JP2003117044A - Hit ball diagnosis device - Google Patents

Abstract

(57) [Summary] (Corrected) [Problem] It is possible to automatically calculate the hitting trajectory of a ball flying by hitting force, etc., and to measure hitting ball information that is close to actual without human intervention . A hitting speed detector for irradiating a laser beam at two locations in a direction intersecting with a passing direction of a hitting tool, and detecting a hitting speed of the hitting tool based on a time when each of the laser beams is cut off by the passing of the hitting tool. Means, a strobe lighting device 3b capable of illuminating a fixed area in the ball advancing direction immediately after hitting the ball, strobe light emission setting means 9 for performing strobe light emission at a timing corresponding to the hitting speed, and photographing the ball at two points in front and behind. A camera device 3a that can perform shooting by the camera device in accordance with the batting speed detected by the batting speed detecting unit, and captures batting speed information and ball image information, and performs flying based on calculations based on the ball speed and rotation. A hitting state calculating means 11 for obtaining a ball direction, a flight distance, and the like, and an output means for outputting a calculation result are provided. .

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hitting ball diagnosing apparatus and system for observing a ball immediately after hitting it when hitting a ball from a fixed position and diagnosing a flying condition thereafter, and particularly to a hitting golf ball. Launch angle of golf ball,
Backspin, side spin, meet rate, flight distance, golf club head speed, etc. are measured, and these values are displayed on a TV monitor, etc., and are suitable for hitting information when attempting to obtain actual hitting information in a narrow space. The present invention relates to a diagnostic device and the diagnostic system.

[0002]

2. Description of the Related Art Conventionally, various hit ball diagnosing devices and systems of this kind have been proposed. For example, a shot of a golf hit ball is photographed, and after that, the flight distance and the bend are measured and displayed on a TV monitor for display to a player. There is known a device or the like that informs the result and presents information so that the optimum club can be determined (for example, Japanese Patent Laid-Open No. 8-278169).
No. 7-212187, etc.).

However, with conventional devices and systems,
During the process of measurement, it was necessary for a person to recognize the golf ball in the captured image and count against the device. Further, the device components are generally roughly divided into a hitting ball detection unit, an illumination unit, an imaging unit, an analysis unit, a display unit, etc. Among them, since a general-purpose personal computer is used for the analysis unit and the display unit, the system It was a large-scale one with many items. In addition, there are variations in the time for a person to recognize a hit ball and to teach it to the apparatus, and variations due to individual differences, so that it is not always possible to obtain information on the hit ball that is close to the actual one.

[0004]

As described above, in the conventional device, it is necessary for the person to recognize the golf ball in the photographed image and count it in the device during the measurement process.
It requires extra labor and time, and since a general-purpose personal computer is applied to the analysis unit and display unit, the number of items becomes large and large, and people recognize the ball hit and teach it to the device. Therefore, there are some problems such as variations in data due to individual differences.

The present invention has been made in view of the above circumstances, and it is possible to automatically recognize a flying ball with a hitting force from the time of hitting the flying ball without requiring any manpower, and to automatically perform subsequent hit ball trajectory calculation and the like. A ball hitting diagnosing device capable of measuring ball hitting information that is close to the actual value without human intervention, and further compacting the structure by minimizing the number of items, facilitating the operation, and reducing the cost, and the like. It is an object of the present invention to provide a hit ball diagnosis system using the same device.

Further, the present invention can be widely applied to various types of balls, can expand the range of selection of simulation types according to the user, and can ensure high reliability in run calculation and the like. It is an object of the present invention to provide a hit ball diagnosis system.

Furthermore, the present invention has a basic function of fully automatically performing a hit ball diagnosis, and also has a function of recognizing a hit ball by a person depending on the ball used and teaching it to the apparatus. It is an object of the present invention to provide a multifunctional ball hitting diagnosis system which enables further expansion of the hit ball and can be widely applied to batting practice.

[0008]

In order to achieve the above-mentioned object, in the invention according to claim 1, the laser beam is installed in a position just before hitting a ball for ball game, and a laser beam is emitted in a direction intersecting with a passing direction of a ball hitting tool. A hitting speed detecting means for irradiating at a location and detecting the hitting speed of the hitting tool by the time when each of the laser beams is blocked by the passing of the hitting tool, and illuminating a certain area in the ball traveling direction immediately after hitting the ball. And a strobe lighting setting means for causing the strobe lighting device to emit light at a timing corresponding to the striking speed detected by the striking speed detecting means, and the ball irradiated by the strobe lighting device. A camera device capable of capturing images at two points in the front and back of the area, and the capturing by the camera device by the striking speed detection means The camera driving means for performing the hitting speed, the hitting speed information detected by the hitting speed detecting means and the ball image information taken by the camera device are fetched, and the flight direction is calculated by the calculation based on the ball speed and the rotation. And a hitting state calculating means for obtaining a flight distance and the like, and an output means for outputting a calculation result by the hitting state calculating means.

According to the second aspect of the present invention, the laser beam is installed at a position immediately before the shot of the golf ball, and the laser light is emitted at two positions in a direction intersecting with the passing direction of the golf club. Shot determining means for determining whether or not it is a shot by detecting that the golf club is blocked, head speed detecting means for detecting a head speed of the golf club when the shot is determined by the shot determining means, and the golf A strobe lighting device capable of illuminating a certain area in the ball traveling direction immediately after the ball shot; and strobe light emission setting means for causing the strobe lighting device to emit light at a timing corresponding to the head speed detected by the head speed detection means. , In front of the golf ball illuminated by the strobe illuminator A camera device capable of taking images at two points in the front and rear of the area, a camera driving device for causing the camera device to take an image corresponding to the head speed by the speed detecting device, head speed information detected by the head speed detecting device, and A ball hitting state calculating means for fetching ball image information taken by the camera device and calculating a flight direction and a flight distance by a calculation based on a ball speed and a rotation, and an output means for outputting a calculation result by the hitting ball state calculating means. There is provided a hitting ball diagnosing device comprising:

According to a third aspect of the present invention, there is provided a system for performing a ball hitting diagnosis of a golf ball by using the hitting ball diagnosis device according to the second embodiment, wherein the golf ball has a polygonal shape in which the whole view can be seen from one direction. Apply the one with the mark,
The mark provides a hitting ball diagnosis system characterized in that the mark has a certain brightness difference from the surface of the ball.

According to a fourth aspect of the invention, as the golf ball according to the third aspect, one in which one vertex of a polygonal mark is set at a different angle from the other vertex is applied, and a hit ball diagnosis system is applied. I will provide a.

According to a fifth aspect of the present invention, in the hit ball diagnosis system according to the third or fourth embodiment, the strobe lighting device and the camera device are set to capture the mark of the golf ball placed at the shot position, and hit ball state calculation means. Is 2
The function of converting each vertex coordinate of the mark photographed at a point into linear coordinates by Hough transformation, the function of converting into the three-dimensional coordinate position by the DLT method based on the intersection point position of the linear coordinates, and the obtained three-dimensional coordinate It has a three-dimensional trajectory simulation function of calculating a hitting trajectory by calculating at least one or more of the launch angle, the ball speed, the number of revolutions, the rotational axis inclination, the side spin, the backspin, and the lateral deviation depending on the position and the head speed. A hit ball diagnosis system characterized by the above.

According to a sixth aspect of the present invention, in the hitting ball diagnosis system according to the fifth aspect, the hitting state calculating means has a run calculation function for obtaining the behavior of the hitting ball dropped on the ground after the three-dimensional ballistic simulation. A characteristic hit ball diagnosis system is provided.

In the invention according to claim 7, claims 3 to 6
In the hitting ball diagnosis system described in any one of (1) to (7) above, the output means has a function of displaying the data obtained by the hitting ball state calculation means on a monitor as an image such as a chart, a graph or a trajectory. provide.

According to the invention of claim 8, claims 3 to 7
In the hitting ball diagnosis system described in any one of the above, there is provided a hitting ball diagnosis system characterized in that the shot determination means applies a modulated laser beam.

According to the invention of claim 9, claims 3 to 8
In addition to the function described in any of the above, a golf ball having at least two marks that can be used for analysis is present in a range visible from one direction, and based on the two points by this mark and the center of gravity of the ball. Provided is a hit ball diagnosis system having a function of performing a three-dimensional ballistic simulation.

According to a tenth aspect of the present invention, in the hitting ball diagnosis system according to the ninth aspect, two points by marks, the center of gravity of the ball, and four outer product points which can be obtained from these three points are used as elements. Provide a hitting ball diagnosis system characterized by performing a three-dimensional ballistic simulation.

In the invention according to claim 11, in the hitting ball diagnosis system according to claim 9 or 10, 2 shots are taken.
A hit ball diagnosis system characterized in that the order of two marks on each spherical surface is determined on the basis of a single image and the mark between the two images is recognized by using an inner product.

According to the twelfth aspect of the invention, in the hitting ball diagnosis system according to any one of the ninth to eleventh aspects, when the two images are recognized in the opposite order, the ball is 180 ° or more. (EN) Provided is a hit ball diagnosis system characterized by being set not to rotate.

According to a thirteenth aspect of the present invention, in the hitting ball diagnosis system according to any one of the ninth to twelfth aspects, when the rotation angle of 0 to 30 ° is adopted as it is for analysis, Provided is a hit ball diagnosis system characterized in that a corner is calculated as a corner of the third quadrant, and after analysis, the corner of the third quadrant is returned to the corner of the first quadrant.

According to a fourteenth aspect of the present invention, in addition to the function according to any one of the third to fifteenth aspects, a golf ball having no mark is applied, and the golf club has three types: wood, iron and wedge. The present invention provides a hitting ball diagnosis system characterized by having a function of calculating a flight distance based on an estimated value of the backspin amount at the time of impact, which is empirically tabulated in advance.

