Ball launch analysis device and ball launch analysis method

Abstract

The placement determination control unit 103 uses the left and right cameras to determine whether or not the ball has been placed in either the left trigger area of ​​the left shooting area or the right trigger area of ​​the right shooting area. When the ball has been placed in either the left trigger area or the right trigger area, the appearance determination control unit 104 uses an infrared sensor corresponding to the camera of the placement trigger area in which the ball is placed to determine whether or not an object has appeared in the placement detection area including the placement trigger area. When an object appears in the placement detection area, the disappearance determination control unit 105 determines whether or not the ball has disappeared from the placement detection area. When the ball has disappeared in the placement detection area, the next appearance determination control unit 106 uses an infrared sensor corresponding to a launch detection area adjacent to the placement detection area to determine whether or not the ball has appeared in the launch detection area.

Description

[Technical field]

[0001] The present invention relates to a ball launch analysis device and a ball launch analysis method. [Background technology]

[0002] Conventionally, there are many types of technologies related to analysis devices for when a ball such as a golf ball is hit with a club. For example, JP-A-2005-529339 (Patent Document 1) discloses a method for determining parameters of a moving golf ball. This method has 11 steps and uses images of the golf ball taken by a camera to determine parameters related to the rotation of the golf ball. This is said to be able to capture all the information necessary to establish the characteristics of the golf ball during flight in three dimensions.

[0003] Furthermore, JP2015-512660A (Patent Document 2) discloses a device for measuring a golf club head having a club face. This device includes a marker and a camera, and calculates the position of the club head during a swing based on the three-dimensional positions of the markers. This allows for easy installation, does not require calibration, and does not adversely affect the golfer's swing.

[0004] In addition, JP2019-536064A (Patent Document 3) discloses a golf ball launch monitor used with an alignment stick. The monitor includes an initial position, two sensors, and a processor, and the two sensors are configured to capture an image of the alignment stick and transmit the image to the processor. The monitor calculates an azimuth adjustment correction value based on the intersection point and the initial position. This allows the monitor to use the azimuth adjustment correction value as part of a calculation to obtain a more accurate ball flight trajectory, thereby enabling a user to easily and accurately adjust the position of the golf ball launch monitor.

[0005] In addition, JP 2020-071228 A (Patent Document 4) discloses a method for calculating the motion trajectory of a subject. This method includes an image acquisition step and a motion trajectory calculation step, and the image acquisition step acquires at least three images of the subject using one video module. The three images are then used to calculate the motion trajectory of the golf ball. This makes it possible to simply and accurately calculate the motion trajectory of the golf ball even when using only one camera.

[0006] In addition, JP 2020-078069 A (Patent Document 5) discloses a method for supporting the filming of a golf swing. In this method, a user's golf swing is filmed by a filming module of a user device. This makes it possible to provide high-quality golf swing images for golfers without installing a separate expensive filming module in a conventional golf simulation system.

[0007] In addition, JP 2020-095019 A (Patent Document 6) discloses a method for measuring the rotation of a ball. This method uses a plurality of images of a ball hit by a user to estimate a physical quantity related to the rotation of the ball based on a physical quantity related to at least one of the speed and angle of the ball or the club hitting the ball. This makes it possible to more accurately estimate the trajectory of the ball.

[0008] In addition, JP2021-507426A (Patent Document 7) discloses a ball tracking system including a display, a sensor, a launch monitor, and a processor. The system morphs a predicted ball flight path using an observed ball flight path and a landing position associated with the closest matching distance, and transmits a video rendering based on the morphed ball flight path to a display. This allows the system to command a visual effect downrange when a golfer successfully hits a target.

[0009] In addition, JP2022-520507A (Patent Document 8) discloses a method for measuring a physical quantity related to a golf club. This method detects a first marker and a second marker of different shapes from at least one image of a golf club head that is the subject of physical quantity measurement. This method measures the physical quantity related to the golf club by referring to the attributes of the target area identified based on the first marker and the second marker. This makes it possible to accurately measure the physical quantity related to the golf club with only two markers.

[0010] In addition, JP2022-520681A (Patent Document 9) discloses a method for measuring the rotation of a ball. In this method, a plurality of dimples are detected from each of a plurality of images of a ball to be measured for physical quantity. In this method, the physical quantity related to the rotation of the ball is measured by referring to the association between the attributes of the plurality of dimples detected from the first image and the attributes of the plurality of dimples detected from the second image among the plurality of images. As a result, it is possible to analyze the dimples shown across a plurality of ball images and easily and accurately measure the physical quantity related to the rotation of the ball.

[0011] In addition, JP2023-548132A (Patent Document 10) discloses a method for supporting a virtual golf simulation. This method includes a first imaging module and a second imaging module, and determines information about the motion trajectory of a subject in a display area by referring to the positional relationship. This method is said to increase the sense of reality, presence, and immersion of a golfer experiencing virtual golf.

[0012] Meanwhile, the present applicant has filed applications and obtained rights for the inventions shown in the following patent documents. For example, JP 2017-169950 A (Patent Document 11) discloses a flying ball detection device and a flying ball detection method for detecting flying balls. This flying ball detection device includes a ball presence determination unit, a first object appearance determination unit, a ball disappearance determination unit, and a flying ball detection unit, and uses infrared rays. This makes it possible to detect flying balls with high accuracy.

[0013] In addition, JP 2018-205074 A (Patent Document 12) discloses a flight parameter measurement device and a flight parameter measurement method. The flight parameter measurement device includes an image capture unit, an image matching unit, a 3D model construction unit, a virtual rotation unit, a registered image generation unit, a difference calculation unit, and a rotation parameter determination unit, and uses images captured by a camera. This makes it possible to measure the flight parameters of a ball with high accuracy using a simple image processing method.

[0014] In addition, JP 2021-071387 A (Patent Document 13) discloses a ball tracking device and a ball tracking method. The ball tracking device includes an image capture control unit, a detection control unit, a calculation control unit, a prediction control unit, a conversion control unit, an acquisition control unit, a correction control unit, and a repetition control unit, and uses images captured by a camera. This makes it possible to calculate the trajectory of the flying ball after it has been hit with high accuracy. [Prior art documents] [Patent documents]

[0015] [Patent Document 1] Special Publication No. 2005-529339 [Patent Document 2] Special Publication No. 2015-512660 [Patent Document 3] Special Publication No. 2019-536064 [Patent Document 4] JP 2020-071228 A [Patent Document 5] JP 2020-078069 A [Patent Document 6] JP 2020-095019 A [Patent Document 7] Special Publication No. 2021-507426 [Patent Document 8] Special Publication No. 2022-520507 [Patent Document 9] Special Publication No. 2022-520681 [Patent Document 10] Special Publication No. 2023-548132 [Patent Document 11] JP 2017-169950 A [Patent Document 12] JP 2018-205074 A [Patent Document 13] Patent Publication No. 2021-071387 Summary of the Invention [Problem to be solved by the invention]

[0016] In recent years, devices such as infrared sensors and cameras have become readily available, and progress is being made in the development of machines that use these devices to perform with high precision everything from when a player hits a ball to analyzing the flight parameters of the ball.

[0017] Here, although the infrared sensor can detect the appearance of the club and the disappearance of the ball with high accuracy when the ball is launched, it has a problem that it is vulnerable to external noise and is prone to false detection. On the other hand, although the camera can accurately capture the placement position of the ball due to its wide viewing angle, in order to capture the moment when the ball is launched, it is necessary to continuously capture the camera at all times after the ball is placed. And, in order to properly capture the moment when the ball is launched, it is necessary to use a high-performance camera that allows high-speed continuous shooting, which is costly. In addition, continuous shooting with a camera requires a huge data capacity, and in reality, it is sufficient for the camera to continuously capture the moment when the ball is launched, but in order to capture that moment, the camera needs to continuously capture the state even when the player is practicing, which is an inefficient problem.

[0018] The techniques described in the above Patent Documents 1-10 and 12-13 use cameras and have the same problems as those described above. Also, the above Patent Document 11 uses an infrared sensor and has the same problems as those described above.

