Optical sensing type golf ball sensing device and sensing method

Abstract

The purpose of the present invention is to provide an optical sensing type golf ball sensing device and sensing method in which an optical sensing type sensing device provided on a movement path of a golf ball that moves by a golf putter is used without adding a separate device. According to the present invention, movement characteristic information of a moving golf ball can be effectively calculated even if the golf ball starts from any initial position by using only sensing data that can be sensed when light passes through a plurality of light-emitting parts and light-receiving parts.

Description

TECHNICAL FIELD

[0001] The present application relates to a sensing device and a sensing method for sensing movement of a golf ball, and more particularly, to a light-sensing type golf ball sensing device and a sensing method, in which a golf ball moved by a user's putting passes through a plurality of sensing lights using light sensors, the light sensors sense the golf ball, and information on movement characteristics of the golf ball is calculated accordingly. BACKGROUND

[0002] Recently, virtual sports simulation systems that allow people to easily enjoy sports have emerged, and for example, virtual simulation systems for sports in which sports are directly enjoyed on a field, such as golf and baseball, have been widely popularized.

[0003] Further, virtual sports simulation systems for net sports in which two players hit a ball across a net have also been introduced, and a trend in which users can easily enjoy various sports in a popular cultural space has emerged.

[0004] Such virtual sports simulation is basically a game in which a player hits a ball, and in order to simulate the ball hit by the player on an image, a sensing device capable of effectively sensing a moving ball is required.

[0005] Currently, as a sensing device for sensing a ball moved by being hit by a user, a light-sensing type sensing device, a camera-based sensing device, a radar-based sensing device, etc. are widely used.

[0006] In particular, for golf putting, since a golf ball is basically hit in a manner that it rolls on a mat, as a sensing device for sensing movement of such a golf ball rolling on a mat, a light-sensing type sensing device, which is a relatively inexpensive sensing device, is mainly used, rather than an expensive sensing device such as a camera-based sensing device or a radar-based sensing device.

[0007] As for the related art of such a light-sensing type sensing device for sensing movement of a golf ball caused by golf putting, Korean Patent Laid-Open Publication No. 10-2016-0026093, Korean Patent Registration Publication No. 10-0671751, Korean Patent Laid-Open Publication No. 10-2007-0108330, Korean Patent Registration Publication No. 10-0923452, etc. have been disclosed.

[0008] The golf putting sensing device disclosed in the above-mentioned related art documents is provided with a light emitting device on the right side of a path in which a golf ball moves, and a receiving device on the left side, the light emitting device is provided with a plurality of light emitting elements, and the receiving device is provided with a plurality of light receiving elements that receive light emitted from each of the plurality of light emitting elements.

[0009] When a user hits a golf ball placed in a designated position, the hit golf ball sequentially blocks multiple light rays emitted by the aforementioned multiple light-emitting elements and passes by. Whenever the golf ball blocks the light, the light-receiving element cannot receive the light, thus allowing the golf ball to be detected.

[0010] As mentioned above, the necessary condition for the existence of conventional golf putter sensing devices is that the initial position of the golf ball should be a predetermined fixed position; only when the golf ball is placed in the predetermined initial position and hit can the movement direction and speed of the golf ball be calculated from the sensing results of each light-receiving element.

[0011] That is, as mentioned above, in order to calculate the direction and speed of the moving golf ball using multiple light-emitting and light-receiving elements set along the path of the golf ball, the sensor should identify the starting position of the golf ball. Therefore, sensing can only be achieved when the golf ball is placed in a predetermined position and hit. If the golf ball is placed in an arbitrary position and hit, it is difficult to calculate information such as the direction and speed of the golf ball, or it will inevitably calculate inaccurate information that is different from reality.

[0012] To solve this problem, a camera sensor can be set up to sense a designated area including the initial position of the golf ball, and configured to work in conjunction with the aforementioned light sensor device. However, in this case, it is necessary to simultaneously improve the processing capability of the sensing data, which will lead to another problem: the cost of the overall sensing device will increase significantly as relatively expensive equipment is added.

[0013] [Existing Technical Documents]

[0014] Korean Patent Publication No. 10-2016-0026093

[0015] Korean Patent Publication No. 10-0671751

[0016] Korean Patent Publication No. 10-2007-0108330

[0017] Korean Patent Publication No. 10-0923452 Summary of the Invention

[0018] Technical issues

[0019] The present invention aims to provide an optical sensing golf ball sensing device and sensing method. The optical sensing device is set on the movement path of the golf ball that moves due to a golf putter. Without the need for additional equipment, the device can effectively calculate the movement characteristics of the golf ball by using the sensing data that can be sensed when light passes between multiple light-emitting and light-receiving parts, even if the golf ball starts from any initial position.

[0020] Technical solution

[0021] An embodiment of the optical sensing golf ball sensing device of the present invention includes: a light-emitting end disposed on one side of the path along which the golf ball moves after being hit from an arbitrary initial position, configured to allow multiple light-emitting portions to respectively irradiate light beams to the other side; a light-receiving end disposed on the other side, having multiple light-receiving portions respectively receiving the light beams irradiated by the multiple light-emitting portions; and a control unit that, when the moving golf ball passes through the light beams irradiated by the multiple light-emitting portions to the multiple light-receiving portions respectively, collects the time point at which the golf ball begins to block each light beam and the time point at which it last blocks each light beam as sensing data, and calculates the movement characteristic information of the golf ball moving from an arbitrary initial position.

[0022] Furthermore, preferably, the device is characterized in that, during the process of the moving golf ball entering the light beam received by the light-receiving unit, the control unit sets the distance from the center of the golf ball to the light beam received by the light-receiving unit as an effective radius at the time point when the sensing condition of the light-receiving unit for sensing the golf ball is met; and senses the golf ball at the time point when an effective circle having the effective radius is tangent to the light beam.

[0023] Furthermore, preferably, the device is characterized in that the light-emitting end includes: a first light-emitting part and a second light-emitting part, which substantially irradiate light in parallel; and a first cross light-emitting part and a second cross light-emitting part, which are disposed between the first light-emitting part and the second light-emitting part, respectively irradiating light in an X-shape; the light-receiving end includes: a first light-receiving part, which receives light from the first light-emitting part; a second light-receiving part, which receives light from the second light-emitting part; a first cross light-receiving part, which receives light from the first cross light-emitting part; and a second cross light-receiving part, which receives light from the second cross light-emitting part.

[0024] Furthermore, preferably, the device is characterized in that the light beam through which the golf ball passes includes: a first light beam that illuminates the first light-emitting part to the first light-receiving part; a second light beam that illuminates the second light-emitting part to the second light-receiving part; a first intersecting light beam that illuminates the first intersecting light-emitting part to the first intersecting light-receiving part; and a second intersecting light beam that illuminates the second intersecting light-emitting part to the second intersecting light-receiving part, wherein the first light beam, the second light beam, and the first and second intersecting light beams are respectively formed to have a predetermined beam width according to the structure of the light-emitting end and the light-receiving end.

[0025] Furthermore, preferably, the device is characterized in that the control unit is configured to measure the following time points respectively, and calculate the direction angle and velocity of the golf ball as it moves from any initial position: a first entry time point, i.e., the time point when the golf ball begins to block the first light beam; a first exit time point, i.e., the time point when the golf ball last blocks the first light beam; a first cross-entry time point, i.e., the time point when the golf ball begins to block the first cross-beam; a first cross-exit time point, i.e., the time point when the golf ball last blocks the first cross-beam; a second cross-entry time point, i.e., the time point when the golf ball begins to block the second cross-beam; a second cross-exit time point, i.e., the time point when the golf ball last blocks the second cross-beam; a second entry time point, i.e., the time point when the golf ball begins to block the second light beam; and a second exit time point, i.e., the time point when the golf ball last blocks the second light beam.

[0026] Furthermore, preferably, the device is characterized in that the control unit is configured to use the sensing data to calculate deceleration information during the movement of the golf ball, the deceleration information being obtained based on the difference between a first velocity based on the first entry time point and the first exit time point when the golf ball passes through the first beam and a second velocity based on the second entry time point and the second exit time point when the golf ball passes through the second beam after passing through the first beam.

