JP2001145718A - Ball trajectory measuring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To display a trajectory of a ball by a single continuous line, and automatically measure the height of the real highest point, carry, deflection, etc., of it. SOLUTION: CCD cameras 21-1-3 for detecting the highest point, and CCD cameras 22-1-5 for detecting a dropped point are installed in a straight direction to a straight line L connecting a target dropped point position P1 to a striking position P2, and a CCD camera 23 for detecting deflection is installed on the same line with the straight line L. Using the CCD cameras 21-1-3, 22-1-5, and 23, images of a ball during run are taken, the images are processed to detect the highest point and the dropped point, and the height of the real highest point, carry, deflection, etc., are determined by a position calibration and operation process.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a ball trajectory measuring device, and more particularly, to displaying the trajectory of a golf ball with one continuous line and automatically measuring the actual flight distance and deviation from a target position. To be able to measure,
In addition to golf balls, it is also used for measurement of balls in ball games such as tennis and baseball.

[0002]

2. Description of the Related Art Conventionally, ball trajectories and the like have been measured using CC.
There is an image processing apparatus in which an image photographed by using a D camera is taken into an image processing device and arithmetic processing is performed to display a ball trajectory on a monitor.

An example using the above-mentioned CCD camera is disclosed in JP-A-6-323852.
Using a D camera, an image captured by the CCD camera is taken into an image processing device, subjected to arithmetic processing, and only a changed portion is written to a multilayer memory to generate a multilayer image, and this multilayer image is displayed on a monitor. There has been proposed a method of measuring the trajectory (trajectory) of a ball by displaying it.

[0004]

SUMMARY OF THE INVENTION The above measuring method uses a CCD camera equipped with a shutter controller to analyze the flight state of a golf ball in correspondence with time.
The flight condition of a golf ball is analyzed as a function of time. That is, by opening and closing the shutter at predetermined time intervals by the shutter controller, the shutters shown in FIGS.
The image of the ball trajectory shown in FIG.

[0005] In this way, the position of the ball corresponding to each time can be measured. However, since the ball image is located at a distant point, as shown in FIG. When an attempt is made to automatically detect the highest point of the trajectory by the black-and-white reversal determination by horizontal scanning, there is a problem that the highest point cannot be easily detected automatically because the points are located far apart. Also, when determining the highest point on the monitor, the actual highest point h (shown by a two-dot chain line in the figure) may exist between the images of each ball, so that the position of the highest point can be grasped reliably. There is a problem that cannot be done. In the above description, a similar problem occurs in detecting a falling point other than the highest point. Therefore, since the highest point and the falling point cannot be accurately detected, the measurement of the flight distance of the ball or the like needs to be performed by the measurer by visual observation or the like, which is troublesome and has a problem in the measurement accuracy and the like.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problem, and does not analyze the flight state of a ball, particularly a golf ball, in response to time. It is an object of the present invention to be able to display and accurately analyze a trajectory, and to automatically measure the height of an actual highest point, a flight distance, a deviation from a target position, and the like.

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention is directed to a method of mounting at least one flying ball in a direction orthogonal to a straight line connecting a hitting position and a target position of a falling point and at the highest expected position of a flying ball. One or more CCD cameras for detecting the highest point and at least one or more CCD cameras for detecting the falling point installed in a direction orthogonal to the straight line and near the target position of the falling point.
A CD camera, an image storage medium individually connected to each of the CCD cameras, an image processing apparatus including an arithmetic processing unit connected to the image storage medium, and a control connected to control the image processing apparatus Device, and a monitor connected to the image processing device, and continuously receives a ball image from each of the CCD cameras to the image storage medium for a time designated by the control device after receiving a trigger signal for starting measurement. The frame memory taken in the image storage medium is taken in as a frame memory, and a difference peak hold operation is sequentially performed by the above-described arithmetic processing device to hold only the peak of the pixel in each frame memory, so that only the trajectory of the ball is obtained. A ball trajectory configured to generate an image remaining as a continuous single line and display the image on the monitor. It provides a measurement device.

As described above, by arranging a plurality of CCD cameras for detecting the highest point and for detecting the drop point at the optimum positions, the ball trajectories near the highest point and the drop point can be captured from the lateral direction. By performing various detection processes and the like from the trajectory image, the highest point and the falling point can be detected.

