JP6606930B2 - Imaging device - Google Patents

Description

  The present invention relates to a photographing apparatus that photographs an object.

2. Description of the Related Art Conventionally, optical sensors that project sensing light within a detection range and detect whether there is an object within the detection range by detecting the reflected light are widely used.
As a method for preventing an optical sensor from malfunctioning, for example, a technique for reducing the influence of disturbance light using a filter that transmits only light of a specific wavelength is known (for example, see Patent Document 1 below).
Many reflection members that retroreflect only light of a specific wavelength by providing a filter that transmits light of a predetermined wavelength have been proposed (for example, see Patent Document 2 below).

Japanese Patent Laid-Open No. 08-292095 JP 2007-256433 A

Of the optical sensors, a retroreflective optical sensor that detects an object by reflecting sensing light using a reflecting member generally uses a member having a high sensing light reflectance as the reflecting member.
Therefore, for example, in an imaging apparatus that controls the imaging timing using a regressive reflection type optical sensor, there is a possibility that a reflecting member is reflected in the captured image, resulting in an imaging failure.

  The present invention has been made in view of such circumstances, and an object of the present invention is to reduce the influence of a reflecting member on a photographed image in a photographing apparatus that controls photographing timing using a retroreflective optical sensor.

In order to achieve the above-described object, an imaging apparatus according to a first aspect of the present invention includes a detection unit in which a sensor light projecting unit and a light receiving unit are integrated, and a sensor unit disposed apart from the detection unit. A reflecting member that reflects the sensing light projected from the light unit and returns it to the light receiving unit, and an object is in a detection range between the detection unit and the reflecting member based on the amount of light received by the light receiving unit. A detection unit that detects that the vehicle has entered, and a region including a planned movement direction of the object as an imaging range, and the object to the detection range by the regression reflection optical sensor And a camera that starts photographing with the detection of entry as a trigger, and a first filter including a first wavelength in a transmission wavelength band is attached to a surface of the reflection member. A second wavelength different from the first wavelength Taking an image through the second filter, including over-wavelength band, characterized in that.
The imaging apparatus according to a second aspect of the invention is characterized in that the sensing light is light in a wavelength band having a peak at the first wavelength.
The imaging device according to a third aspect of the present invention further includes an imaging light projecting unit that projects imaging light into the imaging range, and a marker that reflects the imaging light is attached to the surface of the object. It is characterized by that.
The imaging device according to a fourth aspect of the invention is characterized in that the imaging light is light in a wavelength band having a peak at the second wavelength.
According to a fifth aspect of the present invention, the retroreflective optical sensor and the camera are installed side by side in a predetermined direction, the reflecting member is a flat member, and a line segment orthogonal to the predetermined direction. The photographic light projecting unit projects the photographic light from the installation position side of the camera.
According to a sixth aspect of the present invention, the photographing apparatus further includes a half mirror disposed on the optical path of the photographing light so as to be substantially 45 ° with respect to the photographing light, and the camera projects the photographing light. The direction of photographing is directed in a direction orthogonal to the direction, and reflected light from the marker that has passed through the half mirror is photographed.
According to a seventh aspect of the present invention, the photographing light projecting unit is a ring illumination provided around a lens of the camera.

According to the first aspect of the present invention, in the photographing apparatus having a camera that starts photographing with the detection of an object by the retroreflective optical sensor as a trigger, the first filter includes a first wavelength in the transmission wavelength band in the reflecting member. However, a second filter that includes a second wavelength different from the first wavelength in the transmission wavelength band is attached to the camera. Since the reflecting member and the camera selectively transmit light of different wavelengths, it is possible to prevent the reflecting member from being reflected more brightly than necessary even when the reflecting member is located within the shooting range of the camera. It will be advantageous.
According to the second aspect of the present invention, the sensing light projected from the sensor light projecting portion is light in a wavelength band having a peak at the first wavelength. This is advantageous in reliably detecting the approach of the vehicle. In addition, even when the surrounding illumination or sunlight is strong, it is advantageous for reliably identifying the light and the sensing light.
According to the invention of claim 3, since the photographing light projecting unit for projecting the photographing light is further provided and the marker for reflecting the photographing light is attached to the surface of the object to be photographed, the predetermined location on the object is provided. This is advantageous in specifying the position of the image on the image. In particular, it is advantageous to make it easier to grasp the behavior of an object when continuously moving objects are photographed.
According to the fourth aspect of the present invention, since the photographing light projected from the photographing light projecting unit is light in a wavelength band having a peak at the second wavelength, light having a wavelength with high received light intensity by the camera is used. It is possible to irradiate an object to be photographed, which is advantageous in clearly photographing the object. In addition, even when the surrounding illumination or sunlight is strong, it is advantageous to reliably distinguish the light from the photographing light.
According to the fifth aspect of the present invention, the flat reflection member is installed facing the installation direction of the retroreflective optical sensor and the camera, and the imaging light projecting unit emits the imaging light from the installation position side of the camera. Even when the light is projected, that is, when the photographing light strikes the reflecting member, reflection of the photographing light from the reflecting member can be suppressed and reflection of the reflecting member can be prevented.
According to the invention of claim 6, since the half mirror is provided on the optical path of the photographing light and the camera photographs the reflected light from the marker that has passed through the half mirror, the optical path of the photographing light and the optical axis of the camera substantially coincide with each other. To do. Since the intensity of the reflected light from the marker is the strongest in the incident direction, it is advantageous for taking a clear image of the marker.
According to the seventh aspect of the present invention, since the photographing light projecting unit is ring illumination, the optical path of the photographing light and the optical axis of the camera substantially coincide. Since the intensity of the reflected light from the marker is the strongest in the incident direction, it is advantageous for taking a clear image of the marker.