[0027] Furthermore, preferably, the device is characterized in that the control unit calculates the time point at which the golf ball begins to block the light beam as the time point at which the effective circle with the effective radius is tangent to one side of the light beam, and calculates the time point at which the golf ball last blocks the light beam as the time point at which the effective circle is tangent to the other side of the light beam, so as to calculate the movement characteristic information of the golf ball.

[0028] Furthermore, preferably, the device is characterized in that the light beams irradiating the plurality of light-emitting portions to the plurality of light-receiving portions include: a first light beam and a second light beam formed perpendicularly and parallel from the light-emitting end to the light-receiving end, and a first cross beam and a second cross beam formed in an X-shape from the light-emitting end to the light-receiving end between the first light beam and the second light beam.

[0029] Furthermore, preferably, the device is characterized in that the control unit is configured to measure the following time points respectively, and calculate the direction angle and velocity of the golf ball moving from an arbitrary initial position: a first entry time point, i.e., the time point when the effective circle having the effective radius is tangent to one side of the first beam; a first exit time point, i.e., the time point when the effective circle is tangent to the other side of the first beam; a first cross-entry time point, i.e., the time point when the effective circle is tangent to one side of the first cross-beam; a first cross-exit time point, i.e., the time point when the effective circle is tangent to the other side of the first cross-beam; a second cross-entry time point, i.e., the time point when the effective circle is tangent to one side of the second cross-beam; a second cross-exit time point, i.e., the time point when the effective circle is tangent to the other side of the second beam; a second entry time point, i.e., the time point when the effective circle is tangent to one side of the second beam; and a second exit time point, i.e., the time point when the effective circle is tangent to the other side of the second beam.

[0030] Furthermore, preferably, the device is characterized in that the control unit is configured to use the sensing data to calculate deceleration information during the movement of the golf ball, the deceleration information being obtained based on the difference between a first velocity based on the first entry time point and the first exit time point when the golf ball passes through the first beam and a second velocity based on the second entry time point and the second exit time point when the golf ball passes through the second beam after passing through the first beam.

[0031] On the other hand, one embodiment of the present invention provides a photosensitive golf ball sensing method, namely, a sensing method for a photosensitive golf ball sensing device. The device is configured such that: on one side of the path along which the golf ball moves after being hit from an arbitrary initial position, multiple light-emitting portions respectively illuminate light; on the other side, multiple light-receiving portions receive each light; a control unit senses the movement of the golf ball through the sensing results of each of the multiple light-receiving portions. The sensing method of the photosensitive golf ball sensing device includes: the steps of the multiple light-receiving portions respectively receiving each light beam illuminated by the multiple light-emitting portions; the steps of measuring the time point at which the golf ball begins to block each light beam and the time point at which it finally blocks each light beam during the process of the golf ball sequentially blocking each light beam and moving; and the steps of collecting each of the measured time points as sensing data and calculating the movement characteristic information of the golf ball moving from an arbitrary initial position.

[0032] Furthermore, preferably, the method is characterized in that, before the steps of measuring the time point at which the golf ball begins to block each beam of light and the time point at which it finally blocks each beam of light, the method includes: during the process of the moving golf ball entering the beam of light received by the light-receiving part, at the time point when the sensing condition of the light-receiving part sensing the golf ball is met, the distance from the center of the golf ball to the beam of light received by the light-receiving part is set as the effective radius.

[0033] Furthermore, preferably, the method is characterized in that the steps of measuring the time point when the golf ball begins to block each beam and the time point when it finally blocks each beam include: calculating the time point when the golf ball begins to block each beam as the time point when an effective circle with the effective radius is tangent to one side of the beam, and calculating the time point when the golf ball finally blocks each beam as the time point when the effective circle is tangent to the other side of the beam.

[0034] Furthermore, preferably, the method is characterized in that the light beams illuminating the plurality of light-emitting parts to the plurality of light-receiving parts include: a first light beam and a second light beam formed perpendicularly and parallel from the light-emitting end to the light-receiving end, and a first intersecting light beam and a second intersecting light beam formed in an X-shape from the light-emitting end to the light-receiving end between the first light beam and the second light beam. The step of measuring the time points at which the golf ball begins to block each light beam and the time points at which it finally blocks each light beam includes measuring the following time points: a first entry time point, i.e., the time point at which the effective circle with the effective radius is tangent to one side of the first light beam; a first exit time point, i.e., the time point at which the effective circle and the effective circle are tangent to one side of the first light beam; and a first exit time point, i.e., the time point at which the effective circle and the effective circle are tangent to one side of the first light beam. The time point at which the other side of the first beam is tangent; the first cross-entry time point, i.e., the time point at which the effective circle is tangent to one side of the first cross-beam; the first cross-departure time point, i.e., the time point at which the effective circle is tangent to the other side of the first cross-beam; the second cross-entry time point, i.e., the time point at which the effective circle is tangent to one side of the second cross-beam; the second cross-departure time point, i.e., the time point at which the effective circle is tangent to the other side of the second cross-beam; the second entry time point, i.e., the time point at which the effective circle is tangent to one side of the second beam; and the second departure time point, i.e., the time point at which the effective circle is tangent to the other side of the second beam.

[0035] Furthermore, preferably, the method is characterized by further comprising: using the sensing data to calculate deceleration information during the movement of the golf ball, the deceleration information being obtained based on the difference between a first velocity based on a first entry time point and a first exit time point when the golf ball passes through the first beam and a second velocity based on a second entry time point and a second exit time point when the golf ball passes through the second beam after passing through the first beam.

[0036] The effects of the invention

[0037] The optical sensing golf ball sensing device and sensing method of the present invention have the following effects: by using an optical sensing device installed on the movement path of a golf ball that moves due to a golf putter, there is no need to add a separate device. By using the sensing data that can be sensed when light passes between multiple light-emitting parts and light-receiving parts, the movement characteristics information of the moving golf ball can be effectively calculated even if the golf ball starts from any initial position. Attached Figure Description

[0038] Figure 1 This is a putting practice device illustrating an embodiment of the optically sensing golf ball sensor of the present invention.

[0039] Figure 2 This shows the view from above. Figure 1A diagram showing the specific structure of the cross-section of the sensing device used in the push rod practice device.

[0040] Figure 3 It is shown Figure 2 A diagram showing how the golf ball is sensed by various light-receiving parts as it moves after being hit.

[0041] Figure 4 and Figure 5 This is a diagram illustrating the concept of effective radius and the entry and exit times of the ball's beam in an optically sensing golf ball sensing device and sensing method according to an embodiment of the present invention.

[0042] Figure 6 It shows the method used to... Figure 3 The diagram shows the state of the light beams between the light-emitting end and the light-receiving end, simplified as light rays, and geometrically analyzed using the effective circle formed by the effective radius.

[0043] Figure 7 In a golf ball sensing device according to an embodiment of the present invention, the position of the golf ball as it moves in one direction after being hit is presented as a diagram showing the effective circle tangent to each light beam, representing the entry and exit points of each light beam.

[0044] Figure 8 It is presented in a way that facilitates the process. Figure 7 A diagram of the state at the intersection of beams based on the geometric analysis of the effective circle.

[0045] Figure 9 In a golf ball sensing device according to an embodiment of the present invention, the position of the golf ball as it moves in another direction after being hit is presented as a diagram showing the effective circle tangent to each light ray.

[0046] Figure 10 It is used for explanation Figure 9 The diagram shows the calculation of the physical quantities of a golf ball moving under uniform acceleration through geometric analysis. Detailed Implementation

[0047] The optical sensing golf ball sensing device and sensing method of the present invention will now be described in detail with reference to the accompanying drawings.

[0048] First, refer to Figure 1 and Figure 2 An embodiment of the optically sensing golf ball sensing device for sensing the movement of a golf ball according to the present invention will be described.