According to a fifteenth aspect of the present invention, in the hitting ball diagnosis system according to the fourteenth embodiment, a flight distance calculation is carried out as a result of going straight in the shooting direction without considering the side spin. provide.

According to the sixteenth aspect of the invention, in the hitting ball diagnosis system according to the fourteenth or fifteenth aspects, the impact data is analyzed for each of wood, iron and wedge, and the analyzed data is analyzed for initial velocity of ball, launch angle and backspin. A hit ball diagnosis system characterized by performing secondary smoothing with three parameters.

According to a seventeenth aspect of the present invention, in the hitting ball diagnosis system according to any one of the fourteenth to sixteenth aspects, the head speed, the ball initial velocity and the launch angle are used as independent variables and the backspin is a dependent variable for impact data. A ball hitting diagnosis system characterized by multiple regression analysis is provided.

According to an eighteenth aspect of the present invention, in the hitting ball diagnosis system according to any one of the ninth to seventeenth aspects, a golf ball with a modified hexagonal mark is used and a two-point mark is added. A switch for selecting at least any two cases of using a golf ball and using a golf ball without a mark is provided, and a calculation method corresponding to the case of switching in the ballistic calculation is selected. There is provided a hit ball diagnosis system characterized by including the step of:

According to a nineteenth aspect of the present invention, in the hitting ball diagnosis system according to any one of the third to eighteenth aspects, as a factor for calculating a run with respect to the movement of the golf ball after flying and landing, A hit ball characterized by controlling the distance of the run by taking in the falling angle and falling velocity components, and multiplying the deceleration component that changes with each bound and the deceleration component that changes with each bound due to the coefficient of restitution with the ground for each bound Provide a diagnostic system.

According to a twentieth aspect of the present invention, in addition to the function according to any of the third to nineteenth aspects, a golf ball having various marks such as characters, figures, symbols, numbers, etc. in a range visible from one direction is provided. A three-dimensional ballistic simulation is performed based on each coordinate and the center of gravity of the ball, which is applied and the coordinates of any two points of the mark captured by the camera device after the shot is designated by the coordinate indicator and the center of gravity is obtained from the outer shape of the ball. Provided is a hit ball diagnosis system characterized by having a function of performing.

According to a twenty-first aspect of the present invention, in the hitting ball diagnosis system according to the twentieth aspect, the arbitrary two points on the coordinate-designated mark, the center of gravity of the ball, and the outer product point which can be obtained from these three points. The present invention provides a hitting ball diagnosis system characterized by performing a three-dimensional ballistic simulation using a total of four points.

According to a twenty-second aspect of the present invention, there is provided a hitting ball diagnosing system according to the twentieth or twenty-first embodiment, wherein a mouse is applied as a coordinate indicator.

In the invention according to claim 23, in the hitting ball diagnosis system according to any one of claims 20 to 22, it is judged whether or not the coordinate instruction of any two points by the coordinate indicator is inputted. Provided is a hitting ball diagnosis system which performs a processing function corresponding to any one of claims 11 to 13.

In the invention according to claim 24, in the hitting ball diagnosis system according to any one of claims 9 to 23, the case of using a golf ball with a modified hexagonal mark and the case of using a two-point mark Select at least two cases of using a golf ball, using a golf ball having no mark, and using a golf ball that coordinates-coordinates any two points of various marks with a coordinate indicator. Equipped with a switch for changing
There is provided a hit ball diagnosis system characterized by comprising a step of selecting a calculation method corresponding to the case of switching in the trajectory calculation.

In the invention according to claim 25, in the hitting ball diagnosis system according to any one of claims 1 to 24, the camera device for photographing the golf ball is within a predetermined height range higher than the ground at the shot position. Provided is a hitting ball diagnosis system, which is installed and tilts the direction of the camera with a depression angle.

According to a twenty-sixth aspect of the present invention, in the hitting ball diagnosis system according to the twenty-fifth aspect, the camera device is a portable one that can be used sideways, and can be arranged in a tilted manner by detachably supporting it on a support stand. A hit ball diagnosis system is provided.

According to a twenty-seventh aspect of the invention, in the hitting ball diagnosis system according to the twenty-fifth or twenty-sixth aspects, a switch for selecting the case where the camera device is inclined is provided, and corresponds to the case where the change is made in the ballistic calculation. There is provided a hitting ball diagnosis system characterized by comprising a step of selecting a calculation method to be performed.

[0035]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. The following embodiment is applied for hitting ball diagnosis of a golf ball applied to, for example, a relatively narrow golf practice place.

First Embodiment (FIGS. 1 to 7) FIG. 1 is a plan view showing a mechanical component A of a ball hitting diagnosis apparatus according to the first embodiment of the present invention and a functional block as a signal processing system B. FIG. As shown in FIG. 1, the mechanical component A of the present embodiment is roughly 3
It is composed of a body-divided device, that is, a laser-type head speed detector 1, a laser reflector 2 and a device body 3.

The head speed detector 1 and the laser reflection plate 2 are fixedly arranged on the ground at both side positions immediately before the shot where the golf ball 4 is placed, for example, at both side positions facing the player on the front side of the golf ball 4 and sandwiching the golf ball 4. Of these, the head speed detector 1 is, for example, in the shape of a thin box, and has a constant length along the swing direction (direction of arrow a),
It has a width and a height, and is 1 at regular intervals in the swing direction a.
It has a pair of laser emitting / receiving sections 1a, 1a. On the other hand, the laser reflection plate 2 has a vertical plate shape, and is installed in parallel at a position opposite to the golf ball 4 with its mirror surface facing the head speed detector 1. In this embodiment, as shown by reference numeral 5 in FIG. 1 to indicate the position of the player's foot, the player stands on the side of the laser reflection plate 2 and makes a shot, but it is also possible to make a shot at the opposite position. Each laser emitting / receiving unit 1a
The laser light 6 emitted from the laser is reflected by the laser reflection plate 2, and the reflected light is received by each laser emitting / receiving unit 1a. This laser light is modulated, and consideration is given to an environment with a lot of outside light, such as external use in fine weather.

The device body 3 is arranged on the side of a certain region in the ball traveling direction immediately after the shot of the golf ball 4, for example, on the same side as the speed detector 1. The apparatus main body 3 has a configuration in which two photographing camera devices 3a and 3a using a two-dimensional solid-state image pickup device and two photographing strobe lighting devices 3b and 3b are provided in a box-shaped case body. ing. Each strobe illuminator 3b is arranged at a constant interval in the ball traveling direction and has a movable structure capable of illuminating a certain area in the ball traveling direction immediately after the shot of the golf ball 4, and a head speed detecting means described later. Light is emitted at a timing corresponding to the head speed detected by. Further, each camera device 3a is arranged outside each strobe lighting device 3b, and the shot golf ball 4 can be photographed at two points before and after immediately after the shot at the same timing as each stroboscopic lighting device 3b.

The signal processing system B is incorporated in the main body 3 of the apparatus, and includes a shot determination means 7, a head speed detection means 8, a flash emission setting means 9, a camera drive means 10,
The hit state calculation means 11 and the like are provided. Then, the hitting state such as the hitting locus is obtained by these means, and the image is displayed on the output means 12 installed at an arbitrary position.

The shot determination means 7 receives the detection data from the head speed detector 1 and determines whether or not a shot has been performed. That is, the two laser beams 6 emitted from the laser emitting / receiving unit 1a of the head speed detector 1 in a direction intersecting with the passing direction a of the golf club are sequentially blocked by the passing of the golf club, so that the laser reflecting plate is used. By blocking the reflected light from 2, the shot motion can be detected in front of the golf ball 4. The detection signal of the head speed detector 1 is sent to the apparatus main body 3 via a cable or the like. Then, the time difference between the shooting start timing due to the swinging down of the club head and the interruption time of each laser beam 6 is detected. In this case, it is determined that the shot is not a shot when the two laser beams 6 are blocked at a speed equal to or lower than a certain level, or when the blocking direction is not blocked in the order of the farthest and the next closest to the golf ball 4. , A limit is set so that the next shooting is not started.

The head speed detecting means 8 detects the head speed from the interruption interval of the laser beam 6 when the shot judging means 7 judges that the shot is a shot. Based on the head speed detected by the head speed detecting means 8, the following light emission timing setting of the strobe light emission setting means 9, shooting timing setting of the camera driving means 10, hitting speed in the hitting state calculating means 11, hit rate, etc. The ball hit state calculation is performed.

The strobe light emission setting means 9 causes the strobe illuminator 3b capable of illuminating a certain area in the ball traveling direction immediately after the shot of the golf ball 4 to emit light at a timing corresponding to the head speed detected by the head speed detecting means 8. Perform control to be performed in. The camera driving means 10 causes the camera device 3a to perform photographing in accordance with the head speed of the head speed detecting means 8, and the golf ball 4 immediately after the shot irradiated by the strobe lighting device 3b has two predetermined points. The command to shoot is output. The hitting state calculation means 11 takes in the head speed information detected by the head speed detection means 8 and the ball image information photographed by the camera device 3a, and calculates the flight direction and flight distance by calculation based on the ball speed and rotation. . And the output means 1
2 outputs the calculation result by the hitting state calculation means.

FIG. 2 is an explanatory view showing a side view of the detection position of the head speed detector 1 and the state of the image pickup area of the camera device 3a. Two laser beams 6 in the head speed detector 1 are shown on the left side of FIG.
Positions P1 and P2 are sequentially shown from left to right. During a shot, first, the laser beam 6 is blocked at the first position P1 shown on the left side, and then the laser beam 6 is blocked at the second position P2 shown on the right side. To the right of the laser beam position P2 at the rear stage (head advancing side), the golf ball 4 in a stationary state placed at the shot position is shown.

