JP4723876B2 - Method for measuring rotation direction and rotation amount of sphere moving in space, and sphere suitable for measurement of rotation direction and rotation amount when moving in space - Google Patents

Description

  The present invention relates to a technique for measuring the direction and amount of rotation of a sphere that moves in space. In particular, the present invention relates to a technique for capturing a moving image of a sphere using a sphere with a characteristic mark and measuring the rotation direction and the rotation amount of the sphere with high accuracy from the image.

  When a sphere moves in space and a rotational motion is applied, the rotation direction and the amount of rotation significantly affect the flight distance and flight direction of the sphere. For example, in baseball, a pitcher can throw a changing ball whose trajectory changes variously by giving the ball rotation in various directions. Also, when the player hits the ball, if the backspin is applied too much to the ball, the ball will rise too much to increase the flight distance. Further, when the ball is rotated about the vertical axis from the ground, the ball bends and flies in the rotation direction. Thus, by knowing the rotation characteristics when the ball moves in space, it is possible to confirm the influence on the flight distance and flight direction of the ball. As a result, it is estimated what rotation direction and rotation amount should be given to the ball in order to obtain a preferable flight distance and flight direction, selection of exercise equipment that gives the preferable rotation direction and rotation amount, player throwing form, It can be used to modify the batting form. Therefore, a technique for measuring the rotation direction and the amount of rotation of a sphere such as a ball moving in space has been developed.

  In Patent Document 1, a sphere provided with three or more reflecting portions, two or more cameras having a photosensitive panel, a flash that emits light multiple times at short time intervals, and the position and speed of the sphere from the image of the camera. A monitoring system for measuring the flight characteristics of a sphere with a computer to calculate is disclosed. In the monitor system disclosed in Patent Document 1, the flash is emitted a total of two times immediately after the sphere is launched and after a short period of time has elapsed, and reflected to the reflective portion of the sphere, and the sphere is reflected by the photosensitive panel. Shoot light. Then, the moving speed and rotation speed of the sphere are calculated from the position of the first reflected light imaged in one image and the change in the position of the reflected light imaged the second time.

  As for the shape of the reflection part of the spherical body used for the monitor system of patent document 1, all have the form which takes the same circular shape. Moreover, the arrangement | positioning of a reflection part arrange | positions five of six reflection parts at the vertex of a regular pentagon, and arrange | positions the remaining one at the center of a regular pentagon. Since the reflection portion is arranged only on a part of the sphere, in order to measure the rotation speed, the orientation of the sphere must be controlled so that the reflection portion is always reflected in the camera during photographing. Therefore, in practice, the sphere must first be positioned and allowed to settle before moving the sphere into space, and the orientation of the sphere with respect to the camera, such as when measuring a thrown ball back. It is not applicable to measurements that are difficult to control. Further, the arrangement of the reflection part of the spherical body of Patent Document 1 is based on the rotation angle because the reflection part is arranged at the same position as the original arrangement every 72 ° rotation when the central reflection part is the center of rotation. When is large, it is difficult to accurately measure the rotational speed. In addition, since the camera of Patent Document 1 captures the sphere at the time of flight twice on the same photosensitive panel, it can only perform imaging with a short time interval when the moving speed of the sphere is fast.

  In Patent Document 2, a rotating sphere is photographed twice at a predetermined time interval from one direction, and the amount of rotation for calculating the amount of rotation of the sphere from the change in the position of two predetermined points in the first image and the second image is disclosed. A measuring device and a measuring method are disclosed.

  Two predetermined points of the sphere used in the rotation amount measuring device and the measuring method of Patent Document 2 are indicated by dots in the examples. Depending on the direction and amount of rotation of the sphere being photographed, one or two of these points may not appear in the image. In this case, the amount of rotation cannot be measured. In addition, depending on the rotation direction of the sphere, it may be difficult to determine which point in the first image corresponds to the point in the second image. There is a potential risk of calculating.

  Furthermore, in the rotation amount measuring method disclosed in Patent Document 2, two points are visually identified from a photographed image, and the position is designated manually using a mouse or a digitizer. Such visual identification and manual position specification require time for processing and have a large error. Therefore, it is difficult to apply to a method and an apparatus for repeatedly measuring the rotation amount.

  In Patent Document 3, a convex polygonal identification mark is attached to the surface of a golf ball, a moving sphere is photographed with two cameras, and the identification mark of the obtained first image and the second image is recorded. A rotational motion measuring device that calculates the rotational motion of a sphere from a change in angular position is disclosed.

  The symbol used in the rotational motion measuring method of Patent Document 3 discloses an isosceles triangle shape in the specification. Moreover, the structure by which one isosceles triangle is attached | subjected to a spherical body is disclosed. For this reason, in order to measure the rotational motion using the sphere of Patent Document 3, the orientation of the sphere with respect to the camera must be limited as in the monitor system of Patent Document 1. Therefore, the rotational motion measuring device of Patent Document 3 requires a step of positioning the sphere before the measurement, and cannot be applied to measurement in which the rotation direction and the rotation amount are uncertain or measurement with a large rotation amount. Also, the isosceles triangle for measuring the amount of rotation is close to the position of the apex serving as a positioning point, so that when the ball rotates and the isosceles triangle appears at the end of the ball, There is a possibility that the detection accuracy of the apex is deteriorated and the detection error of the rotation amount is increased.

  In Patent Document 4, a center mark having directionality on the surface of a sphere and three or more rotation angle calculation marks surrounding the center mark are attached, and the moving sphere is photographed with a camera. A rotational motion measuring method and a measuring device for calculating the position and speed of a sphere from the change in the position of the corner of the identification mark between the image and the second image are disclosed.

  In the rotational motion measuring method and measuring apparatus of Patent Document 4, first, after recognizing the center mark, three or more rotational angle calculation marks around it are recognized, and the amount of rotational motion is obtained from the change in the position. Yes. Since it takes time to identify a total of four marks from the image and determine the position, it is difficult to apply to the method and apparatus for repeatedly measuring rotational motion.

  Moreover, only the form with which only one rotation angle calculation mark was attached | subjected to the spherical body of patent document 4 is disclosed. For this reason, like the technique of patent document 1 and patent document 3, the process of positioning a sphere before measurement is indispensable, and it cannot be applied to measurement in which the rotation direction and the rotation amount are uncertain or measurement with a large rotation amount. .

Japanese Patent No. 2950450 Japanese Patent No. 2810320 Japanese Patent No. 3235987 JP 2001-304830 A

  The present invention was created to solve the above-described problems of the prior art, and provides a technique capable of measuring the rotation direction and the rotation amount of a sphere that moves in space with high accuracy and speed. Furthermore, even when a sphere moves in a space while rotating in an arbitrary rotation direction and with a large rotation amount, a measurement method and a measurement apparatus capable of measuring the rotation direction and the rotation amount of the sphere quickly and accurately, and the measurement Provide a sphere that is particularly suitable for.

(Preferred means and action for solving the problem)
The invention of claim 1 is a method for measuring the rotation direction and the amount of rotation of a sphere that moves in space, wherein an arbitrary reference symbol, a first positioning point, and a second positioning are provided on the surface of the moving sphere. A step of attaching a measurement mark composed of points, a first photographing step of photographing a first image of the moving sphere, and a second image of the moving sphere after the photographing time of the first image And a step of calculating the rotation direction and amount of rotation of the sphere from the amount of change in the position of the measurement mark between the first image and the second image. To do.

  The first image obtained by the first photographing step and the second image obtained by the second photographing step are each provided with an arbitrary reference symbol, a first positioning point, and a second positioning point. A spherical image including the measurement mark is recorded. By using a symbol that can be easily identified in the image as the reference symbol in the measurement mark, the position of the measurement mark included in each image can be detected quickly and with high accuracy. As the reference symbol, any character and code that can be identified from the image can be applied.

  When the sphere moves while rotating, there is a time difference between the shooting times of the first image and the second image, so that the position of the measurement mark is between the first image and the second image. Change occurs. From this change amount, the rotation direction and the rotation amount of the sphere can be calculated.

According to a first aspect of the present invention, there are provided a step of instructing the photographing time of the first photographing step and the second photographing step, a first photographing step of photographing the first image at the designated time, A second photographing step for photographing an image at a designated time, a time difference between the photographing time of the first image and the photographing time of the second image, and a measurement mark between the first image and the second image. The method further includes a step of calculating the rotation direction of the sphere and the rotation amount per unit time from the position change amount.

  According to the present invention, the first photographing process and the second photographing process can be performed at a predetermined time, and a first image and a second image with a clear photographing time can be obtained. By calculating the rotation amount of the sphere using the first image and the second image whose shooting time is clear, the rotation amount per unit time, that is, the rotation speed can be measured in addition to the rotation direction of the sphere.

Further , in the first aspect of the invention, the step of instructing the photographing time of the first photographing step and the second photographing step is detected by the first sphere detecting step and the second sphere detecting step provided at a predetermined interval. A step of calculating a moving speed of the sphere from the passing time of the sphere, and a step of calculating and instructing a shooting time of the first image suitable for the first shooting process based on the calculated moving speed of the sphere. And a step of calculating and instructing the photographing time of the second image suitable for the second photographing step.

  In the present invention, the moving speed of the sphere to be actually photographed is detected before the first and second photographing steps. Since the actual moving speed of the sphere is clarified, the time when the sphere passes through the most preferable position for the first imaging step, and the time when the sphere passes through the most preferable position for the second imaging step, Can be calculated accurately. By performing the first photographing step and the second photographing step based on the calculation result, the first image and the second image can be taken with high quality and very easy to specify the measurement mark. Can do.

The invention of claim 2, the reference symbols configuring the measurement marks, characterized by the use of point-symmetry with no characters. Further, the first positioning point can be attached to one of the vertices of the rectangular area surrounding the reference symbol, and the second positioning point can be arranged at the other vertices of the rectangular area.

