Optical sensing type golf ball sensing device and sensing method

Abstract

The present invention provides an optical sensing type golf ball sensing device and sensing method that can effectively calculate information on the movement characteristics of a golf ball, even if the golf ball starts from an arbitrary initial position, by using an optical sensing type sensing device installed on the movement path of a golf ball moved by a golf putt, and by using only sensing data that can be detected when light passes between multiple light-emitting and light-receiving units without adding any additional equipment.

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, when a golf ball moved by a user's putt passes through a plurality of sensing lights by an optical sensor, the optical sensor senses the golf ball, and thus relates to a golf ball sensing device and a sensing method using an optical sensing method for calculating information on the movement characteristics of the golf ball.

Background Art

[0002] Recently, virtual sports simulation systems have emerged to enable easy enjoyment of sports. For example, in the case of golf and baseball, virtual simulation systems for sports that are very restrictive in directly enjoying the sport on the field have become widespread among the general public.

[0003] Furthermore, along with the emergence of virtual sports simulation systems for net sports in which two players exchange balls across a net, such as tennis, squash, and badminton, a trend has been formed for users to easily enjoy various sports in the popular cultural space.

[0004] Such virtual sports simulations basically progress with the player hitting the ball. Here, for the simulation on the video of the ball hit by the player, a sensing device that can effectively sense the moving ball is required.

[0005] <00000*18*>As a sensing device for sensing a ball moved by a user's hit, an optical sensing method sensing device, a camera-based sensing device, a radar-based sensing device, etc. are widely used.

[0006] It should be noted that there is a potential error in the original text where the tag seems to be a misspelling. It is assumed to be in the translation for consistency with the original text. If this is incorrect, please provide the correct information.In particular, in golf putting, since the golf ball is basically struck in a way that causes it to roll on the mat, optical sensing devices, which are relatively less expensive than expensive sensing devices (for example, camera-based sensing devices or radar-based sensing devices), are mainly used as sensing devices to detect the movement of the golf ball as it rolls on the mat.

[0007] Conventional technologies relating to optical sensing devices that detect the movement of a golf ball during a golf putt include Korean Patent Application Publication No. 10-2016-0026093, Korean Patent No. 10-0671751, Korean Patent Application Publication No. 10-2007-0108330, and Korean Patent No. 10-0923452.

[0008] The golf putt sensing device disclosed in the aforementioned prior art document is equipped with a light-emitting device on the right side of the path in which the golf ball moves and a light-receiving device on the left side, the light-emitting device is equipped with a plurality of light-emitting elements, and the light-receiving device is equipped with a plurality of light-receiving elements that receive the light emitted by each of the plurality of light-emitting elements.

[0009] When a user strikes a golf ball placed in a specific position, the struck golf ball passes through the multiple light rays emitted by the multiple light-emitting elements, each of which is interrupted. Each time the golf ball interrupts a light ray, the light-receiving element is unable to receive light, allowing the golf ball to be detected.

[0010] Conventional golf putting sensing devices, as described above, require that the initial position of the golf ball be a predetermined fixed position. Only by placing the golf ball at this predetermined initial position and striking it can the direction and speed of the golf ball's movement be calculated from the sensing results of each light-receiving element.

[0011] In other words, in order to calculate the direction and speed of a moving golf ball using multiple light-emitting and light-receiving elements placed along the path the golf ball travels, as described above, the sensor must recognize the starting position of the golf ball. Therefore, sensing is only possible when the golf ball is placed in a predetermined position and struck. If the golf ball is struck at an arbitrary position, there is a problem in that it is difficult to calculate information such as the direction and speed of the golf ball, or only inaccurate information that does not reflect reality can be calculated.

[0012] To solve these problems, a camera sensor that senses a certain area including the initial position where the golf ball is placed can be installed and configured to work in conjunction with the optical sensor device. However, in this case, the processing capacity of the sensing data must also be improved, which involves adding relatively expensive equipment and creates another problem: a significant increase in the overall cost of the sensing device. [Prior art documents] [Patent Documents]

[0013] [Patent Document 1] Korean Patent Application Publication No. 10-2016-0026093

[0014] [Patent Document 2] Korean Patent Publication No. 10-0671751

[0015] [Patent Document 3] Korean Patent Application Publication No. 10-2007-0108330

[0016] [Patent Document 4] Korean Patent Publication No. 10-0923452 [Overview of the project] [Problems that the invention aims to solve]

[0017] The present invention provides an optical sensing type golf ball sensing device and sensing method that can effectively calculate information on the movement characteristics of a golf ball, even if the golf ball starts from an arbitrary initial position, by using an optical sensing type sensing device installed on the movement path of a golf ball moved by a golf putt, and by using only sensing data that can be detected when light passes between multiple light-emitting and light-receiving units without adding any additional equipment. [Means for solving the problem]

[0018] A golf ball sensing device using an optical sensing method according to one embodiment of the present invention includes: an emitting end provided on one side of the path along which a golf ball is struck and moves from an arbitrary initial position, configured to emit a light beam toward the other side from which a plurality of light-emitting units each emit a light beam; a receiving end provided on the other side, provided with a plurality of light-receiving units each receiving the light beam emitted by each of the plurality of light-emitting units; and a control unit that calculates movement characteristic information of a golf ball moving from an arbitrary initial position by collecting sensing data of the time when the golf ball begins to block each light beam emitted by each of the plurality of light-emitting units to each of the plurality of light-receiving units as the moving golf ball passing through the beam.

[0019] Preferably, the control unit sets the distance from the center of the golf ball to the light beam received by the light receiver as the effective radius when the moving golf ball enters the light beam received by the light receiver, and detects the golf ball when the effective circle having the effective radius touches the light beam.

[0020] Preferably, the light emitting end includes a first light emitting part and a second light emitting part that irradiate light substantially in parallel, and a first cross-light emitting part and a second cross-light emitting part that are provided between the first light emitting part and the second light emitting part and irradiate light in an X shape respectively. The light receiving end includes a first light receiving part that receives the first emitted light, a second light receiving part that receives the second emitted light, a first cross-light receiving part that receives the light of the first cross-light emitting part, and a second cross-light receiving part that receives the light of the second cross-light emitting part.

[0021] Preferably, the light beam passing through the golf ball includes a first light beam irradiated from the first light emitting part to the first light receiving part, a second light beam irradiated from the second light emitting part to the second light receiving part, a first cross-light beam irradiated from the first cross-light emitting part to the first cross-light receiving part, and a second cross-light beam irradiated from the second cross-light emitting part to the second cross-light receiving part. Each of the first and second light beams and the first and second cross-light beams is formed to have a predetermined beam width according to the structures of the light emitting end and the light receiving end.

[0022] Preferably, the control unit measures a first entry time when the golf ball starts to block the first light beam, a first exit time when the golf ball finally blocks the first light beam, a first cross-entry time when the golf ball starts to block the first cross-light beam, a first cross-exit time when the golf ball finally blocks the first cross-light beam, a second cross-entry time when the golf ball starts to block the second cross-light beam, a second cross-exit time when the golf ball finally blocks the second cross-light beam, a second entry time when the golf ball starts to block the second light beam, and a second exit time when the golf ball finally blocks the second light beam, respectively, so as to calculate the direction angle and speed of the golf ball starting from an arbitrary initial position and moving.

[0023] Preferably, the control unit calculates deceleration information due to the movement of the golf ball based on the difference between the first speed at the first entry time and the first exit time when the golf ball passes through the first light beam, and the second speed at the second entry time and the second exit time when the golf ball passes through the second light beam after passing through the first light beam, using the sensing data.

