Calibration method, data processing apparatus, non-transitory computer-readable storage medium for storing calibration program

A calibration method implemented by a computer, includes: measuring, with a laser ranging sensor, markers attached to at least two predetermined positions of a bed portion of a trampoline and calculating coordinates of the markers in a first coordinate system with a position of the laser ranging sensor being an origin; and calculating a conversion parameter to convert coordinates of respective positions of the first coordinate system into coordinates of respective positions of a second coordinate system with a center position of the bed portion being an origin based on a relationship between the calculated coordinates of the markers and the at least two predetermined positions of the bed portion.

FIELD

The present invention relates to a calibration method, a data processing apparatus, and a non-transitory computer-readable storage medium for storing a calibration program.

BACKGROUND

In various competitions where competitors compete for ranking based on scoring by scorers, a measurement technique for measuring and quantifying movement of a competitor has been conventionally employed, so as to improve fairness of the scoring. For example, in trampolining, a score (T (Time) score: 1 point per second) is added according to a total jump time, and thus a measurement technique is employed that uses a laser light to measure a dent in a bed unit generated in response to landing by the competitor during the competition, and calculates the total jump time.

Here, in the case of trampolining, it has been decided that a landing position (an amount of displacement in a horizontal direction) when the competitor has landed will be scored in the future. Accordingly, a measurement technique for calculating the landing position of the competitor is required in addition to the total jump time of the competitor.

SUMMARY

According to an aspect of the embodiments, a calibration method implemented by a computer includes: measuring, with a laser ranging sensor, markers attached to at least two predetermined positions of a bed portion of a trampoline and calculating coordinates of the markers in a first coordinate system with a position of the laser ranging sensor being an origin; and calculating a conversion parameter to convert coordinates of respective positions of the first coordinate system into coordinates of respective positions of a second coordinate system with a center position of the bed portion being an origin based on a relationship between the calculated coordinates of the markers and the at least two predetermined positions of the bed portion.

DESCRIPTION OF EMBODIMENT(S)

However, in the case of laser light, a scoring line marked on the bed unit cannot be directly measured. Accordingly, in order to achieve scoring according to a calculated landing position, it is necessary to clarify and calibrate in advance which region the calculated landing position corresponds to among regions divided by the scoring lines.

In one aspect, it is an object to provide a calibration method for achieving scoring according to a landing position on a bed unit of a trampoline.

A calibration method for achieving scoring according to a landing position of a bed unit of a trampoline can be provided.

Hereinafter, each of embodiments will be described with reference to the attached drawings. Note that in the description and the drawings, components having substantially the same functional configurations are denoted by the same reference numerals, and redundant descriptions are omitted.

First Embodiment

<System Configuration of Measurement System>

First, a system configuration of a measurement system for measuring and qualifying a motion of a competitor in trampolining will be described.FIG.1is a view illustrating an example of a system configuration of a measurement system. As illustrated inFIG.1, a measurement system100has a laser scanner device110and a data processing apparatus120. The laser scanner device110and the data processing apparatus120are communicatively connected.

The laser scanner device110is a laser ranging sensor that has a scan function to execute, in an arbitrary direction in a predetermined plane, a ranging process of measuring a time from emission of a laser light to reception of a reflected light to thereby measure the distance to a measuring object.

In a first embodiment, the laser scanner device110is disposed below a bed unit152held on a frame151of a trampoline150, and emits a laser light in a direction approximately parallel to the bed unit152. Thus, the laser scanner device110receives reflected light from a dent region generated in the bed unit152, and can measure a distance to the dent region and a direction of the dent region.

The laser scanner device110transmits scan data that includes distance information indicating the distance to the dent region and angle information indicating the direction of the dent region to the data processing apparatus120.

A laser scanner control program, a calibration program, and a score calculation program are installed in the data processing apparatus120. The data processing apparatus120functions as a laser scanner control unit130, a calibration unit131, and a score calculation unit132by a CPU executing the programs.

The laser scanner control unit130controls start and stop of the laser scanner device110. Further, the laser scanner control unit130sets various parameters to the laser scanner device110.

The calibration unit131calculates conversion parameters for converting scan data transmitted from the laser scanner device110into a trampoline coordinate system (second coordinate system), and stores the conversion parameters in the conversion parameter storage unit141. The trampoline coordinate system is a coordinate system in which a center position of the bed unit152is the origin, and an axis parallel to a plurality of scoring lines of the bed unit152is a horizontal axis (Xt-axis) or a vertical axis (Yt-axis).

The score calculation unit132obtains scan data from the laser scanner device110, and converts the scan data into the trampoline coordinate system using the conversion parameters. The score calculation unit132then calculates a cross-sectional shape of a dent region formed in the bed unit152, and calculates the landing position of the competitor on the bed unit152. Since the landing position calculated at this time has already been converted into the trampoline coordinate system, the score calculation unit132can determine based on coordinates of the landing position which of the regions divided by the plurality of scoring lines the landing position corresponds to.

Specifically, the score calculation unit132specifies a score (H score (horizontal displacement)) according to the coordinates of the landing position by referring to a table storage unit142, and outputs a score calculation result.

<Scanning Direction of Laser Light>

Next, a scanning direction of the laser light emitted from the laser scanner device110will be described.FIG.2is a view illustrating a scanning direction of laser lights emitted from the laser scanner device. Among these, part200ainFIG.2illustrates a state of the trampoline150viewed from above, and part200binFIG.2illustrates a state of the trampoline150viewed from a side.

As illustrated in part200ainFIG.2, in a case where the laser scanner device110is disposed at one of vertex positions of the rectangular frame151, the laser scanner device110emits a laser light in a scan range210that ranges from a long side direction to a short side direction of the rectangular frame151. Note that the laser light201indicates a laser light emitted in the long side direction of the frame151, and the laser light204indicates a laser light emitted in the short side direction of the frame151.