The present invention also provides at least one or more displacement detecting CCD cameras installed in the same direction as a straight line connecting the hitting position and the drop point target position toward the drop point target position;
An image storage medium individually connected to the CCD camera;
An image processing device including an arithmetic processing device connected to the image storage medium, a control device connected to control the image processing device, and a monitor connected to the image processing device; The ball image is continuously captured from the CCD camera into the image storage medium as the frame memory for a time designated by the control device after receiving the trigger signal of the above, and the frame memory captured in the image storage medium is sequentially processed by the arithmetic processing unit. By performing the difference peak hold calculation in the above, by holding only the peak of the pixel of each frame memory, an image in which only the ball trajectory remains as a continuous line is generated, and the image is displayed on the monitor. A ball trajectory measuring device configured to display the ball trajectory is provided. Thus, the C for detecting the displacement is
When the CD camera is installed at a required position, the ball trajectory can be grasped from the rear or the like, and a drop point can be detected based on the trajectory image to detect a deviation from the drop point target position.

[0010] Further, the present invention provides at least one or more CCD cameras for detecting the highest point, which are installed in the direction perpendicular to the straight line connecting the hitting position and the target position of the falling point and at the expected highest position of the flying ball, At least one CCD camera for detecting a drop point installed in a direction orthogonal to the straight line and near the target position of the drop point, and at least one or more CCD cameras installed in the same direction as the straight line toward the target position of the drop point A displacement detection CCD camera, an image storage medium individually connected to each of the CCD cameras, an image processing apparatus including an arithmetic processing unit connected to the image storage medium, and a connection for controlling the image processing apparatus Control device, and a monitor connected to the image processing device, and receives the trigger signal for starting the measurement and, after receiving the trigger signal for starting the measurement, controls the ball image for each of the above-mentioned times. A frame memory is continuously loaded from the CD camera into the image storage medium as described above, and the frame memory loaded into the image storage medium is sequentially subjected to a difference peak hold operation by the arithmetic processing unit to hold only the pixel peak of each frame memory. As a result, an image in which only the trajectory of the ball remains as a continuous single line is generated, and the ball trajectory measuring device is configured to display the image on the monitor.

As described above, a plurality of CCs for detecting the highest point, detecting the falling point, and detecting the deviation in the flight direction are used.
If all the D cameras are provided and each camera is installed at an optimal position according to the detection purpose, images at the highest point, the falling point, etc. of the hit ball can be captured at once. The ball image captured by each camera is appropriately processed by the image processing device, and can be displayed on the monitor as a single continuous ball trajectory on the monitor.
Deviations can be clearly confirmed. The image processing device includes at least the same number of image storage media and arithmetic processing devices as the number of connected cameras, and these image storage media and the arithmetic processing device can be retrofitted. Can also respond.

Specifically, an analog image signal of a ball photographed by each CCD camera is converted into an analog image signal of A in the image processing apparatus.
1 / 30s as digital signal via / D converter
The image is input to the image storage medium at a frame rate of ec. The image signal continuously taken into the image storage medium is output to the arithmetic processing unit, and the arithmetic processing unit performs the difference peak hold operation between the frame memories in order, and finds the changed peak among the pixels of each frame memory. (In the case of a golf ball, the reflected light is white, so the whitest part is determined by the shading determination.) Only the pixel memory is left, and the memory such as the unchanged background is erased. By performing this processing from the time of hitting the golf ball to the time of stopping the ball,
One image is generated in which only the trajectory of the ball remains as one continuous line. The digital signal of one image generated by this arithmetic processing unit is output to a monitor as an analog signal via a D / A converter, and the trajectory of the generated ball composed of one continuous line is generated in real time. Can be observed with high accuracy.

[0013] Further, in order to generate a trigger signal as a measurement start signal, a laser detecting device is installed on the front side or the rear side close to the hitting position, and the laser detecting device is connected to the control device. When the device detects the passage of a hit object (golf club) immediately before a hit or the passing of a hit golf ball, a detection signal is output to the control device as a trigger signal. The control device includes a host computer, and a trajectory measurement control device interposed between the host computer and the image processing device, and a trigger signal from the laser detection device is input to the host computer. A command to start trajectory measurement is output from the host computer to the control device. In response to this command, the control device outputs an instruction signal to start capturing image signals from each CCD camera to which the image processing device is connected.
Further, a predetermined time (6 seconds to 10 seconds) from the start of hitting the ball to the end of measurement is input to the host computer in advance, and when the predetermined time has elapsed, a stop command is output from the host computer to the control device. Then, the control device outputs a signal to the image processing device to stop capturing the image. As described above, when the trajectory measurement of the ball is automatically set from the start to the end, the trajectory can be accurately measured.

If the CCD camera is provided with an automatic iris function, the level of the image signal of the ball portion to be watched is automatically adjusted even if the contrast of the light changes over a wide range at the time of measurement. Images can be obtained. In addition, if a color CCD camera is used, it is necessary to increase the memory capacity of the image storage medium. Therefore, it is preferable to use a monochrome CCD camera.

