JP5304941B2 - Golf club head behavior measuring device and behavior measuring method, hitting tool behavior measuring device and behavior measuring method - Google Patents

Abstract

Provided are a behaviour measurement method and a behaviour measurement device capable of accurately measuring the behaviour of a golf club head or batting implement while preserving a simplified structure. A transmitter (12), a golf-club-side 3D magnetic sensor (14), and a supporting-means-side 3D magnetic sensor (16) are used to generate behavioural data expressing the behaviour of a golf club head (4). The transmitter (12) is disposed in a predetermined position and generates a magnetic field having a known distribution with respect to strength and direction. The golf-club-side 3D magnetic sensor (14) is mounted on a golf club (2) and has a first measurement point (1402) and a first measurement direction (1404). The supporting-means-side 3D magnetic sensor (16) is integrally supported by a supporting means (20), and has a second measurement point (1602) and a second measurement direction (1604). The supporting means (20) supports the golf club (2) such that a set lie angle and loft angle are achieved.

Description

  The present invention relates to a golf club head behavior measuring device and behavior measuring method, and a hitting tool behavior measuring device and behavior measuring method.

The following are provided as techniques for measuring the behavior of a golf club that is swung by a golfer.
That is, the marker provided on the golf club head is continuously multiple-photographed at constant time intervals from two different directions, and the feature points of the marker are extracted from the captured image. And what calculates the time series data of the position and direction of a three-dimensional shape model of a golf club head based on the extracted marker feature point is proposed (refer to patent documents 1).
In addition, a swing measurement method has been proposed in which a magnetic sensor is attached to the grip portion of a golf club and the movement trajectory and direction of the grip end are measured (see Patent Document 2).

Japanese Patent No. 4307511 Japanese Patent No. 3624761

However, in the former technique, since the golf club head being swung is photographed by, for example, two cameras, the measurement range is limited to a very limited area before and after the impact, and the swing is measured over a wide range. That's not enough.
In addition, since a golf club being swung is photographed using a plurality of cameras, there is a disadvantage that a large facility is required and a large installation space is required.
In the latter technique, information on the movement of the grip portion and the orientation of the shaft is only obtained, and there is a disadvantage that the behavior of the golf club head cannot be measured.
Furthermore, the same disadvantage can be considered when measuring the behavior of a hitting tool such as a baseball bat based on the same principle as described above.
The present invention has been made in view of such circumstances, and an object thereof is to provide a golf club head behavior measuring device that is advantageous in accurately measuring the behavior of a golf club head while simplifying the configuration. And providing a behavior measuring method.
Another object of the present invention is to provide a striking tool behavior measuring apparatus and a behavior measuring method that are advantageous in accurately measuring the striking tool behavior while simplifying the configuration.