The area surrounded by the rectangular frame shown on the right side of the golf ball 4 is the image pickup area 13 captured by the camera device 3a. The ball 4 after the shot is exposed and photographed in the imaging area 13 at two timings.
Four golf balls 4a, 4b, 4c and 4d after the shot are shown in a frame showing the imaging area 13. initially,
Two golf balls 4a, 4b or 4c, 4d are photographed separately, but in FIG. 2, the two golf balls 4a, 4b shown on the lower side are heads with a small loft angle (1W, 3I, etc.). Shows the trajectory of the hit ball, and the upper two golf balls 4c, 4d show the trajectory of the hit ball by a head (PW, SW, etc.) having a large loft angle.

The time required for the golf ball 4 to reach the image pickup area 13 after a shot is related to the speed of the club head. At the time of diagnosis, first, one of the two strobe illuminators 3b is caused to emit light (first emission) corresponding to the head speed detected by the head speed detecting means 8 based on the input from the head speed detector 1. Since it is desirable to capture this light emission timing on the left side of the shooting area 13, the time corresponding to the speed of the club head is predetermined by calculation and experiment. Next, after a certain time corresponding to the speed of the club head, the other strobe 3b is made to emit light (second light emission). As a result, the images of the balls 4b having a certain time interval are multiple-exposed in the shooting area. As described above, the light emission timings of the first light emission and the second light emission are selected from a predetermined value, and the speed of the hit ball is different depending on the type of the club head even if the head speed is the same. Therefore, it is necessary to have two types of tables. So, it is possible to support from wood to large clubs.

As described above, in this embodiment, the timing of the first strobe light emission is selected so that the shot ball 4a after the shot appears at the left end of the screen by the head speed detection.
The timing at which the striking ball 4b is imaged at the right end of the screen is selected by the second strobe light emission, and the light emission timing is controlled so that the light emission is performed twice. In this case, in the present embodiment, the images of the two hit balls 4a and 4b are multiple-shot in the shooting screen. That is, since the hit ball moves in the three-dimensional space and is moved in two dimensions by one camera, two images taken from different angles are obtained by using the two camera devices 3a. In this manner, the images are taken from different directions of the viewing angle, and the DLT method described later is used to perform three-dimensional measurement. It should be noted that the camera device 3a has sensitivity in the infrared region, and it is also possible to take an image in the infrared region from red through a filter. This helps reduce the effect of background light outdoors and reduces the amount of strobe light. The two captured images are converted into digital signals and loaded into the memory of the CPU. The image is processed by the CPU in a predetermined procedure described later, so that all measurement processing is performed without human intervention.

FIG. 3 shows the mark 14 displayed on the surface of the golf ball 4. The mark 14 has a polygonal shape, for example, a hexagonal shape, which can be viewed from one direction of the golf ball 4, and has a brightness difference of a certain level or more with the surface of the golf ball 4. The color can be set arbitrarily. In this embodiment, one vertex 14a of the polygonal mark 14 is set at an angle different from the other vertex 14b. That is, this hexagonal mark 1
4 is a matched angle forming a part of a regular hexagon for the five vertices 14b, but for example, one vertex 14a located at the right end of FIG. 3 has a shape with an angle deformed from the other by protrusion. Has become. In this way, by projecting one vertex 14a, the line segment of the outer shape is extracted by the Hough transform described below with the mark 14 as the inspection target, and when the coordinates of each vertex are obtained, the reference point at the time of measurement is used. You can

FIG. 4 is a flowchart showing the diagnostic procedure of this embodiment. FIG. 4A shows a main routine,
FIG. 4B shows a subroutine in Hough calculation.

As shown in FIG. 4A, after the start by switching on, laser light is irradiated (S101), and then it is judged whether or not there is light shielding (S102). If there is no light shielding (S102: NO), the above determination is repeated,
If there is light shielding (S102: YES), it is determined whether or not it is a shot (S103). As described above, when the light-shielding order is different from the swing direction, it is determined that the shot is not a shot (S103: NO), and the above determination is repeated until the shot is determined. When it is determined that the shading is a shot (S103: YES), the head speed detecting means 8 detects the head speed (S10).
4).

Next, the strobe light emission timing is calculated by the strobe light emission setting means 9 (S105), and then the strobe light is emitted by the strobe illuminator 3b (S106). Immediately after this, two points are photographed by each camera device 3a (S107), and the golf ball 4 shown in FIG.
Three-dimensional coordinates are obtained by Hough calculation based on the coordinates of the marks 14 of a and 4b (s108).

For this Hough calculation, as shown in FIG. 4 (B), at the same time as the laser irradiation (S101), multiple images are captured in advance by the camera device (S201),
Average brightness in image (MEAN), maximum brightness in image (M
AX) is calculated (S202). Then, the boundary value is calculated by the average brightness value in image (MEAN) and the maximum brightness value in image (MAX) (S203), and the ball position (Co
o-A) is searched (S204). Next, the ball position edge (Mark-EDGE) is created (S
204), the shortest edge from the ball position (EDGE-A
(This is the first point of the mark 14) is calculated (S2
05).

Here, the line connecting the ball position (Coo-A) and the shortest edge (EDGE-A) is 0 degree, and 60
An operation of dividing the ball position edge (Mark-EDGE) into 6 is performed at intervals. Each of the six divided edges is Hough transformed to be a straight line component. The Hough transform leads to the intersection of six straight lines. Regarding Hough transform,
Set the shortest edge (EDGE-A) to 1 as shown below.
The numbers are 2 to 6 counterclockwise around the ball position (Coo-A). Do this for two images,
24 coordinates are obtained from a total of 2 balls.

The straight line detection by the Hough calculation will be described in detail with reference to FIGS. 5 and 6.

The general form of a straight line expression is y = ax
+ B. However, there are problems with this representation. That is, the parameters are the slope a and the y intercept b, and when moving a at the observation point (x, y), b also moves in conjunction, and when the slope approaches vertical, the value of b also diverges to infinity (small). Will end up.
In order to remove this drawback, the following expression (1) with ρ and θ as parameters is used.

[0055]

[Equation 1] ρ = x · cos θ + y · sin θ (1)

FIG. 5 shows observation points on the xy plane. As shown in FIG. 5, the edge point to be observed is defined as Pi (xi, yi) as in the following equation (2).

[0057]

[Equation 2]

For each point, ρ− obtained from equation (1)
When the locus on the θ plane is drawn, each curve becomes one curve, as shown in FIG. Two points on the same straight line on the xy plane intersect only once on the ρ-θ plane, as shown in FIG.

If there is a straight line component in the xy plane, the locus concentration point appears on the ρ-θ plane as shown in FIG. Here, the straight line on the xy plane corresponding to the point (ρj, θj) where the loci are most concentrated is the straight line to be obtained. Actually, the straight line is detected by limiting the cumulative frequency of the trajectory.

Since one point on the ρ-θ plane corresponds to a straight line on the xy plane, the equation of the obtained straight line is as shown in the following equation (3).

[Equation 3] Becomes

After the above Hough calculation, the calculated 24 coordinates are converted into the DTL method (DirectLinerTran).
3D coordinate position (3D
-Coo) is performed (FIG. 4: S109).

Three-dimensional coordinate position (3D
-Based on the conversion to Coo), the three-dimensional coordinate position (3D
-Coo) and the head speed, the ball speed, the number of revolutions, the rotation axis inclination, the side spin, the back spin, the jumping angle, the lateral deviation angle, etc. are calculated.

The DLT method will be described in detail with reference to FIG.

When measuring the coordinates of an object with a camera or a video camera, the two-dimensional coordinates in the plane parallel to the original image pickup or video camera are directly obtained. In the case of the sketch, the image taken from directly above is a two-dimensional plan view as it is, and the necessary point coordinates of the image can be measured as it is,
Shooting from directly above is usually impossible.

The image taken from the ground is an image taken obliquely, and the coordinates to be measured are three-dimensional coordinates. When calculating the three-dimensional coordinates from a video image, usually, two or more cameras are used to photograph an object and the three-dimensional coordinates are calculated. When the three-dimensional coordinates are to be detected strictly, the object is photographed by two cameras and the three-dimensional coordinates are calculated.

When the three-dimensional coordinates are to be detected exactly, 2
It is calculated from camera constants such as the position of the camera device 3a of the table, the direction of the optical axis, and the focus of the lens. However, it is almost impossible to accurately calculate this camera constant at the shooting site, which is not realistic. Therefore, the DLT method is a method for obtaining coordinate values even if the constant depending on the camera constant is unknown in the equation for calculating the three-dimensional coordinates.

In this method, calculation is performed in reverse from the known coordinate values in the subject, the camera constant is obtained, and the three-dimensional coordinate is obtained from the constant.

(1) Relationship between Real Space Coordinates and Coordinates on Imaging Surface FIG. 7 shows a real space (object s) which is an actual object.
Pace) and the coordinates on the projected image plane to be projected.

As shown in FIG. 7, one point P on the real space
Let Q be the image on the imaging surface of. The position of Q on the imaging plane is
It is uniquely determined by the center position of the lens (camera position), the direction of the optical axis, and the distance between the center of the lens and the imaging surface (equal to the focal length of the lens if P is sufficiently far away).

