KR20130022878A - An enhanced system for measuring flying position and velocity of globe shaped object using the infrared sensor and the camera sensor - Google Patents

Abstract

The present invention calculates the flight position and flight speed of the flying object by analyzing the flying object projection image in the image taken while passing through the shooting area of the camera sensor unit formed so that the flying object intersects the flight path of the flying object It relates to a flight position and flight speed measurement system of the flying object using an infrared sensor and a camera sensor to determine the orbit, the infrared sensor unit including an infrared sensor for detecting the starting point of the flying object; A camera sensor unit including a camera sensor for inspecting an area intersecting the flight path of the flying object; And a computer processing unit for calculating a flying position and a flying speed of the flying object by analyzing the image photographed by the camera sensor unit.

Description

{An Enhanced System for Measuring Flying Position and Velocity of Globe Shaped Object Using the Infrared Sensor and the Camera Sensor}

The present invention relates to a flight position and flight speed measurement system of a flying object using an infrared sensor and a camera sensor, and more particularly, a flight generated while passing through a photographing area of the camera sensor unit formed so that the flying object intersects with its own flight path. The present invention relates to a flight position and flight speed measurement system of a flying object using an infrared sensor and a camera sensor that calculates the flying position and the flying speed of the flying object by analyzing the projection image of the flying object.

In general, in order to determine the flight trajectory of the flying object, the overall flight trajectory of the flying object is obtained by measuring the instantaneous flight position and the flying speed of the flying object and analyzing the same.

As a method for measuring the instantaneous flight position and flight speed of a flying object, a number of optical sensors are used. A system for predicting the flight trajectory of a flying object using the optical sensor is, for example, a golf simulation system. Likewise, it is widely used in the field that must accurately predict the flight trajectory of the flying object.

An example of a system for measuring flight trajectory of a flying object using such a light emitting sensor is a flight speed and position measuring system of a circular object using a light curtain of Korean Patent Laid-Open Publication No. 0483666. FIG. 1 shows the structure of the system.

As shown in FIG. 1, the system includes: a film generator 100 including a film generator for irradiating a film film that intersects a flight path of a circular object; A light receiving sensor unit 200 including a light receiving sensor for detecting a shadow of the light film formed by the light film emitted from the light film generating unit 100 and a circular object passing through the light film; And a computer processor 300 for analyzing the signal information output from the light receiving sensor unit 200 and calculating the instantaneous flight position and flight speed of the circular object.

The above-mentioned light receiving sensor is installed to correspond to each film generator so as to receive the light film irradiated from the film generator. Therefore, if one of the plurality of film generators installed is not matched with the light receiving sensor because the position of the film is irradiated, it is difficult to detect the flight path of the circular object, which makes it difficult to operate the system.

In addition, the light receiving sensor unit 200 is provided with less than 200 light receiving sensors per light receiving sensor unit due to the limitations of each sensor size. This has a problem that the difference in the shadow signal information of the circular object output from the light receiving sensor according to the height of the flying circular object does not have a large error in detecting the flight path.

Republic of Korea Publication No. 0483666

The present invention has been made in order to improve the prior art as described above, the camera sensor unit is installed in the flight path of the flying object and photographed the flying object passing through the shooting area of the camera sensor unit to obtain an image and then analyze the flying object Flight position and flight speed measurement using infrared sensor and camera sensor to predict flight trajectory and flight speed of flight object by analyzing flight position and flight speed of measured object. It is an object to provide a system.

In order to achieve the above object and to solve the problems of the prior art, the flying position and flight speed measurement system of the flying object using the infrared sensor and the camera sensor according to an embodiment of the present invention is an infrared sensor for detecting the starting point of the flying object Infrared sensor unit comprising a; A camera sensor unit including a camera sensor for receiving the start signal of the flying object output from the infrared sensor unit and photographing the flying object passing through a shooting area; And a computer processor for analyzing a video signal of the flying object output from the camera sensor unit and calculating a flying position and a flying speed of the flying object.

The camera sensor unit may include a first camera sensor and a second camera sensor spaced apart from each other in a flying position and a flying speed measuring system of a flying object using an infrared sensor and a camera sensor according to an embodiment of the present invention. The first camera sensor and the second camera sensor and the center point of the projection image of the flying object detected by the first camera sensor, the line connecting the first camera sensor and the center point of the projection image of the flying object detected by the second camera sensor and Characterized in that the left and right so that the intersection of the line connecting the second camera sensor can be generated.