[0019] Therefore, the present invention has been made to solve the above-mentioned problems, and aims to provide a ball launch analysis device and a ball launch analysis method that are capable of performing operations from the launch of a ball to the analysis of the flight parameters of the ball with high accuracy by appropriately combining an infrared sensor and a camera. [Means for solving the problem]

[0020] The ball launch analysis device according to the present invention includes left and right infrared sensors, left and right cameras, a placement determination control unit, an appearance determination control unit, a disappearance determination control unit, a next appearance determination control unit, a signal transmission control unit, a photographing control unit, and a calculation control unit. The left and right infrared sensors are provided on the left and right sides of the device, respectively, and are capable of detecting a left detection area and a right detection area, respectively, and the left detection area and the right detection area are adjacent to each other and do not overlap. The left and right cameras are provided on the left and right sides of the device, respectively, and are capable of photographing a left photographing area and a right photographing area including the left detection area and the right detection area, respectively, and the left photographing area and the right photographing area overlap each other. The placement determination control unit uses the left and right cameras to determine whether or not a ball has been placed in either a left trigger area that is preset in the left detection area of ​​the left photographing area, or a right trigger area that is preset in the left detection area of ​​the right photographing area. When the ball is placed in either the left trigger area or the right trigger area, the appearance determination control unit uses an infrared sensor corresponding to the camera of the placement trigger area where the ball is placed to determine whether an object has appeared in the placement detection area including the placement trigger area. When an object appears in the placement detection area, the disappearance determination control unit uses an infrared sensor corresponding to the placement detection area to determine whether the ball has disappeared from the placement detection area. When the ball has disappeared in the placement detection area, the next appearance determination control unit uses an infrared sensor corresponding to a launch detection area adjacent to the placement detection area to determine whether the ball has appeared in the launch detection area. When the ball has appeared in the launch detection area, the signal transmission control unit transmits a trigger signal. When the trigger signal is transmitted, the photographing control unit uses the left and right cameras to continuously photograph the ball in the left and right photographing areas. The calculation control unit calculates flight parameters of the ball based on ball images of the ball continuously photographed by the left and right cameras.

[0021] In addition, the ball launch analysis method of the present invention is a ball launch analysis method of a ball launch analysis device equipped with left and right infrared sensors and left and right cameras, and each control process of the ball launch analysis method of the present invention, namely, the installation determination control process, the appearance determination control process, the disappearance determination control process, the next appearance determination control process, the signal transmission control process, the photography control process, and the calculation control process, corresponds to each control unit of the ball launch analysis device of the present invention. Effect of the Invention

[0022] According to the present invention, by appropriately combining an infrared sensor and a camera, it is possible to perform operations from launching a ball to analyzing the flight parameters of the ball with high accuracy. [Brief description of the drawings]

[0023] [Figure 1] FIG. 1A is a schematic diagram showing an example of a player swinging with the ball launch analysis device of the present invention, and FIG. 1B is a schematic diagram showing an example of a player swinging with the ball launch analysis device of the present invention. [Diagram 2] 1 is a schematic diagram showing an example of a specific configuration of a ball launch analysis device according to the present invention. [Diagram 3] 1 is a functional block diagram of a ball launch analysis device according to the present invention. [Figure 4] 4 is a flowchart showing an execution procedure of the ball launch analysis device according to the present invention. [Diagram 5] FIG. 5A is a schematic diagram showing an example of when the left and right cameras of the ball launch analysis device of the present invention are activated, and FIG. 5B is a diagram showing an example of when the ball image is identified from the left and right images taken by the left and right cameras. [Figure 6] FIG. 6A is a schematic diagram showing an example of a case where a player places the ball in the tee area in the ball launch analysis device of the present invention, and FIG. 6B is a diagram showing an example of a case where the ball image enters the right trigger area in the right captured image. [Figure 7]FIG. 7A shows an example of a conceptual diagram illustrating a captured image in which a ball launch prediction area is set and the relationship between the camera coordinate system and the world coordinate system, and FIG. 7B is a schematic diagram illustrating an example of an infrared detection state in a ball launch analysis device according to the present invention. [Figure 8] FIG. 8A shows an example of a ball launch analysis device according to the present invention before a club appears in the right detection area, and FIG. 8B shows an example of a case where a club has appeared in the right detection area. [Figure 9] FIG. 9A is a schematic diagram showing an example of a case where a player takes a practice swing in the ball launch analysis device of the present invention, and FIG. 9B is a diagram showing an example of a case where the ball has disappeared from the right detection area. [Figure 10] FIG. 10A is a schematic diagram showing an example of a case where the ball does not fly in the launch direction in the ball launch analysis device of the present invention, and FIG. 10B is a diagram showing an example of a case where the ball flies forward in the launch direction. [Figure 11] FIG. 11A is a schematic diagram showing an example of continuous photographing in response to the transmission of a trigger signal in the ball launch analysis device of the present invention, and FIG. 11B is a schematic diagram showing an example of a case in which the ball is photographed by the right camera at a first time and by the left camera at a second time. [Figure 12] FIG. 12A shows an example of calculating flight parameters from ball speed to side angle from ball images taken at two different times, and FIG. 12B shows an example of calculating flight parameters of backspin and sidespin from ball images taken at two different times. [Figure 13] FIG. 13A shows an example of capturing two images at different times using the same camera, and FIG. 13B shows an example of identifying a first ball image at a first time using a ball launch prediction area, and calculating flight parameters using the center coordinates of the ball in the world coordinate system at the time of placement. [Figure 14]FIG. 13 is a diagram showing an example of a case in which flight parameters and a swing video are displayed in the ball launch analysis device according to the present invention. [Figure 15] In an embodiment, this figure shows an example of an image of the ball photographed by the right camera at a first time, an image of the ball photographed by the left camera at a second time, and an example of an image photographed when a ball launch prediction area is set at the time of placement. [Figure 16] In an embodiment, this figure shows an example of an image of the ball photographed by the left and right cameras at the time of installation, an image of the ball photographed by the right camera at a first time, and an image of the ball photographed by the left camera at a second time. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings to facilitate understanding of the present invention. Note that the following embodiment is an example of the present invention and is not intended to limit the technical scope of the present invention.

[0025] 1A, a ball launch analysis device 1 according to the present invention is installed on a flat hitting area S, and when the power is turned on, the left and right infrared sensors and the left and right cameras are activated to form respective areas Z (detection areas, photographing areas). When a player P (user) places a ball B (e.g., a golf ball) in area Z, the ball launch analysis device 1 determines whether or not the ball B has been placed in a preset trigger area of ​​area Z.

[0026] Next, when ball B is placed in the trigger area, the ball launch analysis device 1, for example, displays a message indicating preparation (e.g., "READY") on the display unit D (monitor unit), or displays ball images of ball B captured by the left and right cameras.

[0027] Then, as shown in FIG. 1B, when player P hits ball B with club C, the ball hit analysis device 1 detects in area Z from the appearance of club C to the disappearance of ball B, and emits a trigger signal indicating that ball B has been hit.

[0028] Furthermore, by transmitting a trigger signal, the ball launch analysis device 1 analyzes the ball images of ball B taken by the left and right cameras to calculate the flight parameters of ball B (e.g., carry, ball speed, launch angle, side angle, backspin, side spin, etc.) and displays the calculated flight parameters on the display unit D.

[0029] Next, we will explain the specific configuration of the ball launch analysis device 1. First, as shown in Fig. 2, the ball launch analysis device 1 includes left and right infrared sensors (a left infrared sensor 10a and a right infrared sensor 10b) and left and right cameras (a left camera 11a and a right camera 11b).

[0030] Here, the left and right infrared sensors 10a, 10b are provided on the left and right sides of the device 1, respectively, and can detect the left detection area Z10a and the right detection area Z10b, respectively, and the left detection area Z10a and the right detection area Z10b are adjacent to each other and do not overlap. Here, as shown in FIG. 2, the left infrared sensor 10a is installed on the lower left side of the device 1, and the right infrared sensor 10b is installed on the lower right side of the device 1. The left detection area Z10a of the left infrared sensor 10a and the right detection area Z10b of the right infrared sensor 10b are configured in a predetermined shape (for example, a rectangular shape) and are adjacent to each other and do not overlap. The left and right infrared sensors 10a, 10b detect the appearance of the ball B in either the right detection area Z10a or the left detection area Z10b, the appearance of the club C (object), and the disappearance of the ball B based on the change in the intensity of the reflected light in each of the right detection area Z10a and the left detection area Z10b.

