Flying behavior measuring apparatus of flying object, and flying behavior measuring method of flying object

The present invention relates to a flying object flying behavior measuring device capable of easily measuring the flying behavior of a spherical flying object such as a golf ball with high accuracy, and a flying object flying behavior measuring method.

Currently, the flight behavior of a flying object is being measured. For example, an image measurement of the flight behavior of a golf ball immediately after impact is performed, and based on this measurement, an image measurement for simulating the flight distance of the golf ball is performed. Of the flight behavior of golf balls by image measurement, for the speed and movement direction, images are recorded at predetermined time intervals, the contour of the image of each golf ball is extracted, the center of gravity of each contour is obtained, and each center of gravity point. By measuring the distance between the golf balls and the moving angle of the center of gravity, the moving speed and angle of the golf ball can be obtained. In this case, since the contour of the golf ball can be extracted with high accuracy, the moving speed and launch angle can also be measured with high accuracy. Further, various measuring devices and measuring methods for measuring the flying behavior of a golf ball including the rotational movement of the golf ball have been proposed (see, for example, Patent Document 1 and Patent Document 2).

Patent Document 1 discloses a moving parameter measuring device for a moving body, which can accurately measure the moving speed, moving direction, rotational angular velocity, and rotating direction of the moving body by using only one camera. ing. This moving body movement parameter measuring device can accurately measure the initial ballistic parameters of the golf ball, such as the initial velocity of the golf ball immediately after launch, the launch angle, and the rotational angular velocity and rotation direction of the golf ball. is there.

In this moving parameter measuring device for a moving body, a specific mark is attached to the golf ball in order to measure the spin of the golf ball, as shown in FIG. As shown in FIG. 13, an image 102 of a first golf ball and an image 104 of a second golf ball are recorded on one plane image 100. Marks 106, 108, and 110 are provided on the images 102 and 104 of the first and second golf balls, respectively. The images 102 and 104 of the first and second golf balls were recorded at predetermined time intervals and were contour-extracted.

In Patent Document 1, the positions of the marks 106, 108, 110 on the second golf ball image 104 of the marks 106, 108, 110 recorded on the first golf ball image 102 are tracked, and the golf balls are tracked. Calculate the amount of rotation of. As described above, in Patent Document 1, the spin amount of the golf ball can be obtained by tracking and specifying the position of the mark after a lapse of a predetermined time.

Further, the method for measuring the rotational motion of a golf ball disclosed in Patent Document 2 uses two cameras arranged at intervals along the flight line direction of the set golf ball, and is a hit golf ball. A method of measuring the rotational motion of a hit golf ball from the projected image is disclosed by taking a picture of the golf ball with these two cameras. In this method of measuring the rotational motion of a golf ball, a golf ball in which a convex polygon mark is marked on the surface in black or a similar dark color is used, and a computer is used for the captured image without human intervention. The position of the corner of the convex polygon mark is detected by automatic image processing, and the rotational movement of the hit golf ball is calculated based on the change in the position of the corner between the images captured by the two cameras. ..

Also in the method disclosed in Patent Document 2, as shown in FIG. 14, a golf ball is provided with an isosceles triangular mark 125. In this case, as shown in FIG. 14, two golf ball images 122 and 124 are recorded on one frame 120. The images 122 and 124 of each golf ball are recorded at predetermined time intervals and are contour-extracted. The position of the mark 125 on the golf ball image 124 at the corners 126, 128, and 130 of the mark 125 recorded on the golf ball image 122 is tracked, and the amount of rotation of the golf ball is calculated. In this way, the backspin and sidespin of the golf ball can be obtained by specifying the position of the mark after the lapse of a predetermined time.

<patcit num="1"><text>Japanese Unexamined Patent Publication No. 2003-57258</text></patcit><patcit num="2"><text>Japanese Unexamined Patent Publication No. 2000-19186</text></patcit>

<p> In both Patent Document 1 and Patent Document 2 described above, marks are provided on the golf ball in order to measure the amount of rotation of the golf ball, and each mark in the image of the golf ball taken at a predetermined time interval is tracked. By associating with each other, the amount of rotation of the golf ball is obtained.</p><p> Therefore, when the golf ball rotates about an axis perpendicular to the photographing surface, the amount of rotation of the golf ball can be obtained by tracking the mark. However, when the axis parallel to the photographing surface is rotated as the rotation axis, a part of the mark is hidden and the entire mark may not be photographed. As a result, there is no processing target to be tracked, so that the measurement accuracy of the rotation amount of the golf ball may decrease. Furthermore, in order to prevent such marks from being hidden, it is necessary to take measures such as changing the measurement conditions. As a result, the measurement conditions are not constant, and the setting of the measuring device is forced to be changed, which causes a problem that the measurement work becomes complicated.</p><p> An object of the present invention is a flying behavior measuring device and flying of a flying object capable of solving the problems based on the prior art and easily measuring the flying behavior of a spherical flying object such as a golf ball with high accuracy. The purpose is to provide a method for measuring the flight behavior of a body.</p>

<p> In order to achieve the above object, the first aspect of the present invention is a flying object flying behavior measuring device for measuring the flying behavior of a spherical flying object, and the flying objects are separated by a predetermined time interval. Of the image of the first flying object and the image of the second flying object whose recording times recorded by the recording unit are different from those of the recording unit for optically recording, the image of the first flying object is said to fly. The first contour region of the body is detected, the first image information of the image of the first projectile in at least a part of the region of the first contour region is obtained, and the image of the second projectile is obtained. The image information calculation means for detecting the second contour region of the flying object and obtaining the second image information of the image of the second flying object for the second contour region, and the first image information. The second image information is mapped to the surface of the first virtual sphere and the second image information is mapped to the surface of the second virtual sphere, and the first virtual sphere is subjected to rotation processing so that the first virtual sphere can be rotated. It is characterized by having a rotation amount calculation means for calculating the rotation amount used for the rotation processing when the correlation between the image information of 1 and the second image information on the surface of the second virtual sphere is the highest. It provides a flying behavior measuring device for a flying object.</p><p> In the present invention, it is preferable to further have a rotation speed calculation means for calculating the rotation speed of the flying object based on the time interval and the rotation amount of the flying object. Further, in the present invention, it is preferable that the rotation speed calculation means further decomposes the rotation amount of the flying object into components in the three axial directions and calculates the rotation speed in each axial direction.</p><p> Further, in the present invention, the spherical flying object that flies at an inclination angle with respect to the horizontal plane, and the first axial direction among the three axial directions is the first direction parallel to the horizontal plane. The 2 axial direction is preferably the second direction perpendicular to the horizontal plane. Furthermore, in the present invention, for example, the flying object is a golf ball, and the amount of rotation per unit time about the first axial direction is backspin, which is centered on the second axial direction. The amount of rotation per unit time is the side spin. Further, in the present invention, the first image information and the second image information are represented by a density pattern having at least two gradations, and the first image information and the second image information The image information preferably has the same number of gradations.</p><p> A second aspect of the present invention includes an image of a first flying object having different recording times and an image of a step of optically recording a spherical flying object in flight at predetermined time intervals. Of the images of the two projectiles, the first contour region of the projectile is detected for the image of the first projectile, and the first projectile in at least a part of the first contour region. The step of obtaining the first image information of the image, the second contour region of the flying object is detected for the image of the second flying object, and the image of the second flying object is detected for the second contour region. The step of obtaining the second image information of the above, the first image information is mapped to the surface of the first three-dimensional virtual sphere, and the second image information is mapped to the surface of the second three-dimensional virtual sphere. The process and the rotation processing of the first virtual sphere are performed, and the correlation between the first image information on the surface of the first virtual sphere and the second image information on the surface of the second virtual sphere is The present invention provides a method for measuring the flight behavior of a flying object, which comprises a step of calculating the amount of rotation used for the rotation process when the image becomes the highest.</p><p> In the present invention, after the step of calculating the rotation amount of the flying object, there is a step of calculating the rotation speed of the flying object based on the time interval and the rotation amount of the flying object. Is preferable. Further, in the present invention, the step of calculating the rotation amount of the flying object further includes a step of decomposing the rotation amount of the flying object into components in the three axial directions and calculating the rotation speed in each axial direction. be able to.</p><p> Further, in the present invention, for example, the flying object is a golf ball, and the golf ball flies at an inclination angle with respect to the horizontal plane, and is the third in the three axial directions parallel to the horizontal plane. The amount of rotation per unit time about one axial direction is the backspin, and the amount of rotation per unit time about the second axial direction perpendicular to the horizontal plane is the side spin.</p><p> Furthermore, in the present invention, the first image information and the second image information are represented by a density pattern having at least two gradations, and the first image information and the second image information. It is preferable that the image information of the above has the same number of gradations.</p>

