WO2017150329A1 - Measurement marker and method for measuring behavior of moving body using measurement marker - Google Patents

Abstract

The present invention reduces the number of steps required for measuring the behavior of a moving body. A measurement marker 10 is used in a method for measuring behavior of a moving body, the method comprising setting feature points on the surface of the moving body such as a golf club head 30, extracting the feature points from successively captured images of the moving body in motion, and measuring the behavior of the moving body in motion on the basis of temporal changes of positions of the feature points. In the measurement marker 10, three feature points 12A to 12C or more are nonlinearly arranged on a planar base material 1002, and an adhesive material (adhesive layer 1004) is disposed the surface through which the base material 1002 is attached to the moving body.

Description

Measuring marker and method for measuring behavior of moving object using measuring marker

The present invention relates to a measurement marker used when measuring the behavior of a moving object and a method for measuring the behavior of the moving object using the measurement marker.

Conventionally, a feature point such as a marker is provided on the surface of a moving body such as a golf club head, and a feature point is extracted from an image obtained by continuously capturing the moving moving body. 2. Description of the Related Art A method for measuring the behavior of a moving body that measures the behavior of the moving body is known (for example, see Patent Document 1 below).
In addition, a technique for fixing a marker used as a feature point to a moving body when performing such a behavior measuring method of the moving body has been developed (for example, see Patent Document 2 below).

Japanese Patent No. 4271615 JP 2014-59175 A

When carrying out the above-described method for measuring the behavior of a moving object, generally, a calibration process is performed in which a measurer or the like attaches a seal-like feature point to an arbitrary location of the moving object and specifies the position of the feature point on the moving object To implement.
This calibration process needs to be performed each time if the position of the feature point is different even if the moving body has the same shape.
For example, when the moving body is a golf club head, a plurality of golf clubs of the same model (shape) may be delivered to different stores and used in a behavior measurement device (golf simulator or the like) of each store. In this case, even if the golf clubs are the same model, since the employees attach stickers for feature points at arbitrary positions of the golf club head at each store, calibration is performed at each store.
For example, when there are a plurality of golf clubs to be used in the behavior measuring device, there is a problem that calibration for a plurality of golf clubs must be performed at each store, which is complicated.
This invention is made | formed in view of such a situation, The objective is to reduce the man-hour at the time of measuring the behavior of a moving body.

In order to achieve the above object, the measurement marker according to the first aspect of the present invention provides a feature point on the surface of a moving body, and extracts the feature point from images obtained by continuously photographing the moving body during movement. , A measurement marker used in a behavior measuring method for a moving object that measures the behavior of the moving object that is moving based on a time change of the position of the feature point, and includes three points on a single planar substrate The above characteristic points are arranged on a non-linear line, and an adhesive material is arranged on a surface of the base material to be attached to the moving body.
The measurement marker according to the invention of claim 2 is characterized in that each of the characteristic points is formed in a convex shape upward from the non-sticking surface of the base material.
The measurement marker according to the invention of claim 3 is characterized in that each of the feature points is formed of a material having retroreflectivity.
The marker for measurement according to the invention of claim 4 is characterized in that the retroreflective material is exposed glass beads.
The measurement marker according to the invention of claim 5 is characterized in that a protective layer having translucency is provided on the surface of the exposed glass bead.
The measurement marker according to the invention of claim 6 is characterized in that the adhesive material has re-peeling performance.
In the measurement marker according to the invention of claim 7, the feature points arranged on the base material are three points, and the three feature points are arranged at positions substantially corresponding to vertices of an isosceles triangle. It is characterized by that.
The measurement marker according to the invention of claim 8 is a first linear portion along a straight line connecting two feature points arranged at positions corresponding to the two base angles of the isosceles triangle, It is a T-shape comprising a second straight line portion along a perpendicular line extending from a feature point located at a position corresponding to the apex angle of the isosceles triangle to the first straight line portion.
The measuring marker according to the invention of claim 9 is characterized in that the moving body is a golf club head.
A moving body behavior measuring method according to a tenth aspect of the present invention is a moving body behavior measuring method using the measurement marker according to any one of the first to ninth aspects, wherein the first moving body is a first moving body. A calibration step of pasting the measurement marker on the surface of the first moving body to detect the position of each of the feature points on the surface of the first moving body and recording the position as feature point position data; and information about the feature point position data A distribution step of distributing to the terminal, a photographing step of continuously photographing the image of the second moving body that is moving by pasting the measurement marker on the surface of the second moving body, and the feature point position In the information terminal to which data has been distributed, the feature point is extracted from the image photographed in the photographing step, and the second moving point is moved based on the temporal change of the feature point position and the feature point position data. Transfer Characterized in that it includes a behavior calculation step of calculating the behavior data indicating the behavior of the body, the.
The behavior measuring method of a moving body according to the invention of claim 11 is characterized in that the moving body is a mass-produced product, and the first moving body and the second moving body are products of the same model. To do.
The behavior measuring method of a moving body according to the invention of claim 12 is characterized in that the moving body is a golf club head, and the first moving body and the second moving body have the same count. To do.
In the behavior measuring method for a moving body according to the invention of claim 13, the moving body is a mass-produced golf club head, and in the behavior calculating step, the first moving body and the second moving body are the same. The type of behavior data to be calculated is changed based on whether or not the product is a model product.
According to a fourteenth aspect of the present invention, in the behavior calculation method, in the behavior calculation step, when the first moving body and the second moving body are products of the same model, the golf club head When the behavior data including at least one of the hitting loft angle, hitting lie angle, and hitting point position data is calculated, and the first moving body and the second moving body are not products of the same model Is characterized in that the behavior data other than the hit loft angle, the hit lie angle, and the hit point position data are calculated.
According to a fifteenth aspect of the present invention, in the behavior calculation method, in the behavior calculation step, the golf club head is moved as the behavior data other than the hit loft angle, the hit lie angle, and the hit point position data. The behavior data including at least one of trajectory data, left / right approach angle, up / down approach angle, and hitting face angle is calculated.
In the behavior measurement method for a moving body according to the invention of claim 16, the moving body is a golf club head, the measurement marker is attached to the surface of the first moving body, and the second moving body. The measurement marker is attached to the surface of the golf club head at least of the face surface upper end line of the golf club head, the center position of the face surface, the center position in the width direction of the face surface, and the score line provided on the face surface. Any one of the measurement markers is used as a reference position so that a predetermined position of the measurement marker coincides with the reference position or the predetermined position is a predetermined distance from the reference position.