It is explanatory drawing which shows schematic structure of the imaging device 10 concerning embodiment. 2 is a block diagram illustrating a functional configuration of the imaging apparatus 10. FIG. 4 is an explanatory diagram showing an example of a marker 26 attached to a golf club head 2204. FIG. It is explanatory drawing which shows an example of the emission spectrum of a monochromatic laser beam. It is explanatory drawing which shows an example of the characteristic of a permeation | transmission filter. 2 is a perspective view of an illumination photographing unit 14. FIG. 3 is a plan view of the illumination photographing unit 14. FIG. 2 is a block diagram showing a hardware configuration of a computer 18. FIG. 5 is an explanatory diagram for explaining a behavior calculation method of a golf club head 2204. FIG. 2 is a plan view showing a state in which a golf club head 2204 immediately before hitting a golf ball 20 is viewed in plan. FIG. It is a schematic diagram explaining the definition of the left-right approach angle θ. It is a schematic diagram explaining the face angle φ at the time of impact. 14 is an explanatory diagram illustrating an example of an output to the display 1816 of the behavior of the golf club head 2204. FIG.

Exemplary embodiments of a photographing apparatus according to the present invention will be described below in detail with reference to the accompanying drawings.
In this embodiment, a case where the behavior of the golf club head 2204 at the time of hitting the golf ball 20 is measured by photographing the golf club 22 (golf club head 2204) at the time of hitting the golf ball 20 from two directions will be described.

FIG. 1 is an explanatory diagram illustrating a schematic configuration of an imaging device 10 according to the embodiment, and FIG. 2 is a block diagram illustrating a functional configuration of the imaging device 10.
1A is a view of the configuration of the photographing apparatus 10 as viewed from the side, and FIG. 1B is a view of the periphery of the golf ball 20 in FIG. 1A as viewed from above.
FIG. 1A shows an operator (player) I who wants to hit the golf ball 20 with the golf club 22.
The golf club 22 includes a shaft 2202 and a golf club head 2204.

The golf ball 20 is placed on a tee 24 inserted into the ground (horizontal plane) G. In this state, the golf ball 20 is hit by the golf club 22 and starts moving. That is, in the example of FIG. 1, the position of the golf ball 20 on the tee 24 is the hitting position P0.
Whether the golf ball 20 is hit with the tee 24 placed thereon or is hit with the golf ball 20 placed on the ground G, that is, the position of the golf ball 20 on the tee 24 is set to the hit position P0, or the ground It is up to the operator I to set the position of the golf ball 20 on G as the hitting position P0.

Reference numeral T denotes a target movement direction when the golf ball 20 is hit with the golf club 22. Although not shown in the figure, it is assumed that the target movement direction T is also displaced in the vertical direction (gravity direction).
Hereinafter, the origin of the coordinates of the space in which the photographing apparatus 10 is installed is set as the hitting position P0, the x direction is parallel to the projection line on the ground G in the target movement direction T, the z axis is the direction opposite to the gravity direction, and the x axis. The direction orthogonal to the z axis is taken as the y axis. In FIG. 1, for the convenience of illustration, each coordinate axis is illustrated at a position away from the impact position P <b> 0 that is the origin.

Next, the golf club head 2204 to be imaged by the imaging device 10 will be described.
FIG. 3A is an example of a wood-based golf club head 2204A, and FIG. 3B is an example of an iron-based golf club head 2204B.
In the following description, when the iron-based and wood-based golf club heads 2204 are expressed without distinction, they are referred to as golf clubs 22.

As shown in FIG. 3A, the wood-type golf club head 2204A is provided with markers 26A, 26B, and 26C at three locations on the top surface that forms a crown portion in contact with the face surface 2206A.
Further, as shown in FIG. 3B, in the iron-based golf club head 2204B, markers 26A, 26B, and 26C are provided on the upper end surface and hosel portion of the golf club head 2204B in contact with the face surface (striking surface) 2206B. . Hereinafter, when the markers 26A, 26B, and 26C are not distinguished, they are referred to as the marker 26.
For example, the markers 26A, 26B, and 26C recursively reflect the imaging light LP of the imaging light projecting unit 1402 that will be described later so that the images of the markers 26A, 26B, and 26C can always be identified when the image is captured by a camera 1406 that will be described later. It has a configuration having a reflection function. For example, the markers 26A, 26B, and 26C are obtained by cutting a known retroreflective sheet into a predetermined shape.
The markers 26 are provided at three or more locations on the golf club head 2204, and the arrangement positions are set so that these markers 26 form triangular vertices and do not rest on one straight line.
In the example of FIG. 3B, one marker 26 is provided in the hosel portion so that the three retroreflective markers do not rest on one straight line.