[0049] Figure 1This is a diagram illustrating a putting practice apparatus using a golf ball sensing device according to an embodiment of the present invention. Figure 2 This shows the view from above. Figure 1 A diagram showing the specific structure of the cross-section of the sensing device used in the push rod practice device.

[0050] like Figure 1 and Figure 2 As shown, an embodiment of the golf ball sensing device of the present invention can be implemented as a putting practice device that enables a user to practice putting with a golf club GC on a putting mat 100 and a golf ball GB.

[0051] like Figure 1 and Figure 2 As shown, an embodiment of the optically sensing golf ball sensing device of the present invention may include: a light-emitting end 200, which is disposed on one side of the path along which the golf ball moves as the user putts, configured such that a plurality of light-emitting parts 210, 220, 230, 240 respectively irradiate light beams L1, L2, LX1, LX2 to the other side; and a light-receiving end 300, which, along with the side facing the light-emitting end 200, is provided to receive the light beams L1, L2, LX1, LX2 respectively irradiated by the light-emitting parts 210, 220, 230, 240 of the light-emitting end 200. The multiple light-receiving units 310, 320, 330, and 340 of LX1 and LX2; and the control unit 150, wherein, as the golf ball GB moves, as described above, it sequentially blocks and passes through the light beams L1, L2, LX1, and LX2 that are respectively irradiated by the multiple light-emitting units 210, 220, 230, and 240 to the multiple light-receiving units 310, 320, 330, and 340. The multiple light-receiving units 310, 320, 330, and 340 sense the golf ball and use it to calculate the movement characteristic information of the golf ball.

[0052] The control unit 150 can use the results of sensing the golf ball GB by each light-receiving part as described above to calculate information such as the direction of movement and the speed of movement of the golf ball through geometric analysis.

[0053] The control unit 150 can transmit the golf ball movement characteristics information calculated as described above to the client 500 to provide the user with various services related to golf putting.

[0054] For example, the client 500 can be implemented as a simulation device that can realize the image of a virtual green and realize the simulated image of the movement of the golf ball in the virtual green based on the golf ball movement characteristic information calculated by the control unit 150.

[0055] In addition, for example, client 500 can also be implemented as a push rod analysis device that can present and provide user-based push rod analysis results by project category.

[0056] On the other hand, such as Figure 1 and Figure 2 As shown, the light-emitting end 200 of a golf ball sensing device according to an embodiment of the present invention may include: a first light-emitting part 210 and a second light-emitting part 220, which irradiate light substantially in parallel in order to sense the speed of the golf ball; and a first cross light-emitting part 230 and a second cross light-emitting part 240, which are disposed between the first light-emitting part 210 and the second light-emitting part 220 and irradiate light respectively in an X-shape.

[0057] Additionally, the light-receiving end 300 may include: a first light-receiving part 310 that receives light from the first light-emitting part 210; a second light-receiving part 320 that receives light from the second light-emitting part 220; a first cross light-receiving part 330 that receives light in the diagonal direction of the first cross light-emitting part 230; and a second cross light-receiving part 340 that receives light in the diagonal direction of the second cross light-emitting part 240.

[0058] like Figure 2 As shown, the first light-receiving part 310, the second light-receiving part 320, the first cross light-receiving part 330, and the second cross light-receiving part 340 of the light-receiving end 300 can be connected to the control unit 150 and receive sensing results from each light-receiving part; although not shown in the figure, the first light-emitting part 210, the second light-emitting part 220, the first cross light-emitting part 230, and the second cross light-emitting part 240 of the light-emitting end 200 can also be connected to the control unit 150, and the light illumination of each light-emitting part can be turned on / off based on the control of the control unit 150.

[0059] The light-emitting end 200 described above may include: a first light-emitting through hole 201 for light from the first light-emitting part 210 to pass through, so as to form a first light beam L1; a second light-emitting through hole 202 for light from the second light-emitting part 220 to pass through, so as to form a second light beam L2; a first cross light-emitting through hole 203 for light from the first cross light-emitting part 230 to pass through, so as to form a first cross light beam LX1; and a second cross light-emitting through hole 204 for light from the second cross light-emitting part 240 to pass through, so as to form a second cross light beam LX2.

[0060] Furthermore, the light-receiving end 300 described above may include: a first light-receiving through hole 301 for the first light beam L1 to pass through to the first light-receiving part 310; a second light-receiving through hole 302 for the second light beam L2 to pass through to the second light-receiving part 320; a first cross light-receiving through hole 303 for the first cross light beam LX1 to pass through to the first cross light-receiving part 330; and a second cross light-receiving through hole 304 for the second cross light beam LX2 to pass through to the second cross light-receiving part 340.

[0061] The first light-emitting portion 210, the second light-emitting portion 220, the first cross light-emitting portion 230, and the second cross light-emitting portion 240 of the light-emitting end 200 described above can be respectively provided as light-emitting elements such as LEDs.

[0062] Therefore, since the light irradiated by each light-emitting part of the light-emitting element such as an LED diffuses widely, in order to enable the light irradiated by each light-emitting part to be directly incident on the corresponding light-receiving part of the light-receiving end in the form of a beam, a first light-emitting through hole 201, a second light-emitting through hole 202, a first cross light-emitting through hole 203, and a second cross light-emitting through hole 204 can be formed on the light-emitting end 200 according to the size corresponding to the corresponding beam size, so that a beam corresponding to the desired beam size can be irradiated.

[0063] In addition, as described above, the first light-receiving through hole 301, the second light-receiving through hole 302, the first cross light-receiving through hole 203, and the second cross light-receiving through hole 204 can be formed on the light-receiving end 300 according to the sizes corresponding to the sizes of the first light-receiving through hole 201, the second light-receiving through hole 202, the first cross light-receiving through hole 203, and the second cross light-receiving through hole 204 formed on the light-receiving end 200.

[0064] Therefore, as Figure 2 As shown, by using each through-hole, a first beam L1, a second beam L2, a first cross beam LX1, and a second cross beam LX2 with desired beam sizes can be formed respectively.

[0065] On the other hand, the optical sensing golf ball sensing device of the present invention is characterized in that the position of the golf ball for hitting is not specific, and the golf ball can be placed at any electronic position for hitting.

[0066] In conventional putter sensing devices, the initial position of the golf ball is predetermined, so the golf ball must be placed in that predetermined position to be hit. For this purpose, a separate optical sensor is provided to sense the initial position where the golf ball will be placed, and the optical sensor senses whether the golf ball is in the initial position.

[0067] However, for the optical sensing golf ball sensing device of the present invention, even if the golf ball is placed at any position on the bottom of the mat and hit, the movement direction and speed of the golf ball can be calculated by using the sensing results of the golf ball by the light-emitting end and the light-receiving end. Therefore, there is no specific initial position for the golf ball to be located, and of course, there is no need to have a sensor to sense whether the golf ball is in the initial position.

[0068] That is, in a golf ball sensing device according to an embodiment of the present invention, such as Figure 1As shown, the golf ball GB can be hit at any position on the mat 100, such as Po1, Po2, Po3, etc., which are not predetermined positions, and then move between the light-emitting end 200 and the light-receiving end 300.

[0069] Thus, when the initial position of the golf ball is not specified, the golf ball starts from an arbitrary position in the early stages, so it is impossible to know the distance from the initial position to the first sensing line (the first light beam L1 that shines from the first light-emitting part 210 to the first light-receiving part 310). Furthermore, it becomes difficult to specify the direction of the golf ball based on the left-right symmetry, using the virtual line O that runs through the center of the mat as a reference. Consequently, there is a lack of measurement information required to calculate the movement characteristics of the golf ball.

[0070] To address the issue of insufficient measurement information caused by the unspecified initial position of the golf ball as described above, a golf ball sensing device according to an embodiment of the present invention is characterized in that the data measured when the golf ball passes through a beam of light is expanded into two types of data instead of one type, thereby increasing the overall data quantity by 2 times.

[0071] That is, conventionally, only the time point when a golf ball blocks a beam of light during its movement is measured; while the golf ball sensing device of an embodiment of the present invention collects data at the time point when the golf ball begins to block the beam of light as it passes through the beam of light and at the time point when the golf ball finally blocks the beam of light during its passage, as sensing data.