  In the present specification and claims, the “vertex of the rectangular area” refers to a rectangle of an appropriate size including the reference symbol on the image obtained by photographing the reference symbol attached to the sphere from the front. This is the position corresponding to the apex when assumed. Such a position is at a predetermined direction and a predetermined distance from the center of the reference symbol, and the figure connecting the center of the reference symbol and the apex of the adjacent rectangular area is two on the image obtained by photographing the reference symbol from the front. It is the position which comprises an equilateral triangle, It is characterized by the above-mentioned.

By disposing the first positioning point and the second positioning point at positions away from the reference symbol, it becomes easier to identify the position of each positioning point. By attaching the first positioning point to one of the vertices of the rectangular area surrounding the reference symbol and placing the second positioning point at the other vertex of the rectangular area, the first positioning point and the second positioning point Are arranged on both ends of one side of the rectangle surrounding the reference symbol or on the diagonal line of the rectangle surrounding the reference symbol. By taking such an arrangement, the operation of detecting each positioning point from the image may be performed by focusing on the vertex of the rectangular area of the reference symbol, and the positioning point is detected efficiently and quickly.
Note that the character without point symmetry here means a character that does not have the same shape as the original character unless it is rotated 360 °, regardless of the point of rotation center on the character. Say. The characters here are a general term for characters such as hiragana, katakana, kanji, numbers, alphabets, simple symbols and ruled line characters defined in the JIS first level.

The invention according to claim 3 applies a character having point symmetry to the reference symbol constituting the measurement mark, attaches the first positioning point to one of the vertices of the rectangular area surrounding the reference symbol, characterized by disposing the positioning points of the vertices adjacent to the first positioning points of the rectangular area.

  A character having point symmetry here refers to a character that has a shape that matches the original character when rotated at a predetermined angle when a certain point of rotation center is set on the character. For example, an alphabet such as H or I has a shape that matches the original character when rotated by 180 °, and is therefore treated as a character having point symmetry in the present invention. When a character having point symmetry is applied to the reference symbol, the first positioning point is attached to one of the vertices of the rectangular area surrounding the reference symbol, and the second positioning point is set to the first positioning of the rectangular area. It is preferable that the first positioning point and the second positioning point are arranged at both ends of one side of a rectangle that substantially surrounds the reference symbol, by arranging them at the vertex adjacent to the point. Since the measurement mark is composed of the reference symbol of such arrangement, the first positioning point, and the second positioning point, the measurement mark as a whole has no point symmetry. As a result, even if the sphere is rotated by 180 ° between the first photographing step and the second photographing step, the positions of the first positioning point and the second positioning point are determined from the image. It can be identified without error from the positional relationship with the symbol.

The invention of claim 4 relates to a step of calculating the rotation direction and the rotation amount of the moving sphere from the amount of change in the position of the measurement mark in the first image and the second image. The step of calculating the rotation direction and the rotation amount of the sphere can include the following steps. First, model data obtained by digitizing an image of a reference symbol, and arrangement data of measurement marks including data of relative positions and distances of the reference symbol, the first positioning point, and the second positioning point are registered. . If the registration of data performed here is executed in advance when the rotation amount and the rotation direction are measured for the first time, the same data can be used as it is. It is also possible to register data corresponding to a sphere to be used for each measurement, or to add data corresponding to the change when the sphere reference symbol type is partially changed.

  Next, an overall coordinate system is defined on the first image, the outer periphery of the sphere is identified from the first image, and the position of the sphere in the image is specified. The pattern matching between the reference symbol and the model data is performed within the range of the sphere image of the first image, and the position of the reference symbol is specified. A point is searched on the image to detect a position, and a coordinate value in the entire coordinate system of the detected first positioning point is stored. Next, the second positioning point is searched on the image based on the position of the reference symbol and the measurement mark arrangement data to detect the position, and the coordinate value of the detected second positioning point in the entire coordinate system is stored. To do. Next, the position of the center of the sphere of the first image is specified, a local coordinate system having the center of the sphere as the center of the coordinate system is defined, the coordinate value of the first positioning point of the first image, The coordinate value of the second positioning point is converted from the global coordinate system to the value of the local coordinate system and stored. Also for the second image, the coordinate value of the first positioning point and the coordinate value of the second positioning point of the second image are stored by the same process as the first image, and the local coordinate system of the first image is stored. Calculating the rotation direction and the rotation amount of the sphere from the coordinate values of the first and second positioning points in FIG. 5 and the amount of change in the coordinate values of the first and second positioning points in the local coordinate system of the second image. , The rotation direction and the rotation amount of the moving sphere can be calculated from the change amount of the position of the measurement mark in the first image and the second image.

  In the step of calculating the rotation direction and the rotation amount of the moving sphere from the change amount of the position of the measurement mark in the first image and the second image of the present invention, the range of the sphere image in the image is calculated. First, pattern matching between the reference symbol and the model data is performed to specify the position of the reference symbol. By using easy-to-identify symbols as reference symbols, the accuracy of pattern matching can be improved easily, and the symbol can be identified and located efficiently with short-time pattern matching. It is. Furthermore, in the present invention, the number of operations for specifying the position in one image is three times, and the coordinate values necessary for calculating the rotation direction and the rotation amount of the sphere can be obtained by short-time image processing. Can do.

  The rotation direction of the sphere from the coordinate values of the first and second positioning points in the local coordinate system of the first image and the amount of change in the coordinate values of the first and second positioning points in the local coordinate system of the second image The step of calculating the rotation amount is performed in accordance with a coordinate conversion algorithm for general digital image processing. This coordinate transformation algorithm is incorporated in commercially available three-dimensional CAD software or general-purpose numerical calculation software, and the rotation direction and amount of rotation of the three-dimensional sphere can be obtained by executing calculations in the software. .

The invention of claim 5 is a method for measuring the rotation direction and the rotation amount of a sphere moving in a space with higher accuracy. The present invention includes a first photographing step, a step of specifying a distance from the photographing means to the sphere in the second photographing step, and a first image from the identified distance from the first photographing means to the sphere. Calculating the exact size of the sphere, correcting the model data used for pattern matching for identifying the measurement mark, and the second image based on the distance from the specified second imaging means to the sphere The method further includes the step of calculating an accurate size of a sphere in the model and correcting model data used for pattern matching for identifying a measurement mark.

  The distance from the photographing means to the sphere may differ every time photographing is performed, and in this case, the size of the measurement mark recorded in the image is different for each image. In the present invention, by measuring the distance from the shooting means to the sphere for each shooting process, and correcting the model data for pattern matching with the measurement mark based on the distance, correction such as enlargement, reduction, etc. The measurement mark can be identified with high accuracy.

The invention of claim 6 is a method for measuring the rotation direction and the amount of rotation of a sphere that moves in space, the step of attaching two or more measurement marks to the surface of the moving sphere, and the first of the moving sphere. A first photographing step for photographing one image, a second photographing step for photographing a second image of the moving sphere after the photographing time of the first image, a first image and a second one A step of calculating the rotation direction and the rotation amount of the sphere from the amount of change in the position of the measurement mark between images is provided. The measurement mark attached to the sphere of the present invention includes an arbitrary reference symbol, a first positioning point, and a second positioning point. The measurement mark is a reference symbol and a first positioning point. And a region surrounded by a straight line connecting the second positioning points are arranged without overlapping each other.

  By attaching two or more measurement marks, a more accurate measurement can be performed by selecting a suitable measurement mark and placing it at a suitable position. Even when the sphere rotates and only one measurement mark is photographed in the image, the rotation direction and the rotation amount can be measured. As a result, even when the sphere has a large amount of rotation between the first photographing process and the second photographing process, it is possible to perform the rotation direction and rotation measurement.

The invention according to claim 7 is a method for measuring the rotation direction and the rotation amount of a sphere moving in space, the step of indicating the shooting time of the first shooting step and the second shooting step, and the first image A first photographing step for photographing at a designated time, a second photographing step for photographing a second image at a designated time, a photographing time for the first image, and a photographing time for the second image. The method further includes the step of calculating the rotation direction of the sphere and the rotation amount per unit time from the time difference and the change amount of the position of the measurement mark between the first image and the second image. According to the present invention, in addition to the rotation direction of the sphere, the rotation amount per unit time, that is, the rotation speed can be measured.

In the invention of claim 8 , the step of instructing the photographing time of the first photographing step and the second photographing step is detected by the first sphere detecting step and the second sphere detecting step provided at predetermined intervals. A step of calculating the moving speed of the sphere from the passage time of the sphere, a step of calculating and instructing the shooting time of the first image suitable for the first shooting process based on the calculated moving speed of the sphere, A step of calculating and instructing the photographing time of the second image suitable for the second photographing step is provided. According to the present invention, before the first and second photographing steps, the moving speed of the sphere to be actually photographed is detected, and the first photographing process and the second photographing process are performed at the time indicated based on the moving speed. By carrying out, it is possible to take the first image and the second image with high quality and very easy to specify the measurement mark.

The invention of claim 9 is a method for measuring the rotational direction and amount of rotation of a sphere that moves in space, wherein six or more measurement marks are attached to the sphere to be measured, and all the measurement marks The total value of the area of the area surrounded by the straight line connecting the reference symbol, the first positioning point, and the second positioning point is 10% or more of the surface area of the sphere.

  As a result of the verification, six measurement marks are attached, and the total value of the area of the area surrounded by the reference symbol of all the measurement marks and the straight line connecting the first positioning point and the second positioning point is the sphere. If the surface area is 10% or more, even if the sphere rotates arbitrarily during movement, at least one measurement mark may be photographed almost every time in both the first image and the second image. It became clear. As a result, the step of positioning the sphere before the measurement is unnecessary, and even when the moving sphere rotates greatly, the rotation direction and the rotation amount can be measured.

In the invention of claim 10 , the reference symbols constituting the plurality of measurement marks attached to the surface of the sphere are all different symbols for each measurement mark, and the first positioning point is a rectangular region surrounding the reference symbols. It is attached to one of the vertices, the second positioning point is attached to the other vertex of the rectangular area, and the rectangular area of the measurement mark is arranged without overlapping the surface of the sphere. .