Further, the laser scanner device110repeats emission and reception of laser lights while scanning the scan range210. The laser lights202,203represent examples of the laser lights emitted while scanning the scan range210.

By setting the entire lower surface of the bed unit152as the scan range in this manner, the laser scanner device110can measure the distance to a dent region generated in any position of the bed unit152and the direction of the dent region.

Further, as illustrated in part200binFIG.2, laser lights (for example, laser lights201to204) emitted by the laser scanner device110while scanning the scan range210are all approximately parallel to the bed unit152, and distances of the laser lights from the bed unit152are constant.

By scanning in directions approximately parallel to the bed unit152in this manner, the laser scanner device110can measure the distance to a dent region generated in the bed unit152and the direction of the dent region at a certain height position from the bed unit152.

<Table Stored in Table Storage Unit>

Next, a table stored in the table storage unit142will be described. In the first embodiment, it is assumed that the table storage unit142stores a region table, a coordinate table, and a deduction table.

(1) Region Table

Next, a region table of H score stored in the table storage unit142will be described.FIG.3is a view illustrating an example of the region table of H score. As illustrated inFIG.3, the region table300of H score is generated by dividing the bed unit152into a plurality of regions by a plurality of scoring lines and assigning an H score to each of the regions.

As illustrated inFIG.3, the trampoline150has a size of 2910 [mm] in length and 5050 [mm] in width, in which the bed unit152has a size of 2140 [mm] in length and 4280 [mm] in width.

In trampolining, the bed unit152of the relevant size is divided into five types of regions (11 sections) for scoring the H score. Note that the H score is scored by a deduction system.

Specifically, a region311with a length of 1080 [mm] and a width of 1080 [mm] including the center position of the bed unit152is set as a region where the H score is 0.0 point. When the landing position of a competitor is included in the region311, the competitor will not be deducted.

Further, regions312obtained by excluding the region311from a region with a length of 1080 [mm] and a width of 2150 [mm] including the center position of the bed unit152are set as regions where the H score is 0.1 point. When the landing position of the competitor is included in a region312, the competitor will be deducted by 0.1 point.

Further, regions313obtained by excluding the regions311,312from a region with a length of 2140 [mm] and a width of 2150 [mm] including the center position of the bed unit152are set as regions where the H score is 0.2 point. When the landing position of the competitor is included in a region313, the competitor will be deducted by 0.2 point.

Further, regions314obtained by excluding the regions311,312from a region with a length of 1080 [mm] and a width of 4280 [mm] including the center position of the bed unit152are set as regions where the H score is 0.2 point. When the landing position of the competitor is included in a region314, the competitor will be deducted by 0.2 point.

Moreover, regions315other than the regions311to314described above in the bed unit152are set as regions where the H score is 0.3 point. When the landing position of the competitor is included in a region315, the competitor will be deducted by 0.3 point.

(2) Coordinate Table and Deduction Table

Next, the coordinate table and the deduction table stored in the table storage unit142will be described. As will be described later, the data processing apparatus120manages the landing position of a competitor with the trampoline coordinate system. Therefore, the table storage unit142stores a coordinate table in which each region of a region table300is defined based on the trampoline coordinate system with the center position of the bed unit152being an origin, and a deduction table in which the H score is defined based on the trampoline coordinate system.

FIG.4is a diagram illustrating an example of the coordinate table and the deduction table used for scoring of the H score. Among these, part400aillustrates an example of the coordinate table. As illustrated in400a, in the trampoline coordinate system with the center position of the bed unit152being the origin, dimensions in an Xt-axis direction and a Yt-axis direction from the origin410to boundary points of respective regions are X1to X3, Y1, Y2. In this case, the respective dimensions are as presented in a coordinate table420.

Further, part400billustrates an example of the deduction table. Assuming that the landing position of the competitor (Xtcoordinates and Ytcoordinates in the trampoline coordinate system) is (Xtn, Ytn), the relationship between the landing position of the competitor (Xtn, Ytn) and the H score is as illustrated in a deduction table430.

For example, when the landing position of the competitor (Xtn, Ytn) is 0≤Xtn≤X1and 0≤Ytn≤Y1, the competitor will not be deducted. On the other hand, when the landing position of the competitor (Xtn, Ytn) is 0≤Xtn≤X1and Y1≤Ytn≤Y2, the competitor will be deducted by 0.2 points.

<Hardware Configuration of Data Processing Apparatus>

Next, a hardware configuration of the data processing apparatus120will be described.FIG.5is a diagram illustrating an example of a hardware configuration of the data processing apparatus.

As illustrated inFIG.5, the data processing apparatus120has a central processing unit (CPU)501, a read only memory (ROM)502, and a random access memory (RAM)503. The CPU501, the ROM502, and the RAM503form what is called a computer. Further, the data processing apparatus120includes an auxiliary storage unit504, a display unit505, an operating unit506, a communication unit507, and a drive unit508. Note that the respective units of the data processing apparatus120are connected to one another via a bus509.

The CPU501executes various programs (for example, the laser scanner control program, the calibration program, the score calculation program, or the like) installed in the auxiliary storage unit504.

The ROM502is a nonvolatile memory. The ROM502functions as a main storage device that stores various programs, data, and the like necessary for the CPU501to execute the various programs installed in the auxiliary storage unit504. More specifically, the ROM502stores a boot program or the like of a basic input/output system (BIOS), an extensible firmware interface (EFI), and the like.

The RAM503is a volatile memory such as a dynamic random access memory (DRAM) or a static random access memory (SRAM). The RAM503functions as a main storage device that provides a work area expanded when the CPU501executes the various programs installed in the auxiliary storage unit504.