[0072] Therefore, in such Figure 2 In the structure shown, when the golf ball passes through the first beam L1, the first intersecting beam LX1, the second intersecting beam LX2, and the second beam L2 in sequence, instead of measuring four data points at the time points when each beam is blocked, a total of eight data points are measured at the time points when the beams are first blocked and when they are last blocked. After extended data measurement, a total of eight data points can be obtained, and these data can be used to calculate information such as the direction and speed of the golf ball, whose initial position is unknown.

[0073] Figure 3 It shows Figure 2 In the golf ball sensing device of one embodiment of the present invention shown, when the golf ball GB moves after being hit, the golf ball is sensed by each of the light-receiving units 310, 320, 330, and 340 and extended data measurements are performed.

[0074] Here, "golf ball blocking the light beam" does not mean that the golf ball 100% blocks the light beam being received by the light-receiving part, but rather that the golf ball blocks part of the light beam, to the extent that the light-receiving part can sense the golf ball.

[0075] For example, assuming that the minimum requirement for the light-receiving part to detect a golf ball is that 10% of the light beam is blocked, then the light-receiving part can detect the golf ball at the point in time when 10% of the light beam is blocked during the process of the golf ball entering the light beam.

[0076] The minimum amount or rate of obstruction of the light beam when the golf ball is sensed can be set as the "sensing condition for the light-receiving part to sense the golf ball". "Golf ball obstructing the light beam" means that the degree to which the golf ball obstructs the light beam reaches or exceeds the sensing condition that can satisfy the light-receiving part to sense the golf ball.

[0077] Therefore, "the time when the golf ball begins to block the light beam" refers to the time when the degree of blocking of the light beam by the golf ball reaches a level that satisfies the sensing condition of the light-receiving part to detect the golf ball during the process of the golf ball entering from one side of the light beam; "the time when the golf ball finally blocks the light beam" refers to the time when the degree of blocking of the light beam by the golf ball reaches a level that satisfies the sensing condition of the light-receiving part to detect the golf ball after the golf ball enters from one side of the light beam and before it leaves from the other side.

[0078] like Figure 3 As shown, during the movement of the golf ball GB along the dotted line due to the user's putt, the golf ball can be sensed at the following locations: position B1i when the golf ball first begins to block one side of the first beam L1; and position B1o when the golf ball last blocks the other side of the first beam L1 before leaving it during its passage through the first beam L1.

[0079] Next, the golf ball can be sensed at the following locations: the Bx1i position where the golf ball first begins to block one side of the first intersecting beam LX1; and the Bx1o position where the golf ball last blocks the beam before leaving the other side during its passage through the first intersecting beam LX1.

[0080] Next, the golf ball can be sensed at the following locations: the Bx2i position where the golf ball first begins to block one side of the second cross beam LX2; and the Bx2o position where the golf ball last blocks the beam before leaving the other side during its passage through the second cross beam LX2.

[0081] Next, the golf ball can be sensed at the following locations: position B2i when the golf ball first begins to block one side of the second beam L2; and position B2o when the golf ball last blocks the beam before leaving the other side during its passage through the second beam L2.

[0082] As mentioned earlier, the level of light detected by the light-receiving unit is considered as sensing a golf ball can vary depending on how the sensing conditions are set by the control unit.

[0083] For example, if the amount of light that the light-receiving unit can receive is 10, depending on the degree to which the golf ball blocks the light beam, the time point at which the light-receiving unit senses the golf ball may be the time point when the amount of light is 5, the time point when the amount of light is 2, or the time point when the amount of light is 0. This depends on the control unit using the sensing results of the light-receiving unit to set the sensing conditions under what circumstances a golf ball is sensed.

[0084] exist Figure 3 In this process, the control unit 150 can measure the following time points S1i, S1o, X1i, X1o, X2i, X2o, S2i, and S2o respectively, and use these time points as sensing data to calculate the movement characteristics information of the golf ball: the first entry time point S1i, which is the time when the golf ball begins to block the first beam L1 at position B1i; the first exit time point S1o, which is the time when the golf ball last blocks the first beam L1 at position B1o; the first cross-entry time point X1i, which is the time when the golf ball begins to block the first cross beam LX1 at position Bx1i; the first cross-exit time point S1o ... The time points are: X1o, the time when the golf ball last blocks the first cross beam LX1 at position Bx1o; X2i, the time when the golf ball begins to block the second cross beam LX2 at position Bx2i; X2o, the time when the golf ball last blocks the second cross beam LX2 at position Bx2o; S2i, the time when the golf ball begins to block the second beam L2 at position B2i; and S2o, the time when the golf ball last blocks the second beam L2 at position B2o.

[0085] like Figure 3 As shown, when the golf ball is at positions B1i, B1o, Bx1i, Bx1o, Bx2i, Bx2o, B2i, and B2o, and each light-receiving part 310, 330, 340, and 320 senses the golf ball, the positions of the center points c1 to c8 of the golf ball at each of the above positions can be calculated, and the movement characteristics of the golf ball can be calculated based on the positions of the center points c1 to c8 of the golf ball.

[0086] In the prior art, as mentioned above, when the light-receiving part senses the golf ball, it will simply assume that the center point of the golf ball is located on each light ray, and calculate parameters such as the direction and speed of the golf ball based on this. However, the golf ball movement information calculated using this prior art will inevitably have a considerable error compared to the actual situation.

[0087] This is because at the moment when the light-receiving part senses the golf ball, the center point of the golf ball does not exist on the light, but is located at a predetermined distance from the light.

[0088] If, as in the past, the center point of the golf ball is assumed to exist on the light source at the time the light-receiving part senses the golf ball, then collecting extended measurement data for a specific entry and exit point of a light beam, as is the case in this invention, becomes impossible.

[0089] like Figure 3 As shown, in this invention, in order to utilize the center point of the golf ball, which is located at a predetermined distance from the light source, when the light-receiving part senses the golf ball, the concept of "effective radius" is used.

[0090] To illustrate this concept of "effective radius," we will refer to... Figure 4 and Figure 5 .

[0091] Figure 4 The diagram sequentially illustrates the state of a golf ball as it moves through the beam of light illuminating the light-emitting part and then the light-receiving part. Figure 4 Images (a) to (c) show the state of a golf ball GB viewed from above as it passes through a beam of light L that is irradiated by the light-emitting part 210 and received by the light-receiving part 310. Figure 4 (d) to (f) respectively show the... Figure 4 (a) to (c) are side sections cut along the direction of the golf ball's travel.

[0092] Here, although not shown in the figure, it is based on the following premise: after the light beam L is irradiated by the light-emitting part 210, it passes through a through hole of a predetermined size (not shown), thereby having a predetermined beam width.

[0093] like Figure 4 As shown in (a) to (c), it is not clear from a top-down view whether the golf ball GB effectively blocked the beam L as it traveled in the direction of the arrow, but this can be determined by... Figure 4 As can be seen from the side sections shown in (d) to (f).

[0094] like Figure 4 As shown in (a), even if the outer contour of the golf ball GB appears to be in contact with the beam L, as Figure 4 As shown in (d), the distance between the outer surface of the golf ball GB and the light beam may vary depending on the height of the light-emitting part 210.

[0095] That is, such as Figure 4 As shown in (d), depending on the different situations, namely, when the light-emitting part is set at a higher position than the light beam L of the light-emitting part 210 to illuminate the light beam Lh, and when the light-emitting part is set at a lower position to illuminate the light beam Lw, in other words, the distance between the outer contour surface of the golf ball GB and the light beam may be different depending on the height of each light beam Lh, L, and Lw.

[0096] In addition, such as Figure 4 As shown in (d), the distance between the golf ball GB and the beam may vary depending on the beam width bw. That is, the distance traveled by the golf ball used to block the beam may vary depending on the beam width bw.

[0097] Depending on the beam width of the beam as described above and the light reception rate of the light-receiving part of the golf ball that is considered to have been sensed, the travel distance of the golf ball used to block the beam may vary.

