Sensing device and sensing method for sensing the movement of a golf ball

Abstract

The sensing device and sensing method for sensing the movement of a golf ball according to the present invention are characterized in that, when sensing the movement of a golf ball by a golf putting sensing device using an optical sensing method, in order to fundamentally solve the error generation factors of the sensing results according to the prior art based on the premise of sensing the position of the center point of the golf ball at the time of sensing by the light receiving unit, information on the movement characteristics of the golf ball is calculated through geometric analysis using the concept of the effective radius, so that precise and accurate sensing results can be calculated.

Description

Technical Field

[0001] The present invention relates to a sensing device and a sensing method for sensing the movement of a golf ball. Specifically, it relates to a sensing device and a sensing method thereof, in which a golf ball moving by a user's putting passes through a plurality of sensing lights by an optical sensor, the optical sensor senses the golf ball, and information regarding the movement characteristics of the golf ball is calculated accordingly.

Background Art

[0002] Recently, virtual sports simulation systems that allow users to enjoy sports, such as golf and baseball, in which direct play on the field by the user is restricted, such as virtual reality video-based simulation systems, have become widespread.

[0003] Furthermore, virtual sports simulation systems for net sports such as tennis, squash, and badminton, in which both players exchange balls across a net, have emerged, and there is a tendency to enable users to enjoy various sports in a mass culture space.

[0004] In such virtual sports simulations, the game basically progresses while the player hits the ball. However, in order to simulate the ball hit by the player on the video, a sensing device that can effectively sense the moving ball is required.

[0005] As a sensing device for sensing a ball that moves by a user's hit, an optical sensing type sensing device, a camera-based sensing device, a radar-based sensing device, etc. are widely used.

[0006] Particularly, in the case of golf putting, basically, since the golf ball is struck so as to roll on the mat, a sensing device for sensing the movement of the golf ball rolling on the mat is a relatively low-cost sensing device compared to expensive sensing devices (e.g., camera-based sensing devices or radar-based sensing devices), and an optical sensing method sensing device is mainly used.

[0007] As prior art related to an optical sensing method sensing device for sensing the movement of a golf ball by such golf putting, Korean Patent Publication No. 10-2016-0026093, Korean Registered Patent Publication No. 10-0671751, Korean Patent Publication No. 10-2007-0108330, Korean Registered Patent Publication No. 10-0923452, etc. have been published.

[0008] FIG. 1 shows an example of a sensing device for sensing a golf ball during golf putting according to the aforementioned prior art.

[0009] As shown in FIG. 1, in a conventional golf putting sensing device, a light emitting device 10 is provided on the right side of the path along which the golf ball moves, and a light receiving device 20 is provided on the left side. The light emitting device 10 is equipped with a light emitting part 11, and the light receiving device 20 is equipped with two light receiving parts 21 and 22 for receiving the light of the light emitting part 11, respectively.

[0010] In FIG. 1, A1 and A2 respectively indicate the light received by the respective light receiving parts 21 and 22 from the light emitting part 11 by lines.

[0011] As shown in FIG. 1, when the golf ball 1 moves in the bp direction around the center line 2 by the putting of the user, the golf ball 1 cuts through and passes A1 and A2 respectively.

[0012] When the golf ball 1 blocks A2, the 22nd light-receiving part cannot receive light, thus sensing the golf ball. When the golf ball 1 blocks A1, the 21st light-receiving part cannot receive light, thus sensing the golf ball. As shown in Figure 1, let the time when the golf ball blocks A2 be b1, and the time when it blocks A1 be b2.

[0013] As shown in Figure 1, the golf ball moving in the bp direction can be sensed by the light-receiving part at the b1 position and the b2 position respectively.

[0014] The conventional technology is to detect the times at the b1 position and the b2 position as described above, and obtain the direction angle a in the bp direction, which is the moving direction of the golf ball, through geometric analysis, and calculate the speed of the golf ball using the distance and time between the b1 position and the b2 position.

[0015] By the way, the conventional technology as described above assumes that the positions when the golf ball blocks the A2 light and when it blocks the A1 light, that is, the b1 position and the b2 position when the light-receiving part senses the golf ball as shown in Figure 1, are the positions of the center point of the golf ball, and calculates the direction angle and speed.

[0016] However, in fact, the light-receiving part senses the golf ball not when the center of the golf ball blocks the light, but when the light is blocked outside the golf ball, so assuming that the position of the center point of the golf ball is sensed when the light-receiving part senses the golf ball as shown in Figure 1 and calculating the moving characteristics of the golf ball may cause a fairly large error. There is a problem.

[0017] The greater the direction angle of the golf ball's movement is from the center line, the greater the error between the result calculated on the premise of sensing the position of the center point of the golf ball as shown in Figure 1 by the conventional technology and the actual moving characteristics of the golf ball.

Prior Art Documents

Patent Documents

[0018] Korean Patent Publication No. 10-2016-0026093

[0019] Korean Registered Patent Publication No. 10-0671751

[0020] Korean Patent Publication No. 10-2007-0108330

[0021] Korean Registered Patent Publication No. 10-0923452

Summary of the Invention

Problems to be Solved by the Invention

[0022] The present invention is for solving the problems of the conventional technology as described above. When sensing the movement of a golf ball by an optical sensing type golf putting sensing device, it is to provide a sensing device and a sensing method for sensing the movement of a golf ball that can fundamentally solve the factors causing errors in the sensing results by the conventional technology and further improve the accuracy of the sensing results.

