KR20130047081A - Golf simulation system using high speed machine vision cameras and golf simulation method using the same - Google Patents
Golf simulation system using high speed machine vision cameras and golf simulation method using the same Download PDFInfo
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- KR20130047081A KR20130047081A KR1020110111875A KR20110111875A KR20130047081A KR 20130047081 A KR20130047081 A KR 20130047081A KR 1020110111875 A KR1020110111875 A KR 1020110111875A KR 20110111875 A KR20110111875 A KR 20110111875A KR 20130047081 A KR20130047081 A KR 20130047081A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/36—Training appliances or apparatus for special sports for golf
- A63B69/3658—Means associated with the ball for indicating or measuring, e.g. speed, direction
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0021—Tracking a path or terminating locations
- A63B2024/0028—Tracking the path of an object, e.g. a ball inside a soccer pitch
- A63B2024/0031—Tracking the path of an object, e.g. a ball inside a soccer pitch at the starting point
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/20—Distances or displacements
- A63B2220/24—Angular displacement
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/30—Speed
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/806—Video cameras
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B60/00—Details or accessories of golf clubs, bats, rackets or the like
- A63B60/46—Measurement devices associated with golf clubs, bats, rackets or the like for measuring physical parameters relating to sporting activity, e.g. baseball bats with impact indicators or bracelets for measuring the golf swing
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/04—Games or sports accessories not covered in groups A63B1/00 - A63B69/00 for small-room or indoor sporting games
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- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
The present invention relates to a golf simulation system and a golf simulation method using the system, and more particularly, to a golf simulation system and a golf simulation method using the system by processing an image of a golf ball using a high speed machine vision camera. .
The golf simulation includes a screen for displaying a virtual golf course indoors and a device for detecting a moving speed and direction of the golf ball when the golf ball is hit toward the screen, thereby showing a scene of the golf ball moving on the screen. It is a system that allows golf practice and virtual golf game to be used in a limited space.
Such a virtual golf simulation system, when the golf ball is flying, in order to measure the physical characteristics of the flying golf ball, that is, the speed, direction and rotation rate of the golf ball in the prior art as shown in Figure 1a to 1g A measurement system was introduced.
Figure 1a is a simplified view showing a method for measuring the physical properties of the golf ball by installing the LD or LED sensor on the floor, as shown in Figure 1a (a), the LD or LED sensor on the floor golf Although the moving speed of the golf ball is measured by measuring the time that the ball is located, this method has a problem that cannot be measured for the moving part of the golf ball in the Y-axis direction, as shown in FIG. 1A (b). .
Figure 1b is a simplified view showing how to measure the physical characteristics of the golf ball by installing the LD or LED sensor on the ceiling, as shown in Figure 1b (a), the ceiling LD or LED sensor underneath By measuring the time at which the golf ball is located, the moving speed of the golf ball is measured. However, this method has a problem that cannot be measured for the moving part of the golf ball in the Y-axis direction as shown in FIG. have.
FIG. 1C is a view schematically illustrating a method of measuring physical properties of a golf ball using a matrix type LD or LED sensor. As illustrated in FIG. 1C (a), the above problem may be solved. Physical characteristics, such as the ball's turnover, are not measurable, and when placing LD or LED sensors in matrix form, the LD or LED sensors are placed at even intervals, and sensing means such as light is There is a problem that is difficult to make a grid.
FIG. 1D is a view schematically illustrating a method of measuring physical properties of a golf ball using a matrix type laser sensor. As shown in FIGS. 1D (a) and 1D (b), a moving speed of a golf ball at once is shown. Can be measured similarly, but there is a problem that physical properties such as the rotation rate of the golf ball cannot be measured, and there is still a problem that it is difficult to arrange the laser sensors at uniform intervals.
In addition, in the case of using the sensor as described above, the golf ball must be placed on the sensor in order to start the measurement. In the case of LD or LED array, the measurement error is large when the lattice spacing is wide, and the golf ball firing angle is LD. Or there is a problem because it must be within the LED array grid.
Various methods have been conventionally proposed to solve the limited problem of the starting position of the golf ball and the launch angle of the golf ball as described above.