[0098] Depend on Figure 4 From (b) and (e), we can see that when the golf ball GB comes from Figure 4 As states (a) and (d) progress further, at the position of the L beam, the golf ball GB only blocks part of the L beam, but the Lh beam, which is at a higher position, can be effectively blocked by the golf ball GB. The Lw beam, which is at a lower position, is in a state where the golf ball GB is close but cannot effectively block the beam.

[0099] Depend on Figure 4 From (c) and (f), we can see that when the golf ball GB comes from Figure 4 As states (b) and (e) progress further, at the position of the L beam, the golf ball GB effectively blocks the L beam, while the Lh beam, which is at a higher position, is completely blocked by the golf ball GB, and the Lw beam, which is at a lower position, is in contact with the outer surface of the golf ball GB.

[0100] like Figure 4 As shown in (c), at the point in time when the golf ball GB blocks the L beam, when viewed from above, the outer contour of the golf ball GB appears to have passed through a considerable portion of the L beam; if it were the Lw beam, then the golf ball GB would need to travel further in the direction of travel to effectively block the Lw beam.

[0101] As described above, in one embodiment of the present invention, a golf ball sensing device collects data on the time when the golf ball begins to block the light beam and the time when the golf ball finally blocks the light beam during its passage, as sensing data.

[0102] Figure 4 (a) and (b) show the states Bi, where the golf ball GB begins to effectively block one side of the beam L as it passes through the beam L with a predetermined beam width bw, and Bo, where the golf ball finally effectively blocks the beam L on the other side.

[0103] like Figure 5As shown in (a), at the point in time when the golf ball GB effectively blocks one side of the beam L and the sensing conditions set by the control unit are met, the distance from the center Cb of the golf ball GB to the side line LLi of the beam L can be defined as the effective radius ER.

[0104] During the process of the golf ball GB leaving the other side of the beam L, the final effective blocking of the beam L, at the time point when the sensing conditions set by the control unit are met, the distance from the center Cb of the golf ball GB to the other side line LLo of the beam L is also the same effective radius ER.

[0105] Figure 5 The effective radius ER when the golf ball begins to block the beam is the same as the effective radius ER when the golf ball finally blocks the beam.

[0106] like Figure 5 As shown in (a) and (b), the effective circle EC is defined as the circle with an effective radius ER that is the distance from the center Cb of the golf ball to the ray LLi. The effective circle EC in the Bi state is the same as the effective circle EC in the Bo state.

[0107] According to an embodiment of the optical sensing golf ball sensing device and sensing method of the present invention, the control unit can preset the "effective radius" of the golf ball as defined above, and set the time point when each light-receiving part senses the golf ball as the time point when the effective circle with the above-mentioned effective radius is tangent to the light rays of each light beam, and calculate the movement characteristic information of the golf ball by taking into account the geometric calculation of the center point position of the golf ball using the effective radius at each time point.

[0108] As explained above, the "effective radius" may be determined based on the height of the beam (height above the surface where the golf ball moves) corresponding to the installation height of the light-emitting and light-receiving parts, and the beam width corresponding to the size of the light-emitting aperture at the light-emitting end and the light-receiving aperture at the light-receiving end (see reference). Figure 5 The differences lie in (d), which can determine the sensing conditions under which the light-receiving part senses the golf ball, and the shape of the pits formed on the surface of the golf ball.

[0109] Therefore, after specifically designing or manufacturing the sensing device and determining the beam height, beam width, and other conditions, the effective radius can be determined by pre-measurement, and the pre-measured and determined effective radius value can be set in the control unit for use in calculating the movement characteristics of the golf ball.

[0110] Furthermore, even in sensing devices under the same conditions, the size of the effective radius may vary depending on the shape of the pits formed on the surface of the golf ball. Therefore, in an embodiment of the present invention, the control unit of the sensing device can pre-measure the effective radius according to the manufacturer or brand of the golf ball and set each value as the effective radius of the corresponding type of golf ball. When the user uses the sensing device to putt, the control unit can confirm the manufacturer or brand of the golf ball used by the user in the putt (the user can pre-input and set the manufacturer or brand of the golf ball they are using, or it can be sensed by a separate sensor), and calculate the movement characteristic information of the golf ball by applying the pre-set effective radius for the confirmed golf ball.

[0111] In addition, due to repeated use, golf balls may have different effective radii because the dents may wear down or foreign objects may adhere to them.

[0112] Therefore, the control unit of the sensing device in one embodiment of the present invention can distinguish between the effective radius of a new golf ball and the effective radius of a used golf ball, and pre-measure and set them respectively; when the user uses the sensing device to putt, the control unit can confirm whether the golf ball used by the user in the putt is a new golf ball or a used golf ball (which can be pre-inputted and set by the user, or can be sensed by a separate sensor), and calculate the movement characteristic information of the golf ball by applying the pre-set effective radius for the confirmed golf ball.

[0113] like Figure 4 As shown in (a) and (b), the time when the golf ball begins to block the light beam during its movement and the time when it finally blocks the light beam can be regarded as the time when the effective circle of the effective radius comes into contact with the light beam, respectively.

[0114] Figure 5 It is shown by the effective circle of the effective radius based on the state of the ball blocking each beam according to the sensing conditions. Figure 6 A diagram showing the sensing status at each beam of light on the golf ball. Figure 3 In this context, E1i, E1o, Ex1i, Ex1o, Ex2i, Ex2o, E2i, and E2o represent effective circles corresponding to the set effective radii.

[0115] exist Figure 6 In the above, if the effective circles corresponding to the effective radii represent the positions of the golf ball at B1i, B1o, Bx1i, Bx1o, Bx2i, Bx2o, B2i, and B2o respectively, then as follows: Figure 3 As shown, these correspond to E1i, E1o, Ex1i, Ex1o, Ex2i, Ex2o, E2i, and E2o, respectively.

[0116] That is, E1i is the valid circle of the first entry time point S1i, E1o is the valid circle of the first exit time point Sio, Ex1i is the valid circle of the first cross-entry time point X1i, Ex1o is the valid circle of the first cross-exit time point X1o, Ex2i is the valid circle of the second cross-entry time point X2i, Ex2o is the valid circle of the second cross-exit time point X2o, E2i is the valid circle of the second entry time point S2i, and E2o is the valid circle of the second exit time point S2o.

[0117] Furthermore, all the aforementioned effective circles are based on the same effective radius and are circles of the same size; each effective circle is in the state of light from each beam, and the center point of each effective circle is the same as the center point of the golf ball.

[0118] By measuring the entry and exit times of each beam and marking each valid circle along the golf ball's direction of travel, a formula can be derived through geometric analysis to calculate information about the golf ball's movement, such as its direction of travel and speed, starting from any position.

[0119] Figure 6 and Figure 7 In this invention, the light beams between the light-emitting end and the light-receiving end of the golf ball sensing device according to an embodiment of the invention are simplified to light rays, and the state of the golf ball blocking each light beam according to the sensing conditions is presented using an effective circle based on the effective radius, thereby presenting a state that can be geometrically analyzed.

[0120] Figure 8 This diagram depicts the position of the golf ball as it moves along the direction of impact, showing the entry and exit points of each light ray as the effective circle is tangent to each ray. Figure 7 It is a diagram showing the state of the cross beams based on the effective circle to facilitate geometric analysis.

[0121] like Figure 8 and Figure 7 As shown, the first beam L1 can be simplified to the first ray IL1, the second beam L2 to the second ray IL2, the first intersecting beam LX1 to the first intersecting ray ILX1, and the second intersecting beam LX2 to the second intersecting ray ILX2.

[0122] Here, the distance d between the first ray IL1 and the second ray IL2, and the angle SA formed by the first intersecting ray ILX1 and the second intersecting ray ILX2 with the median line aL as the reference, are values ​​that are preset when setting the light-emitting end and the light-receiving end of the sensing device, and therefore are all known values.

