JP2021100716A - Nona-axis sensor built-in type golf club and swing trajectory measurement system using the same - Google Patents

Abstract

To provide a golf club that has a relatively simple configuration but can provide a user with an index capable of swinging while keeping a shaft plane flat, and to provide a swing trajectory measurement system using the same.SOLUTION: A nona-axis sensor built-in type golf club with a grip, a shaft and a head part incorporates: a nona-axis sensor comprising an acceleration sensor, an angular velocity sensor and an azimuth sensor; a swing trajectory measurement system for processing output data from the nona-axis sensor to calculate and evaluate a swing trajectory; and an output part for outputting an evaluation result, in the head part.SELECTED DRAWING: Figure 4

Description

The present invention uses a 9-axis sensor built-in golf club with a 9-axis sensor (xyz 3-axis acceleration sensor + xyz 3-axis angular velocity sensor + xyz 3-axis orientation (geomagnetic) sensor) built into the head, and data output from the 9-axis sensor. Regarding the swing trajectory measurement system that evaluates the golf swing to be processed and calculated, in particular, a 9-axis sensor built-in golf club with an ultra-small 9-axis sensor built into the head of the golf club, and a user's swing using the golf club. The present invention relates to a swing trajectory measurement system capable of easily measuring and evaluating a swing trajectory based on acceleration data, angular velocity data, and azimuth (geomagnetic) data output in.

Golf has been in the limelight because it is recognized as an exercise that is useful for physical and mental health, and it can be said that it is a popular exercise that has formed many golf layers in recent years. A golf club having a grip, a shaft and a head portion is used for golf.

When the golfer swings, if the position of the impact applied by the golfer deviates from the optimum position (sweet spot) for hitting the golf ball, the golf ball cannot be hit with the maximum force, so the flight distance is reduced and the accuracy is reduced. The degree also drops significantly. Therefore, many golfers take lessons to proofread their swing posture, etc., or make a lot of efforts such as watching videos and shooting, according to their own needs. However, it is very difficult to grasp the exact impact position in the swing performed by the golfer, and it is difficult to determine whether or not the ball hits the so-called sweet spot.

Japanese Unexamined Patent Publication No. 2020-182668 Japanese Unexamined Patent Publication No. 2019-150578 JP-A-2018-126238 WO2019 / 212721 Japanese Unexamined Patent Publication No. 2020-75096 JP-A-2018-153295 Japanese Unexamined Patent Publication No. 2011-83356 Japanese Unexamined Patent Publication No. 4-146770

In recent years, one's own swing pattern can be analyzed by various types of swing analyzers, and swing information such as hitting speed, swing speed, and swing trajectory can be confirmed by equipment located at a screen golf course. Such a screen-type swing analyzer requires a large space, and has a drawback that it is not possible to analyze the swing in real time while actually playing on the golf course, so the user decides to perform the swing analysis. There are time and financial difficulties that must be visited at all times.

The shaft plane is known as an index for evaluating whether or not the ball hits the sweet spot of the golf club, and as shown in FIG. 1, the arc plane formed by the swing of the golf club 1 is the shaft plane 2. .. When the shaft plane 2 undulates, the probability of hitting the sweet spot decreases, so it is desirable to keep the shaft plane 2 always flat and swing.

The present invention has been made based on the above circumstances, and an object of the present invention is a golf club capable of giving an index capable of swinging while maintaining a flat shaft plane with a relatively simple configuration, and a golf club thereof. The purpose of the present invention is to provide a swing trajectory measurement system used.

The present invention relates to a golf club having a grip, a shaft and a head portion, and the above object of the present invention is to process a 9-axis sensor including an acceleration sensor, an angular velocity sensor and an orientation sensor, and output data of the 9-axis sensor to swing. This is achieved by incorporating a swing trajectory measurement system that measures and evaluates the trajectory of the swing trajectory and an output unit that outputs the evaluation result of the swing trajectory measurement system in the head unit.

