JP2022161795A - Nine-axis sensor built-in type golf club and swing evaluation system using the golf club - Google Patents

Abstract

To provide a golf club and a swing evaluation system using the golf club, the golf club being capable of giving an index for making it possible to swing while keeping a shaft plain flat, with a comparatively simple configuration.SOLUTION: There are provided a nine-axis sensor built-in type golf club and a swing evaluation system using the golf club. The golf club includes a grip, a shaft, and a head part, the head part incorporating a nine-axis sensor composed of an acceleration sensor, an angular velocity sensor, and a direction sensor, a swing orbit measurement system for processing output data of the nine-axis sensor to measure and evaluate a swing orbit, and an output part for outputting an evaluation result of the swing orbit measurement system using light or sound.SELECTED DRAWING: Figure 4

Description

The present invention is a 9-axis sensor in which a 9-axis sensor (sensor consisting of an xyz 3-axis acceleration sensor, an xyz 3-axis angular velocity sensor, and an xyz 3-axis azimuth (geomagnetic) sensor) is built into the head of a golf club. A golf club with a built-in sensor and a swing evaluation system for evaluating a golf swing by processing and calculating data output from the golf club, especially a golf club with a built-in 9-axis sensor that has an ultra-compact 9-axis sensor built into the head of the golf club. and swing evaluation using a swing trajectory measurement system that can easily measure and evaluate the swing trajectory based on the acceleration data, angular velocity data, and azimuth (geomagnetic) data output by the user's swing using the golf club. Regarding the system.

Golf is recognized as an exercise that is useful for physical and mental health, and has been spotlighted. In golf, a golf club having a grip, a shaft and a head portion is used.

When a golfer makes a swing, if the position of the impact applied by the golfer deviates from the optimal position (sweet spot) for hitting the golf ball, the golf ball cannot be hit with maximum force, resulting in reduced distance and accuracy. also drops significantly. Therefore, many golfers are taking lessons to correct their swing posture, watching videos, and making a lot of effort to get better results according to their own needs. However, it is very difficult for a golfer to accurately grasp the impact position in a swing, and it is difficult to determine whether or not the ball hits the so-called sweet spot.

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

In recent years, it is possible to analyze one's swing pattern using various types of swing analysis devices, and to check swing information such as hitting speed, swing speed, and swing trajectory through equipment located at screen golf courses. Such a screen-type swing analysis device requires a large space, and has the disadvantage that it cannot analyze a swing in real time while actually playing on a golf course. There is a time and economic difficulty that must be visited to the designated place.

A shaft plane (swing plane) is known as an index for evaluating whether or not a ball hits the sweet spot of a golf club. As shown in FIG. It is plane 2. If the shaft plane 2 undulates, the probability of hitting the sweet spot decreases, so it is desirable to swing while maintaining the shaft plane 2 always flat.

SUMMARY OF THE INVENTION An object of the present invention is to provide a golf club having a relatively simple structure and capable of providing an index for swinging while maintaining a flat shaft plane. To provide a swing evaluation system using

The present invention relates to a golf club having a grip, a shaft and a head portion. A swing trajectory measuring system for measuring and evaluating the trajectory of the swing trajectory and an output section for outputting the evaluation result of the swing trajectory measuring system with light or sound are built into the head section.

The present invention also relates to a golf swing evaluation system. A transmitting/receiving section and an output section for outputting an analyzed swing evaluation are provided in the head section of the golf club, receive data transmitted from the transmitting/receiving section, process the transmitted data, and measure the trajectory of the swing. The swing trajectory measurement system evaluates the swing trajectory measurement system by receiving the swing evaluation in the swing trajectory measurement system by the transmission/reception unit and outputting it to the output unit, or an acceleration sensor, an angular velocity sensor, and an orientation A 9-axis sensor made up of a sensor and a transmitter for wirelessly transmitting output data of the 9-axis sensor are provided in the head portion of the golf club, and the data transmitted from the transmitter is received and processed, and a swing is performed. and a swing trajectory measurement system that can be wirelessly transmitted, and a terminal device (smartphone, etc.) that receives and displays the swing trajectory measurement system from the swing trajectory measurement system. achieved.