[0123] In addition, the following time points are values ​​measured using the light-receiving part: the first entry time point S1i where the effective circle is in contact with one side of the first ray IL1, the first exit time point S1o where the effective circle is tangent to the other side of the first ray IL1, the first cross entry time point X1i where the effective circle is tangent to one side of the first cross ray ILX1, the first cross exit time point X1o where the effective circle is tangent to the other side of the first cross ray ILX1, the second cross entry time point X2i where the effective circle is tangent to one side of the second cross ray ILX2, the second cross exit time point X2o where the effective circle is tangent to the other side of the second cross ray ILX2, the second entry time point S2i where the effective circle is tangent to one side of the second ray IL2, and the second exit time point S2o where the effective circle is tangent to the other side of the second ray IL2.

[0124] The S-series sensor data of S1i, S1o, S2i, and S2o are measured by light in a straight line from the emitting end to the receiving end, while the X-series sensor data of X1i, X1o, X2i, and X2o are measured by light rays formed in an X-shape. The reason for distinguishing the S-series from the X-series is that the two series have different characteristics.

[0125] When a golf ball passes through each beam of light, the first and second rays are sensing lines in perpendicular directions. Therefore, for example, if the golf ball takes a long time to move after being hit from any position, it is impossible to know whether the long movement time is due to the slow speed of the golf ball or the large angle of the golf ball's movement.

[0126] Therefore, by using the X-shaped intersecting beams to establish a formula related to the direction angle corresponding to the movement of the golf ball from any position, and substituting the velocity-related terms here into the formula based on the S-series data, conditions can be created that allow for the simultaneous calculation of direction and velocity.

[0127] like Figure 8 As shown, when the right direction of the target location of the golf ball is set as the + direction and the direction angle θ is set, the effective circle of the golf ball enters the first intersecting ray ILX1 at time X1i (contacting one side) and moves to the distance from the first intersecting ray ILX1 at time X1o (contacting the other side) corresponds to the length of the hypotenuse of triangle tx1 (the length of the line connecting the center point of the effective circle at time X1i and the center point of the effective circle at time X1o).

[0128] exist Figure 7In this context, the length from the center point of the effective circle at time X1i to the center point of the effective circle at time X1o (the length of the hypotenuse of triangle tx1) is twice the length l1 of the hypotenuses of triangle tc1 or triangle tc2, which includes the effective radius. If l1 is represented by the effective radius r of the golf ball, the direction angle θ, and the setting angle SA of the cross-light-emitting part and the cross-light-receiving part, then it is as shown in the following mathematical formula 1.

[0129]

Mathematical Formula 1

[0130]

[0131] Similarly, in Figure 8 In this context, the length from the center point of the effective circle at time X2i to the center point of the effective circle at time X2o (the length of the hypotenuse of triangle tx2) is twice the length l2 of the hypotenuses of triangle td1 or triangle td2, including the effective radius. If l2 is represented by the effective radius r of the golf ball, the direction angle θ, and the setting angle SA of the cross-light-emitting part and the cross-light-receiving part, then it is as shown in the following mathematical formula 2.

[0132]

Mathematical Formula 2

[0133]

[0134] The length from the center point of the effective circle at time X1i to the center point of the effective circle at time X1o (the length of the hypotenuse of triangle tx1) is twice l1, and the length from the center point of the effective circle at time X2i to the center point of the effective circle at time X2o (the length of the hypotenuse of triangle tx2) is twice l2. This interval is the sensing interval. If the sensing interval is re-expressed using the speed of a golf ball and the sensing time, it is as shown in the following mathematical formula 3.

[0135]

Mathematical Expression 3

[0136]

[0137]

[0138] On the other hand, Figure 8 In the process, the time information S1i, S1o, S2i, and S2o measured when the golf ball passes through the first ray IL1 and the second ray IL2 can also be organized into a formula related to the speed and direction angle of the golf ball.

[0139] However, in this case, during the period when the golf ball moves from the first ray IL1 to the second ray IL2, the velocity value decreases due to friction with the ground. Therefore, there may be an error between the velocity calculated using the entry time point measured when passing the first ray and the velocity calculated using the exit time point (using the velocity of type S1) and the velocity calculated using the entry time point measured when passing the second ray (using the velocity of type S2).

[0140] The velocity relationships using formula S1 and formula S2 can be expressed as shown in mathematical formula 4 below.

[0141]

Mathematical Expression 4

[0142]

[0143]

[0144] Subsequently, when calculating the direction angle of the golf ball's movement, to address the issue of differing results depending on whether the velocity used is from formula S1 or S2, it is preferable to express the golf ball's velocity using formulas representing time points S1i and S2i, time points S1o and S2o, and the sensor distance d, and then calculate and utilize the velocity representing the entire interval. Therefore, the velocity of the golf ball can be expressed using the two formulas from formula 4 above, as shown in formula 5 below.

[0145]

Mathematical Expression 5

[0146]

[0147] Substituting mathematical expression 5 into mathematical expression 3 and rearranging, it can be represented as mathematical expression 6 below.

[0148]

Mathematical Expression 6

[0149]

[0150]

[0151] After rearranging the two expressions in mathematical formula 6 above, they can be represented as shown in mathematical formula 7 below.

[0152]

Mathematical Expression 7

[0153]

[0154]

[0155] In the above mathematical formula 7, SA, which is associated with angle information in the cosine function, is as follows: Figure 7 andFigure 7 The angles formed by the first intersecting ray ILX1 and the second intersecting ray ILX2 with the median line aL as the reference are values ​​that are preset when setting the light-emitting end and the light-receiving end of the sensing device, and are therefore known values.

[0156] However, the direction angle θ of the golf ball's movement is a value that needs to be calculated, so it is necessary to separate the direction angle θ part from the S-series data, X-series data, effective radius r, and SA angle value, which are known values.

[0157] Regarding the above mathematical formula 7, the direction angle θ can be derived using trigonometric functions, as shown in the following mathematical formula 8.

[0158]

Mathematical Expression 8

[0159]

[0160]

[0161] To simplify the above mathematical formula 8, replace r(S2i+S2o-S1i-S1o) with R, d(X1o-X1i) with D1, and d(X2o-X2i) with D2, then it can be expressed as shown in the following mathematical formula 9. Here, R, D1, and D2 are all values ​​that can be easily calculated from known values.

[0162]

Mathematical Expression 9

[0163]

[0164]

[0165] Here, in order to calculate sinθ and cosθ simultaneously, cosθ is replaced with x and then squared. After simplification, it can be represented as shown in the following mathematical formula 10.

[0166]

Mathematical Formula 10

[0167]

[0168] in, Some of these values ​​can be easily calculated. After replacing them with K and rearranging them based on x, they can be represented as shown in the following mathematical formula 11.

[0169]

Mathematical Expression 11

[0170]

[0171] In the above mathematical formula 11, both the K value and the SA angle value are known values, so the direction angle θ can be calculated using these values. Since θ is within ±90˚, x = cosθ is a positive number.

[0172] The direction angle θ is calculated in the above mathematical formula 11, and then substituted into the above mathematical formula 5 to calculate the speed v of the golf ball.

[0173] Therefore, by using the data measured during the movement of the golf ball and the above formula established through geometric analysis using this data, the physical quantities of the golf ball's movement from any position can be calculated, regardless of the initial position of the golf ball. These physical quantities include the golf ball's direction angle θ and velocity v.

[0174] The physical quantities related to the movement of the golf ball calculated in the above manner ignore the attenuation caused by friction during the movement of the golf ball and are calculated under the premise that the golf ball moves at a constant speed. However, in reality, there is always an error, whether large or small, between the speed of the moving golf ball when it passes through the first light ray (first speed) and the speed when it passes through the second light ray (second speed). Therefore, it is also possible to calculate the relevant information of the speed attenuation of such golf ball separately, and take into account this speed attenuation, and establish a calculation formula using the accurate current speed corresponding to the interval (rather than the average speed representing the whole), to obtain a more accurate direction angle and the speed that is as close as possible to the starting time. This provides physical quantities that meet the simulation conditions of the actual movement of the golf ball that the user wants to know.