FIG. 1E is a view schematically illustrating a method of measuring a moving speed of a golf ball using an LED array sensor. As shown in FIG. 1E (a), at least two infrared LED array sensors are placed on the front of the screen. By installing, by detecting the golf ball passing through the infrared LED array sensor, the movement direction and the moving speed of the golf ball is measured. In this case, when the shot hitting the golf ball is a wedge shot, as shown in FIG. 1E (b), since the measurement is made on the golf ball descending through the highest point, the golf ball actually placed on the floor is There is a problem that cannot collect information about the speed and turnover of the initial movement.
FIG. 1F is a diagram schematically illustrating a method of measuring a moving speed of a golf ball using a camera sensor. As shown in FIG. 1F (a), a camera sensor including a spectrum analyzer is placed on the front of the screen. By positioning, the moving speed of the golf ball is measured through frequency analysis, but as shown in FIG. There is a problem that cannot be measured.
FIG. 1G is a diagram schematically illustrating a method of measuring a moving speed of a golf ball using a microwave sensor. As shown in FIG. 1G (a), the trajectory of a golf ball is measured by a method similar to a radar tracking device. One, there is a problem that can not measure the exact moving speed of the golf ball, as shown in Figure 1g (b) with only one microwave sensor located on the front, there is a problem that the cost of the microwave sensor is very expensive.
This solution, too, can not accurately measure the moving speed of the golf ball, can not measure the size of the golf ball, there is a problem that can not measure the rotation rate of the golf ball. For reference, USGA standard golf ball weight is less than 45.93g, the size is enough to be 42.67mm or more, even if the golf ball in accordance with the USGA standard can not calculate the exact physical properties for the golf ball under such a system.
In order to solve the above problems, the present invention provides a golf simulation system using an ultra-high speed machine vision camera and a golf simulation method using the system to calculate the physical characteristics of the golf ball using the image acquired through the ultra-high speed machine vision camera. There is.
In order to achieve the above object, the present invention comprises at least one camera for acquiring the impact of the club head on the golf ball by the user's swing; Storage means for storing an image acquired from the camera; And a controller configured to calculate physical characteristics of the golf ball or the club head from the impacted image. It provides a golf simulation system using a high-speed machine vision camera comprising a.
In addition, the camera in the present invention, the first camera is located in front of the user to acquire the impacted image; And a second camera positioned above the user to acquire the impacted image. It provides a golf simulation system using a high-speed machine vision camera comprising a.
In addition, in the present invention, the first camera provides a golf simulation system using a high speed machine vision camera, characterized in that also acquires the swing image of the user.
In addition, in the present invention, the storage means, the first starting frame from which the club head stops and starts to move backward, the first time frame that is arbitrarily set in the first event frame at the moment the club head is impacted on the golf ball. Storing up to one end frame, and after the first start frame, from the second start frame at which the clubhead enters a second region of interest to a second end frame before the golf ball deviates from the second region of interest; Provided is a golf simulation system using an ultra-fast machine vision camera.
In addition, the physical properties of the golf ball in the present invention, the diameter of the golf ball, the launch angle of the golf ball, the speed of the golf ball and the rotation rate of the golf ball, the physical properties of the club head is It provides a golf simulation system using a high-speed machine vision camera, characterized in that any one or more of the approach angle and the approach speed of the club head to the golf ball.
In addition, the golf ball speed in the present invention, the golf club provides a golf simulation system using a high-speed machine vision camera, characterized in that the club head is calculated on the basis of the time of the control unit photographed a frame impacted on the golf ball. do.
In addition, in the present invention, the launch angle of the golf ball is calculated by comparing the golf ball image included in the frame of the club head is impacted on the golf ball and the frame after the impact frame to calculate the moving angle of the golf ball image. It provides a golf simulation system using an ultra-fast machine vision camera, characterized in that made.
In addition, in the present invention, the rotation rate of the golf ball, ultra-high speed machine vision camera, characterized in that by comparing the golf ball image included in any two frames after the impact frame to calculate the moving angle of the golf ball image It provides a golf simulation system using.
In addition, the first display means for displaying the movement trajectory of the golf ball or the club head through the image processing in the control unit in the present invention; The first display means may further include displaying an image stored in the storage means, displaying only the movement trajectory, or displaying the movement trajectory together on the stored image. Provide a simulation system.
