KR102527207B1 - Shooting device and object behavior calculation device - Google Patents

Abstract

In order to reduce the influence of a reflective member on a photographed image in a photographic apparatus in which photographing timing is controlled by a retroreflective optical sensor, photographic apparatus 10 includes a sensor light transmitter 1202A and a light receiver. A retro-reflective optical sensor 12 including a light unit 1202B, a reflection member 1204, and a detection unit 1206 and detecting the entry of an object into a detection range, and the object moving schedule A camera 1406 is provided that sets an area including the direction as a shooting range and starts shooting when detection of an object by the retroreflective optical sensor 12 is used as a trigger. A first filter 1210 including the first wavelength in the transmission wavelength band is attached to the surface of the reflection member 1204, and the camera 1406 transmits a second wavelength different from the first wavelength in the transmission wavelength band. An image is photographed through a second filter included in .

Description

Shooting device and object behavior calculation device

The present invention relates to a photographing apparatus for photographing an object and an apparatus for calculating the behavior of an object using an image photographed by the photographing apparatus.

Conventionally, an optical sensor that detects whether or not an object is present within the detection range by projecting sensing light within the detection range and detecting the reflected light has been widely used. .

As a method of preventing malfunction of an optical sensor, a technique for reducing the influence of ambient light or the like by using, for example, a filter that transmits only light of a specific wavelength is known (see, for example, Patent Document 1 below). reference).

In addition, many reflective members that retroreflect only light of a specific wavelength by providing a filter unit that transmits light of a predetermined wavelength have been proposed (for example, see Patent Document 2 below).

Japanese Unexamined Patent Publication No. Hei 08-292095 Japanese Unexamined Patent Publication No. 2007-56433

Among optical sensors, a retroreflective optical sensor that detects an object by reflecting sensing light using a reflective member generally uses a member having a high reflectance of sensing light as the reflective member.

Therefore, for example, in a photographing device that uses a retroreflective optical sensor to control photographing timing, there is a possibility that a reflective member is captured in a photographed image, resulting in poor photographing.

The present invention has been made in view of such a situation, and its object is to reduce the influence of a reflective member on a captured image in a photographing device in which photographing timing is controlled by a retroreflective optical sensor.

In order to achieve the above object, a photographing device according to the invention of claim 1 is provided with a detection unit in which a light projection unit for a sensor and a light reception unit are integrated, and installed spaced apart from the detection unit, and the projection unit for the sensor is provided. A reflective member that reflects sensing light transmitted from the light unit and returns it to the light receiving unit, and a detecting unit that detects that an object has entered a detection range between the detecting unit and the reflective member based on the amount of light received by the light receiving unit. A retroreflective optical sensor for performing the object, and an area including an expected movement direction of the object is set as a photographing range, and detection of entry of the object into the detection range by the retroreflective optical sensor is used as a trigger. An illumination photographing unit including a camera that starts photographing a photographing range, and a photographing light projection unit for projecting photographing light into the photographing range, wherein a marker for reflecting the photographing light is attached to a surface of the object, and the reflection A first filter containing a first wavelength in a transmission wavelength band is attached to the surface of the member, and a second filter containing a second wavelength different from the first wavelength in a transmission wavelength band is attached to the camera. The camera captures an image through the second filter, the sensing light is light in a wavelength range having a peak at the first wavelength, and the photographing light is light in a wavelength range having a peak at the second wavelength. The retroreflective optical sensor and the camera are installed side by side in a predetermined direction, and the reflective member is a flat member, and is formed in the predetermined direction on a line segment orthogonal to the predetermined direction. It is installed so that the flat surface follows, and the photographing light projection unit transmits the photographing light from the side of the installation position of the camera.

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The imaging device according to the invention of claim 2 further includes a half mirror disposed on an optical path of the imaging light to face the imaging light at an angle of 45°, and the camera is configured to: It is characterized in that reflected light from the marker passing through the half mirror is photographed while oriented in a photographing direction in a direction orthogonal to the light projection direction.

The photographing apparatus according to the invention of claim 3 is characterized in that the light projection unit for photographing is a ring light provided around a lens of the camera.

An object behavior calculation device according to the invention of claim 4 is an object behavior calculation device using the imaging device according to claim 1, wherein the camera continuously moves the markers provided on the surface of the object from at least two or more different directions. image is taken, and data of a 3D shape model of the object and corresponding point positional information indicating the position of a corresponding point on the 3D shape model corresponding to a marker feature point characterizing the marker are stored in advance, and the marker in the captured image is captured. By extracting the position of the marker feature point from the object, and calculating the position and direction of the 3D shape model so that the position of the corresponding point coincides with the position in the 3D coordinate system of the marker feature point extracted from the image. It is characterized by having a behavior calculation unit for calculating time-series data of the position and orientation of the three-dimensional shape model that reproduces the behavior of.

The object behavior calculation device according to the invention of claim 5 is characterized in that the markers are provided on at least three or more locations on the surface of the object, and a center point of the marker is extracted as a marker feature point.

In the object behavior calculation device according to the invention of claim 6, the object is a wood-type golf club head, and the marker is installed on an upper surface of the golf club head that becomes a crown portion in contact with the face surface. It is characterized by being.

In the object behavior calculation device according to the invention of claim 7, the object is an iron-type golf club head, and the marker is on an upper surface and a hosel portion in contact with the face surface of the golf club head. It is characterized by being installed.

In the object behavior calculation device according to the invention of claim 8, the behavior calculation unit uses the time-series data to determine the left and right approach angles of the golf club head immediately before hitting the golf ball and the face angle when the golf ball is hit. , the position of the hitting point on the face surface, and the face speed at the time of hitting are further calculated.

