movement of the impact tool.
Further, since photographing can be performed at an arbitrary time after the object starts moving, the photographing timing can be set according to the moving speed of the object, the installation position of the photographing unit 12, and the like. This is advantageous in improving the performance.
In addition, since the imaging device 10 performs imaging by the imaging unit 12 only when an object within the detection range is continuously detected for a predetermined time or more, when an object that is not an object to be captured enters the detection range. This is advantageous in preventing accidental shooting.
In addition, since the photographing apparatus 10 further includes a lamp 15 (notification unit) that notifies that an object has been continuously detected within a detection range for a predetermined time or more, when the operator I starts moving the object. Therefore, it is possible to accurately set the movement start timing of the object, which is advantageous in efficiently capturing an image of the object.
Further, in the photographing apparatus 10, if the reflective optical sensor 14 has a function of identifying the color of an object, it becomes easy to recognize a specific object such as a golf ball 20, for example. This is advantageous in improving recognition accuracy.
In the photographing apparatus 10, if the response speed of the reflective optical sensor 14 is set to 1 ms or less, it is possible to quickly take an image after the object has left the detection range, and even if the moving speed of the object is fast, it is ensured. This is advantageous for shooting.
In addition, the imaging device 10 is a ball game ball in which an object is launched by a hitting tool, and the detection range of the reflective optical sensor 14 includes the launch position of the ball game ball. This is advantageous in applying a photographing apparatus to a behavior calculation apparatus that calculates the behavior.
In addition, since the photographing apparatus 10 uses the detection range of the reflective optical sensor 14 as the launch position of the ball game ball, the detection range of the sensor suffices to simplify the system of the photographing apparatus 10. It will be advantageous.

DESCRIPTION OF SYMBOLS 10 ... Imaging device, 12 ... Imaging | photography part, 12A ... 1st camera, 12B ... 2nd camera, 14 ... Reflection type optical sensor, 1402 ... Light projection part, 1404 ... Light receiving part, 1406 ... ... detection unit, 1408 ... detection unit, 15 ... lamp, 18 ... computer, 182 ... shooting control unit, 184 ... behavior calculation unit, 20 ... golf ball, 22 ... golf club, 24 ... tee , FA, FB ... shooting range, G ... ground, I ... operator, LI ... projection light, LR ... reflected light, M ... mark, P0 ... movement start position, T ... target movement direction .

Claims

An imaging unit for imaging a moving object;
A detection unit in which a light projecting unit and a light receiving unit are integrated, and a detection unit that detects the presence or absence of the object in a detection range on the light projecting direction side of the light projecting unit based on the amount of light received by the light receiving unit A reflective optical sensor comprising:
A shooting control unit that controls shooting timing by the shooting unit with reference to the leaving timing when it is detected that the object has left the detection range after the object is detected within the detection range;
An imaging apparatus comprising:
The photographing control unit performs photographing by the photographing unit only when the retreat is detected after the object is continuously detected within the detection range for a predetermined time or more.
The photographing apparatus according to claim 1, wherein:
A notification unit for notifying that the object has been continuously detected for a predetermined time or more within the detection range;
The photographing apparatus according to claim 2, wherein:
The reflective optical sensor has a function of identifying the color of the object, and detects that there is an object in the detection range only when the object has a predetermined color.
The photographing apparatus according to any one of claims 1 to 3, wherein
The reaction speed of the reflective optical sensor is 1 ms or less,
The photographing apparatus according to claim 1, wherein the photographing apparatus is characterized in that:
The object is a ball game ball launched by a hitting tool,
The detection range includes a launch position of the ball game ball,
The shooting control unit controls the shooting unit to shoot a plurality of images after the ball game ball is launched by the hitting tool;
The photographing apparatus according to claim 1, wherein
An object behavior measuring apparatus using the photographing apparatus according to any one of claims 1 to 6,
The imaging control unit controls the imaging timing so as to capture a plurality of images while the object is located in the imaging range of the imaging unit;
An object behavior measurement apparatus comprising: a behavior calculation unit that calculates at least one of a movement direction, a rotation axis direction, and a movement speed of the object using a plurality of images photographed by the photographing unit.
A plurality of the photographing units are provided along the target movement direction of the object,
The behavior calculation unit calculates an angle formed by a line segment connecting the center positions of the object on a plurality of captured images and a line segment parallel to the ground as the moving direction in the vertical direction of the object.
The behavior measuring apparatus according to claim 7.
The object is a ball of known diameter;
The behavior calculating unit calculates the moving direction in a direction orthogonal to the shooting direction of the plurality of shooting units based on a ratio of the diameters of the balls between a plurality of shot images.
The behavior measuring apparatus according to claim 8.
The behavior calculation unit calculates a moving distance of the object while a plurality of images are captured based on a ratio between a distance on the plurality of images and a distance on a real space, and the plurality of images are captured. Further calculating the moving speed by dividing the moving distance by the elapsed time between,
The behavior measuring apparatus according to any one of claims 7 to 9, wherein
The mobile body has a design that is visible from all directions,
The behavior calculating unit calculates the rotation axis direction from a difference in position and orientation of the symbol between a plurality of captured images;
The behavior measuring apparatus according to any one of claims 7 to 10, wherein
An imaging control method for controlling an imaging device for imaging a moving object,
A detection step of receiving the light projected from the light projecting unit by the light receiving unit, and detecting the presence or absence of the object within a detection range on the light projecting direction side of the light projecting unit based on the amount of light received by the light receiving unit; ,
An imaging control step of controlling imaging timing by the imaging device with reference to the exit timing when it is detected that the object has exited from the detection range after the object is detected within the detection range;
An imaging control method comprising:
An object behavior measurement method using the imaging control method according to claim 12,
In the photographing control step, the photographing timing is controlled so as to photograph a plurality of images while the object is located in the photographing range of the photographing device,
An object behavior measurement method, further comprising a behavior calculation step of calculating at least one of a movement direction, a rotation axis direction, and a movement speed of the object using a plurality of images photographed by the photographing device. .