The auxiliary storage unit504is an auxiliary storage device that stores various programs installed in the data processing apparatus120, data used when the various programs are executed, and the like. The conversion parameter storage unit141and the table storage unit142described above are achieved in the auxiliary storage unit504.

The display unit505is a display device that displays a processing result or the like (for example, a score calculation result) by the data processing apparatus120. The operating unit506is an operating device used when an administrator or the like of the measurement system100inputs various instructions (for example, a measurement start instruction and a measurement end instruction to be described below) to the data processing apparatus120. The communication unit507is a communication device for the data processing apparatus120to communicate with the laser scanner device110and the like.

The drive unit508is a device for setting a recording medium510. The recording medium510mentioned here includes a medium for optically, electrically, or magnetically recording information, such as a CD-ROM, a flexible disk, or a magneto-optical disk. Alternatively, the recording medium510may include a semiconductor memory or the like that electrically records information, such as a ROM or a flash memory.

Note that the various programs stored in the auxiliary storage unit504are installed by, for example, setting a distributed recording medium510to the drive unit508and reading the various programs recorded on the recording medium510by the drive unit508. Alternatively, the various programs stored in the auxiliary storage unit504may be installed by being downloaded from a network via the communication unit507.

<Functional Configuration of Data Processing Apparatus (Calibration Unit)>

Next, a functional configuration of the data processing apparatus120will be described. As described above, the data processing apparatus120functions as the laser scanner control unit130, the calibration unit131, and the score calculation unit132. Here, a functional configuration of the calibration unit131will be described in detail.

(1) Details of Functional Configuration of Calibration Unit

FIG.6is a diagram illustrating an example of a functional configuration of the calibration unit of the data processing apparatus. As illustrated inFIG.6, the calibration unit131has a calibration scan data obtaining unit601, a marker position determination unit602, and a conversion parameter calculation unit603.

The calibration scan data obtaining unit601obtains, as calibration scan data from the laser scanner device110, scan data obtained by the laser scanner device110performing scanning with calibration markers being attached to two predetermined positions of the bed unit152. Further, the calibration scan data obtaining unit601notifies the marker position determination unit602of the obtained calibration scan data.

The marker position determination unit602is an example of a first calculation unit. The marker position determination unit602calculates coordinates (marker position coordinates) of a position where a calibration marker is attached based on the calibration scan data notified from the calibration scan data obtaining unit601. The marker position determination unit602calculates marker position coordinates as coordinates in a scanner coordinate system (first coordinate system) in which the position where the laser scanner device110is disposed is the origin, a long side direction of the bed unit152is a horizontal axis (Xs-axis), and a short side direction thereof is a vertical axis (Ys-axis). Further, the marker position determination unit602notifies the conversion parameter calculation unit603of the calculated marker position coordinates.

(2) Marker and Attachment Positions of Markers

Next, an exterior appearance configuration of a marker for calibration attached to two predetermined positions of the bed unit152and attachment positions of markers for calibration will be described.

FIG.7is a view for explaining an exterior appearance configuration of a marker and attachment positions of markers. Among these, part700aillustrates the exterior appearance configuration of the marker. As illustrated in700a, the marker710has a hook portion711for attaching to the bed unit152, and a main body712that reflects a laser light emitted from the laser scanner device110.

The hook portion711is an engaging member for suspending the main body712from the bed unit152, and has a hook shape. As illustrated in700a, the bed unit152is formed in a mesh shape (see reference sign701), and the main body712can be easily attached to the bed unit152by having the hook shape.

The main body712has a cylindrical shape. A condition of a length CL of the main body712is to be longer than a distance between a laser beam emitted in a direction substantially parallel to the bed unit152and the bed unit152. In the first embodiment, the length CL of the main body712is, for example, 100 [mm].

A diameter φ of the main body712is calculated based on a scan pitch of the laser light. In the first embodiment, the diameter φ of the main body712is calculated to be capable of reflecting a laser light even when the marker710is attached to the position (diagonal position) farthest from the laser scanner device110where the marker710can be attached to the bed unit152.

Specifically, assuming that a scan pitch of the laser beam at a diagonal position is P, a distance (maximum distance) from the laser scanner device110to the diagonal position of the bed unit152is L, and an angular resolution of the laser scanner device110is Θ, the scan pitch P is calculated based on the following expression.
P=L×sin Θ

Therefore, when the diameter φ of the main body712is defined to be twice or more the scan pitch P, the diameter φ of the main body712satisfies the following expression.
φ≤2×L×sin Θ(=2×P)

Here, when the distance L=4.5 [m] and the angular resolution Θ=0.2 [degree], P=15.7 [mm] and the diameter φ is calculated to be 31.4 [mm] or more. Note that in the first embodiment, the diameter φ of the main body712is 32 [mm]. Thus, the laser beam can be reliably reflected irrespective of the attachment position of the marker710.

Part700bis a perspective view illustrating attachment positions of markers710, and part700cis a top view and a side view illustrating the attachment positions of the markers710. As illustrated in the perspective view of700band the top view of700c, in the first embodiment, a marker710is attached to the center position of the bed unit152(the position of the origin410). Moreover, a marker710is attached to the position of a vertex of one of the regions of the bed unit152. The example of the perspective view of700band the top view of700cillustrates that the marker710is attached to the position of a vertex721shared by the region312, the region313, the region314, and the region315.

Further, as illustrated in the side view of700c, when the markers710are respectively attached to the center position (the position of the origin410) and the position of the vertex721, laser lights emitted from the laser scanner device110are reflected by the respective markers710. Thus, the respective reflected lights are received by the laser scanner device110. Consequently, the calibration scan data obtaining unit601can obtain calibration scan data from the laser scanner device110.