The number of the CCD cameras for detecting the highest point is 3 or more and 7 or less, and each camera is installed at an interval of 13 m to 15 m so as to look up at a height above the ground. Furthermore, it is preferable that the camera closest to the hitting position of the CCD camera for detecting the highest point is installed at a position 45 m to 90 m away from the hitting position. In this way, when three or more and seven or less CCD cameras are installed at the above-described intervals, the range in which the ball trajectory can be captured without interruption is widened, and the ball trajectory can be reliably captured even if the position of the highest point moves forward and backward. In addition, when the CCD camera closest to the hitting position is set at an installation position that is 45 m to 90 m away from the hitting position, the highest point is surely captured even for the flight of the ball by various golf clubs in the measurement of the golf ball. be able to. The number of CCD cameras for detecting the highest point is
The number of cameras is not limited to the above, and the range in which the highest point can be more reliably captured may be expanded by using more than seven cameras.

Further, the above-mentioned CCD camera for detecting a drop point includes:
5 or more and 15 or less, and each camera from 13m to 15
It is installed so as to look down at a height of 1 m or more and 10 m or less from the ground with an interval of m. Further, it is preferable that each of the CCD cameras for detecting the drop point is separately installed on the strike position side and the opposite side to the strike position with the strike position and the fall point target position as centers. In general, the width of the drop point is wider than the width of the highest point, so if the above number of CCD cameras are installed at the above intervals, the ball trajectory before and after the drop point can be captured continuously, and the drop point can be detected reliably. it can. Also, since the ball trajectory near the drop point is at a height near the ground, the above C
By setting the installation height of the CD camera to the above numerical value and installing the CD camera in a direction looking down on the camera direction, the ball trajectory can be captured more reliably. Furthermore, if a plurality of cameras are distributed and installed as described above, it is possible to cope with the case where the ball falls before and after. It is to be noted that the number of the drop point detecting CCD cameras other than the above numerical values can be applied.

Each of the CCD cameras for detecting the highest point and the drop point is installed at a position 20 to 40 m away from a straight line connecting the hitting position and the target position of the drop point. If the CCD camera is installed at a distance of the above numerical value, the ball trajectory can be properly captured from the lateral direction.

Further, the displacement detecting CCD camera is arranged so as to be looked down at a height of 1 m or more and 10 m or less from the ground. Further, one of the above-mentioned CCD cameras is located on the same line as the straight line connecting the hitting position and the target position of the drop point, from a position in front of the hitting position by a length of 10% of the distance between the hitting position and the target position of the drop point. It is preferable that the sensor is installed in a range from the hit position to a position behind by a length of 5% of the distance. As mentioned above, when you set the CCD camera,
Even when the flight direction is deviated, the ball trajectory can be clearly grasped and a deviation can be detected. In addition, the above CCD
In addition to the above range, the camera may be installed so that the camera is directed in the direction of the drop point target position from the side beyond the drop point target position on the same straight line as the straight line. In addition, to capture the ball image even when the flight direction deviates greatly,
A plurality of cameras from about five to about five may be used.

On the other hand, with respect to the image captured by the CCD camera for detecting the highest point and generated by the image processing device as a continuous line with only the trajectory of the ball, the image is horizontally moved from one of the upper and lower sides on the monitor to the other. The highest point of the trajectory is detected by performing a black-and-white reversal determination in scanning or in a vertical scanning direction from one of the left and right to the other, and the height of the highest point and the distance from the impact position to the highest point. Is automatically measured.

As described above, the trajectory of the ball reaching the highest point can be reliably photographed from the lateral direction by each CCD camera for detecting the highest point, and the highest point can be detected. For this detection, for example, a maximum point determination parameter is set for the trajectory captured by each camera and input to the arithmetic processing unit, and the scanning line is set to a value equal to or greater than the parameter set in the horizontal scanning white / black inversion determination. Is separated, it is determined to be the highest point of the trajectory. Since the trajectory of the ball displayed on the monitor is a continuous line, if the black and white reversal judgment is performed by horizontal scanning sequentially from the lowest position to the top, it will be less than the above parameter until the highest point is reached. When the highest point is reached, the value becomes equal to or higher than the above parameter, and thus the highest point of the trajectory can be accurately detected. In the case where horizontal scanning is used, the detection can be performed even when the black-and-white inversion determination is performed downward from the highest position, and the detection can also be performed when the black-and-white inversion determination is sequentially performed in the horizontal direction using the vertical scanning.

When the highest point of the trajectory can be detected as described above, various setting values such as the installation distance from the hitting position of the CCD camera and the like and the inclination angle of the camera direction are input to the control device in advance, and the screen is displayed. In order to convert the relative relationship between the upper position and the actual position, position calibration (position calibration) is performed in advance by a controller or the like, and the maximum point on the screen is actually how high. , And how long the horizontal flight distance to the highest point is, can be appropriately derived by arithmetic processing.