In the object behavior calculation device according to the invention of claim 9, the behavior calculation unit, when the golf ball is not captured in a photographed image, compares the time-series data of the position of the golf club head with each previous point in time. It is characterized in that, by extracting two points in which the moving distance is rapidly shortened, and specifying that the golf ball was hit during that period.

According to the invention of claim 1, in a photographing apparatus having a camera for starting photographing as a trigger when a detection of an object by a retroreflective optical sensor is provided, a first filter including a first wavelength in a transmission wavelength band in a reflective member comprises: A second filter including a second wavelength different from the first wavelength in the transmission wavelength band is attached. Since the reflective member and the camera selectively transmit light of different wavelengths, it is advantageous in preventing the reflective member from being photographed more brightly than necessary even when the reflective member is located within the imaging range of the camera.

Further, according to the invention of claim 1, since the sensing light transmitted from the sensor light emitting unit is light in a wavelength range having the first wavelength as a peak, the reflection efficiency in the reflective member is increased, and it is necessary to reliably detect the entry of an object. it is advantageous to have In addition, it is advantageous to reliably distinguish between such light and sensing light even when ambient lighting or sunlight is strong.

Furthermore, according to the invention of claim 1, a photographing light projection unit for projecting photographing light is further provided, and since a marker for reflecting photographing light is pasted on the surface of the object to be photographed, the position of a predetermined location on the object is specified on the image. be advantageous in doing so. In particular, in the case of continuously photographing a moving object, it is advantageous in making it easy to understand the behavior of the object.

Further, according to the invention of claim 1, since the photographing light projected from the photographing light projector is light of a wavelength band having the second wavelength as a peak, the camera irradiates light of a wavelength with a high light receiving intensity to the object to be photographed ( It can be illuminated, which is advantageous in taking pictures of objects clearly. Further, even when ambient lighting or sunlight is strong, it is advantageous to reliably distinguish between such light and photographing light.

Further, according to the invention of claim 1, when a flat reflective member is provided facing the installation direction of the retroreflective optical sensor and the camera, and the photographing light projection unit transmits photographic light from the side of the camera installation position, that is, reflection. Even when the imaging light hits the member, reflection of the imaging light from the reflective member can be suppressed to prevent the reflective member from being caught.

According to the invention of claim 2, since a half mirror is provided on the optical path of the imaging light, and the camera captures light reflected from the marker passing through the half mirror, the optical path of the imaging light and the optical axis of the camera substantially coincide. Since the intensity of the reflected light from the marker is the strongest in the direction of incidence, it is advantageous in capturing an image of the marker clearly.

According to the invention of claim 3, since the light projection unit for imaging is a ring light, the optical path of the imaging light substantially coincides with the optical axis of the camera. Since the intensity of reflected light from the marker is the strongest in the direction of incidence, it is advantageous in taking a clear image of the marker.

According to the invention of claim 4, calculating the position and direction of the 3D shape model so that the position coordinates of the corresponding points of the 3D shape model corresponding to the marker feature points on the object coincide with the 3D position coordinates of the marker feature points extracted from the image. Therefore, it is advantageous in accurately obtaining the behavior of an object.

According to the invention of claim 5, since three or more markers are provided on the surface of the object, it is advantageous in accurately specifying the position of the feature point of the marker on the three-dimensional space.

According to the invention of claim 6, when calculating the behavior of a golf club head of a wood type, since a marker is provided on the crown portion with good visibility from above, it is easy to specify the position of the marker in a captured image. it becomes advantageous

According to the invention of claim 7, since markers are provided on the upper end surface and hosel portion when calculating the behavior of an iron-type golf club head, the markers can be arranged without being lined up in a straight line. It is advantageous in accurately specifying the position of the marker feature point on the dimensional space.

According to the invention of claim 8, the behavior of the golf club head at the time of hitting the golf ball can be calculated in more detail.

According to the invention of claim 9, even when the golf ball is not captured in the captured image, time series data at the time of hitting can be specified, and various behaviors at the time of hitting can be calculated.

1 is an explanatory diagram showing a schematic configuration of an imaging device 10 according to an embodiment.
2 is a block diagram showing the functional configuration of the photographing device 10. As shown in FIG.
FIG. 3 is an explanatory diagram showing an example of a marker 26 attached to a golf club head 2204. As shown in FIG.
4 is an explanatory diagram showing an example of the emission spectrum of monochromatic laser light.
5 is an explanatory diagram showing an example of characteristics of a transmission filter.
6 is a perspective view of the illumination photographing unit 14 .
7 is a plan view of the illumination imaging unit 14 .
8 is a block diagram showing the hardware configuration of the computer 18.
Fig. 9 is an explanatory diagram for explaining a method for calculating the behavior of the golf club head 2204.
FIG. 10 is a plan view showing the golf club head 2204 immediately before hitting the golf ball 20 as viewed from a planar level.
11 is a schematic diagram explaining the definition of the left and right approach angles θ.
12 is a schematic diagram explaining the face angle φ at the time of hitting.
Fig. 13 is an explanatory diagram showing an example of output to the display 1816 of the behavior of the golf club head 2204.

EMBODIMENT OF THE INVENTION Hereinafter, with reference to accompanying drawing, the suitable embodiment of the imaging device concerning this invention is described in detail.

In the present embodiment, by photographing the golf club 22 (golf club head 2204) at the time of hitting the golf ball 20 from two directions, the golf club head 2204 at the time of hitting the golf ball 20 The case of measuring the behavior will be described.

FIG. 1 is an explanatory diagram showing a schematic configuration of an imaging device 10 according to an embodiment, and FIG. 2 is a block diagram illustrating a functional configuration of the imaging device 10 .

FIG. 1A is a view of the configuration of the imaging device 10 viewed from the side, and FIG. 1B is a view of the periphery of the golf ball 20 in FIG. 1A viewed from the top.

1A, an operator (player) I about to hit a golf ball 20 with a golf club 22 is shown.