Note that reference sign HT presented in the side view of700cdenotes the height of the trampoline which is, for example, 1155 [mm]. Further, reference sign HL denotes the height of an emission port of the laser scanner device110which is, for example, 850 [mm]. That is, by setting the length of the hook portion711to approximately 255 [mm], a laser light can be irradiated to the center position in a height direction of the main body712.

(3) Specific Example of Processing by Marker Position Determination Unit

Next, a specific example of processing by the marker position determination unit602will be described.FIG.8is a view illustrating a specific example of processing by the marker position determination unit. Among these, part800aillustrates an example of calibration scan data notified from the calibration scan data obtaining unit601.

As illustrated in800a, the calibration scan data includes distance information (r) indicating the distance from the laser scanner device110to a marker710, and angle information (θ) indicating the direction of the marker710when viewed from the laser scanner device110. The example of800aindicates that the calibration scan data for the marker710attached to the center position (the position of the origin410) is (rs1, θs1). Further, the example of800aindicates that the calibration scan data for the marker710attached to the position of the vertex721is (rs2, θs2).

The marker position determination unit602calculates marker position coordinates in the scanner coordinate system based on the calibration scan data. As illustrated in800b, the scanner coordinate system is a coordinate system in which the position of the laser scanner device110is the origin, the long side direction of the bed unit152is the Xs-axis, and the short side direction is the Ys-axis. The marker position determination unit602calculates marker position coordinates Xs1, Ys1, Xs2, Ys2based on the following expression.
Xs1=rs1×cos θs1
Ys1=rs1×sin θs1
Xs2=rs2×cos θs2
Ys2=rs2×sin θs2

(4) Specific Examples of Processing by Conversion Parameter Calculation Unit

Next, a specific example of processing by the conversion parameter calculation unit603will be described.FIG.9is a view illustrating a specific example of processing by the conversion parameter calculation unit. Among these, part900aillustrates that, based on marker position coordinates of the center position (the position of the origin410) and marker position coordinates of the position of the vertex721calculated by the marker position determination unit602, the positional relationship between the both is calculated.

As illustrated in900a, the positional relationship between the center position (the position of the origin410) and the position of the vertex721can be identified by, for example, how much the angle of the direction of the vertex721is deviated with respect to the Xs-axis direction of the scanner coordinate system when viewed from the center position (the position of the origin410). Specifically, when the angle of the vertex721with respect to the Xs-axis direction when viewed from the center position (the position of the origin410) is θ12, the angle can be calculated based on the following expression.

On the other hand, as indicated by900b, in the region table300, the positional relationship between the center position (the position of the origin410) and the position of the vertex721is determined in advance. Thus, the conversion parameter calculation unit603reads the region table300and calculates the positional relationship (angle θ0) between the center position (the position of the origin410) and the position of the vertex721.

Then, the conversion parameter calculation unit603calculates the conversion parameters so that the following relationships coincide:the positional relationship (angle θ12) between the center position (position of origin410) and the position of the vertex721, which is calculated based on the calibration scan data, andthe positional relationship (angle θ0) between the center position (position of origin410) and the position of the vertex721, which is calculated based on the region table300.

Specifically, as illustrated in900c, when a scanner coordinate plane is rotated so as to eliminate deviation of the angle of the vertex721in a state that the center position (position of the origin410) coincides, a correction amount δ in a rotation direction around the origin410is calculated. Note that the correction amount δ can be calculated based on the following expression.
δ=θ12−θ0

Thus, the correction amount δ is expressed using the scanner coordinate system as follows.

The conversion parameter calculation unit603stores the correction amount δ in the rotation direction around the origin410in the conversion parameter storage unit141.

Here, as already described withFIG.4, the score calculation unit132calculates the landing position of the competitor (Xtn, Ytn) based on the trampoline coordinate system with the center position (origin410) as the origin. For this reason, the conversion parameter calculation unit603calculates a correction amount based on the positional relationship between the long side direction and the short side direction of the bed unit152as a conversion parameter in addition to the correction amount δ in the rotation direction around the origin410.

When the scanner coordinate system is converted into the trampoline coordinate system, the correction amount in the long side direction is nothing but the positional relationship (length) in the Xs-axis direction between the position of the laser scanner device110and the origin410. Therefore, the conversion parameter calculation unit603stores Xs1in the conversion parameter storage unit141as a correction amount in the long side direction when the scanner coordinate system is converted into the trampoline coordinate system.

Similarly, when the scanner coordinate system is converted into the trampoline coordinate system, the correction amount in the short side direction is nothing but the positional relationship (length) in the Ys-axis direction between the position of the laser scanner device110and the origin410. Therefore, the conversion parameter calculation unit603stores Ys1in the conversion parameter storage unit141as a correction amount in the short side direction when the scanner coordinate system is converted into the trampoline coordinate system.

(5) Flow of Calibration Process

Next, a flow of a calibration process by the calibration unit131and the like will be described.FIG.10is a diagram illustrating an example of a flowchart of the calibration process. Before trampolining is started or when the measurement system100is installed, the calibration unit131and the like execute the calibration process illustrated inFIG.10.

In step S1001, an administrator of the measurement system100sequentially attaches the markers710for calibration to predetermined two positions on the bed unit152.

In step S1002, when the laser scanner device110starts scanning, the calibration scan data obtaining unit601obtains calibration scan data (rs1, θs1, rs2, θs2).

Specifically, the administrator of the measurement system100attaches the marker710for calibration to the center position of the bed unit152, the laser scanner device110starts scanning, and thus the calibration scan data obtaining unit601obtains calibration scan data (rs1, θs1).