Means for Solving the Problems

[0023] A sensing device for detecting the movement of a golf ball according to an embodiment of the present invention is provided on one side of a path along which the golf ball moves by a user's putting, and includes a light emitting end configured such that a plurality of light emitting portions irradiate light to the other side surface respectively, a light receiving end provided on the other side surface and including a plurality of light receiving portions each receiving the light irradiated by each of the plurality of light emitting portions, and a control unit configured to calculate movement characteristic information of the golf ball through results sensed by each of the plurality of light receiving portions as the moving golf ball passes while blocking light from each of the plurality of light emitting portions to each of the plurality of light receiving portions. When a sensing condition for the light receiving portion to sense the golf ball is satisfied, the control unit sets a distance from the center of the golf ball to the light line as an effective radius, and calculates movement characteristic information of the golf ball by geometric calculation with a time point when each light receiving portion senses the golf ball being a time point when an effective circle having the effective radius touches each light line.

[0024] Also, preferably, the light emitting end includes a first light emitting portion and a second light emitting portion that irradiate light substantially in parallel to sense the speed of the golf ball, and a first cross light emitting portion and a second cross light emitting portion provided between the first light emitting portion and the second light emitting portion and irradiating light in an X shape respectively. The light receiving end includes a first light receiving portion that receives the light of the first light emitting portion, a second light receiving portion that receives the light of the second light emitting portion, a first cross light receiving portion that receives the light of the first cross light emitting portion, and a second cross light receiving portion that receives the light of the second cross light emitting portion.

[0025] Preferably, the light emitting end is configured to include a first light emitting passage hole through which the light of the first light emitting portion passes to form a first light beam, a second light emitting passage hole through which the light of the second light emitting portion passes to form a second light beam, a first cross-light emitting passage hole through which the light of the first cross-light emitting portion passes to form a first cross-light beam, and a second cross-light emitting passage hole through which the light of the second cross-light emitting portion passes to form a second cross-light beam. The light receiving end is configured to include a first light receiving passage hole through which the first light beam passes to the first light receiving portion, a second light receiving passage hole through which the second light beam passes to the second light receiving portion, a first cross-light receiving passage hole through which the first cross-light beam passes to the first cross-light receiving portion, and a second cross-light receiving passage hole through which the second cross-light beam passes to the second cross-light receiving portion.

[0026] Preferably, the control unit is configured to preset the effective radius measured in advance according to the size of the golf ball, the height at which the light emitting portion and the light receiving portion are installed, and the beam width of the light from the light emitting portion to the light receiving portion.

[0027] Preferably, the control unit measures and sets the effective radius in advance for each manufacturer or brand of the golf ball with respect to the effective radius, and the user checks the manufacturer or brand of the golf ball used for putting and applies the corresponding effective radius of the golf ball.

[0028] Preferably, the control unit distinguishes and measures and sets in advance the effective radius for a new golf ball and the effective radius for a used golf ball with respect to the effective radius, and the user checks whether the golf ball used for putting is a new golf ball or a used golf ball and applies the corresponding effective radius.

[0029] Preferably, the apparatus further includes an effective radius measurement unit configured to measure an effective radius with respect to a golf ball putted by the user, and the control unit is configured to set, as the effective radius, a value measured by the effective radius measurement unit with respect to the golf ball moving when the user putts, and calculate movement characteristic information of the golf ball.

[0030] On the other hand, a sensing method of a sensing device for sensing the movement of a golf ball according to an embodiment of the present invention includes: a plurality of light emitting units irradiating light on one side of a path along which a golf ball moves by a user's putting, and a plurality of light receiving units receiving the respective lights on the other side; and a control unit sensing the movement of the golf ball through sensing results of the plurality of light receiving units. As the sensing method of the sensing device, the method includes: setting, as an effective radius, a distance from the center of the golf ball to the light line when a sensing condition for the light receiving unit to sense the golf ball is satisfied; transmitting sensing results of the plurality of light receiving units as the golf ball moves by the user's putting; and calculating movement characteristic information of the golf ball by geometric calculation with a time point when each light receiving unit senses the golf ball being a time point when an effective circle having the effective radius contacts each light line.

[0031] Preferably, the step of setting the effective radius includes a step of setting, as the effective radius, a value obtained by previously measuring and inputting the effective radius based on the size of the golf ball, the height at which the light emitting unit and the light receiving unit are installed, and the beam width of light from the light emitting unit to the light receiving unit.

[0032] Also, preferably, the step of setting the effective radius includes the step of measuring and setting the effective radius in advance for each golf ball manufacturer or brand with respect to the effective radius, and the step of calculating the movement characteristic information of the golf ball includes the step of confirming the manufacturer or brand of the golf ball used by the user for putting, and the step of calculating the movement characteristic information of the golf ball using the effective radius corresponding to the manufacturer or brand of the golf ball confirmed in the confirming step.

[0033] Also, preferably, the step of setting the effective radius includes the step of separately measuring and setting in advance the effective radius for a new golf ball and the effective radius for a used golf ball with respect to the effective radius, and the step of calculating the movement characteristic information of the golf ball includes the step of confirming whether the golf ball used by the user for putting is a new golf ball or a used golf ball, and the step of calculating the movement characteristic information of the golf ball using the effective radius corresponding to the golf ball confirmed in the confirming step.

[0034] Also, preferably, the sensing device that senses the movement of the golf ball further includes an effective radius measuring unit that measures the effective radius with respect to the golf ball putted by the user, and the step of setting the effective radius includes the step of setting the value measured by the effective radius measuring unit as the effective radius with respect to the golf ball that moves when the user puts.

Advantages of the Invention

[0035] The sensing device and sensing method for sensing the movement of a golf ball according to the present invention can further improve the accuracy of the sensing result by using the concept of the effective radius in order to fundamentally solve the cause of the error in the sensing result of the prior art, which is based on the premise of sensing the position of the center point of the golf ball at the time of sensing by the light sensing type golf putting sensing device when sensing the movement of the golf ball.

Brief Description of the Drawings

[0036]

Figure 1

[0037]

Figure 2

[0038]

Figure 3

[0039]

Figure 4

[0040]

Figure 5

Figure 6

[0041]

Figure 7

Figure 8

[0042]

Figure 9

[0043]

Figure 10

[0044]

Figure 11

Figure 12

Figure 13

Mode for Carrying Out the Invention

[0045] Specific contents regarding a sensing device and a sensing method for sensing the movement of a golf ball according to the present invention will be described in detail with reference to the drawings.