Arbitrary coordinate axes are set in the real space, and the coordinates of the point P and the center O of the lens are (X, Y, Z) and (X ₀ , Y ₀ , Z ₀ ) with respect to the coordinate system, respectively. It was. Further, F is the distance between the surface including the point Q and perpendicular to the optical axis and the center of the lens. It is assumed that the coordinate of the image Q of P on the image pickup surface is (U, V) when an arbitrary coordinate axis is taken on the image pickup surface (however, the unit of the coordinate is the same as the real space coordinate).

Regarding the relationship between the point P and its image Q, the following equations (4) and (5)

[Equation 4] Is obtained.

The expressions (4) and (5) represent the relationship between the real space coordinates (X, Y, Z) and the coordinates (U, V) in a general form. Therefore, if the same point is photographed by two cameras and two sets of (U, V) are measured, (4)
Substituting into equation (5), equations for four X, Y, Z are obtained. If any three of these four equations are solved as simultaneous equations, the value of the real space coordinates (X, Y, Z) is determined. However, for that purpose, the camera constants (X ₀ , Y ₀ , Z) included in the equations (4) and (5) are used.
It is necessary to know the values of ₀ ), (U ₀ , V ₀ ), _mij and F. However, it is not easy to actually measure the values of these constants. In particular, it is extremely difficult to find the direction of the optical axis that determines _mij .

On the contrary, even if the camera is set so that these constants become predetermined values, it is difficult unless the device is used in the laboratory and a very special device is used.

Therefore, in the DLT method, these camera constants are not directly obtained, but the coordinate values on the image pickup surface of the image of a point (control point) whose coordinate value in the real space is known are actually measured. The method of determining the constant appearing in the equation is adopted.

(2) Determination of Coefficients The camera constants are appropriately summarized by the equations (4) and (5), and U,
If V, X, Y, and Z are arranged, the following (6)
Expression, Expression (7)

[Equation 5] Is obtained.

Here, A ₁ , ..., A ₄ , B ₁ , ..., B ₄
Eleven constants of C ₁ , ..., C ₃ are determined by camera constants. Therefore, equation (6) and equation (7) are
Solving for each constant, the following equations (8) and (9)

[Equation 6] Is obtained.

These two equations are the ones from A ₁ to C _3.
It is a linear equation for one constant. If six control points with known coordinate values in the real space and the measured values of the coordinates of the image on the imaging surface, in other words, six sets of (X, Y, Z) and (U, V) are obtained. For example, by substituting these equations, 12 equations can be obtained. If it is solved by considering it as a simultaneous linear equation concerning 11 unknowns of arbitrary 11 A ₁ to C ₃ among these, A
The value of the constant from ₁ to C ₃ is obtained.

Once the 11 constants A ₁ to C ₃ have been determined, the values of the actual coordinates (X, Y, Z) can be obtained because the coordinates (U, V) on the imaging surface are known. .

Rewriting equations (8) and (9) as equations relating to equations X, Y and Z, the following equations (10) and (1
1) formula

[Equation 7] Is obtained.

(3) Method of calculating three-dimensional coordinates with one camera When the coordinates measured by the above equations (8) and (9) are included in the same plane, for example, the measurement point is the XY plane. Z is a constant and can be ignored. Equation (8),
If Z = 0 in equation (9),

[Equation 8] Is obtained.

These two equations are linear equations for eight unknowns. If four control points with known coordinate values in the real space and the measured values of the coordinates of the image on the imaging surface, in other words, four sets of (X, Y, Z) and (U, V) are obtained. For example, by substituting these equations, eight equations can be obtained. If it is regarded as a simultaneous linear equation concerning 7 unknowns of arbitrary 7 of A ₁ to C ₂ among these, the value of the unknown of A ₁ to C ₂ can be obtained. Once the unknowns are found, formulas (8) and (9) are organized for x and y,

[Equation 9] Is obtained.

In these equations (14) and (15), A ₁ , A
_{Since 2} , A ₄ , B ₁ , B ₂ , C ₁ , C ₂ are known by the coefficient, and U and V are also known by the coordinates on the imaging surface, if the simultaneous equations concerning the real coordinates X, Y are solved, X is obtained. , Y coordinate can be obtained.

By the above DLT method, the ball speed rotation number, the rotation axis inclination, the side spin, the jumping out angle, and the lateral deviation angle are obtained, and the three-dimensional ballistic simulation is performed (FIG. 4: S110).

The position of the golf ball after hitting, that is, the three-dimensional trajectory simulation can be obtained by calculating using a program that solves the equation of motion of F = m · dV / dt.

When the X-axis is the flying direction, the Z-axis is the lateral deviation direction, and the Y-axis is the vertical direction, the forces Fx (t), Fz (t), and Fy (t) acting on the ball at a certain time t are as follows. Of (1
It is represented by the equations (01) to (103).

[0086]

[Equation 10]

By solving the above equation of motion, the displacement vector and velocity vector of the ball at any time can be calculated.

The final point of the three-dimensional ballistic simulation performed by the above operation is when the golf ball falls on the ground. As a final process, a run is calculated based on the three-dimensional velocity components (X, Y, Z axes) and the number of spins at that time (FIG. 4: S111). The run calculation is the total movement amount (run: R) of the ball after bouncing on the ground.

The run calculation will be described below.

(1) The velocity component (V
x, Vy, Vz) will be considered. Here, for each velocity component, the lateral deviation direction is Vx, the flight line direction is Vy, and the height direction is Vz (upward positive). For example, the principle parameter e, which takes into consideration the friction and the coefficient of restitution of grass, is newly set, and this is an empirical value obtained by experiments. Also, this is V
It is assumed that it does not depend on z.

Bounce is assumed to be repeated 10 times, for example, and rolling thereafter is not considered. However, ten times are provisional, and when the z-direction velocity component becomes sufficiently small, the bound may be ended there.

The first ascending speed Vz1 is

Vz1 = −Vz × e Is. Here, e = 0.2091.

The time t1 required for the first bouncing (bounce up to the next fall to the ground) is

T1 = − (2Vz / g) × e Is. Here, g is the gravitational acceleration.

The first ball movement amount R1 is

Equation 13] ^{R1 = (Vx 2 + Vy 2} ) is ^1/2 × t1, the second jump speed R2,

[The number 14 is a Vz2 = Vz1 × e = -Vz × e 2. The third bouncing speed Vz3 is

Equation 15] VZ3 = Vz2 a × ^e = -Vz × e ^3, below, successively similarly determine the bounce rate of 4 subsequent.

From the above, the total movement amount (run) R of the ball after the 10th bounce is represented by the following equation (124).

[0096]

[Equation 16]

A calculation example is shown in Table 1 below.

[0098]

[Table 1]

(2) Position of ball at each time Since the trajectory of the ball is displayed on the screen, it is necessary to calculate the position of the ball.

The amount of movement in the x and y directions is simply Vx ×
It can be calculated by t and Vy × t. As described in (1), the speed component in the z direction is multiplied by e at each bouncing. In addition, the flight time per bound is shortened accordingly, so the coordinates are calculated for each bound.

Taking an example with reference to the first bound,

[Equation 17]

[0102]

[Equation 18]

The calculation of the total flight distance is completed by the above run calculation.

As described above, in the present embodiment, the hit ball moves in the three-dimensional space, and the movement of one camera is projected in two dimensions. Therefore, the two cameras 3a use different angles. I'm trying to get two images taken from. And regarding these two camera devices 3a,
A calibration jig having 12 points whose dimensions are known in advance is photographed, and the three-dimensional constant of this photographing system is acquired by the DLT method. With this three-dimensional constant, the first
The coordinates of the two golf balls in the three-dimensional space are calculated from the image of the light emission of 2 and the two images of the second light emission, and the launch angle, backspin, side spin, and hitting speed are calculated.

The meet rate can be calculated from the head speed detected by the head speed detector 1 and the hitting speed. The flight distance can be calculated from the launch angle, the backspin, the side spin, the hitting speed, etc. by the trajectory calculation processing separately created based on the experimental value using a batting machine or the like.

The calculated data are summarized in the form of a table or a graph and displayed on a television monitor or the like as an output means (FIG. 4: S112). By looking at this data, the player who is the trial hitter can obtain the information of the hit ball which is close to the actual one even in a narrow space.

The image displayed on the monitor can be printed out by using a video printer.

In this embodiment, a video output, an Ethernet (registered trademark) output, a remote control device, or the like can be applied, whereby the measurement result can be displayed on the television monitor. It is also possible to record on a recording paper by using a video printer that prints out the video output. The remote control device can change the screen of the measurement result, etc., and convey the result in various expressions. By connecting Ethernet to a personal computer, the data management of the hitter and the shooting data itself can be sent, and different processing can be handled.

In the above embodiments, the hit ball diagnosis regarding the golf ball has been described, but the present invention is not limited to this, and the ball may be hit by a hitting tool or a human body from a fixed position during practice or the like. The present invention can be applied to ball hitting balls, such as baseball balls, cricket balls, tennis balls, soccer balls, rugby balls, table tennis balls, and various other ball hitting diagnoses.

In that case, the traveling speed, the rotation angle, and the rotation speed of the flying ball immediately after being hit by the hitting force are measured, the subsequent hit ball trajectory is calculated based on the measured values, and the trajectory is estimated. It can be widely applied as a hit ball diagnosis system for displaying images.

For example, the striking element detecting means for optically detecting the movement immediately before the striking of the element which gives the striking force to various balls, and the starting speed and direction of the striking ball based on the movement detected by the striking element detecting means. It is sufficient to provide measurement position designating means for designating and determining at least two sphere measurement positions corresponding to the speed and direction. Then, hitting ball observing means for optically observing the surface of the sphere optically at least at two starting points at a position designated by the measuring position designating means, and a traveling direction of the sphere at each point captured by the observing means. It may be configured to include a hitting ball trajectory calculating unit that obtains a subsequent trajectory of the hitting ball based on the velocity, the rotation direction, and the angular velocity, and an output unit that outputs the calculated hitting ball trajectory as an image.