Subsequently, the administrator of the measurement system100attaches the marker710for calibration to the position of the vertex721of the bed unit152, and the laser scanner device110starts scanning. Thus, the calibration scan data obtaining unit601obtains the calibration scan data (rs2, θs2).

In step S1003, the marker position determination unit602calculates marker position coordinates (Xs1, Ys1, Xs2, Ys2) based on the calibration scan data.

In step S1004, the conversion parameter calculation unit603refers to the region table300in the table storage unit142to calculate the correction amount δ in the rotation direction around the origin410. Then, the conversion parameter calculation unit603stores the correction amount δ in the rotation direction together with the correction amount in the long side direction (Xs1) and the correction amount in the short side direction (Ys1) as conversion parameters (δ, Xs1, Ys1) in the conversion parameter storage unit141.

<Functional Configuration (Score Calculation Unit) of Data Processing Apparatus>

Next, details of a functional configuration of the score calculation unit132among functional configurations of the data processing apparatus120will be described.

(1) Details of Functional Configuration of Score Calculation Unit

FIG.11is a diagram illustrating an example of a functional configuration of the score calculation unit of the data processing apparatus. As illustrated inFIG.11, the score calculation unit132has a scoring scan data obtaining unit1121, an instruction obtaining unit1122, a landing determination unit1123, a conversion unit1124, a fitting processing unit1125, a landing position calculation unit1127, an H score unit1128, and an output unit1129.

The scoring scan data obtaining unit1121obtains scoring scan data (hereinafter simply referred to as scan data) transmitted from the laser scanner device110and notifies the landing determination unit1123of the scoring scan data. As described above, the scan data includes distance information indicating the distance from the laser scanner device110to a dent region of the bed unit152and angle information indicating the direction of the dent region of the bed unit152when viewed from the laser scanner device110.

Note that for scan data scanned in a state that no dent region is generated in the bed unit152among scan data obtained by the scoring scan data obtaining unit1121, it is assumed that a predetermined default value is stored in the distance information. This is because, in a case where no dent region is generated in the bed unit152, the laser scanner device110cannot receive a reflected light and is unable to perform distance measurement, and thus the laser scanner device110stores a default value in distance information and transmits the distance information.

For a similar reason, for distance information included in scan data obtained by the scoring scan data obtaining unit1121, a default value is stored in distance information based on laser light emitted toward a region other than a dent region generated in the bed unit152.

The instruction obtaining unit1122obtains a measurement start instruction and a measurement end instruction which are input by the administrator or the like of the measurement system100. The instruction obtaining unit1122notifies the landing determination unit1123of the obtained measurement start instruction and measurement end instruction.

When the landing determination unit1123receives the measurement start instruction from the instruction obtaining unit1122, the landing determination unit1123starts processing of the scan data notified from the scoring scan data obtaining unit1121. Specifically, the landing determination unit1123converts the scan data into coordinates of the scanner coordinate system. Further, the landing determination unit1123determines whether the competitor of the trampolining has landed on the bed unit152or not (whether the competitor has changed to a non-jumping state or not) based on whether the converted coordinates are included in the bed unit152or not.

Moreover, when the landing determination unit1123determines that the competitor of the trampolining has changed to a non-jumping state, the landing determination unit1123thereafter notifies the conversion unit1124of coordinates indicating each position of a dent region (which are limited to coordinates indicating a position in the bed unit152) until it is determined that the competitor has changed to a jumping state.

These processes by the landing determination unit1123are continued until the landing determination unit1123receives a measurement end instruction from the instruction obtaining unit1122.

The fitting processing unit1125plots the coordinates (after conversion) indicating each position of the dent region notified by the conversion unit1124on a trampoline coordinate plane, and fits a circular shape to the plotted position. As a fitting method performed by the fitting processing unit1125, an arbitrary method such as a method using a least square method or a method using the Hough transform can be applied.

Note that the circular shape obtained by fitting is equal to a cross-sectional shape of when the dent region is cut by a plane approximately parallel to the bed unit152. Here, assuming that a dent region generated when the competitor lands on the bed unit152has an even shape centered on the landing position, the center position of a circular shape obtained by fitting can be said to represent the landing position of the competitor.

Accordingly, the fitting processing unit1125calculates the center position of the circular shape obtained by fitting, and stores coordinates of the calculated center position in a center position storage unit1126as center position information of the competitor.

Here, it is assumed that the laser scanner device110performs scanning multiple times (for example, scanning m times) while the competitor is in a non-jumping state. In this case, the fitting processing unit1125stores m pieces of center position information in the center position storage unit1126. Note that the “while the competitor is in a non-jumping state” refers to a time from when it is determined that the competitor has changed to the non-jumping state to when it is determined that the competitor has changed to a jumping state.

The landing position calculation unit1127reads m pieces of center position information stored in the center position storage unit1126and calculates average position coordinates, thereby calculating coordinates indicating a landing position. The landing position calculation unit1127notifies the H score unit1128of the calculated coordinates indicating the landing position as landing position information.

The H score unit1128reads the deduction table430stored in the calculation table storage unit142and compares the deduction table430with the landing position information notified by the landing position calculation unit1127, thereby identifying the H score of the competitor. Further, the H score unit1128notifies the output unit1129of the specified H score together with the landing position information.

The output unit1129displays, on the display unit505, the landing position information and the H score notified by the H score unit1128as a score calculation result.

(2) Specific Example of Scan Data

Next, a specific example of scan data will be described in association with each state of a competitor during trampolining.FIG.12is a view illustrating an example of the scan data in a case where the competitor is in a jumping state.

As illustrated in1200ainFIG.12, in a case where a competitor1200is in a jumping state, no dent region is generated in the bed unit152. Accordingly, laser lights201to204emitted by the laser scanner device110are not reflected on the bed unit152(1200binFIG.12), and a default value is stored in distance information included in scan data. In this case, nothing is plotted on a scanner coordinate plane1210, as illustrated in1200cinFIG.12.