[0031] 2, rectangular slits are provided on the left and right of the ball launch analysis device 1, and LEDs (light-emitting elements) that use infrared light as a light source are provided inside the left and right slits, and the infrared light emitted by the LEDs passes through the slits of a predetermined shape (e.g., rectangular), forming the left detection area Z10a and the right detection area Z10b in the above-mentioned shape (e.g., rectangular). Thus, by providing the slits on the left and right, the left detection area Z10a and the right detection area Z10b have a predetermined shape as a whole, forming the detection area Z at the hit box S.

[0032] In addition, although the width of the left detection area Z10a and the right detection area Z10b in the launch direction is set appropriately, the size of the left detection area Z10a and the right detection area Z10b is set so that, for example, when ball B is placed in the left detection area Z10a or the right detection area Z10b, ball B is present only in either the left detection area Z10a or the right detection area Z10b.

[0033] Here, the ball launch analysis device 1 has holes directly below the left and right slits, and photodiodes (light receiving elements) that receive reflected infrared light are provided inside the holes to detect the intensity of the reflected light in the left detection area Z10a and the right detection area Z10b. When the ball B is placed in either the left detection area Z10a or the right detection area Z10b, the ball launch analysis device 1 enters an infrared detection state, and the photodiodes detect the intensity of the reflected light in the left detection area Z10a and the right detection area Z10b through the holes.

[0034] The left and right cameras 11a and 11b are provided on the left and right sides of the device 1. The left camera 11a is installed on the upper left side of the device 1, and the right camera 11b is installed on the upper right side of the device 1. The left and right cameras 11a and 11b can capture the left shooting area Z11a and the right shooting area Z11b including the left detection area Z10a and the right detection area Z10b, respectively, and the left shooting area Z11a and the right shooting area Z11b overlap each other. Here, since the left and right cameras 11a and 11b have a certain viewing angle, the left shooting area Z11a of the left camera 11a includes the left detection area Z10a and the right detection area Z10b, and the left shooting area Z11b of the right camera 11b includes the left detection area Z10a and the right detection area Z10b. For example, the viewing angles of the left and right cameras 11a, 11b are triangular, so that the left shooting area Z11a of the left camera 11a and the right shooting area Z11b of the right camera 11b include the left detection area Z10a and the right detection area Z10b in common and partially overlap.

[0035] As shown in FIG. 2, when the player P hits the ball B from right to left with respect to the ball hit analysis device 1, the front of the hit direction of the turn to bat S is the left, and the rear of the hit direction of the turn to bat S is the right. In this case, the left infrared sensor 10a and the left camera 11a detect and photograph the hit of the player P first, and the right infrared sensor 10b and the right camera 11b detect and photograph the hit of the player P later. On the other hand, when the player P hits the ball B from left to right with respect to the ball hit analysis device 1, the front of the hit direction of the turn to bat S is the right, and the rear of the hit direction of the turn to bat S is the left. In this case, the right infrared sensor 10b and the right camera 11b detect and photograph the hit of the player P first, and the left infrared sensor 10a and the left camera 11a detect and photograph the hit of the player P later.

[0036] Incidentally, a left trigger area Ta in which the ball B is placed within the left detection area Z10a of the corresponding left infrared sensor 10a is set in advance in the left shooting area Z11a of the left camera 11a, and a right trigger area Tb in which the ball B is placed within the left detection area Z10b of the corresponding right infrared sensor 10b is set in advance in the right shooting area Z11b of the right camera 11b. The ball launch analysis device 1 determines whether the ball B is placed in either the left trigger area Ta or the right trigger area Tb.

[0037] Also, a tee area TE where the ball B can be placed is provided in advance at the tee box S, and the ball launch analysis device 1 is set up by the operation of the player P so that either the left trigger area Ta or the right trigger area Tb overlaps with the tee area TE of the tee box S. Here, as shown in Fig. 2, the ball launch analysis device 1 is set up so that, for example, the right trigger area Tb of the right shooting area Z11b of the right camera 11b overlaps with the tee area TE.

[0038] Meanwhile, the swing camera 12 is installed in the upper center of the ball launch analysis device 1, and the swing camera 12 photographs a swing area SR that overlaps a left photographing area Z11a of the left camera 11a and a right photographing area Z11b of the right camera 11a. This makes it possible to photograph the swing of the player P.

[0039] In addition, the ball launch analysis device 1 has left and right lights La, Lb that can be lit in a variety of colors, which are installed on the left and right above the ball launch analysis device 1. Furthermore, the ball launch analysis device 1 has a monitor D installed above the ball launch analysis device 1, which can display various messages, ball images, analysis results, etc.

[0040] The ball launch analysis device 1 includes a power supply unit, a control circuit, and a communication circuit. The power supply circuit supplies power to each circuit, the left and right infrared sensors 10a, 10b, the left and right cameras 11a, 11b, the swing camera 12, the left and right lights La, Lb, the monitor D, and the like. The control circuit includes, for example, a CPU, a ROM, a RAM, and the like (not shown), and the CPU uses, for example, the RAM as a working area to execute a program stored in the ROM, and the like. Also, each control unit described later is realized by the CPU executing a program. Also, the communication circuit communicates with the terminal device or mobile terminal device of the player P, transmits the analysis results of the ball launch analysis device 1, and receives information from the terminal device or mobile terminal device of the player P.

[0041] Next, the configuration and execution procedure according to an embodiment of the present invention will be described with reference to Fig. 3 to Fig. 14. First, when the player P turns on the power of the ball launch analysis device 1 (Fig. 4: S101), the ball launch analysis device 1 executes a predetermined process, and the display control unit 101 of the ball launch analysis device 1 starts the left and right cameras 11a and 11b (Fig. 4: S102). Specifically, as shown in Fig. 5A, the display control unit 101 enables the left camera 11a to capture the left shooting area Z11a, and enables the right camera 11b to capture the right shooting area Z11b.

[0042] Next, the display control unit 101 starts display on the monitor D (FIG. 4: S103). Specifically, the display control unit 101 displays a message indicating the detection status (for example, "DETECTING") on the monitor D as shown in FIG. 5A. This makes it possible to inform the player P of the detection status. Note that at this point, if there is no information to be displayed on the monitor D or the monitor D does not exist, the display control unit 101 may omit the display of S103.

[0043] Next, the lighting control unit 102 of the ball launch analysis device 1 starts lighting using the left and right lights La, Lb (FIG. 4: S104). Specifically, as shown in FIG. 5A, the lighting control unit 102 lights up the left and right lights La, Lb in a color (e.g., red) that indicates the detection state. This makes it possible to inform the player P of the detection state. Note that if the left and right lights La, Lb do not exist, the lighting control unit 102 may omit the display of S104.

[0044] Now, when the display control unit 101 activates the left and right cameras 11a, 11b, the placement determination control unit 103 then uses the left and right cameras 11a, 11b to determine whether or not the ball B has been placed in either the left trigger area Ta of the left shooting area Z11a or the left trigger area Tb of the right shooting area Z11b (Figure 4: S105).

[0045] Here, there is no particular limitation on the judgment method of the installation judgment control unit 103, but for example, as shown in FIG. 5B, when the installation judgment control unit 103 acquires a photographed image 511a of the left shooting area Z11a photographed by the left camera 11a and a photographed image 511b of the right shooting area Z11b photographed by the right camera 11b, it searches whether or not there is a ball image corresponding to ball B in the photographed image 511a of the left shooting area Z11a and the photographed image 511b of the right shooting area Z11b.

[0046] Here, the search method of the installation determination control unit 103 is not particularly limited, but for example, the installation determination control unit 103 performs a predetermined image processing (for example, binarization processing) on ​​the photographed image 511a of the left shooting area Z11a and the photographed image 511b of the right shooting area Z11b, and extracts the outer edge (contour) of the object in the photographed image 511a of the left shooting area Z11a and the outer edge of the object in the photographed image 511b of the right shooting area Z11b. Here, the binarization processing means a process of converting pixels that have a pixel value of the pixels constituting the photographed images 511a and 511b that is equal to or greater than a predetermined threshold value to "1" (white), and converting pixels that have a pixel value less than the threshold value to "0" (black). The threshold value is set in advance so that the outer edge of the ball B in the photographed images 511a and 511b is clear.