Further, the above object of the present invention is a first integrating unit that inputs acceleration data, angular velocity data, and orientation data from a 9-axis sensor provided in the head portion of a golf club and integrates the acceleration data twice. A second integrating unit that integrates the angular velocity data of the angular velocity sensor once, at least the output data of the first integrating unit 1, the output data of the second integrating unit 2, and the memory that stores the orientation data. A backswing confirmation determination unit that determines and determines the backswing range, a comparison unit that compares the backswing data and the downswing data, and a determination unit that determines whether the comparison result in the comparison unit is within a predetermined allowable range. A swing determination unit that determines the swing, a top detection unit that determines the top position of the swing, an impact detection unit that detects the impact, an output unit that outputs the determination result of the swing determination unit, and a timing unit that measures the passage of time. Achieved by a swing trajectory measurement system composed of.

According to the golf club according to the present invention, since the 9-axis sensor is built in, it is possible to acquire various kinds of information about the swing, which can be useful for improving the swing skill.

Further, according to the swing trajectory measurement system according to the present invention, when it is built in a golf club, there is an advantage that the user can immediately know the evaluation while swinging. When installed outside, it has the advantage that you can practice anywhere you like and receive evaluations quickly.

It is a schematic diagram explaining the shaft plane. It is a diagram which shows the flow of a golf swing. There is a front view which shows the address state. It is a structural drawing of the golf club (first embodiment club) which concerns on this invention. It is sectional drawing which shows the example of the internal structure of a head part. It is a top view which shows the structural example of a lamp display part. It is a structural drawing of the golf club (second embodiment club) which concerns on this invention. It is a block diagram which shows the electrical configuration example. It is a flowchart which shows the operation example of this invention. It is a figure which shows the state which confirms the start of a backswing. It is a flowchart which shows the operation example which confirms the start of a backswing. It is a figure which shows the state of the detection of the top position. It is a flowchart which shows the operation example which confirms the start of a downswing. It is a figure which shows the state of the detection of the impact position. It is a flowchart which shows the operation example which determines the impact position. It is a flowchart which shows the operation example of this invention. It is a structural drawing of the golf club (third embodiment club) which concerns on this invention. It is a block diagram which shows the structural example of this invention. It is a block diagram which shows the configuration example of the trajectory measurement system. It is a flowchart which shows the operation example of this invention.

Generally, as shown in the time chart of FIG. 2, a golf swing starts from an address (time point t1), has a waggle (time point t2 to t3) depending on a person, then starts a swing (time point t3), and becomes a backswing. .. The backswing finally shifts to the downswing of turning back after passing through the top (time point t4), reaches the impact of hitting the ball at or near the lowest point (time point t5), and then becomes a follow-through swing and the swing ends (point time t5). Time point t6).

The address of the golf swing is the position (A) in FIG. 1, which is an operation in which the head surface of the golf club 1 faces the golf ball 3 placed on the tee as shown in FIG. 3, and this address position (A). ) Gradually becomes a backswing, passes through positions (B) and (C), becomes a top position at the position (D) in FIG. 1, reverses from the top, and gradually shifts to a downswing. At the position (A) in FIG. 1 which reached the lowest point or its vicinity after passing through the positions (C) and (B) during the downswing, the golf ball 3 which had an impact at the same position as the address and hit the head surface was hit. After the ball is made to fly, a follow-through is performed, and the swing ends after passing through the positions (E) and (F) in FIG. At the normal address position, the head surface of the golf club 1 faces the ball 3 as shown in FIG. 3, so if at least the backswing trajectory and the downswing trajectory are the same, the impact will be the same as the address. Therefore, the probability that the ball hits the sweet spot is high. Further, in the address, the club face surface is made to face the ball and the face surface is adjusted in the flight direction, so it is also an important factor to maintain the face surface similar to the address at the time of impact.

In this example, as shown in FIG. 3, the vertical direction is the y-axis, the left-right direction is the x-axis, and the front-back direction is the z-axis, but the coordinate system can be changed as appropriate.

Based on this premise, the present invention proposes an optimal golf club for measuring the deviation or coincidence between the backswing trajectory and the downswing trajectory, and can objectively evaluate the swing using the golf club. We propose an orbit measurement system.

FIG. 4 shows a structural example of the golf club 10 (the golf club of the first embodiment) according to the present invention, in which a power switch 11 for turning on / off the power is provided at the end of the grip 12, and the shaft 13 is provided. An ultra-small 9-axis sensor 100 and a swing trajectory measurement system 200 are provided in the head portion 14 at the tip of the golf club. The power switch 11 may be a push type, a slide type, or may be provided at another location. Further, the head portion 14 is provided with a rechargeable battery 30, and a long-shaped lamp display portion 20 that lights up in color for each section is provided on the upper surface of the head portion 14.