In this embodiment, in order to obtain the position of the marker as will be described later, for example, three or more marker feature points obtained from the marker are used. A marker feature point is a point that characterizes a marker.
In other words, the marker is provided on the surface of the golf club head 2204 and has three or more marker feature points.
For example, as shown in FIG. 3C, when the markers 26A, 26B, and 26C have a circular shape, the center points of the circular shapes are set as marker feature points 27A, 27B, and 27C, and the positions are extracted by a behavior calculation unit 1832 described later. Is done.
Note that the shape of the markers 26A, 26B, and 26C is not limited to a circle, and may be, for example, a regular polygon such as a regular triangle or a square. In this case, the position of the extracted marker feature point can be the center point (centroid point) of the marker in the case of each regular polygon.
The shape of the marker is not particularly limited as long as it has one or a plurality of marker feature points that characterize the marker and that can be uniquely extracted.

The photographing apparatus 10 includes a retroreflective optical sensor 12, an illumination photographing unit 14, and a computer 18.
The retroreflective optical sensor 12 is installed separately from the detection unit 1202 in which the sensor light projecting unit 1202A and the light receiving unit 1202B are integrated, and is spaced from the detection unit 1202 and is projected from the sensor light projecting unit 1202A. A reflection member 1204 that reflects the sensing light LI and returns it to the light receiving unit 1202B, and that an object has entered the detection range FB between the detection unit 1202 and the reflection member 1204 based on the amount of light received by the light receiving unit 1202B. And a detection unit 1206 for detection.

In the present embodiment, the detection range of the regressive reflection type optical sensor 12 is set in front of the hitting position P0. That is, the sensor light projecting unit 1202A is installed so that the sensing light LI is directed in a direction orthogonal to the target movement direction T and passes the opposite side of the target movement direction T with respect to the strike position P0. The reflection member 1204 is a flat plate-like member, and is installed so that the flat plate surface extends in a direction orthogonal to the light projecting direction of the sensing light LI.
Normally, the sensing light LI projected from the sensor light projecting unit 1202A passes through the detection range FB, reflects to the reflecting member 1204, and returns to the light receiving unit 1202B as reflected light LR. On the other hand, when the operator I hits the golf ball 20, the reflected light LR is blocked by the golf club head 2204 immediately before the golf ball 20 is hit, and the amount of light received by the light receiving portion decreases.
Thereby, the approach of the object (golf club head 2204) into the detection range FB can be detected.

Here, the sensing light LI projected from the sensor light projecting unit is light in a wavelength band having a predetermined wavelength (hereinafter referred to as “first wavelength”) as a peak, and is, for example, a monochromatic laser beam.
FIG. 4 is an explanatory diagram showing an example of an emission spectrum of monochromatic laser light.
In FIG. 4, the vertical axis represents relative emission intensity, and the horizontal axis represents wavelength. The monochromatic laser light shown in FIG. 4 is light distributed in a very narrow wavelength band having a wavelength λm as a peak. Such laser light is excellent in directivity and convergence, and is widely used as sensing light for optical sensors.

The surface of the reflection member 1204 is provided with a first filter 1210 (transmission filter) that includes the wavelength (first wavelength) of the sensing light LI in the transmission wavelength band.
FIG. 5 is an explanatory diagram showing an example of the characteristics of the transmission filter.
In FIG. 5, the vertical axis represents transmittance and the horizontal axis represents wavelength. FIG. 5 shows transmission characteristics of three types of filters F1 to F3 having transmission peak wavelengths in the vicinity of the peak wavelength λm of the monochromatic laser beam shown in FIG.
Such a transmission filter transmits light around the transmission peak wavelength well, but the light greatly deviating from the transmission peak wavelength has a significantly low transmittance.
By adjusting the transmission peak wavelength of the first filter 1210 to the peak wavelength of the sensing light of the sensor light projecting unit 1202A, for example, even when sensing under strong illumination or sunlight, it is difficult to be affected by these lights. Thus, the detection accuracy of the retroreflective optical sensor 12 can be improved.

The reaction speed of the retroreflective optical sensor 12 is preferably 1 ms or less.
This is because, as will be described later, the retroreflective optical sensor 12 is used as a trigger for starting the imaging of the camera 1406. By using the retroreflective optical sensor 12 having a fast reaction speed, the timing of the start of imaging. Is set at a faster timing, and the photographing accuracy of the camera 1406 can be improved.