In addition, in the flight position and flight speed measurement system of the flying object using the infrared sensor and the camera sensor according to an embodiment of the present invention, the computer processing unit outputs an image signal output from each camera sensor of the camera sensor unit background image and the flying object An image preprocessor for separating and outputting the projection image; And receiving the projection object projection image from the image preprocessor, calculating a center point of the projection object projection image, and connecting the center point and the corresponding camera sensor. Calculate the location of the line and the flight object passed through each line It is characterized in that it comprises a central processor for calculating the average speed of the flying object by measuring the time and calculating the current position of the flying object by calculating the intersection of each line.

In addition, the computer processing unit in the flying position and flight speed measurement system of the flying object using the infrared sensor and the camera sensor according to an embodiment of the present invention flying the flying object through the starting point and flight position, the flying speed of the flying object The trajectory is calculated and the flight trajectory is output to the display.

According to the flying position and flight speed measurement system of a flying object using an infrared sensor and a camera sensor according to an embodiment of the present invention, forming a shooting area that intersects the flight path of the flying object through the camera sensor and flying the shooting area. When the flying object is detected, it is possible to measure the flying position and the flying speed of the flying object by analyzing the flying object projection image through the computer processing unit, thereby obtaining the effect of accurately determining the flight trajectory of the flying object.

In addition, the flight position and flight speed measurement system of the flying object using the infrared sensor and the camera sensor according to an embodiment of the present invention is made of a simple configuration and can be constructed at low cost to various fields such as three-dimensional golf simulation system The effect can be obtained to be utilized.

1 is a block diagram of a prior art;
2 is a block diagram of a flight position and flight speed measurement system of a flying object using an infrared sensor and a camera sensor according to an embodiment of the present invention.
3 is a conceptual diagram illustrating a flying object formed in an image captured in a process of flying a flying object in a photographing area of a camera sensor unit according to an embodiment of the present invention with coordinates;
Figure 4a is a conceptual view showing the coordinates of the flying object formed in the image taken in the process of flying the shooting area of the camera sensor is installed above the flying object according to an embodiment of the present invention.
Figure 4b is a conceptual view showing the coordinates of the flying object formed in the image taken in the process of flying the flying object in the photographing area of the camera sensor installed in the upper and side according to an embodiment of the present invention.
Figure 5 is an installation of a three-dimensional golf simulation system applied to the flight position and flight speed measurement system of the flying object using the infrared sensor and the camera sensor according to an embodiment of the present invention.
Figure 6 is a block diagram of a three-dimensional golf simulation system applied to the flight position and flight speed measurement system of the flying object using an infrared sensor and a camera sensor according to an embodiment of the present invention.
Figure 7a is a plan view of the infrared sensor unit and the camera sensor of the three-dimensional golf simulation system of FIG.
FIG. 7B is a diagram illustrating a sensing region of an infrared sensor unit and a photographing region of a camera sensor unit of the 3D golf simulation system of FIG. 6.
7C is a front layout view of the infrared sensor unit and the camera sensor unit of the 3D golf simulation system of FIG. 6.
8A is a view showing a flight position of a golf ball passing through an intersection area of a photographing area formed by a first camera sensor and a photographing area formed by a second camera sensor according to an embodiment of the present invention.
8B illustrates a line connecting the golf ball projection image center point and the first camera sensor of the first camera sensor of FIG. 8A and a line connecting the golf ball projection image center point and the second camera sensor of the second camera sensor on the Y axis. A diagram showing coordinates generated by the coordinates.
9 is a flow chart showing the operation of the three-dimensional golf simulation system 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.

2 is a block diagram of a flight position and flight speed measurement system of a flying object using an infrared sensor and a camera sensor according to an embodiment of the present invention.

The present invention is an infrared sensor unit 100 including an infrared sensor for detecting the starting point of the flying object; A camera sensor unit 200 including a camera sensor receiving a start signal of the flying object output from the infrared sensor unit 100 and photographing the flying object passing through the photographing area; And a computer processor 300 analyzing the image signal of the flying object output from the camera sensor unit 200 to calculate the flying position and the flying speed of the flying object.

