EP1727602B1 - Position sensor and movement analysis method - Google Patents

Position sensor and movement analysis method Download PDF

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Publication number
EP1727602B1
EP1727602B1 EP04723558A EP04723558A EP1727602B1 EP 1727602 B1 EP1727602 B1 EP 1727602B1 EP 04723558 A EP04723558 A EP 04723558A EP 04723558 A EP04723558 A EP 04723558A EP 1727602 B1 EP1727602 B1 EP 1727602B1
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EP
European Patent Office
Prior art keywords
golf club
impact
position detector
alignment
motion
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Expired - Lifetime
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EP04723558A
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German (de)
French (fr)
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EP1727602A1 (en
Inventor
Christian Marquardt
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Science & Motion GmbH
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Science & Motion GmbH
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • A63B69/3623—Training appliances or apparatus for special sports for golf for driving
    • A63B69/3632—Clubs or attachments on clubs, e.g. for measuring, aligning
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • A63B69/3676—Training appliances or apparatus for special sports for golf for putting
    • A63B69/3685—Putters or attachments on putters, e.g. for measuring, aligning
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/05—Image processing for measuring physical parameters
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/802—Ultra-sound sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/805—Optical or opto-electronic sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/806—Video cameras
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/89—Field sensors, e.g. radar systems

Definitions

  • the invention relates to a position sensor and a motion analysis method.
  • a position sensor according to the preamble of claim 1 and a motion analysis method according to the preamble of claim 7 are made US Pat. No. 6,375,579 B1 known.
  • the invention has for its object to measure the movement during playing golf and especially when putting and improve.
  • the invention is based on the recognition that when learning slowed movements such as putting often systematic movement errors are also unnoticed. Fast ballistic movements are always carried out purely by motor and are therefore self-organizing. In contrast to slowed movements are always carried out strongly strategy-bound. Strategic movement errors in slow movements such as putting are often not noticed by the golfer himself, and even the trainer can hardly recognize them with the naked eye. For example, the so-called Yips syndrome in golf leads to an unconscious twitching of the hand and the wrist during short play, making precise execution of the striking motion impossible. With conventional training methods, the Yips syndrome can not be treated, on the contrary, the symptoms worsen with increased practice on and on.
  • the invention therefore encompasses the general technical teaching of detecting and analyzing the movement of a golf club in a device-supported manner by means of a corresponding movement analysis method.
  • strengths and weaknesses of the individual movement sequence are reproduced in detail and allow a targeted and thus extremely efficient training.
  • movement problems such as Yips syndrome can be measured early and objectively.
  • the derived information can be the first specific treatment of these movement problems.
  • a position sensor is provided in the context of the invention, which is detachably mounted on a golf club to determine the spatial position and / or orientation of the golf club.
  • the position transmitter sends a position signal which serves to determine the position and / or orientation of the golf club.
  • the position sensor is an active position transmitter which transmits a position signal which is detected by a stationary receiver, the position and / or the orientation of the golf club being determined on the receiver side in dependence on the received position signal.
  • the position signal is an ultrasonic signal that can be transmitted, for example, at a measurement rate between 100 Hz and 400 Hz, the measurement rate in the preferred exemplary embodiment of the invention being 300 Hz.
  • the use of an ultrasonic signal as a position signal allows a spatial resolution of about 0.1 mm, which can reveal the smallest details of the movement in a motion analysis and also allows the identification of movement disorders, such as YIPS syndrome, which are not visible to the naked eye.
  • the position sensor may also have one or more acceleration sensors that detect a movement of the golf club.
  • the locator mounted on the golf club has at least three transmitters or receivers, so that the position of the individual transmitters or receivers can be exactly determined by triangulation and subsequent coordinate transformation.
  • the individual transmitters or receivers are here arranged in a common plane, and form the shape of a triangle.
  • the individual transmitters emit essentially in the same direction, wherein the individual transmitters can have a radiation angle of up to 180 °, so that the position transmitter or an associated control unit with the associated receivers only has to be roughly aligned.
  • one of the transmitters is arranged in one plane with the shaft of the golf club, while the other two transmitters are arranged on opposite sides of this plane.
  • This arrangement of each transmitter allows advantageously a simplified and exact coordinate transformation and thus an accurate position determination.
  • the attachment of the position sensor according to the invention takes place on the shaft of the golf club, wherein the attachment is detachable and can be done for example by a compression fitting.
  • the position sensor is preferably rotatable about the shaft of the golf club, wherein a gauge can be used to align the position sensor in the direction of rotation relative to the golf club.
  • the releasable attachment of the position sensor according to the invention on the golf club is advantageous because it is also a training device in the position sensor and different golf clubs to be compared.
  • a trial of various golf clubs with the position sensor according to the invention allows the direct selection of the individually optimal golf club, which is otherwise possible only by prolonged use of different golf clubs.
  • the actual determination of the position or orientation of the golf club is preferably carried out by a stationarily arranged control unit, wherein the control unit is connected to the transmitters and the receivers to perform a transit time measurement and thereby the position and orientation of the position sensor and connected to the position transmitter golf club to investigate.
  • a conventional control unit can be used, as it is marketed, for example, by zebris Medical GmbH, Max-Eyth-Weg 42, 88316 Isny (Germany) under the brand names CMS-20 or CMS10.
  • the variabilities of all 28 parameters are calculated with multiple beat repetitions (typically 5 beats).
  • the individual impact parameters are preferably normalized in order to be able to easily recognize and quantitatively evaluate deviations in the norm of the individual impact parameters.
  • beat parameters are preferably represented graphically within the scope of the movement analysis method according to the invention, wherein the representation can be carried out together with stored comparison values in order to be able to recognize deviations and movement disorders.
  • FIG. 1 shows a golfer 1 with a golf club 2 when putting, wherein on the shaft of the golf club 2, an active position sensor 3 is releasably attached, the in FIG. 2 is shown in detail and described below.
  • the position sensor 3 has two clamping screws 4, 5, with which the position sensor 3 can be releasably secured to the shaft of the golf club 2.
  • the alignment of the position sensor 3 in the direction of rotation about the shank of the golf club 2 takes place here by a teaching, which is not shown for simplicity.
  • the position sensor 3 consists essentially of a central part 6, at its free end an ultrasonic transmitter 7 is mounted, wherein the middle part 7 branches at the opposite end in two side arms 8.1, 8.2, at the free end of each further ultrasonic transmitter 9 and 10 respectively is.
  • the ultrasound transmitters 7, 9, 10 are arranged in one plane and radiate in the same direction, wherein the individual ultrasound transmitters 7, 9, 10 have an emission angle of 180 ° each and a maximum measurement distance of about 2 m and a total measurement rate 300 Hz.
  • a port At the top of the position sensor 3 is a port to which a fourth sensor can be connected for the separate measurement of wrist movements.
  • the Wrist movements are particularly important when measuring Yips problems.
  • the motion analysis system can also process other measurement signals if, instead of the position transmitter 3 on the golf club 2, a position transmitter attached to the body of the golfer 1 is used. With such a position sensor, additional body movements such as movements of the head, shoulders, back and hips can be measured. In a further embodiment of the invention, these body-related signals can be registered simultaneously with a second sensor, which is connected via a second control unit to the same computing unit. The signals from the movement of the golf club 2 and the movement signals of the body can then be synchronized in time analyzed and evaluated. With such a measuring unit for the first time, the relationship between a good performance in short golf game and the associated body-related movements can be measured. Furthermore, the motion analysis system can be operated synchronized with other measuring systems, for example for the time-synchronous determination of the ground reaction forces by means of a force distribution measuring plate.
  • the position sensor 3 is connected via the cable 11 to a control unit 12, which may be carried out conventionally.
  • the control unit 12 may be, for example, the CMS10 or CMS20S measuring system marketed by zebris Medical GmbH, already mentioned in the introduction.
  • the communication between the position sensor 3 and the control unit 12 may alternatively be carried out wirelessly, for example by an optical signal.
  • This can be controlled via a shortened cable, a signal generator (eg infrared), for example, attached to the belt of the golfer 1 and drives an additional receiver.
  • the sensor is then preferably connected by a cable via the control unit 12 to the arithmetic unit 19.
  • the control unit 12 can also be integrated in the measuring sensor 14 or combined with the arithmetic unit 19.
  • control unit 12 is connected via a further cable 13 with an ultrasonic transducer 14, which may be carried out conventionally per se and, for example, together with the above-mentioned measuring systems from the company zebris Medical GmbH available.
  • the sensor 14 is in this case arranged on a stand and has three ultrasonic receivers 16, 17, 18, which are arranged in a plane in the form of a triangle and aligned coaxially and co-ordinarily on the position sensor 3 in order to transmit ultrasonic signals from the ultrasonic transmitters 7, 9 and 10 to receive.
  • the control unit 12 controls the ultrasonic transmitters 7, 9 and 10 via the cable 11 for the delivery of ultrasonic pulses, which are detected by the ultrasonic receivers 16-18 and transmitted via the cable 13 to the control unit 12.
  • the transit times of the ultrasonic pulses of the ultrasonic transmitters 7, 9, 10 to the reception by the ultrasonic receivers 16-18 are transmitted from the sensor 14 via the cable 13 to the control unit 12 and from there via a data interface to the arithmetic unit 19.
  • the arithmetic unit 19 calculates the positions of the individual ultrasound transmitters 7, 9, 10 in three-dimensional space by means of triangulation from the transit time of the ultrasound pulses. From this raw data, the position data of the golf club 2 are then calculated by the arithmetic unit 19 by coordinate transformation in real time. The position data of the golf club 2 are analyzed in real time, the results optionally displayed on a screen 20 and stored in a measured value file for further analysis. An operator input is possible via an input device 21.
  • the position sensor 3 is attached to the shaft of the golf club 2, that the ultrasonic transmitter 7 is located centrally in front of the shaft of the golf club 2, while the side arms 8.1, 8.2 project laterally and from the shaft of the golf club 2.
  • This arrangement of the position sensor 3 enables an exact position determination by a triangulation of the ultrasound pulses emitted by the three ultrasound transmitters 7, 9, 10.
  • FIGS. 4a to 4e show the motion analysis method according to the invention in the form of a flow chart.
  • the first part of the process shown is preliminary work such as mounting the position sensor 3 on the golf club 2 and the structure of the sensor 14 with the stand 15 and the orientation of the sensor 14 in the direction of the golfer 1.
  • the entire system in this procedure section is calibrated to allow accurate position detection.
  • the club head of the golf club 2 is calibrated in the horizontal direction exactly to the intended goal ("alignment"), in the vertical direction of the club head is calibrated on inclination to the vertical out (“loft”).
  • this process section then takes place the actual measurement of the movement of the golf club 2, this process section is continuously repeated during operation in the background.
  • this process section When measuring in diagnostic mode, it usually executes several beats consecutively to check the consistency of motion execution. Typically, five putts are executed towards the same destination.
  • the ultrasound transmitters 7, 9, 10 of the position transmitter 3 continuously emit ultrasonic signals which are received by the ultrasound receivers 16 to 18 of the measuring sensor 14.
  • the control unit 12 then measures the transit time of the ultrasound signals between the emission by the ultrasound transmitters 7, 9, 10 of the position transmitter 3 and the reception by the ultrasound receivers 16 to 18 of the sensor 14.
  • the arithmetic unit 19 calculates the positions of the ultrasound transmitters 7, 9, 10 and from these positions by coordinate transformation, the position and orientation of the club head, wherein a defined orientation of the position sensor 3 relative to the golf club 2 is used.
  • the beats within the continuous data stream are automatically identified according to well-defined criteria, as described in the method section in FIG Figure 4c he follows. Different criteria are combined with each other in a combination of time sequences, direction of movement and dynamics of movement.
  • the golf club 2 must be kept quiet for a certain time (for example, 1 second). Then the bat needs a certain minimum speed be moved in a negative direction away from the target. Within a certain time then the backward movement must be stopped and merge seamlessly into a forward movement. Within a certain time then a certain forward speed must be exceeded. Within a certain time then the club speed must fall below a certain threshold to indicate the batting end. If one of the specified conditions is not met, the measuring cycle is interrupted and the movement is rejected as not valid.
  • the impact moment is calculated from the data flow.
  • a combination of the position of the beginning of the stroke, the club head height, and the measured impact impulse of the ball on the golf club 2 in the acceleration signal is used.
  • an accelerometer additionally mounted on the golf club 2 can also be used.
  • the 28 different motion parameters are calculated, some of which are exemplary in the screenshots of the Figures 5 and 6 are shown.
  • the maximum speed and the maximum acceleration of the club head of the golf club 2 are precalculated. All calculated data curves can be graphically displayed and, together with the associated motion parameters, combined with each other on the screen or printed.
  • the motion parameters determined in this way eg maximum acceleration
  • Z values are normalized by a transformation into corresponding Z values, wherein the Z values together form a competence profile, which in FIG. 6 is shown graphically.
  • a so-called overall performance index is calculated from the Z values, which reflects the performance of the respective golf player 1.
  • a competence profile of a known golfer can be read out as a reference and graphically displayed on the screen.
  • this competence profile serving as a reference is represented in the center as a gray hatched field, whereas the actually determined Z values of the golfer 1 appear as black bars which are partly outside the bandwidth of the competence profile used as a reference.
  • FIG. 7 illustrated example of atecsungsanlysesystems not covered by the claims is largely consistent with that described above and in FIG. 1 shown movement analysis system, so that in order to avoid repetition, reference is made largely to the above description and will be used below for corresponding components, the same reference numerals.
  • the position sensor 3 in this case has a plurality of acceleration sensors which detect the acceleration of the position sensor 3, from which the control unit 12 can then calculate the position and orientation of the golf club 2 in conjunction with the arithmetic unit 19.