In addition, the second display means for displaying a flight scene of the golf ball based on the physical characteristics of the golf ball calculated by the control unit in the present invention; It provides a golf simulation system using a high-speed machine vision camera, characterized in that it further comprises.
In addition, the present invention is connected to the control unit, lighting means for providing light to ensure exposure to the image sensor of the ultra-high speed machine vision camera; It provides a golf simulation system using a high-speed machine vision camera, characterized in that it further comprises.
In addition, the present invention includes the steps of (a) acquiring an image including an image of the club head impact on the golf ball by the swing of the user at least one camera; (b) the control unit extracting an outline of the club head or the golf ball for the impacted image through image processing; And (c) the controller calculating a physical property of the club head or the golf ball from the extracted outline image. It provides a golf simulation method using a high-speed machine vision camera comprising a.
In addition, the camera in the present invention, the first camera is located in front of the user to acquire the impacted image; And a second camera positioned above the user to acquire the impacted image. It provides a golf simulation method using a high-speed machine vision camera comprising a.
In the present invention, the step (a), when the brightness value for the first surveillance zone of the image of the golf ball obtained from the first camera is different from the brightness value for the entire image of the first region of interest, The control unit provides a golf simulation method using an ultra-high speed machine vision camera, characterized in that the brightness value of the entire image of the first region of interest is corrected or turned on through an illumination means.
In the present invention, the step (a), when the brightness value for the second surveillance zone of the image of the golf ball obtained from the second camera is different from the brightness value for the entire image of the second region of interest, The control unit provides a golf simulation method using an ultra-high speed machine vision camera, characterized in that the brightness value for the entire image of the second region of interest is corrected or turned on through an illumination means.
In addition, the step (b) in the present invention, (b1) storing the image continuously acquired by the camera in the temporary storage means; (b2) searching, by the controller, whether the impacted image is included in the image stored in the temporary storage means; (b3) in the step (b2), if the impacted image is not found, deleting the image stored in the temporary storage means and repeating from the step (b1); And (b4) in step (b2), when finding the impacted image, determining an image stored in the temporary storage means as a region of interest; It provides a golf simulation method using a high-speed machine vision camera comprising a.
In the present invention, between the step (b) and the step (c), the storage means for storing the impacted image; The image stored by the storage means may further include a second interest acquired from a first start frame to a first end frame or from a second camera of the interest interval in a first interest interval acquired from a first camera of the interest interval. It provides a golf simulation method using a high-speed machine vision camera, characterized in that from the second start frame to the second end frame of the interval.
Also, in the present invention, the step (b) may include: (b5) setting, by the controller, the first start frame, the first end frame, the second start frame, and the second end frame; It characterized in that it further comprises, wherein step (b5), the step of setting the frame immediately before the golf ball out of the second region of interest of the second region of interest frame as a second end frame; Setting, as a second event frame, a frame at which the clubhead is impacted on the golf ball among the second frame of interest; Setting a frame recorded in the same time zone among the first interest interval frames as a first event frame based on an absolute time of the controller with respect to the second event frame; Setting a frame when the clubhead is in the second region of interest among the second region of interest frames as a second start frame; Setting a first start frame recorded in the same time zone among the first interest frame frames based on the time of the controller for the frame in which the clubhead stops and starts moving backward among the second interest frame frames; step; And setting a frame recorded after a randomly set time from the first event frame as a first end frame. It provides a golf simulation method using a high-speed machine vision camera comprising a.
In addition, the golf simulation method using a high-speed machine vision camera in the present invention (d) the first display means for displaying the movement trajectory of the golf ball or the club head; It provides a golf simulation method using a high-speed machine vision camera, characterized in that it further comprises.
Also, in the present invention, the step (d) may reproduce and display only the image stored in the storage means, display only the movement trajectory of the golf ball or the club head, or display and store the movement trajectory together on the stored image. It provides a golf simulation method using an ultra-fast machine vision camera, characterized in that.
In addition, the golf simulation method using a high-speed machine vision camera in the present invention (e) the second display means for displaying a flight scene of the golf ball based on the physical characteristics of the golf ball; It provides a golf simulation method using a high-speed machine vision camera, characterized in that it further comprises.