In order to achieve the above object, the present invention provides a golf club head behavior measuring device for measuring the behavior of a golf club head of the golf club when a golfer swings the golf club, and is provided at a predetermined position. A transmitter configured to generate a magnetic field having a known strength and direction distribution, and fixed to the golf club, having a first measurement point and a first measurement direction, around the first measurement point The magnetism is detected in three axial directions orthogonal to each other, and the first measurement direction is determined according to the three-dimensional position of the first measurement point with respect to a predetermined reference position and the direction of the first measurement direction with respect to the predetermined reference direction. A golf club side three-dimensional magnetic sensor that outputs a detection signal of 1 and a three-dimensional shape model that reproduces the golf club head in a three-dimensional coordinate system are described. Storage means, holding means for holding the golf club so as to meet the set lie angle and loft angle, and the holding means holding the golf club with respect to the first measurement point. First calibration data for obtaining three-dimensional position data of a predetermined reference point of the golf club head and orientation data indicating the orientation of the face surface of the golf club head with respect to the first measurement direction are obtained as first calibration data. One calibration means, three-dimensional position data of the first measurement point with respect to the reference position generated based on the first detection signal in the process of swinging the golf club by a golfer, and the first with respect to the reference direction. Measured data consisting of direction data indicating the direction of one measurement direction is used as the first calibration data. A first time-series data generating means for generating first time-series data by correcting using the first-time data, and a golf ball installation position where the golf ball is installed with respect to the reference position. And the second calibration data indicating the direction of the target line connecting the golf ball installation position with respect to the reference direction and the target point hitting the golf ball. Behavior data indicating the behavior of the golf club head based on the second time series data generating means for generating the time series data, the second time series data, and the three-dimensional shape model of the golf club head. It is characterized by comprising behavior data generating means for generating.
The present invention is also a golf club head behavior measuring device for measuring the behavior of the golf club head of the golf club when the golfer swings the golf club, which is installed at a predetermined position and relates to strength and direction. A transmitter for generating a magnetic field having a known distribution, and three axes fixed to the golf club, having a first measurement point and a first measurement direction, and perpendicular to each other around the first measurement point And detecting a direction, and outputting a first detection signal according to a three-dimensional position of the first measurement point with respect to a predetermined reference position and a direction of the first measurement direction with respect to a predetermined reference direction. A golf club side three-dimensional magnetic sensor; a storage means storing a three-dimensional shape model reproducing the golf club head in a three-dimensional coordinate system; Holding means for holding the golf club so as to follow the lie angle and loft angle, and the golf club head with respect to the first measurement point in a state where the golf club is held by the holding means. A first calibration means for obtaining, as first calibration data, three-dimensional position data of the obtained reference point and orientation data indicating the orientation of the face surface of the golf club head with respect to the first measurement direction; The three-dimensional position data of the first measurement point with respect to the reference position and the orientation of the first measurement direction with respect to the reference direction generated based on the first detection signal in the process of swinging the golf club The measured data consisting of the orientation data shown is corrected using the first calibration data Based on the first time-series data generating means for generating the first time-series data, the first time-series data, and the three-dimensional shape model of the golf club head, the behavior of the golf club head Behavior data generating means for generating behavior data indicating the reference position, the reference position and the reference direction are determined by the transmitter, and the holding means holds the golf club with respect to the reference position. The reference point coincides with a predetermined position, the orientation of the face surface is directed in a predetermined direction with respect to the reference direction, and the reference point is set with respect to the golf ball installation position where the golf ball is installed. Matches a predetermined position and connects the golf ball installation position with respect to the reference direction and a target point for hitting the golf ball. The face surface is oriented in a predetermined direction with respect to a target line.
The present invention also relates to a golf club head behavior measuring method for measuring the behavior of the golf club head of the golf club when the golfer swings the golf club. The golf club head behavior measuring method is installed at a predetermined position and relates to strength and direction. A transmitter for generating a magnetic field having a known distribution, and three axes fixed to the golf club, having a first measurement point and a first measurement direction, and perpendicular to each other around the first measurement point And detecting a direction, and outputting a first detection signal according to a three-dimensional position of the first measurement point with respect to a predetermined reference position and a direction of the first measurement direction with respect to a predetermined reference direction. A golf club side three-dimensional magnetic sensor; a storage means storing a three-dimensional shape model reproducing the golf club head in a three-dimensional coordinate system; Holding means for holding the golf club so as to follow the lie angle and loft angle, and the golf club head with respect to the first measurement point in a state where the golf club is held by the holding means. A first calibration step of acquiring, as first calibration data, three-dimensional position data of a predetermined reference point and orientation data indicating the orientation of the face surface of the golf club head with respect to the first measurement direction; The three-dimensional position data of the first measurement point with respect to the reference position generated based on the first detection signal in the process of swinging the golf club by a golfer and the first measurement direction with respect to the reference direction Actual measurement data composed of direction data indicating the direction is used as the first calibration data. The first time-series data generating step for generating the first time-series data by correcting the first time-series data, and the first time-series data indicating the golf ball installation position where the golf ball is installed with respect to the reference position 3 A second time series is corrected by using second calibration data indicating a dimension position and a direction of a target line connecting the golf ball installation position with respect to the reference direction and a target point hitting the golf ball. Behavior generating data indicating behavior of the golf club head based on a second time series data generating step for generating data, the second time series data, and a three-dimensional shape model of the golf club head And a data generation step.