The infrared sensor unit 100 may be installed at an area starting point of the camera sensor unit 200 that is closest to the starting point of the flying object so that the camera sensor unit 200 starts shooting with the start of the flying object.

The camera sensor unit 200 includes a first camera sensor 210 and a second camera sensor 220 spaced apart from each other. The first camera sensor 210 and the second camera sensor 220 are connected to the center point of the projection image of the flying object detected by the first camera sensor 210 with the first camera sensor 210 and the second camera sensor ( The center point of the projection image of the flying object detected by 220 may be installed to the left and right so that an intersection point of a line connecting the second camera 220 may be generated.

The computer processing unit 300 includes an image preprocessor 310 which separates an image signal output from the camera sensor unit 200 into a background image and a flying object projection image; By analyzing the flying object projection image transmitted from the image preprocessor 310, the center point of the flying object projection image is calculated for each of the two camera sensors 210 and 220, and the center point and the corresponding camera sensor 210 and 220 are calculated. Calculate the two lines where the flying object is located by connecting them, calculate the average speed of the flying object by measuring the time that the flying object has passed through each line, and calculate the intersection of each line to determine the exact current position of the flying object. May include a processor 320.

The computer processor 300 may calculate a flight trajectory of the flying object based on the starting point, the flying position, and the flying speed of the flying object, and output the same to the display 400.

3 is a conceptual view showing coordinates of a flying object formed in an image captured in the process of flying a flying object in a photographing area of a camera sensor unit according to an exemplary embodiment of the present invention.

The Y axis shown in FIG. 3 represents the distance from the starting point of the flying object and means the distance between the starting point of the flying object and the photographing area of the camera sensor unit 200. The X axis represents the left and right flight directions of the flying object, and means the width of the photographing area of the camera sensor unit 200. The Z axis represents the flight height of the flying object. As can be seen in Figure 3 the flying object may be a circular object.

As shown in Figure 3, when the flying object passes through the shooting area formed from the camera sensor (A) of the camera sensor unit 200 to the bottom (B ~ C), the flying object is projected in the image and generated flight The object projection images D to E may be transmitted to the computer processor 300.

The computer processing unit 300 determines the flying position of the flying object through the flying object projection images D through E. That is, the computer processing unit 300 determines the flying object projection area D through the image in which the flying object is detected. The center point F of E) is calculated and the flying object is located on the line connecting the center point F with the corresponding camera sensor A.

In addition, if the computer processing unit 300 knows the diameter (F) of the flying object in advance, the size of the flying object projection image (D ~ E) is changed according to the diameter of the flying object, through which it is possible to calculate the height of the flying object. Know the exact position ((Xe, Ze)) of the flying object.

In addition, the method of calculating the flying speed of the flying object may be calculated through the shooting areas of two or more camera sensors 210 and 220 which are formed spaced apart from each other with respect to the above-described Y axis. After measuring the passing time, the distance between the two shooting areas is divided by the measured time to calculate the average speed of the flying object.

4A is a conceptual diagram illustrating coordinates of a flying object formed in an image photographed in a process of flying a photographing area of a camera sensor installed at an upper portion of a flying object according to an embodiment of the present invention. Figure 4b is a conceptual diagram showing the coordinates of the flying object formed in the image taken during the flight of the flying object in the photographing area of the camera sensor installed in the upper and side according to an embodiment of the present invention.

As described in FIG. 3, the computer processing unit 300 may determine the exact position of the flying object by analyzing the size of the flying object projection image formed by the flying object if the diameter of the flying object is known in advance. Since the range of the error must be minimized, the positional configuration between the camera sensors 210 and 220 becomes complicated and control becomes difficult. Therefore, according to an embodiment of the present invention, it is possible to determine the exact position of the flying object through the two photographing areas in which the cross region is formed.

As shown in FIG. 4A, two camera sensors A ₁ and A ₂ are spaced apart from each other by a predetermined distance with respect to the bottom surface (X axis) to form an intersection area in each photographing area. In B to C), the flying object projection area D _{1 to} E ₁ (D _{2 to} E ₂ ) generated by the flying object passing through the intersection area is generated.