Also, an image in which the trajectory of a ball in the vicinity of falling on the ground is captured as a continuous line by the image processing apparatus captured by the CCD camera for detecting a falling point and from one of upper and lower positions on a monitor. The horizontal scanning toward the other, or the vertical scanning toward the other from either the left or right, performs a black-and-white reversal determination in order to detect the point at which the ball falls to the ground until the ball falls from the hitting position to the ground. The distance is automatically measured.

As described above, based on the image captured by the CCD camera for detecting a drop point, if the black / white inversion is determined by horizontal or vertical scanning in the same manner as described above, the drop point can be accurately detected, and the control device is previously provided with By performing calibration of these positions together with the input numerical values of the camera position and the like by a control device or the like, the flight distance from the strike point can be calculated by arithmetic processing.

Further, an image in which the trajectory of a ball in the vicinity of falling to the ground is captured as a continuous line by the image processing device captured by the CCD camera for detecting a shift is compared with one of the upper and lower positions on the monitor from the other. Automatically measures the distance deviated from the target direction by detecting the drop point of the ball on the ground by performing a black-and-white reversal determination in the horizontal scan toward, or in the vertical scan from the left or right to the other in order. Configuration.

The ball image captured by the displacement detecting CCD camera can also be displayed on a monitor by generating a single line trajectory image. If the ball flies straight, a single vertical line is displayed on the monitor. If the ball flies off the target position in either the left or right direction, a curve displaced to the left or right can be displayed. Based on the ball trajectory, a drop point can be detected on the screen by performing a black-and-white inversion determination in horizontal scanning or vertical scanning in order, and by calibrating the position, the distance actually shifted from the drop point target position Can be calculated.

As described above, by providing a CCD camera at each of the three positions, the height of the highest point, the distance to the highest point,
Since the flight distance and the shifted distance can be automatically calculated, the present apparatus can be suitably used for measurement of various balls and the like. If cameras are not installed in all three positions,
Only objects that can be measured from the installation position are detected, for example,
If only the CCD camera for detecting the falling point is installed, only the flight distance can be measured.

[0027]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the ball trajectory measuring apparatus according to the present invention will be described below with reference to the drawings. In the present embodiment, the trajectory of the golf ball is measured.

FIG. 1 shows a ball trajectory measuring device 1.
The installation position of each CCD camera is shown in a state where it is looked down from directly above. The highest point detecting CCD cameras 21-1 to 21-3 for capturing the ball trajectory of the highest point, and the falling point detecting CCD cameras 22-1 to 22-5 for capturing the ball trajectory of the falling point include a drop point target position P1 and a hitting position P2. Are respectively installed in the direction orthogonal to the straight line L connecting. Further, the displacement detecting CCD camera 23 for catching the displacement of the ball is installed on the same line as the straight line L.

The CCD camera 21-1 for detecting the highest point
3 is installed so that the ball trajectory is captured from the lateral direction, and at least one is set so that the highest point can be captured even before and after.
It is preferable to use more than three units and to use three to seven units in order to more reliably catch them. In this embodiment, three units are used. Specifically, the CCD camera 21-1 on the side closest to the strike position P2 is moved from the strike position P2 to a straight line L.
Distance x1 in the direction (X direction in the figure) is from 45 m to 90 m
It is set at an appropriate position within a certain distance in consideration of the fact that the position of the highest point moves back and forth depending on the type of club that hits the golf ball. The interval between each camera is 1
The distance is set to 3 m to 15 m, and the distance y1 in the direction perpendicular to the straight line L (the Y direction in the drawing) is set to a position about 20 m to 40 m apart, and is set to 30 m in the present embodiment.

The CCD camera 21-1 for detecting the highest point
As shown in FIG. 2 (A), the installation height of the camera 3 is set at a position equal to or higher than the height of the ground, and the camera is also installed at an angle to look up. The distance x1 and the distance y
1 and the distance between the cameras are not necessarily limited to the range of the above numerical values. For example, the distance y1 and the distance between the cameras are relative, and if the distance y1 becomes longer, the distance between the cameras becomes larger. Even if the interval is increased, the ball trajectory near the highest point can be continuously captured, and if the wide angle of the camera lens to be used is different, the optimum distance may be set as appropriate. Further, when it is desired to further improve the detection accuracy, the number of cameras may be increased from the above-mentioned number.

On the other hand, the drop point detecting CCD camera 22-1
In the same manner as described above, at least one of the five to five is used in order to reliably capture the ball trajectory from the lateral direction even if the falling point is before and after. It is preferable to use about 15 units, and in this embodiment, 5 units are used. The installation positions are two at the impact position P2 side and two at the opposite side to the impact position P2, with the required interval between them, centering on the drop point target position P1. The distance between the cameras and the distance y2 from the straight line L are set in the same manner as the CCD cameras 21-1 to 21-3 for detecting the highest point.