The present invention also relates to a golf club head behavior measuring method for measuring the behavior of the golf club head of the golf club when the golfer swings the golf club. The golf club head behavior measuring method is installed at a predetermined position and relates to strength and direction. A transmitter for generating a magnetic field having a known distribution, and three axes fixed to the golf club, having a first measurement point and a first measurement direction, and perpendicular to each other around the first measurement point And detecting a direction, and outputting a first detection signal according to a three-dimensional position of the first measurement point with respect to a predetermined reference position and a direction of the first measurement direction with respect to a predetermined reference direction. A golf club side three-dimensional magnetic sensor; a storage means storing a three-dimensional shape model reproducing the golf club head in a three-dimensional coordinate system; Holding means for holding the golf club so as to follow the lie angle and loft angle, and the golf club head with respect to the first measurement point in a state where the golf club is held by the holding means. A first calibration step of acquiring, as first calibration data, three-dimensional position data of a predetermined reference point and orientation data indicating the orientation of the face surface of the golf club head with respect to the first measurement direction; The three-dimensional position data of the first measurement point with respect to the reference position generated based on the first detection signal in the process of swinging the golf club by a golfer and the first measurement direction with respect to the reference direction Actual measurement data composed of direction data indicating the direction is used as the first calibration data. The golf club head based on a first time series data generating step for generating first time series data by correcting the first time series data, the first time series data, and a three-dimensional shape model of the golf club head. Behavior data generation step for generating behavior data indicating the behavior of the golf club, wherein the reference position and the reference direction are determined by the transmitter, and the holding means holds the golf club with respect to the reference position. The point coincides with a predetermined position, the orientation of the face surface is in a predetermined direction with respect to the reference direction, and the reference with respect to the golf ball installation position where the golf ball is installed The point coincides with a predetermined position, and the golf ball installation position with respect to the reference direction and the golf ball are hit. The direction of the face surface is directed in a predetermined direction with respect to the direction of the target line connecting the target point to be performed.
The present invention is also a striking instrument behavior measuring device for measuring a striking instrument behavior when a player swings a striking instrument that strikes a competition ball, and is installed at a predetermined position, A transmitter for generating a magnetic field having a known distribution with respect to a direction, and fixed to the impact tool, having a first measurement point and a first measurement direction, and the magnetism around the first measurement point being orthogonal to each other The first detection signal is detected according to the three-axis direction and the three-dimensional position of the first measurement point with respect to a predetermined reference position and the direction of the first measurement direction with respect to the predetermined reference direction. The striking tool side three-dimensional magnetic sensor to output, the storage means storing the three-dimensional shape model reproducing the striking tool in the three-dimensional coordinate system, and the striking tool so as to have the set position and orientation. Holding means for holding, three-dimensional position data of a predetermined reference point of the hitting tool with respect to the first measurement point in a state where the hitting tool is held by the holding means, and the first measurement direction Generated based on the first detection signal in a process in which the striking tool is swung by a player, and first calibration means for obtaining orientation data indicating the direction of the striking tool with respect to the first calibration data. Actual measurement data composed of three-dimensional position data of the first measurement point with respect to the reference position and orientation data indicating the orientation of the first measurement direction with respect to the reference direction is corrected using the first calibration data. A first time-series data generating means for generating first time-series data, and the first time-series data is converted into the reference position. A three-dimensional position indicating a game ball installation position where a game ball is installed, and a direction of a target line connecting the game ball installation position with respect to the reference direction and a target point where the game ball is hit Second time-series data generating means for generating second time-series data by correcting using the second calibration data; the second time-series data; and the three-dimensional shape model of the hitting tool; And behavior data generating means for generating behavior data indicating the behavior of the hitting tool.
The present invention is also a striking instrument behavior measuring method for measuring a striking instrument behavior when a player swings a striking instrument for striking a competition ball, the striking instrument being installed at a predetermined position, A transmitter for generating a magnetic field having a known distribution with respect to a direction, and fixed to the impact tool, having a first measurement point and a first measurement direction, and the magnetism around the first measurement point being orthogonal to each other The first detection signal is detected according to the three-axis direction and the three-dimensional position of the first measurement point with respect to a predetermined reference position and the direction of the first measurement direction with respect to the predetermined reference direction. A striking tool side three-dimensional magnetic sensor to output, a storage means storing a three-dimensional shape model reproducing the striking tool in a three-dimensional coordinate system, and holding the striking tool so as to have a set posture. Holding means, and in a state where the hitting tool is held by the holding means, three-dimensional position data of a predetermined reference point of the hitting tool with respect to the first measuring point, and the first measuring direction Based on the first detection signal in the process of swinging the hitting tool by the player, and the first calibration step of acquiring the orientation data indicating the orientation of the face surface of the hitting tool with respect to the Measured data consisting of three-dimensional position data of the first measurement point with respect to the reference position and direction data indicating the direction of the first measurement direction with respect to the reference direction, and the first calibration data. A first time-series data generating step for generating first time-series data by correcting using the first time-series data; A three-dimensional position indicating a game ball installation position where the game ball is installed with respect to the reference position, and the game ball installation position with respect to the reference direction and a target point for hitting the game ball. A second time-series data generating step for generating second time-series data by correcting using the second calibration data indicating the direction of the target line, the second time-series data, and the impact And a behavior data generation step of generating behavior data indicating the behavior of the impact tool based on a three-dimensional shape model of the tool.