According to the invention of claim 1, three or more feature points are arranged on a non-straight line on a planar substrate, and an adhesive material is arranged on a surface of the substrate attached to the moving body. Therefore, three or more feature points can be simultaneously added to the moving body in one pasting operation, which is advantageous in efficiently performing the feature point adding operation. Further, since the positional relationship between the feature points is fixed, it is advantageous in accurately aligning the feature points.
According to the second aspect of the present invention, since the feature points are formed in a convex shape, it is advantageous in making the feature points appear in the image more easily than when the feature points are formed in a planar shape.
According to the invention of claim 3, since the feature points are formed of a material having retroreflectivity, it is advantageous for efficiently reflecting the light projected from the photographing direction and making the feature points easily appear in the image. It becomes.
According to the invention of claim 4, since the exposed glass beads are used as the retroreflective material, it is advantageous in increasing the brightness of the feature point by reflecting the projection light more efficiently.
According to invention of Claim 5, since the protective layer which has translucency is provided in the surface of exposure type | mold glass bead, it prevents that exposure type | mold glass bead peels from a feature point, and is a marker for measurement. This is advantageous in improving durability.
According to the invention of claim 6, since the adhesive material has re-peeling performance, the measurement marker once attached to the moving body can be peeled off, which is advantageous in maintaining the aesthetic appearance of the moving body. In addition, the measurement marker once attached to the moving body can be attached to another (or the same) moving body again, which is advantageous in reducing the cost compared to the case where the measurement marker is disposable. Become.
According to the seventh aspect of the present invention, since the three feature points are arranged approximately at the positions corresponding to the vertices of the isosceles triangle, the measurement marker can be easily aligned with the reference position when being attached to the moving body. Is advantageous.
According to the invention of claim 8, it is advantageous in reducing the contact area between the measurement marker and the moving body and suppressing the occurrence of wrinkles and the like, and the position when the measurement marker is attached to the moving body. This is advantageous for easy alignment.
According to the ninth aspect of the present invention, it is advantageous to efficiently perform the operation of adding feature points when measuring the behavior of the golf club head. Further, since the positional relationship between the feature points is fixed, it is advantageous in accurately aligning the feature points. In particular, since the shape of the golf club head is more complex than other hitting tools, it may be difficult to add feature points as intended, but according to the present invention, a plurality of feature points can be easily added. It becomes possible to do.
According to the invention of claim 10, since the behavior of the second moving body can be measured using the feature point position data recorded using the first moving body, the feature point position data is stored for each behavior measurement. There is no need to calibrate, which is advantageous in reducing the number of man-hours when measuring the behavior of the moving object.
According to the invention of claim 11, since the first moving body and the second moving body are products of the same model, the position of the feature point calibrated by the first moving body, and the second moving body The position of the upper feature point is substantially the same, which is advantageous in accurately calculating the behavior of the moving object.
According to the invention of claim 12, since the first moving body and the second moving body are golf club heads having the same count, the position of the feature point calibrated by the first moving body, and the second The error with respect to the position of the feature point on the moving body becomes small, which is advantageous for maintaining the accuracy when calculating the behavior of the moving body above a certain level.
According to the invention of claim 13, since the type of behavior data to be calculated is changed based on whether or not the first moving body and the second moving body are products of the same model, It is possible to change the type of behavior data calculated in accordance with the accuracy, which is advantageous in improving the accuracy of the behavior data.
According to the invention of claim 14, when the first moving body and the second moving body are not products of the same model and the accuracy of the feature point position data is low, the accurate feature point position data is calculated. Since the behavior data not including the required loft angle at impact, lie angle at impact, and hit point position data is calculated, it is advantageous in improving the accuracy of the entire behavior data.
According to the fifteenth aspect of the present invention, the loft angle at hitting, the lie angle at hitting, the hitting point position data, the movement trajectory data of the golf club head, the left and right approach angle, the up and down approach angle, the hitting face angle, etc. are calculated as the behavior data. Therefore, it is advantageous in grasping the detailed behavior of the golf club head.
According to the invention of claim 16, since the measurement marker is pasted with the predetermined position of the golf club head as the reference position, the pasting position on the first moving body and the pasting position on the second moving body are made to coincide with each other with high accuracy. This is advantageous.

It is explanatory drawing which shows schematic structure of the marker 10 for a measurement concerning embodiment. 4 is an explanatory view showing a configuration of a golf club head 30. FIG. 4 is a flowchart illustrating a procedure of a behavior measuring method of the golf club head 30. 4 is an explanatory view showing a configuration of a golf club holding device 40. FIG. 2 is a block diagram showing a configuration of a personal computer 44. FIG. 2 is a block diagram showing a functional configuration of a personal computer 44. FIG. It is explanatory drawing which shows the facility by the side of a recipient who implements behavior measurement. It is explanatory drawing which shows the structure of the irradiation imaging | photography part. It is explanatory drawing which shows the other structure of the irradiation imaging | photography part 52. FIG. It is explanatory drawing for demonstrating movement locus | trajectory data. It is explanatory drawing for _{demonstrating the} left-right approach angle (theta) _LR . It is explanatory drawing for _{demonstrating the} up-and-down approach angle (theta) _UD . It is explanatory drawing for demonstrating face angle (phi) at the time of impact. It is explanatory drawing for demonstrating the loft angle (alpha) at the time of impact. It is explanatory drawing for demonstrating the lie angle (beta) at the time of impact. 2 is a block diagram showing a functional configuration of a personal computer 56. FIG. It is explanatory drawing which shows the movement locus | trajectory of the feature point extracted from image data. It is explanatory drawing which shows the other structure of the marker 10 for a measurement. It is explanatory drawing which shows the Example at the time of a golf club head being an iron type.

Exemplary embodiments of a measuring marker and a method for measuring the behavior of a moving object using the measuring marker according to the present invention will be described below in detail with reference to the accompanying drawings.
In the present embodiment, the case where the behavior of the golf club head 30 at the time of hitting a golf ball as a moving body is measured will be described.

FIG. 1 is an explanatory diagram showing a schematic configuration of a measurement marker 10 according to an embodiment, FIG. 1A is a top view of the measurement marker 10, and FIG. 1B is an AA cross-sectional view of the measurement marker 10. 1C is a perspective view of a state in which the measurement marker 10 is attached to the golf club head 30 (crown portion). In the following description, a wood-type head is illustrated as the golf club head 30, but the present invention can also be applied to an iron-type head as shown in FIG.

The measurement marker 10 has three or more feature points arranged non-linearly on a planar substrate 1002 and an adhesive material arranged on the surface of the substrate 1002 attached to the golf club head 30. Yes.
In the present embodiment, there are three feature points (feature points 12A, 12B, and 12C) arranged on the base material 1002, and the three feature points are generally isosceles triangles (more specifically, equilateral triangles). It is arranged at the position corresponding to the vertex.
Three or more feature points are provided by specifying the movement of the surface surrounded by the three or more feature points when measuring the behavior of the golf club head 30 to be described later, from the image data as two-dimensional information. This is because the movement of the head 30 in the three-dimensional space can be specified. Even if three or more feature points are arranged on a straight line, the surface is not formed. Therefore, three or more feature points are arranged on a non-linear line.
Further, the reason why the three feature points are arranged so as to be approximately the vertices of an isosceles triangle is to facilitate positioning when the measurement marker 10 is attached to the golf club head 30, as will be described later. is there.

The overall shape of the measurement marker 10 is a straight line AA connecting two of the three feature points (two feature points 12A and 12B arranged at positions corresponding to the two base angles of the isosceles triangle). The second straight line along the first straight line portion 101 along the vertical line B extending from the remaining feature point (the feature point 12C arranged at the position corresponding to the apex angle of the isosceles triangle) to the straight line AA It is a T-shape composed of the portion 102.
This is for reducing the contact area between the measurement marker 10 and the golf club head 30 and facilitating alignment when the measurement marker 10 is attached to the golf club head 30. The details of alignment when the measurement marker 10 is attached to the golf club head 30 will be described later.

For example, as shown in FIG. 18A, the shape of the entire measurement marker 10 may be a shape along the shape of an isosceles triangle in which the three feature points 12A to 12C form vertices. However, in this case, the contact area between the measurement marker 10 and the golf club head 30 is relatively large, and wrinkles or the like occur when the curvature of the crown portion of the golf club head 30 that is the attachment position of the measurement marker 10 is met. It becomes easy, and the position of the feature point may be shifted for each pasting due to the distortion.
Further, for example, as shown in FIG. 18B, it is conceivable to reduce the contact area with the golf club head 30 by hollowing out the center part of the isosceles triangle, but the contact area is still smaller than that of the T-shape as shown in FIG. large. Further, in this shape, the equilateral portion may be located at a location where the curvature of the boundary portion between the crown portion and the toe portion or the heel portion of the golf club head 30 is high, and depending on the shape of the golf club head 30, it is difficult to stick. There is.
Further, for example, a star shape as shown in FIG. 18C may be considered, but there is no reference side as compared with the T shape as shown in FIG. 1, and there is a possibility that alignment is difficult.

As shown in FIG. 1B, the measurement marker 10 has an adhesive layer 1004, a base material 1002, a convex portion 1006, a reflective layer 1007, and a protective layer 1008 in order from the side in contact with the golf club head 30. In FIG. 1B, for convenience of illustration, the thickness of each layer and the ratio of the thickness are different from actual ones.
The adhesive layer 1004 is provided on one surface of the substrate 1002 and is formed of an adhesive material. The pressure-sensitive adhesive material that forms the adhesive layer 1004 preferably has re-peeling performance. That is, even if the measurement marker 10 is pasted to the golf club head 30 once, it is preferable to maintain the appearance of the golf club head 30 if it can be easily removed without leaving an adhesive material on the golf club head 30. Further, it is economical if the measurement marker 10 once used can be attached to another golf club head 30 so that it can be used.

The base material 1002 is preferably formed of a flexible material so that it can follow the shape of a portion attached to the golf club head 30, for example, a crown portion.
Note that the adhesive layer 1004 and the base material 1002 or the adhesive layer 1004 and the base material 1002 and a convex portion 1006 described later may be the same material (for example, a gel seal formed of an acrylic resin).