Also in this case, a polygonal shape element or the like is displayed on the surface of the sphere, and at least one apex of this shape element or the position, shape or angle of the display portion corresponding to this, and other elements. Characterized by making it different from the top of
It is desirable to calculate the hit ball trajectory by catching the characterized display element and other display elements by the hit ball observing means.

Laser light emitted at at least two different positions is applied as an optical detecting element of the hitting element detecting means, and the laser light is shielded at each point by the means for hitting a ball. It is desirable to detect the speed and direction of the means for hitting the ball based on Further, it is desirable to apply modulated laser light as the laser light.

Second Embodiment (FIGS. 8 to 10) In this embodiment, instead of the golf ball with the modified hexagonal mark used in the first embodiment, at least an area visible from one direction is used for analysis. This is a case of applying a golf ball having two marks that can be used for. That is, the above equation (12) and (1
As shown in Equation 3), the ball speed rotation number, the rotation axis tilt, the side spin, the launch angle, and the lateral deviation angle, which are the elements for performing the three-dimensional ballistic simulation, have coordinate values in the real space. It can be accurately determined by obtaining four known control points.

Therefore, in the present embodiment, there are at least two marks that can be used for analysis in the range visible from one direction.
Applying a ball that has points, two points with this mark,
The element is composed of the center of gravity (center) of the ball and one outer product point which can be obtained from these three points.

FIG. 8 shows an example of a golf ball to be applied. As shown in FIG. 8, the golf ball 4 applied in the present embodiment is provided with, for example, two circular marks 15 and 16 in a range visible from one direction. The marks 15 and 16 are circles having the same diameter or different diameters, arranged so as to be separated by a certain distance, and are filled. The analysis uses two points by the marks 15 and 16, the center of gravity (center) of the ball 4, and one outer product point that can be obtained from these three points, for a total of four points. Note that, basically, it is possible to analyze one point by the center of gravity of the ball and two points by the marks 15 and 16 as a total of three elements, but in the present embodiment, the fourth product is calculated from the coordinates by the outer product. The reason for calculating the points and calculating with 4 points including the outer product in addition to 2 points of marks and 1 point of center points in this way is that when there are 3 points, the error appearing on one plane may be large. On the other hand, it is possible to eliminate a large error from appearing by setting four points. Two marks 15, 1
Any shape, position, interval, coloring, etc. of 6 may be used, and for example, various colored indications or the like attached to the golf ball 4 may be used.

9A and 9B show the golf ball 4 immediately after the shot captured by the two camera devices 3a.
It shows the form of. As shown in these figures, the positions of the two marks 15 and 16 of the golf ball 4 change with the movement, so that the ball speed rotation speed, the rotation axis inclination, and the like as in the first embodiment. It is possible to obtain analysis elements such as side spin, jump-out angle, and side shake angle.

FIG. 10 is a flow chart showing the diagnostic procedure of the second embodiment using such image data. FIG. 10A shows the main routine, and FIG.
(B) shows a subroutine in position calculation.

As shown in FIG. 10A, in this embodiment, in addition to the procedure (S301 to S312) similar to that of the first embodiment, a search method selection step (S307a) and a two-point mark position calculation step ( S308a) is performed. As a result, the modified hexagonal mark 1 shown in FIG. 3 of the first embodiment is used.
The use of the golf ball 4 marked 4 and the use of the golf ball marked with the two-point marks 15 and 16 of FIG. 8 in this embodiment are selectable.
As a premise for the selection in step S307a, in the device configuration of the present embodiment (see FIG. 1), a changeover switch (not shown) that can be selected according to the type of ball previously used by the player is provided. However, it is of course possible to implement the present invention as a dedicated device for independently applying the present embodiment. In this case, although not shown, step S308 may be replaced by S308a.

Then, the two-point mark position calculation step (S30
8a), as shown in FIG. 10B, instead of the same steps (S405 to S407) as in the first embodiment,
Selection of a search method (S4
04a), a step of creating mark edges within the ball range (S405a), a step of grouping the mark edges into two groups (S406a), and a step of calculating the position of each mark edge (S407a) are performed, and coordinate calculation (S407). To proceed to.

In the process of this embodiment described above, the marks 15 and 16 displayed on the golf ball are 18
The flash emission intervals (time) by the two strobe lighting devices 3b and the photographing intervals (time) by the two camera devices 3a are determined so as not to rotate by 0 °. The light emission interval and the shooting interval are, for example, 0.
96 msec to 7.52 msec is suitable.

As described above, the order of the two marks on each spherical surface is determined based on the two captured images. However, the first misidentification may occur in one image. Marks 15 and 16 on each spherical surface in
May be recognized in reverse order. Even in this case, the rotation of 180 ° or more can be corrected to the rotation of 0 to 180 ° by setting the above setting so that the rotation of 180 ° or more is not performed.

As a second possibility of misidentification,
It is possible that the two images are recognized in the opposite order. Therefore, in the present embodiment, the inner product can be used to prevent erroneous mark recognition between two images. Then, by correcting the two marks 15 and 16 that were misidentified during the analysis, it is possible to prevent the misidentification.

Further, when the rotation angle of 0 to 30 ° is adopted as it is for the analysis, a large analysis error occurs. However, by calculating the angle of the first quadrant as the angle of the third quadrant, the accuracy is improved. Can be improved. Then, after the analysis, the corner of the third quadrant is returned to the corner of the first quadrant, so that the correct corner can be obtained. The other steps are substantially the same as those in the first embodiment, and thus the description thereof will be omitted.

According to the present embodiment described above, at least the mark 1 that can be used for analysis is visible in the range visible from one direction.
Since it is possible to apply a ball with two points 5 and 16,
The range of types of golf balls 4 that can be used for hitting practice can be expanded, which contributes to improvement in convenience in use.

Third Embodiment (FIGS. 11 to 18) This embodiment is an application example applicable to all golf balls in which the mark as shown in the first and second embodiments does not exist. It is a thing. In the case of a golf ball having no such mark, it is impossible to analyze the ball rotation speed. Therefore, in this embodiment,
There are 3 types of golf clubs: wood, iron and wedge.
The flight distance is calculated using the estimated value of the backspin amount at the time of a shot (at the time of impact) that is empirically collected in advance by specifying the species.

The side spin is not taken into consideration, and the flight distance as a result of going straight in the launch direction is calculated. That is, it is displayed on a monitor by a trajectory simulation of only the flight distance in the launch direction. This is a so-called simple mode embodiment that is suitable for use by a player or the like who knows a habit of a sliced state of a self-hit ball.

11A and 11B show images of the ball 4 photographed immediately after the shot, and FIGS.
It is explanatory drawing about the ballistic state based on the calculated value of backspin, its reliability, etc. FIG. 18 is a flowchart showing the processing procedure.

As shown in FIGS. 11 (A) and 11 (B), in the present embodiment, only the ball position data can be actually measured for the golf ball 4 immediately after being hit. That is, it is necessary to perform a trajectory simulation in a state where the ball rotation speed cannot be obtained. Therefore, an appropriate (general) backspin amount is roughly estimated from the head speed, the ball initial velocity, and the launch angle.

First, items to be examined will be described. In the present embodiment, only the information regarding the movement of the center of gravity of the ball 4 is obtained by the DLT described above. That is, the initial velocity of the ball,
The projection angle (vertical, horizontal). Further, the head speed can be measured by measuring the head speed. Therefore, the backspin amount is roughly estimated from these parameters. In this case, as experience values, impact data from various players, for example, skilled players (professional players, etc.), general players other than that, robots, etc. is obtained in advance by a high-speed camera and treated as basic data.

There are two methods for examining data.
That is, secondary smoothing with three parameters of the ball initial velocity, the launch angle, and the backspin. This is a multiple regression analysis with head speed, ball initial velocity, and launch angle as independent variables and backspin as the dependent variable. Impact data is analyzed for each wood, iron, and wedge. This is because if all the clubs are analyzed together, there will be a great deal of variation and no tendency can be found.

Hereinafter, the estimation result and analysis of the backspin amount at the time of impact will be described with reference to FIGS.

(1) Shots by Wood (FIGS. 12 and 13) In FIG. 12, the horizontal axis represents the initial velocity of the ball after the shot, and the vertical axis represents the launch angle (up and down) for many hit balls.
It is a graph showing. The amount of backspin in this case is estimated, and the regions are divided into regions on the graph every 500 rpm. The estimated calculation formula is the secondary smoothing of the ball initial velocity, the launch angle, and the backspin, and is the following formula 16.

[0134]

[Formula 19]

The results of multiple regression analysis using head speed, ball initial velocity, and launch angle as independent variables are:

[Equation 20] Is.

FIG. 13 shows a comparison between the actual measurement value of Wood's backspin and the multiple regression analysis and the secondary smoothing result. The vertical axis represents the above calculation results, and the horizontal axis represents the actually measured backspin value.

In this embodiment, the basis of reliability is the comparison of the correlation coefficient R in multiple regression and quadratic smoothing, respectively. It can be said that the larger the correlation coefficient R, the statistically more appropriate the approximation. As one guideline, if R = 0.6 or more (R ² = 0.36 or more), it can be said that the reliability is high.

In the results of FIG. 12 and FIG. 13, a complete correlation was not obtained in either of the multiple regression analysis and the secondary smoothing result, but for the multiple regression analysis R, R ² =
0.1899, and for the second order smoothing result, R ² =
Since it is 0.3643, it can be determined that the degree of data variation is more realistic in the result of the secondary smoothing.