<p> In the flying object flying behavior measuring device of the present invention, a recording unit that records an image of a first flying object and an image of a second flying object having different recording times of a spherical flying object, and a recording unit of the first flying object. For the image, the first contour region of the projectile is detected, the first image information of the image of the first projectile in at least a part of the first contour region is obtained, and the second projectile is obtained. The image information calculation means for detecting the second contour region of the projectile and obtaining the second image information of the image of the second projectile for the second contour region, and the first image information. By mapping to the surface of the first virtual sphere, mapping the second image information to the surface of the second virtual sphere, and rotating the first virtual sphere, the surface of the first virtual sphere is subjected to rotation processing. By having a rotation amount calculation means for calculating the rotation amount used for the rotation processing when the correlation between the first image information and the second image information on the surface of the second virtual sphere is the highest. , The amount of rotation of the flying object can be calculated by using the first image information and the second image information without providing a special mark or the like on the surface of the flying object. Therefore, the flight behavior of the flying object can be easily measured with high accuracy without a part of the mark becoming undetectable and the measurement accuracy being lowered.</p><p> Further, in the method for measuring the flight behavior of a flying object of the present invention, a step of optically recording a spherical flying object in flight at a predetermined time interval and a first flying object in which the recorded recording time is different. In the image of the first flying object and the image of the second flying object, the first contour region of the flying object is detected for the image of the first flying object, and the first contour region in at least a part of the first contour region is detected. The step of obtaining the first image information of the image of the first flying object, the second contour region of the flying object is detected for the image of the second flying object, and the second contour region is detected for the second contour region. The process of obtaining the second image information of the image of the flying object, the first image information is mapped to the surface of the first three-dimensional virtual sphere, and the second image information is mapped to the surface of the second three-dimensional virtual sphere. The step of mapping to the surface, the first image information on the surface of the first virtual sphere, and the second image information on the surface of the second virtual sphere by subjecting the first virtual sphere to rotation processing. By having a step of calculating the amount of rotation used for the rotation process when the correlation with is the highest, the first image information and the second image information are used for the recorded image of the spherical projectile. The amount of rotation of the flying object can be calculated without providing a special mark or the like on the surface of the flying object. Therefore, since a part of the mark does not become undetectable and the measurement accuracy does not decrease, the flight behavior of the flying object can be easily measured with high accuracy.</p>

Hereinafter, the flying behavior measuring device for the flying object and the flying behavior measuring method for the flying object of the present invention will be described in detail based on the preferred examples shown in the attached drawings.

Hereinafter, as an example of the flying behavior measuring device for a flying object of the present invention, the initial speed immediately after hitting a golf ball, the launch angle immediately after hitting a golf ball, and the side spin and backspin immediately after hitting a golf ball are measured. The initial ballistic measuring device will be described. FIG. 1 is a schematic side view showing an initial ballistic measurement device which is an example of a flight behavior measuring device for a flying object according to the first embodiment of the present invention, and FIG. 2 is a configuration of a calculation unit of the present embodiment. It is a block diagram which shows.

As shown in FIG. 1, the initial trajectory measuring device 2 of the golf ball 8 measures, for example, the initial trajectory characteristic value immediately after the hit of the golf ball 8 when the golfer 4 tries to hit the golf ball 8 with the golf club 6. Is. In this embodiment, the golf ball 8 is launched and flies at a predetermined inclination angle with respect to the horizontal plane HS. The initial ballistic characteristic values include, for example, initial velocity, launch angle, side spin, back spin, and the like. Here, the horizontal plane HS is a surface that serves as a reference for the initial trajectory measuring device 2. The horizontal plane HS is preferably a plane having an inclination of ± 2 ° or less with respect to the horizontal, and most preferably a plane set horizontally by a spirit level or the like.

The initial ballistic measuring device 2 has two mirrors 10 that reflect the image of the golf ball 8 launched from the tee on which the golf ball 8 is placed on the side facing the golfer 4 with the golf ball 8 as the subject in between. 12 and the two images of the golf ball immediately after launch reflected by these two mirrors 10 and 12 are projected on different surfaces, the image projected from the mirror 10 is reflected, and the image projected from the mirror 12 is transmitted. A high-resolution CCD camera (recording unit) 16 that captures the image of the golf ball transmitted through the half mirror 14 and the image of the golf ball reflected by the half mirror 14 together, and the CCD camera 16 capture the image ( It is mainly composed of an initial ballistic characteristic calculation unit 17 that calculates an initial ballistic characteristic value of the golf ball 8 based on a recorded image of the golf ball.

Here, the mirrors 10 and 12 are arranged around the assumed trajectory path immediately after the launch of the golf ball 8, are approximately equal distances from the golf ball 8 immediately after the launch, and are images of the golf ball viewed from two different directions. It is configured to reflect each. The half mirror 14 is an optical member having a boundary surface that at least transmits an image projected from one side and at least reflects an image projected from the other side, and the arrangement positions of the mirrors 10 and 12 are substantially symmetrical. The interface between the plane of symmetry 18 and the half mirror 14 is arranged so as to be parallel to the plane of symmetry 18 to be positioned. That is, the tilt angles of the reflection surfaces of the mirrors 10 and 12 with respect to the surface of the half mirror 14 or the target plane 18 have different positive and negative signs and have the same absolute value (angles + α ° and -α in FIG. 1). °).

Further, the initial ballistic measuring device 2 of the golf ball 8 projects the image of the golf ball immediately after launch, which is reflected by the mirrors 10 and 12, as seen from two different directions, on the half mirror 14, but the mirrors 10 and 12 By fine-tuning the arrangement, the projection angles of the two golf ball images projected on the half mirror 14 are approximately the same, and the mirrors 10 and 12 are arranged so that the images of the golf balls do not overlap each other as much as possible. The image of the golf ball is formed in close proximity by finely adjusting the arrangement position, and the image of the golf ball in close proximity is captured by the CCD camera 16 as one image. A control device 22 is connected to the CCD camera 16, and the control device 22 controls to automatically open and close the electronic shutter in order to take an image at a predetermined timing. In this way, by using the half mirror 14 to bring the images of the golf ball viewed from two different directions close to each other, the field of view of the imaging region of the CCD camera 16 can be narrowed, and the image of the golf ball 8 can be accurately displayed. It can be imaged. In addition, since the images of the two golf balls are unlikely to overlap with each other, it is possible to perform image processing and measurement of the initial ballistic characteristic value that will be performed later.