[0024] Preferably, the control unit calculates the time when the golf ball starts to block the light beam as the time when the effective circle having the effective radius touches one side surface of the light beam, and calculates the time when the golf ball finally blocks the light beam as the time when the effective circle touches the other side surface of the light beam, thereby calculating the movement characteristic information of the golf ball.

[0025] Preferably, the light beams irradiated from the plurality of light emitting units to the plurality of light receiving units include a first light beam and a second light beam formed perpendicular to and parallel to each other 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.

[0026] Preferably, the control unit is configured to calculate the direction angle and velocity of the golf ball as it departs from an arbitrary initial position by measuring a first entry time, which is the time when the effective circle having the effective radius touches one side of the first light beam; a first exit time, which is the time when the effective circle touches the other side of the first light beam; a first crossing entry time, which is the time when the effective circle touches one side of the first crossing light beam; a first crossing exit time, which is the time when the effective circle touches the other side of the first crossing light beam; a second crossing entry time, which is the time when the effective circle touches one side of the second crossing light beam; a second crossing exit time, which is the time when the effective circle touches the other side of the second crossing light beam; a second entry time, which is the time when the effective circle touches one side of the second light beam; and a second exit time, which is the time when the effective circle touches the other side of the second light beam.

[0027] Preferably, the control unit is configured to calculate deceleration information due to the movement of the golf ball, which is the difference between the first velocity at the first entry and first exit points when the golf ball passes through the first light beam and the second velocity at the second entry and second exit points when the golf ball passes through the second light beam after passing through the first light beam, using the sensing data.

[0028] On the other hand, a sensing method for an optical sensing type golf ball sensing device according to one embodiment of the present invention is configured such that a plurality of light-emitting units each emit light on one side of the path along which a golf ball is struck at an arbitrary initial position and moves, and a plurality of light-receiving units each receive the light on the other side, and a control unit senses the movement of the golf ball based on the sensing results of each of the plurality of light-receiving units, and the sensing method for an optical sensing type golf ball sensing device includes the steps of: the golf ball receiving each light beam emitted by each of the plurality of light-emitting units; measuring the time when the golf ball begins to block each light beam and the time when it finally blocks each light beam as it moves while sequentially blocking each light beam; and collecting each of the measurement times as sensing data to calculate movement characteristic information of the golf ball moving from an arbitrary initial position.

[0029] Preferably, the method includes a step of setting the distance from the center of the golf ball to the light beam received by the light receiver as the effective radius at the point when the sensing conditions are met for the light receiver to sense the golf ball when the moving golf ball enters the light beam received by the light receiver. This step is performed prior to the step of measuring the point in time when the golf ball begins to block each light beam and the point in time when it finally blocks each light beam.

[0030] Preferably, the steps for measuring the time when the golf ball begins to block each light beam and the time when it finally blocks each light beam include the steps of calculating the time when the golf ball begins to block each light beam as the time when the effective circle having the effective radius touches one side of the light beam, and calculating the time when the golf ball finally blocks each light beam as the time when the effective circle touches the other side of the light beam.

[0031] Preferably, the light beams irradiated from the plurality of light-emitting units to the plurality of light-receiving units include a first light beam and a second light beam formed perpendicular to and parallel to each other 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 between the first light beam and the second light beam from the light-emitting end to the light-receiving end, and the steps for measuring the time when the golf ball begins to block each light beam and the time when it finally blocks each light beam are: a first entry time which is when the effective circle having the effective radius touches one side of the first light beam, and when the effective circle touches the other side of the first light beam The method is characterized by including the steps of measuring a first exit time, which is the time when the beams touch; a first crossing entry time, which is the time when the effective circle touches one side of the first crossing light beam; a first crossing exit time, which is the time when the effective circle touches the other side of the first crossing light beam; a second crossing entry time, which is the time when the effective circle touches one side of the second crossing light beam; a second crossing exit time, which is the time when the effective circle touches the other side of the second crossing light beam; a second entry time, which is the time when the effective circle touches one side of the second light beam; and a second exit time, which is the time when the effective circle touches the other side of the second light beam.

[0032] Preferably, the method further includes a step of calculating deceleration information due to the movement of the golf ball, which is the difference between a first velocity at the first entry and first exit point when the golf ball passes through the first light beam and a second velocity at the second entry and second exit point when the golf ball passes through the second light beam after passing through the first light beam, using the sensing data. [Effects of the Invention]

[0033] The optical sensing type golf ball sensing device and sensing method according to the present invention have the effect of effectively calculating information on the movement characteristics of a moving golf ball, even if the golf ball starts from an arbitrary initial position, by using an optical sensing type sensing device installed on the movement path of a golf ball that is moved by a golf putt, and by using only sensing data that can be detected when light passes between multiple light-emitting and light-receiving units without adding any additional equipment. [Brief explanation of the drawing]

[0034] [Figure 1] This figure shows a putting practice device to which an optical sensing type golf ball sensing device according to one embodiment of the present invention is applied.

[0035] [Figure 2] This figure shows the specific configuration of a top-down cross-section of the sensing device applied to the pat exercise device shown in Figure 1.

[0036] [Figure 3] Figure 2 shows the case where a golf ball is struck and moves, and the golf ball is detected by each light-receiving unit.

[0037] [Figure 4] This figure illustrates the concept of the effective radius used in an optical sensing type golf ball sensing device and sensing method according to one embodiment of the present invention, as well as the entry and exit points of the golf ball with respect to the optical beam. [Figure 5] This figure illustrates the concept of the effective radius used in an optical sensing type golf ball sensing device and sensing method according to one embodiment of the present invention, as well as the entry and exit points of the golf ball with respect to the optical beam.

[0038] [Figure 6]Figure 3 shows the state in which the light beams between the light-emitting end and the light-receiving end are simplified as individual rays, and geometric analysis is performed using an effective circle defined by the effective radius.

[0039] [Figure 7] This figure shows the position of a golf ball at the time of entry and exit of each light beam, as the golf ball moves in one direction after being struck, in a golf ball sensing device according to one embodiment of the present invention, with the effective circle touching each light beam.

[0040] [Figure 8] Figure 7 shows a state where geometric analysis using an effective circle is easy for intersecting light beams.

[0041] [Figure 9] This figure shows the position of a golf ball at the time of entry and exit of each light beam as the golf ball is struck and moves in another direction, in a golf ball sensing device according to one embodiment of the present invention, with the effective circle touching each light ray.

[0042] [Figure 10] Figure 9 illustrates how to calculate the physical quantities of motion of a golf ball when it is undergoing uniformly accelerated motion using geometric analysis. [Modes for carrying out the invention]

[0043] The specific details of the optical sensing type golf ball sensing device and sensing method according to the present invention will be described in detail with reference to the attached drawings.

[0044] First, with reference to Figures 1 and 2, an optical sensing type golf ball sensing device for detecting the movement of a golf ball according to one embodiment of the present invention will be described.

[0045] Figure 1 shows a putting practice device to which a golf ball sensing device according to one embodiment of the present invention is applied, and Figure 2 shows a specific cross-sectional view of the sensing device applied to the putting practice device shown in Figure 1, viewed from above.

[0046] As shown in Figures 1 and 2, one embodiment of the present invention, a golf ball sensing device, can be implemented as a putting practice device that allows a user to practice putting with a golf club (GC) and a golf ball (GB) on a putting mat (100).