The present invention also provides a computer readable recording medium having recorded thereon a program for implementing a golf simulation method using a high speed machine vision camera.
According to the present invention, even if the golf ball is not on the sensor, and at any position on the floor, there is an effect capable of precise measurement.
In addition, according to the present invention, the lattice spacing of the image sensor is fine compared to the lattice spacing of the LD or LED sensor, there is an effect capable of precise measurement.
In addition, according to the present invention, since the size of the golf ball can be precisely measured, the trajectory of the flying golf ball by measuring the rotation rate of the golf ball can be simulated as it is.
In addition, according to the present invention, there is no restriction on the firing angle of the golf ball, diarrhea, even if the golf ball is launched in front of the back, there is an effect that can be precisely measured.
In addition, according to the present invention, there is an effect that can measure not only the golf ball but also the speed of the golf club, the angle of the golf club, the movement trajectory.
In addition, according to the present invention, it is possible to measure the repulsion coefficient between the golf ball and the golf club, there is an effect that can be an effective training means for correcting the swing posture.
In addition, according to the present invention, unlike the conventional golf simulation system should be installed only in a dark space in order to reduce the error to the sensor, it is desirable to ensure the exposure to the image sensor, so it is effective to install the golf simulation system outdoors have.
Figure 1a is a simplified view showing a method for measuring the moving speed of the golf ball by installing an LD or LED sensor on the floor.
FIG. 1B is a view briefly illustrating a method of measuring a moving speed of a golf ball by installing an LD or LED sensor on a ceiling.
FIG. 1C is a diagram schematically illustrating a method of measuring a moving speed of a golf ball using a matrix type LD or LED sensor.
FIG. 1D is a diagram schematically illustrating a method of measuring a moving speed of a golf ball using a matrix laser sensor.
FIG. 1E is a diagram schematically illustrating a method of measuring a moving speed of a golf ball using an LD array sensor.
FIG. 1F is a diagram schematically illustrating a method of measuring a moving speed of a golf ball using a camera sensor.
Figure 1g is a simplified view showing a method of measuring the moving speed of the golf ball using the microwave sensor.
Figure 2a is a simplified view showing a method for measuring the moving speed of the golf ball according to an embodiment of the present invention.
Figure 2b is a diagram showing the configuration of a golf simulation system using a high speed machine vision camera according to an embodiment of the present invention.
Figure 2c is a view showing a bird's eye view applying a golf simulation system using a high-speed machine vision camera according to an embodiment of the present invention.
Figure 2d is a view showing a modified configuration when installing a golf simulation system using a high-speed machine vision camera in accordance with an embodiment of the present invention outdoors.
3 is a view briefly showing an image acquired by the camera according to an embodiment of the present invention.
4A is a diagram illustrating a process of calculating physical characteristics of a golf ball or a club head from an image acquired by a first camera according to an embodiment of the present invention.
4B is a diagram illustrating a process of calculating physical characteristics of a golf ball or a club head from an image acquired by a second camera according to an embodiment of the present invention.
5 is a view showing a screen displayed on the first display means according to an embodiment of the present invention.
6 is a flowchart illustrating a golf simulation method using a golf simulation system using an ultra-fast machine vision camera according to an embodiment of the present invention.
7 is a flowchart illustrating a method of setting various frames within a region of interest according to an embodiment of the present invention.
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly explain the present invention in the drawings, parts not related to the description are omitted, and similar parts are denoted by similar reference numerals throughout the specification.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.
Figure 2a is a simplified view showing a method for measuring the moving speed of the golf ball according to an embodiment of the present invention.
As shown in FIG. 2A (a), unlike the conventional golf simulation system, the
That is, as shown in Figure 2a (b) by measuring the moving speed of the
At this time, the
Conventionally, the camera is used to measure the physical characteristics of the golf ball (1), which acquires two images of the golf ball (1) in flight, the position of the golf ball (1) on the two images By comparing relatively, the moving speed and the moving angle were calculated, but this is not based on the image when the
That is, in the case of the present invention, by using the
Figure 2b is a diagram showing the configuration of a golf simulation system using a super high speed machine vision camera according to an embodiment of the present invention, Figure 2c is a golf simulation system using a super high speed machine vision camera according to an embodiment of the present invention It is a figure which shows a bird's-eye view.