The drop point detecting CCD camera 22
As shown in FIG. 2 (B), in order to capture a low ball trajectory near the falling point, the installation height of -1 to 5 is set to a height h according to the situation of the installation location within a range of 1 m to 10 m below the ground.
1 is set, and it is particularly preferable to set the range to 4 m to 7 m. Further, the camera direction is inclined in a direction of looking down in accordance with the vicinity of the straight line L. Note that the distance y1, the interval between the cameras, and the number of cameras are not necessarily limited to the above numerical values, and may be appropriately increased or decreased in consideration of the measurement situation and the like.

Further, the displacement detection CCD camera 23
At least one device is used to catch the displacement of the ball from behind, and one device is used in the present embodiment. The installation position is located on the same line as the straight line L (including the extension line) in front of the hitting position P2 by a length of 10% of the distance D between the dropping point target position P1 and the hitting position P2 in order to reliably catch the dropping point. Impact position P2 for 5% of the distance D from the position
It is preferable to install in the range up to the rear position,
In the present embodiment, as shown in FIG. 1, it is installed behind the impact position P2. In addition, as shown in FIG. 2 (C), the installation height is 1 m or more and 10 m above the ground so that the displacement detection CCD camera 23 also catches the ball trajectory near the drop point.
The camera is installed at the following height h2 and at an angle to look down at the camera near the drop point.

The displacement detecting CCD camera 23
When the width of the deviation is large, or when it is desired to detect the deviation more accurately, three to five cameras are used, and the cameras are installed at required intervals on the left and right of the camera on the same line as the straight line L. You may do so. Also, the installation position is outside the above range, as shown in FIG.
The target point P1 at the position opposite to the impact position P2.
The CCD camera 23 ′ may be installed with the camera facing the camera.

The above-described CCD cameras 21-1-3, 22-1-5, and 23 for detecting the highest point, detecting the drop point, and detecting the displacement.
In the present embodiment, a monochrome type having an automatic aperture function and having a vertical / horizontal pixel count of 512 × 480 and a frame rate of 1/30 sec is used. By attaching the automatic aperture function, even if the sun suddenly comes out or becomes cloudy during measurement and the light contrast changes, the optimal image data can be obtained by automatically adjusting the light level. I have.

Each of the CCD cameras 21-1 to 21-3,
3 are connected to the image processing device 2 of the ball trajectory measuring device 1 as shown in FIG. The image processing device 2 includes the same number of A / D converters 7, image storage media 8 and arithmetic processing devices 9 as the number of cameras to be connected, and each of the CCD cameras 21-1 to 21-3 via the A / D converter 7. , 22-1 to 5 and 23 are connected, and the taken image data is sent to the image storage medium 8 and the arithmetic processing unit 9 in order. These are A / D
The converter 7, the image storage medium 8, and the arithmetic processing unit 9 can be appropriately increased or decreased according to the number of connected cameras.
It is also possible to make additional connections later. Further, the image processing apparatus 2 further includes a D / A converter 10 connected to the image memory 12 and the monitor 4.

On the other hand, the control device 3 connected to the image processing device 2 comprises a host computer 5 and a control device 6 for trajectory measurement. The control device 6 is provided between the host computer 5 and the image processing device 2. And outputs a command from the host computer 5 to the image processing apparatus 2. Further, a signal from the image processing device 2 is input to the host computer 5 via the control device 6.

Further, the host computer 5 has:
At a position in front of the hitting position P2 in the hitting direction (one centimeter ahead of the hitting position P2), the installed laser detecting device 1
1 are connected. The laser detection device 11 detects that the golf ball has been hit. When the hit is detected, a detection signal is output from the laser detection device 11 to the host computer 5, and the host computer 5 receives the signal and the control device receives the detection signal. 6, the control device 6 receives the command and outputs a trigger signal for starting the measurement to the image processing device 2, and outputs a trigger signal to each CC.
The capture of image signals is started by the D cameras 21-1 to 21-3, 22-1 to 5 and 23. Note that the laser detection device 11 may be arranged behind the hitting position to detect the passage of a moving object (such as a golf club) immediately before hitting.