According to the present invention, time series data composed of three-dimensional position data and orientation data of a golf club head is obtained using a transmitter and a golf club side three-dimensional magnetic sensor, and time series data and golf club head 3 are obtained. Based on the three-dimensional shape model, behavior data indicating the behavior of the golf club head during the swing is obtained.
Therefore, it is advantageous in accurately measuring the behavior of the golf club head while simplifying the configuration and saving space.
In addition, according to the present invention, time series data including the three-dimensional position data and the orientation data of the golf club head is obtained using the transmitter and the striking tool side three-dimensional magnetic sensor, and the time-series data and the striking tool Based on the three-dimensional shape model, behavior data indicating the behavior of the hitting tool during the swing was obtained.
Therefore, it is advantageous in accurately measuring the behavior of the hitting tool while simplifying the configuration and saving space.

It is a figure explaining the 1st calibration while showing the composition of golf club head behavior measuring device 10 in a 1st embodiment. It is a figure explaining 2nd calibration. It is explanatory drawing at the time of measuring the behavior of a golf club head. 2 is a plan view showing a state in which a face surface 402 of a golf club head 4 is applied to a positioning plate 2008. FIG. It is A arrow directional view of FIG. It is a B arrow view of FIG. 2 is a block diagram showing a configuration of a measurement system 11. FIG. 2 is a block diagram showing a configuration of a personal computer 22. FIG. 3 is a functional block diagram of the behavior measuring apparatus 10. FIG. It is explanatory drawing of left-right approach angle (theta) _LR . It is explanatory drawing of the up-and-down approach angle (theta) _UD . It is explanatory drawing of face angle (phi) at the time of impact. It is explanatory drawing of the loft angle (alpha) at the time of impact. It is explanatory drawing of the lie angle (beta) at the time of impact. 4 is a flowchart showing the operation of the behavior measuring apparatus 10. It is explanatory drawing of the display screen which shows the hit point position as behavior data D3. It is explanatory drawing of the display screen which shows the movement locus | trajectory in the up-down direction of the center point 410 of the face surface 402 as behavior data D3. It is explanatory drawing of the display screen which shows the movement locus | trajectory in the left-right direction of the center point 410 of the face surface 402 as behavior data D3. It is explanatory drawing of the display screen on which the animation data which show the movement locus | trajectory of the golf club head 4 as the behavior data D3 were displayed. It is a figure explaining the 1st calibration while showing the composition of golf club head behavior measuring device 10 in a 2nd embodiment. It is explanatory drawing at the time of measuring the behavior of the golf club head in 2nd Embodiment. It is a functional block diagram of the behavior measuring apparatus 10 in 2nd Embodiment. It is a flowchart which shows operation | movement of the behavior measuring apparatus 10 in 2nd Embodiment. It is explanatory drawing in case a player hits the ball B for baseball mounted in the tee 62 in 3rd Embodiment with the bat 64. It is a figure explaining the 1st calibration while showing the composition of 10A of bat behavior measuring devices in a 3rd embodiment. It is a figure explaining 2nd calibration. It is explanatory drawing at the time of measuring the behavior of the bat. It is the figure which looked at the state by which the hitting surface 6404 of the bat 64 was applied to the positioning board 6612 from the A1 direction of FIG. It is a B1 arrow line view of FIG. It is C1 arrow line view of FIG. 2 is a block diagram showing a configuration of a measurement system 11. FIG. 2 is a block diagram showing a configuration of a personal computer 22. FIG. It is a functional block diagram of 10 A of behavior measuring apparatuses. It is a flowchart which shows operation | movement of 10 A of behavior measuring apparatuses.