The CCD camera 16 can be any optical camera, but as will be described below, the initial velocity and launch angle of the golf ball 8, as well as the initial angular velocity and direction of rotation such as backspin and sidespin. When measuring the characteristic value, the image of the golf ball 8 can be processed quickly to detect the image of the golf ball 8, so that the golf ball 8 is digitized and output using the CCD camera 16. It is desirable to facilitate the detection of the position of. Further, the initial trajectory measuring device 2 of the golf ball 8 of the present embodiment fixes the respective arrangements and covers the surface through which the images of the two subjects projected on the two mirrors 10 and 12 pass with a transparent body. It can be made portable by storing it in any case 20, and can be easily moved and installed in any place. Of course, in addition to this, a strobe device that illuminates the golf ball 8 when the golf ball 8 is imaged, or, in some cases, a natural light or artificial light illuminating device that is sufficiently bright to illuminate the golf ball 8 is used.

In the initial trajectory measuring device 2 of the golf ball 8 configured in this way, when measuring the initial trajectory characteristic value of the golf ball 8, a predetermined image of the golf ball launched and flying immediately after the impact is determined. The image is taken as one plane image by two strobe emission at time intervals. At this time, as is clear from FIG. 1, the image of the golf ball 8 (hereinafter referred to as the upper image) reflected by the mirror 10 and reflected again by the half mirror 14 and projected onto the CCD camera 16 is captured by the CCD camera 16. The image of the golf ball 8 (hereinafter referred to as the lower image) projected on the CCD camera 16 through the half mirror 14 reflected by the mirror 12 on the upper side of the image to be captured is captured by the CCD camera 16. Since the arrangement of the mirrors 10 and 12 is set so as to be imaged on the lower side in the image, as shown in FIG. 3, a circular image 32 of four golf balls is contained in one plane image 30. , 34, 36, 38 are recorded as images. In this embodiment, the upper image is a mirror image, the lower image is a normal image, and the flight directions M are recorded in opposite directions. Further, the golf ball images 34 and 36 correspond to the images of the first flying object of the present invention, and the golf ball images 32 and 38 correspond to the images of the second flying object of the present invention. is there. In this embodiment, the golf ball images 32 and 34 are the above-mentioned upper images (mirror images), and the golf ball images 36 and 38 are the lower images (normal images). Here, FIG. 3 is a schematic diagram showing an example of an image obtained by the initial trajectory measuring device of this embodiment.

Further, since the strobe fires twice at a predetermined time interval, the golf ball images 34 and 36 are imaged by the first strobe light emission, and the golf ball images 32 and 38 are imaged by the later strobe light emission. The flashes of these two strobes opened the shutter of the CCD camera 16 with a predetermined time delay from the trigger signal generated by the passage of the golf club 6 just before the impact of the swinging golf club on the golf ball 8. Later, it will be done. Then, the image of the golf ball when the strobe is fired twice is imaged.

Therefore, in the plan image 30, the images 32 and 34 of the golf ball 8 as the upper image, the images 36 and 38 of the golf ball 8 as the lower image, and the image 34 of the golf ball 8 first captured, The images 32, 34, 36, and 38 of the four golf balls 8 captured by combining the 36 and the images 32, 38 of the golf ball 8 after a lapse of a predetermined time are captured as images.

Note that this flat image 30 is limited to images in which images 32, 34, 36, and 38 of four golf balls captured by the CCD camera 16 are captured by firing strobes at predetermined time intervals. It may be an image obtained by opening the shutter of the camera twice at the above-mentioned predetermined time interval and performing multiple exposures to capture the images 32, 34, 36, 38 of the golf ball, and further, the above-mentioned predetermined time. The shutter is opened for the time interval of, to obtain an image of the golf ball 8 having an afterimage in the moving direction, and the images at both ends of the golf ball 8 having this afterimage are the images of four golf balls 32, 34, 36, It may be 38, or an image may be taken out from an image captured by a high-speed video camera at the same predetermined time interval, and the images at both ends thereof may be images 32, 34, 36, 38 of four golf balls. The plane image 30 captured by the CCD camera 16 is output to the initial ballistic characteristic calculation unit 17.

In this way, the projection angles of the two golf ball images projected on the half mirror 14 are substantially the same, the images of the golf ball 8 are brought close to each other, and the mirrors 10 and 12 with respect to the surface of the half mirror 14 are further aligned. Since the positive and negative signs of the angle of inclination of the reflecting surface are different from each other and the absolute values are substantially equal, the path length of the image of the golf ball that is reflected by the subject golf ball 8 to the mirror 10 or mirror 12 and reaches the CCD camera 16 is , Approximately equal, and the image of one golf ball is not out of focus as in the past.

The initial ballistic characteristic calculation unit 17 calculates initial ballistic characteristic values such as the moving speed, moving direction, backspin, and side spin of the golf ball based on the image of the golf ball captured by the CCD camera 16, for example. To do. The initial ballistic characteristic calculation unit 17 includes an image reading unit 40, a position calculation unit 42, a calculation unit 44, a storage unit 45, a CPU 46, and a setting unit 49.

The image reading unit 40 takes in the flat image 30 captured by the CCD camera 16 as digital data, erases unnecessary images such as the surrounding environment by performing image processing, and erases unnecessary images such as the surrounding environment, and the circular contour region of the golf ball 8. (Not shown) is detected, and this circular contour region includes a region surrounded by the contour.

The image reading unit 40 detects the contours of the images 32, 34, 36, and 38 of the four golf balls 8 as shown in FIG.

The position calculation unit 42 calculates the positions of the centers of gravity of the images 32, 34, 36, and 38 of the golf ball 8, and further calculates the components of the vertical plane and the horizontal plane HS in the actual movement path of the golf ball 8. The position calculation unit 42 preferably has a function of calculating the diameters of the images 32, 34, 36, and 38 of the golf ball 8.

As shown in FIG. 1, since the two mirrors 10 and 12 are tilted by an arbitrary angle, the image 32 of the golf ball in the image obtained as the plane image 30 projected by these mirrors 10 and 12. The coordinates of the center of gravity of 34, 36, and 38 are the composite of the components of the vertical plane and the horizontal plane HS (see FIG. 1) according to the tilt angles of the mirrors 10 and 12. Therefore, the numerical values of the coordinates of the positions of the centers of gravity of the golf ball images 32, 34, 36, and 38 are calculated and decomposed according to the arrangement of the mirrors 10 and 12 so as to be the components of the vertical plane and the horizontal plane HS. Then, the coordinates of the position of the center of gravity of the golf ball 8 at the time of the first strobe light emission (hereinafter, also referred to as the first time) and the time point of the second strobe light emission at each of the components of the vertical plane and the horizontal plane HS obtained by decomposition. The coordinates of the position of the center of gravity of the golf ball 8 at (hereinafter, also referred to as the second time) are calculated. Each calculated coordinate is output to the calculation unit 44.

When the position calculation unit 42 calculates the coordinates of the position of the center of gravity of the golf ball 8, the diameters of the golf ball images 32, 34, 36, and 38 at the time of the first strobe light emission and the time of the second strobe light emission are calculated. You may. Then, the diameters of the golf ball images 32, 34, 36, and 38 at each of these calculated times may be output to the calculation unit 44. By calculating the diameter of the golf ball in this way, it is possible to calculate the movement path of the golf ball in the three-dimensional space, as will be described later.