[0047] As shown in Figures 1 and 2, an optical sensing type golf ball sensing device according to one embodiment of the present invention includes a light-emitting end 200 provided on one side of the path along which the golf ball moves due to the user's putt, and configured to emit multiple light-emitting units 210, 220, 230, and 240 that irradiate the other side with light beams L1, L2, LX1, and LX2 respectively, and a receiving unit provided on the side facing the light-emitting end 200 that receives the light beams L1, L2, LX1, and LX2 irradiated by the light-emitting units 210, 220, 230, and 240 of the light-emitting end 200, respectively. The system may include a light-receiving end 300 equipped with multiple light-receiving units 310, 320, 330, and 340, and a control unit 150 that, when a moving golf ball GB passes through while sequentially blocking the light beams L1, L2, LX1, and LX2 irradiated from each of the multiple light-emitting units 210, 220, 230, and 240 to each of the multiple light-receiving units 310, 320, 330, and 340 as described above, each of the multiple light-receiving units 310, 320, 330, and 340 senses the golf ball and uses this to calculate information about the movement characteristics of the golf ball.

[0048] The control unit 150 can use the results of each light receiving unit sensing the golf ball GB as described above to calculate information such as the direction of movement and the speed of movement of the golf ball through geometric analysis.

[0049] The control unit 150 can provide the user with various services related to golf putting by transmitting the golf ball movement characteristics information calculated as described above to the client 500.

[0050] For example, the client 500 can be realized as a simulation device that visualizes an image of a virtual green and visualizes a simulated image of a golf ball moving on the virtual green based on the golf ball movement characteristic information calculated by the control unit 150.

[0051] Furthermore, for example, client 500 can be embodied as a pad analysis device that displays and provides the user's pad analysis results item by item.

[0052] On the other hand, as shown in Figures 1 and 2, the light-emitting end 200 of a golf ball sensing device according to one embodiment of the present invention may be configured to include a first light-emitting unit 210 and a second light-emitting unit 220 that emit light substantially in parallel in order to sense the speed of a golf ball, and a first intersecting light-emitting unit 230 and a second intersecting light-emitting unit 240 provided between the first light-emitting unit 210 and the second light-emitting unit 220, which emit light in an X shape, respectively.

[0053] The light-receiving end 300 may be configured to include a first light-receiving unit 310 that receives light from the first light-emitting unit 210, a second light-receiving unit 320 that receives light from the second light-emitting unit 220, a first cross-light-receiving unit 330 that receives light in the diagonal direction of the first cross-light-emitting unit 230, and a second cross-light-receiving unit 340 that receives light in the diagonal direction of the second cross-light-emitting unit 240.

[0054] As shown in Figure 2, the first light receiving unit 310, the second light receiving unit 320, the first cross light receiving unit 330, and the second cross light receiving unit 340 of the light receiving end 300 are connected to the control unit 150, which can receive sensing results from each light receiving unit. Although not shown in the drawing, 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 are also connected to the control unit 150, which can turn the illumination of each light emitting unit on / off.

[0055] The light-emitting end 200 described above may be configured to include a first light-emitting passage hole 201 through which light from the first light-emitting section 210 passes to form a first light beam L1, a second light-emitting passage hole 202 through which light from the second light-emitting section 220 passes to form a second light beam L2, a first crossing light-emitting passage hole 203 through which light from the first crossing light-emitting section 203 passes to form a first crossing light beam LX1, and a second crossing light-emitting passage hole 204 through which light from the second crossing light-emitting section 240 passes to form a second crossing light beam LX2.

[0056] Furthermore, the light-receiving end 300 described above may be configured to include a first light-receiving passage hole 301 through which the first light beam L1 passes to the first light-receiving unit 310, a second light-receiving passage hole 302 through which the second light beam L2 passes to the second light-receiving unit 320, a first cross-receiving passage hole 303 through which the first cross-receiving light beam LX1 passes to the first cross-receiving unit 330, and a second cross-receiving passage hole 304 through which the second cross-receiving light beam LX2 passes to the second cross-receiving unit 340.

[0057] Each of the first light-emitting section 210, second light-emitting section 220, first intersecting light-emitting section 230, and second intersecting light-emitting section 240 of the light-emitting end 200 described above can be implemented as a light-emitting element such as an LED.

[0058] Therefore, since the light emitted by each light-emitting part, such as an LED, spreads widely, a first light-emitting passage hole 201, a second light-emitting passage hole 202, a first crossing light-emitting passage hole 203, and a second crossing light-emitting passage hole 204 can be formed to a size corresponding to the desired beam size, so that the light emitted by each light-emitting part can travel in a beam shape to each corresponding light-receiving part of the light-receiving end, thereby irradiating the light-emitting end 200 with a light beam of the desired beam size.

[0059] Furthermore, the first light-receiving hole 301, the second light-receiving hole 302, the first cross-light-receiving hole 303, and the second cross-light-receiving hole 304 can be formed on the light-receiving end 300, respectively, so as described above, they have sizes corresponding to the sizes of the first light-receiving hole 201, the second light-receiving hole 202, the first cross-light-receiving hole 203, and the second cross-light-receiving hole 304 formed on the light-receiving end 200.

[0060] Therefore, as shown in Figure 2, each through-hole can form a first optical beam L1, a second optical beam L2, a first intersecting optical beam LX1, and a second intersecting optical beam LX2, respectively, with desired beam sizes.

[0061] On the other hand, the optical sensing type golf ball sensing device according to the present invention is characterized in that the position where the golf ball is placed for striking is not specified, and the golf ball can be placed at any position on the mat and struck.

[0062] In conventional putting sensing devices, the initial position of the golf ball is predetermined, and the player must place the golf ball in that predetermined position before striking it. Therefore, a separate optical sensor is provided to detect the initial position of the golf ball, and the device is configured to detect whether the golf ball is in that initial position.

[0063] However, the optical sensing type golf ball sensing device according to the present invention can calculate information such as the direction of movement and speed of the golf ball using the golf ball sensing results from the light-emitting end and light-receiving end, even when the golf ball is placed at any position on the mat surface and struck. Therefore, there is no specific initial position where the golf ball is located, and naturally, there is no need to have a sensor to detect whether the golf ball is present at the initial position.

[0064] In other words, in a golf ball sensing device according to one embodiment of the present invention, as shown in Figure 1, the golf ball GB can be struck at any position on the mat 100, such as Po1, Po2, Po3, etc., which are not predetermined, and move between the light-emitting end 200 and the light-receiving end 300.

[0065] Thus, if the initial position of the golf ball is not determined, the golf ball will start from an arbitrary position initially. Therefore, the distance from the initial position to the first sensing line (the first light beam L1 irradiated from the first light-emitting unit 210 to the first light-receiving unit 310) is unknown, and it becomes difficult to determine the direction of the golf ball based on symmetry with respect to a virtual line O that crosses the middle of the mat. As a result, there is insufficient measurement information necessary to calculate the various movement characteristics of the golf ball.

[0066] One embodiment of the present invention is characterized by doubling the total number of data points by expanding the data measured when the golf ball passes through a single light beam from one data point to two data points, in order to solve the problem of insufficient measurement information that occurs when the initial position of the golf ball is not determined as described above.

[0067] In other words, conventionally, when a golf ball passes through a single light beam while moving, only the data at the moment the golf ball blocks the light beam was measured. However, in one embodiment of the present invention, the golf ball sensing device collects sensing data at the moment the golf ball begins to block the light beam, and at the moment the golf ball completely blocks the light beam while passing through it.