[0175] As mentioned above, during the movement of the golf ball, due to the attenuation effect caused by friction, there is a difference between the first velocity and the second velocity. This phenomenon can be considered as the golf ball undergoing uniformly decelerated motion, that is, uniformly accelerated motion with negative acceleration.

[0176] The calculation of the physical quantities corresponding to the uniformly accelerated motion of a golf ball will refer to... Figure 8 and Figure 9 Please provide an explanation.

[0177] As explained above Figure 10 and Figure 7 , Figure 8 and Figure 9 In one embodiment of the present invention, the light beams between the light-emitting end and the light-receiving end of the golf ball sensing device are simplified to light rays, and the state of the golf ball blocking each light beam according to the sensing conditions is presented as a state that can be represented by an effective circle based on the effective radius and subjected to geometric analysis.

[0178] Figure 10 This diagram illustrates the position of the golf ball at its entry and exit points as it moves along the direction of impact, represented by the effective circle tangent to each ray. Figure 9 (a) shows that in suchFigure 10 The golf ball is positioned at the midpoint between the entry and exit times of each beam, as shown in the diagram. Figure 9 (b) is to Figure 10 The diagram in (a) shows a magnified view of the cross beam of light passing through the golf ball.

[0179] Here, the distance between the first ray IL1 and the second ray IL2, i.e. the sensing distance d, and the angle SA formed by the first intersecting ray ILX1 and the second intersecting ray ILX2 with the median line aL as the reference are values ​​that are preset when setting the light-emitting end and the light-receiving end of the sensing device, and are therefore known values.

[0180] Even considering the velocity decay of a golf ball due to ground friction during uniformly accelerated motion, the effect of velocity decay is negligible within the extremely short interval between the entry and exit times of a single beam of light. Therefore, as... Figure 10 As shown in (a), even if the golf ball is described as passing through the beam at a time point between the entry and exit points, it has almost no effect on the calculation results of the physical quantities.

[0181] like Figure 10 As shown in (a), the intermediate time point between the first entry time point S1i and the first exit time point S1o is denoted as S1, the intermediate time point between the first cross entry time point X1i and the first cross exit time point X1o is denoted as X1, the intermediate time point between the second cross entry time point X2i and the second cross exit time point X2o is denoted as X2, and the intermediate time point between the second entry time point S2i and the second exit time point S2o is denoted as S2. S1, X1, X2, and S2 can be calculated respectively.

[0182] exist Figure 10 In (a), let the angle of the golf ball's movement be θ, and let the horizontal velocity HD at the first ray IL1 be v1. Then the velocity of the golf ball passing through the first ray IL1 can be expressed as v1cosθ. Let the horizontal velocity at the second ray IL2 of the golf ball be v2. Then the velocity of the golf ball passing through the second ray IL2 can be expressed as v2cosθ.

[0183] The speed and direction angle of the golf ball can be summarized into the following mathematical formula 12.

[0184]

Mathematical Expression 12

[0185]

[0186]

[0187] Among them, l is likeFigure 10 Figure (a) shows the distance l between the center point of the golf ball and the exit time S1o of the first ray IL1. Similarly, the distance l between the center point of the golf ball and the exit time S2o of the second ray IL2 is also equal to l.

[0188] Since the golf ball undergoes uniformly decelerated motion from the first ray IL1 to the second ray IL2, it can be expressed as v2 = v1 + aΔt. Here, Δt = S2 - S1. From this, we can determine the deceleration value 'a' of the golf ball as it moves from the first ray IL1 to the second ray IL2, which is the negative acceleration value.

[0189] On the other hand, to calculate the direction angle θ, the rays of the intersecting beam can be used, and it can be obtained through... Figure 8 Geometric analysis calculations in (c).

[0190] exist Figure 8 In (b), the dashed line marked aL represents the midline between the first intersecting ray ILX1 and the second intersecting ray ILX2. Let the time of the midline aL, which is located between the time point X1 when the golf ball undergoing uniform acceleration passes through the first intersecting ray ILX1 and the time point X2 when it passes through the second intersecting ray ILX2, be tm. First, calculate tm.

[0191] For the distance d from time point S1 to time point S2, which is moved along the horizontal direction HD with uniform acceleration, the velocity v1 and acceleration at the first ray IL1 can be considered, as shown in the following mathematical formula 13.

[0192]

Mathematical Expression 13

[0193]

[0194] Therefore, the distance d from the first ray IL1 to the median line aL is half of the distance d. Thus, using the aforementioned mathematical formula 13, it can be expressed as:

[0195] The point at which the golf ball reaches d / 2 is the point at which the golf ball passes the center line aL.

[0196] That is, it can be represented as

[0197] .

[0198] Where Δt = S2 - S1, tm can be obtained by solving the quadratic equation.

[0199] exist Figure 10In (b), when considering a right triangle with the length of the direction BD of the golf ball between the first intersecting ray ILX1 and the second intersecting ray ILX2 as its hypotenuse, it can be seen that the length of the horizontal side of the right triangle is p+q, and the length of the vertical side is o. Here, the length of the horizontal side of the right triangle is separated by the median line aL, with the length on the left side denoted as p and the length on the right side denoted as q.

[0200] Using the values ​​at time points X1 and X2, the lengths p and q can be expressed as shown in mathematical formula 14 below, according to the above mathematical formula 13.

[0201]

Mathematical Expression 14

[0202]

[0203]

[0204] Where Vx1 is the horizontal velocity component when passing through the first intersecting ray ILX1, and Vx2 is the horizontal velocity component when passing through the second intersecting ray ILX2. Vx1 and Vx2 can be converted into a formula about v1 using v2 = v1 + aΔt. Therefore, the only unknown value in the above mathematical formula 14 is the cosθ part.

[0205] This can be utilized Figure 10 Figure 10 The trigonometric functions in the right triangle shown in (b) can be represented by the following expression:

[0206]

[0207] as well as

[0208] The formulas. Using these formulas, θ can be expressed in terms of known values ​​as shown in mathematical formula 15 below.

[0209]

Mathematical Expression 15

[0210]

[0211] Replacing cosθ with x, it can be expressed as:

[0212] Substituting this into mathematical formula 15, we can obtain x = cosθ through numerical analysis.

[0213] Therefore, as described above, even when the golf ball undergoes uniformly accelerated motion with deceleration during its movement, it is possible to calculate the physical quantities of the golf ball's movement, including the direction angle and initial velocity, using data measured when passing through each beam.

[0214] As described above, the optical sensing golf ball sensing device and sensing method according to the present invention have the following features and advantages: by using an optical sensing device installed on the movement path of a golf ball moved by a golf putter, there is no need to add a separate device. By using only the sensing data that can be sensed when light passes between multiple light-emitting parts and light-receiving parts, the physical quantity information of the moving golf ball can be calculated even if the golf ball starts from any initial position; and not only when the golf ball is moving at a constant speed, but also when the golf ball is moving with uniform acceleration due to ground friction, all physical quantity information such as the speed and direction angle of the golf ball can be calculated.

[0215] [Industry Applicability]

[0216] The optical sensing golf ball sensing device and sensing method of the present invention can be applied to fields related to golf analysis, particularly the analysis of a golf ball hit by a club during putting, or to fields related to virtual golf simulations such as so-called screen golf.

Claims

1. A photosensitive golf ball sensing device, characterized in that, include: The light-emitting end is located on one side of the path along which the golf ball moves after being hit from any initial position, and is configured to allow multiple light-emitting parts to respectively irradiate light beams to the other side. A light-receiving end, located on the other side, has multiple light-receiving portions that respectively receive light beams irradiated by the multiple light-emitting portions; and The control unit collects the time point when the moving golf ball begins to block each of the light beams and the time point when it finally blocks each light beam as sensing data when the moving golf ball is irradiated by the plurality of light-emitting parts to the plurality of light-receiving parts, and calculates the movement characteristic information of the golf ball starting from any initial position and moving.