Additionally, the golf club 22 is configured to include a shaft 2202 and a golf club head 2204 .

The golf ball 20 is placed on a tee 24 inserted into the ground (horizontal plane) G, and in this state is hit by the golf club 22 to start moving. That is, in the example of FIG. 1, the position of the golf ball 20 on the tee 24 becomes the hitting position P0.

In addition, whether the golf ball 20 is hit while placed on the tee 24 or hit while placed on the ground (G), that is, the position of the golf ball 20 on the tee 24 is determined by the hitting position ( P0), or whether the position of the golf ball 20 on the ground G is the hitting position P0 is at the discretion of the operator I.

Also, symbol T is a target movement direction when the golf ball 20 is hit with the golf club 22 . Incidentally, although not shown in the figure, it is assumed that the target movement direction T has displacement also in the vertical direction (gravity direction).

Hereinafter, the origin of the coordinates of the space in which the photographing device 10 is installed is set as the hitting position P0, and the direction parallel to the projection line of the target movement direction T to the ground G is the x-axis, and the direction opposite to the direction of gravity Let the z-axis, the x-axis, and the direction orthogonal to the z-axis be the y-axis. Incidentally, in Fig. 1, for convenience of illustration, each coordinate axis is shown at a position away from the hitting position P0 as the origin.

Next, the golf club head 2204 to be photographed by the photographing device 10 will be described.

Fig. 3A is an example of a wood-type golf club head 2204A, and Fig. 3B is an example of an iron-type golf club head 2204B.

Incidentally, below, in the case where iron and wood golf club heads 2204 are not distinguished, they are referred to as golf clubs 22.

As shown in Fig. 3A, a wood type golf club head 2204A has markers 26A, 26B, and 26C provided at three locations on the upper surface forming the crown portion in contact with the face surface 2206A.

As shown in Fig. 3B, in an iron-type golf club head 2204B, a marker 26A is provided on the top surface and hosel portion of the golf club head 2204B that come in contact with the face surface (hitting surface) 2206B. 26B, 26C) are installed. Hereinafter, when the markers 26A, 26B, and 26C are not distinguished, they are expressed as markers 26.

For example, the markers 26A, 26B, and 26C are light projection units for imaging described later so that the images of the markers 26A, 26B, and 26C can always be identified when they are captured by a camera 1406 described later. It is configured to have a retroreflective function for reflecting the photographing light LP in (1402). The markers 26A, 26B, and 26C are, for example, a known retroreflective sheet cut into a predetermined shape.

The markers 26 are provided at three or more locations on the golf club head 2204, and the arrangement positions are set so that these markers 26 form the apex of a triangle and do not lie on one straight line.

In the example of Fig. 3B, one marker 26 is provided in the hosel portion so that three retroreflective markers do not lie on one straight line.

In this embodiment, three or more marker feature points obtained from the markers are used, for example, in order to obtain the positions of the markers as will be described later. A marker feature point is a point that characterizes a marker.

In other words, the marker is provided on the surface of the golf club head 2204 and has three or more marker feature points.

For example, as shown in Fig. 3C, when the markers 26A, 26B, and 26C form a circular shape, the central point of the circular shape is set as the marker feature point 27A, 27B, and 27C, and a behavior calculation unit described later. In 1832 the position is extracted.

Incidentally, the shapes of the markers 26A, 26B, and 26C can be not only circular but also regular polygons such as regular triangles and squares. In this case, the position of the marker feature point to be extracted can be set to the center point (center point) of the marker in the case of each regular polygon.

The shape of the marker is not particularly limited, and may be any shape that characterizes the marker and has one or a plurality of marker feature points whose positions can be uniquely extracted.

The imaging device 10 includes a retroreflective optical sensor 12, an illumination imaging unit 14, and a computer 18.

In the retroreflective optical sensor 12, a detection unit 1202 in which a sensor light emitting unit 1202A and a light receiving unit 1202B are integrated, and installed spaced apart from the detection unit 1202, light is transmitted from the sensor light emitting unit 1202A. The reflective member 1204 that reflects the detected sensing light LI and returns it to the light receiving unit 1202B, and the detection range between the detecting unit 1202 and the reflecting member 1204 based on the amount of light received by the light receiving unit 1202B ( FB) is provided with a detection unit 1206 that detects that an object has entered.

In the present embodiment, the detection range of the retroreflective optical sensor 12 is adjusted to the frontmost side of the hitting position P0. That is, the sensor light emitting unit 1202A is set so that the sensing light LI is directed in a direction orthogonal to the target movement direction T and passes through the side opposite to the target movement direction T with respect to the striking position P0. install The reflective member 1204 is a flat member, and is installed so that the flat surface follows a direction orthogonal to the light transmission direction of the sensing light LI.

In normal conditions, the sensing light LI transmitted from the sensor light emitting unit 1202A passes through the detection range FB, is reflected by the reflective member 1204, and returns to the light receiving unit 1202B as the reflected light LR. is returned On the other hand, when the operator I strikes the golf ball 20, the reflected light LR is blocked by the golf club head 2204 immediately before hitting the golf ball 20, and the amount of light received by the light receiver decreases.

Thereby, entry of an object (golf club head 2204) into the detection range FB can be detected.

Here, the sensing light LI transmitted from the sensor light projection unit is light in a wavelength band having a predetermined wavelength (hereinafter referred to as "first wavelength") as a peak, and is, for example, monochromatic laser light.

Fig. 4 is an explanatory diagram showing an example of the emission spectrum of monochromatic laser light.

In Fig. 4, the vertical axis is the relative emission intensity, and the horizontal axis is the wavelength. The monochromatic laser light shown in FIG. 4 is light distributed in an extremely narrow wavelength band with a wavelength (λm) as its peak. Such laser light is excellent in directivity and convergence, and is widely used as sensing light for optical sensors.