As shown in FIGS. 2b to 2c, the golf simulation system using the ultra-fast machine vision camera according to the present invention includes at least one of the
In this case, the camera may be composed of two cameras. Specifically, as shown in FIG. 2C, in the
Thus, the
In this case, the
The storage means (not shown) stores the images acquired from the
The physical characteristics of the golf ball (1) may be the diameter of the golf ball (1), the launch angle of the golf ball (1), the speed of the golf ball (1), the rotation rate of the golf ball (1), the physical Of course, it is possible to further calculate a variety of other physical properties for the golf ball (1) based on the characteristics.
In addition, the physical characteristics of the
At this time, the method for the control unit to calculate the physical characteristics of the
When the golf simulation system using the above-described high speed machine vision camera is installed outdoors, it may be modified. That is, since the golf simulation system according to the present invention does not use an optical sensor and does not necessarily need to be installed in a dark room, it can be installed outdoors.
Figure 2d is a view showing a modified configuration when installing a golf simulation system using a high-speed machine vision camera in accordance with an embodiment of the present invention outdoors.
As shown in FIG. 2D, when the
In addition, as shown in (b) of FIG. 2B, the
When installed outdoors, the
3 is a view briefly showing an image acquired by the camera according to an embodiment of the present invention.
As shown in FIG. 3A, the
As shown in FIG. 3 (b), the
In this case, the image acquired from the
That is, an image corresponding to a temporary set time (for example, 6 seconds for the first camera and 2 seconds for the second camera) among images continuously acquired from the
Thereafter, all the floating portions of the image of the first interest section or the second interest section stored in the temporary storage means are stored in a storage means such as a hard disk, and the necessary characteristics for the physical characteristics of the
At this time, the image stored in the storage means of the moment that the
The
The
However, in this case, the brightness value of the
The camera applied in the present invention is a high-speed machine vision camera, and the lighting means 500 for securing the exposure according to a short shutter speed may be included in the
Golf simulation system using a high-speed machine vision camera according to the present invention may further include a first display means 300 and the second display means 400.
The first display means 300 displays an image acquired by the
5 is a view showing a screen displayed on the first display means according to an embodiment of the present invention.
As shown in FIG. 5, the swing image of the user acquired through the
At this time, in reproducing the movement trajectory for the
The second display means 400 may indicate a flying scene of the
As described above, the physical properties for the
4A is a diagram illustrating a process of calculating physical characteristics of a golf ball or a club head from an image acquired by a first camera according to an embodiment of the present invention.
As shown in FIGS. 4A (a) to 4A (h), each of the images extracted from the first camera is an outline extracted by image processing or a pattern recognition method. In this case, Figure 4a (d) is a view showing the outline extracted from the image of the moment when the
As shown in Fig. 4A (d), the center of the
Physical properties of the golf ball (1) and the club head (2) are shown in the following equations (1) to (6). The center of the
Equation 4 shows the firing angle of the
Equation 6 is a measure of the backspin of the
4B is a diagram illustrating a process of calculating physical characteristics of a golf ball or a club head from an image acquired by a second camera according to an embodiment of the present invention.
As shown in FIGS. 4B (a) to 4B (h), each of the images extracted from the second camera is shown by extracting an outline through image processing or pattern recognition. At this time, Figure 4b (d) is a view showing the outline extracted from the image of the moment when the
Physical properties for the
Equation (7) represents the approach angle of the club head 2 (the angle at which the
Equation 8 shows the speed according to the approach angle of the
Equation (9) shows the escape angle of the club head (2), which is the angle at which the club head (2) moves laterally after the club head (2) hits the golf ball (1). It is not necessarily limited to the +1 frame and the +3 frame, and may also be calculated as a frame after or after the +2 frame after the
Equation (10) shows the speed according to the escape angle of the club head (2), and the angle at which the club head (2) moves laterally after the club head (2) hits the golf ball (1). As a result of the speed, this is also not limited to the +1 frame and the +3 frame, and of course, it can be calculated as the frame after the
Equation 12 shows the speed of the
Equation 13 shows the side spin of the
Equation 14 shows the diameter of the
Equation 15 shows the repulsion coefficient for the X-axis of the
The flight trajectory of the
Hereinafter, the descriptions overlapping with those described above will be omitted, and a golf simulation method using a golf simulation system using a super high speed machine vision camera according to an embodiment of the present invention will be described.