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Abstract

The invention relates to a position detector ( 3 ) for a method of motion analysis, especially for golf training. It is proposed that the position detector ( 3 ) be detachably mounted on a ball sport device ( 2 ) and then receive and transmit at least one position signal for the determination of the spatial position and/or the alignment of the ball sport device ( 2 ). Furthermore, the invention includes a method of motion analysis by using the position detector according to the invention.

Description

Die Erfindung betrifft einen Positionsgeber sowie ein Bewegungsanalyseverfahren.The invention relates to a position sensor and a motion analysis method.

Beim Golfspielen stellt das Putten hohe feinmotorische Fähigkeiten an den Golfspieler. Beim Training wird das Hauptaugenmerk normalerweise auf die Schlagtechnik, also die statischen Aspekte der Bewegung, gelegt. Mit dem bloßen Auge ist die Bewegungsdynamik beim Putten wegen der geringen Ausführungsgeschwindigkeit kaum zu erfassen. Auch mit herkömmlichen Analysemethoden wie der Videoanalyse sind aus methodischen Gründen die dynamischen Aspekte der Puttbewegung nur ungenügend und mit großem Aufwand analysierbar. Entsprechend wird das Training des kurzen Spiels oftmals stark vernachlässigt und führt oftmals zu unbefriedigenden Ergebnissen, obwohl gemessen an der Schlagzahl das Putten etwa 40% des Golfspiels ausmacht.When playing golf, putting puts high fine motor skills on the golfer. During training, the main focus is usually placed on the striking technique, ie the static aspects of the movement. With the naked eye, the movement dynamics during putting is barely detectable due to the low execution speed. Even with conventional analysis methods such as video analysis, the dynamic aspects of the putting motion are insufficient and can be analyzed at great expense for methodological reasons. Accordingly, the training of the short game is often greatly neglected and often leads to unsatisfactory results, although measured by the stroke rate, the putting about 40% of the game of golf.

Ein Positionsgeber nach dem Oberbegriff von Anspruch 1 und ein Bewegungsanalyseverfahren nach dem Oberbegriff von Anspruch 7 sind aus US 6 375 579 B1 bekannt.A position sensor according to the preamble of claim 1 and a motion analysis method according to the preamble of claim 7 are made US Pat. No. 6,375,579 B1 known.

Der Erfindung liegt die Aufgabe zugrunde, den Bewegungsablauf beim Golfspielen und insbesondere beim Putten zu messen und zu verbessern.The invention has for its object to measure the movement during playing golf and especially when putting and improve.