  Since the plurality of measurement marks attached to the surface of the sphere all use different symbols, the reference symbol corresponding to the first image can be identified in the second image without error. Become. In addition, it is possible to easily determine the positioning point belonging to the measurement mark by arranging the rectangular areas without overlapping, avoiding the risk of erroneously identifying the reference symbol or the positioning point in advance, It is possible to accurately measure the direction and amount of rotation.

As shown in claim 11 , all of the two or more reference symbols attached to the sphere can be characters having no point symmetry. Moreover, as shown in claim 12 , a part or all of the reference symbols attached to the sphere can be composed of characters having point symmetry. When all non-point-symmetric characters are used for the reference symbol, the first positioning point is attached to one of the vertices of the rectangular area surrounding the reference symbol, and the second positioning point is set to the other vertex of the rectangular area. In addition, positioning the rectangular area of the measurement mark without overlapping the surface of the sphere makes it possible to easily determine the positioning point belonging to the measurement mark, and to accurately measure the rotation direction and amount of rotation. It becomes possible. When using a reference symbol of a character having point symmetry, the first positioning point is attached to one of the vertices of the rectangular area with respect to the reference symbol, and the second positioning point is defined as the first positioning point of the rectangular area. It is possible to measure the rotation direction and the amount of rotation accurately regardless of the character type of the reference symbol, by attaching it to adjacent vertices and arranging the rectangular area of the measurement mark without overlapping the surface of the sphere. Become.

A thirteenth aspect of the present invention relates to a step of calculating a rotation direction and a rotation amount of a moving sphere from a change amount of a position of a measurement mark in the first image and the second image. The rotation direction and the rotation amount of the sphere with two or more measurement marks can be calculated by the following steps. First, model data obtained by digitizing images of reference symbols included in all measurement marks, and measurement composed of data of relative positions and distances of the reference symbols, the first positioning point, and the second positioning point. Register the mark placement data. If the registration of data performed here is executed in advance when the rotation amount and the rotation direction are measured for the first time, the same data can be used as it is. It is also possible to and to register data corresponding to a sphere to be used every measurement, additional changes of data when changing some kind of sphere of the reference symbols, and the like.

  Next, an overall coordinate system is defined on the first image, the outer periphery of the sphere is identified from the first image, and the position of the sphere in the image is specified. Pattern matching is performed between all reference symbols included in the range of the sphere image of the first image and the model data, the reference symbols are identified and their positions are specified, and the correlation coefficient between the reference symbols and the model data is Store the type and position of the reference symbol. All reference symbols included in the first image are ranked in descending order of correlation coefficient. Also for the second image, the correlation coefficient between the reference symbol and the model data, the type and position of the reference symbol are stored in the same process as the first image, and all the reference symbols included in the second image are stored. Are ranked in descending order of correlation coefficient.

  Here, from among the reference symbols included in the first image and the reference symbols included in the second image, a reference symbol having the same reference symbol type and the highest correlation coefficient with the model data is selected.

  Next, the positions of the first positioning point and the second positioning point of the measurement mark including the selected reference symbol are identified from the first image, and the center of the sphere is the center of the coordinate system in the first image. And the positions of the first positioning point and the second positioning point of the measurement mark of the first image including the selected reference symbol are converted into the local coordinate system and stored. Similarly, for the second image, the positions of the first positioning point and the second positioning point of the measurement mark including the selected reference symbol are specified, and the center of the sphere is specified as the center of the coordinate system in the second image. And the positions of the first positioning point and the second positioning point of the measurement mark of the second image including the selected reference symbol are converted into the local coordinate system and stored. Finally, from the first and second positioning points stored in the first image and the change amounts of the first and second positioning points stored in the second image, the rotation direction and the rotation amount of the sphere are determined. calculate.

  According to the present invention, a reference symbol having the same reference symbol type and the highest correlation coefficient with model data is selected from the reference symbols included in the first image and the reference symbols included in the second image. It has a process. A reference symbol having a high correlation coefficient with model data is less distorted and out of focus on the image, and the positions of the first positioning point and the second positioning point can be specified more accurately.

The invention according to claim 14 relates to a step of calculating a rotation direction and a rotation amount of a moving sphere from a change amount of a position of a measurement mark in the first image and the second image. The rotation direction and the rotation amount of the sphere with two or more measurement marks can be calculated by the following steps. First, model data in which the image pattern of the measurement mark is digitized is registered. If the registration of data performed here is executed in advance when the rotation amount and the rotation direction are measured for the first time, the same data can be used as it is. It is also possible to and to register data corresponding to a sphere to be used every measurement, additional changes of data when changing some kind of sphere of the reference symbols, and the like.

  Next, the outer periphery of the sphere is identified from the first image, and a local coordinate system having the center of the sphere as the center of the coordinate system is defined. Pattern matching is performed between all the measurement marks included in the range of the spherical image in the first image and all the model data, the measurement marks are identified, the position is specified, and the model data The correlation coefficient, the type of reference symbol of the measurement mark, and the coordinate values of the first positioning point and the second positioning point in the local coordinate system are stored. Further, all the measurement marks of the identified first image are ranked in descending order of correlation coefficient. Similarly, for the second image, the outer periphery of the sphere is identified, and a local coordinate system having the center of the sphere as the center of the coordinate system is defined. Pattern matching is performed between all the measurement marks included in the range of the spherical image in the second image and all the model data, the measurement marks are identified, the position is specified, and the model data The correlation coefficient, the type of reference symbol of the measurement mark, and the coordinate values of the first positioning point and the second positioning point in the local coordinate system are stored. Further, all the measurement marks of the specified second image are ranked in descending order of the correlation coefficient.

  A combination of measurement marks having the same reference symbol and the highest correlation coefficient with the model data is selected from the stored measurement marks of the first image and the second image. For the selected measurement mark, the rotation direction and the rotation amount of the sphere are calculated from the change amounts of the first and second positioning points in the first image and the second image.

  Model data input in advance in the method of calculating the rotation direction and rotation amount of a sphere moving in the space of the present invention is pattern data in which a reference symbol, a first positioning point, and a second positioning point are integrated. The measurement mark in the image is compared with the model data using the reference symbol, the first positioning point, and the second positioning point as one piece of data, identified, and the correlation coefficient is obtained.

  Therefore, in the present invention, the pattern matching performed for each measurement mark is performed only once, and the rotation direction and the rotation amount of the sphere can be calculated more quickly. In addition, since the reference symbol, the first positioning point, and the second positioning point are pattern-matched as one piece of data, if one of the positioning points is not shown in the image, the model The correlation coefficient with the data becomes low, and it is not used for calculating the rotation direction and rotation amount of the sphere. This makes it possible to measure the rotation direction and rotation amount of the sphere with higher accuracy.

A fifteenth aspect of the invention is a method for measuring the rotation direction and the rotation amount of a sphere moving in space, the first imaging step and the step of specifying the distance from the imaging means to the sphere in the second imaging step. Correcting the model data used for pattern matching for identifying the measurement mark by calculating the exact size of the sphere in the first image based on the specified distance; Correcting the model data used for pattern matching for identifying the measurement mark by calculating the exact size of the sphere in the second image based on the measured distance. Features. The distance from the photographing means to the sphere may differ every time photographing is performed, and in this case, the size of the measurement mark recorded in the image is different for each image. In the present invention, by measuring the distance from the imaging means to the sphere for each imaging process, and correcting the measurement mark and the model data for pattern matching based on the distance, the measurement mark is more accurately detected. Make it identifiable.

The invention according to claim 16 relates to a sphere suitable for measuring a rotation direction and a rotation amount when moving in a space. In the sphere of the present invention, two or more measurement marks including a reference symbol, a first positioning point, and a second positioning point are arranged on the surface, and the reference symbols are all provided for each measurement mark. It is a different symbol. When the reference symbol is a point-symmetric character or symbol, the first positioning point is attached to one of the vertices of the rectangular area surrounding the reference symbol, and the second positioning point is the first of the rectangular area. It is arrange | positioned at the vertex adjacent to one positioning point, and the rectangular area | region of the mark for a measurement is arrange | positioned without overlapping on the surface. When the reference symbol is a character or symbol having no point symmetry, the first positioning point is attached to one of the vertices of the rectangular area surrounding the reference symbol, and the second positioning point is the other of the rectangular area. The rectangular area of the measurement mark is arranged without overlapping the surface.

  The sphere according to the present invention captures a state of moving in space while rotating, and measures the amount of change in the position of the first positioning point and the second positioning point from the captured image, thereby moving the space. The rotation direction and the rotation amount can be measured.

The invention of claim 17 relates to a sphere suitable for measuring the direction and amount of rotation when moving in space. The sphere of the present invention has six or more measurement marks, and the area surrounded by a straight line connecting the reference symbols of all the measurement marks, the first positioning point, and the second positioning point. The surface area is 10% or more of the surface area. In the measurement experiment of the rotation direction and amount of rotation using the main sphere, even if the main sphere rotates freely while moving, measurement is not possible because the measurement mark does not appear on the sphere that captured the moving sphere Succeeded to almost eliminate sex.

  In the present specification and claims, the “sphere moving in space” includes not only balls such as baseball, tennis, rugby, golf, table tennis, volleyball, baskets, etc., but also bowling. This includes cases where the lower part of the sphere moves in contact with the field, such as billiards and billiards.

  By applying the rotation direction and rotation amount measuring method of the sphere moving in the space of the present invention, the rotation direction and rotation amount measuring device of the sphere moving in the space, and the rotation direction and rotation amount measuring sphere In addition, the rotational direction and amount of rotation of the sphere can be measured quickly. Furthermore, even when a sphere moves in a space while rotating in an arbitrary rotation direction and with a large rotation amount, a measurement device and a measurement method capable of measuring the rotation direction and rotation amount of the sphere quickly and with high accuracy, as well as rotation A sphere suitable for measuring the direction and the amount of rotation can be provided.