Further, a first filter 1210 (transmission filter) including the wavelength (first wavelength) of the sensing light LI in the transmission wavelength band is attached to the surface of the reflection member 1204 .

5 is an explanatory diagram showing an example of characteristics of a transmission filter.

In Fig. 5, the vertical axis is the transmittance, and the horizontal axis is the wavelength. FIG. 5 shows transmission characteristics of three types of filters F1 to F3 having transmission peak wavelengths near the peak wavelength λm of the monochromatic laser light shown in FIG. 4 .

Such a transmission filter transmits light well around the transmission peak wavelength, but the transmittance of light greatly deviating from the transmission peak wavelength is significantly lowered.

By matching the transmission peak wavelength of the first filter 1210 to the peak wavelength of the sensing light of the sensor light emitting unit 1202A, even when sensing is performed under strong lighting or sunlight, for example, it is difficult to be affected by such light. Thus, the detection accuracy of the retroreflective optical sensor 12 can be improved.

The reaction speed of the retroreflective optical sensor 12 is preferably 1 ms or less.

This is because, as will be described later, the retroreflective optical sensor 12 is used as a trigger for starting shooting of the camera 1406, and by using the retroreflective optical sensor 12 with a fast reaction speed, This is because it becomes possible to set the timing to a faster timing, and the shooting accuracy by the camera 1406 can be improved.

Illumination photographing unit 14 sets an area including the expected movement direction of the object (golf club head 2204) detected by retroreflective optical sensor 12 as imaging range FA, and retroreflective optical sensor A camera 1406 that starts shooting as a trigger upon detection of entry of an object (golf club head 2204) into the detection range in (12), and the shooting light is projected within the shooting range FA of the camera 1406. It is configured to include a light transmitting unit 1402 for shooting.

6 is a perspective view of the illumination capture unit 14, and FIG. 7 is a plan view of the illumination capture unit 14.

As shown in FIGS. 6 and 7 , the illumination photographing unit 14 includes a photographing light projection unit 1402, a half mirror 1404, a camera 1406, a reflection mirror 1408, and a base 1410. ), and the photographing light projection unit 1402, half mirror 1404, camera 1406, and reflection mirror 1408 are provided on the base 1410.

The photographing light projecting unit 1402 irradiates the photographing light LP onto the golf club head 2204, which is an object to be photographed. More specifically, the photographing light projection unit 1402 is arranged so as to irradiate light to the marker 26 of the golf club head 2204 through the half mirror 1404 .

In this embodiment, the photographing light projecting unit 1402 is constituted by, for example, an LED light source. In addition, the photographing light LP transmitted from the photographing light projector 1402 is light of a wavelength band having a peak at a second wavelength different from the first wavelength of the sensing light LI. As an example, there is a method in which the sensing light LI is a red laser light and the photographing light LP is a green LED light.

The half mirror 1404 is a mirror whose light transmittance and reflectance are substantially the same, and transmits half of the light incident on the reflection surface (boundary surface) of the half mirror 1404 and reflects the remaining half of the light.

The half mirror 1404 is provided so that the optical path of the light emitted from the photographing light projection unit 1402 forms an incident angle of approximately 45 degrees with respect to the reflection surface when viewed from a plane.

The camera 1406 includes an imaging lens 1409, an imaging device that captures an image of a subject guided by the imaging lens 1409, a signal processing unit that generates an image signal based on an imaging signal generated by the imaging device, and the like. It is configured, and still images are continuously photographed at predetermined photographing intervals.

When the camera 1406 is viewed from a plane, the optical axis of the imaging lens 1409 passes through the location where the optical path of the imaging light projector 1402 and the reflection surface of the half mirror 1404 intersect, and the imaging lens 1409 ) is provided so as to form an angle of approximately 90 degrees with the light path of the light projection unit 1402 for photographing. In this way, the camera 1406 captures the reflected light from the marker 26 passing through the half mirror 1404 .

Further, a second filter 1411 (transmission filter) containing the second wavelength, which is the peak wavelength of the imaging light LP, in the transmission wavelength band is attached to the surface of the imaging lens 1409, and the camera 1406 ) captures an image through the second filter 1411.

As described above, the transmission filter transmits light around the transmission peak wavelength well, but transmittance of light greatly deviating from the transmission peak wavelength is significantly lowered.

In improving the image quality of the captured image of the marker 26 by matching the peak wavelength of the second filter 1411 to the peak wavelength of the photographing light of the photographing light projection unit 1402, it is less susceptible to the influence of other light it becomes advantageous

In particular, in the photographing device 10, two types of light, the sensing light LI and the photographing light LP, are used, and there is a high possibility that the sensing light LI affects photographing.

For example, there is a possibility that the reflective member 1204 that reflects the sensing light LI may get into the photographing range FA. Even in this case, since the sensing light LI and the photographing light LP have different peak wavelengths and filters are provided in the reflecting member 1204 and the camera 1406, respectively, the reflecting member 1204 is longer than necessary. , it is possible to suppress bright images and effectively prevent interference with the photographing target.

In addition, in the photographing apparatus 10, the photographing light projection unit 1402 is disposed on the camera 1406 side instead of the reflective member 1204 side. That is, the photographing direction of the camera 1406 and the projection direction of the photographing light LP coincide. In such a case, the frequency with which surrounding objects reflect the camera 1406 (reflect the photographing light LP) increases due to the influence of the photographing light LP.

In the photographing device 10, since the wavelength of the photographing light LP is set within the transmission wavelength range of the second filter 1411 used in the camera 1406, unnecessary reflection from surrounding objects is suppressed and the photographing target is suppressed. It becomes possible to efficiently photograph only (a marker in this embodiment).