Diese Aufgabe wird durch einen Positionsgeber gemäß Anspruch 1 und durch ein entsprechendes Bewegungsanalyseverfahren gemäß Anspruch 7 gelöst.This object is achieved by a position sensor according to claim 1 and by a corresponding motion analysis method according to claim 7.

Die Erfindung beruht auf der Erkenntnis, dass beim Erlernen von verlangsamten Bewegungen wie dem Putten oftmals unbemerkt auch systematische Bewegungsfehler mitgelernt werden. Schnelle ballistische Bewegungen werden immer rein motorisch ausgeführt und sind deshalb selbst organisierend. Im Gegensatz dazu werden verlangsamte Bewegungen immer stark strategiegebunden ausgeführt. Strategische Bewegungsfehler bei verlangsamten Bewegungen wie dem Putten werden oftmals vom Golfspieler selbst nicht bemerkt, und auch der Trainier kann diese mit dem bloßen Auge nur schwer erkennen. Beispielsweise führt das so genannte Yips-Syndrom im Golfsport zu einem unbewussten Zucken der Hand und des Handgelenks beim kurzen Spiel, und macht eine präzise Ausführung der Schlagbewegung damit unmöglich. Mit herkömmlichen Trainingsmethoden ist das Yips-Syndrom nicht zu behandeln, im Gegenteil verschlimmern sich die Symptome mit verstärktem Üben immer weiter.The invention is based on the recognition that when learning slowed movements such as putting often systematic movement errors are also unnoticed. Fast ballistic movements are always carried out purely by motor and are therefore self-organizing. In contrast to slowed movements are always carried out strongly strategy-bound. Strategic movement errors in slow movements such as putting are often not noticed by the golfer himself, and even the trainer can hardly recognize them with the naked eye. For example, the so-called Yips syndrome in golf leads to an unconscious twitching of the hand and the wrist during short play, making precise execution of the striking motion impossible. With conventional training methods, the Yips syndrome can not be treated, on the contrary, the symptoms worsen with increased practice on and on.

Die Erfindung umfasst deshalb die allgemeine technische Lehre, die Bewegung eines Golfschlägers durch ein entsprechendes Bewegungsanalyseverfahren apparategestützt zu erfassen und zu analysieren. Damit werden zum einen Stärken und Schwächen des individuellen Bewegungsablaufs detailgenau abgebildet und erlauben ein zielgerichtetes und damit extrem effizientes Training. Darüber hinaus können Bewegungsprobleme wie das Yips-Syndrom frühzeitig und objektiv gemessen werden. Durch die abgeleiteten Informationen kann erstmals eine spezifische Behandlung dieser Bewegungsprobleme erfolgen.The invention therefore encompasses the general technical teaching of detecting and analyzing the movement of a golf club in a device-supported manner by means of a corresponding movement analysis method. On the one hand, strengths and weaknesses of the individual movement sequence are reproduced in detail and allow a targeted and thus extremely efficient training. In addition, movement problems such as Yips syndrome can be measured early and objectively. The derived information can be the first specific treatment of these movement problems.

Hierzu ist im Rahmen der Erfindung ein Positionsgeber vorgesehen, der an einem Golfschläger lösbar montiert wird, um die räumliche Position und/oder Ausrichtung des Golfschlägers zu ermitteln.For this purpose, a position sensor is provided in the context of the invention, which is detachably mounted on a golf club to determine the spatial position and / or orientation of the golf club.

Hierzu sendet der Positionsgeber ein Positionssignal, das der Ermittlung der Position und/oder Ausrichtung des Golfschlägers dient.For this purpose, the position transmitter sends a position signal which serves to determine the position and / or orientation of the golf club.

Bei dem Positionsgeber handelt es sich um einen aktiven Positionsgeber, der ein Positionssignal sendet, das durch einen ortsfest angeordneten Empfänger erfasst wird, wobei die Position und/oder die Ausrichtung des Golfschlägers empfängerseitig in Abhängigkeit von dem empfangenen Positionssignal ermittelt wird.The position sensor is an active position transmitter which transmits a position signal which is detected by a stationary receiver, the position and / or the orientation of the golf club being determined on the receiver side in dependence on the received position signal.

Bei dem Positionssignal handelt es sich um ein Ultraschallsignal, das beispielsweise mit einer Messrate zwischen 100 Hz und 400 Hz gesendet werden kann, wobei die Messrate in dem bevorzugten Ausführungsbeispiel der Erfindung 300 Hz beträgt. Die Verwendung eines Ultraschallsignals als Positionssignal ermöglicht eine Ortsauflösung von ungefähr 0,1 mm, was bei einer Bewegungsanalyse kleinste Feinheiten des Bewegungsablaufs aufdecken kann und auch die Identifizierung von Bewegungsstörungen, wie beispielsweise dem YIPS-Syndrom, ermöglicht, die mit bloßem Auge nicht sichtbar sind.The position signal is an ultrasonic signal that can be transmitted, for example, at a measurement rate between 100 Hz and 400 Hz, the measurement rate in the preferred exemplary embodiment of the invention being 300 Hz. The use of an ultrasonic signal as a position signal allows a spatial resolution of about 0.1 mm, which can reveal the smallest details of the movement in a motion analysis and also allows the identification of movement disorders, such as YIPS syndrome, which are not visible to the naked eye.

Darüber hinaus kann der Positionsgeber auch einen oder mehrere Beschleunigungssensoren aufweisen, die eine Bewegung des Golfschlägers erfassen.In addition, the position sensor may also have one or more acceleration sensors that detect a movement of the golf club.

Erfindungsgemäß weist der an dem Golfschläger montierbare Positionsgeber mindestens drei Sender bzw. Empfänger auf, so dass die Position der einzelnen Sender bzw. Empfänger durch Triangulation und anschließende Koordinatentransformation exakt bestimmt werden kann. Die einzelnen Sender bzw. Empfänger sind hierbei in einer gemeinsamen Ebene angeordnet, und bilden die Form eines Dreiecks.According to the invention, the locator mounted on the golf club has at least three transmitters or receivers, so that the position of the individual transmitters or receivers can be exactly determined by triangulation and subsequent coordinate transformation. The individual transmitters or receivers are here arranged in a common plane, and form the shape of a triangle.

Darüber hinaus strahlen die einzelnen Sender im Wesentlichen in die gleiche Richtung ab, wobei die einzelnen Sender einen Abstrahlwinkel von bis zu 180° aufweisen können, so dass der Positionsgeber bzw. eine zugehörige Steuereinheit mit den zugehörigen Empfängern nur grob ausgerichtet werden muss.In addition, the individual transmitters emit essentially in the same direction, wherein the individual transmitters can have a radiation angle of up to 180 °, so that the position transmitter or an associated control unit with the associated receivers only has to be roughly aligned.

Im montierten Zustand des erfindungsgemäßen Positionsgebers ist einer der Sender in einer Ebene mit dem Schaft des Golfschlägers angeordnet, während die beiden anderen Sender auf gegenüberliegenden Seiten dieser Ebene angeordnet sind. Diese Anordnung der einzelnen Sender ermöglicht vorteilhaft eine vereinfachte und exakte Koordinatentransformation und damit eine genaue Positionsbestimmung.In the assembled state of the position sensor according to the invention, one of the transmitters is arranged in one plane with the shaft of the golf club, while the other two transmitters are arranged on opposite sides of this plane. This arrangement of each transmitter allows advantageously a simplified and exact coordinate transformation and thus an accurate position determination.

Die Befestigung des erfindungsgemäßen Positionsgebers erfolgt an dem Schaft des Golfschlägers, wobei die Befestigung lösbar ist und beispielsweise durch eine Klemmverschraubung erfolgen kann. Hierbei ist der Positionsgeber vorzugsweise um den Schaft des Golfschlägers drehbar, wobei zur Ausrichtung des Positionsgebers in Drehrichtung relativ zu dem Golfschläger eine Lehre verwenden kann.The attachment of the position sensor according to the invention takes place on the shaft of the golf club, wherein the attachment is detachable and can be done for example by a compression fitting. In this case, the position sensor is preferably rotatable about the shaft of the golf club, wherein a gauge can be used to align the position sensor in the direction of rotation relative to the golf club.