The calculation unit 44 calculates the moving speed, moving direction, backspin, and side spin of the golf ball 8. As shown in FIG. 2, the calculation unit 44 includes a movement amount calculation means 50, an image pattern calculation means 52, and a rotation component calculation means (rotation speed calculation means) 54. The image information calculation means of the present invention is configured by the position calculation unit 42 and the image pattern calculation means 52.

The movement amount calculation means 50 calculates the movement distance and the movement direction of the three-dimensional center of gravity position of the golf ball 8 from the position coordinates of the center of gravity of each of the images 32, 34, 36, and 38 of the golf ball 8. It also calculates the initial velocity or movement velocity, and the launch angle. The launch angle in this embodiment is an image of the first time (image of a golf ball 34) and an image of a second time (image of a golf ball 32) on a plane perpendicular to the horizontal plane HS and including the launch direction. The direction of movement is represented by the angle formed by the line projected on this surface and the line indicating the horizontal plane HS. This moving direction is represented by, for example, the moving direction of the position of the center of gravity of the golf ball when the flying object is a golf ball. The launch direction indicates the target direction (flying direction) of the golf ball 8 (flying object), which is the reference of the initial trajectory measuring device 2, and is set as appropriate. The launch angle, initial speed, or movement speed calculated by the movement amount calculation means 50 is output to the storage unit 45.

In the initial trajectory measuring device of this embodiment, the golf ball is imaged from two directions. Therefore, the stereographic projection method of imaging from two directions can be used to calculate the flight trajectory of the golf ball in the three-dimensional space. The flight trajectory of the golf ball in the three-dimensional space can be calculated by calibrating the stereographic projection method described later. The calibration method will be described in detail later.

The image pattern calculating means 52 calculates the first image information of the entire contour region or a predetermined region of the golf ball recorded first. The image pattern calculating means 52 converts the unprocessed image data of the golf ball image recorded first into density data having a predetermined number of gradations, and a specific density data represented by the obtained density data. The density pattern is extracted as the first image information. For example, when the first image information is obtained for a predetermined area, the density pattern of the pixel density data in that area is used as the first image information. Further, when the first image information is obtained for the entire contour region of the golf ball, for example, a one having a large gradation difference such as dirt is set as a specific density pattern.

Further, the density pattern may be set by a person looking at the density data displayed on the display device 48. In this way, the density pattern calculated as the first image information is set in the setting unit 49 described later.

Further, the image pattern calculating means 52 calculates the density data of the contour area of the golf ball after the lapse of a predetermined time under the same conditions as the contour area of the golf ball first recorded over the entire contour area, and this density pattern. (Second image information) is calculated. In this embodiment, since the density pattern obtained as the first image information and the second image information is used as the image feature amount, the number of gradations is the same.

Hereinafter, the method of calculating the rotation axis and the amount of rotation of the golf ball in this embodiment will be described in the upper image shown in FIG. 3, that is, the image 34 of the golf ball (image of the first time) and the image 32 of the golf ball (third). The image of the time of 2) will be described as an example. FIG. 4 is a schematic perspective view illustrating a method of calculating the rotation axis and the amount of rotation of the golf ball in this embodiment. Note that reference numeral V, reference numeral H, and reference numeral W in FIG. 4 indicate axes orthogonal to each other. Reference numeral V in FIG. 4 is a vertical axis, reference numeral W is a first horizontal axis orthogonal to the vertical axis V, and reference numeral H is orthogonal to the vertical axis V and the first horizontal axis W. The second horizontal axis. The first horizontal axis W and the second horizontal axis H are included in the horizontal plane HS. In FIG. 4, the arrow M indicates the flight direction as in FIG. The horizontal axis direction of the first horizontal axis W shown in FIG. 4 corresponds to the first axial direction of the present invention. Further, the vertical axis direction of the vertical axis V shown in FIG. 4 corresponds to the second axial direction of the present invention. In the present invention, three axes orthogonal to each other are used in calculating the rotation axis and the amount of rotation of the golf ball (flying object), but the present invention is not limited to this. For example, the second horizontal axis H shown in FIG. 4 may be changed to an axis parallel to the launch direction.

As shown in FIG. 4, a first three-dimensional virtual space A is provided with a density pattern 35a obtained by binarizing an image 34 of a golf ball by an image pattern calculating means 52, for example. It maps (maps) to the surface of the sphere Q (hereinafter referred to as the first virtual sphere Q). Further, the image 32 of the golf ball is mapped (mapped) on the surface of the second three-dimensional virtual sphere q (hereinafter referred to as the second virtual sphere q) by, for example, the density pattern 33a obtained by binarizing the image 32. To do. In this embodiment, the first virtual sphere Q and the second virtual sphere q have the same diameter. The movement amount calculation means 50 obtains the rotation axis and the rotation amount (rotation angle) around the rotation axis in the three-dimensional space by the first virtual sphere Q and the second virtual sphere q, for example, by the image correlation method.

In this case, the first virtual sphere Q is rotated three-dimensionally to obtain the three-dimensional rotation amount when the correlation coefficient between the density pattern 35a and the density pattern 33a in the second virtual sphere q is the highest. , The three-dimensional rotation amount of the golf ball 8 between two times (the rotation axis in the three-dimensional space and the rotation amount around the rotation axis (rotation angle)). The three-dimensional amount of rotation obtained by the image correlation method is divided into each axial direction (vertical axis V, first horizontal axis W, and second horizontal axis H) shown in FIG. Thereby, as will be described later, the backspin and the sidespin can be obtained.

Further, the three-dimensional rotation amount (rotation axis and rotation angle) of the golf ball images 36 and 38 is also performed in the same manner as in the golf ball images 32 and 34.

As described above, the movement amount calculation means 50 identifies where the golf ball density pattern 35a shown in FIG. 4 is located on the golf ball after a lapse of a predetermined time, and is used as the rotation amount calculation means of the present invention. Also works.

In this embodiment, the movement amount calculation means 50 performs rotation processing on the first virtual sphere Q as described above. At this time, when the density pattern 35a on the surface of the first virtual sphere Q and the density pattern 33a on the surface of the second virtual sphere q are compared, the amount of rotation used for the rotation process in the state where the correlation is highest is calculated. calculate. Further, based on this, the rotation axis of the first virtual sphere Q in the three-dimensional space and the amount of rotation (rotation angle) around the rotation axis are obtained. This embodiment assumes that the golf ball 8 is a sphere and a predetermined region is formed on the sphere. Therefore, the number of rotation axes that rotate the first virtual sphere Q when the rotation-processed first virtual sphere Q and the second virtual sphere q are compared (image matching). And the direction of the rotation axis is not particularly limited. For example, the vertical axis V, the first horizontal axis W, and the second horizontal axis H shown in FIG. 4 can be mentioned.

Further, the image pattern calculation means 52 has contour images 33, 35, 37, 39 as shown in FIG. 5 based on the density pattern data calculated for each of the golf ball images 32, 34, 36, and 38. A plane image 30a is created and displayed on the display device 48. The contour images 33, 35, 37, and 39 of the golf ball 8 shown in FIG. 5 are obtained by projecting the first virtual sphere Q and the second virtual sphere q shown in FIG. 4, and are confirmed by the user. It is displayed on the display device 48 for the purpose. The contour images 33, 35, 37, and 39 shown in FIG. 5 are obtained by projecting a virtual sphere in which the density patterns 33a, 35a, 37a, and 39a are projected on the surface.