The convex portion 1006 forms feature points 12A to 12. The convex portion 1006 is formed in a convex shape upward from the surface (non-attached surface) opposite to the surface on which the adhesive layer 1004 of the base material 1002 is formed. By forming the feature points 12A to 12C in a convex shape, it is possible to make it easy to appear in the captured image at the time of behavior measurement described later.

The reflective layer 1007 is formed on the surface of the convex portion 1006. The reflective layer 1007 is formed of a material having retroreflectivity, for example. The material having retroreflectivity is, for example, exposed glass beads.
By using a retroreflective material for the feature point, light projected from the same direction as the camera during behavior measurement described later is easily reflected to the camera side. For this reason, the brightness of the feature point is increased when the image is taken by the camera, and the position of the feature point in the image can be easily identified.
In addition to the microbeads, the material having retroreflectivity includes microprisms, but microbeads are more suitable than the microprisms for application to the convex portion 1006. In addition, the microbeads can be used in an encapsulated type in which the microbeads are enclosed in the convex part 1006 and an exposed type in which the microbeads are arranged on the surface of the convex part 1006 as in the present embodiment. In this embodiment, exposed glass beads are used because the mold has better light reflection efficiency.
Note that the form as shown in FIG. 1B is merely an example, and it is a matter of course that the feature points may be retroreflective using microprisms, encapsulated microbeads, or other materials.

The protective layer 1008 is formed of a light-transmitting material and covers the surface of the reflective layer 1007. The protective layer 1008 can protect the microbeads exposed on the surface of the convex portion 1006, and the durability of the measurement marker 10 is improved. In FIG. 1B, the protective layer 1008 covers the entire non-attached surface of the measurement marker 10, but if it is formed at least on the surface of the convex portion 1006 (feature points 12A to 12C) on which the reflective layer 1007 is formed. Good.

Next, a method for measuring the behavior of the golf club head 30 using the measurement marker 10 will be described.
FIG. 3 is a flowchart showing the procedure of the behavior measuring method of the golf club head 30.
First, as a calibration process (step S300), the measurement marker 10 is affixed to the surface of the first golf club head 30, and the position of each feature point on the surface of the first golf club head 30 is detected. Record as point position data.
Next, as the distribution step (step S302), the feature point position data is distributed to other information terminals.
Subsequently, the photographing process (step S304) is performed at a store or the like having another information terminal to which the feature point position data is distributed. In the photographing process, the measurement marker 10 is attached to the surface of the second golf club head 30 and a swing or the like is performed to continuously take images of the second golf club head 30 that is moving (during a swing). .
Then, the behavior calculation step (step S306) is performed in the information terminal to which the feature point position data is distributed. In the behavior calculation step, feature points are extracted from the image photographed in the photographing step, and behavior data indicating the behavior of the second golf club head 30 that is moving based on the temporal change of the feature point position and the feature point position data are obtained. calculate.
Then, the output process (step S308) which outputs behavior data is performed, and the process by this flowchart is complete | finished.

The first golf club head 30 and the second golf club head 30 are assumed to be different golf club heads 30. In other words, the first golf club head 30 is a golf club head 30 owned by the manufacturer of the golf club head 30 who is the executioner of the calibration process, or a management company that operates a plurality of golf club sales stores and golf driving ranges. . The second golf club head 30 is a golf club head 30 owned by a user who purchased the golf club head 30 from a manufacturer, a golf club head 30 owned by a golf club sales store or a golf driving range, and the like.
When the person who performs the calibration process continues to perform the processes after step S304, the first golf club head 30 and the second golf club head 30 may be the same.

It is preferable that the first golf club head 30 and the second golf club head 30 are, for example, products of the same model, that is, the shape thereof is the same or the difference in the shape is a manufacturing error range on the mass production line. In this case, if the pasting positions of the measurement markers 10 are matched, the positions of the feature points on the respective golf club heads 30 substantially coincide.
Further, the first golf club head 30 and the second golf club head 30 may have the same count or the same wood / iron type. In this case, although the exact position of the feature point on each golf club head 30 cannot be specified, depending on the type of behavior parameter to be measured, it can be sufficiently put into practical use.

<Calibration process>
First, the calibration process in step S300 will be described.
The calibration process is performed, for example, by a manufacturer that produces the golf club head 30 or a management company that operates a plurality of golf club sales stores or golf driving ranges.
The calibration process includes two steps: step 1: attaching the measurement marker 10 to the first golf club head 30; step 2: creating feature point position data.
<Step 1: Affixing the measurement marker 10 to the first golf club head 30>
The measurement marker 10 is attached to the first golf club head 30 using a predetermined position of the golf club head 30 as a reference position.
FIG. 2 is an explanatory diagram showing the configuration of the golf club head 30.
The golf club head 30 includes a face surface (face portion) 3002, a crown portion 3004, a sole portion 3006, and a side portion 3008. The golf club head 30 main body includes the face surface 3002, the crown portion 3004, and the sole portion. 3006 and the hollow structure which has the hollow part comprised by the side part 3008 are exhibited.
The face surface 3002 forms a face surface and has a vertical height and extends to the left and right.
The sole part 3006 is connected to the lower part of the face surface 3002 and extends rearward.
The crown part 3004 connects the upper part of the face surface 3002 and the rear part of the sole part 3006.
The side part 3008 connects the crown part 3004 and the sole part 3006.
In the figure, reference numeral 3010 indicates a toe, 3012 indicates a heel, and S indicates a shaft. The shaft S is connected to a portion near the heel 3012 of the crown portion 3004 and a portion near the heel 3012 of the side portion 3008 via a hosel portion 3014 in the vicinity of the joint portion.

The reference position is, for example, at least one of the face surface upper end line 3002A of the golf club head 30, the center position of the face surface 3002, the center position in the width direction of the face surface 3002, and the score line L provided on the face surface 3002. To do.
Then, the measurement marker 10 is affixed to the golf club head 30 so that the predetermined location of the measurement marker 10 matches the reference position, or the predetermined location is a predetermined distance from the reference position.
For example, in FIG. 1C, a predetermined portion of the measurement marker 10 is the end side 101A of the first straight portion 101 on the side not connected to the second straight portion 102, and the reference position on the golf club head 30 side is the face surface upper end line 3002A. Are attached so that the end side 101A is located at a predetermined distance D from the face surface upper end line 3002A. The end side 101A may be attached so as to coincide with the face surface upper end line 3002A.
As shown in FIG. 2, when a center mark M such as an inverted regular triangle is attached near the center position of the face surface 3002, the center position of the face surface 3002 can be easily specified.
Even when the center mark M is not attached, the center position of the width W of the face surface 3002 may be set as a target visually.
In order to facilitate such alignment, an alignment mark 1012 (see FIG. 1A) indicating the midpoint of the first straight line portion 101 of the measurement marker 10 may be provided.

<Step 2: Creation of feature point position data>
After the measurement marker 10 is attached to the first golf club head 30, the golf club 31 is held by a golf club holding device 40 as shown in FIG.
4A is an overall view of the golf club holding device 40, FIG. 4B is a view taken along the arrow A around the golf club head 30 and the positioning plate 4008, and FIG. 4C is a view taken along the B arrow around the golf club head 30 and the positioning plate 4008.
The golf club holding device 40 holds the golf club 31 so that the lie angle and loft angle set with respect to the golf club 31 are met.
As shown in FIG. 4A and the like, the golf club holding device 40 includes a base 4002, a frame 4004, a support portion 4006, and a positioning plate 4008.
The base 4002 is placed on the floor surface (horizontal plane) G.
The frame 4004 is erected from the base 4002.
The support portion 4006 is provided on the frame 4004 and supports the shaft S of the golf club 31 so that it can be attached and detached and the position and orientation of the golf club 31 can be adjusted. Various conventionally known structures can be used as the support portion 4006.

Two positioning columns 4012 are further erected from the base 4002. The top of the positioning column 4012 is painted, for example, with retroreflectivity, so that it can be distinguished from other parts when an image is taken. The top of the positioning column 4012 functions as calibration feature points P1 and P2.
The positioning plate 4008 has a rectangular plate shape, and is attached to the base 4002 via the moving table 4010 so as to extend on a horizontal plane. The moving table 4010 can move in a direction orthogonal to the direction in which the two positioning columns 4012 are arranged.
The positioning plate 4008 is formed to extend linearly so that an edge portion 4008A having a sharp cross section on one side thereof is parallel to the horizontal plane.
The positioning plate 4008 is provided with a reference marker 4008B indicating the center in the extending direction of the edge portion 4008A on the upper surface thereof. Further, a calibration feature point P3 is attached to the center on the opposite side of the edge portion 4008A on the upper surface of the positioning plate 4008 by painting having retroreflectivity.