(2) Shot by Iron (FIGS. 14 and 15) In FIG. 14, the horizontal axis represents the initial velocity of the ball after the shot, and the vertical axis represents the launch angle (up and down) for a large number of hit balls. It is a graph. The amount of backspin in this case is estimated, and the regions are divided into regions on the graph every 500 rpm. The estimated formula is multiple regression analysis with head speed, ball initial velocity, and launch angle as independent variables.
Equation 18 below.

[0140]

[Equation 21]

FIG. 15 shows a comparison between an actually measured value relating to the backspin of the iron and the multiple regression analysis and the secondary smoothing result. The vertical axis represents the above calculation results, and the horizontal axis represents the actually measured backspin value.

In the results of FIGS. 14 and 15, for the multiple regression analysis R, R ² = 0.6035, and for the secondary smoothing result, R ² = 0.2048. It is clear that the number of relationships is high. Therefore, the multiple regression analysis result is adopted for the iron.

(3) Shots with wedges (FIGS. 16 and 17) In FIG. 16, for a large number of hit balls with wedges, the horizontal axis represents the initial velocity of the ball after the shot, and the vertical axis represents the launch angle (up and down). It is a graph. The amount of backspin in this case is estimated, and the regions are divided into regions on the graph every 500 rpm. The estimated calculation formula is the secondary smoothing of the ball initial velocity, the launch angle, and the backspin, and is the following Formula 19.

[0144]

[Equation 22]

FIG. 17 shows a comparison between the actual measurement value concerning the back spin of the wedge and the multiple regression analysis and the secondary smoothing result. The vertical axis represents the above calculation results, and the horizontal axis represents the actually measured backspin value.

In the results of FIGS. 16 and 17, for the multiple regression analysis R, R ² = 0.8296, and for the secondary smoothing result, R ² = 0.9119. Both smoothed calculation results have a high correlation coefficient. However, since the reliability of the secondary smoothing is slightly high, the secondary smoothing result is used.

From the above results, in the present embodiment, the ballistic simulation is analyzed by using the quadratic smoothing for the wood, the multiple regression for the iron, and the quadratic smoothing for the wedge.

The processing in this case is basically performed in accordance with the procedure shown in the first embodiment, except that side spin is taken into consideration. Thereby, the flight distance as a result of going straight in the launch direction is calculated, and the monitor display is performed by the trajectory simulation of only the flight distance in the launch direction. In this case, as shown in FIG.
Regarding the position calculation step, unlike the first and second embodiments, a step for selecting a calculation method (S503).
a) is performed. Here, when no mark is selected, coordinate calculation using the above estimation formula (S507) is performed.

Note that, in FIG. 18, similarly to the second embodiment, a search method selection step (S504a) and a two-point mark position calculation step (S504b to S506b) are also added, so that FIG. In the case of using the golf ball with the modified hexagonal mark shown in FIG. 6, in the case of using the golf ball with the two-point mark of FIG. 8 in the second embodiment, and using the golf ball without the mark. When you do (no mark), you can choose. The device configuration of the present embodiment (see FIG. 1) on the premise that these selection steps S503a and S504 are selected.
In the same manner as in the second embodiment, a changeover switch that can be selected by the player according to the type of ball used in advance is provided. However, it is of course possible to implement the present invention as a dedicated device for independently applying the present embodiment. In that case, although not shown, steps S504-
It suffices to implement it as a device configuration in which S506 and the like are omitted.

According to this embodiment, it is possible to obtain the convenience that it can be widely applied to all golf balls having no mark. In this case, since it is a simple mode type that does not consider the side spin and calculates the flight distance as a result of going straight in the launch direction, the flight distance in the launch direction is calculated by the flight distance calculation as a result of going straight in the launch direction. It is suitable for use by a player or the like who only needs a monitor display by a ballistic simulation of the ballistic simulation, and has a merit that a simple structure can be realized by making the ballistic calculation and the like relatively simple.

Fourth Embodiment (FIG. 19) The present embodiment relates to a means for calculating the run, which is the movement after the golf ball flies and lands, with higher accuracy. In other words, regarding the calculation of the run, it is not possible to accurately obtain from the physical approach such as the condition of the ground (repulsion characteristics of the ball and the ground, the friction of the grass, the terrain effect, etc.), or the threshold value to change from bound to rolling. Very difficult. Therefore, it is necessary to create a simulation in consideration of not causing a physical failure and paying particular attention to the following points. Therefore, in the present embodiment, for the purpose of ensuring consistency between the data measured so far and the simulation value, and considering the psychology of wanting the golfer's wood to roll and the iron and wedge to stop. , It was done.

Specifically, in order to realize the above, it is preferable that the falling angle (depression angle) is good when the falling angle is small and the rolling angle is not deep when the falling angle is large, and in order to meet the above-mentioned purpose, the falling speed is set to three-dimensional ( Vx, Vy, Vz) components, and the horizontal component (for Vx, Vy) is a deceleration component that changes with each bound considering the influence of its speed and depression angle, and the vertical component (for Vz) is the ground component. The distance of the run is controlled by multiplying the deceleration component that changes for each bound considering the coefficient of repulsion for each bound. The details will be described below.

(1) Calculation of Run Let us consider the case where the velocity component (Vx, Vy, Vz) of the ball immediately before the fall is used. Here, each velocity component is Vy in the flight line direction, Vx in the lateral blur direction (positive on the right side of the target),
And the height direction means Vz (upward positive).

Here, as assumption 1, the deceleration parameter μ assuming the friction of the turf in the Vx and Vy directions, and Vz
A deceleration parameter e in which the coefficient of restitution is added is set in the direction, and this is an empirical value obtained from an experiment. Further, μ is a coefficient that depends on the falling angle (depression angle), and e is a coefficient that depends on Vz for each bound.

As assumption 2, μ and e are determined by the following equations (20) and (21).

[0156]

[Equation 23] However, the tan ⁻¹ part indicates the depression angle with respect to the ground, and the unit is “°”.

[0157]

[Equation 24] Here, α = 41, β = 0.551, γ = 0.998,
σ = 59.7.

Note that α, β, γ, and σ are values determined by collation with the data accumulated in the past, and are not necessarily limited to the above numerical values.

Next, as assumption 3, there is no particular limitation on the number of times of bouncing, but the velocity in the horizontal moving direction (Vx ²
+ Vy ² ) ^0.5 was 0.1 m / s or less, or Vy was 0.0001 m / s or less.

In this embodiment, based on the above assumptions,
Perform the following calculations.

[0161]

[Equation 25] The same applies hereinafter.

(2) Ball Position at Each Time In this embodiment, it is necessary to calculate the ball position in order to display the trajectory of the ball on the screen. (1) as described in, and that e _n is multiplied by the z-direction of the velocity components every time bound. Along with this, the flight time per bound also becomes shorter.

Therefore, taking an example with reference to the first bound,

[Equation 26] Is expressed as

Here, the second bound Z ₂ is considered when the value of Z1 starts from 0 and becomes 0 again.

By the way, the second bounce is

[Equation 27] Becomes

The same applies hereinafter.

FIG. 19 is a graph showing a comparison between the measured values of shot runs of various clubs by the golf swing robot and the calculated values by the simulation created by the above method.

According to FIG. 19, the data are evenly distributed on y = x (the relationship between the actual measurement and the calculation is 1: 1), indicating that the simulation is successful. Some of the variations are due to the unevenness of the state of the falling point (roughness, turf). Therefore, if it is dropped on the lawn in a uniform state as a simulation, it can be determined that it can be sufficiently used.

According to the present embodiment described above, the run estimation shown in the first embodiment is applied as a highly reliable one by incorporating the factors such as the falling angle and the falling velocity to calculate the run. be able to.

Fifth Embodiment (FIGS. 20 to 24) In addition to the functions of the above-described first to fourth embodiments, this embodiment has a function capable of coping with the case of using a ball with some indication. It is a thing.

That is, in each of the above-described embodiments, as shown in FIG. 3 or FIG.
4 or a ball 4 on which specific marks (hereinafter, also referred to as “fixed marks”) such as salient two-point marks 15 and 16 are applied, but in the present embodiment, characters and figures are visible in a range visible from one direction. , General symbols, numerals, and other various marks (hereinafter, also referred to as “free marks”) 17 are applied.

FIG. 20 shows an example of such a golf ball. As shown in FIG. 20, the golf ball 4 applied in the present embodiment is provided with a mark 17 in English characters, for example, in a range visible from one direction. The mark 17 is sufficient as long as it has a brightness difference that can be used for analysis with respect to the entire brightness of the ball surface. In the present embodiment, a case will be described in which, for example, two points 18 and 19 at the lower left and right lower ends of the mark made of English letters are used for coordinate designation.

FIG. 21 is a plan view showing a hit ball diagnosing device of this embodiment using such a ball 4, and FIG. 22 is a schematic side view of FIG. As shown in these drawings, in the present embodiment as well as in the above-described respective embodiments, a head speed detector 1, a laser reflection plate 2, an apparatus main body 3 and the like are provided, and the apparatus main body 3 has an imaging camera device 3a. ，
3a, flash strobe illuminators 3b and 3b for photographing are provided, and a signal processing system B is housed. Since these configurations are substantially the same as those shown in FIG. 1, duplicate description will be omitted.

The first difference of the apparatus of this embodiment from the above-mentioned embodiments is that any two points 18, 19 of the free mark 17 connected to the signal processing system B and captured by the camera devices 3a, 3b after the shot are taken. It means that the coordinate indicator 20 for instructing is input to the signal processing system B, and the function corresponding to the input from the coordinate indicator 20 is added to the functions shown in the above embodiments. As the coordinate indicator 20, various types of mice can be applied, and for example, a device called a trackball, which does not require a support, that can perform an instruction operation while being held by a hand is suitable.