[0046] First, with reference to FIGS. 2 and 3, a sensing device for sensing the movement of a golf ball according to an embodiment of the present invention will be described.

[0047] FIG. 2 is a drawing showing a putting practice apparatus to which a sensing device for sensing the movement of a golf ball according to an embodiment of the present invention is applied, and FIG. 3 is a drawing showing a specific configuration of a cross-section of the sensing device applied to the putting practice apparatus shown in FIG. 2 as viewed from above.

[0048] As shown in FIGS. 2 and 3, a sensing device for sensing the movement of a golf ball according to an embodiment of the present invention can be embodied as a putting practice apparatus that allows a user to practice putting a golf ball GB on a golf club GC on a putting mat 100.

[0049] As shown in FIGS. 2 and 3, a sensing device for sensing the movement of a golf ball according to an embodiment of the present invention is provided on one side of a path along which a golf ball moves by a user's putting, and a light emitting end 200 configured such that a plurality of light emitting portions 210, 220, 230, 240 irradiate lights L1, L2, LX1, LX2 to the other side, a light receiving stage 300 provided on a side surface facing the light emitting end 200 and including a plurality of light receiving portions 310, 320, 330, 340 that respectively receive the lights L1, L2, LX1, LX2 irradiated by the light emitting portions 210, 220, 230, 240 of the light emitting end 200, and a control unit 150 that calculates movement characteristic information of the golf ball by sensing the golf ball as the moving golf ball GB passes while blocking the lights L1, L2, LX1, LX2 from the plurality of light emitting portions 210, 220, 230, 240 to the plurality of light receiving portions 310, 320, 330, 340 respectively.

[0050] As described above, the control unit 150 can calculate information such as the moving direction and moving speed of the golf ball through geometric analysis using the results of each light receiving portion sensing the golf ball GB.

[0051] As described above, the control unit 150 can transmit the movement characteristic information of the golf ball calculated as described above to the client 500, so that various services related to golf putting can be provided to the user.

[0052] For example, the client 500 can be realized as a simulation device that realizes an image of a virtual green and realizes a simulation image in which a golf ball moves on the virtual green based on the movement characteristic information of the golf ball calculated by the control unit 150.

[0053] Also, for example, the client 500 can also be realized as a putting analysis device that displays and provides the analysis results of the user's putting item by item.

[0054] On the other hand, the sensing device for sensing the movement of the golf ball according to an embodiment of the present invention can further include a ball ready sensor for sensing whether or not the golf ball GB is placed at the hitting position, as shown in FIGS. 2 and 3. The ball ready sensor described above can be embodied by an optical sensing method using the light emitting unit 112 of the light emitting sensor unit 110 and the light receiving unit 122 of the light receiving sensor unit 120, as shown in FIGS. 2 and 3. Although not shown in the drawings, the ball ready sensor described above can be embodied as a position sensing sensor provided inside the mat at the initial hitting position of the golf ball.

[0055] When the ball ready sensor described above is embodied by an optical sensing method using the light emitting unit 112 of the light emitting sensor unit 110 and the light receiving unit 122 of the light receiving sensor unit 120, when the light receiving unit 122 receives the sensing light LR irradiated from the light emitting unit 112 as shown in FIGS. 2 and 3, it means that the golf ball is not placed at the initial hitting position. When the user positions the golf ball GB at the initial hitting position, as shown in FIG. 3, when the golf ball GB blocks the sensing light LR and the light receiving unit 122 cannot receive the sensing light LR, the control unit 150 can sense that the golf ball GB is positioned at the initial hitting position.

[0056] On the one hand, as shown in FIGS. 2 and 3, the light emitting end 200 of the sensing device for sensing the movement of a golf ball according to an embodiment of the present invention may be configured to include a first light emitting part 210 and a second light emitting part 220 that irradiate light substantially in parallel to sense the speed of the golf ball, and a first cross-light emitting part 230 and a second cross-light emitting part 240 that are provided between the first light emitting part 210 and the second light emitting part 220 and irradiate light in an X shape respectively.

[0057] And the light receiving end 300 may be configured to include a first light receiving part 310 that receives the light of the first light emitting part 210, a second light receiving part 320 that receives the light of 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] As shown in FIG. 3, the light receiving part 122 of the ball ready sensor, 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 stage 300 are connected to the control part 150 so that the sensing results can be transmitted from each light receiving part. Although not shown in the drawing, the light emitting part 112 of the ball ready sensor, and 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 are also connected to the control part 150, and the light irradiation of each light emitting part can be turned on / off under the control of the control part 150.

[0059] The light emitting end 200 as described above may be configured to include a first light emitting through hole 201 through which the light of the first light emitting part 210 passes to form a first light beam L1, a second light emitting through hole 202 through which the light of the second light emitting part 220 passes to form a second light beam L2, a first cross-light emitting through hole 203 through which the light of the first cross-light emitting part 203 passes to form a first cross-light beam LX1, and a second cross-light emitting through hole 204 through which the light of the second cross-light emitting part 240 passes to form a second cross-light beam LX2.

[0060] In addition, the light-receiving stage 300 as described above can be configured to include a first light-receiving passage hole 301 that allows the first light beam L1 to pass through to the first light-receiving unit 310, a second light-receiving passage hole 302 that allows the second light beam L2 to pass through to the second light-receiving unit 320, a first cross-light-receiving passage hole 303 that allows the first cross-light beam LX1 to pass through to the first cross-light-receiving unit 330, and a second cross-light-receiving passage hole 304 that allows the second cross-light beam LX2 to pass through to the second cross-light-receiving unit 340.

[0061] The first light-emitting unit 210, the second light-emitting unit 220, the first cross-light-emitting unit 230, and the second cross-light-emitting unit 240 of the light-emitting end 200 as described above can each be provided as a light-emitting element such as an LED.