Die lösbare Befestigung des erfindungsgemäßen Positionsgebers an dem Golfschläger ist vorteilhaft, weil es sich bei dem Positionsgeber auch um ein Trainingsgerät handelt und verschiedene Golfschläger miteinander verglichen werden sollen. Beispielsweise ermöglicht eine Erprobung verschiedener Golfschläger mit dem erfindungsgemäßen Positionsgeber die direkte Auswahl des individuell optimalen Golfschlägers, was ansonsten nur durch eine längere Benutzung verschiedener Golfschläger möglich ist.The releasable attachment of the position sensor according to the invention on the golf club is advantageous because it is also a training device in the position sensor and different golf clubs to be compared. For example, a trial of various golf clubs with the position sensor according to the invention allows the direct selection of the individually optimal golf club, which is otherwise possible only by prolonged use of different golf clubs.

Die eigentliche Bestimmung der Position bzw. Ausrichtung des Golfschlägers erfolgt hierbei vorzugsweise durch eine ortsfest angeordnete Steuereinheit, wobei die Steuereinheit mit den Sendern und den Empfängern verbunden ist, um eine Laufzeitmessung durchzuführen und dadurch die Position und Ausrichtung des Positionsgebers und des mit dem Positionsgeber verbundenen Golfschlägers zu ermitteln. Hierbei kann eine herkömmliche Steuereinheit verwendet werden, wie sie beispielsweise von der Firma zebris Medical GmbH, Max-Eyth-Weg 42, 88316 Isny (Deutschland) unter den Markennamen CMS-20 oder CMS10 vertrieben wird.The actual determination of the position or orientation of the golf club is preferably carried out by a stationarily arranged control unit, wherein the control unit is connected to the transmitters and the receivers to perform a transit time measurement and thereby the position and orientation of the position sensor and connected to the position transmitter golf club to investigate. In this case, a conventional control unit can be used, as it is marketed, for example, by zebris Medical GmbH, Max-Eyth-Weg 42, 88316 Isny (Germany) under the brand names CMS-20 or CMS10.

Im Rahmen des erfindungsgemäßen Bewegungsanalyseverfahrens werden die von den vorstehend beschriebenen bekannten Steuereinheiten ermittelten Rohdaten jedoch noch einer kinematischen Analyse unterzogen, um zum Golftraining und insbesondere zum Training des Puttens golfspezifische Informationen über den Bewegungsablauf zu erhalten. Beispielsweise können aus der Position und/oder der Ausrichtung des Golfschlägers folgende Schlagparameter ermittelt werden:

  • Dauer des Rückschwungs
  • Dauer des Durchschwungs
  • Treffzeitpunkt
  • Symmetrie des Treffzeitpunkts
  • Symmetrie des Geschwindigkeitsprofils
  • Ausrichtung beim Ansprechen
  • Schlägerkopf im Treffmoment
  • Differenzwert zur Ausrichtung
  • Rotation bis zum Treffmoment
  • Rotation nach dem Treffmoment
  • Rotationsrate pro Zeit
  • Horizontaler Winkel des Schlägerkopfs auf der Schwungbahn
  • Loft des Schlägers im Treffmoment
  • Treffpunkt auf dem Schlägerkopf
  • Höhe des Schlägers im Treffmoment
  • Länge des Rückschwungs
  • Länge des Durchschwungs
  • Symmetrie der Schwungbahn
  • Horizontale Richtung der Schwungbahn im Treffmoment
  • Vertikale Neigung der Schwungbahn im Treffmoment
  • Maximale Rückschwung Geschwindigkeit
  • Auftreffgeschwindigkeit
  • Maximale Durchschwunggeschwindigkeit
  • Maximale Beschleunigung
  • Beschleunigung nach dem Treffen
  • Maximales Bremsen
  • Mittlerer Jerk im Rückschwung
  • Mittlerer Jerk im Durchschwung
In the context of the movement analysis method according to the invention, however, the raw data determined by the known control units described above are subjected to a kinematic analysis in order to obtain golf-specific information about the movement sequence for golf training and, in particular, training for putting. For example, the following impact parameters can be determined from the position and / or the orientation of the golf club:
  • Duration of the backswing
  • Duration of the turnaround
  • Meeting time
  • Symmetry of the meeting time
  • Symmetry of the velocity profile
  • Alignment when responding
  • Clubhead at impact
  • Difference value for alignment
  • Rotation until the moment of impact
  • Rotation after the moment of impact
  • Rotation rate per time
  • Horizontal angle of the club head on the swing track
  • Loft of the bat at the moment of impact
  • Meeting point on the clubhead
  • Height of the club at the moment of impact
  • Length of the backswing
  • Length of the swing
  • Symmetry of the swing track
  • Horizontal direction of the swing track at impact moment
  • Vertical inclination of the swing track at impact moment
  • Maximum backswing speed
  • impact velocity
  • Maximum transit speed
  • Maximum acceleration
  • Acceleration after the meeting
  • Maximum braking
  • Medium Jerk in the backswing
  • Medium jerk in the swing

Darüber hinaus werden im Rahmen des erfindungsgemäßen Bewegungsanalyseverfahrens zur Beschreibung der Konsistenz der Bewegungsausführung vorzugsweise die Variabilitäten aller 28 Parameter bei mehrfacher Schlagwiederholung (typischerweise 5 Schläge) berechnet.In addition, within the scope of the motion analysis method according to the invention for describing the consistency of the motion execution, preferably the variabilities of all 28 parameters are calculated with multiple beat repetitions (typically 5 beats).

Ferner werden die einzelnen Schlagparameter im Rahmen des erfindungsgemäßen Bewegungsanalyseverfahrens vorzugsweise normalisiert, um Normabweichungen bei den einzelnen Schlagparametern einfach erkennen und quantitativ auswerten zu können.Furthermore, within the scope of the motion analysis method according to the invention, the individual impact parameters are preferably normalized in order to be able to easily recognize and quantitatively evaluate deviations in the norm of the individual impact parameters.

Darüber hinaus werden die Schlagparameter im Rahmen des erfindungsgemäßen Bewegungsanalyseverfahrens vorzugsweise grafisch dargestellt, wobei die Darstellung gemeinsam mit gespeicherten Vergleichswerten erfolgen kann, um Abweichungen und Bewegungsstörungen erkennen zu können.In addition, the beat parameters are preferably represented graphically within the scope of the movement analysis method according to the invention, wherein the representation can be carried out together with stored comparison values in order to be able to recognize deviations and movement disorders.

Andere vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen gekennzeichnet oder werden nachstehend zusammen mit der Beschreibung des bevorzugten Ausführungsbeispiels der Erfindung anhand der Figuren näher erläutert. Es zeigen:

Figur 1
ein erfindungsgemäßes Bewegungsanalysesystem zum Training des Puttens beim Golfspiel,
Figur 2
einen erfindungsgemäßen Positionsgeber, der an einem Golfschläger montierbar ist,
Figur 3
eine vergrößerte Ansicht aus Figur 1 mit dem an dem Golfschläger montierten Positionsge- ber aus Figur 2,
Figur 4a bis 4e
das erfindungsgemäße Bewegungsanalyseverfah- ren in Form eines Flussdiagramms,
Figur 5 und 6
verschiedene Bildschirmdarstellungen, die im Rahmen des erfindungsgemäßen Bewegungsanaly- severfahrens erzeugt werden sowie
Figur 7
ein Beispiel eines Bewegungsanalysesysterns, das nicht von den Ansprüchen abgedeckt ist.
Other advantageous developments of the invention are characterized in the subclaims or are explained in more detail below together with the description of the preferred embodiment of the invention with reference to the figures. Show it:
FIG. 1
a movement analysis system according to the invention for training puttying in golf,
FIG. 2
a position sensor according to the invention, which is mountable on a golf club,
FIG. 3
an enlarged view FIG. 1 with the positioner mounted on the golf club FIG. 2 .
FIGS. 4a to 4e
the motion analysis method according to the invention in the form of a flowchart,
FIGS. 5 and 6
various screen representations that are generated in the context of the movement analysis method according to the invention as well as
FIG. 7
an example of a motion analysis system that is not covered by the claims.

Figur 1 zeigt einen Golfspieler 1 mit einem Golfschläger 2 beim Putten, wobei an dem Schaft des Golfschlägers 2 ein aktiver Positionsgeber 3 lösbar befestigt ist, der in Figur 2 detailliert dargestellt ist und nachfolgend beschrieben wird. FIG. 1 shows a golfer 1 with a golf club 2 when putting, wherein on the shaft of the golf club 2, an active position sensor 3 is releasably attached, the in FIG. 2 is shown in detail and described below.