The golf club 31 has a support portion 4006 so that the face surface 3002 is in contact with the edge portion 4008A so that the edge portion 4008A passes through the center point of the face surface 3002, and the set lie angle and loft angle are set. Supported by.
When the golf club 31 is installed in the golf club holding device 40, first, the positioning plate 4008 is moved in a direction away from the positioning column 4012, and the two positioning columns 4012 are moved to the side portion 3008 of the golf club head 30. The face surface 3002 and the opposite surface are in contact with each other. Thereafter, the positioning plate 4008 is moved in the direction of the positioning column 4012, and the edge portion 4008A is applied to the face surface 3002 so that the edge portion 4008A passes through the center point of the face surface 3002.
In the present embodiment, the fact that the golf club 31 is on the set lie angle and loft angle is a state where the normal of the face surface 3002 and the launch direction are parallel to each other, and the vertical line In contrast, the angle formed by the shaft axis is the correct lie angle.

When the score line L is formed on the face surface 3002 of the golf club head 30, when the golf club 31 is supported by the support portion 4006 along the set lie angle, the score line L or its extension line and the edge portion 4008A. And parallel.
Therefore, the golf club 31 can be supported according to the set lie angle by adjusting the support portion 4006 so that the score line L and the edge portion 4008A are parallel to each other.
When the score line L is not formed on the face surface 3002 as in some putter clubs, the virtual line extending in the left-right width direction of the face surface 3002 and the edge portion 4008A are parallel to each other. By adjusting the support portion 4006, the golf club 31 can be supported according to the set lie angle.

The golf club head 30 installed in this way is photographed by the camera 42 from the direction of arrow A in FIG. 4A, for example. The feature points 12A to 12C of the measurement marker 10 and the calibration feature points P1 to P3 are included in the image.
Image data of an image captured by the camera 42 is input to the personal computer 44.

FIG. 5 is a block diagram showing the configuration of the personal computer 44.
The personal computer 44 includes a CPU 4430, a ROM 4432, a RAM 4434, a hard disk device 4436, a disk device 4438, a keyboard 4440, a mouse 4442, a display 4444, a printer 4446, and an input / output interface 4448 connected via an interface circuit and a bus line (not shown). Etc.
The ROM 4432 stores a control program and the like, and the RAM 4434 provides a working area.
The hard disk device 4436 stores a dedicated program and various data for calculating feature point position data.
The disk device 4438 performs data recording and / or reproduction on a recording medium such as a CD or a DVD.
The keyboard 4440 and the mouse 4442 receive operation inputs from the operator.
The display 4444 displays and outputs data, and the printer 4446 prints and outputs data. The display 4444 and the printer 4446 output data.
The input / output interface 4448 exchanges data with the camera 42 and other information terminals.

As shown in FIG. 6, the personal computer 44 functions as a position data calculation unit 4400 when the CPU executes a program. The personal computer 44 also has three-dimensional shape data 4402 that reproduces the golf club head 30 in a three-dimensional coordinate system, and holding device shape data 4404 indicating the positional relationship between the calibration feature points P1 to P3 in the golf club holding device 40. Is remembered.
The position data calculation unit 4400 calculates the shooting direction, the shooting magnification, and the like of the camera 42 by extracting the calibration feature points P1 to P3 from the image data 4202 shot by the camera 42.
Since the installation state of the golf club 31 with respect to the golf club holding device 40 is known, the position data calculation unit 4400 specifies the region of the golf club head 30 that is reflected in the image data 4202 from the shooting direction, shooting magnification, etc. of the camera 42. be able to.
The position information of the feature points 12A to 12C on the three-dimensional shape data of the golf club head 30, that is, the feature point position data is specified from the three-dimensional shape data 4402 of this region and the positions of the feature points 12A to 12C on the image. can do.

In the present embodiment, the feature points 12A to 12C have a circular shape. Therefore, the positions (representative positions) of the feature points 12A to 12C are the center points of the circular shape.
The shape of the feature points 12A to 12C is arbitrary, and can be, for example, a regular triangle or a regular polygon such as a square. In this case, the representative positions of the feature points 12A to 12C are, for example, the center points (centroid points) of the feature points 12A to 12C.
Moreover, the shape of each feature point does not need to be the same, and the above-mentioned shapes can be freely combined.

<Distribution process>
Next, the distribution process in step S302 will be described.
In the distribution step, the feature point position data calculated in the previous step is distributed to golf club sales stores, golf driving ranges, users who have purchased the golf club head 30 (hereinafter referred to as “distributed persons”).
The distribution method is that the recipient (information terminal owned by the recipient) downloads the feature point location data via the network, or sends the feature point location data to an email addressed to the recipient. Alternatively, various conventionally known methods can be applied, such as mailing a recording medium on which feature point position data is recorded to a recipient.
The distributed feature point position data is recorded in an information terminal (in this embodiment, the personal computer 56) that performs the behavior calculation process in step S306.
In addition, together with the feature point position data, the method for attaching the measurement marker 10 to the golf club head 30, specifically, the reference position of the golf club head 30, the distance from the reference position to the attachment position, etc. It is preferable to distribute information to recipients.

<Photographing process>
Next, the photographing process in step S304 will be described.
The processing after the photographing process is performed in the facility on the recipient side that received the distribution of the feature point position data.
The photographing process includes two steps: step 1: attaching the measurement marker 10 to the second golf club head 30, and step 2: photographing the second golf club head 30 during a swing.
<Step 1: Affixing the measurement marker 10 to the second golf club head 30>
The measurement marker 10 is attached to the second golf club head 30 in accordance with the information on the method of attaching the measurement marker 10 to the golf club head 30 distributed together with the feature point position data.
That is, the measurement marker 10 is placed on the second golf club head 30 so that the predetermined location of the measurement marker 10 matches the reference position of the second golf club head 30 or the predetermined location is a predetermined distance from the reference position. Affix it.
When the first golf club head 30 and the second golf club head 30 are products of the same model, the position of the feature points 12A to 12C on the second golf club head 30 can be obtained by adopting such a sticking method. Substantially matches the position specified by the feature point position data.
In addition, when the first golf club head 30 and the second golf club head 30 have the same count, for example, the area of the crown portion 3004 to which the measurement marker 10 is attached is extremely large although there is a slight difference in shape. For example, it is unlikely that the measurement marker 10 protrudes from the crown portion 3004. The same applies to the case where the first golf club head 30 and the second golf club head 30 have the same wood / iron type.

<Step 2: Shooting of second golf club head 30 during swing>
FIG. 7 is an explanatory diagram showing equipment on the recipient side that performs behavior measurement.
The facility 50 on the recipient side includes an irradiation photographing unit 52, a control unit 54, and a personal computer 56.
The irradiation photographing unit 52 photographs the golf club head 30 by stereo photographing from two different directions.
The control unit 54 controls the irradiation photographing unit 52 and supplies the image data generated by the irradiation photographing unit 52 to the personal computer 56.
Shooting of the second golf club head 30 during the swing in step 2 is mainly performed by the irradiation shooting unit 52 and the control unit 54.
The personal computer 56 takes in the data of the image photographed by the irradiation photographing unit 52, performs signal processing, image processing, and operation analysis, and calculates a behavior parameter indicating the behavior of the golf club head 30 during the swing.
In addition, the code | symbol P in FIG. 7 shows a measurer (golfer).