The illumination imaging unit 14 sets an area including the planned movement direction of the object (golf club head 2204) detected by the retroreflective optical sensor 12 as an imaging range FA, and an object within the detection range by the retroreflective optical sensor 12 The camera 1406 is configured to start shooting with the detection of the entry of the (golf club head 2204) as a trigger, and a shooting light projecting unit 1402 that projects shooting light within the shooting range FA of the camera 1406.
FIG. 6 is a perspective view of the illumination photographing unit 14, and FIG. 7 is a plan view of the illumination photographing unit 14.
As shown in FIGS. 6 and 7, the illumination photographing unit 14 includes a photographing light projecting unit 1402, a half mirror 1404, a camera 1406, a reflecting mirror 1408, and a base 1410. The light projecting unit 1402, the half mirror 1404, the camera 1406, and the reflection mirror 1408 are provided on the base 1410.

The photographing light projecting unit 1402 irradiates the golf club head 2204 that is the object to be photographed with the photographing light LP. More specifically, the photographing light projecting unit 1402 is disposed so as to irradiate light to the marker 26 of the golf club head 2204 via the half mirror 1404.
In the present embodiment, the photographing light projecting unit 1402 is constituted by an LED light source, for example. Further, the photographing light LP projected from the photographing light projecting unit 1402 is light in a wavelength band having a peak at a second wavelength different from the first wavelength of the sensing light LI. As an example, for example, there is a method in which the sensing light LI is red laser light and the photographing light LP is green LED light.

The half mirror 1404 is a mirror having substantially the same light transmittance and reflectance, and transmits half of the light incident on the reflection surface (boundary surface) of the half mirror 1404 and reflects the remaining half of the light.
The half mirror 1404 is provided such that, when viewed in plan, the optical path of light emitted from the photographing light projecting unit 1402 forms an incident angle of approximately 45 degrees with respect to the reflection surface.

The camera 1406 includes an imaging lens 1409, an imaging device that captures a subject image guided by the imaging lens 1409, a signal processing unit that generates an image signal based on an imaging signal generated by the imaging device, and the like. The camera shoots still images continuously at a predetermined shooting interval.
When viewed in plan, the camera 1406 passes through a location where the optical axis of the photographing lens 1409 intersects the optical path of the photographing light projecting unit 1402 and the reflecting surface of the half mirror 1404, and the optical axis of the photographing lens 1409 is It is provided so as to form an angle of about 90 degrees with the light path of the light of the photographing light projecting unit 1402. As a result, the camera 1406 captures the reflected light from the marker 26 that has passed through the half mirror 1404.

Further, a second filter 1411 (transmission filter) including a second wavelength that is a peak wavelength of the imaging light LP in a transmission wavelength band is attached to the surface of the imaging lens 1409, and the camera 1406 includes the second filter 1411. An image is taken through the filter 1411.
As described above, the transmission filter transmits light around the transmission peak wavelength well, but the light greatly deviating from the transmission peak wavelength has a significantly low transmittance.
By adjusting the peak wavelength of the second filter 1411 to the peak wavelength of the photographing light of the photographing light projecting unit 1402, it is difficult to be influenced by other light, and the image quality of the photographed image of the marker 26 is improved. Is advantageous.

In particular, in the photographing apparatus 10, two types of light, that is, the sensing light LI and the photographing light LP are used, and there is a high possibility that the sensing light LI affects photographing.
For example, the reflecting member 1204 that reflects the sensing light LI may enter the imaging range FA. Even in such a case, the sensing light LI and the imaging light LP have different peak wavelengths, and the reflecting member 1204 and the camera 1406 are provided with filters, so that the reflecting member 1204 appears brighter than necessary. It is possible to effectively prevent the object of photographing from being hindered.
In the photographing apparatus 10, the photographing light projecting unit 1402 is arranged on the camera 1406 side instead of the reflecting member 1204 side. That is, the shooting direction of the camera 1406 matches the projection direction of the shooting light LP. In such a case, the frequency of surrounding objects shining on the camera 1406 (reflecting the photographing light LP) is increased due to the influence of the photographing light LP.
In the photographing apparatus 10, since the wavelength of the photographing light LP is set within the transmission wavelength range of the second filter 1411 used in the camera 1406, unnecessary reflection from surrounding objects is suppressed, and the photographing target (this embodiment) In the form, it is possible to efficiently photograph only the marker).

The reflection mirror 1408 has a total reflection surface that totally reflects light, and has a function of adjusting the reflection direction (angle) and position of the total reflection surface.
The reflection mirror 1408 reflects the light emitted from the photographing light projecting unit 1402 and reflected by the half mirror 1404 on the total reflection surface, and irradiates the markers 26A, 26B, and 26C of the golf club head 2204. The reflection direction and position of the total reflection surface are adjusted so that the reflected light from 26B and 26C is reflected again by the total reflection surface and guided to the camera 1406 through the half mirror 1404.