According to the golf club of the present invention, since the 9-axis sensor is built into the head portion, various types of data regarding the swing can be acquired simultaneously during the swing, and the data can be arithmetically processed by the trajectory measurement system. Therefore, it is possible to accurately evaluate the flatness of the shaft plane, which can be used to improve the swing skill of the practicer.

Further, according to the swing evaluation system of the present invention, a trajectory measurement system that processes data from the 9-axis sensor can be built into the head unit, or can be connected to an external device capable of wireless transmission or reception or via a network. , the practitioner can freely practice at any time and place, and immediately receive an evaluation. When the golf club and the trajectory measurement system are connected via a network, there is an advantage that a plurality of players can know their evaluation while swinging.

It is a schematic diagram explaining a shaft plane. It is a diagram showing the flow of a golf swing. There is a front view showing an address state. 1 is a structural diagram of a golf club (first embodiment club) according to the present invention; FIG. 4 is a cross-sectional view showing an example of the internal structure of the head section; FIG. 4 is a plan view showing a configuration example of a lamp display unit; FIG. 1 is a structural diagram of a golf club according to the present invention (a club of a second embodiment); FIG. 3 is a block diagram showing an electrical configuration example; FIG. 4 is a flow chart showing an operation example of the present invention; It is a figure which shows a mode that the start of a backswing is decided. 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 detection of a top position. 4 is a flow chart showing an operation example for determining the start of a downswing. FIG. 4 is a diagram showing a state of detection of an impact position; 4 is a flow chart showing an operation example for determining an impact position; 4 is a flow chart showing an operation example of the present invention; 1 is a structural diagram of a golf club according to the present invention (a club of a third embodiment); FIG. It is a block diagram which shows the structural example of this invention. It is a block diagram which shows the structural example of a track|orbit measurement system. 4 is a flow chart showing an operation example of the present invention;

In general, as shown in the time chart of FIG. 2, the golf swing starts from address (time t1), waggle (time t2 to t3) depending on the person, then the swing starts (time t3) and becomes a backswing. . The backswing finally goes through the top (time t4) and shifts to a cross-cutting downswing, hits the ball at or near the lowest point (time t5), and then becomes a follow-through swing, ending the swing (time t5). time t6).

The address of a golf swing is the position (A) in FIG. 1, and as shown in FIG. ), the swing gradually shifts to the backswing, passes through positions (B) and (C), reaches the top position at position (D) in FIG. 1, reverses from the top, and gradually shifts to the downswing. At position (A) in FIG. 1, which reaches the lowest point or its vicinity through positions (C) and (B) during the downswing, impact occurs at the same position as the address, and the golf ball 3 hits the head surface. After the ball is hit, the follow-through occurs, and the swing ends after passing through 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. , the impact is the same as the address, and the probability of the ball hitting the sweet spot increases. Also, at address, the club face faces the ball and is aligned in the flight direction, so maintaining the same face surface at impact as at address is also an important factor.

In this example, as shown in FIG. 3, the up-down 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 trajectory of the backswing and the trajectory of the downswing, and a swing that can objectively evaluate the swing using the golf club. Propose a rating system. Golf swing practice is naturally practiced not only by amateurs but also by professional golfers. However, in such a case, a coach, a lesson professional, or the like needs to be near the practicer, and even when viewing and evaluating an image, it is troublesome to have to take an image. Therefore, it is very meaningful to be able to freely receive evaluations and practice just by practicing swings at a convenient time and place.

FIG. 4 shows a structural example of a golf club 10 (first embodiment golf club) according to the present invention. , and an ultra-compact 9-axis sensor 100 and a swing trajectory measuring system 200 are provided in the head portion 14 at the tip of the shaft 13 . The switch 11 is a push type or a contact type, and a long push (for example, 3 seconds) turns the power on/off, and after the power is turned on, if it is pushed or touched for a short time (for example, less than 3 seconds), the contents are reset and evaluated. Start measurement. The switch 11 can also be provided at other locations. In addition, a rechargeable battery 30 is provided in the head portion 14, and an elongated lamp display portion 20 is provided on the upper surface of the head portion 14 and lights in different colors for each section.