The reflection mirror 1408 has a total reflection surface that totally reflects light, and has functions such as adjustment of the reflection direction (angle) and position of the total reflection surface.

The reflecting mirror 1408 reflects the light emitted from the photographing light projection unit 1402 and reflected by the half mirror 1404 on a total reflection surface, and irradiates the light to the markers 26A, 26B, and 26C of the golf club head 2204, Further, the reflection direction and position of the total reflection surface are adjusted so that the reflected light from the markers 26A, 26B, and 26C is again reflected on the total reflection surface and guided to the camera 1406 through the half mirror 1404.

Here, as shown in FIG. 7 , in the illumination imaging unit 14, the imaging light projection unit 1402 emits continuous light toward the reflection surface of the half mirror 1404.

Half of the light irradiated to the reflective surface of the half mirror 1404 is transmitted light that passes through the position Shm on the reflective surface, and captures light that is irradiated to the markers 26A, 26B, and 26C installed on the golf club head 2204 to be measured. (LP1).

The reflected light from the markers 26A, 26B, and 26C (hereinafter referred to as marker reflected light LM1) goes to the reflection surface of the half mirror 1404.

The marker reflected light LM1 travels in the opposite direction to the imaging light LP1 from the imaging light emitting unit 1402, and the marker reflected light LM1 coincides with the imaging light LP1 from the imaging light emitting unit 1402 in an optical path. It is a reflected light. Accordingly, the emission angle of the light transmitted through the reflection surface of the half mirror 1404 and irradiated to the markers 26A, 26B, and 26C with the reflection surface of the half mirror 1404 and the marker reflected light LM1 are the half Incidence angles incident on the reflection surface of the mirror 1404 are approximately equal.

In this way, the marker reflected light LM1 is reflected on the reflection surface of the half mirror 1404 and guided to the imaging lens 1409 of the camera 1406 .

On the other hand, the remaining half of the light irradiated to the reflection surface of the half mirror 1404 is reflected from the reflection surface of the half mirror 1404 and enters the total reflection surface of the reflection mirror 1408.

Here, the total reflected light is irradiated as photographing light LP2 to the markers 26A, 26B, and 26C provided on the golf club head 2204 to be measured.

Reflected light from the markers 26A, 26B, and 26C (hereinafter, referred to as marker reflected light LM2) of the imaging light LP2 is totally reflected from the reflection mirror 1408 and irradiated to the markers 26A, 26B, and 26C. It overlaps with the optical path of the imaging light LP2 and faces the total reflection surface of the reflection mirror 1408.

Then, on the total reflection surface of the reflection mirror 1408, the marker reflected light LM2 is reflected toward the half mirror 1404 direction.

Here, the reflection angle (irradiation angle) formed by the reflection surface of the half mirror 1404 and the light reflected from the reflection surface of the half mirror 1404 and directed toward the reflection mirror 1408, and the marker reflected light LM2 are the half mirror ( 1404) is approximately equal to the angle of incidence incident on the reflective surface.

Furthermore, the marker reflected light LM2 transmitted through the half mirror 1404 is incident on the imaging lens of the camera 1406 together with the marker reflected light LM1 reflected by the half mirror 1404 .

Therefore, the images of the markers 26A, 26B, and 26C by the two reflected lights LM1 and LM2 from the markers 26A, 26B, and 26C substantially coincide with the optical paths of the photographing lights LP1 and LP2 irradiated from the other two directions. ) is captured by the camera 1406.

Incidentally, in this embodiment, light is radiated toward the golf club head 2204 from two different directions, and images of the golf club head 2204 are taken from the other two directions. ) may be used to capture images of the golf club head 2204 from different directions with two or more cameras.

In the case where it is only necessary to take an image of an object from one direction, a configuration excluding the reflecting mirror 1408 from the configuration shown in Figs. 6 and 7 may be used.

By using the half mirror 1404, the irradiation direction of the imaging light LP and the optical axis of the camera 1406 can be approximately aligned, and imaging can be performed at a position where the reflected light from the marker 26 is strongest.

In the case where it is only necessary to take an image of an object from one direction, instead of using the structure shown in Figs. It is okay to use it as a ring light. By using the ring illumination, the irradiation direction of the photographing light LP and the optical axis of the camera 1406 can be approximately aligned.

The computer 18 implements the shooting control unit 1830, the behavior calculation unit 1832, and the output unit 1834 by the CPU 1802 executing various programs.

8 is a block diagram showing the hardware configuration of the computer 18. As shown in FIG.

The computer 18 includes a CPU 1802, a ROM 1804, a RAM 1806, a hard disk unit 1808, a disk unit 1810, and a keyboard 1812 connected via interface circuits and bus lines (not shown). ), a mouse 1814, a display 1816, a printer 1818, an input/output interface 1820, and the like.

The ROM 1804 stores control programs and the like, and the RAM 1806 provides a working area.

The hard disk device 1808 stores a shooting control program for controlling the shooting timing of the camera 1406 and a dedicated program for measuring the behavior of the golf club head 2204 (behavior measurement program).

The disk device 1810 records and/or reproduces data from a recording medium such as a CD or DVD.

A keyboard 1812 and a mouse 1814 accept operation input by an operator.

The display 1816 is for displaying and outputting data, and the printer 1818 is for printing and outputting data, and the display 1816 and the printer 1818 output data.

The input/output interface 1820 exchanges data between the retroreflective optical sensor 12 and the illumination imaging unit 14 .

Incidentally, in Fig. 1, devices such as the computer 18 and the retroreflective optical sensor 12 are connected by wiring, but communication between these devices may be performed by wireless communication.

It is also possible to house the computer 18, the retroreflective optical sensor 12, and the illumination imaging unit 14 in an integrated unit. In this case, the keyboard 1812, the mouse 1814, and the like are appropriately changed according to the shape and use mode of the unit.