Here, as illustrated in FIG. 7, in the illumination photographing unit 14, the photographing light projecting unit 1402 emits continuous light toward the reflection surface of the half mirror 1404.
Half of the light irradiated on the reflecting surface of the half mirror 1404 is shot on the markers 26A, 26B, and 26C provided on the golf club head 2204, which is the measurement object, as transmitted light that passes through the position Shm on the reflecting surface. It becomes light LP1.
Reflected light (hereinafter referred to as marker reflected light LM1) from the markers 26A, 26B, and 26C is directed to the reflecting surface of the half mirror 1404.
The marker reflected light LM1 travels in the opposite direction to the imaging light LP1 from the imaging light projecting unit 1402, and the marker reflected light LM1 is reflected light whose optical path matches that of the imaging light LP1 from the imaging light projecting unit 1402. Therefore, the outgoing angle formed by the light that passes through the reflecting surface of the half mirror 1404 and irradiates the markers 26A, 26B, and 26C with the reflecting surface of the half mirror 1404, and the marker reflected light LM1 enters the reflecting surface of the half mirror 1404. The incident angle is substantially the same.
Thus, the marker reflected light LM1 is reflected by the reflecting surface of the half mirror 1404 and guided to the photographing lens 1409 of the camera 1406.

On the other hand, the remaining half of the light applied to the reflection surface of the half mirror 1404 is reflected by the reflection surface of the half mirror 1404 and enters the total reflection surface of the reflection mirror 1408.
Here, the totally reflected light is irradiated as the photographing light LP2 to the markers 26A, 26B, and 26C provided on the golf club head 2204 to be measured.
The reflected light of the photographing light LP2 from the markers 26A, 26B, and 26C (hereinafter referred to as marker reflected light LM2) is totally reflected from the reflection mirror 1408, and the optical path of the photographing light LP2 that irradiates the markers 26A, 26B, and 26C. It overlaps and goes to the total reflection surface of the reflection mirror 1408.
The marker reflected light LM2 is reflected toward the half mirror 1404 on the total reflection surface of the reflection mirror 1408.
Here, the reflection angle (irradiation angle) that the light reflected by the reflection surface of the half mirror 1404 and traveling toward the reflection mirror 1408 forms with the reflection surface of the half mirror 1404, and the incident light where the marker reflected light LM2 enters the reflection surface of the half mirror 1404. The angles are substantially the same.
Further, the marker reflected light LM2 transmitted through the half mirror 1404 enters the photographing lens of the camera 1406 together with the marker reflected light LM1 reflected by the half mirror 1404.
Accordingly, the camera 1406 captures images of the markers 26A, 26B, and 26C by the two reflected lights LM1 and LM2 from the markers 26A, 26B, and 26C that substantially coincide with the optical paths of the imaging lights LP1 and LP2 irradiated from two different directions. .

  In this embodiment, the golf club head 2204 is irradiated with light from two different directions to take an image of the golf club head 2204 from two different directions. For example, a known motion capture system is used. You may make it image | photograph the image of the golf club head 2204 from a different direction with two or more cameras.

Further, in the case where an image of an object only needs to be taken from one direction, a configuration in which the reflection mirror 1408 is removed from the configuration illustrated in FIGS.
By using the half mirror 1404, it is possible to make the irradiation direction of the photographing light LP substantially coincide with the optical axis of the camera 1406, and photographing can be performed at a position where the reflected light from the marker 26 is the strongest.
Further, in the case where an image of an object only needs to be taken from one direction, the photographing light projecting unit 1402 is provided around the photographing lens 1409 of the camera 1406 without using the configuration shown in FIGS. It is good also as ring illumination. By using ring illumination, the irradiation direction of the photographing light LP and the optical axis of the camera 1406 can be made substantially coincident.

The computer 18 implements an imaging control unit 1830, a behavior calculation unit 1832, and an output unit 1834 when the CPU 1802 executes various programs.
FIG. 8 is a block diagram showing a hardware configuration of the computer 18.
The computer 18 includes a CPU 1802, a ROM 1804, a RAM 1806, a hard disk device 1808, a disk device 1810, a keyboard 1812, a mouse 1814, a display 1816, a printer 1818, an input / output interface 1820, etc. have.
A ROM 1804 stores a control program and the like, and a RAM 1806 provides a working area.
The hard disk device 1808 stores a shooting control program for controlling the shooting timing of the camera 1406 and a dedicated program (behavior measurement program) for measuring the behavior of the golf club head 2204.
The disk device 1810 records and / or reproduces data on a recording medium such as a CD or a DVD.
A keyboard 1812 and a mouse 1814 receive operation inputs from the operator.
A display 1816 displays and outputs data, and a printer 1818 prints and outputs data. The display 1816 and the printer 1818 output data.
The input / output interface 1820 exchanges data with the retroreflective optical sensor 12 and the illumination photographing unit 14.

In FIG. 1, the computer 18 and devices such as the retroreflective optical sensor 12 are connected by wiring, but communication between these devices may be performed by wireless communication.
Alternatively, the computer 18, the retroreflective optical sensor 12, and the illumination photographing unit 14 may be housed in a unit. In this case, the keyboard 1812, the mouse 1814, and the like are appropriately changed according to the shape of the unit and the usage pattern.

Next, the functional configuration of the computer 18 shown in FIG. 2 will be described.
When an object is detected within the detection range of the retroreflective optical sensor 12, the imaging control unit 1830 outputs a control signal for starting imaging with the camera 1406 with reference to the detection timing.
With the detection timing as a reference, for example, when an object is detected, a control signal for starting shooting may be output immediately, or the start of shooting is controlled at a timing when a certain delay time is taken from the detection of the object. A signal may be output.