The 9-axis sensor 100 and the swing trajectory measurement system 200 are provided in the head section 14 as an embedded type or an insertion type, and an example of the structure in the case of an embedded type is shown in FIG. That is, the battery 30 is inserted into a concave portion provided on the side surface of the head portion 14 (front when viewed from the user who is a golfer), and a USB terminal 31 that can be charged with a USB cable is provided on the front surface. The 9-axis sensor 100 and the swing trajectory measurement system 200 are respectively embedded in recesses provided on the top surface of the head section 14, and the tops thereof are covered with cover members 14A and 14B so as not to escape. An example of the configuration of the lamp display section 20 is shown in FIG. Red, green, and yellow are separately lit to notify the user. In this example, six sections are set, but the number of sections is arbitrary and can be changed as appropriate.

FIG. 7 shows a structural example of a golf club 10A (second embodiment golf club) according to the present invention, corresponding to FIG. is the speaker 21, and the rest is exactly the same.

FIG. 8 shows a configuration example of a swing trajectory measurement system 200 using the golf club 10 or 10A according to the present invention. and an xyz three-axis direction (geomagnetic) sensor 130. The acceleration sensor 110 outputs acceleration data αx, αy, αz, and the angular velocity sensor 120 outputs angular velocity data ωx, ωy, ωz. , direction sensor 130 outputs direction data DRx, DRy, and DRz. The acceleration data αx, αy, and αz are input to the integration unit 202 in the swing trajectory measurement system 200 and integrated, converted into speed data SPx, SPy, and SPz, and the speed data SPx, SPy, and SPz are input to the integration unit 203. are integrated, converted into position data PSx, PSy, and PSz, and taken into the swing trajectory measurement system 200 . The angular velocity data ωx, ωy, and ωz are input to the integration unit 204 in the swing trajectory measurement system 200, integrated, converted into angle data θx, θy, and θz, and taken into the swing trajectory measurement system 200 to be azimuth data DRx. , DRy and DRz are taken into the measurement system 200 as they are. In this example, the acceleration data αx is taken in as it is from the relationship of the x-axis in FIG. 3, but it is for the purpose of detecting the impact position. take in.

The position data PSx, PSy, PSz relate to the trajectory position of the club head, and the angle data θx, θy, θz and azimuth data DRx, DRy, DRz relate to the orientation and tilt of the club head. Power is supplied from the battery 30 to the 9-axis sensor 100 and the swing trajectory measurement system 200 when the switch 11 is turned on.

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 for overall control. a memory 210 for storing data and information; a reversing unit 211 for temporally reversing the data and information stored in the memory 210; A comparison unit 230 that compares data and downswing data, a swing determination unit 240 that determines whether 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. 250, an impact detection unit 260 that detects the impact of the club head surface hitting the golf ball, an output unit 212 that outputs the determination result of the swing determination unit 240, and a timer unit 213 that measures the passage of time. It is connected.

Note that the memory 210 of this example has a FIFO (First-In First-Out) format, so that the memory content read out from the memory 210 is temporally reversed by the reversing unit 211 .

Since this example describes the golf club 10 of the first embodiment, the output of the output section 212 is connected to the lamp display section 20, but in the case of the golf club 10A of the second embodiment, instead of the lamp display section 20, A speaker 21 for generating sound is connected. The generated sound of the sound may be variable (high tone and low tone, etc.) depending on the position of the swing. For example, low-pitched sound is output near the top position, and the sound is changed to high-pitched sound as the impact position is approached.

An example of operation in such a configuration will be described with reference to the flow chart of FIG. This example is a method of notifying the user of the judgment evaluation of the swing after the end of the swing.