The 9-axis sensor 100 and the swing trajectory measurement system 200 are provided in the head portion 14 by an embedded type or a plug-in type, and a structural example in the case of the embedded type is shown in FIG. That is, the battery 30 is inserted into a recess provided on the side surface of the head portion 14 (frontward when viewed from a user who is a golfer), and a USB terminal 31 that can be charged with a USB cable is provided on the front surface thereof. Further, the 9-axis sensor 100 and the swing trajectory measurement system 200 are embedded in recesses provided on the upper surface of the head portion 14, respectively, and the upper portions thereof are covered with lid members 14A and 14B so as not to escape. A configuration example of the lamp display unit 20 is shown in FIG. 6. In this example, the backswing from the start (address) to the top and the downswing from the top to the impact are set in sections SE1 to SE6, respectively, and each section SE1 to SE6 is set. It lights up separately in red, green, and yellow to notify you. In this example, 6 sections are set, but the number of sections is arbitrary and can be changed as appropriate.

FIG. 7 shows a structural example of the golf club 10A (second embodiment golf club) according to the present invention in correspondence with FIG. 4, and the difference from the first embodiment golf club 10 is the lamp display unit 20. Is only the speaker 21, and the others are exactly the same.

FIG. 8 shows a configuration example of the swing trajectory measurement system 200 using the golf club 10 or 10A according to the present invention. The 9-axis sensor 100 includes a xyz 3-axis acceleration sensor 110 and a xyz 3-axis angular velocity sensor 120. And xyz 3-axis azimuth (geomagnetic) sensor 130, acceleration data αx, αy, αz are output from the acceleration sensor 110, and angular velocity data ωx, ωy, ωz are output from the angular velocity sensor 120. The orientation sensor 130 outputs orientation data DRx, DRy, and DRz. The acceleration data αx, αy, αz are input to the integrating unit 202 in the swing trajectory measurement system 200 and integrated, converted into speed data SPx, SPy, SPz, and the speed data SPx, SPy, SPz are input to the integrating unit 203. It is integrated, converted into position data PSx, PSy, PSz, and incorporated into the swing trajectory measurement system 200. The angular velocity data ωx, ωy, and ωz are input to the swing trajectory and the integrating unit 204 in the measurement system 200, integrated, converted into the angle data θx, θy, and θz, and taken into the swing trajectory measurement system 200, and the orientation data DRx. , DRy, DRz are taken into the measurement system 200 as they are. In this example, the acceleration data αx is taken in as it is due to the relationship of the x-axis in FIG. 3, but it is for impact position detection, and if the user's left-right direction is the y-axis coordinate system, the acceleration data αy To capture.

The position data PSx, PSy, PSz are related to the trajectory position of the club head, and the angle data θx, θy, θz and the orientation data DRx, DRy, DRz are related to the orientation and inclination of the club head. Further, power is supplied from the battery 30 to the 9-axis sensor 100 and the swing trajectory measurement system 200 by turning on the power switch 11.

The swing trajectory measurement system 200 includes a CPU (Central Processing Unit) (including an MPU (Micro Processor Unit) and an MCU (Micro Controller Unit)) 201 that controls the entire system, and the CPU 201 includes data for calculation and control. A memory 210 that stores data and information, an inversion unit 211 that temporally inverts the data and information stored in the memory 210, a backswing confirmation determination unit 220 that determines and determines the range of the backswing, and a backswing. A comparison unit 230 that compares data and downswing data, a swing determination unit 240 that determines whether or not the comparison result in the comparison unit 230 is within a predetermined allowable range, and a top detection unit that determines the top position of the swing. The 250, the impact detection unit 260 that detects the impact of the club head surface hitting the golf ball, the output unit 212 that outputs the determination result of the swing determination unit 240, and the timing unit 213 that measures the passage of time mutually It is connected. Since the memory 210 of this example is in the FIFO (First-In First-Out) format, the stored contents read from the memory 210 are temporally inverted by the inversion unit 211.