Further, in the present embodiment, since the first image information in the first recorded image of the golf ball can be used as a specific point for calculating the amount of rotation, the entire contour region of the image of the golf ball can be used. There is no need to calculate by region. The first image information may be calculated for at least a part of this contour region. The number of regions in the contour region for calculating the first image information is preferably a plurality of regions in order to improve the measurement accuracy.

Further, in the present embodiment, when the three-dimensional rotation amount is obtained, the three-dimensional rotational movement of the golf ball 8 is performed by subtracting the movement amount of the center of gravity position of the golf ball 8 between two hours. , May be replaced with a pseudo-rotational motion centered on the center of gravity.

The rotation component calculation means 54 is based on the recording time interval, the coordinates of the position of the center of gravity, and the rotation axis and the rotation amount (rotation angle) of the golf ball in the above-mentioned three-dimensional space calculated by the movement amount calculation means 50. It calculates the rotation speed. The calculation result of this rotation speed is output to the storage unit 45.

Further, the rotation component calculation means 54 is decomposed into three axes, for example, the vertical axis V, the first horizontal axis W, and the second horizontal axis H shown in FIG. 5, and the number of rotations per unit time around each axis. Can also be asked. In this case, the number of revolutions per unit time around the first horizontal axis W is the backspin. The number of revolutions per unit time around the vertical axis V is the side spin. The results of the backspin and the side spin calculated by the rotation component calculating means 54 are output to the storage unit 45.

When measuring the initial trajectory, the setting unit 49 determines, for example, a density pattern calculated by the image pattern calculating means 52 such as the density pattern 35a shown in FIG. 4, or a density pattern set by a person (first image information). Is remembered. Further, the setting unit 49 also sets the size of the area where the logo is provided, for example, when the logo provided on the surface of the golf ball is used for the measurement of the initial trajectory. The setting unit 49 stores the size of the flying object to be measured and the position of the captured point in the captured image at each coordinate position in the three-dimensional space obtained by the calibration described later. In this embodiment, the setting unit 49 may store the size of the golf ball to be measured.

A storage unit 45 is connected to the calculation unit 44. The storage unit 45 stores the initial ballistic characteristic values (initial velocity, launch angle, side spin, and backspin) immediately after hitting. The recording unit 45 has a storage element such as a DRAM.

In the initial trajectory measuring device of the present invention, the density pattern is extracted from a predetermined region of the first recorded image of the golf ball without providing a special mark on the golf ball. Then, for the entire region of the golf ball image recorded at the next time, a density pattern is obtained under the same conditions as the first recorded golf ball image. The density pattern at each time is mapped to the surface of the first virtual sphere and the second virtual sphere, respectively. For each virtual sphere, for example, the position of the density pattern of the first recorded image of the golf ball in the second virtual sphere at the next time is specified by the image correlation method. As a result, it is possible to obtain the three-dimensional rotation amount (backspin and sidespin) of the golf ball in the same manner as in the conventional case where the mark is provided and the position of the mark is detected.

Moreover, since the image correlation method is used in this embodiment, the backspin and the sidespin can be obtained even if a part of the density pattern is not recorded in the contour region of the golf ball at the next time. , The measurement accuracy can be made higher than that of the conventional mark tracking. In this way, it is possible to give high versatility to the measurement data.

Further, in general, a golf ball is marked to determine whether or not it is an officially recognized ball, and dimples are also formed. In addition, some golf balls have a barting line that occurs when the golf ball is made. In addition, dirt or the like may be attached. Such marks, dimples, parting lines, stains, etc. are converted into density data having a predetermined number of gradations to obtain a specific density pattern, which is used as the first image information and the second image information. be able to. Therefore, the golf ball can be used as it is, and the initial trajectory can be easily measured.

Next, as an example of the method for measuring the flight behavior of a flying object of the present invention, a method for calculating the initial trajectory of a golf ball will be described in detail. First, a calibration method of the initial trajectory measuring device 10 of this embodiment will be described. FIG. 6A is a schematic diagram illustrating a calibration method of the initial ballistic measurement device according to the embodiment of the present invention, and FIG. 6B shows a calibration plate on which a plurality of measurement points used for calibration are recorded. It is a schematic diagram. The reference reference numeral L indicates a calibration plate, and the position of the calibration plate L shown by the solid line in FIG. 6A is the position where the golf ball 8 is set. The coordinate axes shown in FIGS. 6 (a) and 6 (b) correspond to those in FIG. In the calibration of this embodiment, first, as shown in FIG. 6A, the calibration plate L is arranged at the position where the golf ball is set, and the calibration plate L is imaged. In this calibration plate L, circles B having a predetermined size are formed at the same pitch p in two orthogonal directions.

Next, the calibration plate L is moved in a direction parallel to the first horizontal axis W by the same distance t as the pitch p, and the calibration plate L is imaged. By moving the calibration plate L and taking an image in this way, circles B having a predetermined size are photographed on a spatial grid at equal intervals in the orthogonal three-axis directions. The position of each point on the spatial grid in the captured image of the circle B is stored in the setting unit 49. From this, the relationship between the position of each point on the spatial grid photographed from each of the two shooting directions and the position of each point in the photographed image can be understood. That is, the position of the camera (distance from the subject), the shooting angle, and the like can be calculated from the positions of each point in the shot images taken from two directions. Therefore, the position of the golf ball on the first horizontal axis W can be specified from the coordinates of the position of the center of gravity of each golf ball in each photographed image captured from two directions. Therefore, the position of the golf ball in the three-dimensional space can be specified.

Here, FIG. 7 is a flowchart illustrating a method of measuring the initial ballistic characteristic value of the golf ball of the present embodiment. 8 (a) to 8 (c) are timing charts illustrating an example of signal timing that controls the operation of the CCD camera of the initial ballistic measurement device of this embodiment.

As shown in FIG. 7, first, the swing of the golf club 6 is started by the golfer 4 or a swing robot (not shown) (step S100). Next, when the golf club head of the golf club 6 passes the detection position of a golf club head detection device (not shown) installed in the area immediately before the impact, a trigger signal as shown in FIG. 8A is sent to the golf club head detection device. Is generated in (step S102) and sent from the golf club head detector to the control device 22.

In the control device 22, T from the rising edge of the trigger signal.₁A camera operation signal as shown in FIG. 8 (b) is generated and sent to the CCD camera 16 so that the electronic shutter of the CCD camera 16 opens after a second, and the electronic shutter is T by this camera operation signal.₂Open for seconds (step S104).

At the same time, the control device 22 sends a strobe light emission signal as shown in FIG. 8 (c) to a strobe (not shown), and the electronic shutter opens.₂In seconds, T₃The strobe fires twice at time intervals of seconds (step S106) to illuminate the golf ball 8. Thus T₃The initial trajectory of the golf ball 8 immediately after launch is recorded by two strobe flashes at second intervals (step S108), T.₃One plane image 30 is obtained in which images of the golf ball are captured before and after the passage of time in seconds. As will be described later, a high-speed camera may be used to capture an image of a golf ball by opening the shutter twice or more in order to obtain one planar image, that is, to capture an image by multiple exposure.

At the same time, the head speed of the golf club 6 is measured by a head speed measuring device (not shown) (step S110). This head speed measuring device may be a device different from the initial ballistic measuring device of the golf ball 8 of this embodiment. Further, as a head speed measuring device, two sensors are arranged at a predetermined interval in the above-mentioned golf club head detecting device, and the head speed of the golf club is measured by the time interval in which the club head is detected by these two sensors. It may be something to do.