Prior to the start of the operation, the switch 11 is pressed for a long time to turn on the power, and then the switch 11 is pressed or touched for a short period of time to reset the contents and start the evaluation measurement operation. Then, xyz-axis acceleration data αx, αy, and 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). The speed data SPx, SPy, SPz are converted (step S2), and further input to the integration unit 203 to be converted into position data PSx, PSy, PSz (step S3). 200. Further, angular velocity data ωx, ωy, and ωz on the xyz axis are output from the angular velocity sensor 120 and input to the swing trajectory measurement system 200 (step S4), and converted into angle data θx, θy, and θz by the integrating section 204 (step S5 ), the angle data θx, θy, and θz are taken into the measuring system 200, and the azimuth data DRx, DRy, and DRz are taken into the measuring system 200 as they are (step S6). The position data PSx, PSy, PSz, the angle data θx, θy, θz, and the azimuth data DRx, DRy, DRz captured by the measurement system 200 are sequentially stored in the memory 210 in association with the time of the timer 213 ( step S7). The order in which the swing trajectory measurement system 200 takes in the data and the order in which the data is stored in the memory 210 can be changed as appropriate.

After address, the range (time) of the backswing is not constant because golfers may or may not waggle, or waggle repeatedly. 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 top position (position (D) in FIG. 1) and the top position also serves as the start of the downswing. In other words, the top position is the end position of the backswing and also the start position of the downswing. In the present invention, the top detection unit 250 determines the top position of the swing (step S30), and when the top position is reached (step S40), all data of the backswing stored in the memory 210 are read out, and the reversing unit 211 in terms of time (step S41). The data arrangement is for matching the stored backswing data with the next input downswing data on the time axis. Details of detection of the top position will be described later.

Since the position data PSx, PSy, PSz, the angle data θx, θy, θz, the azimuth data DRx, DRy, DRz in this downswing are stored in the memory 210 at the time of the timer 213. They are linked and stored sequentially (step S42). When the downswing starts, the impact eventually becomes important, so the impact detection section 260 determines the impact (step S50) and determines the impact position (step S60). The details of the detection of the impact position will be described later. Once the impact position is determined, the range of the downswing is determined. SE1 to SE6) are set (step S61), and the comparison unit 230 compares each section on the time axis (step S62). Comparison is performed for each section to determine whether the difference is within the allowable range ε (step S63). For example, the position data during the backswing are PSxb, PSyb, PSzb, the angle data are θxb, θyb, θzb, the azimuth data are DRxb, DRyb, DRzb, the position data during the downswing are PSxd, PSyd, PSzd, and the angle data are If θxd, θyd, θzd, and azimuth data are DRxd, DRyd, and DRzd, determination is made according to the following formulas.

First, the position data index dfp1, the angle data index dfa1, and the azimuth data index dfr1, which are the difference between the backswing and the downswing, are obtained from 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 sum of the absolute values of the position data index dfp1, the angle data index dfa1, and the azimuth data index dfr1 calculated above is any of the following formulas 2 to 4 with respect to the allowable values ε11 and ε12 (<ε11). Determine if there is a relationship. In this example, evaluation is made in three grades of "excellent", but the present invention is not limited to this.
(Number 2)
|dfp1|+|dfa1|+|dfr1|>ε11 → “OK” state (equation 3)
ε11≧|dfp1|+|dfa1|+|dfr1|>ε12 → “good” state (equation 4)
ε12≧|dfp1|+|dfa1|+|dfr1|≧0 → “excellent” state

In the above description, the position data index _dfp1 , the angle data index _{dfa1 ,} and the orientation data index dfr1 are equally evaluated. can be
(Number 5)
w ₁ ·|dfp1|+w ₂ ·|dfa1|+w ₃ ·|dfr1|>ε11 → “Possible” state (Formula 6)
ε11≧w ₁ ·|dfp1|+w ₂ ·|dfa1|+w ₃ ·|dfr1|>ε12 →“Good” state (Formula 7)
ε12≧w ₁ ·|dfp1|+w ₂ ·|dfa1|+w ₃ ·|dfr1|≧0 → “Excellent” state

Also, 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 equation 8 and determined by the following equations 9 to 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 → “Possible” state (Formula 10)
ε21≧|dfp1|+|dfa1|+|dfr1|>ε22 → “Good” state (Formula 11)
ε22≧|dfp1|+|dfa1|+|dfr1|≧0 → Excellent state

Also in this case, the weighting factor may be used to determine the weighting. As shown in Table 1, for the above "excellent" judgment results, "excellent" is lit in green, "good" is lit in yellow, and "good" is lit in red. As for the output, "excellent" produces no sound, "good" produces a soft sound (eg, "beep"), and "fair" produces a loud sound (eg, "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 section ends (step S71), and ends when the section ends.