[0062] Therefore, since the light emitted by each light-emitting unit, which is a light-emitting element such as an LED, spreads widely, the light-emitting end 200 is irradiated with a light beam having a desired beam size so that the light emitted by each light-emitting unit can travel straight to each corresponding light-receiving unit of the light-receiving end in the form of a beam. In this way, the first light-emitting passage hole 201, the second light-emitting passage hole 202, the first cross-light-emitting passage hole 203, and the second cross-light-emitting passage hole 204 can be formed with sizes corresponding to the beam size.

[0063] And the first light-receiving passage hole 301, the second light-receiving passage hole 302, the first cross-light-receiving passage hole 303, and the second cross-light-receiving passage hole 304 can be formed in the light-receiving end 300 with sizes corresponding to the sizes of the first light-emitting passage hole 201, the second light-emitting passage hole 202, the first cross-light-emitting passage hole 203, and the second cross-light-emitting passage hole 204 formed in the light-emitting end 200 as described above.

[0064] Therefore, as shown in FIG. 3, the first light beam L1, the second light beam L2, the first cross-light beam LX1, and the second cross-light beam LX2 having desired beam sizes can be formed by the respective passage holes.

[0065] In the sensing device according to an embodiment of the present invention as shown in FIG. 3, FIG. 4 shows the case where the golf ball GB is sensed by the light receiving units 310, 320, 330, and 340 when the golf ball is hit and moves.

[0066] As shown in FIG. 4, while the golf ball GB moves along the BD direction by the putting of the user, the first light beam L1 is blocked at the B1 position by the golf ball, and the first light receiving unit 310 can sense the golf ball at the B1 position. The first intersecting light beam LX1 is blocked at the B2 position by the golf ball, and the first intersecting light receiving unit 330 can sense the golf ball at the B2 position. The second intersecting light beam LX2 is blocked at the B3 position by the golf ball, and the second intersecting light receiving unit 340 can sense the golf ball at the B3 position. The second light beam L2 is blocked at the B4 position by the golf ball, and the second light receiving unit 320 can sense the golf ball at the B4 position.

[0067] Here, the meaning of "the light receiving unit can sense the golf ball when the light beam is blocked by the golf ball" will be described.

[0068] Whether the light receiving unit senses the golf ball when sensing a certain amount of light depends on how the control unit sets the sensing conditions.

[0069] For example, when the amount of light that the light receiving unit can receive is 10, the time point when the light receiving unit senses the golf ball depending on the degree to which the golf ball covers the light beam may be the time point when the amount of light becomes 5, or the time point when the amount of light becomes 2, or the time point when the amount of light becomes zero. This follows from the control unit setting the sensing conditions according to how to use the sensing result of the light receiving unit to determine in what case the golf ball is sensed.

[0070] For example, when the amount of light that the light receiving unit can receive is set to 10, and the control unit sets the amount of received light to 2 or less under the sensing conditions for golf ball detection by the light receiving unit, when the light receiving unit receives light of 10, as the golf ball moves forward and gradually blocks the light little by little, the amount of light received by the light receiving unit gradually decreases. When the amount of received light reaches 2 or less, the control unit can determine that the corresponding light receiving unit has detected a golf ball.

[0071] Therefore, the aforementioned "blocking" can include the degree to which the golf ball covers the light beam (the degree of the amount of light received by the light receiving unit) when the sensing result of the light receiving unit is determined to be the detection of a golf ball according to the sensing condition setting of the control unit.

[0072] That is, the aforementioned "blocking" can include not only the case where the golf ball completely blocks the light beam and the amount of light received by the light receiving unit is zero, but also the case where the amount of light is sensed to be below the set value.

[0073] Hereinafter, the golf ball "blocking" the light beam is used in the aforementioned meaning.

[0074] As shown in FIG. 4, when the golf ball blocks the light beams L1, LX1, LX2, and L2 at positions B1 to B4 respectively, the light receiving units 310, 330, 340, and 320 detect the golf ball. Different from the prior art, it is not that the center position of the golf ball is located on the light beam, but that as the golf ball passes through the light beam, the outer part of the golf ball covers part or all of the light beam.

[0075] As shown in FIG. 4, when the golf ball is sensed by each of the light receiving parts 310, 330, 340, and 320 at each of the positions B1 to B4, the positions of the center points c1, c2, c3, and c4 of the golf ball at the B1 position, the B2 position, the B3 position, and the B4 position are respectively obtained, and based on the center point positions c1, c2, c3, and c4 of each golf ball, calculating the movement characteristics of the golf ball is a preferable method for reducing errors and improving the accuracy of sensing.

[0076] However, in the conventional technology, as described above, without calculating the movement characteristics of the golf ball based on the center point positions c1, c2, c3, and c4 of the golf ball when the golf ball comes to each of the positions B1 to B4, when the golf ball comes to each of the positions B1 to B4, assuming that the center points are respectively located on the light beams L1, L2, LX1, and LX2, the movement characteristic information of the golf ball is calculated. Therefore, there is no other way but that the calculation result has an error from the actual situation.

[0077] As shown in FIG. 4, the present invention can provide a method for accurately calculating the movement characteristics of a golf ball through geometric analysis by considering the center point positions c1, c2, c3, and c4 of the golf ball when the golf ball comes to each of the positions B1 to B4. For this purpose, the concept of "effective radius" is used.

[0078] To explain the above-mentioned concept of "effective radius", it will be described with reference to FIGS. 5 and 6.

[0079] FIG. 5 sequentially shows the state in which the golf ball passes through the light beam irradiated from the light emitting part to the light receiving part while moving. FIGS. 5(a) to 5(c) show the state of looking down from above when the golf ball GB passes through the light beam L irradiated by the light emitting part 210 and received by the light receiving part 310. FIGS. 5(d) to 5(f) respectively show the side cross-sections obtained by cutting FIGS. 5(a) to 5(c) along the traveling direction of the golf ball.