[0068] Therefore, in the configuration shown in Figure 2, when a golf ball sequentially passes through the first light beam L1, the first intersecting light beam LX1, the second intersecting light beam LX2, and the second light beam L2, instead of measuring four data points for the time when each light beam is blocked, a total of eight data points are measured for the time when each light beam is blocked and the time when it is blocked last. As a result of this extended data measurement, a total of eight data points can be obtained, and using these, information such as the direction of movement and velocity of the golf ball, whose initial position is unknown, can be calculated.

[0069] Figure 3 shows an example of a golf ball sensing device according to one embodiment of the present invention, as shown in Figure 2, where, when the golf ball GB is struck and moves, the light receiving units 310, 320, 330, and 340 sense the golf ball and perform expanded data measurement.

[0070] Here, when we say "the golf ball blocks the light beam," it doesn't mean that the golf ball completely blocks the light beam being received by the light-receiving unit. Rather, it means that the golf ball blocks a portion of the light beam to the extent that the sensing conditions for the light-receiving unit to detect the golf ball are still met.

[0071] For example, if the minimum requirement for a light-receiving unit to sense a golf ball is that it blocks 10% of the light beam, then the light-receiving unit can sense the golf ball when the golf ball enters the light beam and blocks 10% of it.

[0072] Thus, the minimum amount or rate of light beam interruption when sensing a golf ball can be set as the "sensing condition for the light receiver to detect the golf ball," and "the golf ball interrupts the light beam" means that the golf ball interrupts the light beam to an extent that satisfies or exceeds the sensing condition for the light receiver to detect the golf ball.

[0073] Therefore, "the point at which the golf ball begins to block the light beam" means the point at which the golf ball enters one side of the light beam and blocks the light beam to the extent that the sensing conditions for the light receiver to detect the golf ball are met, and "the point at which the golf ball last blocks the light beam" means the point at which the golf ball enters one side of the light beam and before it leaves the other side, and blocks the light beam to the extent that the sensing conditions for the light receiver to last detect the golf ball are met.

[0074] As shown in Figure 3, the golf ball GB moves in the direction of the dotted line due to the user's putt, and the golf ball can be detected at position B1i, where the golf ball first begins to block one side of the first light beam L1, and at position B1o, where the golf ball last blocks the first side before it leaves the first light beam L1.

[0075] Subsequently, the golf ball can be detected at position Bx1i, where it first begins to block one side of the first intersecting light beam LX1, and at position Bx1o, where it last blocks the other side before it leaves the first intersecting light beam LX1.

[0076] Subsequently, the golf ball can be detected at position Bx2i, where it first begins to block one side of the second intersecting light beam LX2, and at position Bx2o, where it last blocks the other side before it leaves the second intersecting light beam LX2.

[0077] Subsequently, the golf ball can be detected at position B2i, where it first begins to block one side of the second light beam L2, and at position B2o, where it last blocks the other side before it leaves the second light beam L2.

[0078] As mentioned above, the amount of light the light-receiving unit needs to detect to determine if a golf ball has been detected depends on how the control unit sets the sensing conditions.

[0079] For example, if the amount of light that the light-receiving unit can receive is 10, the point at which the light-receiving unit detects the golf ball may be when the light intensity is 5, when the light intensity is 2, or when the light intensity is 0, depending on the extent to which the golf ball blocks the light beam. This is because the control unit uses the detection result from the light-receiving unit to determine when the golf ball has been detected by setting sensing conditions.

[0080] In Figure 3, the control unit 150 has a first entry point S1i, which is the time when the golf ball is at position B1i where it begins to block the first light beam L1; a first exit point S1o, which is the time when the golf ball is at position B1o where it last blocks the first light beam L1; a first crossing entry point X1i, which is the time when the golf ball is at position Bx1i where it begins to block the first crossing light beam LX1; a first crossing exit point X1o, which is the time when the golf ball is at position Bx1o where it last blocks the first crossing light beam LX1; and a time when the golf ball is at position Bx2i where it begins to block the second crossing light beam LX2. The second crossing entry point X2i, the second crossing exit point X2o which is the point at which the golf ball last blocks the second crossing light beam LX2 at position Bx2o, the second entry point S2i which is the point at which the golf ball begins to block the second light beam L2 at position B2i, and the second exit point S2o which is the point at which the golf ball last blocks the second light beam L2 at position B2o are measured, and the movement characteristics information of the golf ball can be calculated using S1i, S1o, X1i, X1o, X2i, X2o, S2i, and S2o as sensing data.

[0081] As shown in Figure 3, when the light receiving units 310, 330, 340, and 320 detect the golf ball at positions B1i, B1o, Bx1i, Bx1o, Bx2i, Bx2o, B2i, and B2o, the positions of the golf ball's center points c1 to c8 at each of these positions can be determined, 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.

[0082] In conventional technology, when the light-receiving unit detects a golf ball as described above, it is simply assumed that the center point of the golf ball is located on each light ray, and the direction and speed of the golf ball are calculated accordingly. However, the results of calculating golf ball movement information using such conventional technology inevitably have a considerable error compared to reality.

[0083] This is because, at the moment the light-receiving unit detects the golf ball, the center point of the golf ball is not located on the light ray, but rather at a predetermined distance from the light ray.

[0084] If we were to assume, as in the conventional method, that the center point of the golf ball is on the light beam at the moment the light-receiving unit detects the golf ball, then it would become impossible to collect extended measurement data by specifying the entry and exit points for a single light beam, as in the present invention.

[0085] As shown in Figure 3, the present invention uses the concept of "effective radius" to utilize the position of the center point of the golf ball, which is located at a predetermined distance from the light ray, when the light receiving unit detects the golf ball.

[0086] To explain this concept of "effective radius," please refer to Figures 4 and 5.

[0087] Figure 4 is a diagram sequentially showing the state in which a golf ball moves as it passes through a light beam irradiated from the light-emitting unit to the light-receiving unit. Figures 4(a) to (c) show a view from above as the golf ball GB passes through the light beam L irradiated from the light-emitting unit 210 and received by the light-receiving unit 310. Figures 4(d) to (f) show side cross-sections of each of Figures 4(a) to (c) cut along the direction of the golf ball's movement.

[0088] Here, although not shown in the drawings, it is assumed that the light beam L is emitted from the light-emitting unit 210 and, by passing through a passing hole (not shown) of a predetermined size, acquires a predetermined beam width.

[0089] As shown in Figures 4(a) to (c), it is not clear from a top-down view whether the golf ball GB effectively blocked the light beam L as it moved in the direction of the arrow, but this can be determined by looking at the side cross-section as shown in Figures 4(d) to (f).

[0090] As shown in Figure 4(a), even if the outer surface of the golf ball GB appears to be in contact with the light beam L, as shown in Figure 4(d), the distance between the outer surface of the golf ball GB and the light beam can change depending on the height of the light-emitting part 210.

[0091] In other words, as shown in Figure 4(d), the distance between the outer surface of the golf ball GB and the light beams can change depending on the height of each of the light beams Lh, L, and Lw, depending on whether the light-emitting unit 210 is positioned higher than the light beam Lh and irradiates with the light beam Lh or whether the light-emitting unit is positioned lower and irradiates with the light beam Lw.

[0092] Furthermore, as shown in Figure 4(d), the distance between the golf ball GB and the light beam can also change depending on the beam width bw of the light beam. In other words, the distance the golf ball must travel to block the light beam can change depending on the beam width bw of the light beam.