The best mode for carrying out the invention is listed below.
(Mode 1) The means for identifying and storing the positions of the first and second positioning points of the first image and the positions of the first and second positioning points of the second image are configured by a computer. A program for analyzing the image and identifying each positioning point and storing the position of the positioning point is stored in the storage device of the computer.
(Mode 2) Means for calculating the rotation direction and the rotation amount of the sphere from the change amounts of the first and second positioning points of the first image and the positions of the first and second positioning points of the second image Is constituted by a computer, and a program for calculating the rotation direction and the rotation amount is stored in a storage device of the computer.
(Mode 3) A distance specifying unit that specifies the distance from the first shooting unit to the sphere at the shooting time of the first image and specifies the distance from the second shooting unit to the sphere at the shooting time of the second image. Means for photographing a trajectory of a sphere that is arranged above the traveling direction of the sphere and moves in the space, based on the photographed image, the distance from the first photographing means to the sphere that moves in the space, And a means for specifying the distance from the two photographing means to the sphere moving in the space.
(Mode 4) Image data used for pattern matching can be processed to be deformed by enlargement, reduction, projection onto a specific plane or curved surface, and the like.

  An embodiment in which the present invention is applied to a rotation amount and rotation direction measuring device used for measuring the rotation direction and rotation amount of a hit ball when a baseball is hit with a bat will be described. As described above, the present invention can be applied to a sphere other than a baseball.

First Embodiment FIG. 1 schematically shows a rotation amount and rotation direction measuring device 1 (hereinafter abbreviated as a rotation measuring device 1) of this embodiment and a state in which it is arranged. The rotation measuring device 1 of the present embodiment is arranged along the direction in which the ball 2 is estimated to fly best. The direction in which the ball 2 is estimated to fly is indicated by a broken line in FIG. The rotation measuring device 1 of the present invention is a computer that is a means for calculating the ball 2, the camera 6 as the first photographing means, the camera 8 as the second photographing means, and the rotation direction and amount of rotation of the sphere. 10 and a trigger signal generating means 4. The camera 6, the camera 8, the computer 10, and the trigger signal generating means 4 are connected by a communication line.
One measurement mark 12 is attached to the surface of the ball 2. The measurement mark 12 is shown in FIG. The measurement mark 12 includes a character A that is a reference symbol 14, a first positioning point 16, and a second positioning point 18. The character A which is the reference symbol 14 is a character without point symmetry. The first positioning point 16 is one of the vertices of the rectangular area surrounding the reference symbol 14 and is attached to the vertex located at the upper left of the reference symbol 14. The second positioning point 18 is attached to the vertex located at the lower left from the reference symbol 14.

  The pair of trigger signal generating means 4 includes a trigger signal generator 4a, an optical sensor 4b, and a light source 4c. The optical sensor 4b and the light source 4c are arranged so as to face each other across a path that the ball 2 is estimated to pass through, and the optical sensor 4b receives light from the light source 4c. The trigger signal generator 4a is connected to the optical sensor 4b and inputs the amount of light output from the optical sensor 4b. When the ball 2 hit by the bat passes through the path, the light from the light source is blocked by the ball 2 and the light incident on the optical sensor 4b decreases, and the value output from the optical sensor 4b decreases. The trigger signal generator 4a inputs a trigger signal to the computer 10 when the output value of the optical sensor 4b becomes a predetermined value or less. When the trigger signal is input, the computer 10 calculates the timing for opening the shutters of the camera 6 and the camera 8 and inputs the timing to the camera 6 and the camera 8.

  The cameras 6 and 8 are high-speed shooting cameras that open the shutter based on a shooting command input from the computer 10. The camera 6 and the camera 8 are directed to a path on which the ball 2 is estimated to pass. The camera 6 takes a first image by opening the shutter when the ball 2 passes in front. The camera 8 takes a second image by opening the shutter when the ball 2 passes in front. The time required for the computer 10 to calculate the shutter timing from when the trigger signal generating means 4 outputs the trigger signal to when the camera 6 and the camera 8 start photographing, and the shutter of the camera 6 and the camera 8. A time interval that combines the operation time and the communication time of each device is required. For this reason, the camera 6 and the camera 8 are sufficiently separated from the trigger generating means 4 so that when the shutter is opened at the timing designated by the computer 10, the image of the ball 2 passing in front can be surely taken. It is arranged at the position.

The installation interval between the camera 6 and the camera 8 can be arbitrarily set. For example, in the case of measurement where the amount of rotation is likely to be large, the same measurement mark can be always captured in the first image and the second image by shortening the installation interval between the camera 6 and the camera 8.
In order to capture the same measurement mark in the first image and the second image, the camera 6 and the camera 8 use cameras capable of wide-angle imaging, and the computer 10 shortens the shutter timing of the camera 6 and the camera 8. It can also be set at time intervals.

  The first image captured by the camera 6 and the second image captured by the camera 8 are input to the computer 10. The computer 10 identifies and stores the positions of the first and second positioning points of the first image and the positions of the first and second positioning points of the second image. The storage device of the computer 10 stores a program that analyzes the first image and the second image, identifies each positioning point, and stores the position of the positioning point.

Hereinafter, the contents of a series of processes performed by the program for identifying the positioning points and storing the positions stored in the computer 10 will be described in detail with reference to FIGS.
When the program starts, a measurement mark composed of model data obtained by digitizing the image of the reference symbol in step S2 and data on the relative position and distance of the reference symbol, the first positioning point, and the second positioning point. Register the placement data. If the registration of data performed here is performed in advance when the rotation amount and the rotation direction are measured for the first time, it is possible to continue using the same data as it is without performing new registration work thereafter. . It is also possible to register data corresponding to a sphere to be used each time measurement is performed, and to add data corresponding to a change when the sphere reference symbol type is partially changed.

  In step S4 to step S23, the positioning point of the first image is identified and the position is stored. In step S4, the first image is read. In step S6, a global coordinate system is defined on the first image. The global coordinate system is a two-dimensional coordinate centered on the center of the image, and is used for identification and temporary storage of reference symbols. In step S8, the outer periphery of the ball is identified from the first image, and the position of the sphere in the image is specified. When the image is black and white, the outer periphery of the ball can be identified by performing binarization processing for each pixel. When the image is a color, the ball can be identified by a known image processing process such as specifying on the image a data range in which the color of the ball matches the chromaticity. In step S10, pattern matching between the reference symbol and the model data is performed in the range of the spherical image of the first image, and the position of the reference symbol is specified in step S12. In step S14, the first positioning point is searched and detected on the image based on the position of the specified reference symbol and the arrangement data of the reference symbol and the positioning point. In step S16, the overall coordinates of the first positioning point are detected. The coordinate value in the system is specified and temporarily stored. In step S18, the second positioning point is searched on the image based on the position of the specified reference symbol and the arrangement data of the reference symbol and the positioning point to detect the position. In step S20, the detected second positioning point is detected. The coordinate value of the point in the overall coordinate system is specified and temporarily stored. In step S22, the position of the center of the sphere of the first image is specified, and a local coordinate system having the center of the sphere as the center of the coordinate system is defined. In step S23, the coordinate value of the first positioning point and the coordinate value of the second positioning point of the first image are converted from the global coordinate system to the value of the local coordinate system and stored.

  Steps S24 to S44 in FIG. 3 are performed for the second image by performing the same processing as that performed for the first image from step S4 to step S23. The positioning point of the second image is identified, and This is a process of storing the position. That is, first, in step S24, the second image is read, and in step S26, the global coordinate system is defined on the second image. In step S28, the outer periphery of the ball is identified from the first image, and the position of the sphere in the image is specified. In step S30, pattern matching between the reference symbol and the model data is performed in the range of the spherical image of the second image, and the position of the reference symbol is specified in step S32.

  In step S34, the first positioning point is searched and detected on the image based on the position of the specified reference symbol and the arrangement data of the reference symbol and the positioning point. In step S36, the entire coordinate system of the first positioning point. The coordinate value at is specified and temporarily stored. In step S38, a second positioning point is searched on the image based on the position of the specified reference symbol and the arrangement data of the reference symbol and the positioning point to detect the position, and the second positioning point detected in step S40. The coordinate value in the global coordinate system is specified and temporarily stored. In step S42, the position of the center of the sphere of the second image is specified, and a local coordinate system having the center of the sphere as the center of the coordinate system is defined. In step S44, the coordinate value of the first positioning point of the second image and the coordinate value of the second positioning point are converted from the global coordinate system to the value of the local coordinate system and stored.

The coordinate values of the first and second positioning points in the local coordinate system of the first image stored in step S23 and the first and second positioning points in the local coordinate system of the second image stored in step S44. The rotation direction and the rotation amount of the sphere are calculated from the change amount of the coordinate value. The coordinate values of the first and second positioning points in the local coordinate system of the first image and the first value in the local coordinate system of the second image. The step of calculating the rotation direction and the rotation amount of the sphere from the change amount of the coordinate value of the second positioning point is performed in accordance with a coordinate conversion algorithm of normal digital image processing. By this calculation step, the rotation direction and the rotation amount of the three-dimensional sphere can be obtained.
Examples of measurement marks applicable to the ball of this embodiment are shown in FIGS. 5 and 6 show measurement marks using A, which is the same character as the reference symbol 14 used in this embodiment, and the arrangement of the first positioning point 16 and the second positioning point 18 is shown. Indicates something different. Since the character A of the reference symbol 14 has no point symmetry, it can be attached to one of the vertices of the rectangular region surrounding the reference symbol 14 and the second positioning point can be placed at any other vertex of the rectangular region. . FIG. 5 shows a measurement mark in which the first positioning point 16 is arranged at the upper left of the reference symbol and the second positioning point 18 is arranged at the upper right of the reference symbol. FIG. 6 shows a measurement mark in which the first positioning point 16 is arranged at the upper left of the reference symbol and the second positioning point 18 is arranged at the lower right of the reference symbol.