The plane image 30 (see FIG. 3) recording the initial trajectory of the golf ball 8 obtained in step S108 is displayed on the display device 48 together with the data such as the head speed of the golf club obtained in step S110 (step S112). ). At this time, the flat image 30 (see FIG. 3) is read as digital data by the image reading unit 40, and after erasing unnecessary images such as the surrounding environment, the images 32, 34, 36, and 38 of the golf ball 8 are displayed. The outer shape is image-processed to detect each contour area of the golf ball at each time (step S114). Next, the size (diameter) of the contour region of each golf ball and the position of the center of gravity are calculated, and the coordinates of the position of the center of gravity of the contour region of each golf ball are calculated (step S116).

Based on the coordinates of the position of the center of gravity of these contour regions and the time interval, the three-dimensional movement direction and movement amount of the golf ball are calculated. In this embodiment, since the relationship between the coordinates of the center of gravity of the golf ball and the position on the first horizontal axis W is obtained by calibration in advance, it is based on the coordinates of the center of gravity of the contour region in the captured image. The amount of movement in the W direction of the first horizontal axis can also be calculated. Next, the launch angle and initial velocity of the golf ball are calculated from the obtained three-dimensional movement amount. This calculation result is output to the storage unit 45.

Next, the density pattern of the contour region of each golf ball is extracted (step S118).

The extraction of the density pattern in step S118 converts the first recorded contour region of the golf ball (image of the golf ball) into density data having, for example, two gradations within the contour region. Next, regarding the obtained density distribution, a specific density pattern is used as the first image information. Further, the contour region of the golf ball (image of the golf ball) after the lapse of a predetermined time is also converted into density data under the same calculation conditions as the density pattern of the contour region of the golf ball recorded first.

The size and number of regions for calculating the density pattern (first image information) are not particularly limited. The number of regions for calculating the density pattern is preferably a plurality in order to improve the measurement accuracy. The concentration pattern may be set by the tester. The specific pattern determined in this way is stored in the setting unit 49.

Next, the density pattern 35a extracted from the golf ball image 34 is mapped to the surface of the first virtual sphere Q, and the density pattern 33a extracted from the golf ball image 32 is mapped to the surface of the second virtual sphere q. (Step S120). Next, the first virtual sphere Q is subjected to a rotation process, the first virtual sphere Q is three-dimensionally rotated, and the second virtual sphere q is compared with the second virtual sphere q. At this time, it is determined whether the correlation coefficient is the highest or the value is equal to or higher than a predetermined correlation coefficient. The first virtual sphere Q is repeatedly rotated until the correlation coefficient becomes the highest or becomes a value equal to or higher than a predetermined correlation coefficient. That is, the first virtual sphere Q is repeatedly rotated three-dimensionally. In this way, the position of the density pattern 35a of the first virtual sphere Q in the second virtual sphere q is specified.

In this embodiment, since the golf ball is a sphere and rotates, the shape (image information) of the density pattern is not necessarily maintained. Even in such a case, when the correlation coefficient between the rotated first virtual sphere Q and the second virtual sphere q is the highest or is equal to or higher than a predetermined value. The value used for the rotation process is defined as the three-dimensional rotation amount. In this embodiment, for example, in consideration of the fact that the predetermined region represented by the density pattern is on the spherical surface, a simulation image in which the predetermined region represented by the density pattern is deformed by the rotational motion is created. Then, the correlation coefficient may be obtained using this simulation image.

Next, based on the three-dimensional rotation amount obtained in step S120, the rotation axis in the three-dimensional space and the rotation amount (rotation component) around the rotation axis are calculated (step S122). Next, the rotation axis and the amount of rotation (rotation angle) around the rotation axis in the three-dimensional space are divided into each rotation component in the graticule direction and the meridian direction of the golf ball, that is, the rotation axis and the rotation amount in the three-dimensional space. Is projected in the vertical axis V direction and the first horizontal axis W direction shown in FIG. Then, the calculation unit 44 calculates initial ballistic characteristic values such as backspin and side spin using the time interval.

When the measurement is completed, the initial ballistic characteristic value of the golf ball 8 is stored in the storage unit 45 (step S124), and the measurement by the initial ballistic measuring device 2 of the golf ball 8 is completed.

The above measurement method is performed while the shutter of the CCD camera 16 is open.₃The image of the golf ball is imaged by firing the strobe twice at second intervals. As shown in FIGS. 9 (a) to 9 (c), a high-speed camera is used to capture the trigger signal (Fig. 9 (a)). T from the start₁Open the shutter after a second, then press the shutter T₃A camera operation signal (Fig. 9 (b)) may be generated so that the golf ball opens again after a second, and the image of the golf ball may be double-exposed and imaged. In this case, when a sufficient amount of light cannot be secured for imaging, a strobe light emission signal is generated so that the strobe emits light for a long time at least while the shutter is opened twice, as shown in FIG. 9 (c). Alternatively, a strobe flash signal that causes the strobe to fire twice is generated in synchronization with the two shutters. On the other hand, if a sufficient amount of light for imaging can be secured by natural light or the like, illumination light such as a strobe is unnecessary. In particular, when imaging by double exposure is performed outdoors, a sufficient amount of light can be obtained, so that illumination light such as a strobe is not required, and imaging can be easily performed.

In the initial trajectory measurement method of this embodiment, each of the two recorded golf ball images is converted into density data, and the density pattern of the first recorded golf ball is obtained. By identifying the region where this density pattern matches in the contour region of the golf ball recorded next, for example, by using the image correlation method, the rotation axis of the golf ball and the amount of rotation around the rotation axis in the three-dimensional space of the golf ball. Is required. Thereby, for example, the backspin and side spin of the golf ball can be obtained based on the recording interval. Further, in the initial trajectory measurement method of this embodiment, the launch angle and the moving speed can be calculated by calculating the size and the position of the center of gravity of the contour region of the golf ball.

Further, since the position of the golf ball after a lapse of a predetermined time is obtained by using the image correlation method, for example, there are many side spins, a part of the region for calculating the density pattern is missing, and the entire region cannot be detected. Even in this case, the position of the golf ball can be specified. Therefore, the initial trajectory measurement method of this embodiment is suitable for automatic measurement.

Further, it is known that the conventional method of detecting and tracking a mark significantly reduces the measurement accuracy of the initial trajectory when a part of the mark is not recorded. In, since the image correlation method is used as described above, the measurement accuracy does not decrease. Furthermore, since the measurement can be performed without providing a specific mark, the measurement can be further facilitated. For example, a golf ball is marked with some sort of mark to determine if it is a certified ball. The initial trajectory measurement method of this embodiment can be measured by using this mark.

Further, in this embodiment, since the density pattern is specified by using the image correlation method on the premise that the image is a sphere, it is easy to estimate the match with the density pattern in the image after a lapse of a predetermined time. is there. In the image of a golf ball, the area for calculating the density pattern is not limited to one. Density patterns are calculated for a plurality of regions, and the region that matches each density pattern with the golf ball recorded at the next time by a predetermined correlation coefficient or more in the contour region is specified by the image correlation method, and golf is performed. The axis of rotation and the amount of rotation of the ball in the three-dimensional space may be obtained, and for example, the backspin and the sidespin may be calculated. Thereby, the measurement accuracy can be further improved.

