KR101479174B1 - Apparatus for measuring movement of gateball using ultrasonic sensor - Google Patents

Abstract

A gateball game apparatus using an ultrasonic sensor is provided. The gateball game apparatus includes a gantry motion measuring device that is disposed along one side of a reference path along a reference path on which a ball struck by a user moves, At least two ultrasonic sensors for emitting a sensing signal vertically and sensing a signal reflected from the ball, at least two ultrasonic sensors for controlling the respective sensors to emit a sensing signal from the ultrasonic sensors and receiving a reflection signal received from the ultrasonic sensors And a computing unit for obtaining the time difference between the start and the arrival of the signal and the cooperative passage time difference between the sensors from the control unit and the detected reflected signals and calculating the movement distance, velocity and direction of the hit ball from the obtained time difference.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus for measuring movement of a gate ball using an ultrasonic sensor,

In particular, the present invention relates to a game or exercise apparatus using a gate ball, and more particularly, to a game apparatus and a fitness apparatus using a gateball, in which a user combines a movement technique for directly hitting a ball used in a gateball, The present invention relates to a device for measuring motion of a gate ball that can be utilized in a gateball game.

In recent years, the proportion of the elderly population has been increasing globally. In particular, the rapid aging of Korean society is one of the most serious social problems facing the future. Despite the accelerated aging of such aging, the elderly living arrangements at an individual or national level are far less than those of developed countries. Especially, it is a reality that in the Korean society, the elderly culture welfare and living sports that can improve the quality of life of the elderly are not present at all.

On the other hand, gateball is a sport played on the grass field using balls and sticks. Since the rules are simple and do not require a large amount of physical strength, a variety of games including children, seniors and women It can be enjoyed by all ages, and it has gained popularity as a sport for recreation among the elderly in recent years. The prior art cited below introduces the positive impact of regular gateball exercises on the physical and mental health of the elderly.

However, in order to proceed normally Gateball game follows the spatial constraints that at least more than 200m ² planes need to land, the situation is significantly lacking fixed Gateball court (court) that is currently in the country can easily enjoy Gateball.

On the other hand, most of the strength exercises that can be performed in a narrow space are mostly simple repetitive exercises due to the restriction of the place, which makes it difficult for the user to lose interest and as a result, .

 The purpose of this study was to investigate the effect of regular gateball exercises on body composition, physical fitness and life satisfaction level of elderly males. 277, The Korean Association for the Aged Society, 2010.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to overcome the limitations of a place constraint in order to solve the problem of deteriorating health of adults due to lack of a living sports facility, In the case of the motion sensing means such as the sensor, it is desired to solve the difficulties in the supply of the exercise equipment due to the high price of the sensor used for sensing.

According to an aspect of the present invention, there is provided an apparatus for measuring movement of a gate ball, the apparatus comprising: At least two ultrasonic sensors which emit a sensing signal perpendicular to the moving direction of the sensor and sense a signal reflected from the ball; A controller for controlling each of the at least two ultrasonic sensors to emit a sensing signal from the ultrasonic sensors and receiving a reflection signal received from the ultrasonic sensors; And an operation unit for obtaining the time difference between the departure and arrival of the signal and the cooperative passage time difference between the respective sensors from each of the sensed reflected signals and calculating the moving distance, velocity and direction of the hit ball from the obtained difference.

In the apparatus for measuring movement of a gate ball according to an exemplary embodiment, when the time difference between the start and the arrival of a signal is the same for each of the reflection signals, the direction of the hit hole is parallel to the reference path And calculating a travel distance and a velocity of the hit ball using the measurement time difference of the ultrasonic sensor, and b) if the time difference between the start and arrival of the signal is different for each of the reflection signals, Wherein the direction of the hole is determined to form a certain angle with the reference path, and the ultrasonic sensor adjacent to the ultrasonic sensor having the largest time difference between the arrival and the arrival of the signal determines the imaginary straight line connecting the passing points of the hit ball The moving distance, speed and direction of the hit ball can be calculated using the principle of forming the hypotenuse of the right triangle.