FIG. 8 is an explanatory diagram showing the configuration of the irradiation photographing unit 52, FIG. 8A is a perspective view of the irradiation photographing unit 52, and FIG. 8B is a plan view of the irradiation photographing unit 52. In FIG. 8, the golf club head 30 and the feature points 12A to 12C are shown in a simplified manner.
The irradiation photographing unit 52 includes an irradiation light source 5222, a half mirror 5224, a camera 5226, a reflection mirror 5228, and a base 5230. The irradiation light source 5222, the half mirror 5224, the camera 5226, and the reflection mirror 5228 are included. , Provided on the base 5230.
The irradiation light source 5222 irradiates the golf club head 30 as a measurement target.
In this embodiment mode, the irradiation light source 5222 is composed of a halogen light source and irradiates continuous light that is continuous in time.
The irradiation light source 5222 is disposed so as to irradiate the feature points 12A to 12C of the golf club head 30 through the half mirror 5224.
The half mirror 5224 is a mirror having substantially the same light transmittance and reflectance. The half mirror 5224 transmits half of the light incident on the reflection surface (boundary surface) of the half mirror 5224 and reflects the remaining half of the light.
The half mirror 5224 is provided so that the optical path of the light irradiated from the irradiation light source 5222 forms an incident angle of about 45 degrees with respect to the reflection surface when viewed in plan.
The camera 5226 includes a photographic lens, an image sensor that captures a subject image guided by the photographic lens, a signal processing unit that generates an image signal based on an image signal generated by the image sensor, and the like. Yes.
When viewed in plan, the camera 5226 passes through a portion where the optical axis of the photographing lens intersects the optical path of the irradiation light source 5222 and the reflection surface of the half mirror 5224, and the optical axis of the photographing lens is the irradiation light source 5222. Is formed so as to form an angle of approximately 90 degrees with the optical path of the light.
The reflection mirror 5228 has a total reflection surface that totally reflects light, and has a function of adjusting the reflection direction (angle) and position of the total reflection surface.
The reflection mirror 5228 reflects the light emitted from the irradiation light source 5222 and reflected by the half mirror 5224 on the total reflection surface to irradiate the feature points 12A to 12C of the golf club head 30, and from the feature points 12A to 12C. The reflection direction and position of the total reflection surface are adjusted so that the reflected light is reflected again by the total reflection surface and guided to the camera 5226 via the half mirror 5224.

Here, as illustrated in FIG. 8B, the irradiation photographing unit 52 irradiates the continuous light with the irradiation light source 5222 toward the reflection surface of the half mirror 5224.
Half of the light irradiated on the reflecting surface of the half mirror 5224 is irradiated light on the characteristic points 12A to 12C provided on the golf club head to be measured as transmitted light that passes through the position Shm on the reflecting surface. Become.
The reflected light from the feature points 12A to 12C (hereinafter referred to as marker reflected light RL1) is directed to the reflecting surface of the half mirror 5224.
Here, the marker reflected light RL1 travels in the opposite direction to the irradiated light from the irradiation light source 5222, and the marker reflected light RL1 is reflected light whose optical path matches the irradiation light from the irradiation light source 5222. Therefore, the outgoing angle formed by the light that passes through the reflecting surface of the half mirror 5224 and is irradiated to the feature points 12A to 12C and the reflecting surface of the half mirror 5224, and the incidence that the marker reflected light RL1 enters the reflecting surface of the half mirror 5224 The angle is approximately the same.
Thus, the marker reflected light RL1 is reflected by the reflecting surface of the half mirror 5224 and guided to the photographing lens of the camera 5226.

On the other hand, as shown in FIG. 8B, the remaining half of the light irradiated on the reflection surface of the half mirror 5224 is reflected by the reflection surface of the half mirror 5224 and enters the total reflection surface of the reflection mirror 5228.
Here, the totally reflected light is irradiated as irradiation light to the feature points 12A to 12C provided on the golf club head 30 to be measured.
The reflected light from the feature points 12A to 12C of the irradiated light (hereinafter referred to as marker reflected light RL2) is totally reflected from the reflection mirror 5228 and overlaps the optical path of the irradiated light that is applied to the feature points 12A to 12C. It goes to the total reflection surface of 5228.
The marker reflected light RL <b> 2 is reflected toward the half mirror 5224 on the total reflection surface of the reflection mirror 5228.
Here, the reflection angle (irradiation angle) at which the light reflected by the reflecting surface of the half mirror 5224 and traveling toward the reflecting mirror 5228 forms the reflecting surface of the half mirror 5224, and the incident light where the marker reflected light RL2 enters the reflecting surface of the half mirror 5224. The angles are substantially the same.
Further, the marker reflected light RL2 transmitted through the half mirror 5224 is incident on the photographing lens of the camera 5226 together with the marker reflected light RL1 reflected by the half mirror 5224.
Therefore, the camera 5226 captures images of the feature points 12A to 12C by the two reflected lights from the feature points 12A to 12C that are substantially coincident with the optical paths of the irradiation light irradiated from two different directions.
In the present invention, the golf club head 30 may be photographed from two or more directions. For example, an image of the golf club head 30 is photographed from three different directions using three or more cameras using a known motion capture system. You can also

Further, an image of the golf club head 30 viewed from a plurality of directions may be taken by one camera 5226.
In this case, the position and orientation of the reflection mirror 5228 are finely adjusted in advance so that the image of the marker reflected light RL2 captured by the camera 5226 and the image of the marker reflected light RL1 do not overlap.
More specifically, a single image taken by the camera 5226 is divided into two in the vertical direction and set in advance as two regions, an upper region and a lower region.
Then, the position and orientation of the reflection mirror 5228 are finely adjusted in advance so that the image by the marker reflected light RL1 is taken in the upper area of the image and the image by the marker reflected light RL2 is taken in the lower area of the image. Keep it.
In this manner, the feature points of the golf club head 30 are obtained by photographing the images of the feature points 12A to 12C by the marker reflected light RL1 and the images of the feature points 12A to 12C by the marker reflected light RL2 with one camera 5226. Images 12A to 12C are taken as stereo images.
Then, with the golf club head 30 moving by swinging, the camera 5226 takes images of the feature points 12A to 12C, for example, at intervals of 1/2000 seconds by multiple exposure.
Thereby, a stereo image of many feature points 12A to 12C is generated by the camera 5226 as one image.

For example, a half prism or various beam splitters can be used as long as it is an optical member that reflects and transmits light incident in both directions on the reflecting surface instead of the half mirror 5224. Here, the ratio of the reflectance on the reflecting surface is not particularly limited, but is preferably approximately 1: 1.

Further, the reflection mirror can be configured as follows.
FIG. 9 is a diagram showing an example in which reflection mirrors 5228A and 5228B are arranged in the optical path formed by the irradiation photographing unit 52 in addition to the reflection mirror 5228 so that the optical path lengths of the marker reflected lights RL1 and RL2 are aligned.
By providing the reflecting mirrors 5228A and 5228B in the optical path of the marker reflected light RL1, the optical path from which the marker reflected light RL1 reaches the half mirror 5224 from the feature points 12A to 12C is lengthened and aligned with the length of the optical path of the marker reflected light RL2. be able to.
That is, by providing the configuration shown in FIG. 9, the optical path length of the marker reflected light RL1 becomes longer than that shown in FIG. 8, and the optical path lengths of the marker reflected lights RL1 and RL2 to the camera 5226 can be made substantially uniform.
By making the optical path lengths close to each other in this way, the camera 5226 can photograph the image of each feature point by the marker reflected light RL1 and RL2.

Also in this case, when the light irradiated from two different directions is emitted from the reflection surface of the half mirror 5224, the respective emission angles are the two reflected lights (marker reflected lights RL1 and RL2) reflected from the feature points 12A to 12C. ) Substantially coincides with the incident angle of the corresponding reflected light when entering the reflecting surface of the half mirror 5224. Therefore, the two reflected light images of the feature points 12A to 12C provided on the golf club head 30 can be taken with high contrast.

In addition to the method using the above-described half mirror, for example, the camera 5226 (lens) and the illumination light source 5222 may be installed adjacent to each other. In this case, for example, ring illumination in which a plurality of illumination light sources 5222 are provided around the photographing lens of the camera 5226 can be used.
According to this method, the configuration of the irradiation photographing unit 52 can be simplified, which is advantageous in terms of cost.

Returning to the description of FIG. 7, the control unit 54 includes a detector 5402 and a buffer memory 5404 as shown in FIG. 7.
As shown in FIG. 8B, the detector 5402 detects whether or not the golf club head 30 has passed through a position on the near side of the shooting range of the camera 5226 in the movement locus of the golf club head 30. It is.
As the detector 5402, for example, various conventionally known detectors such as a light reflection type detector that detects the presence or absence of an object by detecting reflected light reflected by the object can be used.
A buffer memory 5404 is a storage device that temporarily stores the image data supplied from the camera 5226.
When the detector 5402 detects the passage of the golf club head 30, the control unit 54 gives a control command to start the shooting operation to the camera 5226, and the shooting operation when the golf club head 30 is out of the shooting range of the camera 5226. Is given to the camera 5226.
The control unit 54 temporarily stores the image data supplied from the camera 5226 in the buffer memory 5404 and then supplies the image data to the personal computer 56.