Der Positionsgeber 3 weist zwei Klemmschrauben 4, 5 auf, mit denen der Positionsgeber 3 lösbar an dem Schaft des Golfschlägers 2 befestigt werden kann. Die Ausrichtung des Positionsgebers 3 in Drehrichtung um den Schaft des Golfschlägers 2 erfolgt hierbei durch eine Lehre, die zur Vereinfachung nicht dargestellt ist.The position sensor 3 has two clamping screws 4, 5, with which the position sensor 3 can be releasably secured to the shaft of the golf club 2. The alignment of the position sensor 3 in the direction of rotation about the shank of the golf club 2 takes place here by a teaching, which is not shown for simplicity.

Der Positionsgeber 3 besteht im Wesentlichen aus einem Mittelteil 6, an dessen freiem Ende ein Ultraschallsender 7 angebracht ist, wobei das Mittelteil 7 an dem gegenüberliegenden Ende in zwei Seitenarme 8.1, 8.2 verzweigt, an deren freiem Ende jeweils ein weiterer Ultraschallsender 9 bzw. 10 angeordnet ist.The position sensor 3 consists essentially of a central part 6, at its free end an ultrasonic transmitter 7 is mounted, wherein the middle part 7 branches at the opposite end in two side arms 8.1, 8.2, at the free end of each further ultrasonic transmitter 9 and 10 respectively is.

Die Ultraschallsender 7, 9, 10 sind hierbei in einer Ebene angeordnet und strahlen in die gleiche Richtung ab, wobei die einzelnen Ultraschallsender 7, 9, 10 einen Abstrahlwinkel von jeweils 180° und einen maximalen Messabstand von etwa 2 m aufweisen und eine Messrate von insgesamt 300 Hz ermöglichen.The ultrasound transmitters 7, 9, 10 are arranged in one plane and radiate in the same direction, wherein the individual ultrasound transmitters 7, 9, 10 have an emission angle of 180 ° each and a maximum measurement distance of about 2 m and a total measurement rate 300 Hz.

An der Oberseite des Positionsgebers 3 befindet sich ein Anschluss, an dem für die getrennte Messung von Handgelenksbewegungen ein vierter Sensor angeschlossen werden kann. Die Bewegungen des Handgelenks sind vor allem bei der Messung von Yips-Problemen von großer Bedeutung.At the top of the position sensor 3 is a port to which a fourth sensor can be connected for the separate measurement of wrist movements. The Wrist movements are particularly important when measuring Yips problems.

Zusätzlich kann das Bewegungsanalysesystem auch andere Messsignale verarbeiten, wenn statt dem Positionsgeber 3 an dem Golfschläger 2 ein am Körper des Golfspielers 1 befestigter Positionsgeber verwendet wird. Mit einem solchen Positionsgeber können zusätzlich Körperbewegungen wie Bewegungen vom Kopf, den Schultern, des Rückens und der Hüften gemessen werden. In einer weiteren Ausführung der Erfindung können diese körperbezogenen Signale zeitgleich mit einem zweiten Messaufnehmer registriert werden, der über eine zweite Steuereinheit an die gleiche Recheneinheit angeschlossen ist. Die Signale aus der Bewegung des Golfschlägers 2 und die Bewegungssignale des Körpers können dann zeitlich synchronisiert analysiert und ausgewertet werden. Mit einer solchen Messeinheit ist erstmals der Zusammenhang zwischen einer guten Leistung beim kurzen Golfspiel und den zugehörigen körperbezogenen Bewegungen messbar. Weiterhin kann das Bewegungsanalysesystem mit weiteren Messsystemen synchronisiert betrieben werden, beispielsweise zur zeitsynchronen Bestimmung der Bodenreaktionskräfte mittels einer Kraftverteilungsmessplatte.In addition, the motion analysis system can also process other measurement signals if, instead of the position transmitter 3 on the golf club 2, a position transmitter attached to the body of the golfer 1 is used. With such a position sensor, additional body movements such as movements of the head, shoulders, back and hips can be measured. In a further embodiment of the invention, these body-related signals can be registered simultaneously with a second sensor, which is connected via a second control unit to the same computing unit. The signals from the movement of the golf club 2 and the movement signals of the body can then be synchronized in time analyzed and evaluated. With such a measuring unit for the first time, the relationship between a good performance in short golf game and the associated body-related movements can be measured. Furthermore, the motion analysis system can be operated synchronized with other measuring systems, for example for the time-synchronous determination of the ground reaction forces by means of a force distribution measuring plate.

Der Positionsgeber 3 ist über das Kabel 11 mit einer Steuereinheit 12 verbunden, die herkömmlich ausgeführt sein kann. Bei der Steuereinheit 12 kann es sich beispielsweise um das Mess-System CMS10 oder CMS20S handeln, das von der bereits eingangs erwähnten Firma zebris Medical GmbH vertrieben wird.The position sensor 3 is connected via the cable 11 to a control unit 12, which may be carried out conventionally. The control unit 12 may be, for example, the CMS10 or CMS20S measuring system marketed by zebris Medical GmbH, already mentioned in the introduction.

Die Kommunikation zwischen dem Positionsgeber 3 und der Steuereinheit 12 kann jedoch alternativ auch kabellos erfolgen, beispielsweise durch ein optisches Signal. Dazu kann über ein verkürztes Kabel ein Signalgeber (z.B. Infrarot) angesteuert werden, der beispielsweise am Gürtel des Golfspielers 1 befestigt wird und einen zusätzlichen Empfänger ansteuert. Der Messaufnehmer ist dann vorzugsweise mit einem Kabel über die Steuereinheit 12 mit der Recheneinheit 19 verbunden. Die Steuereinheit 12 kann hierbei auch in dem Messaufnehmer 14 integriert sein oder mit der Recheneinheit 19 zusammengefasst sein.However, the communication between the position sensor 3 and the control unit 12 may alternatively be carried out wirelessly, for example by an optical signal. This can be controlled via a shortened cable, a signal generator (eg infrared), for example, attached to the belt of the golfer 1 and drives an additional receiver. The sensor is then preferably connected by a cable via the control unit 12 to the arithmetic unit 19. In this case, the control unit 12 can also be integrated in the measuring sensor 14 or combined with the arithmetic unit 19.

Darüber hinaus ist die Steuereinheit 12 über ein weiteres Kabel 13 mit einem Ultraschall-Messaufnehmer 14 verbunden, der an sich herkömmlich ausgeführt sein kann und beispielsweise zusammen mit den vorstehend erwähnten Mess-Systemen von der Firma zebris Medical GmbH erhältlich ist. Der Messaufnehmer 14 ist hierbei auf einem Stativ angeordnet und weist drei Ultraschallempfänger 16, 17, 18 auf, die in einer Ebene in Form eines Dreiecks angeordnet und gemeinsam und parallel grob auf den Positionsgeber 3 ausgerichtet sind, um Ultraschallsignale von den Ultraschallsendern 7, 9 und 10 zu empfangen.In addition, the control unit 12 is connected via a further cable 13 with an ultrasonic transducer 14, which may be carried out conventionally per se and, for example, together with the above-mentioned measuring systems from the company zebris Medical GmbH available. The sensor 14 is in this case arranged on a stand and has three ultrasonic receivers 16, 17, 18, which are arranged in a plane in the form of a triangle and aligned coaxially and co-ordinarily on the position sensor 3 in order to transmit ultrasonic signals from the ultrasonic transmitters 7, 9 and 10 to receive.