[0080] Here, although not shown in the drawings, it is assumed that the light beam L is irradiated from the light emitting unit 210 and has a predetermined beam width by passing through a through hole (not shown) of a predetermined size.

[0081] As shown in FIGS. 5(a) to 5(c), whether the golf ball GB effectively blocks the light beam L while traveling in the arrow direction is not clearly visible when looking down from above, but can be seen through a side cross section as shown in FIGS. 5(d) to 5(f).

[0082] As shown in FIG. 5(a), even if the outer surface of the golf ball GB appears to be in contact with the light beam L, as shown in FIG. 5(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 unit 210.

[0083] That is, as shown in FIG. 5(d), when a light emitting unit is provided at a position higher than the light beam L of the light emitting unit 210 to irradiate the light beam Lh, and when a light emitting unit is installed at a lower position to irradiate the light beam Lw, in other words, the distance between the outer surface of the golf ball GB and the light beam can be changed by the heights of the light beams Lh, L, and Lw.

[0084] Also, as shown in FIG. 5(d), the distance between the golf ball GB and the light beam may vary depending on the beam width bw of the light beam. That is, the traveling distance of the golf ball for blocking the light beam can be changed depending on the beam width bw of the light beam.

[0085] The traveling distance of the golf ball for blocking the light beam can be changed by setting the beam width of the light beam and the light reception rate of the light receiving unit regarded as detecting the golf ball as described above.

[0086] For example, when a light beam is considered blocked even if it is covered by 10% by a golf ball, even if only a very small part of a wide beam width is blocked, it is considered blocked. Therefore, the traveling distance of the golf ball for blocking may be short. To cover a narrow beam width, the golf ball may need to travel a relatively long distance. For example, when 90% of the light beam is blocked by the golf ball and is considered blocked, a long distance must be traveled further to cover almost the entire wide beam width, and it may be sufficient to travel a little further to cover a narrow beam width.

[0087] Looking at FIGS. 5(b) and (e), when the golf ball GB has traveled a little further, it can be seen that at the position of the L light beam, the golf ball GB only covers a part of the L light beam, but the Lh light beam at a higher position can be effectively blocked by the golf ball GB, and it can be understood that the Lw light beam at a lower position is in a state where the golf ball GB is close.

[0088] Looking at FIGS. 5(c) and (f), when the golf ball GB has traveled a little further, it can be seen that at the position of the L light beam, the golf ball GB effectively blocks the L light beam, and it can be seen that the Lh light beam at a higher position than that is completely blocked by the golf ball GB, and it can be understood that the Lw light beam at a lower position is in a state of contacting the outer surface of the golf ball GB.

[0089] As shown in FIG. 5(c), when looking from above at the moment when the golf ball GB blocks the L light beam, the outer surface of the golf ball GB appears to have passed through a corresponding part of the light beam L. If it is the Lw light beam, it can be understood that the golf ball GB can effectively block the light beam Lw only when it travels further in the traveling direction.

[0090] FIGS. 6(a) and (b) respectively show the states of FIGS. 5(c) and (f) (the state where the golf ball effectively blocks the L light beam).

[0091] As shown in Fig. 6(a), when the golf ball GB effectively blocks the L light beam and the sensing conditions set by the control unit are satisfied, at the time when the light beam L is simplified into a line (referred to as the light line LL), the distance from the center Cb of the golf ball GB to the light line LL can be defined as the effective radius ER.

[0092] As shown in Figs. 6(a) and 6(b), a circle having an effective radius ER, which is the distance from the center Cb of the golf ball GB to the light line LL, is defined as the effective circle EC.

[0093] In the sensing device and sensing method for sensing the movement of a golf ball according to an embodiment of the present invention, the control unit presets the "effective radius" of the golf ball defined as described above, and when each light receiving unit senses the golf ball, the time point is set as the time when the effective circle having the above-mentioned effective radius touches each light line. By performing geometric calculations considering the center point position of the golf ball using the effective radius at each time point, the movement characteristic information of the golf ball is calculated.

[0094] Fig. 7 shows the light beams between the light emitting end and the light receiving end shown in Fig. 3 simplified into light lines respectively. Fig. 8 shows sensing a golf ball by a conventional method using the light lines shown in Fig. 7, and Fig. 9 shows the state when the golf ball blocks each light beam according to the sensing conditions in the light lines shown in Fig. 7, shown in a state where geometric analysis can be performed.

[0095] Referring to Fig. 7 and Fig. 3 together for explanation, as shown in Fig. 7, the light beam LR of the ball ready sensor can be represented as the initial light line lLR, the first light beam L1 as the first light line lL1, the second light beam L2 as the second light line lL2, the first cross light beam LX1 as the first cross light line lLX1, and the second cross light beam LX2 as the second cross light line lLX2, respectively, by simplification.

[0096] Referring to FIGS. 9 and 4 together, a sensing device and a sensing method for sensing the movement of a golf ball according to an embodiment of the present invention, when each light receiving unit senses a golf ball according to sensing conditions, using a preset value of an effective radius defined as shown in FIG. 6, effective circles EC1, EC2, EC3, EC4 based on the effective radius at the time when each golf ball is sensed as shown in FIG. 9 are placed in contact with light lines lL1, ILX1, ILX2, IL2 respectively, and geometric analysis can be carried out.

[0097] As shown in FIG. 9, in a state where effective circles EC1, EC2, EC3, EC4 corresponding to a preset effective radius for a golf ball are shown in contact with each light line lL1, ILX1, ILX2, IL2, by geometric analysis considering the positions of the center points of each effective circle EC1, EC2, EC3, EC4 (which are the center points of the golf ball), the movement characteristics of the golf ball can be accurately calculated.