In this example, since the golf club 10 of the first embodiment is described, the output of the output unit 212 is connected to the lamp display unit 20, but in the case of the golf club 10A of the second embodiment, the lamp display unit 20 is replaced. A speaker 21 that generates sound is connected.

In such a configuration, an operation example thereof will be described with reference to the flowchart of FIG. This example is a method of notifying the user of the judgment evaluation of the swing after the swing is completed.

Prior to the start of operation, the power switch 11 is first turned on to start the whole operation. Then, the xyz-axis acceleration data αx, αy, αz are output from the acceleration sensor 110 of the 9-axis sensor 100 and input to the swing trajectory measurement system 200 (step S1), and the speed data SPx, SPy, SPz are input by the integrating unit 202. Converted (step S2), the velocity data SPx, SPy, SPz are further input to the integrating unit 203 and converted into position data PSx, PSy, PSz (step S3), and the position data PSx, PSy, PSz are the swing trajectory measurement system. It is taken in by 200. Further, the angular velocity data ωx, ωy, and ωz of the xyz axis are output from the angular velocity sensor 120 and input to the swing trajectory measurement system 200 (step S4), and are converted into the angular velocity data θx, θy, and θz by the integrating unit 204 (step S5). ), The angle data θx, θy, and θz are taken into the measurement system 200, and the orientation data DRx, DRy, and DRz are taken into the measurement system 200 as they are (step S6). The position data PSx, PSy, PSz, the angle data θx, θy, θz, and the directional data DRx, DRy, and DRz taken into the measurement system 200 are sequentially stored in the memory 210 in association with the time of the time measuring unit 213 ( Step S7). The order in which the swing trajectory measurement system 200 is taken in and the order in which the memory 210 is stored can be changed as appropriate.

After the address, the range (time) of the backswing is not constant because there are differences such as with or without waggle depending on the golfer, or repeating waggle many times. Therefore, in the present invention, the backswing determination determination unit 220 determines the backswing (step S10) and determines the start time of the backswing (step S20). Details will be described later.

After the backswing starts, the club head reaches the upper part and becomes the top position (position (D) in FIG. 1), but the top position also becomes the start of the downswing. That is, the top position is the backswing end position and also the downswing start position. In the present invention, the top detection unit 250 determines the top position of the swing (step S30), and when it reaches the top position (step S40), it reads out all the data of the backswing stored in the memory 210 and reverses the unit. It is arranged in time via 211 (step S41). The data organization is for matching the stored backswing data with the next input downswing data on the time axis. Details of top position detection will be described later.

Since the position shifts to the downswing after the top position, the position data PSx, PSy, PSz, the angle data θx, θy, θz, and the azimuth data DRx, DRy, DRz in this downswing are stored in the memory 210 at the time of the clock unit 213. They are linked and sequentially stored (step S42). When the downswing starts, it finally becomes an important impact, so the impact detection unit 260 determines the impact (step S50) and determines the impact position (step S60). The details of impact position detection will be described later. Once the impact position is determined, the downswing range is determined. At that stage, a predetermined section for comparing the backswing trajectory and the downswing trajectory (for example, the section shown in FIG. 6). SE1 to SE6) are set (step S61), and the comparison unit 230 compares each section on the time axis (step S62). The comparison is performed for each section as to whether or not the difference is within the permissible range ε (step S63). For example, the position data at the time of backswing is PSxb, PSyb, PSzb, the angle data is θxb, θyb, θzb, the orientation data is DRxb, DRyb, DRzb, and the position data at the time of downswing is PSxd, PSyd, PSzd, and the angle data. When the θxd, θyd, θzd, and azimuth data are DRxd, DRyd, and DRzd, the determination is made according to the following formula.

First, the position data index dfp1, the angle data index dfa1, and the orientation data index dfr1, which are the differences between the backswing and the downswing, are obtained by the following equation 1.
(Number 1)
{| PSxb | + | PSyb | + | PSzb |}-{| PSxd | + | PSyd | + | PSd |} = dfp1
{| θxb | + | θyb | + | θzb |}-{| θxd | + | θyd | + | θzd |} = dfa1
{| DRxb ｜ ＋ ｜ DRyb ｜ ＋ ｜ DRzb ｜}-{｜ DRxd ｜ ＋ ｜ DRyd ｜ ＋ ｜ DRd ｜} ＝ dfr1