Die Steuereinheit 12 steuert die Ultraschallsender 7, 9 und 10 über das Kabel 11 zur Abgabe von Ultraschallimpulsen an, die von den Ultraschallempfängern 16-18 erfasst und über das Kabel 13 an die Steuereinheit 12 übermittelt werden. Die Laufzeiten der Ultraschallimpulse der Ultraschallsender 7, 9, 10 bis zum Empfang durch die Ultraschallempfänger 16-18 werden von dem Messaufnehmer 14 über das Kabel 13 an die Steuereinheit 12 und von dort über eine Datenschnittstelle an die Recheneinheit 19 übermittelt. Die Recheneinheit 19 berechnet mittels Triangulation aus der Laufzeit der Ultraschallimpulse die Positionen der einzelnen Ultraschallsender 7, 9, 10 im dreidimensionalen Raum. Aus diesen Rohdaten werden von der Recheneinheit 19 durch Koordinatentransformation dann in Echtzeit die Positionsdaten des Golfschlägers 2 berechnet. Die Positionsdaten des Golfschlägers 2 werden in Echtzeit analysiert, die Ergebnisse wahlweise an einem Bildschirm 20 dargestellt und zur weiteren Analyse in einer Messwertdatei gespeichert. Über ein Eingabegerät 21 ist dabei eine Bedienerführung möglich.The control unit 12 controls the ultrasonic transmitters 7, 9 and 10 via the cable 11 for the delivery of ultrasonic pulses, which are detected by the ultrasonic receivers 16-18 and transmitted via the cable 13 to the control unit 12. The transit times of the ultrasonic pulses of the ultrasonic transmitters 7, 9, 10 to the reception by the ultrasonic receivers 16-18 are transmitted from the sensor 14 via the cable 13 to the control unit 12 and from there via a data interface to the arithmetic unit 19. The arithmetic unit 19 calculates the positions of the individual ultrasound transmitters 7, 9, 10 in three-dimensional space by means of triangulation from the transit time of the ultrasound pulses. From this raw data, the position data of the golf club 2 are then calculated by the arithmetic unit 19 by coordinate transformation in real time. The position data of the golf club 2 are analyzed in real time, the results optionally displayed on a screen 20 and stored in a measured value file for further analysis. An operator input is possible via an input device 21.

Aus der vergrößerten Darstellung in Figur 3 ist ersichtlich, dass der Positionsgeber 3 so an dem Schaft des Golfschlägers 2 befestigt ist, dass sich der Ultraschallsender 7 mittig vor dem Schaft des Golfschlägers 2 befindet, während die Seitenarme 8.1, 8.2 seitlich und von dem Schaft des Golfschlägers 2 abstehen. Diese Anordnung des Positionsgebers 3 ermöglicht eine exakte Positionsbestimmung durch eine Triangulation der von den drei Ultraschallsendern 7, 9, 10 ausgehenden Ultraschallimpulse.From the enlarged view in FIG. 3 It can be seen that the position sensor 3 is attached to the shaft of the golf club 2, that the ultrasonic transmitter 7 is located centrally in front of the shaft of the golf club 2, while the side arms 8.1, 8.2 project laterally and from the shaft of the golf club 2. This arrangement of the position sensor 3 enables an exact position determination by a triangulation of the ultrasound pulses emitted by the three ultrasound transmitters 7, 9, 10.

Die Figuren 4a bis 4e zeigen das erfindungsgemäße Bewegungsanalyseverfahren in Form eines Flussdiagramms.The FIGS. 4a to 4e show the motion analysis method according to the invention in the form of a flow chart.

In dem in Figur 4a dargestellten Verfahrensabschnitt erfolgen zunächst Vorarbeiten wie die Montage des Positionsgebers 3 an dem Golfschläger 2 sowie der Aufbau des Messaufnehmers 14 mit dem Stativ 15 und die Ausrichtung des Messaufnehmers 14 in Richtung des Golfspielers 1.In the in FIG. 4a The first part of the process shown is preliminary work such as mounting the position sensor 3 on the golf club 2 and the structure of the sensor 14 with the stand 15 and the orientation of the sensor 14 in the direction of the golfer 1.

Darüber hinaus wird das gesamte System in diesem Verfahrensabschnitt kalibriert, um eine genaue Positionserfassung zu ermöglichen. Dabei wird der Schlägerkopf des Golfschlägers 2 in horizontaler Richtung genau auf das anvisierte Ziel hin kalibriert ("Ausrichtung"), in vertikaler Richtung wird der Schlägerkopf auf Neigung gegenüber der Senkrechten hin kalibriert ("Loft").In addition, the entire system in this procedure section is calibrated to allow accurate position detection. In this case, the club head of the golf club 2 is calibrated in the horizontal direction exactly to the intended goal ("alignment"), in the vertical direction of the club head is calibrated on inclination to the vertical out ("loft").

In dem in Figur 4b dargestellten Verfahrensabschnitt erfolgt dann die eigentliche Messung der Bewegung des Golfschlägers 2, wobei dieser Verfahrensabschnitt während des Betriebs im Hintergrund laufend wiederholt wird. Bei einer Messung im Diagnosemodus werden normalerweise mehrere Schläge hintereinander ausgeführt, um die Konsistenz der Bewegungsaus führung zu überprüfen. Typischerweise werden fünf Putts auf das selbe Ziel hin ausgeführt.In the in FIG. 4b shown method section then takes place the actual measurement of the movement of the golf club 2, this process section is continuously repeated during operation in the background. When measuring in diagnostic mode, it usually executes several beats consecutively to check the consistency of motion execution. Typically, five putts are executed towards the same destination.

Hierbei geben die Ultraschallsender 7, 9, 10 des Positionsgebers 3 laufend Ultraschallsignale ab, die von den ULtraschallempfängern 16 bis 18 des Messaufnehmers 14 empfangen werden.In this case, the ultrasound transmitters 7, 9, 10 of the position transmitter 3 continuously emit ultrasonic signals which are received by the ultrasound receivers 16 to 18 of the measuring sensor 14.

Die Steuereinheit 12 misst dann die Laufzeit der Ultraschallsignale zwischen der Abstrahlung durch die Ultraschallsender 7, 9, 10 des Positionsgebers 3 und dem Empfang durch die Ultraschallempfänger 16 bis 18 des Messaufnehmers 14.The control unit 12 then measures the transit time of the ultrasound signals between the emission by the ultrasound transmitters 7, 9, 10 of the position transmitter 3 and the reception by the ultrasound receivers 16 to 18 of the sensor 14.

Anschließend berechnet die Recheneinheit 19 aus den gemessenen Laufzeiten die Positionen der Ultraschallsender 7, 9, 10 und aus diesen Positionen durch Koordinatentransformation die Position und Ausrichtung des Schlägerkopfs, wobei eine definierte Ausrichtung des Positionsgebers 3 relativ zu dem Golfschläger 2 zugrundegelegt wird.Subsequently, the arithmetic unit 19 calculates the positions of the ultrasound transmitters 7, 9, 10 and from these positions by coordinate transformation, the position and orientation of the club head, wherein a defined orientation of the position sensor 3 relative to the golf club 2 is used.

Um einen Bedienereingriff zur Messung und Speicherung der Daten der einzelnen Schläge überflüssig zu machen, werden die Schlagbewegungen innerhalb des kontinuierlichen Datenstroms nach genau festgelegten Kriterien automatisch identifiziert, was in dem Verfahrensabschnitt in Figur 4c erfolgt. Dabei werden verschiedene Kriterien in einer Kombination von Zeitabläufen, Bewegungsrichtung und Bewegungsdynamik miteinander kombiniert. Zunächst muss der Golfschläger 2 für eine bestimmte Zeit (beispielsweise 1 Sekunde) ruhig gehalten werden. Dann muss der Schläger mit einer bestimmten Mindestgeschwindigkeit in negativer Richtung vom Ziel weg bewegt werden. Innerhalb einer bestimmten Zeit muss dann die Rückwärtsbewegung gestoppt werden und übergangslos in eine Vorwärtsbewegung übergehen. Innerhalb einer bestimmten Zeit muss dann eine bestimmte Vorwärtsgeschwindigkeit überschritten werden. Innerhalb einer bestimmten Zeit muss dann die Schlägergeschwindigkeit unter einen bestimmten Schwellwert sinken um das Schlagende anzuzeigen. Wenn eine der vorgegebenen Bedingungen nicht eingehalten wird, wird der Messzyklus unterbrochen und die Bewegung wird als nicht gültig zurückgewiesen.In order to eliminate the need for operator intervention to measure and store the data of the individual beats, the beats within the continuous data stream are automatically identified according to well-defined criteria, as described in the method section in FIG Figure 4c he follows. Different criteria are combined with each other in a combination of time sequences, direction of movement and dynamics of movement. First, the golf club 2 must be kept quiet for a certain time (for example, 1 second). Then the bat needs a certain minimum speed be moved in a negative direction away from the target. Within a certain time then the backward movement must be stopped and merge seamlessly into a forward movement. Within a certain time then a certain forward speed must be exceeded. Within a certain time then the club speed must fall below a certain threshold to indicate the batting end. If one of the specified conditions is not met, the measuring cycle is interrupted and the movement is rejected as not valid.