Therefore, after calculating the center point (F ₁ ) (F ₂ ) of each projection object image D ₁ ~ E ₁ (D ₂ ~ E ₂ ) generated on the floor (B ~ C), these two center points (F) ₁ ) (F ₂ ) is connected to camera sensor (A ₁ ) (A ₂ ) respectively to form two lines where the flying objects are located. By calculating the intersection of these two lines, you can determine the exact location of the flying objects. have.

Camera sensors A ₁ and A ₂ , which form the respective photographing areas so as to form an intersecting area, may be configured by changing positions as shown in FIG. 4B. In this case, each floor is located on the same Y axis on the X and Z axes. The camera sensor (A ₁ ) (A ₂ ) should be installed facing the surface (B ₁ ~ C ₁ ) (B ₂ ~ C ₂ ). Through this process, like the process of Figure 4a to determine the position of the flying object bottom surface _{(B 1 -C 1) (B} 2 -C 2) flying object projection images (D ₁ -E ₁₎ it is projected (D ₂ After calculating each of the center point (F ₁ ) (F ₂ ) of -E ₂ ) can be identified by connecting the camera sensor (A ₁ ) (A ₂ ) and calculating the intersection point.

5 is an installation diagram of a three-dimensional golf simulation system to which the flight position and flight speed measurement system of a flying object using an infrared sensor and a camera sensor according to an embodiment of the present invention. FIG. 6 is a block diagram of a three-dimensional golf simulation system to which a flight position and flight speed measurement system of a flying object is applied using an infrared sensor and a camera sensor according to an embodiment of the present invention.

3D golf simulation system according to an embodiment of the present invention may include an infrared sensor 100, a camera sensor 200, a computer processing unit 300, and a display 400. The infrared sensor unit 100 may include an infrared sensor 110 and may be installed to face the starting point of the golf ball. The camera sensor unit 200 includes a first camera sensor 210 and a second camera sensor 220 and receives the start signal of the golf ball from the infrared sensor unit 100 to start shooting the golf ball.

FIG. 7A is a plan layout view of an infrared sensor unit and a camera sensor unit of the 3D golf simulation system of FIG. 6. 7B is a sensing area of an infrared sensor part and a photographing area of a camera sensor part of the 3D golf simulation system of FIG. 6. FIG. 7C is a front layout view of the infrared sensor unit and the camera sensor unit of the 3D golf simulation system of FIG. 6.

The infrared sensor unit 100 is positioned above the camera sensor unit 200, and the infrared sensor 110, the first camera sensor 210, and the second camera sensor 220 are spaced apart by a predetermined distance, respectively. Between the first camera sensor 210 and the second camera sensor 220 forms a shooting area that intersects the flight path of the golf ball.

For example, the sensing area width a of the infrared sensor 110 may be set to 533 mm, and the shooting area width b of the first camera sensor 210 and the second camera sensor 220 may be set to 1066 mm. In addition, the photographing area spacing c of the infrared sensor 110 and the first camera sensor 210 is set to 500 mm, and the photographing area spacing d of the first camera sensor 210 and the second camera sensor 220 is set to 500 mm. It can be set to 60mm.

Accordingly, the length interval (c) (d) between the infrared sensor 110 and each camera sensor 210, 220 is installed on the upper portion so as to correspond to the sensing area and the photographing area is set and each camera sensor 210, 220 Width interval (e) of the) may be installed by the first camera sensor 210 and the second camera sensor 220 spaced 200mm to the left and right relative to the infrared sensor 110. In addition, the height interval h of the bottom surface of the infrared sensor unit 100 and the camera sensor unit 200 may be set to 3000 mm.

The numerical values representing the installation intervals of the infrared sensor unit 100 and the camera sensor unit 200 are not limited to the present invention and may be modified and installed according to the scale or characteristics of the three-dimensional golf simulation system.

The computer processor 300 may include an image processor 310 and a central processor 320. The image preprocessor 310 separates the output image of the first camera sensor 210 and the second camera sensor 220 into a background image and a golf ball projection image, and transmits the output image to the central processor 320. The central processor 320 analyzes the golf ball projection image transmitted from the image preprocessor 310 to calculate the flight position and flight speed of the golf ball.