Next, the added value of the absolute values of the above-calculated position data index dfp1, angle data index dfa1 and azimuth data index dfr1 is any of the following numbers 2 to 4 with respect to the allowable values ε11 and ε12 (<ε11). Determine if it is a relationship. In this example, the evaluation is made on a three-point scale of "excellent", but the evaluation is not limited to this.
(Number 2)
｜ dfp1 ｜ ＋ ｜ dfa1 ｜ ＋ ｜ dfr1 ｜＞ ε11 → "OK" state (number 3)
ε11 ≧ ｜ dfp1 ｜ ＋ ｜ dfa1 ｜ ＋ ｜ dfr1 ｜＞ ε12 → "Good" state (number 4)
ε12 ≧ ｜ dfp1 ｜ ＋ ｜ dfa1 ｜ ＋ ｜ dfr1 ｜ ≧ 0 → "excellent" state

In the above position data indicator DFP1, but the angle data indicator dfa1 and orientation data indicator dfr1 are evenly evaluated, using the weighting coefficients _{w 1, w 2, w 3} , by weighting as it follows the number 5-7 You may.
(Number 5)
w ₁・ ｜ dfp1 ｜ ＋ w ₂・ ｜ dfa1 ｜ ＋ w ₃・ ｜ dfr1 ｜＞ ε11 → "OK" state (number 6)
ε11 ≧ w ₁・ ｜ dfp1 ｜ ＋ w ₂・ ｜ dfa1 ｜ ＋ w ₃・ ｜ dfr1 ｜＞ ε12 → "Good" state (number 7)
ε12 ≧ w ₁・ ｜ dfp1 ｜ ＋ w ₂・ ｜ dfa1 ｜ ＋ w ₃・ ｜ dfr1 ｜ ≧ 0 → "excellent" state

Further, the position data index dfp2, the angle data index dfa2, and the azimuth data index dfr2, which are the differences between the backswing and the downswing, may be calculated by the following number 8 and determined by the following number 9 to number 11.

（数９）
｜dfp2｜＋｜dfa2｜＋｜dfr2｜＞ε21 →「可」状態
（数１０）
ε21≧｜dfp1｜＋｜dfa1｜＋｜dfr1｜＞ε22 →「良」状態
（数１１）
ε22≧｜dfp1｜＋｜dfa1｜＋｜dfr1｜≧０ →「優」状態

この場合にも、重み付け係数を用いて、重み付けの判定を行うようにしても良い。上記「優良可」の判定結果に対して、表１に示すように光出力にあっては「優」を緑色で点灯、「良」を黄色で点灯、「可」を赤色で点灯し、音出力にあっては「優」では音を発生せず、「良」では小さい音（例えば“ピー”）、「可」では大きい音（例えば“ブー”）で音を発生させる。光の色や音の種類等は適宜変更可能である。

(Number 9)
｜ dfp2 ｜ ＋ ｜ dfa2 ｜ ＋ ｜ dfr2 ｜＞ ε21 → "OK" state (number of tens)
ε21 ≧ ｜ dfp1 ｜ ＋ ｜ dfa1 ｜ ＋ ｜ dfr1 ｜＞ ε22 → "Good" state (number 11)
ε22 ≧ ｜ dfp1 ｜ ＋ ｜ dfa1 ｜ ＋ ｜ dfr1 ｜ ≧ 0 → "excellent" state

In this case as well, the weighting coefficient may be used to determine the weighting. As shown in Table 1, for the above "excellent" judgment result, "excellent" is lit in green, "good" is lit in yellow, "acceptable" is lit in red, and the sound is output. In the output, "Yu" does not generate a sound, "Good" produces a small sound (for example, "pee"), and "OK" produces a loud sound (for example, "boo"). The color of light, the type of sound, etc. can be changed as appropriate.

上記数２〜数４若しくは数６〜数８に従って、出力部２１２を介してランプ表示部２０を点灯する（ステップＳ７０）。区間終了まで繰り返し（ステップＳ７１）、区間終了をもって終了となる。

The lamp display unit 20 is turned on via the output unit 212 according to the above equations 2 to 4 or 6 to 8 (step S70). It repeats until the end of the section (step S71), and ends when the section ends.