Meanwhile,FIG.13is a view illustrating an example of scan data in a case where the competitor is in a non-jumping state. As illustrated in1300ainFIG.13, in a case where the competitor1200is in a non-jumping state, a dent region1300is generated in the bed unit152. Thus, a laser light202, for example, out of laser lights201to204emitted by the laser scanner device110, is reflected on the dent region in the bed unit152. Therefore, scan data including distance information (r) indicating the distance to a dent region and angle information (θ) indicating the direction of the dent region is transmitted to the data processing apparatus120(see scan data1310and the like in1300binFIG.13).

In this case, as illustrated in1300cinFIG.13, the landing determination unit1123converts the scan data (for example, the scan data1310) into the scanner coordinate system. Note that the example in1300cinFIG.13illustrates that eight data items of the scan data including distance information indicating the distance to the dent region and angle information indicating the direction of the dent region are obtained in one time of scanning. For this reason, eight points including the point1320are plotted on the scanner coordinate plane1210as the coordinates of each position of the dent region.

(3) Specific Examples of Processing by Conversion Unit

Next, a specific example of processing by the conversion unit1124will be described.FIG.14is a view illustrating a specific example of processing by the conversion unit. The conversion unit1124converts scan data converted into the scanner coordinate system into the trampoline coordinate system using conversion parameters.

Part1400aillustrates the trampoline coordinate system superimposed on the scanner coordinate system. The conversion unit1124converts eight points on the scanner coordinate plane1210plotted as coordinates of respective positions of a dent region into the trampoline coordinate system using conversion parameters (δ, Xs1, Ys1) according to the following expression.

Note that in the above expression, the coordinates of eight points on the scanner coordinate plane1210are sequentially substituted into (Xsn, Ysn). As illustrated in1400b, the eight points on the scanner coordinate plane1210are sequentially substituted into the above expression, thereby converting the eight points on the scanner coordinate plane1210into the trampoline coordinate system. Part1400cillustrates a state that the eight points converted into the trampoline coordinate system are plotted on a trampoline coordinate plane1410.

(4) Specific Example of Fitted Circular Shape

Next, a specific example of a circular shape fitted by the fitting processing unit1125will be described.FIG.15is a view illustrating a specific example of a fitted circular shape. Among these, part1500ainFIG.15illustrates an approximated curve1500obtained by approximating eight points plotted on the trampoline coordinate plane1410.

Here, the fitting processing unit1125calculates a circular shape that minimizes the sum of squares of residuals from the approximated curve1500. In1500binFIG.15, a circular shape1510depicts the circular shape that minimizes the sum of squares of the residuals from the approximated curve1500, and a point1520depicts a center position of the circular shape1510. Coordinates of the point1520on the trampoline coordinate plane1410are stored in the center position storage unit1126as center position information.

(5) Specific Example of Landing Position Information

Next, a specific example of the landing position information calculated by the landing position calculation unit1127will be described.FIG.16is a view illustrating a specific example of the landing position information. Among these, parts1600a_1,1600b_1,1600c_1inFIG.16respectively illustrate states of the competitor1200in a non-jumping state.

Specifically, part1600a_1inFIG.16illustrates a state immediately after the competitor1200has changed to a non-jumping state, and the amount of dent in a dent region1300_1is small. On the other hand, part1600b_1inFIG.16illustrates a state after the amount of dent in the dent region becomes larger than the state immediately after changing to the non-jumping state (size of dent region1300_2>size of dent region1300_1). Moreover, part1600c_1inFIG.16illustrates a state when the dent region becomes maximum (size of dent region1300_3>size of dent region1300_2).

Parts1600a_2,1600b_2, and1600c_2inFIG.16illustrate states that center position information is calculated by scanning in the respective non-jumping states.

For example, center position information of1600a_2inFIG.16is calculated by the following procedure. First, the conversion unit1124converts scan data (scanner coordinate system) obtained in the non-jumping state indicated by1600a_1inFIG.16into the trampoline coordinate system. Subsequently, the fitting processing unit1125approximates points plotted on the trampoline coordinate plane1410to obtain an approximated curve1601. Thereafter, the fitting processing unit1125calculates a circular shape1602that minimizes the sum of squares of residuals from the approximated curve1601. In this manner, as indicated by1600a_2, a center position1603of the circular shape1602is calculated.

Similarly, center position information of1600b_2inFIG.16is calculated by the following procedure. First, the conversion unit1124converts scan data (scanner coordinate system) obtained in the non-jumping state indicated by1600b_1inFIG.16into the trampoline coordinate system. Subsequently, the fitting processing unit1125approximates points plotted on the trampoline coordinate plane1410to obtain an approximated curve1611. Thereafter, the fitting processing unit1125calculates a circular shape1612that minimizes the sum of squares of residuals from the approximated curve1611. In this manner, as indicated by1600b_2, a center position1613of the circular shape1612is calculated.

Similarly, center position information of1600c_2inFIG.16is calculated by the following procedure. First, the conversion unit1124converts scan data (scanner coordinate system) obtained in the non-jumping state indicated by1600c_1inFIG.16into the trampoline coordinate system. Subsequently, the fitting processing unit1125approximates points plotted on the trampoline coordinate plane1410to obtain an approximated curve1621. Thereafter, the fitting processing unit1125calculates a circular shape1622that minimizes the sum of squares of residuals from the approximated curve1621. In this manner, as indicated by1600c_2, a center position1623of the circular shape1622is calculated.

The landing position calculation unit1127calculates coordinates (average position coordinates) of an average position1630of the center positions1603,1613,1623, . . . calculated by scanning in respective non-jumping states to calculate coordinates indicating the landing position.