6 is a flowchart illustrating a golf simulation method using a golf simulation system using an ultra-fast machine vision camera according to an embodiment of the present invention.
As shown in FIG. 6, in the golf simulation method, at least one camera acquires an image including an image in which the
Acquiring an image in which the
At this time, when the brightness value for the
The control unit extracts the outline of the
That is, when the
Hereinafter, the step (S250) of setting the start frame, the event frame and the end frame of the interval of interest will be described in detail.
7 is a flowchart illustrating a method of setting various frames within a region of interest according to an embodiment of the present invention.
As shown in FIG. 7, in the step S250 of setting the various frames included in the first interest section or the second interest section, the control unit sequentially sets the
The start frame, the event frame and the end frame are set by the above method, but in particular, the event frame is set based on the time included in the control unit itself, and thus, the
Subsequently, in operation S260, the storage means stores the image in which the storage means is stored. As described above, the image stored in the storage means may include the first interest frame to the first end frame or the second interest in the first interest section. The second frame may include a second start frame to a second end frame.
That is, the section stored by the storage means is the user in the first event frame at the moment when the
The step S400 of displaying the movement trajectory of the
On the other hand, the golf simulation method using a high-speed machine vision camera according to an embodiment of the present invention described above can be written as a program that can be executed in a computer, a general-purpose digital to operate the program using a computer-readable recording medium It can be implemented on a computer.
The computer readable recording medium may be a magnetic storage medium such as a ROM, a floppy disk, a hard disk, etc., an optical reading medium such as a CD-ROM or a DVD and a carrier wave such as the Internet Lt; / RTI > transmission).
Preferred embodiments of the present invention described above are disclosed to solve the technical problem, and those skilled in the art to which the present invention pertains (man skilled in the art) various modifications, changes, additions, etc. within the spirit and scope of the present invention. It will be possible to, and such modifications, changes, etc. will be considered to be within the scope of the following claims.
1: golf ball 2: club head
3: first housing 4: second housing
5: third housing 10: first region of interest
11: second area of interest 20: first surveillance zone
21: second surveillance zone 100: first camera
200: second camera 300: first display means
400: second display means 500: lighting means
Claims (22)
Storage means for storing an image acquired from the camera; And
A control unit for calculating physical characteristics of the golf ball or the club head from the impacted image;
Golf simulation system using a high-speed machine vision camera comprising a.
The camera comprises:
A first camera positioned in front of the user to acquire the impacted image; And
A second camera positioned above the user to acquire the impacted image;
Golf simulation system using a high speed machine vision camera comprising a.
The first camera is a golf simulation system using a high-speed machine vision camera, characterized in that also acquires the swing image of the user.
The storage means stores,
Storing a first start frame at which the clubhead stops and starts moving backward to a first end frame which is arbitrarily set in a first event frame at the moment the clubhead is impacted on the golf ball,
After the first start frame, storing the high speed machine vision camera from a second start frame in which the clubhead enters a second region of interest to a second end frame before the golf ball leaves the second region of interest. Golf simulation system.
Physical properties of the golf ball,
At least one of a diameter of the golf ball, a launch angle of the golf ball, a speed of the golf ball, and a rotation rate of the golf ball,
Physical characteristics of the club head,
Golf simulation system using a high-speed machine vision camera, characterized in that any one or more of the approach angle and the approach speed of the club head to the golf ball.
The speed of the golf ball,
Golf club system using a high-speed machine vision camera, characterized in that the club head calculates the frame based on the time of the control unit is photographed the impact on the golf ball.
The launch angle of the golf ball,
The golf club using the ultra-high speed machine vision camera, characterized in that the club head is calculated by comparing the golf ball image included in the frame impacted on the golf ball and the frame after the impacted frame to calculate the moving angle of the golf ball image Simulation system.
The rotation rate of the golf ball,
Comparing the golf ball image contained in any two frames after the impacted frame to calculate the angle of movement of the golf ball image golf simulation system using a high-speed machine vision camera.