The above is the operation of the first embodiment golf club 10, but in the case of the second embodiment golf club 10A, in the step S70, instead of lighting the lamp, the speaker 21 generates a sound according to Table 1. The only difference is that they are made to operate, and the others are exactly the same.

The backswing determination (step S10) is performed as follows. FIG. 10 shows an example of the movement of the golf club after the address, and the distance d is obtained according to the following equation 12.
(Number 12)
d = PSx + PSy + PSz

In the case of golf, the movement of the golf club is mainly up and down (y-axis), so the y-axis may be weighted and the distance d may be calculated by several tens.
(Number 13)
d = PSx + w · PSy + PSz
However, w> 1.0.

In the case of a golf club, increasing the distance d means that the club head rises upward, so if there is a waggle from the address at time t10, it moves up and down. Even if the distance d increases, the backswing does not occur immediately (time points t11 to t12 in FIG. 10), so it is determined that the backswing operation is performed when the increase continues for a predetermined time T2 as in the time points t13 to t13. To do. Then, when the backswing is determined, the last mutation point (time point t13) is determined as the start of the backswing, and the data after the start is used as the backswing data. Since the data stored in the memory 210 is associated with the time of the time measuring unit 213, it is easy to organize the stored data at the last mutation point (time point t13).

FIG. 11 shows an example of the determination operation. After the address (step S11), the time when the distance d increases is measured by the timekeeping unit 213 (step S12), and continues until the predetermined time T2 elapses (step S13). ). When the increase time of the distance d reaches the predetermined time T2, the backswing confirmation determination unit 220 confirms the backswing (step S14), and determines the last mutation point (time point t13) as the backswing start position (step S14). Step S20). Then, the previous data unnecessary for the comparison operation, that is, the stored data at the time points t10 to t13 is erased (step S21). Even if it is not erased, it may be ignored in the judgment.

Further, the top position of the golf swing is in the process of shifting from the backswing to the downswing, and when the distance d is momentarily shifted from the backswing to the downswing as shown in FIG. 12A, for example, FIG. As shown in (B), there is a case where the backswing is stopped for a while and then the downswing is started, and as shown in FIG. 12 (C), the backswing is wavy and stopped, and then the downswing is started. Be done. Therefore, in the present invention, the time when the ascent of the backswing is stopped (time point t20 in FIG. 12A, time point t22 in FIG. 12B, time point t25 in FIG. 12C) is set as the end time point of the backswing. After that, the downswing is determined when the predetermined time T3 elapses after the golf club starts to descend, and the downswing start position is traced back by the predetermined time T3 (at time point t20 in FIG. 12A and in FIG. 12B). The time point t23, and the time point t26) in FIG. 12C are determined.

FIG. 13 is a flowchart showing an operation example of determining the top position, which measures the time for which the distance d increases (step S31) and continues until the increase stops (step S32). When the increase in the distance d stops, the stop position is determined at the end of the backswing (step S33), and the time during which the distance d decreases is measured (step S34). The time for the distance d to decrease is measured until the decrease in the distance d elapses the predetermined time T3, and when the decrease in the distance d elapses for the predetermined time T3 (step S35), the start position of the downswing is determined (step). S41). Then, the data between the confirmed end time of the backswing and the start time of the downswing is erased and organized.

The impact of the swing is when the face surface of the golf club hits the ball, and the swing is performed in the left-right direction of the golfer. Therefore, in this example, the acceleration data αx of the x-axis, which is the left-right direction of the golfer, is used, and in the downswing, the acceleration data αx gradually rises toward the impact in the vicinity of the impact, and the impact is generated at the moment of hitting the ball. Decrease. FIG. 14 shows an example of the characteristics of the acceleration data αx near the impact, and the impact detection unit 260 detects a sudden decrease in the acceleration data αx (time point t20).

FIG. 15 shows an operation example thereof, in which the x-axis acceleration data αx is input (step S51) and continues until the acceleration data αx suddenly decreases (step S52). When the impact detection unit 260 detects a sudden decrease in the acceleration data αx, the impact is determined (step S60), and the memory 210 of the position data PSx, PSy, PSz, the angle data θx, θy, θz and the orientation data DRx, DRy, DRz. Stops the memory to (step S61). In this example, the acceleration data αx is input according to the coordinate system of FIG. 3, but any acceleration data in the left-right direction of the golfer may be used.