  FIG. 7 shows an example in which the first positioning point and the second positioning point are defined on the reference symbol. The measurement mark 24 is composed of only the reference symbol 26 using the alphabet letter E having no point symmetry as the reference symbol 26. The first positioning point is defined at the center of the intersection of the horizontal bar and the vertical bar extending above the letter E, and the second positioning point is defined at the center of the intersection of the horizontal bar and the vertical bar extending below the letter E. can do. Generally, by arranging the first positioning point and the second positioning point at positions away from the reference symbol, the position of each positioning point can be easily identified. However, if the reference symbol character includes a plurality of points whose position is very easy to identify, the positioning point can be defined in the reference symbol.

FIG. 8 and FIG. 9 show an example in which a character having point symmetry is applied to a reference symbol constituting a measurement mark. 8 and 9 are examples of measurement marks using the alphabet I as the reference symbol 30. FIG. Since the character I of the reference symbol 30 has point symmetry, when the first positioning point is attached to one of the vertices of the rectangular region surrounding the reference symbol, the second positioning point is the first positioning of the rectangular region. Can be placed at a vertex adjacent to the point. FIG. 8 shows a measurement mark 28 in which the first positioning point 16 is arranged at the upper left of the reference symbol and the second positioning point 18 is arranged at the lower left of the reference symbol. FIG. 9 shows a measurement mark 32 in which the first positioning point 16 is arranged at the upper left of the reference symbol and the second positioning point 18 is arranged at the upper right of the reference symbol.
The measurement mark 28 and the measurement mark 32 have point symmetry as a whole measurement mark by arranging the first positioning point and the second positioning point as described above with respect to the reference symbol. Disappear. As a result, even if the sphere is rotated by 180 ° between the first photographing step and the second photographing step, the positions of the first positioning point and the second positioning point are determined from the image. It can be identified without error from the positional relationship with the symbol.
The reference symbol is not limited to alphabetic characters. FIG. 10 shows an example in which the numeral 3 is applied to the reference symbol 38 constituting the measurement mark 36. In addition, characters and symbols such as hiragana and kanji can be used. Further, the first positioning point and the second positioning point are not limited to the configuration in which each is an independent point. As shown in the measurement mark 40 of FIG. 11, it is composed of a bar-shaped mark including a first positioning point and a second positioning point, the first positioning point is defined at one end thereof, and the second positioning point is defined. It can also be defined at the other end.

  In the measurement technique of the direction and amount of rotation of the ball in this embodiment, the very common letter A is used as the reference symbol. Since alphabetic patterns have been widely used for image processing, model data is enriched, pattern matching is easy, and the positions of reference symbols can be identified with high accuracy. Also, an operation for detecting each positioning point from the image by attaching the first positioning point to one of the vertices of the rectangular area surrounding the reference symbol and arranging the second positioning point at the other vertex of the rectangular area. It is sufficient to focus on the vertex of the rectangular area of the reference symbol, and the position of the positioning point is detected efficiently. Due to these effects, the measurement of the rotation direction and the rotation amount in this embodiment is very simple, and is performed quickly with high accuracy and efficiency.

  (Second Embodiment) FIG. 12 schematically shows a measurement device 41 (hereinafter abbreviated as a rotation measurement device 41) for the amount of rotation and rotation direction per unit time of this embodiment and a state in which it is arranged. About the thing of the same structure as 1st Example, the same code | symbol is provided and duplication description is omitted. The rotation measuring device 41 of the present invention includes a ball 42, a camera 6 that is a first photographing means, a camera 8 that is a second photographing means, a computer 44, and a ball speed detecting means 46. The camera 6, the camera 8, the computer 44, and the ball speed detection means 46 are connected by a communication line.

On the surface of the ball 42, six measurement marks are attached without overlapping a rectangular area defined by the first positioning point and the second positioning point on the surface of the sphere. All the measurement marks are composed of a character as a reference symbol, a first positioning point, and a second positioning point. When considering an orthogonal coordinate system with the origin at the center of the sphere, the measurement marks are arranged substantially coincident with the positions where the X, Y, and Z axes intersect with the sphere. With this arrangement, the six measurement marks are spaced substantially evenly on the sphere.
The rotation measuring device 41 according to the present embodiment measures the position of one measurement mark and measures the rotation direction and the rotation amount, and the relative positional relationship with the other measurement marks is determined based on the rotation direction and rotation. Not used to measure quantity. The rotational direction and amount of rotation can be measured without storing the relative positional relationship between the measurement marks. For this reason, the position of the measurement mark on the surface of the ball 42 is not necessarily strictly located at the above position.

  The ball 42 of the present embodiment is a sphere that is particularly suitable for measuring the rotation direction and the rotation amount of the sphere quickly with high accuracy.

  The ball speed detection means 46 of the present embodiment includes a first detection means 48 that detects the passage of the ball, a second detection means 50 that detects the passage of the ball 42, the first detection means 48, and the second detection means 48. It comprises means for calculating the moving speed of the ball 42 from the distance between the detection means 50 and the difference between the time detected by the first detection means 48 and the time detected by the second detection means 50. Here, a signal generator 48a, an optical sensor 48b, and a light source 48c similar to the trigger signal generating means 4 of the first embodiment can be applied to the first detecting means 48. The second detection means 50 can be configured with the same specifications as the first detection means 48. In the present embodiment, instead of providing two signal generators corresponding to each of the optical sensors 48b and 50b, the signal generator 48a has two input terminals as shown in FIG. The change is detected from the light intensity output from the optical sensor 50b, and a trigger signal corresponding to each of the optical sensor 48b and the optical sensor 50b is generated.

  From the distance between the first detection means 48 and the second detection means 50 in this embodiment and the difference between the time detected by the first detection means 48 and the time detected by the second detection means 50, The means for calculating the moving speed is a speed calculation program stored in the computer 44. The speed calculation program calculates the moving speed of the ball 42 based on the signal output from the signal generator 48a and the distance between the optical sensor 48b and the optical sensor 50b.

Further, the computer 44 calculates the time when the ball 42 passes in front of the camera 6 and the time when the ball 42 passes in front of the camera 8 from the calculation result of the velocity of the ball 42, and based on the calculation result, the first Each photographing time is instructed to the photographing means and the second photographing means. The cameras 6 and 8 capture and record an image of the ball 42 at the instructed time. Here, since the installation interval between the camera 6 and the camera 8 can be set arbitrarily, the installation interval between the camera 6 and the camera 8 is shortened, for example, in the case of measurement where the amount of rotation is likely to be large. 44 designates a suitable photographing time of the camera 6 and the camera 8, so that the same measurement mark is reliably photographed in the first image and the second image, and the sphere is rotated based on the change amount of the position of the measurement mark. The amount and amount of rotation per unit time can be measured.
On the other hand, when the measurement marks are arranged very accurately from the beginning, the rotation direction, the rotation amount, and the unit time per unit time of the sphere are based on the two images taken with the different measurement marks. The amount of rotation can be measured.

  The first image captured by the camera 6 and the second image captured by the camera 8 are input to the computer 44. The storage device of the computer 44 analyzes the first image and the second image, identifies the reference symbol included in both images, and stores the position of the positioning point of the measurement mark including the identified reference symbol. Program to be stored. When the program is executed, the positions of the first and second positioning points of the first image and the first and second positioning points of the second image are detected and stored.

The contents of a series of processes for identifying the positioning point and storing the position of each image performed when the same reference symbol is captured in the first image and the second image will be described below with reference to FIG. Details will be described with reference to FIGS. 14 and 15. This series of processing is performed by executing a program stored in the storage device of the computer 44.
In step S52, the executed program includes model data obtained by digitizing images of reference symbols included in all measurement marks, and relative positions of the reference symbols, the first positioning point, and the second positioning point. Register measurement mark arrangement data composed of distance data. First, in step S54, the first image is read, and in step S56, the global coordinate system is defined on the first image. In step S58, the outer periphery of the sphere is identified from the first image, and the position of the sphere in the image is specified. In the execution loop from step S60 to step S66, pattern matching is performed between all the reference symbols included in the range of the sphere image of the first image and the model data, and the reference symbols are identified and the position is specified. The correlation coefficient with the model data and the type and position of the reference symbol are stored. Further, in step S68, all reference symbols included in the first image are ranked in descending order of the correlation coefficient, and measurement mark data including the ranking result is stored in the array X (i).
Also for the second image, as in the process from step S54 to step S68 in the first image, the series of processes from step S70 to step S84 is performed for all reference symbols included in the second image. The measurement mark data including the correlation coefficient, the reference symbol type and position, and ranking all the reference symbols included in the second image in the descending order of the correlation coefficient. Are stored in the array Y (j).
In step S86 and step S88, a reference symbol that is included in both the first image and the second image and has a correlation coefficient with the model data as high as possible in any image is selected. The processing procedure is as follows. First, the X (1) reference symbol having the highest correlation coefficient with the model data in the first image and the Y (1) reference symbol having the highest correlation coefficient with the model data in the second image are selected. Compare When both reference symbols match, the combination of X (1) and Y (1) is temporarily stored. Thereafter, the reference symbols are compared for all combinations of the arrays X (i) and Y (j), and all combinations that match the reference symbols are temporarily stored (step S86). Next, in step S88, the program selects a reference symbol whose correlation coefficient with the model data is as high as possible in any image from all the combinations in which the reference symbols match.

  Here, FIG. 16 shows an example of the first image taken when the ball 42 is hit back with the bat in this embodiment, FIG. 17 shows an example of the second image, and FIGS. Reference symbols actually selected from the following are described. From the image in FIG. 16, the measurement mark 60 including the reference symbol O (character O) photographed at the center of the ball 42 as X (1) is recognized and the data is stored. From the image of FIG. 17, the measurement mark 60 including the reference symbol O is stored as Y (1), the data related to the measurement mark 62 including the reference symbol 6 is stored as Y (2), and Y (3). Data relating to the measurement mark 64 including the reference symbol X is stored. In step S86, when the reference symbol X (1) and Y (1) which are the first comparison are compared, the reference symbol O matches, so the combination of X (1) and Y (1) is temporarily stored. . Hereinafter, the reference symbols of X (1) and Y (2), and X (1) and Y (3) are compared, but since the reference symbols do not match, these combinations are not stored. In step S88, a combination of X (1) and Y (1) is selected as a combination of X (i) and Y (j) having the highest correlation coefficient. As a result, the measurement mark 60 including the reference symbol O is selected.