<Behavior calculation process>
Next, the behavior calculation process in step S306 will be described.
In the behavior calculation step, feature points are extracted from the image photographed in the photographing step, and behavior data indicating the behavior of the second golf club head 30 that is moving based on the temporal change of the feature point position and the feature point position data are obtained. calculate.
The behavior calculation step is performed by the personal computer 56 (see FIG. 7). Since the hardware configuration of the personal computer 56 is the same as the hardware configuration of the personal computer 44 shown in FIG. 5, the same reference numerals are given and detailed description thereof is omitted.

FIG. 16 is a block diagram showing a functional configuration of the personal computer 56.
Functionally, the personal computer 56 includes a signal processing unit 5562, an image processing unit 5654, an analysis unit 5656, an output unit 5562, a storage unit 5664, and the like.
The signal processing unit 5562, the image processing unit 5654, the analysis unit 5656, and the output unit 5562 are realized by the CPU 4430 executing the dedicated program. These parts are hardware such as a circuit. It may be configured.
The storage unit 5664 includes, for example, a hard disk device 4438 or a RAM 4436, and information including data (CAD data) D1 of the three-dimensional shape model of the golf club head 30 and feature point position data D2 distributed in the distribution process. Stored in advance.

For example, only the data values of the portions of the feature points 12A to 12C can be extracted from the image of the feature points 12A to 12C in the image so that the signal processing unit 5562 can extract the representative positions of the feature points 12A to 12C. Is a portion that performs brightness correction and contrast correction of image data under predetermined processing conditions, and further performs gradation processing of a predetermined number of gradations so as to be distinguished from data values of other portions.

The image processing unit 5654 identifies the positions of the representative positions of the feature points 12A to 12C from the image data of the golf club head 30 during the golf swing, and calculates the behavior of the golf club head 30 using the identified positions. It is.
The image processing unit 5654 identifies an representative position of each feature point 12A to 12C and extracts a position in the three-dimensional coordinate system, and a three-dimensional coordinate position of the representative position of each extracted feature point 12A to 12C. Is used to calculate the time series data of the position and orientation of the golf club head 30.

The extraction unit 5654A identifies the image portions of the feature points 12A to 12C from the image that has been subjected to the gradation processing of a predetermined number of gradations, and extracts the position thereof.
With respect to the images of the feature points 12A to 12C photographed by the irradiation photographing unit 52 from different directions at the same time, the position coordinates of the respective representative positions are obtained, and the golf club is obtained using the obtained position coordinates. A position coordinate in a three-dimensional coordinate system that defines a space through which the head 30 passes is obtained, and a position of each representative position in the three-dimensional coordinate system is extracted.
Since the shooting direction of the irradiation imaging unit 52 is known, the information representing the two-dimensional position coordinates in the images shot by these irradiation shooting units 52 is obtained, thereby representing a space through which the golf club head 30 passes. The position in the three-dimensional coordinate system (three-dimensional position coordinates) can be obtained.

When the images of the feature points 12A to 12C are taken at a predetermined time interval, for example, a time interval of 1/2000 second, each representative position of the image of the feature points 12A to 12C every 1/2000 second The time-series data of the three-dimensional position coordinates can be obtained.
In the present embodiment, the irradiation photographing unit 52 is used to photograph from two directions, and the three-dimensional position coordinates of each representative position are obtained for the images of the feature points 12A to 12C obtained from each direction.

The calculation unit 5654B is a part that calculates the position and orientation of the golf club model as time series data from the three-dimensional position coordinates obtained by the extraction unit 5654A.
Specifically, the storage unit 5664 corresponds to the three-dimensional shape model data (CAD data) D1 of the golf club head 30 and the representative positions of the feature points 12A to 12C in the three-dimensional coordinate system. Feature point position data D2 indicating the position on the three-dimensional shape model is stored.
In other words, the data (CAD data) D1 of the three-dimensional shape model constitutes a three-dimensional shape model that reproduces the golf club head 30, and the feature point position data D2 corresponds to the three-dimensional shape model corresponding to three or more feature points. The position of the upper corresponding point is shown.
The calculation unit 5654B calls the data D1 and D2, and the position coordinates of the corresponding points on the three-dimensional shape model in the three-dimensional coordinate system coincide with the three-dimensional position coordinates of the feature points extracted by the extraction unit 5654A. As described above, the position and orientation of the three-dimensional shape model are calculated, and the time series data of the position and orientation of the golf club head 30 are calculated using the position and orientation as the position and orientation of the golf club head 30. .

FIG. 17A is a schematic diagram showing a travel time history with a time interval of 1/2000 second determined from the three-dimensional position coordinates of the feature points 12A to 12C, and FIG. 17B is based on the travel time history shown in FIG. 17A. FIG. 4 is a schematic diagram showing the behavior of a golf club head 30.
In the figure, the symbol B indicates a golf ball, and the arrow a indicates the moving direction of the golf club head (the launch direction of the golf ball B). FIG. 17B shows the golf club head 30 as viewed from above.
In FIG. 17A, with the predetermined position as the origin, the axis parallel to the launch direction of the golf ball B is the X axis, the axis orthogonal to the X axis and parallel to the horizontal plane (ground) is the Y axis, and the axis perpendicular to the horizontal plane is the Z axis The XYZ coordinate system is set in advance.
In FIG. 17A, plot groups M1, M2 to M10 representing three feature points 12A to 12C are three representative positions 13A to 13C extracted from feature points 12A to 12C photographed at a time interval of 1/2000 second. Indicates the position.
Further, as shown in FIG. 17B, the movement of the golf club head 30 is continuously displayed by associating the golf club head 30 with the plot groups M1, M2 to M10 representing the three feature points 12A to 12C. Thus, the change in the position of the golf club head 30 and the orientation of the face can be known.
Note that the position of the golf club head 30 represents the position coordinates of the center position of the face surface 3002 as a representative position of the golf club head 30.
In addition, the orientation of the face of the golf club head 30 is represented by a normal line passing through the center point of the face surface 3002.

The analysis unit 5656 uses the calculated time-series data of the position and orientation of the golf club head 30, that is, the time-series data of the feature points 12A to 12C, and the behavior of the golf club head 30 immediately before hitting the golf ball B. It is a request for data.
First, the contents of the behavior data calculated by the analysis unit 5656 will be described.
In the present embodiment, behavior data including the following data is calculated.

<1> Movement locus data as time series data indicating the movement locus of the golf club head 30:
The movement trajectory data is indicated by a movement trajectory of the center point C of the face surface 3002 (FIGS. 10A and 10B) or animation data indicating the outer shape of the golf club head 30.
As the movement locus data, the time change of the position coordinates of the center position of the face surface 3002 calculated by the calculation unit 5654B can be used as it is.

<2> Left and right approach angle θ _LR :
Lateral approach angle theta _LR, as shown in FIG. 11, and a movement track T and the target line J of the center point C of the face 3002 when projected on a horizontal plane, and a movement track T and the target line J in the horizontal plane The angle to make.
The target line J is a line segment connecting the center of the golf ball B and the target. In the drawing, an arrow F indicates the moving direction of the golf club head 30.
The method for calculating the left / right approach angle θ _LR will be described in more detail.
Immediately after the golf ball B is hit, the moving speed of the golf club head 30 decreases. Therefore, in the time-series data of the position coordinates representing the movement of the center point C of the face surface 3002 at regular intervals, the position coordinates immediately before the hit and immediately after the hit. The movement distance from the position coordinate of the position is abruptly shorter than the movement distance at each previous time point.
By utilizing this, from the time-series data indicating the position coordinates of the golf club head 30, the position coordinates (center point C) of the golf club head 30 immediately before the golf ball B is hit and the time-series data one before. The position coordinates can be specified.
Then, a straight line connecting these two position coordinates can be used as the movement trajectory T of the golf club head 30, and the angle formed by the target line J can be set as the left and right approach angle _θLR .