Here, coordinates of the center position1603are (Xt11, Yt11), coordinates of the center position1613are (Xt12, Yt12), coordinates of the center position1623are (Xt13, Yt13), and coordinates of the center position calculated based on m-th scanning are (Xt1m, Yt1m). In this case, coordinates (Xt1, Yt1) indicating the landing position during a first change to a non-jumping state, which are calculated by m times of scanning, can be calculated by the following expression.

(6) Flow of Landing Position Measuring Process

Next, a flow of a landing position measuring process in the score calculation unit132will be described.FIG.17is a flowchart illustrating a flow of a landing position measuring process. When a measurement start instruction is received from the instruction obtaining unit1122, a landing position measuring process illustrated inFIG.17is executed.

In step S1700, the landing determination unit1123substitutes1for the number of changes to a non-jumping state (n).

In step S1701, the landing determination unit1123obtains scan data notified by the scoring scan data obtaining unit1121.

In step S1702, the landing determination unit1123converts distance information (r) and angle information (θ) included in each item of the obtained scan data for one time of scanning into the scanner coordinate system (rθ→xy).

In step S1703, the landing determination unit1123determines whether each item of the scan data for one time of scanning that is converted into the scanner coordinate system is included in the bed unit152or not. When it is determined that each item of the scan data is included in the bed unit152in step S1703(when Yes in step S1703), the process proceeds to step S1704.

In step S1704, the conversion unit1124converts each item of the scan data for one time of scanning converted into the scanner coordinate system into the trampoline coordinate system by using the conversion parameters.

In step S1705, the fitting processing unit1125calculates an approximated curve of the scan data for one time of scanning converted into the trampoline coordinate system, and fits a circular shape.

In step S1706, the fitting processing unit1125calculates a center position of the fitted circular shape and stores the center position in the center position storage unit1126as center position information.

On the other hand, when it is determined that each item of the scan data is not included in the bed unit152in step S1703(when No in step S1703), the process proceeds to step S1707.

In step S1707, the landing position calculation unit1127determines whether the coordinates indicating the landing position have been calculated or not based on the center position information stored in the center position storage unit1126. When it is determined that the coordinates indicating the landing position have not been calculated in step S1707, the process proceeds to step S1708.

In step S1708, the landing position calculation unit1127calculates average position coordinates based on the center position information to thereby calculate landing position coordinates (Xtn, Ytn) indicating the landing position during the n-th change to the non-jumping state.

In step S1709, the landing position calculation unit1127records, in a score calculation result, landing position coordinates (Xtn, Ytn) during the n-th change to the non-jumping state as landing position information.

In step S1710, the landing position calculation unit1127increments the number (n) of changes to the non-jumping state.

In step S1711, the landing determination unit1123determines whether an end instruction from the instruction obtaining unit1122has been received or not. When it is determined that the end instruction has not been received from the instruction obtaining unit1122in step S1711, the process returns to step S1701.

On the other hand, in the case of determining that the end instruction has been received from the instruction obtaining unit1122in step S1711, the process proceeds to step S1712. In step S1712, the H score unit1128specifies an H score according to the landing position information of each time by referring to the deduction table430of H score, and outputs a score calculation result including the landing position information and the H score.

(7) Specific Example of Score Calculation Result

Next, a specific example of a score calculation result output from the output unit1129will be described.FIG.18is a table illustrating a specific example of the score calculation result. As illustrated inFIG.18, a score calculation result1800includes “ID” for identifying the competitor, “non-jumping state change”, “landing position”, and “H score” as items of information.

In the “ID”, an identifier for identifying each competitor is stored. In the “non-jumping state change”, the number (n) of changes to the non-jumping state in which the competitor1200has changed to a non-jumping state in trampolining is stored. In the “landing position”, the landing position information calculated using the scan data obtained by m times of scanning by the laser scanner device110while the competitor1200is in a non-jumping state is stored.

In the “H score”, the H score of each time specified by comparing the landing position information stored in the corresponding “landing position” with the deduction table430of H score is stored.

As is apparent from the above description, in the measurement system according to the first embodiment, the laser scanner device that scans a direction approximately parallel to the bed unit with a laser light is disposed below the bed unit of a trampoline. Then, scan data for calibration is obtained by measuring positions of markers attached to two predetermined positions of the bed unit, and coordinates of the markers in the scanner coordinate system with the position of the laser scanner device being an origin are calculated. Moreover, based on the relationship between calculated marker coordinates and corresponding two positions of the bed unit, there are calculated conversion parameters for converting coordinates of each position in the scanner coordinate system into coordinates of respective positions of the trampoline coordinate system with the center position of the bed unit being an origin.

Thus, with the measurement system according to the first embodiment, the conversion parameters for clarifying the positional relationship between the scan data measured by the laser scanner device and the bed unit of the trampoline can be calculated.

Further, the measurement system according to the first embodiment converts scan data obtained from the laser scanner device into the trampoline coordinate system using the conversion parameters during trampolining. Furthermore, the measurement system according to the first embodiment calculates the shape of a cross section (fitted circular shape) of a dent region based on scan data converted into the trampoline coordinate system, and calculates a landing position of the competitor on the bed unit based on a center position of the cross section.

Thus, in the measurement system according to the first embodiment, it is possible to determine which of regions divided by a plurality of scoring lines corresponds to a landing position calculated based on the scan data. As a result, with the measurement system according to the first embodiment, it is possible to identify the H score of the competitor.

Thus, with the measurement system according to the first embodiment, a calibration method for achieving scoring according to a landing position can be provided.