(First embodiment)
Hereinafter, a behavior measuring method together with a golf club head behavior measuring device according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is an explanatory diagram showing a configuration of a golf club head behavior measuring device 10 (hereinafter referred to as a behavior measuring device 10).
As shown in FIG. 1, the behavior measuring apparatus 10 is installed and used in a golf driving range or a golf shop, for example. The behavior measuring apparatus 10 includes a measuring system 11, a holding unit 20, a personal And a computer 22.

(Measurement system 11)
The measurement system 11 measures time-series data indicating the three-dimensional position and direction (direction) of the golf club head 4 of the golf club 2.
In the present embodiment, the measurement system 11 includes a transmitter 12, a golf club side three-dimensional magnetic sensor 14, a holding means side three-dimensional magnetic sensor 16, and a controller / data processing device 18.

The transmitter 12 is installed at a predetermined position. As shown in FIG. 7, the transmitter 12 is wound in a loop shape in the directions of three axes (X axis, Y axis, Z axis) orthogonal to each other. It is composed of three coils.
In the present embodiment, the transmitter 12 is installed such that the X axis and the Y axis extend on a horizontal plane, and the Z axis faces the vertical direction.
In the present embodiment, the center position of the transmitter 12 is set as a predetermined reference position 1202, and the Y-axis direction passing through the reference position 1202 is set as a predetermined reference direction 1204.
The transmitter 12 generates a magnetic field whose distribution with respect to strength and direction is known by a drive signal supplied from the controller / data processor 18.

As shown in FIG. 7, the golf club side three-dimensional magnetic sensor 14 includes three coils wound in a loop shape in directions of three axes (X axis, Y axis, Z axis) orthogonal to each other. .
The golf club side three-dimensional magnetic sensor 14 has a first measurement point 1402 and a first measurement direction 1404.
The golf club side three-dimensional magnetic sensor 14 senses magnetism around the first measurement point 1402 in the three axis directions of the X axis, the Y axis, and the Z axis that are orthogonal to each other, and the first measurement point with respect to the reference position 1202. The first detection signal S1 is output according to the three-dimensional position 1402 and the direction of the first measurement direction 1404 with respect to the reference direction 1204.
In the present embodiment, the first measurement point 1402 is the center position of the golf club side three-dimensional magnetic sensor 14, and the first measurement direction 1404 is the Y-axis direction passing through the first measurement point 1402.
The golf club side three-dimensional magnetic sensor 14 is fixed to the golf club 2, and is fixed to the grip portion 3 of the golf club 2 in the present embodiment.
In the present embodiment, the golf club side three-dimensional magnetic sensor 14 has the Y axis (first measurement direction 1404) parallel to the striking direction of the golf club 2 and the Z axis parallel to the shaft axis.