Since the head speed of the golf club head 30 is usually 30 to 50 m / sec, the golf club head 30 moves 15 mm to 25 mm at a time interval δ of 1/2000 second that is an imaging interval by the camera 5226.
Accordingly, two time-series data (positional coordinate data) are specified in the range 50 mm before the golf ball B launching direction along the X-axis direction from the center of the golf ball B.
Therefore, in the present embodiment, various behavior parameters such as the left and right approach angle θ _LR are obtained based on time series data in the range of 50 mm from the center of the golf ball B.
Note that the shooting interval by the camera 5226 is not limited to 1/2000 seconds, and it is only necessary that behavior data can be obtained based on the obtained time-series data. Setting between 1/500 seconds is optional.

<3> Vertical approach angle θ _UD :
As shown in FIG. 12, the vertical approach angle θ _UD moves on the vertical plane when the movement locus T of the center point C of the face surface 3002 and the target line J are projected onto the vertical plane of the floor G. An angle formed by the trajectory T and the target line J.
The calculation method of the vertical approach angle θ _UD is substantially the same as the horizontal approach angle θ _LR . That is, a straight line on the vertical plane connecting the position coordinates of the golf club head 30 before and after the golf ball B is hit is defined as the movement trajectory T of the golf club head 30, and the angle formed by the movement trajectory T and the target line J is the vertical approach angle θ. It can be _UD .

<4> Orientation data Df indicating the orientation of the golf club head 30 immediately before the face surface 3002 hits the golf ball B:
In the present embodiment, the orientation data Df includes a hitting face angle φ, a hitting loft angle α, and a hitting lie angle β.
Hereinafter, a description will be given with reference to FIGS. 13, 14, and 15.
<4-1> The hitting face angle φ is formed by a normal H passing through the center point C of the face surface 3002 and the target line J just before the face surface 3002 hits the golf ball B, as shown in FIG. Indicated by the angle.
That is, the normal of the face surface 3002 of the golf club head 30 immediately before hitting the golf ball B is specified from the time-series data indicating the normal indicating the direction of the golf club head 30, and the hitting face angle φ is calculated. be able to.
<4-2> The loft angle α at the time of hitting is, as shown in FIG. 14, the normal H passing through the center point C of the face surface 3002 immediately before the face surface 3002 hits the golf ball B, and the horizontal plane (floor surface G). It is indicated by the angle between
That is, the position data of the golf club head 30 immediately before the golf ball B is hit can be specified, and the loft angle α at the time of hitting can be calculated from the orientation of the face surface 3002 included in the position data.
<4-3> The lie angle β at the time of hitting is, as shown in FIG. 15, the extension line of the shaft S just before the face surface 3002 hits the golf ball B and the horizontal plane (in this example, the floor) It is indicated by the angle formed by plane G).
That is, the position data of the golf club head 30 immediately before the golf ball B is hit can be specified, and the hit lie angle β can be calculated using the position data and the data D1 of the three-dimensional shape model of the golf club head 30. .
<5> Lattice position data indicating the location where the face surface 3002 hits the golf ball B:
The hit point position data is data indicating which position on the face surface 3002 the center position of the golf ball B at the time of hitting is.
The hit point position data can be calculated using the position data of the golf club head 30 immediately before hitting the golf ball B, the data D1 of the three-dimensional shape model of the golf club head 30, and the diameter data of the golf ball B. .
Regarding the position in the left-right direction among the hit point positions, the position data described above can be obtained by pasting the center position in the width direction of the measurement marker 10 and the center of the face surface 3002 (the center position in the width direction). Even if it is not, it can be acquired with a certain accuracy.

<Output process>
Next, the output process in step S308 will be described.
The output process is performed by the output unit 5562 (see FIG. 16) of the personal computer 56.
The personal computer 56 outputs the behavior data calculated in the behavior calculation process in a form that can be visually recognized by a measurer or the like. Specifically, for example, display on the display 4444, print output by the printer 4446, transmission to another information terminal via the input / output interface 4448, and the like.

<For iron-type golf clubs>
In the above-described embodiment, the case where the golf club head 30 is a wood type is shown. However, the application of the present invention is also applicable to an iron type golf club head 32.
In this case, for example, as shown in FIG. 19A, the measurement marker 10B is formed so that the feature points 12A to 12C are located on the upper end surface 3204 and the hosel portion 3206 of the golf club head 32 in contact with the face surface (striking surface) 3202. To do.
Further, for example, as shown in FIG. 19BB, a measurement marker 10C of the same type as the measurement marker 10 is formed of a base material 1002 having high hardness, and only the first straight portion 101 including the feature points 12A and 12B is used as a golf club head. The second straight line portion 102 may be projected to the opposite side of the face surface 3202 by being attached to the upper end surface 3204 of 32. In this case, the base material 1002 has a hardness that does not bend due to air resistance during swing.
For example, as shown in FIG. 19C, one or two feature points (two feature points 12A and 12B in FIG. 19C) are placed on the upper end surface 3204 of the golf club head 32, and the remaining feature points (feature points in FIG. 19C). 12C) of the face surface 3202, the measurement marker 10D may be formed so as to be an area where the golf ball B is unlikely to hit (the position of the face surface 3202 near the upper end surface 3204 in FIG. 19C). .

<Relationship Between First Golf Club Head 30 and Second Golf Club Head 30>
In the behavior calculation step, various behavior data are calculated using the three-dimensional shape model data D1 of the golf club head 30 and the feature point position data D2. Therefore, when the first golf club head 30 and the second golf club head 30 are products of the same model, that is, when the shapes are the same, all behavior data can be calculated.
On the other hand, even if the shapes of the first golf club head 30 and the second golf club head 30 are different, for example, the counts of the first golf club head 30 and the second golf club head 30 are the same. In some cases, or when the wood / iron type is the same, the difference between the actual feature point positions 12A to 12C and the feature point position data D2 is not large, so the behavior data is calculated with a certain accuracy. be able to.
For example, the movement trajectory data of the golf club head 30 is obtained by plotting the trajectories of the center positions of the three feature points 12A to 12C without using the three-dimensional shape model data D1 and the feature point position data D2 of the golf club head 30. Can draw almost the same trajectory.
Further, the left / right approach angle θ _LR and the vertical approach angle θ _UD can be calculated if the movement trajectory data before and after the impact can be specified.
Further, the face angle φ at the time of hitting needs to specify the direction of the face surface 3002 at the time of hitting, but the line segment connecting the feature points 12A and 12B and the direction of the width direction of the face face 3002 are almost the same. It can be calculated using only the movement trajectory data of the golf club head 30.
Note that the three-dimensional shape model data D1 of the golf club head 30 and accurate feature point position data D2 are necessary for the hit loft angle α, the hit lie angle β, and the hit point position data.

For example, prior to the photographing process (step S304 in FIG. 3), it is confirmed whether or not the feature point position data of the same model as the golf club head used for the current measurement is recorded in the personal computer 56 on the recipient side. The type of behavior data calculated based on the presence / absence of feature point position data may be changed. That is, the calculation is based on whether or not the first moving body (the golf club head used for calibration) and the second moving body (the golf club head used for calculating behavior data) are products of the same model. The type of behavior data to be changed may be changed. This makes it possible to change the type of behavior data to be calculated in accordance with the accuracy of the feature point position data, which is advantageous in improving the accuracy of the behavior data.
For example, when there is feature point position data of the same model as the golf club head used for the current measurement, that is, when the first moving body and the second moving body are products of the same model, Behavior data including at least one of a loft angle at impact, a lie angle at impact, and hit point position data is calculated. In addition, when there is no feature point position data of the same model as the golf club head used for the current measurement, that is, when the first moving body and the second moving body are not products of the same model, Behavior data other than the hit lie angle and hit point position data are calculated. Thereby, particularly when the first moving body and the second moving body are not products of the same model and the accuracy of the feature point position data is low, the loft at the time of hitting that requires accurate feature point position data for calculation is required. Since the behavior data not including the angle, the hit lie angle, and the hit point position data is calculated, it is advantageous in improving the accuracy of the entire behavior data.