Further, in the present embodiment, for example, when the hitting direction varies depending on the hitting ball of the golfer and the actual flying direction of the hitting ball does not always match the set target direction (flying direction) of the flying object. Even if the launch direction is set based on the line projected on the horizontal plane, the moving direction between the first time image (golf ball image 34) and the second time image (golf ball image 32) is set. Good. In this case, the launch angle is represented by the angle between the moving direction of the first time image (golf ball image 34) and the second time image (golf ball image 32) and the horizontal plane HS. .. At this time, the rotation axis and the three axes for obtaining the amount of rotation in the three-dimensional space of the golf ball are, for example, the first horizontal axis W and the vertical axis V shown in FIG. 4, and the axis H parallel to the launch direction (FIG. 4). (Not shown) 3 axes.

Next, a second embodiment of the movement parameter measuring device for the moving body of the present invention will be described. FIG. 10 is a plan view conceptually showing a second embodiment of the movement parameter measuring device for a moving body of the present invention. The same components as those of the initial trajectory measuring device 2 of the first embodiment shown in FIG. 1 are designated by the same reference numerals, and detailed description thereof will be omitted.

The initial trajectory measuring device 2a of the golf ball of the present embodiment shown in FIG. 10 is different from the initial ballistic measuring device 2 shown in FIG. 1 in the arrangement configuration of the mirrors, and the initial trajectory of the other first embodiment is different. Since the configuration is the same as that of the measuring device 2, detailed description thereof will be omitted. As shown in FIG. 10, in the initial ballistic measuring device 2a, the mirrors 80 and 82, the adjustment mirror 84, the half mirror 86, the CCD camera 90, the control device 22a connected to the CCD camera 90, and the initial stage. It is configured to have a ballistic parameter calculation unit 17.

The mirrors 80 and 82, the adjustment mirror 84, the half mirror 86, and the CCD camera 90 constitute the main body 92, and the main body 92 is housed in the case 20a and is portable. The control device 22a is connected to the CCD camera 90, and the image output from the CCD camera 90 is connected to the initial ballistic parameter calculation unit 17 so as to be supplied to the initial ballistic parameter calculation unit 17. Further, the display device 48 is connected to the initial ballistic parameter calculation unit 17. The main body 92 housed in the case 20a is arranged at a position facing the golfer 4 for trial hitting the golf ball 8 and the golf ball 8 with the golf ball 8 in between.

The mirrors 80 and 86 are mirrors that reflect the image of the golf ball 8 when the golf ball 8 is viewed from two different directions, and are arranged at different positions in the launch direction of the golf ball 8 (right direction in FIG. 10). The golf ball 8 is launched in the launch direction by the trial hit of the golfer 4, but the image of the golf ball 8 immediately after the launch is reflected by the mirror 82 and projected on the half mirror 86, and the projected golf ball 8 The image is configured to pass through the half mirror 86 and reach the CCD camera 90. The image of the golf ball 8 immediately after being launched is reflected by the mirror 80, and then is reflected by the adjustment mirror 84, and the image of the golf ball 8 reflected by the adjustment mirror 84 is further reflected by the half mirror 86. It is configured to reach the CCD camera 90.

When such two golf ball 8 images are taken with the CCD camera 90, the mirror 80, 82 or the adjustment mirror 84 is used so that the images of the golf balls 8 viewed from different directions do not overlap as much as possible. The placement has been adjusted. In this embodiment, unlike the first embodiment, the mirrors 80 and 82 are arranged in the front-rear direction in the launch direction. However, the arrangement of the mirrors 80 and 82 in this embodiment is not limited to the arrangement in the front-rear direction in the launch direction, and the mirrors 80 and 82 are arranged at different positions in the vertical direction as in the first embodiment described above. May be good. Further, unlike the first embodiment, the present embodiment is configured to include the adjustment mirror 84. The reason for having the adjustment mirror 84 will be described later.

As described above, this embodiment has an adjustment mirror 84. Since the adjustment mirror 84 reflects the image projected together with the mirror 80 and the half mirror 86, the image of the golf ball 8 captured by the CCD camera 90 becomes a mirror image of the golf ball 8. On the other hand, the image of the golf ball 8 that is reflected by the mirror 82 and transmitted by the half mirror 86 to the CCD camera 90 is also a mirror image. In this way, the adjustment mirror 84 is an adjustment mirror for mirroring the image of the golf ball 8 reflected by the mirror 80 and reaching the CCD camera 90, and is reflected by the mirror 82 and reaches the CCD camera 90. It becomes a mirror image like the image of ball 8.

Therefore, in this embodiment, when the image of the golf ball 8 immediately after being launched by the CCD camera 90 is flashed and actually imaged, that is, the image of the golf ball 8 launched is imaged twice at regular time intervals. When imaged, images of four golf balls are obtained. In this case, the images of the golf ball 8 imaged by using the adjusting mirror 84 are both mirror images, and the four images of the golf ball 8 move in the same direction. Therefore, even if the images of the golf balls 8 taken from each direction are brought close to each other, the images of the golf balls are less likely to overlap.

The present invention is not limited to the case where the images of the golf balls to be imaged are both mirror images as in the present embodiment, and both may be configured to be normal images. Further, the adjustment mirror is not only at the place where the light reflected by the mirror 80 and the light reflected by the half mirror 86 intersect, as in the configuration of the present embodiment, but also between the mirror 82 and the half mirror 86. May be placed in. Further, in this embodiment, one adjustment mirror is used, but an odd number of adjustment mirrors may be used to form a mirror image. At a minimum, the adjustment mirror should be arranged so that the image of the golf ball 8 reaching the CCD camera 90 due to the reflection of the mirror 80 and the image of the golf ball 8 reaching the CCD camera 90 due to the reflection of the mirror 82 are both a mirror image or a normal image. Is preferable.

In the first embodiment and the second embodiment, the stereographic projection method from two directions was used to calculate the position of the golf ball in the W direction of the first horizontal axis, but the present invention is limited to this. It is not something that is done. For example, using an image taken from one direction, the size of the projectile in the three-dimensional space of the golf ball may be specified by the size of the contour region of the recorded golf ball.

In this case, for example, the calibration plate L shown in FIG. 6B is moved by the same distance t as the pitch p in a direction parallel to the first horizontal axis W to image the calibration plate L. At this time, since the calibration plate L is moved by the distance t to take an image, circles B having a predetermined size in the orthogonal three-axis directions are photographed on a spatial grid at equal intervals. The size of the captured image of the circle B at each point on the spatial grid at this time is stored in the setting unit 49. From this, the relationship between the position of each point on the spatial lattice and the size of the captured image of the corresponding circle B can be understood. Therefore, if the size of the object to be measured is set in the setting unit 49, the position in the first horizontal axis W direction can be specified from the captured image. In this way, the position of the golf ball (measurement object) in the three-dimensional space can be specified. Therefore, in the first embodiment and the second embodiment, the position of the golf ball in the three-dimensional space can be specified by the size of the contour of the golf ball.

Next, a measurement method for specifying the position of the golf ball in the three-dimensional space based on the size of the contour of the golf ball will be described. In this case, the position calculation unit 42 calculates the diameter of the contour region of each of the images 32, 34, 36, and 38 of the golf ball 8, and outputs the diameter to the calculation unit 44. Then, in the calculation unit 44, the position of the golf ball 8 in the first horizontal axis W direction is specified based on the diameter of the contour region. As a result, the three-dimensional movement direction of the golf ball 8 is calculated. Since the other measurement methods are the same as those in the first embodiment, detailed description thereof will be omitted.