The second difference of the apparatus of this embodiment from the above-mentioned embodiments is that the camera apparatus 3a, 3b for photographing the ball 4 is set higher than the ground at the shot position as shown in FIG. It was installed within the height range and the camera was tilted with the depression angle. As a result, the camera is directed downward, so that when shooting the ball 4, unnecessary light from the surroundings is more effectively prevented, and the two points 18 and 19 of the free mark for coordinate designation are clearly captured. be able to. In particular, it is effective in an outdoor practice field where sunlight or the like is easy to enter.

The device main body 3 accommodating the camera devices 3a and 3b is a portable one that can be used sideways, and can be tilted by being detachably supported by a support stand 21 having an inclined surface. That is, the apparatus main body 3 can be directly placed on the ground at the shot position for use, and various installation states can be selected.

FIG. 23 shows the above-mentioned camera devices 3a and 3b.
The state of the ball 4 at two positions on the screen imaged immediately after the shot by one of the two, and the cursor 22a and 22b using the coordinate indicator 20 to move the two points of the free mark 17 displayed on the ball 4. It shows how to specify the coordinates of 18 and 19.

As shown in FIG. 23, the ball 4
A second cursor for indicating the outer shape of the ball 4 is also displayed, and the center of gravity (center) position of the ball 4 can be obtained based on the outer shape instruction.

As a result, in this embodiment, two arbitrary points on the free mark 17 are coordinate-designated by the coordinate indicator 20, the center of gravity is determined from the outer shape of the ball, and a signal is obtained based on the respective coordinates and the center of gravity of the ball 4. The processing system B adds a function of performing a three-dimensional ballistic simulation. Further, in the analysis of the three-dimensional ballistic simulation, the coordinates of the two points 18 and 19 of the mark 17, the center of gravity (center) of the ball 4, and the outer product point 1 that can be obtained from these three points
A total of four points are used as elements, and more accurate simulation is performed.

FIG. 24 is a flow chart showing the processing method of this embodiment in detail. FIG. 24A shows a main routine, and FIG. 24B shows a subroutine in position calculation.

As shown in FIG. 24A, also in this embodiment, basically the same procedure (S701 to S712) as in the first and second embodiments is performed. in this case,
In this embodiment, the equipment and the type of ball used are set (S701a) before the shot. That is, in this step 701a, the presence or absence of the stand 21, the coordinate indicator 20, and the marks 14, 15, 16, 17 are set, and thereby, the numerical value is set by the inclination of the camera devices 3a, 3b, and the two-point instruction calculation is made by the coordinate instruction. Selection, setting of a search method depending on the type of mark, and the like are performed in advance.
For this setting, a changeover switch (not shown) that can be selected by the player according to the type of ball used in advance is provided.

When a shot is made after this setting (701a), shot detection by light shielding (S702, S70)
3), initial velocity detection of the hit ball based on the head speed and two-point shooting of the hit ball (S704 to S707) are performed. Then, after this, the photographing angle is determined by the presence or absence of the stand 21 (S707a), and if there is no stand, the first angle is determined.
The same function setting for calculation as in the embodiment and the second embodiment is set (S707b), and when the stand is present, the function setting different from those in the first and second embodiments is made (S707c). This is because the three-dimensional coordinates for the subsequent three-dimensional DTL calculation value change.

Next, similarly to the second embodiment, when the search method is determined (S707d) and the ball 4 displaying the free mark 17 of the present embodiment is used,
Two-point mark position calculation (S708a) is performed.

This two-point mark position calculation step (S708
Regarding a) or Hough calculation (S708), in addition to the processing of the second embodiment and the third embodiment, as shown in FIG. 24 (B), third and fourth routes are added. That is,
After reading the multiple images (S801), it is determined whether or not there is a setting by the coordinate indicator 20 (S801a). The first
-When performing the same operation as that of the third embodiment, this setting is set to be none.

On the other hand, this setting is performed in the case of the present embodiment in which the coordinate indicator 20 sets the coordinate instruction for the ball 4 having the free marks 18 and 19. In this case, it is possible to select a simple route similar to the third embodiment by setting the position only from the outer shape of the ball 4 without the coordinate designation but having the free mark.

Therefore, in this embodiment, the user makes a determination as to whether or not there is a mark (S801b), and if there is a setting, the coordinate indicator 20 in the calculation routine.
The instruction calculation of the two-point coordinates is performed by (S801c).
On the contrary, if no setting is made, the coordinate indicator 20 calculates the position of only the outer shape of the ball (S801).
d).

After the coordinate calculation (S807) is performed, DTL conversion is performed (S709) as shown in the main routine. In this case, the type of the mark is determined (S709a), the fixed mark coordinates are set for the fixed mark (S709b), and the free mark coordinates are set for the free mark (S709c). .

After that, the same steps as those in the first embodiment, that is, the ballistic simulation (S710) and the run calculation (S711) are performed, and the monitor display (S71) is performed.
2) is done.

According to the fifth embodiment described above, in addition to the basic function of fully automatic ball hitting diagnosis, even if the ball to be used does not have a specific mark, a person can use the free mark to indicate the coordinate. By inputting coordinates with the device 20,
It is possible to provide a multifunctional ball hitting diagnosis system that can expand the types of balls that can be applied and can widely deal with hitting practice. Further, according to the present embodiment, by setting the depression angles of the camera devices 3a and 3b, it is possible to prevent excessive light incident and perform more clear mark recognition.

[0190]

As described above, according to the present invention, the traveling speed, the rotation angle, and the rotation speed of a flying ball immediately after being hit by the hitting force of a golf ball or the like are measured, and based on the measured values, In a ball hitting diagnostic device that calculates a ball hit trajectory, estimates the trajectory, and displays an image, automatic recognition is performed, and measurement can be performed automatically without human intervention, and
It is possible to provide a compact and inexpensive hitting ball diagnosis device with a minimum number of items.

Further, the present invention can be widely applied to various kinds of balls, the range of selection of simulation types according to the user can be expanded, and high reliability in run calculation and the like can be ensured. .

Furthermore, according to the present invention, in addition to the basic function of fully automatically performing a hitting ball diagnosis, a person has a function of recognizing a hitting ball and teaching it to the apparatus depending on the ball used, which can be applied. It is possible to provide a multifunctional ball hitting diagnosis system that enables further expansion of ball types and is widely applicable to hitting practice.

[Brief description of drawings]

FIG. 1 is a plan view showing a first embodiment of the present invention.

FIG. 2 is an operation explanatory view showing the first embodiment of the present invention.

FIG. 3 is an explanatory diagram showing marks displayed on a ball according to the first embodiment of the present invention.

4A and 4B are flowcharts showing a processing procedure of the embodiment in the first embodiment of the present invention.

FIG. 5 is a diagram illustrating Hough transform according to the first embodiment of the present invention.

FIG. 6 is a diagram illustrating Hough transform according to the first embodiment of the present invention.

FIG. 7 is a diagram showing a DLT method according to the first embodiment of the present invention.

FIG. 8 is a diagram showing a ball according to a second embodiment of the present invention.

9A and 9B are diagrams showing a moving state of a ball in the second embodiment of the present invention.

10A and 10B are flow charts showing the processing procedure of the embodiment in the second embodiment of the present invention.

11A and 11B are views showing a ball according to a third embodiment of the present invention.

FIG. 12 is a diagram showing a relationship between a ball initial velocity and a launch angle regarding wood according to the third embodiment of the present invention.

FIG. 13 is a diagram showing a relationship between measured values and measured values regarding wood according to the third embodiment of the present invention.

FIG. 14 is a diagram showing a relationship between a ball initial velocity and a launch angle regarding an iron in the third embodiment of the present invention.

FIG. 15 is a diagram showing a relationship between actually measured values and measured values for irons according to the third embodiment of the present invention.

FIG. 16 is a diagram showing a relationship between a ball initial velocity and a launch angle regarding a wedge in the third embodiment of the present invention.

FIG. 17 is a diagram showing a relationship between measured values and measured values regarding wedges according to the third embodiment of the present invention.

FIG. 18 is a flowchart showing a processing procedure of an embodiment of the third embodiment of the present invention.

FIG. 19 is a diagram showing a relationship between actually measured values and measured values according to the fourth embodiment of the present invention.

FIG. 20 is a view showing a golf ball having characters displayed thereon according to the fifth embodiment of the present invention.

FIG. 21 is a plan view showing a device configuration according to a fifth embodiment of the present invention.

FIG. 22 is a side view showing a device configuration according to a fifth embodiment of the present invention.

FIG. 23 is a diagram illustrating a camera arrangement according to a fifth embodiment of the present invention.

FIGS. 24A and 24B are flowcharts showing details of processing in the fifth embodiment of the present invention.