In the apparatus for measuring movement of a gate ball according to an exemplary embodiment, the controller sequentially activates the at least two ultrasonic sensors in accordance with a moving direction of a hit ball, and when one ultrasonic sensor is turned on, By exclusively turning off the sensor, reflection and interference between the ultrasonic sensors can be prevented. Further, the ultrasonic sensor may further include a radiation shielding film for allowing the radiation angle of the sensing signal to be equal to or less than a predetermined reference angle, wherein a sensing signal radiated from the ultrasonic sensor is reflected on the hit ball and then received by an adjacent ultrasonic sensor A plurality of ultrasonic sensors can be arranged apart from each other by more than a preset reference interval.

The apparatus may further include a hitting sensor for sensing a first hitting time point and providing the detected hitting time to the controller, wherein the controller controls the first hitting moment detected by the hitting sensor, Thereafter, the at least two ultrasonic sensors are sequentially activated, thereby preventing the erroneous recognition due to the initial blow.

Embodiments of the present invention can induce users' movements by participating in a game through hitting means similar to a gate ball mechanism and game processing means in a fixed place, and can be installed even in a narrow outdoor space, Unlike screen golf, which is flying the ball, considering the movement characteristics of the hit ball appearing in the screen gate ball game, it is not only cheap, easy to install, but also provides a sensing technology with minimized measurement error, . ≪ / RTI >

FIG. 1 is a view showing an example of a screen gate ball game mechanism that can be implemented by utilizing the apparatus for measuring movement of a gate ball adopted in the embodiments of the present invention.
2 is a block diagram illustrating an apparatus for measuring motion of a gate ball using an ultrasonic sensor according to an embodiment of the present invention.
3 is a flowchart illustrating a motion measurement method of a gate ball using an ultrasonic sensor according to an embodiment of the present invention.
FIGS. 4 and 5 are views for explaining a specific process of calculating the movement distance, velocity, and direction of the hit ball using the ultrasonic sensor adopted in the embodiments of the present invention.
FIG. 6 is a view for explaining a problem of erroneous recognition according to interference between ultrasonic sensors in a gate ball game environment in which embodiments of the present invention are implemented, and technical means for solving the same.
FIG. 7 is a view for explaining a malfunction problem according to a user's movement of an ultrasonic sensor in a gate ball game environment in which embodiments of the present invention are implemented, and technical means for solving the problem.

Hereinafter, embodiments of the present invention for solving the above-mentioned technical problems will be described in detail with reference to the drawings. In the following description and the accompanying drawings, detailed description of well-known functions or constructions that may obscure the subject matter of the present invention will be omitted. It is to be noted that the same components are denoted by the same names and reference numerals as possible throughout the drawings.

FIG. 1 is a view showing an example of a screen gate ball game mechanism that can be implemented by utilizing the apparatus for measuring motion of a gate ball adopted in the embodiments of the present invention, and illustrates a technical requirement that appears in an environment in which the embodiments of the present invention are utilized. I want to.

In the screen gate ball game apparatus illustrated in FIG. 1, the user hits the ball 50 by using a hitting means (not shown) capable of directly hitting the gate ball, and the hitting ball 50 is moved along a mat It rolls. At this time, the motion of the ball 50 is measured using a plurality of sensors 11 and 12 provided on one side of the mat, and the gate ball game proceeds. This game progression is performed according to an instruction of the game software displayed on the display device 70, and the result of the ball batting of the user can also be displayed on the screen.

For this purpose, the apparatus for measuring movement of a gate ball adopted in the embodiments of the present invention can calculate movement direction, speed and expected travel distance of the ball by extracting various values sensed from ball motion using an ultrasonic sensor . Particularly, the embodiments of the present invention can measure more accurate data by mounting at least two ultrasonic sensors 11 and 12 on one motion calculation module, and provide analysis results on the result of batting the user's gate ball .

In the aspect of utilization, in the screen gate ball game apparatus employing the device for measuring the motion of the gate ball according to the embodiments of the present invention, the accumulated user data is compared / analyzed with the preliminarily stored basic data, and the simulated content in the screen gate ball game Thus, the user can enjoy the game in an actual field.