[0047] Then, the placement determination control unit 103 detects an image surrounded by the outer edge from the outer edge of the extracted object as an object image. For example, as shown in FIG. 5A, when a player P holds a ball B with his right hand H and tries to place it in the tee area TE, as shown in FIG. 5B, the outer edge of the right hand H, the outer edge of the ball B, and the outer edge of the tee area TE are extracted from a photographed image 511a of the left photographed area Z11a, and a right hand image 500 surrounded by the outer edge of the right hand H, a ball image 501 surrounded by the outer edge of the ball B, and a tee image 502 surrounded by the outer edge of the tee area TE are extracted. In addition, since the right photographed area Z11b is partially common to the left photographed area Z11a, a right hand image 500, a ball image 501, and a tee image 502 are extracted from a photographed image 511b of the right photographed area Z11b.

[0048] Furthermore, the installation determination control unit 103 specifies a circular image that is close to a circle from the detected object image. There is no particular limitation on the method of specifying a circular image by the installation determination control unit 103, but for example, the installation determination control unit 103 calculates the long side L of the object image 503, calculates the area S1 of a circle 504 with the calculated long side L as the diameter, and then calculates the area S2 within the outer edge of the object image 503. Then, the installation determination control unit 103 calculates the area ratio S1 / S2 by dividing the area S1 of the circle 504 by the area S2 within the outer edge of the object image 503. The installation determination control unit 103 calculates the area ratio S1 / S2 for all object images 503, and specifies the object image 503 having the area ratio S1 / S2 closest to 1(-) among the area ratios S1 / S2 of all object images 503 as a ball image. For example, as shown in FIG. 5B, the area ratio S1 / S2 of the right hand image 500 is greater than 1, the area ratio S1 / S2 of the tee image 502 is somewhat closer to 1, and the area ratio S1 / S2 of the ball image 501 is closest to 1, so that the ball image 501 is identified as a circle image.

[0049] Here, if the placement determination control unit 103 cannot identify the ball image as a circle image, it determines that the ball B is not placed in either the left trigger area Ta of the left shooting area Z11a or the left trigger area Tb of the right shooting area Z11b (FIG. 4: S105 NO). In this case, the placement determination control unit 103 returns to S105 and repeats the determination of placement of the ball B again.

[0050] On the other hand, when the installation determination control unit 103 is able to identify the ball image 501 as a circular image, it then acquires position information of the trigger area of ​​the shooting area in which the ball image 501 of the circular image is identified, and determines whether or not the identified ball image 501 is included inside the trigger area. Here, as shown in FIG. 5B, when the ball image 501 is identified as a circular image in the shooting image 511a of the left shooting area Z11a, the installation determination control unit 103 acquires position information of the left trigger area Ta of the left shooting area Z11a (for example, coordinate values ​​of the camera coordinate system indicating the boundary of the left trigger area Ta), and determines whether or not the ball image 501 is included inside the left trigger area Ta from the positional relationship between the ball image 501 and the left trigger area Ta. Similarly, when a ball image 501 is identified in the right shooting area Z11b of the photographed image 511b of the right shooting area Z11b, the installation determination control unit 103 acquires position information of the right trigger area Tb of the right shooting area Z11b (coordinate values ​​in the camera coordinate system indicating the boundary of the right trigger area Tb) and determines whether or not the ball image 501 is contained within the right trigger area Tb based on the positional relationship between the ball image 501 and the right trigger area Tb.

[0051] If the result of the determination is that the ball image is not included inside the trigger area, for example, as shown in FIG. 5B, in the photographed image 511a of the left photographed area Z11a, the ball image 501 exists outside the left trigger area Ta, and in the photographed image 511b of the right photographed area Z11b, the ball image 501 exists outside the right trigger area Tb, the placement determination control unit 103 determines that the ball B is not placed in either the left trigger area Ta of the left photographed area Z11a or the left trigger area Tb of the right photographed area Z11b (FIG. 4: S105 NO). In this case, as described above, the placement determination control unit 103 returns to S105 and repeats the determination of placement of the ball B again. Here, for example, the placement determination control unit 103 may display a message (for example, "Out of zone") indicating that the ball is outside the detection range on the monitor D, to prompt the player P to place the ball in an appropriate position.

[0052] On the other hand, as shown in Fig. 6A, when the player P places the ball B in the tee area TE and releases the ball B, as shown in Fig. 6B, the installation determination control unit 103 performs a predetermined image processing on the photographed image 611a of the left photographing area Z11a and the photographed image 611b of the right photographing area Z11b, and extracts the outer edge of the object in the photographed image 611a of the left photographing area Z11a and the outer edge of the object in the photographed image 611b of the right photographing area Z11b. Next, the installation determination control unit 103 detects an image surrounded by the outer edge as an object image from the outer edge of the extracted object, and a right hand image 600, a ball image 601, and a tee image 602 are extracted in the photographed image 611a of the left photographing area Z11a and the photographed image 611b of the right photographing area Z11b. Furthermore, when the installation determination control unit 103 specifies a circular image that approximates a circle from the detected object image, the ball image 601 is specified as a circular image in each of the photographed image 611a of the left photographing area Z11a and the photographed image 611b of the right photographing area Z11b. Furthermore, the installation determination control unit 103 acquires position information of the left trigger area Ta of the left photographing area Z11a in which the ball image 601 of the circular image is specified, and determines whether or not the ball image 601 specified in the left photographing area Z11a is included inside the left trigger area Ta. In addition, the setting determination control unit 103 acquires position information of the right trigger area Tb of the right photographing area Z11b, and determines whether or not the ball image 601 specified in the right photographing area Z11b is included inside the right trigger area Tb.

[0053] As a result of the determination, as shown in Fig. 6B, if the ball image 600 is not included in the left trigger area Ta in the left shooting area Z11a, but the ball image 601 is included in the right trigger area Tb in the right shooting area Z11b, the placement determination control unit 103 determines that the ball B is placed in either the left trigger area Ta in the left shooting area Z11a or the right trigger area Tb in the right shooting area Z11b (Fig. 4: S105 YES). This makes it possible to determine the placement of the ball B with high accuracy.

[0054] Here, for example, if the placement of ball B is judged only by an infrared sensor, the hand of player P or club C may become noise, and ball B may be erroneously detected as being placed even though it is not. Also, even though ball B is not set at a desired position, the infrared sensor may erroneously detect that ball B is placed. In the present invention, by analyzing the images captured by the left and right cameras 11a and 11b, it is possible to accurately judge the placement of ball B without generating erroneous detections.

[0055] Furthermore, in the present invention, a trigger area is provided in the photographed image, and it is determined that ball B has been placed when the specified ball image is included inside the trigger area. In other words, using the positional relationship between the trigger area and ball B, it is determined that ball B has been placed only when ball B enters the trigger area. Here, since the trigger area is an area that can be reliably detected by the left and right infrared sensors 10a, 10b, it is possible to have player P accurately place ball B in the trigger area that can be detected by the left and right infrared sensors 10a, 10b.

[0056] Incidentally, in the above description, the setting determination control unit 103 has determined whether or not the ball B has been placed in either the left trigger area Ta of the left photographing area Z11a or the right trigger area Tb of the right photographing area Z11b. However, the present invention is not limited to this. For example, the setting determination control unit 103 may determine whether or not the ball B has been placed in the trigger area of ​​the photographing area using a camera that is set in advance by the player P among the left and right cameras 11a and 11b. For example, when information on the dominant hand (right-handed or left-handed) of the player P is set in the ball launch analysis device 1, the setting determination control unit 103 determines whether or not the ball B has been placed in the trigger area of ​​the photographing area using a camera corresponding to the dominant hand of the player P. Specifically, when the dominant hand of the player P is right-handed, the player P launches the ball B from right to left with respect to the ball launch analysis device 1, so that the setting determination control unit 103 determines whether or not the ball B has been placed in the trigger area Tb of the right photographing area Z11b using the right camera 11b. On the other hand, if the player P is left-handed, the player P hits the ball B from left to right with respect to the ball hit analysis device 1, so the placement determination control unit 103 uses the left camera 11a to determine whether the ball B is placed in the trigger area Ta of the left shooting area Z11a. This reduces the amount of processing and makes it possible to accurately determine whether the ball B is placed.