Next, the functional configuration of the computer 18 shown in Fig. 2 will be described.

When an object is detected within the detection range of the retroreflective optical sensor 12, the shooting controller 1830 outputs a control signal for starting shooting by the camera 1406 based on the detection timing.

With the detection timing as a reference, for example, when an object is detected, a control signal for starting shooting may be output immediately, or a control signal for starting shooting may be output at a timing that takes a certain delay time from the detection of an object. It is free to do

The behavior calculation unit 1832 calculates the behavior of the golf club head 2204 from the captured image of the camera 1406.

As an example of a specific procedure, first, the behavior calculation unit 1832 includes data (CAD data) D1 of the three-dimensional shape model of the golf club head 2204 and corresponding point positional information D2 in advance. information is memorized in advance.

More specifically, the data (CAD data) D1 of the 3D shape model constitutes a 3D shape model that reproduces the golf club head 2204, and the corresponding point position information D2 corresponds to three or more marker feature points. indicates the position of the corresponding point on the 3D shape model.

When the operator I makes a swing and the camera 1406 is photographed, the behavior calculation unit 1832 determines the marker feature points 27A, 27B and 27C), for example, the image data under predetermined processing conditions such that only the data values of the portions of the markers 26A, 26B, and 26C are distinguished from the data values of other portions. Brightness correction, contrast correction are performed, and further, gradation processing of a predetermined number of gradations is performed.

Next, the behavior calculation unit 1832 identifies each marker feature point 27A, 27B, 27C of each marker 26A, 26B, 26C, extracts the position in the three-dimensional coordinate system, and extracts the extracted angle Time-series data of the position and direction of the golf club head 2204 is calculated using the three-dimensional coordinate positions of the marker feature points.

More specifically, the part of the image of each marker 26A, 26B, 26C is identified from the gradation-processed image of a predetermined number of gradations, and its position is extracted.

Then, with respect to the images of each marker 26A, 26B, and 26C photographed from different directions (two directions) at the same time by the camera 1406, the positional coordinates of each marker feature point 27A, 27B, and 27C are determined. Then, using the position coordinates of the requested marker feature points 27A, 27B, and 27C, the position coordinates in the three-dimensional coordinate system in which the space through which the golf club head 2204 passes is determined are obtained, and each marker feature point 27A , 27B, 27C), the position in the three-dimensional coordinate system is extracted.

Since the photographing direction of the camera 1406 is known, the golf club head 2204 passes by obtaining information on two-dimensional position coordinates in the image photographed by the camera 1406. It is possible to obtain a position (3-dimensional position coordinates) in a predetermined 3-dimensional coordinate system representing the space to be played.

When an image of each marker 26A, 26B, 26C is captured at a predetermined time interval, for example, a time interval of 1/2000 second, each marker 26A, 26B every 1/2000 second , 26C) can obtain time-series data of the three-dimensional positional coordinates of each marker feature point (center point of the marker) 27A, 27B, 27C.

Furthermore, the behavior calculation unit 1832 calculates the position and direction of the golf club model simulating the golf club head 2204 as time-series data from the three-dimensional coordinates obtained.

Specifically, the behavior calculation unit 1832 retrieves the above-described data (CAD data) D1 of the three-dimensional shape model of the golf club head 2204 and the corresponding point positional information D2, and retrieves the three-dimensional shape model The position and direction of the 3D shape model are calculated so that the positional coordinates of the corresponding points on the image in the 3D coordinate system coincide with the 3D positional coordinates of the extracted marker feature points, and the positions and directions are calculated in the golf club head ( 2204, time series data of the position and direction of the golf club head 2204 is calculated.

Fig. 9A is a schematic diagram showing the time histories of movement of markers at time intervals of 1/2000 second determined from the three-dimensional positional coordinates of marker feature points, and Fig. 9B is a schematic diagram showing the time histories of movement of markers shown in Fig. 9A. It is a schematic diagram showing the behavior of the golf club head 2204 based on .

In the drawing, reference numeral 21 denotes the golf ball 20, and arrow U indicates the moving direction of the golf club head 2204 (direction in which the golf ball 21 is hit). Incidentally, Fig. 9B shows a state in which the golf club head 2204 is viewed from above.

9A, with a predetermined position as the origin, the axis parallel to the target movement direction T of the golf ball 21 is the X axis, the axis orthogonal to the X axis and parallel to the horizontal plane (ground) is the Y axis, and the axis perpendicular to the horizontal plane An XYZ coordinate system with the in axis as the Z axis is set in advance.

9A, three plot groups (M1, M2 to M10) representing the three markers 26A, 26B, and 26C are three plots extracted from markers photographed at a time interval of 1/2000 second. The positions of the two marker feature points 27A, 27B, and 27C are shown.

Furthermore, the movement of the golf club head 2204 is continuously displayed as shown in FIG. As a result, changes in the position of the golf club head 2204 and the direction of the face can be known.

Incidentally, the position of the golf club head 2204 is represented by positional coordinates at the center of the face surface 2206 as a representative position of the golf club head 2204 .

The direction of the face of the golf club head 2204 is indicated by a normal line passing through the center point of the face surface 2206.

The behavior calculation unit 1832 uses the time-series data of the position and direction of the golf club head 2204, that is, the time-series data of the markers 26A, 26B, and 26C, to perform golf immediately before hitting the golf ball 20. The left and right approach angles of the club head 2204 and the face angles at the time of hitting are obtained.

Fig. 10 is a plan view showing a state of the golf club head 2204 viewed from a plane immediately before hitting the golf ball 20, Fig. 11 is a schematic diagram explaining the definition of the left and right approach angle θ, Fig. 12 is a hit It is a schematic diagram explaining the hour face angle φ.

Incidentally, reference numeral C in FIGS. 11 and 12 shows the center position of the face surface 2206 of the golf club head 2204.