[0093] Depending on the beam width of the light beam and the setting of the light-receiving rate of the light-receiving unit that is considered to have detected the golf ball, the distance the golf ball must travel to block the light beam may change.

[0094] As shown in Figures 4(b) and (e), when the golf ball GB moves further from the state shown in Figures 4(a) and (d), it can be seen that at the position of the L light beam, the golf ball GB only blocks a portion of the L light beam, but the Lh light beam at a higher position is effectively blocked by the golf ball GB, and the Lw light beam at a lower position is in a state where the golf ball GB is close but cannot effectively block the light beam.

[0095] As shown in Figures 4(c) and (f), when the golf ball GB moves further from the state shown in Figures 4(b) and (e), it can be seen that the golf ball GB effectively blocks the L light beam at the position of the L light beam, the Lh light beam at a higher position is completely blocked by the golf ball GB, and the Lw light beam at a lower position is in a state where it is in contact with the outer surface of the golf ball GB.

[0096] As shown in Figure 4(c), when viewed from above at the point when the golf ball GB blocks the L light beam, the outer surface of the golf ball GB appears to have passed through a considerable portion of the L light beam. In the case of the Lw light beam, it can be seen that the Lw light beam can only be effectively blocked when the golf ball GB has traveled further in the direction of travel.

[0097] As described above, the golf ball sensing device according to one embodiment of the present invention collects sensing data as follows: data at the time when the golf ball begins to block the light beam and data at the time when the golf ball completely blocks the light beam while passing through it.

[0098] Figures 5(a) and (b) show the state Bi, where the golf ball GB begins to effectively block one side of the light beam L having a predetermined beam width bw, and the state Bo, where the golf ball finally effectively blocks the light beam on the other side of the light beam L, respectively.

[0099] As shown in Figure 5(a), when the golf ball GB effectively blocks one side of the light beam L and satisfies the sensing conditions set by the control unit, the distance from the center Cb of the golf ball GB to the line Li on one side of the light beam L can be defined as the effective radius ER.

[0100] When the golf ball GB escapes from the other side of the light beam L and finally effectively blocks the light beam L, satisfying the sensing conditions set by the control unit, the distance from the center Cb of the golf ball GB to the other side line LLo of the light beam L is also the same effective radius ER.

[0101] In Figure 5, the effective radius ER when the golf ball begins to block the light beam and the effective radius ER when the golf ball finally blocks the light beam are the same value.

[0102] As shown in Figures 5(a) and 5(b), the effective circle EC is defined as a circle with an effective radius ER, which is the distance from the center Cb of the golf ball to the light ray LLi. The effective circle EC in the Bi state and the effective circle EC in the Bo state are the same.

[0103] In one embodiment of the present invention, the optical sensing type golf ball sensing device and sensing method include a control unit that pre-sets the "effective radius" of the golf ball as defined above, and the point in time when each light receiving unit senses the golf ball is defined as the point in time when the effective circle having the effective radius touches the light rays of each light beam. At each point in time, the device can calculate the movement characteristic information of the golf ball by geometric calculations that take into account the position of the center point of the golf ball using the effective radius.

[0104] As mentioned above, the "effective radius" can vary depending on the height of the light beam (height from the surface on which the golf ball moves) due to the installation height of the light-emitting and light-receiving units, the beam width of the light beam due to the size of the light-emitting pass-through hole at the light-emitting end and the light-receiving pass-through hole at the light-receiving end (see Figure 4(d)), the sensing conditions under which the light-receiving unit can determine that it has detected a golf ball, and the shape of the dimples formed on the surface of the golf ball.

[0105] Therefore, the effective radius can be determined by the sensing device after it has been specifically designed or manufactured and conditions such as the height and beam width of the light beam have been determined, and then measured in advance. The effective radius value that has been measured and determined in advance can then be set in the control unit and used to calculate the movement characteristics of the golf ball.

[0106] Furthermore, even with sensing devices under the same conditions, the effective radius can vary depending on the shape of the dimples formed on the surface of the golf ball. Therefore, the control unit of a sensing device according to one embodiment of the present invention can pre-measure the effective radius for each golf ball manufacturer or brand, and set each of these values ​​as the effective radius for that type of golf ball. When a user putts using the sensing device, the control unit can confirm the manufacturer or brand of the golf ball the user is using for putting (the user can also pre-input and set the manufacturer or brand of the golf ball they are using, or this can be detected by a separate sensor), and calculate the golf ball's movement characteristics information by applying the pre-set effective radius to the confirmed golf ball.

[0107] Furthermore, as golf balls are used repeatedly, the dimples may wear down or foreign matter may accumulate, which can change the effective radius of both new and used golf balls.

[0108] Therefore, the control unit of the sensing device according to one embodiment of the present invention can distinguish between the effective radius for a new golf ball and the effective radius for a used golf ball, measure and set each in advance, and when a user putts using the sensing device, the control unit can check whether the golf ball the user is using for putting is a new golf ball or a used golf ball (this can be set in advance by the user, or it can be sensed by a separate sensor), and calculate the movement characteristic information of the golf ball by applying the preset effective radius to the confirmed golf ball.

[0109] As shown in Figures 5(a) and 5(b), the point at which the golf ball begins to block the light beam as it moves, and the point at which it finally blocks the beam, can be considered to be the point at which the effective circle with the effective radius comes into contact with the light ray, respectively.

[0110] Figure 6 shows the state in which the golf ball shown in Figure 3 is sensed by each light beam, using the effective circle determined by the effective radius when the golf ball blocks each light beam according to the sensing conditions. In Figure 6, E1i, E1o, Ex1i, Ex1o, Ex2i, Ex2o, E2i, and E2o each represent the effective circle determined by the set effective radius.

[0111] In Figure 3, when the golf balls are located at positions B1i, B1o, Bx1i, Bx1o, Bx2i, Bx2o, B2i, and B2o respectively, they correspond to the effective circles defined by the effective radius, as shown in Figure 6, E1i, E1o, Ex1i, Ex1o, Ex2i, Ex2o, E2i, and E2o, respectively.

[0112] In other words, E1i is the effective circle at the first entry point S1i, E1o is the effective circle at the first exit point Sio, Ex1i is the effective circle at the first crossing entry point X1i, Ex1o is the effective circle at the first crossing exit point X1o, Ex2i is the effective circle at the second crossing entry point X2i, Ex2o is the effective circle at the second crossing exit point X2o, E2i is the effective circle at the second entry point S2i, and E2o is the effective circle at the second exit point S2o.

[0113] Furthermore, each of the aforementioned effective circles has the same effective radius and is the same size, each effective circle is tangent to the light rays of each light beam, and the center point of each effective circle is the same as the center point of a golf ball.

[0114] In this way, by measuring the time data for the entry and exit points of each light beam and displaying the effective circles along the direction of the golf ball's movement, it is possible to derive an equation that, based on this, can calculate golf ball movement information such as the direction of movement and velocity of the golf ball starting from an arbitrary position, through geometric analysis.

[0115] Figures 7 and 8 show the light beams between the light-emitting end and the light-receiving end of a golf ball sensing device according to one embodiment of the present invention, simplified into light rays, and illustrating the situation when the golf ball blocks each light beam according to the sensing conditions using an effective circle with an effective radius, in a state that allows for geometric analysis.

[0116] Figure 7 shows the position of the golf ball at the entry and exit points of each light beam as the golf ball moves in the direction of impact, with the effective circle tangent to each light ray. Figure 8 shows a configuration that facilitates geometric analysis using the effective circle for intersecting light beams.