[Explanation of symbols]

1 Head speed detector 2 Laser reflector 3 device body 4 golf balls 5 Player foot position 6 laser light 1a Laser emitting / receiving unit 3a camera device 3b Strobe lighting 7-shot judgment means 8 Head speed detection means 9 Flash emission setting means 10 Camera driving means 11 Hitting ball condition calculation means 12 Output means 13 Shooting area 14 mark 14a, 14b vertices 15 and 16 marks 17 mark 18, 19 Selected 2 points 20 coordinate indicator 21 stand 22a, 22b, 23 cursors

Continued front page    (72) Inventor Masataka Tsuji             1-9-8 Shibuya, Shibuya-ku, Tokyo Stock market             Company Photolon (72) Inventor Junji Uyama             1-9-8 Shibuya, Shibuya-ku, Tokyo Stock market             Company Photolon (72) Inventor Kenji Kaneda             1-9-8 Shibuya, Shibuya-ku, Tokyo Stock market             Company Photolon (72) Inventor Keitaro Fukuda             1-9-8 Shibuya, Shibuya-ku, Tokyo Stock market             Company Photolon (72) Inventor Takeshi Naruo             12-35, Nankokita, Suminoe-ku, Osaka-shi, Osaka             Issue Mitsuno Co., Ltd. (72) Inventor Yoshihiro Fujikawa             12-35, Nankokita, Suminoe-ku, Osaka-shi, Osaka             Issue Mitsuno Co., Ltd. F term (reference) 2F065 AA34 BB07 CC00 DD06 FF04                       FF64 FF66 JJ03 JJ19 JJ26                       KK02 MM02 QQ24 QQ28

Claims (27)

[Claims] 1. A time period, which is set immediately before hitting a ball for ball game, irradiates laser light at two locations in a direction intersecting with the passing direction of a ball hitting tool, and the laser light is blocked by passing through the ball hitting tool. By striking speed detection means for detecting the striking speed of the ball striking tool, a strobe lighting device capable of illuminating a certain area in the ball traveling direction immediately after striking the ball, and the striking speed detection means for emitting light from this strobe lighting device. Strobe light emission setting means to be performed at a timing corresponding to the detected striking speed,
A camera device capable of photographing the ball illuminated by the strobe illuminator at two points in the front and rear of the region; and a camera driving means for causing the camera device to perform photographing in correspondence with the striking speed of the striking speed detecting means. Hitting state calculation means for taking in the hitting speed information detected by the hitting speed detecting means and the ball image information taken by the camera device, and calculating the direction and distance of the hitting ball by calculation based on the ball speed and rotation, A hitting ball diagnosing device comprising: an output unit that outputs a calculation result of a hitting ball state calculating unit. 2. A laser beam is installed at a position immediately before a shot of a golf ball and is irradiated with laser light at two locations in a direction intersecting with the passing direction of the golf club, and the laser light is blocked by the passing of the golf club. Shot determining means for detecting whether it is a shot, head speed detecting means for detecting the head speed of the golf club when the shot is determined by the shot determining means, and a ball immediately after the shot of the golf ball A strobe lighting device capable of illuminating a certain area in the traveling direction, strobe light emission setting means for causing the strobe lighting device to emit light at a timing corresponding to the head speed detected by the head speed detection means, and the strobe lighting device. The irradiated golf ball at two points before and after in the area A camera device capable of photographing, a camera driving means for causing the camera device to perform photographing in correspondence with the head speed by the speed detecting means, head speed information detected by the head speed detecting means and the camera device. And a hitting state calculating means for obtaining a flying direction and a flying distance by a calculation based on the ball speed and rotation, and an output means for outputting a calculation result by the hitting state calculating means. Ball hitting diagnosis device. 3. A system for performing a hit ball diagnosis of a golf ball using the hit ball diagnosis device according to claim 2, wherein the golf ball is provided with a polygonal mark from which a whole view can be seen. A hit ball diagnosis system, characterized in that the mark has a certain brightness difference with the surface of the ball. 4. The hit ball diagnosis system according to claim 3, wherein one of the polygonal marks has one vertex set at a different angle from the other vertex. 5. The hit ball diagnosis system according to claim 3 or 4, wherein the strobe lighting device and the camera device are set to capture the mark of the golf ball placed at the shot position, and the hit ball state calculation means shoots at two points. A function that makes each vertex coordinate of the created mark into linear coordinates by Hough transform,
Based on the intersection point position of the linear coordinates, the function to convert to the three-dimensional coordinate position by the DLT method, and the obtained three-dimensional coordinate position and head speed, the ejection angle, the ball speed, the rotation speed, the rotation axis inclination, and the side spin. , A three-dimensional ballistic simulation function for calculating at least one of backspin and lateral deviation to obtain a hit trajectory, a hit ball diagnosis system. 6. The hit ball diagnosis system according to claim 5, wherein the hit ball state calculation means has a run calculation function for obtaining the behavior of the hit ball dropped on the ground after the three-dimensional ballistic simulation. . 7. The hit ball diagnosing system according to claim 3, wherein the output means has a function of displaying the data obtained by the hit ball state calculating means on a monitor as an image such as a chart, a graph or a trajectory. A hit ball diagnosis system characterized by having. 8. The hit ball diagnosis system according to claim 3, wherein the shot judging means applies a modulated laser beam. 9. In addition to the function according to any one of claims 3 to 8, a golf ball having at least two marks that can be used for analysis in a range that can be seen from one direction is applied. A hitting ball diagnosis system having a function of performing a three-dimensional trajectory simulation based on a point and a center of gravity of a ball. 10. The hit ball diagnosis system according to claim 9, wherein a three-dimensional ballistic simulation is performed by using two points by marks, a center of gravity of the ball, and an outer product point that can be obtained from these three points as a total of four elements. A hit ball diagnosis system characterized by performing. 11. The hit ball diagnosis system according to claim 9 or 10, wherein the order of two marks on each spherical surface is determined based on the two captured images, and two images are obtained by using an inner product. A hit ball diagnosis system characterized by recognizing marks between spaces. 12. The hitting ball diagnosis system according to any one of claims 9 to 11, wherein when the two images are recognized in the opposite order, the ball is set not to rotate by 180 ° or more. Hitting ball diagnosis system characterized by. 13. The hitting ball diagnosis system according to any one of claims 9 to 12, wherein the angle of the first quadrant is set to the third quadrant when the analysis is performed by directly adopting the rotation angle of 0 to 30 °. A ball hitting diagnosis system characterized by calculating a corner and returning the corner of the third quadrant to the corner of the first quadrant after analysis. 14. In addition to the function according to any one of claims 3 to 15, a golf ball having no mark is applied, and the type of golf club is specified to three types of wood, iron, and wedge, and experience is performed in advance. A hit ball diagnosis system having a function of calculating a flight distance based on an estimated value of the backspin amount at the time of impact that is aggregated. 15. The hit ball diagnosis system according to claim 14, wherein the flight distance is calculated as a result of going straight in the shooting direction without considering the side spin. 16. The hitting ball diagnosis system according to claim 14 or 15, wherein the impact data is analyzed for each of wood, iron and wedge, and the analyzed data is analyzed by three parameters of a ball initial velocity, a launch angle and a backspin.
A ball hitting diagnosis system characterized by secondary smoothing. 17. The hitting ball diagnosis system according to claim 14, wherein the impact data is subjected to a multiple regression analysis with the head speed, the ball initial velocity and the launch angle as independent variables and the backspin as a dependent variable. Hitting ball diagnosis system characterized by. 18. The hitting ball diagnosis system according to claim 9, wherein a golf ball with a modified hexagonal mark is used and a golf ball with a two-point mark is used. And / or using a golf ball having no mark 2
A ball hitting diagnosis system comprising a switch for selecting one of two cases, and a step of selecting a calculation method corresponding to the case of switching in the ballistic calculation. 19. The hitting ball diagnosis system according to any one of claims 3 to 18, wherein an element for calculating a run with respect to a movement of the golf ball after flying and landing is:
Taking in the falling angle and falling velocity component of the golf ball,
A hitting ball diagnosis system characterized in that a distance of a run is controlled by multiplying a deceleration component varying for each bound and a deceleration component varying for each bound due to a coefficient of restitution with the ground for each bound. 20. In addition to the function according to any one of claims 3 to 19, a character, a graphic,
A golf ball having various marks, numbers, and other various marks is applied, and any two points of the marks captured by the camera device after a shot are coordinate-indicated by a coordinate indicator, and the center of gravity is obtained from the outer shape of the ball. A hitting ball diagnosis system having a function of performing a three-dimensional ballistic simulation based on coordinates and a center of gravity of a ball. 21. The hitting ball diagnosis system according to claim 20, wherein an arbitrary two points on a mark whose coordinates are designated, a center of gravity of the ball, and four outer product points which can be obtained from these three points are used as elements. A ball hitting diagnosis system characterized by performing a three-dimensional ballistic simulation. 22. The hit ball diagnosis system according to claim 20 or 21, wherein a mouse is applied as a coordinate indicator. 23. The hitting ball diagnosis system according to any one of claims 20 to 22, wherein the presence or absence of input of coordinate instructions of arbitrary two points by the coordinate indicator is determined, and if there is an input, the method of claim 11 to 13. A hit ball diagnosis system characterized by performing a processing function corresponding to any of the above. 24. The hit ball diagnosis system according to claim 9, wherein a golf ball with a modified hexagonal mark is used and a golf ball with a two-point mark is used. And when using a golf ball that does not have a mark,
The method further comprises a switch for selecting at least any two cases of using a golf ball whose coordinates are designated by a coordinate indicator, and a step of selecting a calculation method corresponding to the case of the ballistic calculation. A hit ball diagnosis system characterized in that 25. The hit ball diagnosis system according to any one of claims 1 to 24, wherein the camera device for photographing the golf ball is installed within a predetermined height range higher than the ground at the shot position, A hit ball diagnosis system characterized in that the direction is inclined with a depression angle. 26. The hit ball diagnosing system according to claim 25, wherein the camera device is a portable device that can be used in a lateral direction, and is detachably supported by a support stand so that the camera device can be tilted. Hit ball diagnosis system. 27. The hit ball diagnosis system according to claim 25, further comprising a switch for selecting a case where the camera device is arranged in a tilted manner, and a calculation method corresponding to the case where the change is made in ballistic calculation. A ball hitting diagnosis system comprising steps.