Wenn dagegen ein gültiger Schlagzyklus in dem kontinuierlichen Datenstrom identifiziert wurde, dann werden die zugehörigen Positionsdaten und die Ausrichtung des Schlägerkopf des Golfschlägers 2 zusammen mit den jeweiligen Messzeitpunkten für die anschließende Analyse der Schlagbewegung abgespeichert.If, on the other hand, a valid beating cycle has been identified in the continuous data stream, then the associated position data and the orientation of the club head of the golf club 2 are stored together with the respective measurement instants for the subsequent impact analysis.

Falls die Schlagbewegung nicht korrekt beendet wurde, so wird der in Figur 4c dargestellte Verfahrensabschnitt erneut durchlaufen. Wenn ein Schlag beendet ist und die geforderte Anzahl an Schlägen noch nicht ausgeführt wurde, so wird der in Figur 4c dargestellte Verfahrensabschnitt erneut durchlaufen. Andernfalls wird zu dem in Figur 4d dargestellten Verfahrensabschnitt übergegangen, in dem die eigentliche Analyse und Darstellung der Bewegungsdaten erfolgt, wie nachfolgend beschrieben wird.If the flapping motion has not been completed correctly, the in Figure 4c go through the process section shown again. When a stroke is over and the required number of strokes has not yet been executed, the in Figure 4c go through the process section shown again. Otherwise, the in FIG. 4d in which the actual analysis and presentation of the movement data takes place, as will be described below.

Im Trainingsmodus wird im Gegensatz zum Diagnosemodus nur jeweils eine Bewegung ausgeführt, diese in Echtzeit sofort analysiert und die Ergebnisse sofort am Bildschirm ausgegeben. So kann der Golfspieler 1 für jeden Schlag sofort erkennen, wie nahe er den Vorgaben gekommen ist. Im Gegensatz zum kontinuierlichen Biofeedback wird hier ein so genanntes kinetisches Feedback verwendet ("knowledge of result"). Ein kontinuierliches Bewegungsfeedback würde hingegen die Bewegungsausführung stören und hat sich als nicht geeignet beim Lernen automatisierter Bewegungen erwiesen.In the training mode, in contrast to the diagnostic mode, only one movement is executed at a time, analyzed immediately in real time, and the results displayed immediately on the screen. So the golfer 1 can see immediately for each stroke, how close he came to the specifications. In contrast to the continuous biofeedback here becomes a so-called kinetic Feedback used ("knowledge of result"). Continuous motion feedback, on the other hand, would interfere with the performance of the movement and has not proven to be useful in learning automated movements.

Bevor die Daten ausgewertet werden können, werden sie einer Fehleranalyse und einer Datenfilterung unterworfen, was in Figur 4d dargestellt ist. Da alle biomechanischen Signale mit einem bestimmten Fehleranteil behaftet sind, und sich dieser Fehleranteil bei Berechung der dynamischen Aspekte wie Geschwindigkeit und Beschleunigung vervielfacht, kommt einer validen Datenfilterung eine entscheidende Rolle zu. Aufgrund wissenschaftlicher Erkenntnisse wird hier ein gleitender Mittelwertsfilter verwendet, der nachweislich für Bewegungsdaten die besten Filterergebnisse ergibt. Dieser Filter ist beispielsweise in MARQUARDT, C. & MAI, N.: "A computational procedure for movement analysis in handwriting" (Journal of Neuroscience Methods, 52, 39-45 ) beschrieben, so dass an dieser Stelle auf eine detaillierte Beschreibung der Datenfilterung verzichtet werden kann.Before the data can be evaluated, they are subjected to error analysis and data filtering, which in FIG. 4d is shown. Since all biomechanical signals are subject to a certain proportion of errors, and this proportion of errors multiplies when calculating the dynamic aspects such as speed and acceleration, a valid data filtering plays a crucial role. Based on scientific findings, a moving average filter is used here which demonstrably yields the best filter results for motion data. This filter is for example in MARQUARDT, C. & MAI, N .: "A computational procedure for movement analysis in handwriting" (Journal of Neuroscience Methods, 52, 39-45 ), so that at this point a detailed description of the data filtering can be dispensed with.

Da der Auftreffzeitpunkt des Golfschlägers 2 auf den Golfball wegen der geringen Schlägergeschwindigkeit nicht akustisch gemessen werden kann, wird der Treffmoment aus dem Datenfluss heraus berechnet. Zur Ermittlung des Auftreffzeitpunkts wird eine Kombination der Position des Schlagbeginns, der Schlägerkopfhöhe, und dem gemessenen Auftreffimpuls des Balls auf den Golfschläger 2 im Beschleunigungssignal verwendet. Zur Bestimmung des Auftreffzeitpunkts kann auch ein zusätzlich an dem Golfschläger 2 montierter Beschleunigungsaufnehmer verwendet werden.Since the time of impact of the golf club 2 on the golf ball can not be acoustically measured because of the low club speed, the impact moment is calculated from the data flow. To determine the time of impact, a combination of the position of the beginning of the stroke, the club head height, and the measured impact impulse of the ball on the golf club 2 in the acceleration signal is used. To determine the time of impact, an accelerometer additionally mounted on the golf club 2 can also be used.

Zur Berechnung der verschiedenen Bewegungsparameter werden die Daten der einzelnen abgespeicherten Bewegungen automatisch in jeweils 7 verschiedene Bewegungsabschnitte untergliedert. Diese Abschnitte sind:

  1. 1) Beginn des Rückschwungs,
  2. 2) Beginn des Durchschwungs,
  3. 3) Maximale Beschleunigung,
  4. 4) Treffzeitpunkt,
  5. 5) Maximale Geschwindigkeit,
  6. 6) Maximales Bremsen,
  7. 7) Ende des Durchschwungs.
To calculate the various motion parameters, the data of the individual stored movements are automatically subdivided into 7 different movement sections. These sections are:
  1. 1) start of the backswing,
  2. 2) beginning of the turnaround,
  3. 3) maximum acceleration,
  4. 4) meeting time,
  5. 5) maximum speed,
  6. 6) maximum braking,
  7. 7) End of the turnaround.

Auf Basis der 7 Bewegungssegmente werden dann die 28 verschiedenen Bewegungsparameter berechnet, von denen einige beispielhaft in den Bildschirmausdrucken aus den Figuren 5 und 6 dargestellt sind. Beispielsweise werden im Rahmen der Bewegungsanalyse die Maximalgeschwindigkeit und die Maximalbeschleunigung des Schlägerkopfes des Golfschlägers 2 vorberechnet. Alle berechneten Datenkurven können graphisch dargestellt und zusammen mit den zugehörigen Bewegungsparametern beliebig miteinander kombiniert auf dem Bildschirm dargestellt oder ausgedruckt werden.Based on the 7 motion segments, the 28 different motion parameters are calculated, some of which are exemplary in the screenshots of the Figures 5 and 6 are shown. For example, as part of the motion analysis, the maximum speed and the maximum acceleration of the club head of the golf club 2 are precalculated. All calculated data curves can be graphically displayed and, together with the associated motion parameters, combined with each other on the screen or printed.

Anschließend werden die auf diese Weise ermittelten Bewegungsparameter (z.B. Maximalbeschleunigung) durch eine Transformation in entsprechende Z-Werte normiert, wobei die Z-Werte zusammen ein Kompetenzprofil bilden, das in Figur 6 grafisch dargestellt ist.Subsequently, the motion parameters determined in this way (eg maximum acceleration) are normalized by a transformation into corresponding Z values, wherein the Z values together form a competence profile, which in FIG. 6 is shown graphically.

Darüber hinaus wird aus den Z-Werten ein sogenannter Overall-Performance-Index berechnet, der die Leistungsfähigkeit des jeweiligen Golfspielers 1 wiedergibt.In addition, a so-called overall performance index is calculated from the Z values, which reflects the performance of the respective golf player 1.