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

Determination of the backswing (step S10) is performed as follows. FIG. 10 shows an example of the movement of the golf club after address, and the distance d is obtained according to Equation 12 below.
(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 weighting may be applied to the y-axis and the distance d may be calculated by Equation (10).
(Number 13)
d=PSx+w·PSy+PSz
However, w>1.0.

In the case of a golf club, an increase in the distance d means that the club head rises upward, so if there is a waggle from the address at time t10, it will move up and down. Even if the distance d increases, it does not immediately become a backswing (time points t11 to t12 in FIG. 10), so when the increase continues for a predetermined time T2 like time points t13 to t13, it is determined that the backswing motion has occurred. do. Then, when the backswing is determined, the last variation point (time point t13) is determined as the start of the backswing, and the data after the start is taken as the backswing data. Since the data stored in the memory 210 are linked to the time of the timer 213, it is easy to arrange the stored data according to the last transition point (time t13).

FIG. 11 shows an example of the determination operation. After the address (step S11), the timer 213 measures the time for the distance d to increase (step S12), and continues until a 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 final variation point (time t13) as the start position of the backswing (step S14). step S20). Then, the previous data unnecessary for the comparison operation, that is, the stored data from time t10 to t13 are erased (step S21). Even if it is not erasing, it may be ignored in the determination.

Also, the top position of the golf swing is in the process of transitioning from the backswing to the downswing. As shown in (B), the case where the backswing stops for a while and then shifts to the downswing, as shown in FIG. be done. Therefore, in the present invention, the time when the backswing stops rising (time t20 in FIG. 12(A), time t22 in FIG. 12(B), time t25 in FIG. 12(C)) is defined as the end time of the backswing, After that, when a predetermined time T3 has passed since the golf club started to descend, the downswing is confirmed, and the downswing start position (time t20 in FIG. 12A, time t20 in FIG. Time t23 (time t26 in FIG. 12C) is determined.

FIG. 13 is a flow chart showing an example of operation for determining the top position, measuring the time for the distance d to increase (step S31) and continuing until the increase stops (step S32). When the distance d stops increasing, the stop position is determined at the end of the backswing (step S33), and the time for the distance d to decrease is measured (step S34). The time for the distance d to decrease is measured until the decrease in the distance d has passed the predetermined time T3, and when the decrease in the distance d has passed the predetermined time T3 (step S35), the start position of the downswing is determined (step S41). Then, the data between the determined end point of the backswing and the start point of the downswing is deleted and organized.

The impact of the swing is when the face of the golf club hits the ball, and the swing is made in the lateral direction of the golfer. For this reason, in this example, the acceleration data αx of the x-axis, which is the left-right direction of the golfer, is used. Decrease. FIG. 14 shows a characteristic example of the acceleration data αx near the impact, and the impact detection unit 260 detects a rapid decrease in the acceleration data αx (time t20).

FIG. 15 shows an example of the operation, in which x-axis acceleration data αx is input (step S51) and continued 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 position data PSx, PSy, PSz, the angle data θx, θy, θz, and the direction data DRx, DRy, DRz are stored in the memory 210. is stopped (step S61). In this example, the acceleration data αx is input according to the coordinate system shown in FIG. 3, but any acceleration data in the left-right direction of the golfer may be used.

In the above description, the backswing trajectory and the downswing trajectory are compared and determined by reading data from the memory 210 after the end of the swing. In this case, lighting of the lamp cannot be seen by a swinger, so it is desirable to output the evaluation result 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. In this example, after the backswing data is sorted (step S41), interval 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 this evaluation result (step S670A). By outputting this sound, it is possible to know whether or not the trajectory of one's swing forms a plane in the middle of the downswing. The above operation continues until the impact is detected (steps S50, S60), and ends at the impact position. If you hear a sound, you know the shaft plane is not flat. Moreover, it is possible to recognize at which position the waves are generated.