As shown in Figs. 10 and 11, a straight line obtained by projecting a target line connecting the center of the golf ball 20 and the target movement direction T onto the above plane is referred to as the reference line L0.

Here, the reference line L0 is parallel to the X-axis, and therefore, the above plane is parallel to the X-axis and Y-axis and orthogonal to the Z-axis.

A straight line obtained by projecting a tangent line of a movement trajectory of the golf club head 2204 immediately before striking the golf ball 20 onto a plane parallel to the horizontal plane is referred to as a first straight line L1.

The left and right approach angle θ is an angle between the reference line L0 and the first straight line L1.

As shown in Fig. 12, the normal line passing through the center point C of the face surface 2206 of the golf club head 2204 immediately before hitting (impacting) the golf ball 20 is defined as the above plane. Let the projected straight line be the 2nd straight line L2.

The face angle φ at the time of hitting is an angle formed by the reference line L0 and the second straight line L2.

In addition, since the position of the golf ball 20 in the XYZ coordinate system is known, the position of the center point C of the face surface 2206 and the center point of the golf ball 20 at the time of hitting the golf ball 20 The position of the spot on the face surface 2206 can be calculated from the relationship of .

In addition, the face speed can also be easily calculated if the shooting interval and the ratio of the distance on the image to the distance on the real space are known.

In addition, when the golf ball 20 is not captured in the captured image, it is necessary to specify which of the plurality of positional coordinates (see Fig. 9) is the positional coordinate immediately before impact.

Here, since the movement speed of the golf club head 2204 decreases immediately after hitting the golf ball 20, time-series data of positional coordinates representing the movement of the center position C of the face surface 2206 at regular time intervals In , the movement distance of the positional coordinates immediately before hitting and immediately after hitting is rapidly shortened compared to the movement distance at each previous point in time.

Using this, as shown in FIG. 11 , from time-series data representing the positional coordinates of the golf club head 2204, two points at which the moving distance is rapidly shortened compared to each previous point in time are extracted, and during that period It is specified that the golf ball was hit. Then, the positional coordinates (central position C) of the golf club head 2204 immediately before hitting the golf ball 20 and the positional coordinates one previous in the time series data can be specified.

Then, the first straight line L1 connecting these two positional coordinates becomes a tangential line of the movement trajectory of the golf club head 2204.

Similarly, using the above, as shown in FIG. 12 , from time-series data representing the normal line indicating the direction of the golf club head 2204, the golf club head just before hitting the golf ball 20 ( The normal of the face surface 2206 of 2204 can be specified.

The output unit 1834 outputs the behavior of the golf club head 2204 calculated by the behavior calculation unit 1832.

There are various types of outputs of the output unit 1834. For example, display on the display 1816, printing on a print medium by the printer 1818, storage on a disk storage medium through the disk device 1810, and external device through the input/output interface 1820. and the output to .

13 is an explanatory diagram showing an example of output to the display 1816 of the behavior of the golf club head 2204.

On the display screen 50 of FIG. 13, a hitting point position diagram 5002 for the golf club head 2204, a view 5004 of the movement trajectory of the center point C of the golf club head 2204 viewed from the side, and a golf club A drawing 5006 viewed from the plane of the movement trajectory of the center point C of the head 2204, numerical information 5008 such as face speed and entry angle, an animation diagram 5010 of the movement trajectory of the golf club head 2204, etc. is printed out.

In this way, the behavior of the golf club head 2204 can be calculated with high accuracy using the image captured by the photographing device 10. In particular, since the three-dimensional space position of the golf club head 2204 immediately before impact can be obtained continuously, observation from an angle that cannot be captured by conventional camera photography (eg, high-speed video photography) is possible. Thus, the convenience of the operator I can be improved. In more detail, it becomes advantageous when an operator analyzes his own swing and aims at improvement of a swing motion, for example.

Incidentally, in the present embodiment, the imaging device 10 according to the present invention is used for behavior analysis of the golf club head 2204, but the application of the present invention is not limited to this. For example, when you just want to take a picture of a moving object, the camera 1406 transmits the shooting light LP to the shooting range, and the retroreflective optical sensor 12 shoots a shooting target or an object other than this. The present invention can be applied to a photographing device that detects and triggers shooting start.

As described above, the photographing device 10 according to the embodiment is the photographing device 10 having the camera 1406 that starts photographing as a trigger when an object is detected by the retroreflective optical sensor 12. , The first filter 1210 including the first wavelength in the transmission wavelength band in the reflection member 1204, the second filter 1411 in the camera 1406 including the second wavelength different from the first wavelength in the transmission wavelength band is attached Since the reflective member 1204 and the camera 1406 selectively transmit light of different wavelengths by the respective filters 1210 and 1411, when the reflective member 1204 is located within the photographing range of the camera 1406 Even so, it is advantageous in preventing the reflective member 1204 from being printed more brightly than necessary.

Further, in the photographing device 10, since the sensing light LI transmitted from the sensor light emitting unit 1202A is light in a wavelength band having the first wavelength as a peak, the reflection efficiency of the reflective member 1204 is increased. , it becomes advantageous in reliably detecting the entry of an object. In addition, even when ambient lighting or sunlight is strong, it is advantageous to reliably identify the light and the sensing light LI.

In addition, the photographing device 10 includes a photographing light projection unit 1402 that transmits the photographing light LP, and a marker 26 for reflecting the photographing light on the surface of the golf club head 2204, which is an object to be photographed. is attached, it is advantageous in specifying the position of a predetermined location on the golf club head 2204 on an image. In particular, when continuously photographing the moving golf club head 2204, it is advantageous to easily understand the behavior of the golf club head 2204.