[0098] In FIG. 8, it is shown assuming that the centers of circles b1, b2, b3, b4 are located on each light line lL1, lLX1, lLX2, lL2 at the time when each golf ball is sensed by a conventional method, and conventionally, geometric calculations were also performed assuming a state as shown in FIG. 8 for the time when each light receiving unit sensed a golf ball.

[0099] Even by visually observing and comparing FIG. 8 according to the conventional technology and FIG. 9 according to the present invention, it can be seen that there is a quite large difference in the sensed viewpoints and positions of the golf balls.

[0100] Therefore, it can be understood that a sensing device and a sensing method for sensing the movement of a golf ball according to an embodiment of the present invention can perform more precise and accurate sensing than the conventional technology.

[0101] The "effective radius" as described above can vary depending on the height of the light beam due to the installation heights of the light-emitting part and the light-receiving part (the height from the surface on which the golf ball moves), the size of the beam width of the light beam due to the sizes of the light-emitting passage hole at the light-emitting end and the light-receiving passage hole at the light-receiving end (see (d) in FIG. 5), the sensing conditions under which the light-receiving part can determine that it has sensed the golf ball, and the shape of the dimples formed on the surface of the golf ball, etc.

[0102] Therefore, the above-described effective radius can be measured and determined in advance after the sensing device is specifically designed or manufactured and conditions such as the height of the light beam and the beam width of the light beam are determined, and the measured and determined effective radius value can be set in the control unit so that it can be used for calculating the movement characteristics of the golf ball.

[0103] Also, even in sensing devices under the same conditions, the size of the effective radius may differ depending on the shape of the dimples formed on the surface of the golf ball, etc. Therefore, the control unit of the sensing device according to an embodiment of the present invention measures the effective radius in advance for each golf ball manufacturer or brand with respect to the above-described effective radius, and can set each of those values as the effective radius of the corresponding type of golf ball. When the user performs putting using the sensing device, the control unit checks the manufacturer and brand of the golf ball used by the user for putting (the user can also input and set in advance the manufacturer and brand of the golf ball they use, or this can also be sensed by a separate sensor), and can calculate the movement characteristic information of the golf ball by applying the preset effective radius to the confirmed golf ball.

[0104] In addition, since the dimples of a golf ball can wear or foreign substances can adhere due to repeated use, the effective radii of new and used golf balls can be different.

[0105] Therefore, the control unit of the sensing device according to an embodiment of the present invention can distinguish and measure and set in advance the effective radius for a new golf ball and the effective radius for a used golf ball with respect to the aforementioned effective radius. When the user uses the sensing device to putt, the control unit can confirm whether the golf ball used by the user for putting is a new golf ball or a used golf ball (which can also be input and set in advance by the user, or can be sensed by a separate sensor), and apply the preset effective radius to the confirmed golf ball to calculate the movement characteristic information of the golf ball.

[0106] Also, without measuring the effective radius in advance as described above, when the user is putting, it is also possible to measure and set the effective radius by a separate device or module and perform sensing.

[0107] FIG. 10 shows a case where the effective radius is directly measured in the process of the user using the sensing device by using an effective radius measurement unit separately provided as a sensing device according to another embodiment of the present invention.

[0108] As shown in FIG. 10(a), the sensing device for sensing the movement of a golf ball according to another embodiment of the present invention may further include an effective radius measurement part 600 for measuring the effective radius with respect to the golf ball GB that the user is putting.

[0109] The effective radius measurement unit 600 is provided on the first light emitting unit 210 and the first light receiving unit 310 that the golf ball moving by hitting first passes through, respectively, and FIG. 10(a) shows such a case.

[0110] As shown in Fig. 10(a), a device that emits a large number of small spot light arrays 610 as the effective radius measurement unit 600 can be installed above the light emitting unit 210. Although not shown in the drawing, a light receiving array corresponding to each of the plurality of small spot light arrays 610 described above can be installed above the light receiving unit 310.

[0111] For example, when a golf ball passes through the light beam L emitted by the light emitting unit 210 as shown in Fig. 10(b) while moving, when the golf ball GB blocks the light beam L according to the sensing condition while moving from b1->b2->b3 (the time when the light receiving unit senses the golf ball), the effective radius can be measured by sensing how many spot lights among the spot light arrays 610 of the effective radius measurement unit 600 are blocked.

[0112] As described above, the control unit uses the value measured by the effective radius measurement unit 600 for the golf ball that moves as the user putts, and sets it as the "effective radius" for sensing the golf ball. When calculating the movement characteristic information of the golf ball according to the sensing result of each light receiving unit, the measured and set effective radius can be used.

[0113] On the other hand, referring to Figs. 11 to 13, according to the sensing device and sensing method for sensing the movement of a golf ball according to an embodiment of the present invention, a specific example of calculating information such as the movement direction and movement speed of the golf ball by geometric analysis is shown in a state where the effective circle contacts each light line using the effective radius as described above.

[0114] Fig. 11 shows an example of geometric analysis when the golf ball moves in the PD1 direction, Fig. 12 shows an example of geometric analysis when the golf ball moves in the PD2 direction, and Fig. 13 shows an example of geometric analysis for calculating the time information when the golf ball moves in the PD2 direction.

[0115] As shown in FIGS. 11 to 13, the time when each light receiving unit senses the golf ball is represented when the effective circle EC corresponding to the effective radius ER of the golf ball contacts the respective light lines lL1, lLX1, lLX2, and lL2.

[0116] As shown in FIG. 11, the distance that the golf ball has moved to the first light line lL1 is not D1 / cosθ determined by the distance D1 and the direction angle θ between the initial position of the golf ball (the initial hitting position sensed by the ball ready sensor) and the first light line lL1, but (D1 - ER) / cosθ (that is, when the first light beam is blocked, the center of the golf ball does not lie on the first light line, but the effective circle is in contact with the first light line, and at this time, it can be seen that the center point of the golf ball is separated from the first light line by the effective radius ER).