In both the golf club 10 according to the first embodiment shown in FIG. 4 and the golf club 10A according to the second embodiment shown in FIG. A structure integrated by molding or the like may be used.

Also, the above is an example of the operation of one swing judgment evaluation, but if the switch 11 is pressed or touched, the contents of the previous time are reset, and the swing judgment evaluation can be performed again. In other words, the switch 11 enables repeated swing determination evaluation.

FIG. 17 shows the structure of a golf club (third embodiment golf club) 10B according to the present invention. , and the swing trajectory measurement system 300 is installed outside. Wireless is not limited to radio waves, and may be light or infrared light.

FIG. 18A shows a diagram of a person who connects the golf club 10B and the swing trajectory measurement system 300 via a network 350 such as the Internet, and receives the evaluation result of the swing trajectory measurement system 300 via the network 350. This is an example of a swing evaluation system configured to transmit to a terminal device 360 such as a smartphone of a person). That is, the sensor output data is transmitted from the transmitter 22 of the golf club 10B to the network 350 such as the Internet, and then transmitted to the trajectory measurement system 300 connected to the network 350 . The evaluation result evaluated by the trajectory measurement system 300 is transmitted to the terminal device 360 via the network 350 and displayed. The evaluation result is displayed on the display section of the terminal device 360 . Therefore, the user can know the evaluation of his/her own swing at any time, any place, and repeatedly, using the terminal device 360 held by the user. Although FIG. 18A shows a single golf club 10B and terminal device 360, use of the network 350 enables use with a plurality of golf clubs and terminal devices.

FIG. 18(B) is an example of a swing evaluation system in which the golf club 10C includes a transmitter/receiver 22A, a lamp display 20 (or a speaker 21), and the trajectory measurement system 300 is not built in the head. is. That is, the sensor output data of the golf club 10C is directly wirelessly transmitted from the transmitter/receiver 22A to the transmitter/receiver 301 of the swing trajectory measurement system 300, and the evaluation result evaluated by the trajectory measurement system 300 is transmitted from the transmitter/receiver 301 to the transmitter/receiver 22A. , input to the golf club 10</b>C and displayed on the lamp display section 20 . A swinger can see the evaluation result from the trajectory measurement system 300 on the lamp display unit 20 (or the speaker 21). Therefore, in this example as well, the user can know the evaluation of his/her own swing at any time, at any place, and repeatedly. Also in this example, it is possible to perform the evaluation via a network as shown in FIG. can be obtained.

FIG. 18C shows the configuration of the swing evaluation system when the swing evaluation result is displayed on the terminal device 360 of the swinger without using the network. That is, sensor output data is transmitted from the transmitter 22 of the golf club 10B to the receiver 301A of the trajectory measurement system 300A. Then, the evaluation result evaluated by the trajectory measurement system 300A is transmitted to the terminal device 360 via the transmission unit 331 and displayed. The evaluation result is displayed on the display section of the terminal device 360 . Therefore, the user can know the evaluation of his/her own swing at any time, any place, and repeatedly, using the terminal device 360 held by the user.

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

An example of operation in such a configuration will be described with reference to the flow chart of FIG. The operation is divided into the golf club 10B side and the swing trajectory measurement system 300A side.

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

On the other hand, on the swing trajectory measurement system 300A side, the reception unit 301A receives the transmission data (step S110), the integration unit 302 integrates the acceleration data αx, αy, and αz (step S111), and the integration unit 302 integrates the speed data SPx, SPy, and SPz are integrated, and the obtained position data PSx, PSy, and PSz are taken in (step S112). Also, the angular velocity data ωx, ωy, ωz are input to the integration unit 304, and the obtained angle data θx, θy, θz are taken in (step S113). The captured position data PSx, PSy, PS, angle data θx, θy, θz, and azimuth 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 starting 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 section 323 after the downswing is started (step S123). Then, a judgment interval is set (step S1124), the trajectories of the backswing and the downswing are compared (step S130), it is judged whether or not they are within a predetermined allowable range (step S131), and the evaluation result is obtained. is output from the output unit 330 (step S132), and continues until the end of the section (step S133). The evaluation result is transmitted from the transmission section 331 to the terminal device 360 via the output section 330 . The display of the evaluation results on the terminal device 360 can be implemented using characters and colors.