As shown in FIG. 7, the holding means side three-dimensional magnetic sensor 16 is constituted by three coils wound in a loop shape in the directions of three axes (X axis, Y axis, Z axis) orthogonal to each other. .
The holding means side three-dimensional magnetic sensor 16 has a second measurement point 1602 and a second measurement direction 1604.
The holding means side three-dimensional magnetic sensor 16 senses the magnetism around the second measurement point 1602 in the three axis directions of the X axis, the Y axis, and the Z axis that are orthogonal to each other, and one of the three axis directions. The second detection signal S2 according to the three-dimensional position of the second measurement point 1602 with respect to the reference position 1202 and the direction of the second measurement direction 1604 with respect to the reference direction 1204, with the Y axis that is Is output.
In the present embodiment, the second measurement point 1602 is the center position of the holding means side three-dimensional magnetic sensor 16, and the second measurement direction 1604 is the Y-axis direction passing through the second measurement point 1602.
The holding means side three-dimensional magnetic sensor 16 is integrally supported by the holding means 20.
In the present embodiment, the holding means side three-dimensional magnetic sensor 16 makes the Y axis (second measurement direction 1604) parallel to the striking direction of the golf club 2, and the Z axis is directed vertically, as will be described later. ing.
An example of such a measurement system 11 is LIBERTY (manufactured by Polhemus).
The detailed configuration of the measurement system 11 will be described later.

(Holding means 20)
The holding means 20 holds the golf club 2 so that the set lie angle and loft angle are met.
As shown in FIG. 1, the holding unit 20 includes a base 2002, a frame 2004, a support portion 2006, and a positioning plate 2008.
The base 2002 is placed on the floor (horizontal plane).
The frame 2004 is erected from the base 2002.
The support portion 2006 is provided on the frame 2004 and supports the shaft 6 of the golf club 2 so that the shaft 6 can be attached and detached and the position and orientation of the golf club 2 can be adjusted. Various types of conventionally known structures can be used as the support portion 2006.

4 is a plan view showing a state in which the face surface 402 of the golf club head 4 is applied to the positioning plate 2008, FIG. 5 is a view as seen from the arrow A in FIG. 4, and FIG. 6 is a view as seen from the arrow B in FIG.
As shown in FIGS. 4 to 6, the positioning plate 2008 has a rectangular plate shape, and is attached to the base 2002 via a spacer 2010 so as to extend on a horizontal plane. In FIG. 5, the symbol G indicates the floor surface.
The positioning plate 2008 is formed to extend linearly so that an edge portion 2008A having a sharp cross section on one side thereof is parallel to the horizontal plane.
On the upper surface of the positioning plate 2008, a reference line 2012 passing through the center in the extending direction of the edge portion 2008A and orthogonal to the edge portion 2008A is displayed.
A holding means side three-dimensional magnetic sensor 16 is provided on the upper surface of the positioning plate 2008.
In the holding means side three-dimensional magnetic sensor 16, the second measurement point 1602 is located on the reference line 2012 and the second measurement direction 1604 is coincident (parallel) with the reference line 2012 in a state in plan view.
The golf club 2 has a support portion 2006 so that the lie angle and the loft angle are set in a state where the face surface 402 is applied to the edge portion 2008A so that the edge portion 2008A passes through the center point 410 of the face surface 402. Supported by.
In the present embodiment, that the golf club 2 is on the set lie angle and loft angle is a state in which the normal of the face surface 402 and the launch direction are parallel to each other, and a vertical line In contrast, the angle formed by the shaft axis is the correct lie angle.