Further, in the above-mentioned first embodiment and the second embodiment, images viewed from two directions can be recorded, but the present invention is not limited thereto. As shown in the plan image 70 shown in FIG. 11 (a), for example, the golf ball 60 on which the logo 61 is printed can be applied to a golf ball 60 recorded from one direction. Here, FIGS. 11 (a) and 11 (b) are schematic views showing in order of steps the measurement method by the initial ballistic measurement device of an example of the flight behavior measuring device of the flying object according to the third embodiment of the present invention.

In FIG. 11A, the image 60 of the golf ball is the first recorded image, and the image 62 of the golf ball is the image recorded after a lapse of a predetermined time. In this case, a part of the logo 63 is missing after the lapse of a predetermined time. As described above, when the logo 63 is partially missing, it cannot be automatically measured by the conventional method.

In this embodiment, the image 60 of the golf ball is binarized, for example, to obtain the density pattern of the portion of the logo 61. This density pattern is represented by the mark 61a mapped on the surface of the first virtual sphere Q shown in FIG. 11 (b). This mark 61a is set as a specific point (density pattern). Then, the image of the golf ball after the elapse of a predetermined time is also binarized under the same conditions as the condition for obtaining the mark 61a. In this case, the mark 63a mapped on the surface of the second virtual sphere q shown in FIG. 11 (b) is obtained.

Also in this embodiment, the first virtual sphere Q is subjected to rotation processing, and the correlation between the rotated first virtual sphere Q and the second virtual sphere q is obtained by using the image correlation method. The position of the mark 61a in the second virtual sphere q is specified by. Thereby, the rotation axis of the golf ball in the three-dimensional space and the amount of rotation around the rotation axis can be obtained.

Then, for example, the backspin and side spin of a golf ball can be calculated based on the obtained rotation axis in the three-dimensional space and the amount of rotation around the rotation axis. Needless to say, even in this case, the three-dimensional launch angle and moving speed of the golf ball can be calculated.

In this embodiment as well, as shown in FIG. 12, the display device 48 also displays a flat image 70a having a contour image 60a provided with the mark 61a and a contour image 62a provided with the mark 63a for confirmation by the user. To display.

Further, in this embodiment, the golf ball is imaged from one direction. Therefore, the position of the golf ball in the three-dimensional space is specified based on the size of the recorded contour region of the golf ball. In this case, as described above, as shown in FIG. 6A, the relationship between the position of each point on the spatial lattice and the size of the captured image of the corresponding circle B is obtained. Thereby, the position of the golf ball in the three-dimensional space can be specified from the size of the contour region of the golf ball.

In any of the above-described embodiments, the density patterns of the golf ball image recorded first and the golf ball image recorded after a lapse of a predetermined time are extracted. Then, each density pattern is individually mapped to the surface of the virtual sphere. The amount of rotation of the golf ball is calculated by specifying the position of the density pattern for each of these virtual spheres using the image correlation method. An image correlation method used in a known PIV (Particle Image Velocimetry) can be used to match such specific points (density patterns). Further, in any of the above embodiments, for example, calculating the backspin and sidespin of a golf ball has been described as an example, but it goes without saying that it can be used for ballistic simulation of a golf ball (flying object) in a three-dimensional space. No. Further, in any of the above-described examples, the density data has a gradation number of 2, but the present invention is not limited to this. In the present invention, density data of an arbitrary number of gradations can be used as an image feature amount.

The present invention is basically as described above. The flying behavior measuring device for a flying object and the flying behavior measuring method for a flying object of the present invention have been described in detail above, but the present invention is not limited to the above embodiment, and various types are described within a range not deviating from the gist of the present invention. Of course, it may be improved or changed. The flying object flying behavior measuring device and the flying object flying behavior measuring method of the present invention include moving speed, moving direction, rotational angular velocity, and moving speed, moving direction, rotational angular velocity, and moving speed, moving direction, rotation angular velocity, and moving speed, moving direction, and rotational angular velocity of a flying object of a sphere other than a golf ball, such as a baseball ball or a tennis ball. The same can be applied to the measurement of the rotation direction.

In addition, what is obtained from the rotation axis of the flying object in the three-dimensional space and the amount of rotation around this rotation axis is the side spin around the vertical axis V (see Fig. 4) and the side spin around the first horizontal axis W (see Fig. 4). It is not limited to backspin. In the present invention, it is also possible to calculate the amount of rotation (number of rotations per unit time) around the second horizontal axis H shown in FIG. 4 of the flying object.

<figref num="1">It is a schematic side view which shows the initial trajectory measuring apparatus which is an example of the flying behavior measuring apparatus of the flying object which concerns on 1st Embodiment of this invention.</figref><figref num="2">It is a block diagram which shows the structure of the arithmetic part of this Example.</figref><figref num="3">It is a schematic diagram which shows an example of the image obtained by the initial trajectory measuring apparatus of this Example.</figref><figref num="4">It is a schematic perspective view explaining the calculation method of the rotation axis and the rotation amount of the golf ball in this Example.</figref><figref num="5">It is a schematic diagram which shows the outline image of this Example.</figref><figref num="6">(a) is a schematic diagram illustrating a calibration method of the initial ballistic measuring apparatus according to the embodiment of the present invention, and (b) is a schematic diagram showing a calibration plate on which a plurality of measurement points used for calibration are recorded. Is.</figref><figref num="7">It is a flowchart explaining the method of measuring the initial ballistic characteristic value of the golf ball of this Example.</figref><figref num="8">(a) to (c) are timing charts for explaining an example of the timing of signals that control the operation of the CCD camera of the initial ballistic measurement device of this embodiment.</figref><figref num="9">(a) to (c) are explanatory views explaining another example of the timing of the signal which controls the operation of the CCD camera of the initial ballistic measurement apparatus of this embodiment.</figref><figref num="10">It is a schematic side view which shows the initial trajectory measuring apparatus which is an example of the flying behavior measuring apparatus of the flying object which concerns on 2nd Embodiment of this invention.</figref><figref num="11">(a) and (b) relate to the third embodiment of the present invention. is a schematic diagram showing a measuring method in the order of steps according to an example initial trajectory measuring apparatus of Ru projectile flight behavior measuring device.</figref><figref num="12">It is a schematic diagram which shows the outline image of this Example.</figref><figref num="13">It is a schematic diagram explaining the analysis method of the operation of a golf ball in Patent Document 1.</figref><figref num="14">It is a schematic diagram explaining the analysis method of the operation of a golf ball in Patent Document 2.</figref>

Code description

2, 2a Initial ballistic measuring device 4 Golfer 6 Golf club 8 Golf ball 10, 12, 80, 82 Mirror 14, 86 Half mirror 16, 90 CCD camera 17 Initial ballistic characteristic calculation unit 18 Symmetric plane 20, 20a Case 22, 22a Control Device 30 Plane image 32, 34, 36, 38 Circular image of golf ball 33, 35, 37, 39 Outline image of golf ball 33a, 35a, 37a, 39a Density pattern 40 Image reader 42 Position calculation unit 44 Calculation unit 45 Storage unit 46 CPU 48 Display device 49 Setting unit 50 Movement amount calculation means 52 Image pattern calculation means 54 Rotational component calculation means 84 Adjustment mirror Q 1st 3D virtual sphere (1st virtual sphere) q 2nd 3 Dimensional virtual sphere (second virtual sphere)