  In this way, when a measurement mark including a reference symbol that is included in each of the first image and the second image and has a correlation coefficient with the model data as high as possible is selected, the process proceeds to FIG. .

  First, for the first image, in step S90, a measurement mark including the selected reference symbol is selected. In step S92, the first positioning point is searched and detected on the image based on the positioning point arrangement data, and in step S94, the coordinate value of the first positioning point in the entire coordinate system is specified and temporarily stored. In step S96, the second positioning point is searched on the image based on the positioning point arrangement data to detect the position, the coordinate value in the entire coordinate system of the second positioning point detected in step S98 is specified, and temporarily Remember. In step S100, the position of the center of the sphere of the first image is specified, and a local coordinate system having the center of the sphere as the center of the coordinate system is defined. In step S102, the coordinate value of the first positioning point and the coordinate value of the second positioning point of the first image are converted from the global coordinate system to the value of the local coordinate system and stored. For the second image, the same processing as the processing from step S90 to S102 performed for the first image is performed for step S104 to step S116, and the first positioning point and the second positioning point of the selected measurement mark are selected. Is stored in the local coordinate system. The coordinate values of the first and second positioning points in the local coordinate system of the first image stored in step S102 and the first and second positioning points in the local coordinate system of the second image stored in step S116. The rotation direction of the sphere and the rotation amount per unit time can be calculated from the change amount of the coordinate value and the shooting time of the first image and the shooting time of the second image.

  The rotation measuring device of the present embodiment detects the moving speed of the sphere to be actually photographed, and performs the first photographing process and the second photographing process at the time when the most preferable and accurate image is obtained. As a result, the first image and the second image can be taken with high quality and the measurement mark can be identified very easily, and the amount of rotation per unit time can be accurately calculated.

  In addition, since the ball used in the rotation measuring apparatus of the present embodiment has six measurement marks arranged uniformly, one of the measurement marks is photographed in the first image and the second image. If so, the measurement can proceed. As a result, it is not necessary to first position the sphere and let it stand and then hit the ball. Even if the ball is thrown back, the direction of rotation of the ball and the amount of rotation per unit time are measured. can do.

  (Third Embodiment) FIG. 18 schematically shows a measurement device 51 (hereinafter abbreviated as a rotation measurement device 51) for the amount of rotation and rotation direction per unit time of this embodiment and a state in which it is arranged. About the thing of the same structure as 1st Example and 2nd Example, the same code | symbol is provided and duplication description is omitted. The rotation measuring device 51 of the present invention includes a camera 54 in addition to the ball 54, the camera 6 as the first photographing means, the camera 8 as the second photographing means, the computer 52, and the ball speed detecting means 46. And video 53 disposed above 8.

  The video 53 of this embodiment records the trajectory while the ball 54 passes in front of the camera 6 and in front of the camera 8, and inputs the recorded image to the computer 52. The computer 52 determines from the image recorded by the video 53 the distance from the camera 6 to the sphere when the first photographing process is performed, and the distance from the camera 8 to the sphere when the second photographing process is performed. The program which specifies is memorized.

  The storage means of the computer 52 stores a program for specifying the distance from the camera 6 and the camera 8 to the sphere, and a program for identifying the positioning point of the first image and the second image and storing the position. In addition, the exact size of the sphere in the first image and the second image is calculated based on the distance when the first and second imaging steps on the sphere are performed, and based on the calculation result A program for correcting the individual model data stored in this way to the most suitable size for pattern matching with the image is stored. In addition to the enlargement and reduction of model data, the correction can be performed by projecting onto a specific plane or a curved surface such as a spherical surface in accordance with the type of image to be obtained. When the image of the video 53 is input to the computer 52, a program for specifying the distance between each photographing means and the ball is first executed. Next, a program for correcting the model data for performing pattern matching based on the calculation result of the distance between each photographing means and the ball is executed to prepare optimum model data for pattern matching.

In the present embodiment, the measurement mark model data stored in the computer 52 is an integrated storage of the reference symbol, the first positioning point, and the second positioning point. The pattern matching of the measurement marks in the image of the ball 54 is advanced not only for the reference symbol part but also for the reference symbol, the first positioning point, and the second positioning point.
A ball 54 used in the present embodiment is shown in FIG. On the surface of the ball 54, 14 measurement marks each including a character as a reference symbol, a first positioning point, and a second positioning point are attached. The arrangement of the measurement marks will be described for a case where an arbitrary central axis is assumed on the sphere. One measurement mark is arranged at each intersection of the central axis and the sphere, six measurement marks are arranged on the equator of the sphere perpendicular to the central axis, and the equator is latitude 0 Three measurement marks are arranged on each latitude line of latitude +45 degrees and latitude -45 degrees in the case of degrees. In the ball of FIG. 19, a measurement mark including a reference symbol O is arranged at one intersection of a virtual center axis of the sphere and the sphere. The measurement marks are arranged without overlapping the rectangular areas defined by the first positioning point and the second positioning point.
Similar to the second embodiment, the rotation measuring device 51 of this embodiment measures the position and rotation amount of one measurement mark, and is relative to other measurement marks. Such a positional relationship is not used for the measurement of the rotation direction and the rotation amount. Since the rotation direction and the amount of rotation can be measured without memorizing the relative positional relationship between the measurement marks, the position of the measurement mark does not necessarily have to be strictly arranged on the ball 54. .
The ball 54 of the present embodiment is a particularly suitable sphere when measuring the rotation direction and the rotation amount of the sphere quickly with high accuracy.

Hereinafter, the contents of a series of processes performed by the program for identifying the positioning points and storing the positions stored in the computer 52 will be described with reference to FIGS. 20 and 21. FIG. In step S132, the executed program inputs corrected model data obtained by digitizing patterns of the first and second positioning points of all the measurement marks, and the first image data in step S134. Enter. In step S136, the program identifies the outer periphery of the sphere from the first image, and defines a local coordinate system having the center of the sphere as the center of the coordinate system. In step S138 and step S140, all the measurement marks included in the range of the spherical image in the first image are subjected to pattern matching with all the model data to identify the measurement marks. In step S142, the specified measurement mark is obtained by calculating the correlation coefficient with the model data, the type of reference symbol of the measurement mark, and the coordinate values in the local coordinate system of the first positioning point and the second positioning point. Remember. In the execution loop from step S138 to step S144, pattern matching is performed between all measurement marks included in the range of the sphere image of the first image and the model data, and the measurement marks are identified and positions are determined. Identify and store data. In step S146, all of the identified measurement marks included in the first image are ranked in descending order of correlation coefficient, and the measurement mark data is stored in the array X (i).
Also for the second image, all the measurement marks included in the second image are obtained by a series of processing from step S148 to step S160, similarly to the processing from step S134 to step S146 performed on the first image. The correlation coefficient with the model data, the type of the reference symbol, the coordinate values in the local coordinate system of the first positioning point and the second positioning point are stored, and the phase values for all the reference symbols included in the second image are stored. Ranking is performed in descending order of the number of relations, and measurement marks are stored in the array Y (j).
By the process of step S162, the array X (i) and the array Y (j) are compared in order from the array X (1) and the array Y (1), and the measurement mark specified in the first image is compared with the second mark. Among the measurement marks specified in the image, a combination of measurement marks having the same reference symbol is temporarily stored. In step S164, among the temporarily stored combinations of measurement marks, the combination of measurement marks having the highest correlation coefficient with the model data is determined.
Data of the determined measurement mark is selected from the array X (i) and the array Y (j), and the first positioning point and the second positioning point of each selected measurement mark in the local coordinate system By using the coordinate value, the rotation direction and the rotation amount per unit time can be calculated.
The rotation measuring device according to the present embodiment includes a first photographing process performed when the ball 54 passes in front of the camera 6 and a second photographing process performed when the ball 54 passes in front of the camera 8. A video 53 to be recorded is provided. The distance from the camera 6 and the camera 8 to the sphere may be different every time shooting is performed. In this case, the size of the measurement mark recorded in the image is different for each image. In this embodiment, By measuring the distance from the photographing means to the sphere for each photographing process and correcting the model data for pattern matching with the measurement mark based on the distance, the measurement mark can be identified with higher accuracy. .

The model data used in this embodiment is pattern data in which a reference symbol, a first positioning point, and a second positioning point are integrated. The measurement mark in the image is compared with the model data using the reference symbol, the first positioning point, and the second positioning point as one piece of data, identified, and the correlation coefficient is obtained.
For this reason, in this embodiment, the pattern matching performed by the program for identifying the positioning point and storing the position of each image is performed only once and can be calculated more quickly. In addition, since the reference symbol, the first positioning point, and the second positioning point are pattern-matched as one piece of data, if one of the positioning points is not shown in the image, the model The correlation coefficient with the data becomes low, and it is not used for calculating the rotation direction and rotation amount of the sphere. This makes it possible to measure the rotation direction and rotation amount of the sphere with higher accuracy.

(4th Example) The structure of the rotation measuring apparatus of this Example and the imaging | photography process of an image is the same as Example 3, and duplication description is abbreviate | omitted. The rotation measuring apparatus according to the present embodiment is different in processing contents of a program for identifying an image and storing a position of a measurement mark.
As shown in FIGS. 22 and 23, the computer of the rotation measuring apparatus according to the present embodiment stores accurate arrangement data of all measurement marks on the ball surface in addition to model data used for image identification. (Step S152). The program uses the model data and the arrangement data of all the search marks to determine all the measurement marks on the ball surface at the time of the first image shooting from the position of the identified measurement mark in the first image. The position is obtained by calculation and stored in the local coordinate system (steps S166 and 168). Similarly for the second image, the positions of all measurement marks on the ball surface at the time of the second image shooting are calculated from the positions of the identified measurement marks in the image and stored in the local coordinate system. (Steps S182 and 184). The rotation direction and the rotation amount of the sphere are calculated from the position of the measurement mark at the time of first image shooting and the amount of change in the position of the measurement mark at the time of second image shooting.