In addition, in the photographing device 10, since the photographing light LP projected from the photographing light projection unit 1402 is light in a wavelength band having the second wavelength as a peak, the intensity of light received by the camera 1406 is of a high wavelength. Light can be irradiated to an object to be photographed, which is advantageous for clearly photographing the object. Further, even when ambient lighting or sunlight is strong, it is advantageous to reliably identify the light and the photographing light LP.

In addition, in the photographing device 10, a flat reflective member 1204 is provided facing the direction in which the retroreflective optical sensor 12 and the camera 1406 are installed, and a light projector 1402 for photographing is provided with the camera 1406 ) is projected from the installation position side of the reflective member 1204, that is, even when the photographing light LP hits the reflective member 1204, the reflection of the photographing light LP from the reflective member 1204 is suppressed. It is possible to prevent the reflective member 1204 from being stamped.

In addition, the photographing device 10 includes a half mirror 1404 on the optical path of the photographing light LP, and the camera 1406 captures light reflected from the marker 26 passing through the half mirror 1404. Therefore, the optical path of the photographing light LP and the optical axis of the camera 1406 substantially coincide. Since the intensity of reflected light from the marker 26 is the strongest in the direction of incidence, it is advantageous in capturing an image of the marker 26 clearly.

10... … photographing device, 12 . . . … Retro-reflective optical sensor, 1202… … detection unit, 1202 A... … Light emitter for sensor, 1202 B… … Light receiver, 1204... … reflective member, 1206 . . . … detection unit, 1210 . . . … 1st filter, 14... … Lighting photographing unit, 1402 . . . … Light emitter for shooting, 1404 . . . … Half mirror, 1406... … Camera, 1408... … reflective mirror, 1409 . . . … Shooting lens, 1410... … Base, 1411... … 2nd filter, 18... … Computer, 1830... … Shooting control unit, 1832 . . . … Behavioral Calculation Unit, 1834 . . . … Output unit, 20 . . . … golf ball, 22 . . . … Golf Club, 2202... … shaft, 2204... … Golf Club Heads, 26A, 26B, 26C... … Marker, LI... … Sensing light, LP… … photography enthusiast.

Claims (13)

A detection unit in which a light emitting unit for a sensor and a light receiving unit are integrally installed, separated from the detection unit, and reflecting sensing light transmitted from the light emitting unit for a sensor A retroreflective type comprising a reflective member for receiving light and returning it to the light receiving unit, and a detecting unit for detecting that an object has entered a detection range between the detecting unit and the reflective member based on the amount of light received by the light receiving unit. an optical sensor,
A region including the expected movement direction of the object is set as a shooting range, and the detection of entry of the object into the detection range by the retroreflective optical sensor is used as a trigger to start shooting in the shooting range. Illumination photographing unit including a camera and a photographing light emitting unit for projecting photographing light into the photographing range
including,
A marker reflecting the photographing light is pasted on the surface of the object,
A first filter including a first wavelength in a transmission wavelength band is attached to a surface of the reflection member, and a second filter including a second wavelength different from the first wavelength in a transmission wavelength band is attached to the camera. is attached, the camera captures an image through the second filter,
The sensing light is light of a wavelength band having the first wavelength as a peak,
The photographing light is light in a wavelength band having the second wavelength as a peak,
The retroreflective optical sensor and the camera are installed side by side in a predetermined direction,
The reflective member is a plate-like member, and is installed so that a flat surface follows the predetermined direction on a line segment orthogonal to the predetermined direction,
The photographing light projection unit transmits the photographing light from the side of the installation position of the camera.
A photographing device characterized in that According to claim 1,
Further comprising a half mirror disposed on an optical path of the imaging light and facing at 45° with respect to the imaging light;
The camera photographs the reflected light from the marker passing through the half mirror while facing a photographing direction in a direction orthogonal to the projection direction of the photographing light.
A photographing device characterized in that According to claim 1,
The photographing light emitting unit is a ring light installed around the lens of the camera,
A photographing device characterized in that In the object behavior calculation device using the photographing device according to claim 1,
The camera continuously photographs the marker installed on the surface of the object from at least two or more different directions;
Data of the 3D shape model of the object and corresponding point positional information indicating the position of a corresponding point on the 3D shape model corresponding to a marker feature point characterizing the marker are stored in advance, and the marker feature point is obtained from the marker in the captured image. The behavior of the object is reproduced by extracting the position of the corresponding point and calculating the position and direction of the 3D shape model so that the position of the corresponding point matches the position in the 3D coordinate system of the marker feature point extracted from the image. Equipped with a behavior calculation unit for calculating time-series data of the position and direction of a three-dimensional shape model,
An apparatus for calculating the behavior of an object, characterized in that. According to claim 4,
The markers are installed on at least three or more places on the surface of the object, and the center point of the marker is extracted as a marker feature point.
An apparatus for calculating the behavior of an object, characterized in that. According to claim 5,
The object is a wood-based golf club head,
The marker is installed on the upper surface of the crown part in contact with the face surface of the golf club head.
An apparatus for calculating the behavior of an object, characterized in that. According to claim 5,
The object is an iron-based golf club head,
The marker is installed on an upper surface and a hosel portion in contact with the face surface of the golf club head.
An apparatus for calculating the behavior of an object, characterized in that. According to claim 6,
The behavior calculation unit, using the time-series data, among the left and right approach angles of the golf club head immediately before hitting the golf ball, the face angle at the time of hitting the golf ball, the position of the hitting point on the face surface, and the face speed at the time of hitting , yielding at least one more,
An apparatus for calculating the behavior of an object, characterized in that. According to claim 8,
When the golf ball is not captured in the captured image, the behavior calculation unit extracts two points at which the moving distance is rapidly shortened compared to each previous point in time from time-series data of the position of the golf club head 2204. and specifying that the golf ball was hit during that period,
An apparatus for calculating the behavior of an object, characterized in that. delete delete delete delete

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