Second Embodiment

In the first embodiment described above, the coordinate table420used for calculating the H score is generated based on dimensions defined on the region table300. On the other hand, in a second embodiment, a marker is attached to each intersection position of a plurality of scoring lines on the bed unit, and scanning is performed to obtain coordinates of each intersection position in the trampoline coordinate system. Then, in the second embodiment, a coordinate table is generated based on the obtained coordinates of each intersection position. Hereinafter, the second embodiment described above will be described focusing on differences from the first embodiment.

<Attachment Positions of Markers for Generating Coordinate Table>

First, attachment positions of markers for generating a coordinate table will be described.FIG.19is a first view for explaining attachment positions of markers. Among these, part1900aillustrates a top view when the attachment positions of markers are viewed from above the bed unit152. As illustrated in1900a, the markers are attached at positions (one center position and six intersection positions) necessary for specifying respective regions of the bed unit152.

Part1900billustrates that scan data obtained by scanning the markers attached to the bed unit152is converted into the scanner coordinate system.

Part1900cillustrates how coordinates of the six intersection positions in the trampoline coordinate system are calculated by converting coordinates of the one center position and the six intersection positions in the scanner coordinate system into the trampoline coordinate system.

In this manner, by calculating the coordinates of the one center position and the six intersection positions, a dimension in an Xt-axis direction and a dimension in a Yt-axis direction to a boundary point of each region in the region table300can be identified to generate a coordinate table.

<Specific Example of Coordinate Table>

FIG.20is a first view illustrating a specific example of a coordinate table. As illustrated in a coordinate table2020ofFIG.20, the dimensions X1to X3, Y1, and Y2can be calculated based on the coordinates of one center position and six intersection positions.

In this manner, with the measurement system100according to the second embodiment, a coordinate table can be generated based on actually measured values by scanning with the markers attached to the one center position and the six intersection positions.

Third Embodiment

In the second embodiment described above, the coordinate table2020is generated by scanning with the markers attached to one center position and six intersection positions. On the other hand, in a third embodiment, a coordinate table is generated by scanning with markers attached to one center position and three intersection positions. Hereinafter, the third embodiment will be described focusing on differences from the second embodiment described above.

<Attachment Positions of Markers for Calculating Coordinate Table>

First, attachment positions of markers for calculating a coordinate table will be described.FIG.21is a second view for explaining attachment positions of markers. Among these, part2100aillustrates a top view when the attachment positions of markers are viewed from above the bed unit152. As indicated by2100a, the markers are attached to positions (one center position and three intersection positions) necessary for specifying respective regions of the bed unit152.

Part2100billustrates that scan data obtained by scanning the markers attached to the bed unit152is converted into the scanner coordinate system.

Part2100cillustrates how coordinates of the three intersection positions in the trampoline coordinate system are calculated by converting the coordinates of the one center position and the three intersection positions in the scanner coordinate system into the trampoline coordinate system.

In this manner, by calculating the coordinates of the one center position and the three intersection positions, a dimension in an Xt-axis direction and a dimension in a Yt-axis direction to a boundary point of each region in the region table300can be identified to generate a coordinate table.

<Specific Example of Coordinate Table>

FIG.22is a second view illustrating a specific example of a coordinate table. As illustrated in a coordinate table2220ofFIG.22, the dimensions X1to X3, Y1, Y2can be calculated based on the coordinates of one center position and three intersection positions.

Thus, with the measurement system100according to the third embodiment, a coordinate table can be generated based on actually measured values by scanning with the markers attached to the one center position and the three intersection positions.

Other Embodiments

In the first embodiment described above, one type of shape is exemplified as the shape of the marker (see700ainFIG.7), but the shape of the marker is not limited to this.FIG.23is a view illustrating an example of an exterior appearance configuration of another marker. As illustrated inFIG.23, a marker2310has a hook portion2311that has two engaging members. Thus, by having two engaging members, when attaching the marker2310to a predetermined position of the bed unit152, the marker can be engaged with the bed unit152at two positions.

Further, in the description of the first embodiment described above, the marker is attached to the bed unit152by suspending. However, the marker may be placed on the floor surface below the bed unit152.

Further, in the description of the first embodiment described above, the process of converting scan data converted into the scanner coordinate system into the trampoline coordinate system by using the conversion parameters is executed after the process by the landing determination unit1123is completed.

However, the order of the process to convert into the trampoline coordinate system is not limited to this. For example, the order may be after landing position information is calculated by the landing position calculation unit1127. Alternatively, the order may be before scan data is input to the landing determination unit1123.

Further, in the first embodiment described above, when attaching the markers, the center position of the bed unit152and a plurality of intersection positions of lines are selected, but the attachment positions of markers are not limited thereto.

For example, a position other than the center position of the bed unit152may be selected. Alternatively, positions other than the plurality of intersection positions of lines may be selected. That is, as long as it is a position that can be specified on the bed unit152, any position may be selected to attach the marker.

Further, in the description of the first embodiment described above, the markers are attached to two predetermined locations of the bed unit152, but the markers may be attached to three or more positions. This is because conversion parameters can be calculated by attaching markers to at least two positions, but by attaching markers to three or more positions, improvement in calculation accuracy of conversion parameters can be expected.

Further, in the description of the first embodiment described above, every time one marker is attached to one place, the marker is scanned with a laser light. However, the scanning method of markers is not limited to this. A plurality of markers may be prepared and attached to a plurality of positions simultaneously, and calibration scan data may be obtained for the plurality of markers by one time of scanning with a laser beam. However, in this case, it is assumed that the correspondence between each of multiple items of calibration scan data and the attachment position of each marker is clarified.

Note that the present invention is not limited to the configurations described here, and may include combinations of the configurations or the like described in the embodiments described above with other elements, and the like. These points can be changed within a range not departing from the spirit of the present invention, and can be appropriately determined according to application modes thereof.