In this regard, the distance measurement system for golf or the distance measurement system for a car is different from the motion measurement method of the present invention, which is actually implemented in the following. In particular, a plurality of sensors There has been no technical means for simultaneously measuring the distance, velocity, and direction of a hit ball.

In addition, the measuring system currently used in screen golf is a system using an infrared sensor, which is not only expensive but also has a weak point of malfunction and measurement error depending on the use environment due to light. Furthermore, existing distance measuring sensors are widely used for distance measurement in automobiles. However, they are still used for distance measurement between simple objects, and complex control techniques have not been proposed at present.

Therefore, in order to solve the above-described problems, an apparatus for measuring motion of a gate ball using an ultrasonic sensor will be described in more detail with reference to the drawings.

FIG. 2 is a block diagram illustrating an apparatus 200 for measuring movement of a gate ball using an ultrasonic sensor according to an embodiment of the present invention. The apparatus includes an ultrasonic sensor 10, a controller 20, and a calculator 30.

At least two ultrasonic sensors 10 are provided and are arranged side by side on one side of the reference path along a reference path through which the ball hit by the user moves. That is, at least two ultrasonic sensors 10 are attached at regular intervals to the side of the moving path through which the hit ball passes, and when the user strikes the ball with the gate ball stick, the ball's motion is sequentially measured.

In addition, the ultrasonic sensor 10 emits a sensing signal perpendicular to the moving direction of the hit ball, and senses a signal reflected from the ball. Here, the vertical means that the direction in which the sensing signal is radiated intersects the moving direction of the ball. The vertical direction does not necessarily mean that the numerical value is strictly 90 ° (right angle), and an appropriate setting angle is adjusted according to the implementation environment .

In terms of implementation, such an ultrasonic sensor 10 may be driven using a control means (microcontroller) such as Arduino, which generates an ultrasonic sensing signal, Direction "). Then, when the ultrasound signal (reflected signal) reflected on the hit ball is received by the ultrasonic sensor, the received reflected signal is amplified and filtered, and then the value is passed to the control means.

The controller 20 controls each of the at least two ultrasonic sensors 10 to emit a sensing signal from the ultrasonic sensors 10 and receive the reflection signal received from the ultrasonic sensors 10.

The operation unit 30 obtains the time difference between the start and the arrival of the signal and the cooperative passage time difference between the respective sensors from each of the detected reflected signals, and calculates the moving distance, velocity and direction of the hit ball from the obtained difference. The general driving method performed by the operation unit 30 is as follows. Here, it is assumed that the order of the ultrasonic sensors is given in order from the hit point for convenience.

First, the operation unit 30 can measure the distance and the velocity by calculating the arrival time by comparing the value when the hit ball passes through the first ultrasonic sensor with the value when passing through the second sensor. Particularly, when the hit ball passes the second module, the direction of the hit ball can be determined by judging how much the moving direction of the hit ball from the reference direction is changed as compared to when passing the first module. A more specific measuring method will be described with reference to FIGS. 4 and 5. FIG.

From the viewpoint of implementation, the operation unit 30 calculates the velocity with respect to the moving direction (angle) of the ball with reference to the distance between the first ultrasonic sensor and the ball when the user hits the ball for the first time. At this time, the ball moving speed can be processed in such a manner that a step is divided into a predetermined section (for example, one step can be set to 10 steps) for convenience of calculation, and a range of speed is assigned to each range . In this case, the measurement result may be stored as a series of data strings delimited by a delimiter in a particular data file (eg, a format such as 'distance to the second sensor and distance to the ball | speed'). have.

FIG. 3 is a flowchart illustrating a method of measuring motion of a gate ball using an ultrasonic sensor according to an embodiment of the present invention. Referring to FIG. 3, the motion measurement apparatus of FIG. Therefore, in order to avoid duplication of explanations, the operation is outlined centering on the operation flow, not the hardware connection relationship.