[0117] As shown in Figures 7 and 8, the first light beam L1 can be simplified to the first ray IL1, the second light beam L2 to the second ray IL2, the first intersecting light beam LX1 to the first intersecting ray ILX1, and the second intersecting light beam LX2 to the second intersecting ray ILX2.

[0118] 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 respect to the median line aL, are values ​​that were set in advance when the light-emitting and light-receiving ends of the sensing device were installed, and are therefore already known values.

[0119] The first entry point S1i, when the effective circle touches one side of the first ray IL1; the first exit point S1o, when the effective circle touches the other side of the first ray IL1; the first crossing entry point X1i, when the effective circle touches one side of the first crossing ray ILX1; the first crossing exit point X1o, when the effective circle touches the other side of the first crossing ray ILX1; the second crossing entry point X2i, when the effective circle touches one side of the second crossing ray ILX2; the second crossing exit point X2o, when the effective circle touches the other side of the second crossing ray ILX2; the second entry point S2i, when the effective circle touches one side of the second ray IL2; and the second exit point S2o, when the effective circle touches the other side of the second ray IL2, are values ​​measured using a light-receiving unit.

[0120] The S-system sensing data for S1i, S1o, S2i, and S2o are values ​​measured by linear light rays from the emitter to the receiver, while the X-system sensing data for X1i, X1o, X2i, and X2o are values ​​measured by light rays formed in an X shape. The reason for distinguishing between the S-system and the X-system is that the characteristics of the two systems are different.

[0121] As the golf ball passes through each light beam, the first and second rays are vertical sensing lines. Therefore, if, for example, a golf ball is struck at an arbitrary position and takes a long time to travel, it is impossible to determine whether the long travel time is due to the golf ball's slow speed or the large angle of motion of the golf ball.

[0122] Therefore, by using an X-shaped intersecting beam of light, we can establish an equation related to the direction angle due to the movement of a golf ball starting from an arbitrary position, and by substituting the velocity-related term of this equation into an equation based on S-system data, we can create conditions under which both direction and velocity can be calculated.

[0123] As shown in Figure 7, if we define the direction to the right of the target point to which the golf ball is moving as the positive direction and set the direction angle θ, the distance the golf ball's effective circle travels from time X1i, when it enters the first intersecting ray ILX1 (touching one side), until time X1o, when it exits the first intersecting ray ILX1 (touching 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).

[0124] In Figure 8, 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 of each hypotenuse, l1, of triangle tc1 or triangle tc2, which includes the effective radius. Using the effective radius r of the golf ball, the direction angle θ, and the installation angle SA of the intersecting light-emitting and intersecting light-receiving parts, l1 can be expressed as shown in the following mathematical formula 1.

[0125] [Mathematical formula 1]

number

[0126] Similarly, in Figure 8, 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 of each hypotenuse, l2, of triangle td1 or triangle td2, which contains the effective radius. Expressing l2 using the effective radius r of the golf ball, the direction angle θ, and the installation angle SA of the intersecting light-emitting and intersecting light-receiving parts, we get the following mathematical equation 2.

[0127] [Mathematical formula 2]

number

[0128] The length from the center of the effective circle at time X1i to the center of the effective circle at time X1o (the length of the hypotenuse of triangle tx1) is twice l1, and the length from the center of the effective circle at time X2i to the center of the effective circle at time X2o (the length of the hypotenuse of triangle tx2) is twice l2. This interval is the sensing interval. The sensing interval can be expressed again using the speed of the golf ball and the sensing gun as shown in mathematical equation 3 below.

[0129] [Mathematical formula 3]

number

[0130]

number

[0131] On the other hand, in Figure 7, the time-series information S1i, S1o, S2i, and S2o, which are measured while the golf ball is passing through the first ray IL1 and the second ray IL2, respectively, can also be summarized by equations relating to the velocity and direction angle of the golf ball.

[0132] However, in this case, as the golf ball moves from the first ray IL1 to the second ray IL2, the velocity value decreases due to friction with the bottom surface. Therefore, there may be errors in the velocity calculated using the entry and exit points measured when passing through the first ray (velocity using equation S1) and the velocity calculated using the entry and exit points measured when passing through the second ray (velocity using equation S2).

[0133] The equations for the velocity relationship using equation S1 and the velocity relationship using equation S2 can be shown in the following mathematical equation 4.

[0134] [Mathematical formula 4]

number

[0135]

number

[0136] In order to solve the problem that the result of calculating the direction angle of movement of a golf ball will differ depending on whether the speed of the golf ball is calculated using equation S1 or equation S2 when substituting the golf ball's speed, it is preferable to express the speed of the golf ball using an equation that uses the time points S1i and S2i, the time points S2o and S2o, and the sensor interval d, and to calculate and use a speed that represents the entire section. For this purpose, the speed of the golf ball can be expressed using both equations of mathematical equation 4 as shown in mathematical equation 5 below.

[0137] [Mathematical formula 5]

number

[0138] Substituting the above mathematical formula 5 into the above mathematical formula 3 and summarizing, we can obtain the following mathematical formula 6.

[0139] [Mathematical formula 6]

number

[0140]

number

[0141] Combining the two equations in the aforementioned mathematical formula 6, we can obtain the following mathematical formula 7.

[0142] [Mathematical formula 7]

number

[0143]

number

[0144] Looking at the aforementioned mathematical formula 7, SA, which is included as angular information in the cosine function, is the angle formed by the first intersecting ray ILX1 and the second intersecting ray ILX2 with respect to the median line aL, as shown in Figures 7 and 8. This value is already known because it is a value that was set in advance when the light-emitting and light-receiving ends of the sensing device were installed.

[0145] However, since the direction angle θ of the golf ball's movement is a value that needs to be calculated, it is necessary to separate the direction angle θ from the known values ​​of the S system data, X system data, effective radius r, and SA angle value.

[0146] By separating the direction angle θ using trigonometric functions in the above mathematical equation 7, we can obtain the following mathematical equation 8.

[0147] [Mathematical formula 8]

number

[0148]

number

[0149] To simplify the above mathematical formula 8, by substituting r(S2i+S2o-S1i-S1o) with R, d(X1o-X1i) with D1, and d(X2o-X2i) with D2, we can obtain the following mathematical formula 9. Here, R, D1, and D2 are all values ​​that can be easily calculated using known values.

[0150] [Mathematical formula 9]

number

[0151]

number

[0152] Here, in order to calculate sinθ and cosθ simultaneously, we further substitute cosθ with x and perform a complete squaring operation to combine the results, which can be shown in the following mathematical formula 10.

[0153] [Mathematical formula 10]

number

[0154] Here,

number

[0155] [Mathematical formula 11]

number

[0156] In the aforementioned mathematical formula 11, both the K value and SA value are known values, so we can use them to calculate the direction angle θ. Here, since the range of θ is within ±90°, we can see that x = cosθ is a positive number.

[0157] By calculating the direction angle θ using the aforementioned mathematical formula 11 and substituting it into the aforementioned mathematical formula 5, the velocity v value of the golf ball can also be calculated.

[0158] Therefore, by using the aforementioned equations established through data measured during the movement of the golf ball and their geometrical interpretation, it is possible to calculate the physical quantities of the golf ball's movement, including the direction angle θ and velocity v, regardless of the golf ball's initial position, starting from any given position.