The host computer 5 sends a predetermined time (6 seconds to 10 seconds) from the start of the ball hit to the end of the measurement.
) Is input in advance, and when a predetermined time has elapsed, a stop command is output from the host computer 5 to the control device 6, and the control device 6 outputs a signal to the image processing device 2 to stop image capture. . Further, the host computer 5 has the CCD camera 2
1-1-3, 22-1-5, 23 each set position distance x
Numerical values of 1, y1, y2, etc., the inclination angle and installation height in each camera direction, and the distance D between the target position P1 and the hitting position P2
1 and the like are input in advance, and the position calibration calculation is performed so that the coordinates displayed on the monitor 4 correspond to the actual positions. Therefore, the host computer 5 can store the data of the points whose positions have been calibrated. The monitor 4 switches and displays the image of the highest point, the image of the falling point, and the image of the deviation as appropriate. It is also possible to divide the screen and display the images at the same time. In the case where the number of cameras to be connected is large, for example, a plurality of image processing apparatuses 2 and control apparatuses 3 are prepared and connected to each other, and the number of cameras connected to the image processing apparatus 2 is appropriately allocated to image from each camera. The arithmetic processing may be performed efficiently by performing the parallel processing.

The measuring procedure using the ball trajectory measuring device will be described below. As shown in FIG.
When the golf ball B is hit by the golf ball 2 and jumps out, it is detected by the laser detecting device 11 and a measurement start signal is input to the image processing device 2 of the trajectory measuring device 1. Cameras 21-1 to 3-1, 2
1 through 2-1 to 5 and 23 through each A / D converter 7
The frame memory is fetched continuously at a frame rate of / 30 sec. The arithmetic processing unit 9 connected to each image storage medium 8 performs an inter-frame difference peak hold operation and detects the highest trajectory point set by the trajectory search program.

The above-described inter-frame difference peak hold calculation is performed by sequentially comparing frame memories that are continuously input at 1/30 sec to find a peak (eg, in the case of a golf ball) of a pixel in the frame memory that has changed. Since the reflected light is white, only the pixel memory of the whitest part in the shading determination) is left, and the memory such as the background that does not change is erased. By performing this process for a predetermined time during which the ball stops from the time of hitting the golf ball, for example,
The frame memory captured by the highest point detection CCD camera 21-1 generates one image in which only the ball trajectory remains as a continuous single line as shown in FIG.

The trajectory of the ball is indicated by one continuous line.
The image data of one sheet is displayed on the monitor 4 in real time via the D / A converter 10 and the image data per ball is stored in another image memory 12 in the image processing device 2 as one file in, for example, a 48-screen mode. It can be stored.

The automatic measurement of the trajectory height (highest point) set by the above trajectory search program is performed by performing horizontal scanning or vertical scanning on an image in which only the ball trajectory shown in FIG. By performing the judgment, the highest point of the trajectory is detected. For example, a maximum point determination parameter is set and input to the arithmetic processing unit 9, and FIG.
As shown in (A), horizontal scanning is performed in order from the lowest position on the monitor 4 to the upper side, and when a line is determined by the horizontal scanning to become (white), the determination is continued upward and the set parameter is set. When the line is separated upward and downward (black), it is determined to be the highest point H1 of the trajectory.

That is, since the trajectory of the ball captured from the CCD camera displayed on the monitor 4 is a continuous line, when the black-and-white reversal determination is performed by horizontal scanning sequentially from the lowest position upward, the highest point is obtained. Until the value reaches the maximum value of the trajectory, the maximum value of the trajectory H1 can be automatically detected with high accuracy.

Further, the detection of the highest point is performed in addition to the above, as shown in FIG.
As shown in (B), even if the horizontal scanning is performed in order from the highest position on the monitor 4 to the bottom, the line is not determined by the horizontal scanning (black). When approaching (white), it can be determined as the highest point H1 of the trajectory. Further, as shown in FIGS. 6C and 6D, the highest point H1 can be detected by making a determination from left to right or from right to left in vertical scanning. That is, the vertical scanning is performed from left to right (or from right to left), and the point at which the intersection with the ball trajectory is at the top can be detected as the highest point H1.

When the highest point H1 of the trajectory is automatically detected as described above, based on the detected point, the highest point H1 on the monitor 4 is changed to the height T of the actual highest point H2 shown in FIG. Distance K1 from the top to the highest point
In the calculation processing device 9
The numerical values of the highest point H2 and the height T, which are automatically calculated by the position calibration (calibration) of the controller 3 and are the calculation results, are displayed on the monitor 4. In this embodiment, since the three highest point detecting CCD cameras 21-1 to 21-3 are used, all ball images from all three cameras are processed as described above. May be processed as described above, and only the image from the camera that can accurately capture the image may be used to increase the efficiency of the processing procedure by the host computer 5 or the like.

On the other hand, the drop point detecting CCD camera 22-1
Also, the ball images taken in steps 5 to 5 are subjected to automatic measurement in the same manner as described above to generate a ball trajectory that remains as one continuous line as shown in FIG. In order to detect the drop point G1 of the ball onto the ground from the generated ball trajectory, the horizontal scanning is performed in either the upper or lower direction or the vertical scanning in the black and white reversal determination order from the left or right direction in the same manner as described above. ing. Based on the drop point G1 detected by this determination, the flight distance K2 from the impact position P2 shown in FIG. 4 to the actual drop point G1 is determined based on the drop point G1 on the monitor.
The position is automatically calibrated by using the arithmetic processing unit 9 and the control unit 3 to obtain a numerical value, and the flight distance K2 is displayed on the monitor. The position and distance of the rolling end point G2 can be calculated by the same image processing as described above.