2. The optical sensing golf ball sensing device according to claim 1, characterized in that, As the moving golf ball enters the light beam received by the light-receiving unit, the control unit sets the distance from the center of the golf ball to the light beam received by the light-receiving unit as the effective radius at the time point when the sensing condition of the light-receiving unit for sensing the golf ball is met. The golf ball is sensed at the point in time when an effective circle with the effective radius is tangent to the light beam.

3. The optical sensing golf ball sensing device according to claim 1, characterized in that, The light-emitting end includes: a first light-emitting part and a second light-emitting part, which substantially illuminate light in parallel; and a first intersecting light-emitting part and a second intersecting light-emitting part, which are disposed between the first light-emitting part and the second light-emitting part, and illuminate light respectively in an X-shape. The light-receiving end includes: a first light-receiving part that receives light from the first light-emitting part; a second light-receiving part that receives light from the second light-emitting part; a first cross light-receiving part that receives light from the first cross light-emitting part; and a second cross light-receiving part that receives light from the second cross light-emitting part.

4. The optical sensing golf ball sensing device according to claim 3, characterized in that, The light beam passing through the golf ball includes: a first light beam that illuminates the first light-emitting part to the first light-receiving part; a second light beam that illuminates the second light-emitting part to the second light-receiving part; a first intersecting light beam that illuminates the first intersecting light-emitting part to the first intersecting light-receiving part; and a second intersecting light beam that illuminates the second intersecting light-emitting part to the second intersecting light-receiving part. The first beam, the second beam, the first cross beam, and the second cross beam are respectively formed with a preset beam width according to the structure of the light-emitting end and the light-receiving end.

5. The optical sensing golf ball sensing device according to claim 4, characterized in that, The control unit is configured to measure the following time points respectively, and calculate the direction angle and velocity of the golf ball as it moves from an arbitrary initial position: The first entry time point is the time when the golf ball begins to block the first beam of light; The first departure time point is the time point at which the golf ball last blocks the first beam of light; The first cross-entry time point is the time when the golf ball begins to block the first cross beam; The first cross-disengagement time point is the time point at which the golf ball last blocks the first cross beam; The second cross-entry time point is the time when the golf ball begins to block the second cross beam; The second cross-disengagement time point is the time point at which the golf ball finally blocks the second cross beam; The second entry time point is the point at which the golf ball begins to block the second beam of light; and The second departure time is the time when the golf ball last blocks the second beam of light.

6. The optical sensing golf ball sensing device according to claim 4, characterized in that, The control unit is configured to use the sensing data to calculate deceleration information during the movement of the golf ball. This deceleration information is obtained based on the difference between a first velocity at the first entry time and the first exit time when the golf ball passes through the first beam and a second velocity at the second entry time and the second exit time when the golf ball passes through the second beam after passing through the first beam.

7. The optical sensing golf ball sensing device according to claim 2, characterized in that, The control unit calculates the time when the golf ball begins to block the light beam as the time when the effective circle with the effective radius is tangent to one side of the light beam, and calculates the time when the golf ball last blocks the light beam as the time when the effective circle is tangent to the other side of the light beam, in order to calculate the movement characteristic information of the golf ball.

8. The optical sensing golf ball sensing device according to claim 2, characterized in that, The light beams illuminating the plurality of light-emitting parts to the plurality of light-receiving parts include: a first light beam and a second light beam formed perpendicularly and parallel from the light-emitting end to the light-receiving end, and a first cross beam and a second cross beam formed in an X-shape from the light-emitting end to the light-receiving end between the first light beam and the second light beam.

9. The optical sensing golf ball sensing device according to claim 8, characterized in that, The control unit is configured to measure the following time points respectively, and calculate the direction angle and velocity of the golf ball as it moves from an arbitrary initial position: The first entry time point is the time point at which the effective circle with the effective radius is tangent to one side of the first beam; The first separation time point is the time point at which the effective circle is tangent to the other side of the first beam; The first intersection entry time point is the time point at which the effective circle is tangent to one side of the first intersection beam; The first cross-disengagement time point is the time point at which the effective circle is tangent to the other side of the first cross beam; The second cross-entry time point is the time point at which the effective circle is tangent to one side of the second cross beam; The second cross-disengagement time point is the time point at which the effective circle is tangent to the other side of the second cross beam; The second entry time point, i.e., the time point at which the effective circle is tangent to one side of the second beam; and The second departure time point is the time point at which the effective circle is tangent to the other side of the second beam.

10. The optical sensing golf ball sensing device according to claim 9, characterized in that, The control unit is configured to use the sensing data to calculate deceleration information during the movement of the golf ball. This deceleration information is obtained based on the difference between a first velocity at the first entry time and the first exit time when the golf ball passes through the first beam and a second velocity at the second entry time and the second exit time when the golf ball passes through the second beam after passing through the first beam.

11. A sensing method for a photosensitive golf ball sensing device, the device being configured such that: on one side of the path along which the golf ball moves after being hit at an arbitrary initial position, a plurality of light-emitting portions respectively irradiate light; on the other side, a plurality of light-receiving portions receive each light; The control unit senses the movement of the golf ball through the sensing results of each of the plurality of light-receiving units. The sensing method of the optically sensing golf ball sensing device is characterized by including: The step of having the plurality of light-receiving parts respectively receive the light beams irradiated by the plurality of light-emitting parts; During the process of the golf ball sequentially blocking each beam of light and moving, the steps of measuring the time point at which the golf ball begins to block each beam of light and the time point at which it finally blocks each beam of light; and The steps include collecting the measurement time points as sensing data and calculating the movement characteristics of a golf ball starting from an arbitrary initial position and moving.

12. The sensing method of the optical sensing golf ball sensing device according to claim 11, characterized in that, Before the steps of measuring the time when the golf ball begins to block each beam of light and the time when it finally blocks each beam of light, the procedure includes: During the process of the moving golf ball entering the light beam received by the light-receiving unit, the step of setting the distance from the center of the golf ball to the light beam received by the light-receiving unit as the effective radius at the time point when the sensing condition of the light-receiving unit for sensing the golf ball is met.

13. The sensing method of the optical sensing golf ball sensing device according to claim 12, characterized in that, The steps of measuring the time when the golf ball begins to block each beam of light and the time when it finally blocks each beam of light include: The steps are as follows: calculating the time point when the golf ball begins to block each beam of light as the time point when the effective circle with the effective radius is tangent to one side of the beam, and calculating the time point when the golf ball last blocks each beam of light as the time point when the effective circle is tangent to the other side of the beam.

14. The sensing method of the optical sensing golf ball sensing device according to claim 12, characterized in that, The light beams illuminating the plurality of light-emitting parts to the plurality of light-receiving parts include: a first light beam and a second light beam formed perpendicularly and parallel from the light-emitting end to the light-receiving end, and a first intersecting light beam and a second intersecting light beam formed in an X-shape from the light-emitting end to the light-receiving end between the first light beam and the second light beam. The steps of measuring the time point at which the golf ball begins to block each beam of light and the time point at which it finally blocks each beam of light include measuring the following time points respectively: The first entry time point is the time point at which the effective circle with the effective radius is tangent to one side of the first beam; The first separation time point is the time point at which the effective circle is tangent to the other side of the first beam; The first intersection entry time point is the time point at which the effective circle is tangent to one side of the first intersection beam; The first cross-disengagement time point is the time point at which the effective circle is tangent to the other side of the first cross beam; The second cross-entry time point is the time point at which the effective circle is tangent to one side of the second cross beam; The second cross-disengagement time point is the time point at which the effective circle is tangent to the other side of the second cross beam; The second entry time point, i.e., the time point at which the effective circle is tangent to one side of the second beam; and The second departure time point is the time point at which the effective circle is tangent to the other side of the second beam.

15. The sensing method of the optical sensing golf ball sensing device according to claim 14, characterized in that, Also includes: The step of calculating the deceleration information of the golf ball during its movement using the sensor data is based on the difference between a first velocity at the first entry time and the first exit time when the golf ball passes through the first beam and a second velocity at the second entry time and the second exit time when the golf ball passes through the second beam after passing through the first beam.

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