[0117] Similarly, the distance that the golf ball has moved until it is recognized by the second light line lL2 is (D2 - ER) / cosθ, and D1 and D2 are values determined in advance according to the physical conditions of the light emitting unit and light receiving unit arrangement and the characteristics of the effective radius sensing device. Therefore, the length excluding the direction component can be specified from this.

[0118] When the angle (sensor installation angle) formed by the first intersecting light line lLX1 and the second intersecting light line lLX2 is SA, as shown in FIG. 11, using the angle SA and the right angle, the properties of the triangle, etc., it can be seen that the intersection angle near the intersection of the first intersecting light line lLX1 and the second intersecting light line lLX2 is 90 - SA.

[0119] And it is possible to find the same angle as 90 - SA along the parallel lines, and it can be seen that the small angle of the right triangle surrounded by the dotted line including the said position is equal to SA.

[0120] Since the direction angle corresponding to the moving direction of the golf ball is θ, it can be seen that the small angle of the right triangle including the arrow of PD1 is θ - SA, and the large angle that is not a right angle is 90 + SA - θ.

[0121] In order to represent the distance (travel distance x) traveled from the initial position of the golf ball until it moves and is recognized by the first intersection light line lLX1, first, as shown in FIG. 11, if the length of the section indicated by the di arrow is calculated, it can be expressed as Dc sin(90 - SA) - ER.

[0122] In FIG. 11, when the length of the section indicated by the di arrow is expressed using the travel distance x, it becomes x sin(90 + SA - θ). Therefore, the travel distance x can be expressed as in Equation (1) below.

[0123]

Equation

[0124] Here, Dc is the distance from the initial position to the intersection of the first intersection light line and the second intersection light line, SA is the sensor installation angle, θ is the direction angle due to the movement of the golf ball, and ER is the effective radius. The distance Dc and the sensor installation angle SA are values set at the time of sensor installation and are thus known values.

[0125] On the other hand, looking at FIG. 12, although the direction angle of the golf ball is smaller than the sensor installation condition SA and the geometric conditions are slightly changed, in the same manner as described in FIG. 11 above, the distance traveled by the golf ball moving in the PD2 direction from the initial position until it is recognized by the first intersection light line lLX1 can be obtained as Equation (2) below.

[0126]

Equation

[0127] Regarding the mathematical approach to the difference between the above-mentioned equations of number 1 and number 2, it can be regarded as the difference between sin(90+(SA-θ)) and sin(90-(SA-θ)) (it can be regarded as the position values after moving forward or backward by (SA-θ) only after advancing 90 degrees with the sin function). Since the sin function is symmetric about the 90-degree point, sin(90+(SA-θ)) and sin(90-(SA-θ)) always have the same value. Therefore, the above-mentioned number 1 and number 2 are the same.

[0128] Similarly, when representing the moving distance until the effective circle EC touches the second intersection light line lLX2, it can be represented by the following number 3.

[0129]

Equation

[0130] In FIG. 13, time points t0, t1, t f , t b , t2 corresponding to each point necessary to obtain the moving time for converting the distance into speed are shown.

[0131] Here, t0 is the time point when the golf ball starts to move, t1 is the time point when the golf ball is sensed by the first light-receiving part (the time point when the effective circle EC touches the first light line lL1), and t2 is the time point when the golf ball is sensed by the second light-receiving part (the time point when the effective circle EC touches the second light line lL2). t f is the time point when the golf ball is sensed by the first intersection light-receiving part (the time point when the effective circle EC touches the first intersection light line lLX1), and t b is the time point when the golf ball is sensed by the second intersection light-receiving part (the time point when the effective circle EC touches the second intersection light line lLX2).

[0132] When obtaining the relational expressions related to the speed of the golf ball in FIG. 13, expressions 4 and 5 can be obtained as follows.

[0133]

Equation

[0134]

Number

[0135] In order to obtain the velocity component excluding the direction, only the moving distance between the first optical line lL1 and the second optical line lL2 needs to be considered, so t0 does not need to be considered. However, when obtaining the direction component, Equations 4 and 5 described above can be used to utilize this.

[0136] When considering changing the distance regarding the first intersecting optical line lLX1 and the second intersecting optical line lLX2 to the velocity condition, it can be expressed by Equations 6 and 7 as follows.

[0137]

Number

[0138]

Number

[0139] If t0 is obtained using the aforementioned Equations 4, 5, 6, and 7 and θ is obtained, it is possible to calculate up to the velocity v of the golf ball.

[0140] When arranging the aforementioned Equations 4 and 5 with respect to the velocity v of the golf ball, the following Equation 8 can be derived.

[0141]

Number

[0142] If the aforementioned Equation 8 is utilized, the following Equation 9 regarding t0 can be derived.

[0143]

Number

[0144] Therefore, t0 can be easily calculated using values already known through Equation 9.

[0145] On the other hand, the next number 10 can be obtained using the aforementioned numbers 6 and 7.

[0146]

Number

[0147]

Number

[0148] By using the properties of trigonometric functions to arrange the aforementioned number 10, the following number 12 regarding the direction angle θ can be calculated.

[0149]

Number

[0150] Since the respective time values of t1, t2, t f , t b and the installation condition SA angle are already known, tan θ can be obtained from the aforementioned number 12, and the direction angle θ can be calculated therefrom.

[0151] As described above, the sensing device and sensing method for sensing the movement of a golf ball according to the present invention utilize the concept of the effective radius to further improve the accuracy of the sensing result in order to fundamentally solve the factors causing errors in the sensing result of the prior art, which is based on the premise of sensing the position of the center point of the golf ball at the time of sensing by the light sensing type golf putting sensing device.

Industrial Applicability

[0152] The sensing device and sensing method for detecting the movement of a golf ball according to the present invention are applicable in the fields related to golf analysis based on the analysis of a golf ball struck by a putter during putting, particularly in golf, and in the fields related to virtual golf simulations such as so-called screen golf.