[0159] The information on the physical quantities of golf ball movement calculated using the method described above is calculated assuming that the golf ball moves at a constant velocity, ignoring the effect of damping due to friction during its movement. However, it is a fact that there can be a large or small error between the speed of the moving golf ball when it passes the first ray (first velocity) and the speed when it passes the second ray (second velocity). Therefore, by separately calculating information on the velocity damping of the golf ball and considering this damping, and by establishing a calculation formula using the accurate current speed corresponding to a section that is not the average speed representing the whole, it is possible to obtain a more accurate directional angle and the speed as close as possible to the starting point, and provide physical quantities that match the simulation conditions for the actual movement of the golf ball that the user is trying to understand.

[0160] As described above, the difference between the first and second velocities due to the damping effect of friction during the movement of the golf ball can be considered as the golf ball undergoing uniform deceleration motion, that is, uniformly accelerated motion with negative acceleration.

[0161] The calculation of the physical quantities of motion due to the uniformly accelerated motion of a golf ball will be explained with reference to Figures 9 and 10.

[0162] Figures 9 and 10, similar to Figures 7 and 8 described above, simplify the light beams between the light-emitting end and the light-receiving end of a golf ball sensing device according to one embodiment of the present invention into light rays, and show the situation when the golf ball blocks each light beam according to the sensing conditions, using effective circles with effective radii, in a state that allows for geometric analysis.

[0163] Figure 9 shows the position of the golf ball at the entry and exit points of each light beam as the golf ball moves in the direction of impact, with the effective circle touching each ray. Figure 10(a) shows the golf ball positioned midway between the entry and exit points of each light beam in the state shown in Figure 9, and Figure 10(b) shows a magnified view of the intersecting light beams that the golf ball passes through in Figure 10(a).

[0164] 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 respect to the median line aL, are values ​​that are already known, as they are set in advance when the light-emitting and light-receiving ends of the sensing device are installed.

[0165] Even considering the attenuation of the golf ball's velocity due to ground friction caused by its uniformly accelerated motion, the interval between the entry and exit points for a single light beam is very short, so the effect of velocity attenuation in that interval is very small. Therefore, as shown in Figure 10(a), representing the golf ball as being located at an intermediate point between the entry and exit points when passing through the light beam has almost no effect on the calculation results of the physical quantities.

[0166] As shown in Figure 10(a), S1 represents the intermediate time between the first entry time S1i and the first exit time S1o, X1 represents the intermediate time between the first crossing entry time X1i and the first crossing exit time X1o, X2 represents the intermediate time between the second crossing entry time X2i and the second crossing exit time X2o, and S2 represents the intermediate time between the second entry time S2i and the second exit time S2o. These S1, X1, X2, and S2 can be determined.

[0167] In Figure 10(a), if we let θ be the direction angle of the golf ball's movement and v1 be the horizontal velocity HD in the first ray IL1, then the velocity of the golf ball passing through the first ray IL1 can be expressed as v1cosθ. If we let v2 be the horizontal velocity of the golf ball in the second ray IL2, then the velocity of the golf ball passing through the second ray IL2 can be expressed as v2cosθ.

[0168] The speed and direction angle of the aforementioned golf ball can be summarized by the following mathematical formula 12.

[0169] [Mathematical formula 12]

number

[0170]

number

[0171] Here, l is the distance l between the center points of the golf ball between the entry point S1i and exit point S1o of the first ray IL1, as shown in Figure 8(a). Similarly, the distance l between the center points of the golf ball between the entry point S2i and exit point S2o of the second ray IL2 is also the same.

[0172] Since the golf ball undergoes constant deceleration motion from the first ray IL1 to the second ray IL2, it can be expressed in the form v2 = v1 + aΔt. Here, Δt = S2 - S1, from which we can find the deceleration value a, that is, the negative acceleration value, due to the golf ball moving from the first ray IL1 to the second ray IL2.

[0173] On the other hand, to calculate the direction angle θ, the rays of the intersecting light beams can be used, and this can be calculated by geometric interpretation as shown in Figure 8(c).

[0174] In Figure 10(b), the dotted line labeled aL represents the midpoint between the first intersecting ray ILX1 and the second intersecting ray ILX2. Let tm be the time when a golf ball undergoing uniform acceleration is located on the midpoint line aL, which is midway between time X1 when it passes the first intersecting ray ILX1 and time X2 when it passes the second intersecting ray ILX2. First, we will find tm.

[0175] The distance d traveled at an equivalent velocity along the horizontal direction HD from time S1 to time S2 can be expressed as shown in the following mathematical equation 13, taking into account the velocity v1 and acceleration in the first ray IL1.

[0176] [Mathematical formula 13]

number

[0177] Therefore, since the distance from the first ray IL1 to the median line aL is half of d, using the above mathematical formula 13,

number

[0178] In other words,

number

[0179] In Figure 10(b), when considering a right triangle whose hypotenuse is the length corresponding to the direction BD of the golf ball between the first intersecting ray ILX1 and the second intersecting ray ILX2, 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 horizontal side lengths of the right triangle are divided by the median line aL, with the length on the left being represented as p and the length on the right as q.

[0180] Using the values ​​at time X1 and time X2, the lengths of p and q can be expressed as shown in the following mathematical formula 14, respectively, by the mathematical formula 13.

[0181] [Mathematical formula 14]

number

[0182]

number

[0183] Here, 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. Here, Vx1 and Vx2 can be transformed into an equation for v1 using v2 = v1 + aΔt, so the only unknown value in the above mathematical equation 14 is the cosθ part.

[0184] This can be shown using trigonometric functions in the right triangle shown in Figure 10(b).

number

number

[0185] [Mathematical formula 15]

number

[0186] Here, if we substitute cosθ with x, then tanθ =

number

[0187] Therefore, as described above, even in the case of uniformly accelerated motion in which a golf ball decelerates while moving, the physical quantities of the golf ball's movement, including the direction angle and initial velocity, can be calculated using data measured as it passes through each light beam.

[0188] As described above, the optical sensing type golf ball sensing device and sensing method according to the present invention have the features and advantages of being able to calculate the physical quantity information of the moving golf ball even if the golf ball starts from an arbitrary initial position, by using an optical sensing type sensing device installed on the movement path of a golf ball that is moved by a golf putt, and by using only sensing data that can be detected when light passes between multiple light-emitting and light-receiving units without adding any additional equipment, and by being able to calculate all the physical quantity information of the moving golf ball, such as velocity and direction angle information, not only when the golf ball is moving at a constant velocity, but also when the golf ball is moving at a constant acceleration due to friction with the bottom surface. [Industrial applicability]

[0189] The optical sensing type golf ball sensing device and sensing method according to the present invention can be used in fields related to golf analysis, particularly during putting, by analyzing golf balls struck by a putter, and in fields related to virtual golf simulations such as so-called screen golf.

Claims

1. A light-emitting end is provided on one side of the path through which a golf ball is struck at an arbitrary initial position and travels, and is configured such that multiple light-emitting parts each emit a light beam toward the other side, A light-receiving end is provided on the other side and includes a plurality of light-receiving units that each receive the light beam emitted by each of the plurality of light-emitting units, A control unit calculates information on the movement characteristics of a golf ball that starts from an arbitrary initial position, by collecting sensing data of the time when the golf ball begins to block each of the light beams that each of the multiple light-emitting units irradiates onto each of the multiple light-receiving units as the golf ball passes through the beam, and the time when the golf ball finally blocks each of the light beams. A golf ball sensing device using an optical sensing method, including [specific feature].