  The rotation measuring device of the present embodiment can calculate the positions of all measurement marks on the ball surface during the first image capturing and the second image capturing and store them in the local coordinate system. For this reason, even if the measurement marks identified in the first image are not all identified in the second image due to rotation, the positions of other measurement marks obtained from the calculation results are used. Thus, the rotation direction and the rotation amount can be obtained.

  For this reason, in the case of the rotation measuring apparatus from the first embodiment to the third embodiment, the installation interval between the first photographing means and the second photographing means is shortened in the case of measurement in which the amount of rotation is likely to increase. It is necessary to always shoot the same measurement mark in the first image and the second image by performing adjustments such as adjustment to shorten the interval between the shooting time of the first image and the shooting time of the second image. However, the rotation measuring apparatus according to the present embodiment can be applied to measurement of a ball flying in a space with an arbitrary amount of rotation without performing such adjustment before measurement.

As mentioned above, although the specific example of this invention was demonstrated in detail in 1st Example-4th Example, these are only illustrations and do not limit a claim. For example, in the embodiment, the case where one, six, and 14 measurement marks are attached to the surface of the sphere has been illustrated, but the case where any two or more measurement marks are attached to the surface of the sphere. Even so, with the configuration of the rotation measuring device according to the second to fourth embodiments, it is possible to accurately measure the direction and amount of rotation of the sphere moving in space. Even when one measurement mark is attached to the surface of the sphere, the exact rotation direction and rotation of the sphere moving in the space can be achieved by the configurations of the rotation measuring devices of the second and third embodiments. Similarly, in the rotation measuring apparatus according to the first embodiment, when any two or more measurement marks are attached, the second to fourth embodiments are shown. By executing any one of the programs for identifying the positioning points and storing the positions of the first image and the second image on the computer 10 without changing the configuration of the other rotation measuring devices, Accurate rotation direction and rotation amount of a sphere moving in space can be measured. As described above, the technical elements described in this specification or the drawings exhibit technical usefulness alone or in combination, and are not limited to the combinations described in the embodiments.

  Further, the technology described in the claims includes various modifications and changes of the specific examples illustrated above.

  For example, the arrangement of the first positioning point and the second positioning point constituting the measurement mark does not cause erroneous detection between the positioning points of other measurement marks, and the distance and direction from the reference symbol can be set. The position is not limited to the vertex of the rectangular area as long as the position can be revealed in advance. For example, two points that are equidistant from the center of the reference symbol can be used as the first positioning point and the second positioning point. In this case, it is preferable that the distance from the center or the distance and direction between the points is the same for all the measurement marks, but these may be different for each measurement mark.

  For example, as a device for measuring the speed of a sphere, two sets of light sources, an optical sensor, and a signal generator are used, but a speed gun can also be used.

  For example, high-resolution video can be used for the first photographing unit and the second photographing unit.

  For example, a distance specifying unit that specifies the distance from the first imaging unit to the sphere at the imaging time of the first image, and specifies the distance from the second imaging unit to the sphere at the imaging time of the second image, Positioned above the first photographing means and the second photographing means, and a means for photographing the sphere moving in the space, the first photographing means and the second photographing means, and specifying the distance from the photographed image It can be used as a calculation means.

It is a figure which shows the structure of the apparatus which measures the rotation direction and rotation amount of the spherical body which move the space of 1st Example. It is a flowchart of the first half of the program which identifies the positioning point of 1st Example, and memorize | stores a position. It is a flowchart of the latter half of the program which identifies the positioning point of 1st Example, and memorize | stores a position. It is a figure which shows the structure of the mark for a measurement. It is a figure which shows the structure of the mark for a measurement. It is a figure which shows the structure of the mark for a measurement. It is a figure which shows the structure of the mark for a measurement. It is a figure which shows the structure of the mark for a measurement. It is a figure which shows the structure of the mark for a measurement. It is a figure which shows the structure of the mark for a measurement. It is a figure which shows the structure of the mark for a measurement. It is a figure which shows the structure of the apparatus which measures the rotation direction of the spherical body which moves the space of 2nd Example, and the amount of rotations per unit time. It is a flowchart of the 1st part of the program which identifies the positioning point of 2nd Example, and memorize | stores a position. It is a flowchart of the 2nd part of the program which identifies the positioning point of 2nd Example, and memorize | stores a position. It is a flowchart of the 3rd part of the program which identifies the positioning point of 2nd Example, and memorize | stores a position. It is a figure which shows an example of the 1st image of 2nd Example. It is a figure which shows an example of the 2nd image of 2nd Example. It is a figure which shows the structure of the apparatus which measures the rotation direction of the spherical body which moves the space of 3rd Example, and the amount of rotations per unit time. It is a figure which shows arrangement | positioning of the measurement mark of the ball | bowl of 3rd Example. It is a flowchart of the first half part of the program which identifies the positioning point of 3rd Example, and memorize | stores a position. It is a flowchart of the latter half part of the program which identifies the positioning point of 3rd Example, and memorize | stores a position. It is a flowchart of the first half part of the program which identifies the positioning point of 4th Example, and memorize | stores a position. It is a flowchart of the latter half part of the program which identifies the positioning point of 4th Example, and memorize | stores a position.

DESCRIPTION OF SYMBOLS 1,41,51: Rotation measuring device 2,42,54: Ball 4: Trigger signal generation means 4a: Trigger signal generator 4b: Optical sensor 4c: Light source 6, 8: Camera 10, 44, 52: Computer 12,20 , 22, 24, 28, 32, 36, 40: Measurement marks 14, 26, 30, 38: Reference symbol 16: First positioning point 18: Second positioning point 46: Ball speed detecting means 48: First Detecting means 50: second detecting means 53: video

Claims (17)