Although the configuration and operation of the swing evaluation system shown in FIG. 18(C) have been described here, the trajectory measurement system 300 in the swing evaluation system shown in FIGS. , there is no significant difference in its configuration and operation, and is substantially the same as the trajectory measurement system 300A.

The memory mentioned above is a FIFO (First-In
First-Out) format, but a FILO (First-In Last-Out) format memory can be used. becomes unnecessary. In addition, although the trajectory of the swing has been described above, the present invention can also be applied to processing and analyzing the output of the 9-axis sensor to check the speed of the swing, the strength of the impact, etc., and provide guidance.

Furthermore, although a wood club has been described above, it is also applicable to golf clubs such as irons and utility clubs. In addition, since the deflection of the shaft differs between the backswing and the downswing due to factors such as the hardness of the golf club shaft, the difference in the weight of the head portion, and the head speed, it is also possible to make corrections that take these factors into consideration when making judgment evaluations. It is possible.

1 golf club 2 shaft plane (swing plane)
3 golf balls 10, 10A, 10B, 10C golf club 11 switch 12 grip 13 shaft 14 head portion 14A, 14B lid member 20 lamp display portion 21 speaker 22 transmitter 30 battery 31 USB terminal 100 9-axis sensor 110 acceleration sensor (xyz)
120 angular velocity sensor (xyz)
130 Azimuth (geomagnetic) sensor (xyz)
200, 300, 300A Swing trajectory measurement system 201 CPU (MPU, MCU)
202 to 204 integration unit 210 memory 211 reversing unit 220 backswing determination determination unit 230 comparison unit 240 swing determination unit 250 top detection unit 260 impact detection unit 350 network 360 terminal device

The present invention relates to a golf club having a grip, a shaft and a head portion. 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 form of light or sound are built into the head unit, and the swing trajectory measurement system comprises: a first integrator that receives acceleration data, angular velocity data, and azimuth data from the 9-axis sensor, integrates the acceleration data twice, and a second integrator that integrates the angular velocity data of the angular velocity sensor once; a memory for storing at least the output data 1 of the first integration section, the output data 2 of the second integration section, and the azimuth data; a backswing determination determination section that determines and determines a backswing range; a comparison unit that compares backswing data and downswing data; a swing determination unit that determines whether the comparison result in the comparison unit is within a predetermined allowable range; a top detection unit that determines the top position of the swing; It is composed of an impact detection section that detects an impact and a timing section that measures the passage of time, and is achieved by outputting the determination result of the swing determination section from the output section .