In step S310, at least two ultrasonic sensors arranged side by side on one side of the reference path on which the hit ball moves move a sensing signal perpendicular to the moving direction of the hit ball.

In step S320, when the user hits the ball, a signal reflected from the hit ball is sensed using the ultrasonic sensor.

In step S330, the time difference between the departure and arrival of the signal and the time difference of passing time between the sensors are obtained from the respective reflection signals sensed by the ultrasonic sensor. That is, for each ultrasonic sensor, the time difference between the departure time at the time when the detection signal is radiated through the ultrasonic sensor and the arrival time at which the reflection signal is received through the ultrasonic sensor is calculated, and the time difference between the ultrasonic sensor Calculate the difference in passing time of the passing ball. These data are then used as the basis for calculating the motion of the ball.

In step S340, the moving distance, speed, and direction of the hit ball are calculated from the data obtained through step S330 by using an arithmetic unit having at least one processor. Hereinafter, the process of calculating the motion of the ball will be described in more detail with reference to FIGS. 4 and 5. FIG.

FIGS. 4 and 5 are diagrams for explaining a specific process of calculating the moving distance, velocity and direction of a hit ball using an ultrasonic sensor adopted in the embodiments of the present invention. In FIG. 4 and FIG. 5, As an example. It is assumed that the number of the ultrasonic sensors is two, and the first ultrasonic sensor 11 and the second ultrasonic sensor 12 are called in order from the hit point.

First, FIG. 4 illustrates a measurement method in the case where the hit ball is parallel to a preset reference direction 410. FIG.

4, the distance between the hole 51 and the ultrasonic sensor 11 measured at the time of passing through the first ultrasonic sensor 11 and the distance 420 between the hole 51 and the ultrasonic sensor 11 measured at the time of passing through the second ultrasonic sensor 12 It can be seen that the distance between the hole 52 and the ultrasonic sensor 12 is the same as the distance between the hole 52 and the ultrasonic sensor 12. This means that the difference between the time when the sensing signal is radiated from the ultrasonic sensor and the time when the reflected signal is received ). In the case of FIG. 4, the time difference measured by the two ultrasonic sensors 11 and 12 will be the same, and it can be determined that the direction of the hit ball is parallel to the reference path 410. Therefore, the velocity of the hit ball can be calculated from the following equation (1) from the measurement time difference between the ultrasonic sensors 11 and 12 (or the passing time difference of the hit ball).

Here, the time will be the measurement time difference between the ultrasonic sensors 11 and 12, and the distance indicates the installation distance (separation distance) between the ultrasonic sensors 11 and 12.

Now, when the velocity of the hit ball is calculated, it is possible to predict the movable distance of the hit ball using the preset friction coefficient and the mass of the ball. Of course, if the situation of the field changes according to the characteristics of the screen gateball game, the magnitude of the friction coefficient can be adjusted. For example, in the case of fast grass, the magnitude of the friction coefficient may be relatively small, and in the case of slow grass, the magnitude of the friction coefficient may be relatively large.

Second, FIG. 5 illustrates a measurement method when the hit ball is not parallel to a predetermined reference direction 510. FIG.

5, the distance between the hole 51 and the ultrasonic sensor 11 measured at the time of passing through the first ultrasonic sensor 11 and the distance 520 between the hole 51 and the ultrasonic sensor 11 measured at the time of passing through the second ultrasonic sensor 12 It can be seen that the distances 530 between the ball 52 and the ultrasonic sensor 12 are different from each other because the difference between the time when the sensing signal is radiated from the ultrasonic sensor and the time when the reflection signal is received ). In the case of FIG. 5, the time difference measured by the two ultrasonic sensors 11 and 12 will be different, and it can be determined that the direction of the hit ball is different from the reference path 510 by a certain angle.

5, it is determined that the direction of the hit ball forms a certain angle with the reference path, and the time difference between the arrival and the arrival of the signal is the most A hypothetical straight line connecting the passing points of the hit ball with reference to a large ultrasonic sensor (the second ultrasonic sensor 12 in Fig. 5) and an ultrasonic sensor (the first ultrasonic sensor 11 in Fig. 5) The velocity, and the direction of the hit ball can be calculated using the principle of forming the hypotenuse of the ball.