As described above, in the measurement marker 10 according to the embodiment, three or more feature points 12A to 12C are arranged in a non-linear manner on a planar base material 1002, and the moving body of the base material 1002 is used. Since the adhesive material (adhesive layer 1004) is placed on the surface to be attached to, it is possible to add three or more feature points 12A to 12C to the moving body at the same time in one sticking operation, and to add feature points This is advantageous for efficient work.
Further, since the positional relationship between the feature points 12A to 12C is fixed, it is advantageous in accurately aligning the feature points.
In particular, since the shape of the golf club head 30 is complicated compared to other hitting tools, it may be difficult to add feature points as intended. However, according to the present invention, a plurality of feature points can be easily added. It becomes possible to add.
Further, since the measurement points 10 have the feature points 12A to 12C formed in a convex shape, the feature points 12A to 12C can be easily captured in the image as compared with the case where the feature points 12A to 12C are formed in a planar shape. This is advantageous.
In addition, since the measurement marker 10 has the feature points 12A to 12C made of a retroreflective material, it efficiently reflects the light projected from the photographing direction, and the feature points 12A to 12C are reflected in the image. It is advantageous in making it easier.
Moreover, since the measurement marker 10 uses exposed glass beads as a retroreflective material, it is advantageous in increasing the brightness of feature points by reflecting the projection light more efficiently.
In addition, since the measurement marker 10 is provided with a protective layer 1008 having translucency on the surface of the exposed glass beads, the exposure glass beads are prevented from being peeled off from the feature points. This is advantageous in improving the durability of the.
Moreover, since the adhesive material (adhesive layer 1004) has the re-peeling performance, the measurement marker 10 can be peeled off the measurement marker 10 once attached to the moving body, and maintains the aesthetic appearance of the moving body. Is advantageous. In addition, the measurement marker 10 once attached to the moving body can be attached to another (or the same) moving body again, and the cost can be reduced as compared with the case where the measurement marker 10 is disposable. It will be advantageous.
In addition, since the measurement marker 10 has the three feature points 12A to 12C arranged at positions corresponding to the vertices of the isosceles triangle, the measurement marker 10 is aligned with the reference position when the measurement marker 10 is attached to the moving body. It is advantageous in making it easier.
Further, if the measurement marker 10 is T-shaped, it is advantageous in reducing the contact area between the measurement marker 10 and the golf club head 30 and suppressing the occurrence of wrinkles and the like. This is advantageous in facilitating the alignment when sticking to the golf club head 30.
In addition, the method for measuring the behavior of the moving object using the measurement marker 10 uses the second moving object (the first moving object) using the feature point position data recorded using the first moving object (the first golf club head 30). Since the behavior of the second golf club head 30) can be measured, it is not necessary to calibrate the feature point position data for each behavior measurement, which is advantageous in reducing the man-hours when measuring the behavior of the moving object.
Further, in the behavior measuring method of the moving object using the measurement marker 10, if the first moving object and the second moving object are products of the same model, the feature points calibrated by the first moving object are calculated. The position and the position of the feature point on the second moving body are substantially the same, which is advantageous in accurately calculating the behavior of the moving body.
Further, in the method for measuring the behavior of a moving object using the measurement marker 10, if the first moving object and the second moving object have the same golf club head, the first moving object is calibrated. The error between the position of the feature point and the position of the feature point on the second moving body is reduced, which is advantageous for maintaining the accuracy when calculating the behavior of the moving body above a certain level.
Further, in the moving body behavior measurement method using the measurement marker 10, if the measurement marker 10 is pasted with the predetermined position of the golf club head 30 as a reference position, the pasting position on the first mobile body and the This is advantageous in accurately matching the sticking position on the second moving body.

In the present embodiment, the case where the behavior of the golf club head is measured as a moving body has been described. However, the behavior of the hitting tool can be measured for other moving bodies based on the same principle.
Examples of such a moving body include a baseball bat or a tennis racket.

DESCRIPTION OF SYMBOLS 10 ... Marker for measurement, 12A, 12B, 12C ... Feature point, 101 ... 1st straight line part, 101A ... End side, 102 ... 2nd straight line part, 1002 ... Base material, 1004 ... Adhesive layer , 1006... Convex part, 1007... Reflective layer, 1008... Protective layer, 30... Golf club head, 31 ... Golf club, 3002 ... Face surface, 3002A. Crown part, 3006 ...... Sole part, 3008 ... Side part, 3010 ... Toe, 3012 ... Heel, 3014 ... Hosel part, 40 ... Golf club holding device, 42 ... Camera, 44 ... Personal computer, 50. Equipment, 52 ... Irradiation photographing unit, 54 ... Image processing unit, 56 ... Personal computer.

Claims (16)

1. A feature point is provided on the surface of the moving object, the feature point is extracted from an image obtained by continuously capturing the moving object, and the behavior of the moving object is moved based on a temporal change in the position of the feature point. A measurement marker used in a method for measuring the behavior of a moving object that measures
   Three or more feature points are arranged on a non-straight line on a planar substrate, and an adhesive material is arranged on the surface of the substrate attached to the moving body,
   A marker for measurement.
2. Each of the feature points is formed in a convex shape upward from the non-sticking surface of the base material.
   The measurement marker according to claim 1, wherein:
3. Each of the feature points is formed of a material having retroreflectivity,
   The measurement marker according to claim 1 or 2, wherein
4. The retroreflective material is exposed glass beads,
   The measurement marker according to claim 3.
5. A protective layer having translucency is provided on the surface of the exposed glass beads.
   The measurement marker according to claim 4, wherein:
6. The adhesive material has re-peeling performance,
   The measurement marker according to any one of claims 1 to 5, wherein:
7. The feature points arranged on the substrate are three points, and the three feature points are arranged at positions substantially corresponding to the vertices of an isosceles triangle,
   The measurement marker according to any one of claims 1 to 6, wherein
8. The base material is located at a position corresponding to a first straight line portion along a straight line connecting two feature points arranged at positions corresponding to two base angles of the isosceles triangle and an apex angle of the isosceles triangle. A T-shape consisting of a second straight line portion along a perpendicular extending from the arranged feature point to the first straight line portion,
   The measurement marker according to claim 7.
9. The moving body is a golf club head;
   The measurement marker according to any one of claims 1 to 8, characterized in that:
10. A behavior measurement method for a moving body using the measurement marker according to any one of claims 1 to 9,
    A calibration step of pasting the measurement marker on the surface of the first moving body, detecting the position of each feature point on the surface of the first moving body, and recording it as feature point position data;
    A distribution step of distributing the feature point position data to information terminals;
    An imaging step of continuously capturing images of the second moving body that is moving by pasting the measurement marker on the surface of the second moving body;
    In the information terminal to which the feature point position data is distributed, the feature point is extracted from the image photographed in the photographing step, and the feature point position data is moving based on the time change of the feature point position and the feature point position data. A behavior calculation step of calculating behavior data indicating the behavior of the second moving body;
    A method for measuring the behavior of a moving object characterized by comprising
11. The mobile body is a mass-produced product, and the first mobile body and the second mobile body are products of the same model.
    The method for measuring a behavior of a moving object according to claim 10.
12. The moving body is a golf club head, and the first moving body and the second moving body have the same count.
    The method for measuring a behavior of a moving object according to claim 10.
13. The moving body is a mass-produced golf club head,
    In the behavior calculating step, based on whether the first moving body and the second moving body are products of the same model, the type of the behavior data to be calculated is changed.
    The method for measuring a behavior of a moving object according to claim 10.
14. In the behavior calculating step, when the first moving body and the second moving body are products of the same model, the loft angle at hitting, the lie angle at hitting, and the hit point position data of the golf club head When the behavior data including at least one of them is calculated, and the first moving body and the second moving body are not products of the same model, the loft angle at impact, the lie angle at impact, Calculating the behavior data other than the hit point position data;
    The method for measuring a behavior of a moving body according to claim 13.
15. In the behavior calculating step, as the behavior data other than the hit loft angle, the hit lie angle, and the hit point position data, the golf club head movement trajectory data, the left and right approach angles, the up and down approach angles, and the hit face angles Calculating the behavior data including at least one of:
    The method for measuring the behavior of a moving object according to claim 14.
16. The moving body is a golf club head, and the measurement marker is attached to the surface of the first moving body and the measurement marker is attached to the surface of the second moving body. A predetermined position of the measurement marker is determined by using at least one of the upper end line of the face surface of the club head, the center position of the face surface, the center position in the width direction of the face surface, and the score line provided on the face surface as a reference position. A position matches the reference position, or the predetermined position is a predetermined distance from the reference position,
    The method for measuring a behavior of a moving body according to any one of claims 10 to 15, wherein:

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