The behavior calculation unit 1832 calculates the behavior of the golf club head 2204 from the image captured by the camera 1406.
As an example of a specific procedure, first, the behavior calculation unit 1832 previously stores information including data (CAD data) D1 of the three-dimensional shape model of the golf club head 2204 and corresponding point position information D2. ing.
More specifically, the three-dimensional shape model data (CAD data) D1 constitutes a three-dimensional shape model reproducing the golf club head 2204, and the corresponding point position information D2 corresponds to the three or more marker feature points. Indicates the position of the corresponding point on the three-dimensional shape model.

  When the operator I swings and photographing with the camera 1406 is performed, the behavior calculation unit 1832 extracts the marker feature points 27A, 27B, and 27C from the images of the markers 26A, 26B, and 26C in the photographed image, respectively. For example, brightness correction and contrast correction of image data are performed under predetermined processing conditions so that only the data values of the respective markers 26A, 26B, and 26C are distinguished from the data values of the other portions. Further, gradation processing with a predetermined number of gradations is performed.

Next, the behavior calculation unit 1832 identifies the marker feature points 27A, 27B, and 27C of the markers 26A, 26B, and 26C, extracts the positions in the three-dimensional coordinate system, and extracts 3 of the extracted marker feature points. Using the dimensional coordinate position, time-series data of the position and orientation of the golf club head 2204 is calculated.
More specifically, the image portions of the markers 26A, 26B, and 26C are identified from the image that has been subjected to the gradation processing of a predetermined number of gradations, and the positions thereof are extracted.
Then, for the images of the markers 26A, 26B, and 26C taken from different directions (two directions) at the same time by the camera 1406, the position coordinates of the marker feature points 27A, 27B, and 27C are obtained, respectively. Using the position coordinates of the marker feature points 27A, 27B, and 27C, position coordinates in a three-dimensional coordinate system that defines the space through which the golf club head 2204 passes are obtained, and the marker feature points 27A, 27B, and 27C in the three-dimensional coordinate system are obtained. Extract position.
Since the shooting direction of the camera 1406 is known, predetermined three-dimensional coordinates representing the space through which the golf club head 2204 passes are obtained by obtaining information of two-dimensional position coordinates in images shot by these cameras 1406. A position (three-dimensional position coordinate) in the system can be obtained.

  When the images of the markers 26A, 26B, and 26C are taken at a predetermined time interval, for example, a time interval of 1/2000 second, each of the images of the markers 26A, 26B, and 26C every 1/2000 second is taken. The time-series data of the three-dimensional position coordinates of the marker feature points (marker center points) 27A, 27B, and 27C can be obtained.

Further, the behavior calculation unit 1832 calculates the position and orientation of the golf club model simulating the golf club head 2204 as time series data from the obtained three-dimensional position coordinates.
Specifically, the behavior calculation unit 1832 calls the data (CAD data) D1 and the corresponding point position information D2 of the three-dimensional shape model of the golf club head 2204 described above. The position and orientation of the three-dimensional shape model are calculated so that the position coordinates in the three-dimensional coordinate system coincide with the three-dimensional position coordinates of the extracted marker feature points, and the position and orientation of the golf club head 2204 are calculated. As the position and orientation, time series data of the position and orientation of the golf club head 2204 is calculated.

FIG. 9A is a schematic diagram showing a time history of marker movement at a time interval of 1/2000 second determined from the three-dimensional position coordinates of the marker feature points, and FIG. 9B is a time of marker movement shown in FIG. 9A. FIG. 6 is a schematic diagram showing the behavior of a golf club head 2204 based on history.
Reference numeral 21 in the figure indicates the golf ball 20, and an arrow U indicates the moving direction of the golf club head 2204 (the launch direction of the golf ball 21). FIG. 9B shows the golf club head 2204 as viewed from above.
9A, with the predetermined position as the origin, the axis parallel to the target movement direction T of the golf ball 21 is the X axis, the axis perpendicular to the X axis and parallel to the horizontal plane (ground) is the Y axis, and the axis perpendicular to the horizontal plane is An XYZ coordinate system for the Z axis is set in advance.
In FIG. 9A, three plot groups M1, M2 to M10 representing three markers 26A, 26B, and 26C are three marker feature points 27A and 27B extracted from markers photographed at a time interval of 1/2000 second. , 27C.
Further, the golf club head 2204 is associated with each of the three plot groups M1, M2 to M10 representing the markers, and the movement of the golf club head 2204 is continuously displayed as shown in FIG. Changes in the position of the head 2204 and the orientation of the face can be known.
The position of the golf club head 2204 represents the position coordinates at the center position of the face surface 2206 as the representative position of the golf club head 2204.
Further, the orientation of the face of the golf club head 2204 is represented by a normal line passing through the center point of the face surface 2206.