A method for measuring the direction and amount of rotation of a sphere moving in space,
Attaching a measurement mark composed of an arbitrary reference symbol, a first positioning point, and a second positioning point to the surface of the sphere;
A first sphere detecting step of detecting a time when the sphere moving in the space passes through the first sphere detecting means;
A second sphere detecting step for detecting a time when the sphere moving in the space passes through a second sphere detecting means provided at a predetermined distance from the first sphere detecting means;
From the distance between the first sphere detecting means and the second sphere detecting means and the difference between the time detected by the first sphere detecting means and the time detected by the second detecting means, the sphere Calculating the moving speed of
From the calculated moving speed of the sphere, the shooting time of the first image and the shooting time of the second image after the first shooting time for shooting the moving sphere are calculated. And instructing,
The capture time of the first image which is the instruction, a first imaging step for capturing a first image of the sphere moves,
The photographing time of the second image which is the instruction, and a second photographing step of photographing the second image of the sphere moves,
From the change in position of the measurement mark between the first image and the second image, and calculating the rotation amount and rotation direction of the spherical body,
From the time difference between the shooting time of the first image and the shooting time of the second image, and the amount of change in the position of the measurement mark between the first image and the second image, the unit time of the sphere Calculating the amount of rotation per unit,
A method for measuring the direction and amount of rotation of a sphere moving in a space, characterized by comprising: The reference symbols are letters nonpoint symmetry, the first positioning points have been subjected to one of the vertices of a rectangular area surrounding the reference symbol, the second positioning constituting the measurement mark The method according to claim 1 , wherein the point is arranged at another vertex of the rectangular area. It said reference symbol is a character that has a point symmetry, the first positioning points have been subjected to one of the vertices of a rectangular area surrounding the reference symbol, the second positioning constituting the mark the measurement method of measuring the amount of rotation and direction of rotation of the sphere to move space according to claim 1, characterized in that points are arranged at the vertices adjacent to the first positioning points of the rectangular area. From the change in position of the measurement mark in the first image and the second image, wherein the step of calculating the amount of rotation and the rotation direction of the moving sphere,
Images digitized model data of the reference symbols, and the arrangement data of the mark for measurement consists of the relative position and distance of data of the said first positioning point and the reference symbol second positioning points A process to register;
A step of defining a global coordinate system on the first image,
Wherein identifying the outer periphery of the spherical body from a first image, and specifying the position of the sphere in the image,
A step of the first range of the spherical image of the image by performing pattern matching of the model data and the reference symbol to identify the location of the reference symbol,
Detecting the position by searching on the first image the first positioning points based on the arrangement data of the position and the measuring marks of the reference symbols identified, detected said first positioning point Storing coordinate values in the global coordinate system;
Detecting the position by searching on the first image the second positioning points based on the arrangement data of the position and the measuring marks of the reference symbols identified, detected the said second positioning points Storing coordinate values in the global coordinate system;
A step of the first to locate the center of the sphere of the image, defining a local coordinate system centered coordinate system the center of the sphere,
A step of storing the coordinate values of the first positioning points of the first image, the second coordinate values of the positioning point is converted from said global coordinate system to the value of the local coordinate system,
A step of defining a global coordinate system on the second image,
To identify the outer periphery of the spherical body from said second image, and specifying the position of the sphere in the image,
Identifying a location of the reference symbol in the range of the spherical image of the second image by performing pattern matching of the reference symbol and the model data,
Detecting the position by searching on the second image the first positioning points based on the arrangement data of the position and the measuring marks of the reference symbols identified, detected said first positioning point Storing coordinate values in the global coordinate system;
Detecting the position by searching on the second image a second positioning points based on the arrangement data of the position and the measuring marks of the reference symbols identified, detected the said second positioning points Storing coordinate values in the global coordinate system;
A step of the second to identify the position of the center of the sphere of the image, defining a local coordinate system centered coordinate system the center of the sphere,
A step of storing the coordinate values of the first positioning points of the second image, the second coordinate values of the positioning point is converted from said global coordinate system to the value of the local coordinate system,
Changes in the coordinate values of the first and second positioning points in the local coordinate system of the first image, wherein the first and the coordinate values of the second positioning points in the local coordinate system of the second image from the amount, the moving direction of rotation and amount of rotation of the measuring method of the spheres according to claim 1, characterized in that it comprises a step of calculating the rotation amount and rotation direction of the spherical body. The distance from the first imaging means to said spherical body in said first shooting step, and specifying a distance to the spherical body from a second imaging means in the second photographing step,
Based on the distance to the sphere from the identified said first imaging means, the exact size of the sphere in the first image is calculated, the pattern matching for identifying marks the measurement Correcting the model data to be used;
Based on the distance to the sphere from the identified said second capturing means, the exact size of the sphere in the second image is calculated and used for pattern matching to identify the marks the measurement The method according to claim 1 , further comprising a step of correcting the model data to be rotated. A method for measuring the direction and amount of rotation of a sphere moving in space,
On the surface of the moving sphere, and any reference symbols, a first positioning point comprises a step of subjecting two or more measurement mark consists of a second positioning points, the measurement mark the reference symbol and the first region surrounded by the straight line connecting the a positioning point second positioning points are arranged without overlapping each other,
A first photographing step of photographing the first image of the spheres moving,
Later than the photographing time of the first image, a second imaging step of capturing a second image of the sphere moves,
Move space, characterized in that the change in position of the measurement mark between the first image and the second image, and a step of calculating the rotation amount and rotation direction of the spherical body A method for measuring the direction and amount of rotation of a sphere. A step of instructing the capture time of the first photographing step and the second photographing step,
Said first imaging step for imaging at a time instructed to the first image,
Said second photographing step of photographing at a time instructed to the second image,
And time difference between the shooting time of the first shooting time and the second image of the image, from the change in position of the measurement mark between the first image and the second image, a unit of the spherical time spatial rotation direction and the rotation amount of the measurement method of the sphere to move according to claim 6, characterized in that it and further comprising the step of calculating a rotation amount per. Said step of indicating the capture time of the first photographing step and the second photographing step,
A first sphere detecting step of detecting a time when the sphere has passed through the first sphere detecting means;
A second sphere detecting step of detecting a time when the sphere has passed through a second sphere detecting means provided at a predetermined distance from the first sphere detecting means;
Moving the distance between the first sphere detecting means and the second sphere detecting means, from the difference between the detected times of the first time sphere detecting means detects said second detection means of the sphere Calculating the speed;
A step of indicating the moving speed of the calculated the sphere to calculate a suitable shooting time of the first image,
Direction of rotation of the sphere to move space according to claim 7, characterized in that the moving speed of the calculated the sphere and a step of instructing to calculate a suitable shooting time of the second image And measuring method of rotation amount. The sphere, the area of the measurement mark are the assigned six or more, a region surrounded by the straight line connecting the second positioning point reference symbols and said first positioning point of all of the measurement mark The method for measuring the rotation direction and the amount of rotation of a sphere moving in a space according to any one of claims 6, 7 and 8 , wherein the total value of the spheres is 10% or more of the surface area of the sphere. The reference symbols constituting a plurality of the measurement marks to be added to the surface of the sphere, are all different symbols for each mark the measurement, the vertices of a rectangular area in which the first positioning points surrounding the reference symbol are attached to one of said second positioning points have been subjected to other vertices of the rectangular region,
Rotation direction of rotation of the sphere to move space according to any one of claims 6, 7 or 8, wherein the rectangular area of the mark for the measurement are arranged without overlap on the surface of the sphere How to measure quantity. The reference symbols are letters without any point symmetry, one of the vertices of the rectangular region in which the first positioning points surrounding the reference symbols constituting a plurality of the measurement marks to be added to the surface of the sphere are attached to, said second positioning points are denoted by the other vertices of the rectangular region,
Rotation direction of rotation of the sphere to move space according to any one of claims 6, 7 or 8, wherein the rectangular area of the mark for the measurement are arranged without overlap on the surface of the sphere How to measure quantity. The reference symbols constituting a plurality of the measurement marks to be added to the surface of the sphere is a character with point symmetry with no character or point symmetry,
The said measurement marks which point symmetry with no characters with the reference symbol, the first positioning point is assigned to one of the vertices of a rectangular area surrounding the reference symbol, the second positioning point the Attached to other vertices of the rectangular area,
The said measuring mark characters with point symmetry to the reference symbol, the first positioning point is assigned to one of the vertices of the rectangular region surrounding the reference symbol, the second positioning point the numbers are assigned to the vertices adjacent to the first positioning points of the rectangular area,
Rotating the rotational direction of the spheres to move a space according to any one of claims 6, 7 or 8, wherein the rectangular area of the mark for the measurement are arranged without overlap on the surface of the sphere How to measure quantity. From the change in position of the measurement mark in the first image and the second image, calculating a rotation amount and rotation direction of the spherical body to be moved,
Images digitized model data of the reference symbols in all of the measurement marks, and from the relative positions and distances of the data with the second positioning point and the reference symbol and the first positioning point Registering the arrangement data of the measurement marks to be configured;
A step of defining a global coordinate system on the first image,
Wherein identifying the outer periphery of the spherical body from a first image, and specifying the position of the sphere in the image,
Performing pattern matching between said model data all the reference symbols are included in the scope of the sphere of the image of the first image, locates and identifies the reference symbol, the phase of the model data and correlation coefficient, a step of storing the type and position of the reference symbol,
A step of ranking the order high correlation coefficients for all of said reference symbol included in the first image,
A step of defining a global coordinate system on the second image,
To identify the outer periphery of the spherical body from said second image, and specifying the position of the sphere in the image,
Performing pattern matching between said model data all the reference symbols are included in the scope of the sphere of the image of the second image, to locate and identify the reference symbol, the phase of the model data and correlation coefficient, a step of storing the type and position of the reference symbol,
A step of ranking the order high correlation coefficients for all the reference symbols included in the second image,
From among the reference symbols included in the second image and the reference symbol included in the first image, selects the highest standards symbol correlation coefficient between types match and the model data of the reference symbols Process,
Identifying a position of the selected first of the said second positioning point and the first positioning point of the measurement mark image including the reference mark has,
A step of defining a local coordinate system centered coordinate system the center of the sphere to the first image,
A step of storing the position of a selected said first positioning point and the second positioning point of measurement marks of the first image including the reference symbol is converted into the local coordinate system,
Identifying a position of the selected second wherein the first positioning point the second positioning point of the measurement marks of an image including the reference mark has,
A step of defining a local coordinate system centered coordinate system the center of the sphere to the second image,
A step of storing the position of a selected said first positioning point and the second positioning point of the measurement mark of the second image including the reference symbol is converted into the local coordinate system,
The stored first and second positioning points of the first image, the first and the amount of change in the second of the positioning points stored in the second image, the rotation and the rotation direction of the spherical body Calculating the quantity ;
The method for measuring the rotation direction and amount of rotation of a sphere that moves in a space according to any one of claims 6, 7, and 8 . From the change in position of the measurement mark in the first image and the second image, calculating a rotation amount and rotation direction of the spherical body to be moved,
A step of registering the model data obtained by digitizing an image pattern of all of the measurement mark,
Wherein identifying the outer periphery of the spherical body from a first image, a step of defining a local coordinate system centered coordinate system the center of the sphere,
It said measurement mark all included in the scope of the sphere image in the first image by performing pattern matching with all of the model data, specifies the position to identify the mark the measurement , the correlation coefficient between the model data, the type of the reference symbol marks the measuring, a step of storing the coordinate values in the local coordinate system of the first positioning point and the second positioning points ,
A step of ranking the high correlation coefficient order for all of the measurement mark of specified first image,
Wherein identifying the outer periphery of the sphere from the second image, a step of defining a local coordinate system centered coordinate system the center of the sphere,
It said measurement mark all included in the scope of the sphere image in the second image by performing pattern matching with all of the model data, specifies the position to identify the mark the measurement , the correlation coefficient between the model data, the type of the reference symbol marks the measuring, a step of storing the coordinate values in the local coordinate system of the first positioning point and the second positioning points ,
A step of ranking the high correlation coefficient order for all of the measurement mark of a specified second image,
The highest the correlation coefficients among the measurement marks identified in specified the measurement mark and the second image in the first image, the reference symbols consistent with and the model data Selecting a combination of measurement marks;
Changes in the first and second positioning points, wherein the selected first and second positioning points of measurement marks of the second image of the selected the measuring marks of the first image The method for measuring a rotation direction and a rotation amount of a sphere moving in a space according to any one of claims 6, 7 and 8 , further comprising a step of calculating a rotation amount of the sphere from an amount. Said first imaging step, and specifying a distance from the photographing means in the second imaging step to said sphere,
By calculating the exact size of the sphere in the first image based on the identified the distance, the step of correcting the model data to be used for pattern matching to identify the marks the measurement When,
By calculating the exact size of the sphere in the second image based on the identified the distance, the step of correcting the model data to be used for pattern matching to identify the marks the measurement The method of measuring a rotation direction and a rotation amount of a sphere that moves in a space according to any one of claims 6, 7, and 8 . A reference symbol on the surface, a first positioning point, the mark for measurement consists of the second positioning points are arranged two or more, the reference symbol is an all different symbols for each mark the measurement ,
If the reference symbol is a letter or symbol of point symmetry, the first positioning points have been subjected to one of the vertices of a rectangular area surrounding the reference symbol, the second positioning point wherein the rectangular area has a first is arranged adjacent vertices a positioning point, the rectangular area of the mark for the measurement are arranged without overlap on the surface,
If the reference symbol is a point symmetry with no character or symbol, the first positioning points have been subjected to one of the vertices of a rectangular area surrounding the reference symbol, the second positioning point wherein it is disposed the other vertices of the rectangular region, suitable for rotating measuring the rotational direction when the rectangular area of the mark for the measurement moves space, characterized in that it is arranged without overlap on the surface Sphere. Are denoted by a plurality of the measuring marks is 6 or more, the area of the region surrounded by the straight line connecting the reference symbol and the first and the second positioning point and positioning points of all the measurement marks, The sphere suitable for measuring a rotation direction and a rotation amount when moving in the space according to claim 16 , wherein the sphere is 10% or more of a surface area.

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