Ferner kann aus einer in der Recheneinheit 19 gespeicherten Datenbank ein Kompetenzprofil eines bekannten Golfspielers als Referenz ausgelesen und auf dem Bildschirm grafisch dargestellt werden. In Figur 6 wird dieses als Referenz dienende Kompetenzprofil jeweils mittig als grau schraffiertes Feld dargestellt, wohingegen die tatsächlich ermittelten Z-Werte des Golfspielers 1 als schwarze Balken erscheinen, die teilweise außerhalb der Bandbreite des als Referenz dienenden Kompetenzprofils liegen.Furthermore, from a database stored in the arithmetic unit 19, a competence profile of a known golfer can be read out as a reference and graphically displayed on the screen. In FIG. 6 this competence profile serving as a reference is represented in the center as a gray hatched field, whereas the actually determined Z values of the golfer 1 appear as black bars which are partly outside the bandwidth of the competence profile used as a reference.

Schließlich wird das ermittelte Kompetenzprofil und das als Referenz ausgewählte Kompetenzprofil grafisch dargestellt, wobei die Bildschirmausdrucke aus den Figuren 5 und 6 lediglich beispielhaft zu verstehen sind.Finally, the ascertained competence profile and the competence profile selected as a reference are graphically displayed, the screen printouts being from the Figures 5 and 6 merely by way of example.

Das in Figur 7 dargestellte nicht von den Ansprüchen abgedeckte Beispiel eines Bewegungsanalysesystems stimmt weitgehend mit dem vorstehend beschriebenen und in Figur 1 dargestellten Bewegungsanalysesystems überein, so dass zur Vermeidung von Wiederholungen weitgehend auf die vorstehende Beschreibung verwiesen wird und im Folgenden für entsprechende Bauteile dieselben Bezugszeichen verwendet werden.This in FIG. 7 illustrated example of a Bewegungsungsanlysesystems not covered by the claims is largely consistent with that described above and in FIG. 1 shown movement analysis system, so that in order to avoid repetition, reference is made largely to the above description and will be used below for corresponding components, the same reference numerals.

Die Bestimmung der Position und Ausrichtung des Golfschlägers 2 beruht bei diesem Beispiel jedoch auf einem technisch grundsätzlich anderen Prinzip. So weist der Positionsgeber 3 hierbei mehrere Beschleunigungssensoren auf, welche die Beschleunigung des Positionsgebers 3 erfassen, woraus die Steuereinheit 12 dann in Verbindung mit der Recheneinheit 19 die Position und Ausrichtung des Golfschlägers 2 berechnen kann.The determination of the position and orientation of the golf club 2 is based in this example, however, on a technically fundamentally different principle. Thus, the position sensor 3 in this case has a plurality of acceleration sensors which detect the acceleration of the position sensor 3, from which the control unit 12 can then calculate the position and orientation of the golf club 2 in conjunction with the arithmetic unit 19.

Die Erfindung ist nicht auf die vorstehend beschriebenen bevorzugten Ausführungsbeispiele beschränkt. Vielmehr ist eine Vielzahl von Varianten und Abwandlungen möglich.The invention is not limited to the preferred embodiments described above. Rather, one is Variety of variants and modifications possible.

Claims (13)

  1. Position detector (3) for detection of the position and/or alignment of a golf club (2), wherein
    a) the position detector (3) comprises a mounting arrangement with which the position detector (3) can be detachably mounted to the golf club (2),
    characterized in that
    b) the position detector (3) comprises at least three, mutually interspaced ultrasonic transmitters (7, 9, 10), each of which emits a position signal to three stationary and mutually interspaced ultrasonic receivers (16-18),
    c) wherein the position and/or alignment of the golf club (2) can be determined depending on the received position signal,
    d) wherein the run-time of the position signal can be measured and the position and/or alignment of the golf club (2) can be determined depending on the run-time,
    e) the ultrasonic transmitter (7, 9, 10) are arranged essentially in a plane,
    f) the ultrasonic transmitters (7, 9, 10) emit the position signals essentially in the same direction,
    g) the three ultrasonic transmitters (7, 9, 10) are arranged essentially in the form of a triangle,
    h) one of the ultrasonic transmitters (7, 9, 10) is, in a mounted state, in a plane with the shaft of the golf club (2) while the other two ultrasonic transmitters (9, 10) are arranged on opposite sides of said plane.
  2. Position detector (3) according to claim 1, characterized in that the position detector (3) has at least one acceleration sensor.
  3. Position detector (3) according to one of the preceding claims, characterized in that a cable connection (11) is provided for wire communication with a stationary control unit (12).
  4. Position detector (3) according to one of the preceding claims, characterized in that an additional transmitter is provided for wire communication with a stationary control unit (12).
  5. Position detector (3) according to claim 4, characterized in that the additional transmitter can be attached to the body of a golfer.
  6. Motion-analysis system with a position detector (3) according to one of the preceding claims and a control unit (12) that is connected to the position detector (3) in order to control and assess the motion analysis.
  7. Method of motion analysis for determining the position and/or alignment of a golf club (2), wherein
    a) the motion of a golf club (2) during stroking is determined and analysed by means of position detector 83) which is mounted to the shaft of the golf club (2),
    b) the position signal is transmitted between the position detector (3) being arranged on the golf club (2) and a stationary arranged control unit (12),
    c) the position and/or alignment of the golf club (2) is determined depending on the position signal,
    characterized in that
    d) the run-time of the position signal between the position detector (3) and the control unit (12) is measured and the position and/or alignment of the ball sport device (2) is determined depending on the run-time,
    e) the position detector (3) comprises several mutually spaced ultrasonic transmitters (7, 9, 10) and the control unit (12) comprises several mutually spaced ultrasonic receivers (16, 17, 18) between which several position signals are transmitted, wherein the position and/or alignment of the golf club (2) is determined depending on the run-time of the position signals,
    f) the ultrasonic transmitter (7, 9, 10) are arranged essentially in a plane,
    g) the ultrasonic transmitters (7, 9, 10) emit the position signals essentially in the same direction,
    h) the three ultrasonic transmitters (7, 9, 10) are arranged essentially in the form of a triangle,
    i) one of the ultrasonic transmitters (7, 9, 10) is, in a mounted state, in a plane with the shaft of the golf club (2) while the other two ultrasonic transmitters (9, 10) are arranged on opposite sides of said plane.
  8. Method of motion analysis according to claim 7, characterized in that the following data are determined from the position and/or the alignment of the golf club (2):
    - start of a swing motion and/or
    - end of a swing motion and/or
    - moment of impact of the ball sport device (2) on the ball.
  9. Method of motion analysis according to one of claims 7 or 8, characterized in that at least one of the following swing parameters is determined for a swing from the position and/or the alignment of the golf club (2):
    - duration of backswing
    - duration of follow-through
    - impact time
    - symmetry of the impact time
    - symmetry of the velocity profile
    - alignment when addressing the ball
    - club head at the moment of impact
    - differential value for alignment
    - rotation to the moment of impact
    - rotation after the moment of impact
    - rotation rate per time
    - horizontal angle of the club head on the swing path
    - loft of the club at the moment of impact
    - point of impact on the club head
    - height of club at moment of impact
    - length of backswing
    - length of follow-through
    - symmetry of swing path
    - horizontal direction of the swing path at the moment of impact
    - vertical incline of the swing path at the moment of impact
    - maximum backswing velocity
    - velocity at impact
    - maximum follow-through velocity
    - maximum acceleration
    - acceleration after impact
    - maximum braking
    - average jerk during the backswing
    - average jerk during the follow-through.
  10. Method of motion analysis according to one of claims 7 to 9, characterized in that the variability is calculated for each of the swing parameters in order to measure motion consistency.
  11. Method of motion analysis according to one of claims 7 to 10, characterized in that the swing parameters are graphically displayed.
  12. Method of motion analysis according to one of claims 7 to 11, characterized in that the chronological sequence of the swing parameters is graphically displayed.
  13. Method of motion analysis according to one of claims 7 to 12, characterized in that the swing parameters are compared with stored reference values and/or displayed together with the reference values.
EP04723558A 2004-03-26 2004-03-26 Position sensor and movement analysis method Expired - Lifetime EP1727602B1 (en)

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