The behavior calculation unit 1832 uses the time series data of the position and orientation of the golf club head 2204, that is, the time series data of the markers 26A, 26B, and 26C, to enter the left and right of the golf club head 2204 immediately before hitting the golf ball 20. Find the corner and the face angle when hitting.
FIG. 10 is a plan view showing a plan view of the golf club head 2204 immediately before hitting the golf ball 20, FIG. 11 is a schematic diagram for explaining the definition of the left and right approach angle θ, and FIG. It is a schematic diagram to explain.
11 and 12, the symbol C indicates the center position of the face surface 2206 of the golf club head 2204.
As shown in FIGS. 10 and 11, a straight line obtained by projecting a target line connecting the center of the golf ball 20 and the target movement direction T onto the plane is defined as a reference line L0.
Here, the reference line L0 is parallel to the X axis, and thus the plane is parallel to the X axis and the Y axis and orthogonal to the Z axis.
A straight line obtained by projecting the tangent of the movement locus of the golf club head 2204 immediately before hitting the golf ball 20 onto a plane parallel to the horizontal plane is defined as a first straight line L1.
The left / right approach angle θ is an angle formed by the reference line L0 and the first straight line L1.
Also, as shown in FIG. 12, a straight line obtained by projecting a normal line passing through the center point C of the face surface 2206 of the golf club head 2204 immediately before hitting (impacting) the golf ball 20 onto the plane is a second straight line L2. And
The hit face angle φ is an angle formed by the reference line L0 and the second straight line L2.

Further, since the position of the golf ball 20 in the XYZ coordinate system is known, on the face surface 2206 from the relationship between the center point C of the face surface 2206 and the position of the center point of the golf ball 20 when the golf ball 20 is hit. Can be calculated.
In addition, the face speed can be easily calculated if the shooting interval and the ratio between the distance on the image and the distance in the real space are known.

When the golf ball 20 is not shown in the captured image, it is necessary to specify which of the plurality of position coordinates (see FIG. 9) is the position coordinate immediately before the impact.
Here, since the moving speed of the golf club head 2204 decreases immediately after the golf ball 20 is hit, in the time series data of the position coordinates representing the movement of the center position C of the face surface 2206 at regular time intervals, immediately before and after the hit. The movement distance of the position coordinates of the current position is abruptly shorter than the movement distance at each previous time point.
By utilizing this fact, as shown in FIG. 11, from the time series data indicating the position coordinates of the golf club head 2204, the position coordinates (center position C) of the golf club head 2204 immediately before the golf ball 20 is hit, It is possible to specify the previous position coordinate in the series data.
A straight line L1 connecting the two position coordinates is a tangent to the movement locus of the golf club head 2204.
Similarly, using the above, as shown in FIG. 12, the face of the golf club head 2204 immediately before hitting the golf ball 20 is obtained from time-series data indicating the normal line indicating the direction of the golf club head 2204. The normal of surface 2206 can be identified.

The output unit 1834 outputs the behavior of the golf club head 2204 calculated by the behavior calculation unit 1832.
There are various output forms of the output unit 1834. For example, display on the display 1816, printing on a printing medium by the printer 1818, storage on a disk-shaped storage medium via the disk device 1810, output to an external device via the input / output interface 1820, and the like can be given.

FIG. 13 is an explanatory diagram showing an example of output to the display 1816 of the behavior of the golf club head 2204.
In the display screen 50 of FIG. 13, a hit point position diagram 5002 with respect to the golf club head 2204, a side view 5004 of the movement locus of the center point C of the golf club head 2204, and a plan view of the movement locus of the center point C of the golf club head 2204. FIG. 5006, numerical information 5008 such as face speed and approach angle, and an animation diagram 5010 of the movement locus of the golf club head 2204 are output.
In this manner, the behavior of the golf club head 2204 can be calculated with high accuracy using the image captured by the imaging device 10. In particular, since the position in the three-dimensional space of the golf club head 2204 immediately before the impact can be obtained continuously, observation from an angle that cannot be taken by conventional camera photography (for example, high-speed video photography) becomes possible. The convenience of the operator I can be improved. More specifically, for example, it is advantageous for an operator to analyze his / her swing and improve the swing motion.

  In the present embodiment, the photographing apparatus 10 according to the present invention is used for behavior analysis of the golf club head 2204, but the application of the present invention is not limited to this. For example, when the user simply wants to take a picture of a moving object, the shooting light LP is projected onto the shooting range of the camera 1406, and the retroreflective optical sensor 12 detects the shooting target or other object to start shooting. The present invention can be applied to an imaging device as a trigger.

  As described above, the imaging apparatus 10 according to the embodiment includes the first reflection member 1204 in the imaging apparatus 10 having the camera 1406 that starts imaging with the detection of an object by the retroreflective optical sensor 12 as a trigger. A first filter 1210 including a wavelength in the transmission wavelength band is attached to the camera 1406, and a second filter 1411 including a second wavelength different from the first wavelength in the transmission wavelength band is attached to the camera 1406. Since the reflection member 1204 and the camera 1406 selectively transmit light having different wavelengths by the filters 1210 and 1411, the reflection member 1204 is necessary even when the reflection member 1204 is located within the imaging range of the camera 1406. This is advantageous in preventing bright reflections.