5, the hole positions 51 and 52 at the time of passing through the ultrasonic sensors 11 and 12 are set to the hypotenuse c of the right triangle, and the distance between the ultrasonic sensors 11 and 12 is Set as the base (a), and set the distance of the ball at the second passing point on the other side (c) with reference to the straight direction of the first passing point. At this time, when the angle formed by the hypotenuse c and the base line a is?, The following relationship is established as shown in Equation (2).

Here, a is a known value as the separation distance between the ultrasonic sensors 11 and 12, and b can be obtained from the time difference between the departure and the arrival of the measured signal from the ultrasonic sensor 12, so that c can be obtained .

Now, it is possible to calculate the velocity of the hit ball again using Equation 1 described above. The time will be the measurement time difference between the ultrasonic sensors 11 and 12, and the distance can utilize the length of the hypotenuse c have.

On the other hand, the angle (?) Formed by the hypotenuse (c) and the base line (a) can be calculated using the following equation (3).

Since the lengths a and c of the sides have been determined through Equation (2), the angle &thetas; is easily obtained. Accordingly, the velocity and direction of the hit ball are calculated, and the travel distance of the hit ball can be predicted by using a predetermined coefficient of friction and a mass of the ball as described in FIG.

FIG. 6 is a view for explaining a problem of erroneous recognition according to interference between ultrasonic sensors in a gate ball game environment in which embodiments of the present invention are implemented, and technical means for solving the same.

In the process of implementing the embodiments of the present invention, in the case of a single ultrasonic sensor, there is no significant problem in recognizing the sensor of the hit ball. However, when a plurality of ultrasonic sensors are used, ), The second ultrasonic sensor 12 malfunctioned and many errors were recognized in the recognized values.

In order to solve this problem, a controller included in the apparatus for measuring movement of a gate ball according to an embodiment of the present invention includes at least two ultrasonic sensors 11 and 12, When one ultrasonic sensor is turned on, the remaining ultrasonic sensors are exclusively turned off, thereby preventing reflection and interference between the ultrasonic sensors.

For example, assuming that two ultrasonic sensors are provided, when the first ultrasonic sensor 11 is turned on while waiting for the hit ball 50 to pass, the second ultrasonic sensor 12 is turned on, It is preferable that it is basically off. That is, when the hit ball is sensed by passing through the first ultrasonic sensor 11 while moving by the first hit, the second ultrasonic sensor 12 is sequentially turned on, and at the same time, the first ultrasonic sensor 11 is turned on, Is preferably turned off. Even if the sensing signal 610 radiated to the hit ball 50 is reflected and the reflected signal 620 reaches the adjacent ultrasonic sensor 12, the corresponding ultrasonic sensor 12 is turned off, The problem of the present invention is solved.

Further, in order to more reliably solve the problem of the erroneous expression, the ultrasonic sensors 11 and 12 may further include a radiation shielding film (not shown) for allowing the radiation angle of the detection signal to be equal to or less than a preset reference angle. The plurality of ultrasonic sensors 11 and 12 are separated from each other by more than a predetermined reference interval so that the sensing signals radiated from the ultrasonic sensors 11 and 12 are reflected by the hit ball 50 and then received by the adjacent ultrasonic sensors. . These reference angles and reference intervals may be determined experimentally according to the circumstances in which embodiments of the present invention are implemented.

FIG. 7 is a view for explaining a malfunction problem according to a user's movement of an ultrasonic sensor in a gate ball game environment in which embodiments of the present invention are implemented, and technical means for solving the problem.

In the process of implementing the embodiments of the present invention, the first ultrasonic sensor 11 recognizes the movement of the user before the user hits the ball, thereby causing a malfunction. That is, after the detection signal radiated from the first ultrasonic sensor 11 adjacent to the user is reflected on a body part of a person, a gate ball stick, or the like, the reflected signal is received by the ultrasonic sensor 11 again.