2. The control unit, When the moving golf ball enters the light beam received by the light receiving unit, the distance from the center of the golf ball to the light beam received by the light receiving unit is set as the effective radius at the point when the sensing conditions for the light receiving unit to detect the golf ball are met. The optical sensing method golf ball sensing device according to claim 1, wherein the golf ball is detected at the point when the effective circle having the effective radius touches the light beam.

3. The light-emitting end includes a first light-emitting section and a second light-emitting section that emit light substantially in parallel, and a first intersecting light-emitting section and a second intersecting light-emitting section provided between the first light-emitting section and the second light-emitting section, which emit light in an X shape, respectively. The light-receiving end includes a first light-receiving unit for receiving light from the first light-emitting unit, a second light-receiving unit for receiving light from the second light-emitting unit, a first cross-light-receiving unit for receiving light from the first cross-light-emitting unit, and a second cross-light-receiving unit for receiving light from the second cross-light-emitting unit, wherein the light-receiving end includes a first light-receiving unit for receiving light from the first light-emitting unit, a golf ball sensing device using an optical sensing method according to claim 1 or 2.

4. The light beam passing through the golf ball includes a first light beam irradiated from the first light-emitting unit to the first light-receiving unit, a second light beam irradiated from the second light-emitting unit to the second light-receiving unit, a first crossing light beam irradiated from the first crossing light-emitting unit to the first crossing light-receiving unit, and a second crossing light beam irradiated from the second crossing light-emitting unit to the second crossing light-receiving unit. The optical sensing type golf ball sensing device according to claim 3, wherein each of the first light beam and the second light beam and the first intersecting light beam and the second intersecting light beam are formed to have a predetermined beam width by the structure of the light-emitting end and the light-receiving end.

5. The control unit, A first entry point is the time when the golf ball begins to block the first light beam, and a first exit point is the time when the golf ball finally blocks the first light beam. The first crossing entry point is the point in time when the golf ball begins to block the first crossing light beam, and the first crossing exit point is the point in time when the golf ball finally blocks the first crossing light beam. The second crossing entry point is the point in time when the golf ball begins to block the second crossing light beam, and the second crossing exit point is the point in time when the golf ball finally blocks the second crossing light beam. The optical sensing type golf ball sensing device according to claim 4, configured to calculate the direction angle and velocity of the golf ball as it departs and moves from an arbitrary initial position by measuring a second entry point, which is the point in time when the golf ball begins to block the second light beam, and a second exit point, which is the point in time when the golf ball last blocks the second light beam.

6. The optical sensing type golf ball sensing device according to claim 4, wherein the control unit is configured to calculate deceleration information due to the movement of the golf ball, which is the difference between a first velocity at the first entry point and first exit point when the golf ball passes through the first light beam and a second velocity at the second entry point and second exit point when the golf ball passes through the second light beam after passing through the first light beam, using the sensing data.

7. The control unit calculates the time when the golf ball begins to block the light beam as the time when the effective circle having the effective radius touches one side of the light beam, and calculates the time when the golf ball finally blocks the light beam as the time when the effective circle touches the other side of the light beam, thereby calculating the movement characteristic information of the golf ball, as described in claim 2.

8. The light beams irradiated from the plurality of light-emitting units to the plurality of light-receiving units are A first light beam and a second light beam are formed perpendicular to the light-receiving end and parallel to each other, A golf ball sensing device using an optical sensing method according to claim 2, comprising a first intersecting optical beam and a second intersecting optical beam formed in an X shape between the first optical beam and the second optical beam, extending from the light-emitting end to the light-receiving end.

9. The control unit, A first entry point is the time when the effective circle having the effective radius touches one side of the first light beam, and a first exit point is the time when the effective circle touches the other side of the first light beam. The first crossing entry point is the time when the effective circle touches one side of the first intersecting light beam, and the first crossing exit point is the time when the effective circle touches the other side of the first intersecting light beam. The second crossing entry point is the time when the effective circle touches one side of the second crossing light beam, and the second crossing exit point is the time when the effective circle touches the other side of the second crossing light beam, The optical sensing type golf ball sensing device according to claim 8, configured to calculate the direction angle and velocity of the golf ball as it departs and moves from an arbitrary initial position by measuring a second entry point, which is the time when the effective circle touches one side of the second light beam, and a second exit point, which is the time when the effective circle touches the other side of the second light beam.

10. The optical sensing type golf ball sensing device according to claim 9, wherein the control unit is configured to calculate deceleration information due to the movement of the golf ball, which is the difference between a first velocity at the first entry point and first exit point when the golf ball passes through the first light beam and a second velocity at the second entry point and second exit point when the golf ball passes through the second light beam after passing through the first light beam, using the sensing data.

11. A sensing method for an optical sensing type golf ball sensing device, wherein a golf ball is struck at an arbitrary initial position, and multiple light-emitting units each emit light on one side of the path it moves, and multiple light-receiving units each receive the light on the other side, and a control unit senses the movement of the golf ball based on the sensing results of each of the multiple light-receiving units, The golf ball comprises the step of each of the multiple light-receiving units receiving each of the light beams emitted by each of the multiple light-emitting units, The steps include measuring the time when the golf ball begins to block each light beam and the time when it finally blocks each light beam as it moves, The steps include: collecting the measured time points as sensing data and calculating information on the movement characteristics of a golf ball that starts from an arbitrary initial position and moves; A sensing method for a golf ball sensing device using an optical sensing method, including the above.

12. Prior to the step of measuring the point in time when the golf ball begins to block each light beam and the point in time when it finally blocks them, A sensing method for a golf ball sensing device using an optical sensing method according to claim 11, comprising the step of setting 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 point when the sensing conditions for the light receiving unit to sense the golf ball are met when the moving golf ball enters the light beam received by the light receiving unit.

13. The step of measuring the point in time when the golf ball begins to block each light beam and the point in time when it finally blocks each beam is: A sensing method for a golf ball sensing device using an optical sensing method according to claim 12, comprising the steps of calculating the time when the golf ball begins to block each light beam as the time when the effective circle having the effective radius touches one side of the light beam, and calculating the time when the golf ball finally blocks each light beam as the time when the effective circle touches the other side of the light beam.

14. The light beams irradiated from the plurality of light-emitting units to the plurality of light-receiving units include a first light beam and a second light beam formed perpendicular to and parallel to each other 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 between the first light beam and the second light beam from the light-emitting end to the light-receiving end. The step of measuring the point in time when the golf ball begins to block each light beam and the point in time when it finally blocks each beam is: A sensing method for an optical sensing type golf ball sensing device according to claim 12, comprising the steps of measuring a first entry time, which is the time when an effective circle having the effective radius touches one side of the first light beam; a first exit time, which is the time when the effective circle touches the other side of the first light beam; a first crossing entry time, which is the time when the effective circle touches one side of the first crossing light beam; a first crossing exit time, which is the time when the effective circle touches the other side of the first crossing light beam; a second crossing entry time, which is the time when the effective circle touches one side of the second crossing light beam; a second crossing exit time, which is the time when the effective circle touches the other side of the second crossing light beam; a second entry time, which is the time when the effective circle touches one side of the second light beam; and a second exit time, which is the time when the effective circle touches the other side of the second light beam.

15. A sensing method for an optical sensing type golf ball sensing device according to claim 14, further comprising the step of calculating deceleration information due to the movement of the golf ball, based on the difference between a first velocity at the first entry point and first exit point when the golf ball passes through the first light beam and a second velocity at the second entry point and second exit point when the golf ball passes through the second light beam after passing through the first light beam, using the sensing data.

Images