When the score line 412 is formed on the face surface 402, when the golf club 2 is supported by the support portion 2006 along the set lie angle, as shown in FIG. The part 2008A is parallel.
Therefore, the golf club 2 can be supported according to the set lie angle by adjusting the support portion 2006 so that the score line 412 and the edge portion 2008A are parallel to each other.
When the score line 412 is not formed on the face surface 402 as in some putter clubs, the virtual line extending in the left-right width direction of the face surface 402 and the edge portion 2008A are parallel to each other. By adjusting the support portion 2006, the golf club 2 can be supported according to the set lie angle.
In the state where the golf club 2 is held by the holding means 20 in this way, the second measurement of the three-dimensional position of the center point 410 of the face surface 402 and the orientation of the face surface 402 and the holding means side three-dimensional magnetic sensor 16 are performed. The point 1602 and the direction of the second measurement direction have a known relationship.
Accordingly, the three-dimensional position of the center point 410 of the face surface 402 and the orientation of the face surface 402 can be obtained from the orientations of the second measurement point 1602 and the second measurement direction 1604.

(Details of measurement system 11)
The measurement system 11 will be described in more detail.
As shown in FIG. 7, the controller / data processor 18 includes a drive circuit 18A, a detection circuit 18B, and a computer 18C.
The drive circuit 18 </ b> A generates a drive signal for causing the transmitter 12 to sequentially generate predetermined three types of magnetic fields, and supplies the drive signal to the transmitter 12.
The detection circuit 18B detects the first detection signal S1 supplied from the golf club side three-dimensional magnetic sensor 14 and the second detection signal S2 supplied from the holding means side three-dimensional magnetic sensor 16. .

The computer 18C implements the following functions by executing data processing software.
That is, the computer 18C controls the drive circuit 18A and the detection circuit 18B, performs data processing from the output voltage obtained from the detection circuit 18B, and the position and orientation of the golf club side three-dimensional magnetic sensor 14 and the holding means. Data indicating the position and orientation of the side three-dimensional magnetic sensor 16 is generated.
As described above, the computer 18C calculates the time-series data of the three-dimensional position coordinates (x, y, z) based on the three axes X, Y, Z orthogonal to each other with the position of the transmitter 12 as the reference position 1202. And output.
Further, as described above, the computer 18C sets the Y-axis direction centering on the transmitter 12 as the reference direction 1204, and the attitude angle representing the orientation of the magnetic sensors 14 and 16 with respect to the reference direction 1204, that is, the yaw angle, the pitch angle, and the roll The time series data of the corners (hereinafter referred to as (θy, θp, θr)) is calculated and output.
Therefore, the time-series data of the three-dimensional position coordinates (x, y, z) is data indicating the positions of the magnetic sensors 14 and 16, and the time-series data of the yaw angle θy, the pitch angle θp, and the roll angle θr is the magnetic sensor 14. , 16 data indicating the direction of 16.

Next, the three-dimensional position coordinate (x, y, z) with respect to the reference position 1202 of the first measurement point 1402 of the golf club side three-dimensional magnetic sensor sensor 14 and the attitude angle of the first measurement direction 1404 with respect to the reference direction 1204. Generation of time series data of (θy, θp, θr) will be described.
The drive circuit 18A outputs the same signal whose frequency and phase are always constant according to the command signal of the computer 18C, and sequentially excites the three loop coils wound around the three axes of the transmitter 12.
Each loop-like coil generates a different magnetic field each time it is excited, and based on this, an independent output voltage V is generated in each of the three loop-like coils wound in the three-axis direction of the golf club side three-dimensional magnetic sensor 14. Let
As for this output voltage V, three output voltages V generated in the three loop coils of the golf club side three-dimensional magnetic sensor 14 are obtained according to the three magnetic fields excited by the three loop coils of the transmitter 12. Therefore, a total of nine (3 × 3) output voltages V are obtained.