The central processor 320 obtains the center point of the golf ball projection image obtained from the first camera sensor 210 and the second camera sensor 220 to calculate the flight speed of the golf ball, and calculates the time that the golf ball passes through the center point. Measure and find the average time. That is, the average speed of the golf ball passing between the infrared sensor 110 and the first camera sensor 210 is obtained and the average speed of the golf ball passing between the first camera sensor 210 and the second camera sensor 220. After calculating, calculate the average of two average speeds to find the total average speed.

This may be expressed as an equation (1) through (3).

Equation 1

Here, V _{1 -2} is the distance (c + d) between the infrared sensor 110 and the first average velocity and the S ₁ between the camera sensor 210 is an infrared sensor 110 and a first camera sensor 120. In addition, T ₁ is the time the golf ball passed the infrared sensor 110 and T ₂ is the time the golf ball passed the first camera sensor 210.

Equation 2

Here, V _{2 -3} first camera sensor 210 and the second camera sensor an average speed of between 220 and the distance between the sensor S _2, the first camera 210 and the second camera sensor 220 (d) to be. In addition, T ₂ is the time that the golf ball passed through the first camera sensor 210 and T ₃ is the time when the golf ball passed through the second camera sensor 220.

Therefore, the average speed of the golf ball is as shown in equation (3).

Equation 3

.

.

The central processor 320 may calculate the moving speed of the golf club as well as the flying speed of the golf ball. The moving speed of the golf club is obtained through the same process as that of calculating the flying speed of the golf ball. In addition, the moving speeds of the golf club and the golf ball calculated by the above-described process can be distinguished by calculating the projected image size of the object passing through the shooting area.

8A illustrates a flight position of a golf ball passing through an intersection area between a photographing area formed by a first camera sensor and a photographing area formed by a second camera sensor according to an embodiment of the present invention.

A golf ball as shown in Figure 8a, the first of the camera sensor (A ₁₎ a golf ball projection image center point and first camera sensor (A ₁₎ line and the second camera sensor (A ₂₎ for connecting the golf ball It is positioned on the line connecting the projection image center point and the second camera sensor (A ₂ ). Therefore, if the intersection of each line where the golf ball is located can be found accurately the spatial position of the golf ball.

As described in FIG. 4B, the first camera sensor 210 and the second camera sensor 220 must be configured so that each line on which the golf ball is located has the same Y-axis value, but an accurate intersection is generated. When the first camera sensor 210 and the second camera sensor 220 are spaced apart from each other so that a predetermined difference occurs in the Y-axis value of the two camera sensors 220, each line crossing point does not occur.

However, according to the exemplary embodiment of the present invention, the distance between the first camera sensor 210 and the second camera sensor 220 is sufficiently small as 60 mm, so that the trajectory change of the golf ball occurs slightly between the two positions. Therefore, if both lines are moved by 30mm with respect to the Y axis, an intersection point is generated and this intersection point can be calculated.

8B illustrates a line connecting the golf ball projection image center point and the first camera sensor of the first camera sensor of FIG. 8A and a line connecting the golf ball projection image center point and the second camera sensor of the second camera sensor on the Y axis. It represents the intersection point generated by the coordinates.

As shown in Figure 8b, the first coordinates of the camera sensor (A ₁₎ point ((X3, Z3)) and the second camera sensor coordinate point ((X4, Z4)) of (A ₂₎ is in advance at installation al number, and the first camera sensor (a ₁₎ a golf ball projection image center point ((X1, Z1)) and the second camera sensor golf ball projection image center point ((X2, Z2)) of (a ₂₎ may also be calculated for each The line intersection of is as in Equation 4 to Equation 5.

Equation 4

Equation 5

Here, since the Y-axis value of the coordinate value is predetermined when the infrared sensor unit 100 and the camera sensor unit 200 are installed, it does not affect any of the above calculations. Therefore, the center position of the golf ball, which is the line intersection point, is determined by the two equations, so that the exact position of the golf ball can be determined.

The central processor 320 calculates the flight trajectory of the golf ball through the flight position and flight speed of the golf ball calculated through the above-described process. Then, the trajectory of the golf ball can be calculated.

The flight trajectory of the golf ball calculated by the central processor 320 is transmitted in real time to the display 400 which provides the hitting point of the golf ball and displays the golf course and the image of the golf ball to display the three-dimensional moving image of the golf ball. The display may be displayed at 400 in real time.