Claims

1. A light-emitting end provided on one side of a path along which a golf ball moves by a user's putting, and configured such that a plurality of light-emitting portions irradiate light to the other side surface respectively; A light-receiving end provided on the other side surface, and including a plurality of light-receiving portions that respectively receive the light irradiated by each of the plurality of light-emitting portions; A control unit that calculates movement characteristic information of the golf ball through results sensed by each of the plurality of light-receiving portions when the moving golf ball passes while blocking light from each of the plurality of light-emitting portions to each of the plurality of light-receiving portions; The control unit: When a sensing condition in which the light-receiving portion senses the golf ball is satisfied, sets a distance from the center of the golf ball to a light line as an effective radius, and calculates movement characteristic information of the golf ball by geometric calculation with the time when each light-receiving portion senses the golf ball as the time when an effective circle having the effective radius contacts each light line. A sensing device for sensing the movement of a golf ball.

2. The light-emitting end: A first light-emitting portion and a second light-emitting portion that irradiate light substantially in parallel to sense the speed of the golf ball, and a first cross light-emitting portion and a second cross light-emitting portion that are provided between the first light-emitting portion and the second light-emitting portion and irradiate light in an X shape respectively; The light-receiving end: A first light-receiving portion that receives the light of the first light-emitting portion, a second light-receiving portion that receives the light of the second light-emitting portion, a first cross light-receiving portion that receives the light of the first cross light-emitting portion, and a second cross light-receiving portion that receives the light of the second cross light-emitting portion. The sensing device for sensing the movement of a golf ball according to Claim 1.

3. The light-emitting end: A first light-emitting through hole through which the light of the first light-emitting portion passes to form a first light beam, a second light-emitting through hole through which the light of the second light-emitting portion passes to form a second light beam, a first cross light-emitting through hole through which the light of the first cross light-emitting portion passes to form a first cross light beam, and a second cross light-emitting through hole through which the light of the second cross light-emitting portion passes to form a second cross light beam are configured to be provided; The light-receiving end: A first light receiving passage hole for allowing the first light beam to pass through the first light receiving unit, a second light receiving passage hole for allowing the second light beam to pass through the second light receiving unit, a first cross light receiving passage hole for allowing the first cross light beam to pass through the first cross light receiving unit, and a second cross light receiving passage hole for allowing the second cross light beam to pass through the second cross light receiving unit, the sensing device for sensing the movement of a golf ball according to claim 2, which is configured to include the above.

4. The control unit is configured to preset the effective radius measured in advance based on the size of the golf ball, the height at which the light emitting unit and the light receiving unit are installed, and the beam width of the light from the light emitting unit to the light receiving unit, the sensing device for sensing the movement of a golf ball according to claim 1.

5. The control unit is configured to measure and set the effective radius for each manufacturer or brand of golf ball with respect to the effective radius, confirm the manufacturer or brand of the golf ball used by the user for putting, and apply the effective radius of the corresponding golf ball, the sensing device for sensing the movement of a golf ball according to claim 4.

6. The control unit is configured to measure and set the effective radius for a new golf ball and the effective radius for a used golf ball separately with respect to the effective radius, confirm whether the golf ball used by the user for putting is a new golf ball or a used golf ball, and apply the corresponding effective radius, the sensing device for sensing the movement of a golf ball according to claim 4.

7. further including an effective radius measuring unit for measuring the effective radius with respect to the golf ball putted by the user, the control unit is configured to set the value measured by the effective radius measuring unit as the effective radius with respect to the golf ball that moves when the user puts, and calculate the movement characteristic information of the golf ball, the sensing device for sensing the movement of a golf ball according to any one of claims 1 to 6.

8. As a sensing method of a sensing device configured such that a plurality of light emitting units irradiate light on one side of a path along which a golf ball moves by a user's putting, and a plurality of light receiving units receive the respective lights on the other side, and the control unit senses the movement of the golf ball through the sensing results of the plurality of light receiving units When the sensing condition for the light receiving unit to sense the golf ball is satisfied, setting the distance from the center of the golf ball to the light line as the effective radius; When the golf ball moves due to the putting of the user, transmitting the sensing results of each of the plurality of light receiving units; A sensing method of a sensing device for sensing the movement of a golf ball, including calculating the movement characteristic information of the golf ball by geometric calculation with the time when each light receiving unit senses the golf ball as the time when an effective circle having the effective radius touches each light line.

9. The step of setting the effective radius is: The method for sensing the movement of a golf ball according to claim 8, including measuring in advance the effective radius according to the size of the golf ball, the height at which the light emitting unit and the light receiving unit are installed, and the beam width of the light from the light emitting unit to the light receiving unit, and setting the input value as the effective radius.

10. The step of setting the effective radius is: Including the step of measuring and setting the effective radius in advance for each manufacturer or brand of the golf ball with respect to the effective radius, The step of calculating the movement characteristic information of the golf ball is: The method for sensing the movement of a golf ball according to claim 9, including the step of confirming the manufacturer or brand of the golf ball used by the user for putting, and calculating the movement characteristic information of the golf ball using the effective radius corresponding to the manufacturer or brand of the golf ball confirmed in the confirming step.

11. The step of setting the effective radius is: Including the step of measuring and setting the effective radius for a new golf ball and a used golf ball separately with respect to the effective radius in advance, The step of calculating the movement characteristic information of the golf ball is: The method for sensing the movement of a golf ball according to claim 9, including the step of confirming whether the golf ball used by the user for putting is a new golf ball or a used golf ball, and calculating the movement characteristic information of the golf ball using the effective radius corresponding to the golf ball confirmed in the confirming step.

12. The sensing device that senses the movement of the golf ball further includes an effective radius measurement unit that measures the effective radius with respect to the golf ball putted by the user. The step of setting the effective radius is The sensing method of the sensing device that senses the movement of the golf ball according to any one of claims 8 to 11, including the step of setting, as the effective radius, the value measured by the effective radius measurement unit with respect to the golf ball that moves when the user putts.

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