Further, the ball image taken by the displacement detecting CCD camera 23 is also automatically measured in the same manner as described above. By this measurement, a ball trajectory image of one continuous line shown in FIG. 8 is generated, and the same horizontal scanning is performed in either the upper or lower direction, or in the vertical scanning, the black and white reversal determination is sequentially performed from the left or right direction. Is going. The fall point G1 is detected by this determination, and the distance actually shifted by the position calibration is calculated and displayed on the monitor 4.

Thus, various results of hitting the ball can be confirmed by looking at the monitor 4 at a glance.
The present measurement device can be suitably used for various tests on golf balls and other golf balls, golfer practice, and the like.

The present invention is not limited to the above-described embodiment.
It is not always necessary to prepare all of the devices 5 to 23, and only the necessary CCD camera may be connected to the image processing apparatus 2 and used according to the application or the like. In this case, the A / D converter 7 and the image storage medium 8 according to the number of connected cameras
Alternatively, the image processing device 2 may include only the arithmetic processing device 9.

For example, if it is desired to measure only the displacement in the flight direction of the hall, a system having only the displacement detection CCD camera 23 and the image processing device 2 including the A / D converter 7 and the like corresponding to the camera is used. The deviation of the flight direction can be calculated by configuring the ball trajectory measuring device 1 and performing automatic measurement in the same manner as described above. Further, in this case, if the camera direction is inclined upward toward the expected highest point, the height of the highest point can be detected only by the third CCD camera 23 as shown in FIG. If the highest point can be detected, the actual height can be calculated by position calibration.

Further, when only the flight distance of the ball is to be measured, only the falling point detecting CCD camera may be used. When only the highest point is to be measured, the highest point detecting CC camera may be used.
If it is desired to detect only the D camera and the highest point and the ball flight distance, a CCD camera for detecting the highest point and a CCD camera for detecting the falling point may be used. Also, if you want to measure the displacement and flight distance, use a CCD camera for drop point detection and a CCD camera for displacement detection.If you want to measure the displacement and the highest point at the same time, use a CCD camera for maximum point detection and a CCD camera for displacement detection. It may be used.

In addition, the trajectories of the measured ball trajectories and the measurement results are stored in a memory or the like, and the trajectories of the trajectories in a plurality of measurements can be superimposed to compare the measured values related to the flight distance and the like. You may do so. Note that the measuring device of the present invention is also applicable to trajectory measurement of various balls other than golf balls, such as tennis balls, and flying articles.

[0054]

As is clear from the above description, by using the ball trajectory measuring device of the present invention, an image of the ball trajectory can be generated as one continuous line, and the highest point and the falling point can be obtained. , Can be accurately detected on a monitor. Furthermore, based on the detection of the highest point, etc., the actual height of the highest point, flight distance, deviation from the target position of the drop point, etc. can be measured automatically with high accuracy by position calibration calculation. Numerical values corresponding to the actually measured values can be easily confirmed.

[Brief description of the drawings]

FIG. 1 is a schematic view of a measuring device of the present invention in a state where an installation position of each CCD camera is viewed from directly above.

FIGS. 2A, 2B, and 2C are schematic diagrams showing camera directions of respective CCD cameras.

FIG. 3 is a connection diagram of each device in the measuring device of the present invention.

FIG. 4 is a schematic view from a lateral direction showing an installation position of each CCD camera in the measuring device of the present invention.

FIG. 5 is a schematic diagram showing a ball trajectory trajectory from a lateral direction displayed on a monitor.

FIGS. 6A, 6B, 6C, and 6D are schematic diagrams showing the detection state of the highest point.

FIG. 7 is a schematic diagram showing a trajectory of a falling point and a situation of detecting the falling point.

FIG. 8 is a schematic diagram showing a ball trajectory and a drop point detection situation from behind showing a ball displacement.

FIG. 9 is a schematic diagram showing a ball trajectory from the rear including the highest point and a state of detecting the highest point.