9 is a flow chart showing the operation of the three-dimensional golf simulation system according to an embodiment of the present invention.

first When power is applied to each component of the three-dimensional golf simulation system and the system is turned on, the infrared sensor 110 of the infrared sensor unit 100 receives a signal returned from the bottom surface to be irradiated with infrared rays (step S110). )).

The infrared sensor unit 100 recognizes that the golf ball has started and operates the camera sensor unit 200 (step S130) when a signal different from step S110 is input (step S120) while sensing the bottom surface. )).

The image preprocessor 310 separates the image signal transmitted from the camera sensor unit 200 into the background image and the golf ball projection image, and transmits the image signal to the central processor 320 (step S140).

The central processor 320 analyzes the golf ball projection image transmitted from the image preprocessor 310 to classify the golf ball and the golf club (step S150) and calculates the flight position and flight speed of the divided golf ball (step ( S160)).

In addition, the central processor 320 calculates the three-dimensional trajectory of the golf ball by substituting the flight position, the flight speed, and the initial position of the golf ball obtained through the step S160 into a general aerodynamic equation (step S170).

Through the three-dimensional trajectory of the golf ball calculated by the central processor 320, the golf course background image according to the golf ball's flight position is combined (step S180). The display 400 is transmitted to and displayed on the display (step S190). The above-described process is repeated until the golf practitioner finishes golf practice (step S200).

As described above, the flying position and flight speed measurement system of the flying object using the infrared sensor and the camera sensor according to an embodiment of the present invention is the photographing area of the camera sensor unit 200 is formed to cross the flight path of the flying object After the flight object projection image is obtained, the flight position and flight speed of the flying object can be calculated by analyzing it, and the flight trajectory of the flying object can be calculated through the flight position and flight speed of the flying object.

In the present specification, a three-dimensional golf simulation system using an infrared sensor and a camera sensor has been described using an example of a flight position and flight speed measurement system of a flying object, but this is applied to various devices and systems for measuring a flying position and a flying speed of a flying object. The present invention is not limited to the above-described exemplary embodiment, but can be utilized by those skilled in the art to which the present invention pertains, and the equivalent scope of the technical spirit of the present invention and the claims to be described below. Of course, various modifications and variations are possible.

100: infrared sensor unit
110: infrared sensor
200: camera sensor
210: first camera sensor
220: second camera sensor
300: computer processing unit
310: image preprocessor
320: central processor
400: display

Claims (4)

An infrared sensor unit 100 including an infrared sensor for detecting a starting point of a flying object;
A camera sensor unit 200 including a camera sensor for receiving the start signal of the flying object output from the infrared sensor unit 100 and photographing the flying object passing through a shooting area; And
Computer processing unit 300 for calculating the flying position and the flying speed of the flying object by analyzing the image signal of the flying object output from the camera sensor unit 200
Flight position and flight speed measurement system of the flying object, characterized in that it comprises a. The method of claim 1,
The camera sensor unit 200 includes a first camera sensor 210 and a second camera sensor 220 are spaced apart from each other.
The first camera sensor 210 and the second camera sensor 220 may include a line connecting the center point of the projection image of the flying object detected by the first camera sensor 210 and the first camera sensor 210 and the first camera sensor 210. Flight position and flight of the flying object, characterized in that it is installed to the left and right so that the intersection of the center point of the projection image of the flying object detected by the camera sensor 220 and the line connecting the second camera sensor 220 can be generated. Speed measurement system. The method of claim 1,
The computer processing unit 300
An image preprocessor 310 for separating and outputting an image signal output from each of the camera sensors 210 and 220 of the camera sensor unit into a background image and a projection image of a flying object; And
The flying object projection image is received from the image preprocessor 310, the center point of the flying object projection image is calculated, and the flying object is connected by connecting the center point and the corresponding camera sensor 210, 220. Calculate the location of the line and the flight object passed through each line The central processor 320 to determine the current position of the flying object by measuring the time to calculate the average speed of the flying object and calculate the intersection of each line.
Flight position and flight speed measurement system of the flying object, characterized in that it comprises a. The method of claim 1,
The computer processing unit 300
The flight position and flight speed measurement system of the flying object, characterized in that for calculating the flight trajectory of the flying object based on the starting point, the flight position, the flying speed of the flying object and outputs the flying trajectory to the display (400).

Images