In the above, the comparison judgment between the backswing trajectory and the downswing trajectory is performed by reading the data from the memory 210 after the swing is completed, but it is also possible to perform the comparison judgment during the swing. In this case, the lighting of the lamp cannot be seen by the person who is swinging, so the determination result is output by sound.

An operation example in this case is shown in FIG. 16 corresponding to FIG. 9, and steps S1 to S41 are the same as in FIG. 9. In this example, after backswing data arrangement (step S41), section setting is performed (step S61), and comparison is performed (step S62). Then, it is determined whether or not it is within the allowable range as described above (step S63), and a sound is output according to the determination result (step S670A). From the output of this sound, it is possible to know whether or not one's swing is in a trajectory forming a plane in the middle of the downswing. The above operation is continued until the impact is detected (steps S50 and S60), and ends at the impact position.

In both the first embodiment golf club 10 shown in FIG. 4 and the second embodiment golf club 10A shown in FIG. 7, the 9-axis sensor 100 and the swing trajectory measurement system 200 are discretely provided. The structure may be integrated by molding or the like.

FIG. 17 shows the structure of the golf club (third embodiment golf club) 10B according to the present invention. In this example, the golf club 10B incorporates a 9-axis sensor 100 and wirelessly transmits detection data from the transmission unit 22. The swing trajectory measurement system 300 is installed outside. The radio wave is not limited to radio waves, and may be light or infrared light.

FIG. 18A shows a person who connects the golf club 10B and the swing trajectory measurement system 300 via a network 350 such as the Internet, and swings the result determined by the swing trajectory measurement system 300 via the network 350 (use). It is designed to transmit to a terminal device 360 such as a smartphone of the person). The user can know the evaluation of his / her swing with the terminal device 360 on hand. In FIG. 18B, the golf club 10B and the swing trajectory measurement system 300 are directly connected wirelessly, and the swinger sees the result displayed on the trajectory measurement system 300. In this case, the trajectory measurement system 300 is installed near the swinger. Further, FIG. 18C shows a configuration in which the swinger and the swing trajectory measurement system 300 are relatively separated from each other, and the result determined by the trajectory measurement system 300 is wirelessly transmitted to the terminal device of the swinger. It is designed to be transmitted to 360. The user can know the evaluation of his / her swing with the terminal device 360 on hand.

For example, the configuration example of the swing trajectory measurement system 300 in the case of FIG. 18C is shown in FIG. 19, and the data transmitted from the transmission unit 22 of the golf club 10B is received by the reception unit 301. The received acceleration data αx, αy, αz are input to the integrating unit 302, and the obtained velocity data SPx, SPy, SPz are input to the integrating unit 303, and are taken in as position data PSx, PSy, PSz. Acceleration data αx is taken in as it is. Further, the received angular velocity data ωx, ωy, and ωz are input to the integrating unit 304, are taken in as angle data θx, θy, and θz, and the received directional data DRx, DRy, and DRz are taken in as they are. The swing trajectory measurement system 300 includes a CPU 310 that performs overall control and calculation, and the CPU 310 includes the same memory 311, inversion unit 312, backswing confirmation determination unit 313, comparison unit 320, swing determination unit 321 and top as described above. The detection unit 322, the impact detection unit 323, the timing unit 324, and the output unit 330 are connected to each other, and the transmission unit 331 is connected to the output unit 330.

In such a configuration, an operation example thereof will be described with reference to the flowchart of FIG. The operation is divided into the golf club 10B side and the swing trajectory measurement system 300 side.

On the golf club 10B side, acceleration data αx, αy, αz are output from the built-in 9-axis sensor 100 (step S100), and angular velocity data ωx, ωy, ωz are output (step S101) according to the swing of the golf club 10B. ), The orientation data DRx, DRy, and DRz are output (step S102), and these data are sequentially transmitted from the transmission unit 22 (step S103). Transmission is continued until the data output from the 9-axis sensor 100 is completed (step S104). The order of data output is arbitrary.