10A and 10B are conventional ball images, in which (A) is a schematic diagram of a ball trajectory that is not continuous, and (B) is a schematic diagram showing a problem.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 ball trajectory measuring device 2 image processing device 3 control device 4 monitor 5 host computer 6 control device 8 image storage medium 9 arithmetic processing device 11 laser detection device 21-1-3 CCD camera 22-1-5 for maximum point detection falling CCD camera for point detection 23 CCD camera for displacement detection

Claims (9)

[Claims] 1. A CCD camera for detecting at least one highest point installed in a direction orthogonal to a straight line connecting a hitting position and a target position of a falling point and at an expected highest position of a flying ball; At least one CCD camera for detecting a drop point, which is installed in the orthogonal direction and near the target position of the drop point, an image storage medium individually connected to each of the CCD cameras, and an operation connected to the image storage medium An image processing device including a processing device, a control device connected to control the image processing device, and a monitor connected to the image processing device, the control device receiving a trigger signal for starting measurement The ball image is continuously captured from each of the CCD cameras into the image storage medium as the frame memory for the time specified in step (b). By sequentially performing the difference peak hold calculation on the frame memory by the above-described processing unit and holding only the peak of the pixel of each frame memory, an image in which only the ball trajectory remains as a continuous single line is generated. And a ball trajectory measuring device configured to display the image on the monitor. 2. At least one or more displacement detection CCD cameras installed toward the drop point target position in the same direction as a straight line connecting the hitting position and the drop point target position, and individually connected to the CCD cameras. An image storage medium, an image processing device including an arithmetic processing device connected to the image storage medium, a control device connected to control the image processing device, and a monitor connected to the image processing device. The ball image is continuously captured from the CCD camera into the image storage medium as the frame memory for a time designated by the control device after receiving the trigger signal for starting the measurement. By sequentially performing the difference peak hold calculation in the arithmetic processing unit and holding only the peaks of the pixels in each frame memory, Only trajectory of the ball will generate an image that remains as a single continuous line, the image of a ball trajectory has a configuration to be displayed in the monitor measuring unit. 3. A CCD camera for detecting at least one highest point installed in a direction orthogonal to a straight line connecting the hitting position and the target position of the falling point and at the expected highest position of the flying ball; At least one CCD camera for detecting a drop point, which is installed in a direction orthogonal to and near a target position of a drop point, and at least one CCD camera for detecting a shift which is installed toward the target position of a drop point in the same direction as the straight line. A camera, an image storage medium individually connected to each of the CCD cameras, an image processing device including an arithmetic processing device connected to the image storage medium, and a control device connected to control the image processing device And a monitor connected to the image processing device. The CCD camera converts the ball image into the CCD camera for a time designated by the control device after receiving a trigger signal for starting measurement. From the image storage medium as a frame memory, the frame memory taken into the image storage medium is sequentially subjected to a difference peak hold operation by the arithmetic processing unit, and only the pixel peak of each frame memory is held. A ball trajectory measuring device configured to generate an image in which only the trajectory of the ball remains as a continuous single line and display the image on the monitor. 4. The CCD camera for detecting the highest point is three or more and seven or less, and each camera is arranged so as to look up at a height above the ground at an interval of 13 m to 15 m. The ball trajectory measuring device according to claim 1 or 3. 5. The configuration in which the number of the CCD cameras for detecting a falling point is 5 or more and 15 or less, and each camera is installed at a height of 1 m or more and 10 m or less from the ground at an interval of 13 m to 15 m. The ball trajectory measuring device according to any one of claims 1, 3, and 4, wherein: 6. The ball trajectory measurement according to claim 2, wherein the displacement detection CCD camera is configured to be installed in a direction of looking down at a height of 1 m or more and 10 m or less from the ground. apparatus. 7. An image captured by the CCD camera for detecting the highest point and generated by the image processing device as a continuous line in which only the trajectory of the ball is continuous from the upper or lower one on the monitor toward the other. The highest point of the trajectory is detected by performing a black-and-white reversal determination in scanning or in a vertical scanning direction from one of the left and right to the other, and the height of the highest point and the distance from the impact position to the highest point. Claim 1, 3, 4, 5, 6 configured to automatically measure
The ball trajectory measuring device according to any one of the above items. 8. An image in which the trajectory of a ball in the vicinity of falling on the ground is captured as a continuous line by the image processing device captured by the CCD camera for detecting a falling point, from either one of upper and lower positions on a monitor. The horizontal scanning toward the other, or the vertical scanning toward the other from either the left or right, performs a black-and-white reversal determination in order to detect the point at which the ball falls to the ground until the ball falls from the hitting position to the ground. Claim 1, wherein the distance is automatically measured.
The ball trajectory measuring device according to any one of 3, 4, 5, 6, and 7. 9. An image in which the trajectory of a ball in the vicinity of falling on the ground is captured as a continuous line by the image processing device captured by the displacement detection CCD camera and from the upper or lower one on the monitor to the other In a horizontal scan towards
Alternatively, a configuration is adopted in which a black-and-white inversion determination is sequentially performed by vertical scanning from one of the left and right sides to the other to detect a drop point of the ball on the ground and automatically measure a distance deviated from a target direction. The ball trajectory measuring device according to claim 8.