[0057] Also, when the placement determination control unit 103 determines that the ball B is placed in either the left trigger area Ta of the left photographing area Z11a or the left trigger area Tb of the right photographing area Z11b, the placement determination control unit 103 may calculate the center coordinate of the world coordinate system (real coordinate system) of the ball B using the center coordinate of the camera coordinate system of the ball image 600 used for the determination, the radius of the ball image 600, the camera calibration information, and the law of cosines. Here, as shown in FIG. 7A, the camera coordinate system has the center CI of the photographed image P corresponding to the focal length f of the camera (for example, the left camera 11a) as the origin, the left-right direction xi of the photographed image P as the x-axis direction, and the up-down direction yi of the photographed image as the y-axis direction. Also, the world coordinate system has the center CR of the camera (the left camera 11a) as the origin, the left-right direction xr of the camera as the x-axis direction, the up-down direction yr of the camera as the y-axis direction, and the front-rear direction zr (depth direction) of the camera as the z-axis direction. The camera calibration information is information that associates an arbitrary point in the camera coordinate system with a corresponding point in the world coordinate system, and examples of such information include a K matrix and a P matrix. The captured image P is located perpendicular to the z axis at a position away from the center CR of the camera (right camera 11a) by a focal length f in the z axis direction toward the captured image P. The camera calibration information also converts the x-axis coordinates and y-axis coordinates of the camera coordinate system to the x-axis coordinates and y-axis coordinates of the world coordinate system. The z-axis coordinate of the camera coordinate system is also converted to the z-axis coordinate of the world coordinate system using the radius b0i of the ball image and the law of cosines. Here, the center coordinate b0c (b0xr, b0yr, b0zr) of the world coordinate system of ball B is calculated using the center coordinate b0c (b0xi, b0yi) of the camera coordinate system of ball image 600, the radius b0i of the ball image 600, camera calibration information of the camera (right camera 11a), and the law of cosines using the angle θ between both ends of the ball image 600 and the center CR of the camera (right camera 11a). As a result, by combining this with the center coordinate in the world coordinate system of ball B immediately after it is hit, it is possible to calculate the flight parameters of ball B with high accuracy.

[0058] Also, when the placement determination control unit 103 determines that the ball B is placed in either the left trigger area Ta of the left photographing area Z10a or the left trigger area Tb of the right photographing area Z10b, the ball launch prediction area PR may be set in the photographed image used for the determination, including the ball image 600 and aligned with the launch direction of the ball B. Here, as shown in FIG. 7A, when the photographed image used for the determination is the right photographed image 611b (a photographed image in one direction), a ball launch prediction area PR of a predetermined shape (for example, a rectangular shape) is set in the right direction (one direction) (left direction in the world coordinate system) of the ball image 601 that corresponds to the launch direction of the ball B, including the ball image 600. Also, the shape of the ball launch prediction area PR is appropriately designed. This makes it possible to easily specify the ball image and reduce the amount of processing when the ball B is photographed immediately after being launched.

[0059] Now, when the determination by the placement determination control unit 103 is completed (FIG. 4: S105 YES), the ball launch analysis device 1 then transitions to an infrared detection state, and the appearance determination control unit 104 of the ball launch analysis device 1 activates the infrared sensor (here, the right infrared sensor 10b) corresponding to the camera (here, the right camera 11b) of the placement trigger area (here, the right trigger area Tb) where the ball B is placed (FIG. 4: S106). Specifically, the appearance determination control unit 104 enables the right infrared sensor 10b to detect the right detection area Z10b, as shown in FIG. 7B.

[0060] Next, as shown in Fig. 7B, the display control unit 101 displays a message indicating the preparation state (for example, "READY") on the monitor D. This makes it possible to inform the player P of the preparation state.

[0061] Further, the display control unit 101 displays the photographed image in which ball B is placed on the monitor D, using the camera that captures the photographed image in which placement of ball B is determined. Here, as shown in FIG. 7B, since placement of ball B is determined in the right photographed area Z11b of the right camera 11b, the display control unit 101 displays the photographed image 71b of the right photographed area Z11b of the right camera 11b on the monitor D. This allows the player P to check the photographed image 71b in which ball B is placed on the monitor D.

[0062] Furthermore, the display control unit 101 activates the swing camera 12 (FIG. 4: S107) to capture the swing of the player P. This makes it possible to capture a swing video from before the player P swings until after the swing. If the swing camera 12 does not exist, the display control unit 101 may omit the activation of S107.

[0063] Also, as shown in Fig. 7B, the lighting control unit 102 changes the color of the left and right lights La, Lb to a color (e.g., green) indicating a preparation state (Fig. 4: S108). This makes it possible to inform the player P of the preparation state for swinging. Note that if the left and right lights La, Lb do not exist, the lighting control unit 102 may omit the change in S108.

[0064] Next, the appearance determination control unit 104 uses the right infrared sensor 10b to determine whether or not an object has appeared in the installation detection area (right detection area Z10b) that includes the installation trigger area (right trigger area Tb) in which the ball B is placed (Figure 4: S109).

[0065] Here, the method of determination by the appearance determination control unit 104 is not particularly limited, but for example, as shown in Fig. 8A, the appearance determination control unit 104 acquires the intensity of reflected light in the right detection area Z10b of the right infrared sensor 10b. Then, the appearance determination control unit 104 determines whether or not the change in the intensity of reflected light in the right detection area Z10b exceeds a first appearance threshold. The first appearance threshold is set appropriately based on the intensity of reflected light from the club C, for example.

[0066] Here, if the change in the intensity of the reflected light in the right detection region Z10b exceeds the first appearance threshold, the appearance determination control unit 104 determines that an object has appeared in the right detection region Z10b. On the other hand, if the change in the intensity of the reflected light in the right detection region Z10b is within the first appearance threshold, the appearance determination control unit 104 determines that an object has not appeared in the right detection region Z10b. In this case, the appearance determination control unit 104 continues to obtain the intensity of the reflected light in the right detection region Z10b and repeats the above-mentioned determination.

[0067] Now, if the player P, for example, leaves the batter's box S to take a practice swing, the intensity of the reflected light in the right detection area Z10b does not change, so the appearance determination control unit 104 determines that an object has not appeared in the installation detection area (FIG. 4: S109 NO). In this case, the appearance determination control unit 104 returns to S109 and repeats the determination of the appearance of an object.

[0068] On the other hand, as shown in Fig. 8B, when the player P tries to hit the ball B with the club C, when the club C appears in the right detection area Z10b, the appearance determination control unit 104 determines that the change in the intensity of the reflected light in the right detection area Z10b exceeds the first appearance threshold, and determines that an object has appeared in the installation detection area (Fig. 4: S109 YES). This makes it possible to accurately detect that the player P is trying to hit the ball B with the club C, without detecting the player P's practice swing in other places.

[0069] Now, when the appearance determination control unit 104 completes its determination (Figure 4: S109 YES), the disappearance determination control unit 105 of the ball launch analysis device 1 then uses the infrared sensor (right infrared sensor 10b) corresponding to the installation detection area (right detection area Z10b) to determine whether or not ball B has disappeared from the installation detection area (right detection area Z10b) where the object appeared (Figure 4: S110).

[0070] Here, the determination method of the disappearance determination control unit 105 is not particularly limited, but for example, the disappearance determination control unit 105 acquires the intensity of reflected light in the right detection area Z10b of the right infrared sensor 10b. Then, the disappearance determination control unit 105 determines whether or not the change in the intensity of reflected light in the right detection area Z10b exceeds a predetermined disappearance threshold. The disappearance threshold is appropriately set based on the intensity of reflected light from the ball B.

[0071] Here, if the change value of the reflected light intensity in the right detection region Z10b exceeds the disappearance threshold, the disappearance determination control unit 105 determines that the ball B has disappeared from the right detection region Z10b. On the other hand, if the change value of the reflected light intensity in the right detection region Z10b is within the disappearance threshold, the disappearance determination control unit 105 determines that the ball B has not disappeared from the right detection region Z10b. In this case, the disappearance determination control unit 105 continues to obtain the reflected light intensity in the right detection region Z10b and repeats the above-mentioned determination.