On the other hand, on the swing trajectory measurement system 300 side, the receiving unit 301 receives the transmission data (step S110), the integrating unit 302 integrates the acceleration data αx, αy, and αz (step S111), and the integrating unit 302 further integrates the speed data. SPx, SPy, and SPz are integrated, and the obtained position data PSx, PSy, and PSz are taken in (step S112). Further, the angular velocity data ωx, ωy, and ωz are input to the integrating unit 304, and the obtained angular velocity data θx, θy, and θz are taken in (step S113). The captured position data PSx, PSy, PS, angle data θx, θy, θz and directional data DRx, DRy, DRz are stored in the memory 311 (step S114), and the backswing is determined in the same manner as described above (step S120). ), The start position of the backswing is determined (step S121).

After that, the top position is determined (step S122), and the impact position is detected by the impact detection unit 323 after the downswing is started (step S123). Then, the determination section is set (step S1124), the trajectories of the backswing and the downswing are compared (step S130), and it is determined whether or not the determination is within the predetermined allowable range (step S131), and the determination result is obtained. Is output from the output unit 330 (step S132) and continues until the end of the section (step S133). The determination result is transmitted from the transmission unit 331 to the terminal device 360 via the output unit 330. The display of the determination result on the terminal device 360 can be performed by characters or colors.

The above-mentioned memory is described as a FIFO (First-In First-Out) format, but a FILO (First-In Last-Out) format memory can be used, and in this case, the last stored data. Since it is output from, the inversion part is unnecessary. Further, although the swing trajectory has been described above, it can also be applied to the case where the output of the 9-axis sensor is processed and analyzed to check and instruct the swing speed and impact strength.

Further, although the wood club has been described above, it can also be applied to irons and utilities. In addition, the bending of the shaft differs between the backswing and the downswing depending on the hardness of the shaft of the golf club, the difference in the weight of the head, the head speed, etc., so it is possible to make a correction in consideration of these. Is.

1 Golf club 2 Shaft plane 3 Golf ball 10, 10A, 10B Golf club 11 Power switch 12 Grip 13 Shaft 14 Head 14A, 14B Lid 20 Lamp display 21 Speaker 22 Transmitter 30 Battery 31 USB terminal 100 9-axis sensor 110 Accelerometer (xyz)
120 Angular Velocity Sensor (xyz)
130 Orientation (geomagnetic) sensor (xyz)
200, 300 Swing trajectory measurement system 201 CPU (MPU, MCU)
202-204 Integrator 210 Memory 211 Inversion 220 Backswing Confirmation Judgment 230 Comparison 240 Swing Judgment 250 Top Detection 260 Impact Detection 350 Network 360 Terminal Equipment

Claims (5)

A golf club with a grip, shaft and head.
A 9-axis sensor consisting of an acceleration sensor, an angular velocity sensor, and a directional sensor,
A swing trajectory measurement system that processes the output data of the 9-axis sensor to measure and evaluate the swing trajectory, and
An output unit that outputs the evaluation result of the swing trajectory measurement system and
A golf club with a built-in 9-axis sensor, characterized in that the golf club is built in the head portion. Claim 1 that the swing trajectory measurement system includes a first integrating unit that integrates the acceleration data of the acceleration sensor twice, and a second integrating unit that integrates the angular velocity data of the angular velocity sensor once. 9-axis sensor built-in type golf club described in. The golf club with a built-in 9-axis sensor according to claim 1 or 2, wherein the output unit is a lamp display unit or a speaker. A golf club with a grip, shaft and head.
A 9-axis sensor consisting of an acceleration sensor, an angular velocity sensor, and a directional sensor,
A transmitter that wirelessly transmits the output data of the 9-axis sensor,
Is provided on the head portion of the golf club with a built-in 9-axis sensor. Input acceleration data, angular velocity data, and azimuth data from the 9-axis sensor provided on the head of the golf club.
The first integrator that integrates the acceleration data twice, and
A second integrating unit that integrates the angular velocity data of the angular velocity sensor once, and
At least the output data of the first integrating unit 1, the output data of the second integrating unit 2, the memory for storing the orientation data, and
The backswing confirmation determination unit that determines and confirms the range of the backswing,
A comparison unit that compares the backswing data and the downswing data,
A swing determination unit that determines whether the comparison result in the comparison unit is within a predetermined allowable range, and
A top detector that determines the top position of the swing and
Impact detector that detects impact and
An output unit that outputs the determination result of the swing determination unit and
A timekeeping unit that measures the passage of time,
A swing trajectory measurement system characterized by being composed of.

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