First display means for displaying a movement trajectory of the golf ball or the club head through image processing in the controller;
The first display means may further include displaying an image stored in the storage means, displaying only the movement trajectory, or displaying the movement trajectory together on the stored image. Simulation system.
Second display means for displaying a flying scene of the golf ball based on the physical characteristics of the golf ball calculated by the controller;
Golf simulation system using a high-speed machine vision camera, characterized in that it further comprises.
Lighting means connected to the control unit for providing light to secure exposure to the image sensor of the ultra-fast machine vision camera;
Golf simulation system using a high-speed machine vision camera, characterized in that it further comprises.
(b) the control unit extracting an outline of the club head or the golf ball for the impacted image through image processing; And
(c) the controller calculating a physical property of the club head or the golf ball from the extracted outline image;
Golf simulation method using a high speed machine vision camera comprising a.
The camera comprises:
A first camera positioned in front of the user to acquire the impacted image; And
A second camera positioned above the user to acquire the impacted image;
Golf simulation method using a high-speed machine vision camera comprising a.
The step (a)
If the brightness value of the first surveillance zone among the images of the golf ball acquired from the first camera is different from the brightness value of the entire first ROI image, the controller is further configured to perform the first image of the entire ROI image. Golf simulation method using a high-speed machine vision camera, characterized in that the brightness value is modified or the lighting is turned on by the lighting means.
The step (a)
If the brightness value of the second surveillance zone among the images of the golf ball acquired from the second camera is different from the brightness value of the entire image of the second ROI, the controller is further configured to display the entire image of the second ROI. Golf simulation method using a high-speed machine vision camera, characterized in that the brightness value is modified or the lighting is turned on by the lighting means.
The step (b)
(b1) storing the image continuously acquired by the camera in a temporary storage means;
(b2) searching, by the controller, whether the impacted image is included in the image stored in the temporary storage means;
(b3) in the step (b2), if the impacted image is not found, deleting the image stored in the temporary storage means and repeating from the step (b1); And
(b4) in the step (b2), if the impacted image is found, determining the image stored in the temporary storage means as the interest section;
Golf simulation method using a high-speed machine vision camera comprising a.
Between step (b) and step (c),
Storing the impacted image by a storage means;
Further comprising:
The image stored by the storage means is a second start of the second interest section acquired from the first start frame to the first end frame or the second camera of the interest section in the first interest section acquired from the first camera. Golf simulation method using a high-speed machine vision camera, characterized in that from the frame to the second end frame.
The step (b)
(b5) setting, by the controller, the first start frame, the first end frame, the second start frame, and the second end frame;
Characterized in that it further comprises,
Step (b5),
Setting a frame immediately before the golf ball deviates from a second region of interest as a second end frame among the second region of interest frames;
Setting, as a second event frame, a frame at which the clubhead is impacted on the golf ball among the second frame of interest;
Setting a frame recorded in the same time zone among the first interest interval frames as a first event frame based on an absolute time of the controller with respect to the second event frame;
Setting a frame when the clubhead is in the second region of interest among the second region of interest frames as a second start frame;
Setting a first start frame recorded in the same time zone among the first interest frame frames based on the time of the controller for the frame in which the clubhead stops and starts moving backward among the second interest frame frames; step; And
Setting a frame recorded after a randomly set time from the first event frame as a first end frame;
Golf simulation method using a high-speed machine vision camera comprising a.
(d) displaying first movement means of the golf ball or the club head;
Golf simulation method using a high-speed machine vision camera, characterized in that it further comprises.
The step (d)
Play and display only the image stored in the storage means, or display only the movement trajectory of the golf ball or the club head, or display and store the movement trajectory in the stored image, golf using a super high speed machine vision camera Simulation method.
(e) displaying the flying scene of the golf ball based on the physical characteristics of the golf ball;
Golf simulation method using a high-speed machine vision camera, characterized in that it further comprises.
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KR1020110111875A KR20130047081A (en) | 2011-10-31 | 2011-10-31 | Golf simulation system using high speed machine vision cameras and golf simulation method using the same |
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KR1020110111875A KR20130047081A (en) | 2011-10-31 | 2011-10-31 | Golf simulation system using high speed machine vision cameras and golf simulation method using the same |
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