[0072] Here, as shown in FIG. 9A, if the player P does not hit the ball B using the club C but simply takes a practice swing, the club C passes through the installation detection area Z10b and appears in the adjacent detection area Z10a, but the ball B remains in the installation detection area Z10b. Then, although the intensity of the reflected light in the right detection area Z10b changes temporarily, the change value of the intensity of the reflected light in the right detection area Z10b finally falls within the disappearance threshold value due to the presence of the ball B. Therefore, the disappearance determination control unit 105 determines that the ball B has not disappeared from the installation detection area Z10b (FIG. 4: S110 NO). In this case, the disappearance determination control unit 105 returns to S110 and repeats the determination of the disappearance of the ball B.

[0073] On the other hand, as shown in FIG. 9B, when player P hits ball B using club C, ball B passes through the installation detection area Z10b together with club C, and ball B moves forward. Then, the intensity of the reflected light in the right detection area Z10b changes, and the change value of the intensity of the reflected light in the right detection area Z10b exceeds the disappearance threshold. Therefore, the disappearance determination control unit 105 determines that ball B has disappeared from the installation detection area Z10b (FIG. 4: S110YES). This makes it possible to accurately detect when ball B is reliably hit, without detecting a mere practice swing by player P.

[0074] Now, once the disappearance determination control unit 105 has completed its determination (Figure 4: S110 YES), the next appearance determination control unit 106 of the ball launch analysis device 1 then uses the infrared sensor (here, the left infrared sensor 10a) corresponding to the launch detection area (here, the left detection area Z10a) adjacent to the installation detection area Z10b to determine whether or not ball B has appeared in the launch detection area (left detection area Z10a) (Figure 4: S111).

[0075] Here, the method of determination by the next appearance determination control unit 106 is not particularly limited, but for example, the next appearance determination control unit 106 acquires the intensity of reflected light in the left detection area Z10a of the left infrared sensor 10a. Then, the next appearance determination control unit 106 determines whether or not the change in the intensity of reflected light in the left detection area Z10a exceeds a second appearance threshold. The second appearance threshold is appropriately set based on the intensity of reflected light from the ball B.

[0076] Here, if the change in the intensity of the reflected light in the left detection region Z10a exceeds the second appearance threshold, the next appearance determination control unit 106 determines that an object has appeared in the left detection region Z10a. On the other hand, if the change in the intensity of the reflected light in the left detection region Z10a is within the second appearance threshold, the appearance determination control unit 104 determines that an object has not appeared in the left detection region Z10a. In this case, the next appearance determination control unit 106 continues to obtain the intensity of the reflected light in the left detection region Z10a and repeats the above-mentioned determination.

[0077] Here, as shown in Fig. 10A, when the player P hits the ball B using the club C, if for some reason the ball B does not fly forward in the direction of the shot, but flies to the left or right of the direction of the shot, or goes backwards, and does not fly in the direction of the shot, the ball B does not appear in the left detection area Z10a. Then, the next appearance determination control unit 106 determines that the change in the intensity of the reflected light in the left detection area Z10a is within the second appearance threshold (Fig. 4: S111 NO). In this case, since the ball B has disappeared once, the next appearance determination control unit 106 returns to S105, and the placement determination control unit 103 again determines that the ball B has been placed.

[0078] On the other hand, as shown in Fig. 10B, when player P hits ball B forward using club C, ball B appears in left detection area Z10a. Then, next appearance determination control unit 106 determines that the change in the intensity of reflected light in left detection area Z10a exceeds the second appearance threshold, and determines that ball B has appeared in left detection area Z10a (Fig. 4: S111 YES). This makes it possible to detect that ball B has been reliably hit in the hitting direction without detecting any unusual hitting of ball B.

[0079] Now, when the next appearance determination control unit 106 completes its determination (FIG. 4: S111 YES), the signal transmission control unit 107 of the ball launch analysis device 1 then transmits a trigger signal (FIG. 4: S112). The launch time of ball B can be estimated based on the transmission time of this trigger signal.

[0080] Next, when the signal transmission control unit 107 has completed transmitting (Figure 4: S112), the photography control unit 108 of the ball launch analysis device 1 then uses the left and right cameras 11a, 11b to continuously photograph the ball B in the left photography area Z11a and the right photography area Z11b (Figure 4: S113).

[0081] Here, the continuous shooting method of the shooting control unit 108 is not particularly limited, but for example, when the shooting control unit 108 receives a trigger signal, it performs continuous shooting at a predetermined shooting speed (for example, 1000 fps) using the left and right cameras 11a and 11b as shown in Fig. 11A. Here, the continuous shooting method is not particularly limited, but for example, when the left and right cameras 11a and 11b are slow shooting cameras, high-speed shooting can be made possible even with the slow shooting cameras by applying high-speed shooting software to the left and right cameras 11a and 11b. Also, when the left and right cameras 11a and 11b are high-speed shooting cameras, the shooting control unit 108 may perform high-speed shooting with the left and right cameras 11a and 11b.

[0082] Here, as shown in FIG. 11B, the photographing control unit 108 photographs the ball B in the right photographing area Z11b using the right camera 11b corresponding to the infrared sensor (right infrared sensor 10b) in the installation detection area Z10b at the first time t1 immediately after the transmission time t0 of the trigger signal, and obtains a right photographed image 1111b. At the second time t2 obtained by adding a predetermined time (Δt) to the first time t1, the photographing control unit 108 photographs the ball B in the left photographing area Z11a using the left camera 11a corresponding to the infrared sensor 10a in the launch detection area Z10a, and obtains a left photographed image 1111a. The predetermined time (Δt) is appropriately set according to the performance of the camera. As a result, by photographing the ball B with the right camera 11b and the left camera 11a in the order along the launch direction of the ball B, it is possible to continuously photograph even the ball B moving at a high speed.

[0083] Now, when the shooting control unit 108 completes the continuous shooting (Figure 4: S113), the calculation control unit 109 of the ball launch analysis device 1 then calculates the flight parameters of ball B based on the ball images of ball B continuously photographed by the left and right cameras 11a and 11b (Figure 4: S114).

[0084] Here, the calculation method of the calculation control unit 109 is not particularly limited, but for example, the calculation control unit 109 performs the image processing of S105 described above on two consecutively captured images to identify a ball image from the images captured at two different times. For example, as shown in FIG. 11B, the calculation control unit 109 performs image processing on each of a first captured image (here, the right captured image 1111b) at a first time t1 and a second captured image (here, the left captured image 1111a) at a second time t2. Then, the calculation control unit 109 identifies a first ball image b1 from the first captured image 1111b at the first time t1, and identifies a second ball image b2 from the second captured image 1111a at the second time t2.

[0085] Next, the calculation control unit 109 performs the image processing of S105YES described above to calculate the center coordinates of the world coordinate system of the ball image using the center coordinates of the camera coordinate system of the identified ball image, the radius of the ball image, the camera calibration information, and the law of cosines. Here, as shown in Fig. 12A, the calculation control unit 109 calculates the center coordinates b1c (b1xr, b1yr, b1zr) of the world coordinate system of the first ball B (ball B at the first time t1) corresponding to the first ball image b1 using the center coordinates b1c (b1xi, b1yi) of the camera coordinate system of the first ball image b1, the radius b1i of the first ball image b1, the camera calibration information of the right camera 10b, and the law of cosines. Next, the calculation control unit 109 calculates the center coordinates b2c (b2xr, b2yr, b2zr) of the world coordinate system of the second ball B (ball B at the second time t2) corresponding to the second ball image b2 using the center coordinates b2c (b2xi, b2yi) of the camera coordinate system of the second ball image b2, the radius b2i of the second ball image b2, the camera calibration information of the left camera 10a, and the law of cosines.