The present invention also relates to a golf swing evaluation system. 1 transmission/reception unit and an output unit that outputs the analyzed swing evaluation by light or sound are provided in the head portion of the golf club, and receive transmission data from the first transmission/reception unit, A swing trajectory measurement system having a second transmission/reception unit that processes the transmission data, measures the trajectory of the swing, and wirelessly transmits evaluation results, wherein the swing trajectory measurement system is the transmission data. Acceleration data, angular velocity data, and azimuth data from the axis sensor are received by the second transmitting/receiving section, and a first integrating section that integrates the acceleration data twice and a second integrating section that integrates the angular velocity data of the angular velocity sensor once. a memory for storing at least the output data 1 of the first integrator, the output data 2 of the second integrator, and the azimuth data; and a backswing determination for determining and determining a backswing range a determination unit, 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 swing top position determination. It is composed of a top detection unit, an impact detection unit that detects an impact, and a timing unit that measures the passage of time. or a 9-axis sensor consisting of an acceleration sensor, an angular velocity sensor, and a direction sensor, and a transmission unit that wirelessly transmits the output data of the 9-axis sensor. A swing trajectory measurement system provided in the head portion of a golf club, which receives data transmitted from the transmission portion via a network, processes the data, measures the trajectory of the swing, and outputs evaluation results. wherein the swing trajectory measurement system receives acceleration data, angular velocity data, and azimuth data from the 9-axis sensor as the transmission data, and integrates the acceleration data twice; and the angular velocity sensor. a memory for storing at least the output data 1 of the first integration unit, the output data 2 of the second integration unit and the azimuth data; A buffer that determines and confirms the range a swing determination determination unit; 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; It is composed of a top detection unit for judgment, an impact detection unit for detecting impact, and a timer unit for measuring the passage of time, and the judgment result of the swing judgment unit is wirelessly transmitted to the terminal device via the network. , by outputting the determination result in the terminal device, or by wirelessly transmitting output data of a 9-axis sensor consisting of an acceleration sensor, an angular velocity sensor and a direction sensor, and the 9-axis sensor and a transmitter, which is provided in the head portion of the golf club, receives data transmitted from the first transmitter, processes the data, measures the trajectory of the swing, outputs the evaluation result, and wirelessly outputs the result. A swing trajectory measurement system having a second transmission unit for transmission, wherein the swing trajectory measurement system receives acceleration data, angular velocity data, and azimuth data from the 9-axis sensor, which are the transmission data, and outputs the acceleration data. and a second integrator that integrates once the angular velocity data of the angular velocity sensor, output data 1 of at least the first integrator, and output data of the second integrator 2. A memory for storing the azimuth data, a backswing determination determination unit for determining and determining the backswing range, a comparison unit for comparing the backswing data and the downswing data, and a comparison in the comparison unit. It consists of a swing determination unit that determines whether the result is within a predetermined allowable range, a top detection unit that determines the top position of the swing, an impact detection unit that detects impact, and a timer that measures the passage of time. The determination result of the swing determination unit is wirelessly transmitted from the second transmission unit to the terminal device, and the determination result is output from the terminal device .

Claims (5)

A golf club having a grip, a shaft and a head,
a 9-axis sensor consisting of an acceleration sensor, an angular velocity sensor and an orientation sensor;
a swing trajectory measurement system that processes the output data of the 9-axis sensor to measure and evaluate the trajectory of the swing;
an output unit that outputs the evaluation result of the swing trajectory measurement system in the form of light or sound;
is built into the head portion. The swing trajectory measurement system
a first integrator that receives acceleration data, angular velocity data, and azimuth data from the 9-axis sensor, integrates the acceleration data twice, and a second integrator that integrates the angular velocity data of the angular velocity sensor once;
a memory for storing at least the output data 1 of the first integration section, the output data 2 of the second integration section, and the azimuth data;
a backswing determination determination unit that determines and determines 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;
a top detection unit that determines the top position of the swing;
an impact detection unit that detects an impact;
a timer that measures the passage of time;
is composed of
2. The golf club with built-in 9-axis sensor according to claim 1, wherein the determination result of said swing determination section is output from said output section. a 9-axis sensor consisting of an acceleration sensor, an angular velocity sensor and an orientation sensor;
a transmitting/receiving unit capable of wirelessly transmitting and receiving output data of the 9-axis sensor;
an output unit that outputs the analyzed swing evaluation;
is provided in the head portion of the golf club,
a swing trajectory measurement system that receives transmission data from the transmission/reception unit, processes the transmission data, measures the trajectory of the swing, and evaluates the swing trajectory;
A swing evaluation system, wherein the swing evaluation in the swing trajectory measurement system is received by the transmitting/receiving section and output to the output section. 4. The swing evaluation system according to claim 3, wherein transmission and reception between said transmission/reception unit and said swing trajectory measurement system are performed via a network. a 9-axis sensor consisting of an acceleration sensor, an angular velocity sensor and an orientation sensor;
a transmitter that wirelessly transmits the output data of the 9-axis sensor;
is provided in the head portion of the golf club,
A swing trajectory measurement system that receives and processes transmission data from the transmission unit, measures the trajectory of the swing and evaluates the swing, and is capable of wireless transmission,
A swing evaluation system comprising a terminal device that receives and displays the swing evaluation from the swing trajectory measurement system.

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