Further, in the photographing apparatus 10, since the sensing light LI projected from the sensor light projecting unit 1202A is light in a wavelength band having a peak at the first wavelength, the reflection efficiency at the reflecting member 1204 is increased, This is advantageous in reliably detecting the entry of an object. In addition, even when ambient illumination or sunlight is strong, it is advantageous to reliably identify the light and the sensing light LI.
In addition, the photographing apparatus 10 includes a photographing light projecting unit 1402 that projects photographing light LP, and a marker 26 that reflects photographing light is attached to the surface of the golf club head 2204 that is an object to be photographed. This is advantageous in specifying the position of a predetermined location on the golf club head 2204 on the image. In particular, when shooting a moving golf club head 2204 continuously, it is advantageous to make it easier to grasp the behavior of the golf club head 2204.

In the photographing apparatus 10, since the photographing light LP projected from the photographing light projecting unit 1402 is light in a wavelength band having a peak at the second wavelength, light having a wavelength with high received light intensity by the camera 1406. Can irradiate the object to be imaged, which is advantageous in clearly photographing the object. In addition, even when the surrounding illumination or sunlight is strong, it is advantageous to reliably distinguish the light from the photographing light LP.
Further, in the photographing apparatus 10, a flat reflection member 1204 is installed facing the installation direction of the retroreflective optical sensor 12 and the camera 1406, and the photographing light projecting unit 1402 is installed from the installation position side of the camera 1406. Even when the imaging light LP is projected, that is, when the imaging light LP strikes the reflection member 1204, reflection of the imaging light LP from the reflection member 1204 can be suppressed and reflection of the reflection member 1204 can be prevented.
In addition, the photographing apparatus 10 includes a half mirror 1404 on the optical path of the photographing light LP, and the camera 1406 photographs the reflected light from the marker 26 that has passed through the half mirror 1404. Therefore, the optical path of the photographing light LP and the light of the camera 1406 are captured. The axis almost coincides. Since the intensity of the reflected light from the marker 26 is the strongest in the incident direction, it is advantageous for taking a clear image of the marker 26.

  DESCRIPTION OF SYMBOLS 10 ... Imaging device, 12 ... Regression reflection type optical sensor, 1202 ... Detection part, 1202A ... Light projection part for sensors, 1202B ... Light receiving part, 1204 ... Reflection member, 1206 ... Detection part, 1210 …… First filter, 14 …… Illumination photographing unit, 1402 …… Shooting light projecting unit, 1404 …… Half mirror, 1406 …… Camera, 1408 …… Reflective mirror, 1409 …… Shooting lens, 1410 …… Base , 1411... Second filter, 18... Computer, 1830 .. Shooting control unit, 1832... Behavior calculation unit, 1834 ... Output unit, 20... Golf ball, 22. 2204: Golf club head, 26A, 26B, 26C: Marker, LI: Sensing light, LP: Shooting light.

Claims (7)

A detection unit in which the light projecting unit for the sensor and the light receiving unit are integrated, and the sensing light projected from the light projecting unit for the sensor installed apart from the detection unit is reflected back to the light receiving unit. A regressive reflection type optical sensor comprising: a reflection member; and a detection unit that detects that an object has entered a detection range between the detection unit and the reflection member based on a light amount received by the light reception unit; ,
A region including the planned movement direction of the object as a shooting range, and a camera that starts shooting with detection of entry of the object into the detection range by the retroreflective optical sensor,
On the surface of the reflecting member, a first filter including a first wavelength in a transmission wavelength band is attached,
The camera captures an image through a second filter including a second wavelength different from the first wavelength in a transmission wavelength band;
An imaging apparatus characterized by that. The sensing light is light in a wavelength band having a peak at the first wavelength.
The photographing apparatus according to claim 1, wherein: A photographing light projecting unit that projects photographing light into the photographing range;
On the surface of the object, a marker that reflects the photographing light is attached.
The photographing apparatus according to claim 1 or 2, characterized in that The photographing light is light in a wavelength band having the second wavelength as a peak,
The photographing apparatus according to claim 3. The retroreflective optical sensor and the camera are installed side by side in a predetermined direction,
The reflection member is a flat plate-like member, and is installed so that a flat plate surface is along the predetermined direction on a line segment orthogonal to the predetermined direction.
The photographing light projecting unit projects the photographing light from an installation position side of the camera.
The photographing apparatus according to claim 3 or 4, characterized in that A half mirror disposed on the optical path of the photographing light so as to be oriented at approximately 45 ° with respect to the photographing light;
The camera directs a photographing direction in a direction orthogonal to a light projecting direction of the photographing light and photographs reflected light from the marker that has passed through the half mirror.
The photographing apparatus according to claim 3, wherein the photographing apparatus is characterized in that: The photographing light projecting unit is a ring illumination provided around a lens of the camera.
The photographing apparatus according to claim 3, wherein the photographing apparatus is characterized in that:

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