[0086] Then, the calculation control unit 109 calculates the ball speed BS (m / s), launch angle LA (degrees), and side angle SA (degrees) from among the flight parameters, using the center coordinates of the world coordinate system of the ball B at two different times. Here, the ball speed BS is a division value obtained by dividing the ball distance between the center coordinates b2c (b2xr, b2yr, b2zr) of the world coordinate system of the second ball B and the center coordinates b1c (b1xr, b1yr, b1zr) of the world coordinate system of the first ball B by the subtraction time obtained by subtracting the first time t1 from the second time t2. The launch angle LA means the angle formed by the ball distance and the horizontal plane. The side angle SA means the angle of the left and right curve direction with respect to the launch direction of the ball B, and for example, means the angle of the left and right curve direction in the z-axis direction with respect to the x-axis direction of the launch direction. In addition, the calculation control unit 109 calculates the carry CA (m) using the ball speed BS and the formula of the parabola of the ball B. The carry CA is the distance from the point where ball B is hit to the point where it lands, and can be calculated by substituting the ball speed BS as the initial velocity into the parabola formula for ball B. The carry CA can also be converted from meters to yards (YDS), where 1 yard is 0.9144 m. In this way, the ball speed BS, launch angle LA, side angle SA, and carry CA can be calculated from the center coordinates in the world coordinate system of the ball images at two different times.

[0087] Furthermore, the calculation control unit 109 calculates the rotation axis SX0 and the spin rate TS0 of the ball B using the ball images b1 and b2 at two different times. For example, as shown in FIG. 12B, the calculation control unit 109 matches the size of the first ball image b1 at the first time t1 to the size of the second ball image b2 at the second time t2, virtually rotates the first ball image b1 with the matched size, and matches the surface image of the virtually rotated first ball image b1 with the surface image of the second ball image b2. The calculation control unit 109 calculates the rotation axis SX0 and the spin rate TS0 when the first ball image b1 with the matched surface image is virtually rotated. Then, the calculation control unit 109 calculates the backspin BS (rpm) and the side spin SS (rpm) using the calculated rotation axis SX0 and spin rate TS0. Backspin BS means the rotation speed in the direction opposite to the launch direction of ball B, and side spin SS means the rotation speed in the left and right curvature direction relative to the launch direction of ball B, for example, the rotation speed in the z-axis direction in the left and right curvature direction relative to the x-axis direction of the launch direction. In this way, the backspin BS and side spin SS can be calculated from ball images taken at two different times.

[0088] As described above, the flight parameters may include, for example, ball speed BS, launch angle LA, side angle SA, carry CA, backspin BS, and side spin SS, but other flight parameters may also be added.

[0089] In the above description, the photographing control unit 108 photographs the ball B using the right camera 11b at the first time t1, and photographs the ball B using the left camera 11a at the second time t2. However, this is not limited to the above. For example, in the case of a high-performance camera, the photographing control unit 108 may photograph the ball B in the right photographing area Z11b using the right camera 11b at the first time t1 to obtain the right photographed image 1311b, and may photograph the ball B in the right photographing area Z11b using the same right camera 11b at the second time t2 to obtain the right photographed image 1311b, as shown in FIG. 13A. In this case, the calculation control unit 109 may calculate the flight parameters of the ball B using the two right photographed images 1311b at the first time t1 and the second time t2.

[0090] In the above description, the calculation control unit 109 identifies the ball image by performing the image processing of S105 described above on all captured images, but this is not limiting. For example, when the placement determination control unit 103 sets a ball launch prediction area PR for a captured image, as shown in Fig. 13B, the calculation control unit 109 may set a ball launch prediction area PR in a captured image 1411b at a first time t1, perform the above-described predetermined image processing on the ball launch prediction area PR, identify a first ball image b1, and calculate flight parameters of the ball B. This makes it easier to identify the ball image and reduces the amount of processing.

[0091] 12, the calculation control unit 109 calculates the flight parameters of the ball B using the right photographed image 1111b at the first time t1 and the right photographed image 1111a at the second time t2, but this is not limited thereto. For example, the placement determination control unit 103 may calculate the flight parameters of the ball B by adding the center coordinates b0c (b0xr, b0yr, b0zr) of the world coordinate system of the ball B at the time of placement (in other words, the time t0 when the trigger signal is transmitted) to the center coordinates b1c (b1xr, b1yr, b1zr) of the world coordinate system of the first ball B at the first time t1 and the center coordinates b2c (b2xr, b2yr, b2zr) of the world coordinate system of the second ball B. This allows the flight parameters of the ball B to be calculated with high accuracy.

[0092] Now, when the calculation control unit 109 completes the calculation of the flight parameters (FIG. 4: S114), the calculation control unit 109 then determines whether or not the calculated flight parameters are normal (FIG. 4: S115).

[0093] Here, there is no particular limitation on the judgment method of the calculation control unit 109. For example, the calculation control unit 109 refers to a flight parameter normal range previously set in a predetermined memory and judges whether or not the calculated flight parameter is included in the flight parameter normal range. Specifically, when the flight parameter is ball speed BS, the flight parameter normal range is set to, for example, 1 m / s or more, and the calculation control unit 109 judges whether the calculated flight parameter ball speed BS is the flight parameter normal range of 1 m / s or more. When the ball speed BS is the flight parameter normal range of 1 m / s or more, it can be judged that the ball B has flown normally. When the flight parameter is launch angle LA, the flight parameter normal range is set to, for example, 70 degrees or less, and the calculation control unit 109 judges whether the calculated flight parameter launch angle LA is the flight parameter normal range of 70 degrees or less. When the launch angle LA is the flight parameter normal range of 70 degrees or less, it can be judged that the ball B has flown normally. Such processing is appropriately designed according to the type of flight parameter, and can be performed on all flight parameters or only on specific flight parameters. In this way, by determining whether the flight parameters are normal or not, if a calculation error has occurred for some reason, it can be determined.

[0094] If the result of the determination is that the calculated flight parameters are not normal, the calculation control unit 109 determines that the shot of the player P was unsuccessful (FIG. 4: S115 NO). In this case, the calculated flight parameters are not displayed, and the process proceeds to S105 to prompt the player P to place the ball B again.

[0095] On the other hand, if the result of the determination is that the calculated flight parameters are normal, the calculation control unit 109 determines that the shot of the player P was successful (FIG. 4: S115 YES). This makes it possible to display only the appropriate flight parameters. Note that the determination process of S115 may be omitted.

[0096] Now, when the calculation control unit 109 completes the calculation, the display control unit 101 displays the calculated flight parameters on the monitor D (FIG. 4: S116).

[0097] Here, the display method of the display control unit 101 is not particularly limited, but for example, as shown in Fig. 14, the display control unit 101 displays the calculated carry CA (YDS), ball speed BS (m / s), launch angle LA (DEG), side angle SA (DEG), backspin BS (RPM), and side spin SS (RPM) on a screen 1400 of the monitor D. This allows the player P to know the flight parameters of the ball B regarding his / her own swing.

[0098] Also, when the swing camera 12 is activated (FIG. 4: S107), the display control unit 101 displays the flight parameters (FIG. 4: S116), and then displays the video (or image) captured by the swing camera 12 (FIG. 4: S117). Here, as described above, the display control unit 101 uses the transmission time of the trigger signal indicating the launch of the ball B to obtain the video before and after the transmission time of the trigger signal as a swing video, and displays the swing video 1401 from before the player P swings to after the swing, as shown in FIG. 14. This allows the player P to check his or her own swing in the video (or image). Note that, if the swing camera 12 does not exist, the display control unit 101 may omit the activation of S117.

[0099] Then, after the display control unit 101 displays the flight parameters (FIG. 4: S116) or displays the video captured by the swing camera 12 (FIG. 4: S117), the ball launch analysis device 1 ends the process. If the player P wants to swing again, he or she operates the ball launch analysis device 1 to return to S101 or S102 and repeat the above-mentioned process.

[0100] In this way, in the present invention, by appropriately combining an infrared sensor and a camera, it is possible to perform operations from launching the ball to analyzing the flight parameters of the ball with high accuracy. EXAMPLES

[0101] The effects of the present invention will be specifically described below with reference to examples, but the present invention is not limited thereto.

[0102] First, a prototype of the ball launch analysis device 1 was created based on Figures 1 to 14, and this ball launch analysis device 1 was used as an embodiment. Using the ball launch analysis device 1 of the embodiment, images were captured when a player P launched a ball B, and as shown in Figure 15, an image 1511b captured at a first time t1 and an image 1511a captured at a second time t2 could be obtained. Using these two captured images, normal flight parameters could be calculated.

[0103] Furthermore, as shown in FIG. 15, by setting a ball launch prediction area PR in the photographed image 1511b0 at the installation time t0, the amount of processing required to identify the first ball image b1 in the photographed image 1511b at the first time t1 is reduced, making it easier to identify the first ball image b1.