Therefore, in order to solve such a problem, the apparatus for measuring movement of a gate ball according to an embodiment of the present invention may further include a hit detection sensor 40 for detecting the first hit timing and providing the detected hit timing to the controller. Here, the hitting sensor 40 may be various technical means for detecting the hitting of the user's gates. In FIG. 7, a depth camera for sensing the hitting motion of the user is exemplified. In addition, A microphone for sensing or a physical drive sensor for confirming that the ball is out of the starting position can be adopted as the hit sensor 40. [

Accordingly, the controller included in the motion measuring device of the gate ball sequentially activates the at least two ultrasonic sensors 11 and 12 after the first hit point sensed by the hit sensor 40, It is possible to prevent erroneous recognition.

According to the embodiments of the present invention described above, it is possible to induce users' movements by participating in a game through hitting means similar to the gate ball mechanism and game processing means in a fixed place, Unlike screen golf, which is able to provide a feeling of movement like a golf ball, it is not only easy to install, but also minimizes measurement error by taking into consideration the characteristics of the movement of the ball that appears in the screen gateball game And can be widely used in various fields.

Meanwhile, in the motion measurement method of the gate ball proposed by the embodiments of the present invention, a series of processes for controlling the respective hardware (the ultrasonic sensor, the control unit, the operation unit, and the display unit) are performed by a computer- It can be implemented in code. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored.

Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device and the like, and also a carrier wave (for example, transmission via the Internet) . In addition, the computer-readable recording medium may be distributed over network-connected computer systems so that computer readable codes can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily deduced by programmers skilled in the art to which the present invention belongs.

The present invention has been described above with reference to various embodiments. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

200: Movement measuring device of gate ball
10, 11, 12: Ultrasonic sensor
20:
30:
40: Hitting sensor
50, 51, 52: ball,
70:

Claims (5)

The ball being disposed side by side on one side of the reference path along a reference path along which the ball struck by the user moves so as to emit a sensing signal perpendicular to the moving direction of the struck ball and to sense a reflected signal from the ball, Ultrasonic sensors;
A controller for controlling each of the at least two ultrasonic sensors to emit a sensing signal from the ultrasonic sensors and receiving a reflection signal received from the ultrasonic sensors; And
And an operation unit for obtaining a time difference between a departure and an arrival of a signal from each of the sensed reflected signals and a difference of a passage time of each sensor and calculating a moving distance, a velocity and a direction of the hit ball from the obtained difference,
Wherein,
The at least two ultrasonic sensors are sequentially activated according to the moving direction of the hit ball and when the one ultrasonic sensor is turned on, the remaining ultrasonic sensors are exclusively turned off so that reflection and interference between the ultrasonic sensors Wherein the motion of the gate ball is detected by the motion detector. The method according to claim 1,
The operation unit,
a) determining a direction of the hit hole is parallel to the reference path if the time difference between the start and arrival of the signal is the same for each of the reflection signals, Calculates the travel distance and speed of the ball,
b) determining that the direction of the hit hole forms a certain angle with the reference path if the time difference between the start and arrival of the signal differs for each of the reflection signals, Speed and direction of the hit ball using a principle that a hypothetical straight line connecting a passage point of the hit ball with a large ultrasonic sensor and an adjacent ultrasonic sensor forms a hypotenuse of a right angle triangle Wherein the motion of the gate ball is measured by the motion sensor. delete The method according to claim 1,
Wherein the ultrasonic sensor further comprises a radiation shielding film for allowing the radiation angle of the sensing signal to be less than a predetermined reference angle,
Wherein the plurality of ultrasonic sensors are disposed apart from a predetermined reference interval or more so that a sensing signal radiated from the ultrasonic sensor is reflected by the hit ball and then received by the adjacent ultrasonic sensor. The method according to claim 1,
And a hitting sensor for detecting the first hit timing and providing the detected hit timing to the controller,
Wherein the controller sequentially starts the at least two ultrasonic sensors after the first hit point detected through the hit sensor to prevent false recognition due to the first hit.

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