[0104] Next, the flight parameters were calculated using the image taken at the installation time t0, the image taken at the first time t1, and the image taken at the second time t2. When the ball launch analysis device 1 of the embodiment judges that the ball B is placed in the trigger area, as shown in FIG. 16, the left camera 11a acquires the first image 1611a0 at the installation time t0, and the right camera 11b acquires the second image 1611b0 at the installation time t0, and calculates the center coordinates of the ball B in the world coordinate system. Next, when the ball B is launched by the player P, the ball launch analysis device 1 of the embodiment detects the launch of the ball B using the left and right infrared sensors 10a and 10b, acquires the third image 1611b1 at the first time t1 with the right camera 11b, and acquires the fourth image 1611a2 at the second time t2 with the left camera 11a. Then, when the ball launch analysis device 1 of the embodiment calculates flight parameters using the first photographed image 1611a0, the second photographed image 1611b0, the third photographed image 1611b1, and the fourth photographed image 1611a2, the ball speed BS is 28.4 (m / s), the launch angle LA is 22.4 (degrees), the side angle SA is 3.6 (degrees), the backspin BS is 3335.1 (rpm), and the side spin SS is 487.3 (rpm). From the backspin BS and the side spin SS, the spin axis SX0 (SPIN AXIS) is 8.3 (rpm), and the spin rate TS0 (TOTAL SPIN) is 3370.5 (rpm). These values ​​are equivalent to the values ​​of a commercially available flight parameter analysis device, and are normal flight parameters.

[0105] In the embodiment of the present invention, a ball launch analysis device 1 applied to a golf ball has been described; however, the present invention is not limited to this and can be widely applied as a device for performing operations ranging from launching a ball to analyzing the flight parameters of a ball in ball games in which a stationary ball B is launched, such as baseball, tennis, soccer, rugby, ice hockey, and gateball.

[0106] In the embodiment of the present invention, a rectangular detection area is formed by using a slit in the infrared sensor, but the present invention is not limited to this, and detection areas of various shapes may be formed. Furthermore, in the embodiment of the present invention, first, an infrared sensor corresponding to the camera in the installation trigger area is used to determine whether an object has appeared in the installation detection area, and when the object has disappeared, an infrared sensor corresponding to the launch detection area adjacent to the installation detection area is used to determine whether a ball has appeared, but the present invention is not limited to this. For example, when a ball is installed in either the left trigger area or the right trigger area, an infrared sensor corresponding to the camera in the installation trigger area is used to determine whether a ball has appeared, and an infrared sensor corresponding to the launch detection area adjacent to the installation detection area may also be activated, and then a determination may be made as to whether a ball has appeared. In other words, in this case, the left and right infrared sensors 10a and 10b may be activated.

[0107] In addition, in the embodiment of the present invention, the ball launch analysis device 1 is configured to include each control unit, but it may be configured to store a program that realizes each control unit in a storage medium and provide the storage medium. In this configuration, the program is read out to the device, and the device realizes each control unit. In that case, the program itself read out from the recording medium provides the effect of the present invention. Furthermore, it is also possible to provide it as a method of storing the steps executed by each control unit in a hard disk. [Industrial Applicability]

[0108] As described above, the ball launch analysis device and ball launch analysis method of the present invention are effective as devices and methods applicable to any ball game in which a stationary ball is launched, and by appropriately combining an infrared sensor and a camera, they are effective as a ball launch analysis device and ball launch analysis method that can perform operations from the launch of the ball to the analysis of the flight parameters of the ball with high precision. [Explanation of symbols]

[0109] 1. Ball launch analysis device 101 Display control unit 102 Lighting control unit 103 Installation judgment control section 104 Appearance determination control unit 105 Disappearance determination control unit 106 Next appearance determination control unit 107 Signal transmission control section 108 Shooting control section 109 Calculation control unit

Claims

1. Left and right infrared sensors are provided on the left and right sides of the device, and are capable of detecting a left detection area and a right detection area, respectively, and the left detection area and the right detection area are adjacent to each other and do not overlap; A left and right camera is provided on each of the left and right sides of the present device, and is capable of photographing a left shooting area and a right shooting area including the left detection area and the right detection area, and the left shooting area and the right shooting area are overlapped with each other. a placement determination control unit that uses the left and right cameras to determine whether or not a ball is placed in a left trigger area that is preset within the left detection area of ​​the left photographing area, or a right trigger area that is preset within the left detection area of ​​the right photographing area; an appearance determination control unit that, when it is determined by the placement determination control unit that the ball has been placed in either the left trigger area or the right trigger area, determines whether or not an object has appeared in a placement detection area that includes the placement trigger area, using an infrared sensor that corresponds to a camera in the placement trigger area in which the ball has been placed; a disappearance determination control unit that, when it is determined by the appearance determination control unit that an object has appeared in the installation detection area, determines whether or not the ball has disappeared from the installation detection area using an infrared sensor corresponding to the installation detection area; a next appearance determination control unit that, when it is determined by the disappearance determination control unit that the ball has disappeared in the installation detection area, determines whether or not the ball has appeared in the launch detection area using an infrared sensor corresponding to a launch detection area adjacent to the installation detection area; a signal transmission control unit that transmits a trigger signal when the next appearance determination control unit determines that the ball has appeared in the launch detection area; an image capture control unit that, when the trigger signal is transmitted, captures images of the ball in the left and right photographing areas successively using the left and right cameras; a calculation control unit that calculates flight parameters of the ball based on ball images of the ball successively photographed by the left and right cameras; A ball launch analysis device comprising:

2. the photographing control unit photographs an image of the ball in the photographing area using a camera corresponding to the infrared sensor in the installation detection area at a first time immediately after the transmission time of the trigger signal, and photographs an image of the ball in the photographing area using a camera corresponding to the infrared sensor in the launch detection area at a second time obtained by adding a predetermined time to the first time. The ball launch analysis device according to claim 1 .

3. when it is determined that the ball is placed in either a left trigger area of ​​the left photographing area or a right trigger area of ​​the right photographing area, the placement determination control unit sets a ball launch prediction area that includes a ball image and is aligned with the launch direction of the ball in the photographed image used for the determination, the calculation control unit sets the ball launch prediction area in a photographed image at a first time immediately after the transmission time of the trigger signal, performs a predetermined image processing on the ball launch prediction area, identifies the ball image, and calculates flight parameters of the ball. The ball launch analysis device according to claim 1 .

4. Left and right infrared sensors are provided on the left and right sides of the device, and are capable of detecting a left detection area and a right detection area, respectively, and the left detection area and the right detection area are adjacent to each other and do not overlap; A left and right camera is provided on each of the left and right sides of the present device, and is capable of photographing a left shooting area and a right shooting area including the left detection area and the right detection area, and the left shooting area and the right shooting area are overlapped with each other. A method for analyzing a ball launch of a ball launch analysis device comprising: a placement determination control step of determining whether or not a ball is placed in a left trigger area that is preset within the left detection area of ​​the left photographing area, and a right trigger area that is preset within the right detection area of ​​the right photographing area, using the left and right cameras; an appearance determination control step of determining, when it is determined by the placement determination control step that the ball has been placed in either the left trigger area or the right trigger area, whether or not an object has appeared in a placement detection area including the placement trigger area, using an infrared sensor corresponding to the camera in the placement trigger area in which the ball has been placed; a disappearance determination control step of determining whether or not the ball has disappeared from the installation detection area by using an infrared sensor corresponding to the installation detection area when the appearance determination control step determines that an object has appeared in the installation detection area; a next appearance determination control step of determining whether or not the ball has appeared in the launch detection area by using an infrared sensor corresponding to a launch detection area adjacent to the installation detection area when the disappearance determination control step determines that the ball has disappeared in the installation detection area; a signal transmission control step of transmitting a trigger signal when it is determined that the ball has appeared in the launch detection area by the next appearance determination control step; an image capture control step of, when the trigger signal is transmitted, continuously capturing images of the balls in the left and right image capture areas using the left and right cameras; a calculation and control process for calculating flight parameters of the ball based on ball images of the ball successively photographed by the left and right cameras; The ball launch analysis method includes:

Images