On the other hand, since the transmitter 12 that forms the magnetic field is fixedly installed at a predetermined position, the distribution regarding the strength and direction of the generated magnetic field is known with respect to the reference position 1202 where the transmitter 12 is installed and the reference direction 1204. .
By using nine output voltages V generated by the formed magnetic field, the three-dimensional position coordinates (x, y, z) of the golf club side three-dimensional magnetic sensor 14 with respect to the reference direction position 1202 and the attitude with respect to the reference direction 1204 Six unknowns of angles (θy, θp, θr) can be obtained.
In the computer 18C of the controller / data processor 18, the nine output voltages V sent from the detection circuit 18B are used to calculate the three-dimensional position coordinates (x, y, z) and the posture angles (θy, θp, θr). Calculate the data.

  The three-dimensional position coordinates (x, y, z) and posture angles (θy, θp, θr) obtained by the measurement system 11 are taken into the personal computer 22 and AD-converted, and the behavior of the grip part 3 during the swing is detected. Time series data can be obtained.

  Note that the three-dimensional position coordinates (x, y, z) of the second measuring point 1602 of the holding means side three-dimensional magnetic sensor 16 with respect to the reference direction 1202 and the attitude angle of the second measuring direction 1604 with respect to the reference direction 1204 ( The generation of the data of [theta] y, [theta] p, [theta] r) is basically the same as in the case of the golf club side three-dimensional magnetic sensor 14, and thus the description thereof is omitted.

As described above, the transmitter 12, the golf club side three-dimensional magnetic sensor 14, and the holding means side three-dimensional magnetic sensor 16, as shown in FIG. It is wound into a shape.
Accordingly, the three-axis directions of the transmitter 12 and the magnetic sensors 14 and 16 are matched as much as possible to detect the three-dimensional position coordinates (x, y, z) and the posture angle (θy) detected by the magnetic sensors 14 and 16, respectively. , Θp, θr) is preferable in reducing the load when the personal computer 22 described later performs the processing.
From this point of view, the golf club side three-dimensional magnetic sensor 14 is set so that one of the three axis directions (Z axis) coincides with the shaft axis, and the other axis (Y axis) is set to golf. It is preferable that the golf club 2 is fixed to the grip portion 3 in the hitting direction of the club 2.
Further, the holding means side three-dimensional magnetic sensor 16 is preferably supported by the holding means 20 with one of the three axis directions (Y axis) directed in the striking direction of the golf club 2.
In the present embodiment, the transmitter 12 has the X axis and the Y axis extending in the horizontal plane, and the Z axis extending in the vertical direction.

(Personal computer 22)
Next, the personal computer 22 will be described.
The personal computer 22 generates behavior data indicating the behavior of the golf club head 2 based on the time-series data supplied from the measurement system 11.

FIG. 8 is a block diagram showing the configuration of the personal computer 22.
The personal computer 22 includes a CPU 30, a ROM 32, a RAM 34, a hard disk device 36, a disk device 38, a keyboard 40, a mouse 42, a display 44, a printer 46, and an input / output interface 48 connected via an interface circuit (not shown) and a bus line. Etc.
The ROM 32 stores a control program and the like, and the RAM 34 provides a working area.
The hard disk device 36 stores a dedicated program for measuring the behavior of the golf club head 4.
The disk device 38 records and / or reproduces data on a recording medium such as a CD or a DVD.
The keyboard 40 and the mouse 42 receive operation inputs from the operator.
The display 44 displays and outputs data, and the printer 46 prints and outputs data. The display 44 and the printer 46 output data.
The input / output interface 48 exchanges data with the controller / data processing device 18 of the measurement system 11.

(Function of the behavior measuring apparatus 10)
FIG. 9 is a functional block diagram of the behavior measuring apparatus 10.
Functionally, the behavior measuring apparatus 10 functionally includes a first calibration unit 50, a second calibration unit 52, a first time series data generation unit 53, a second time series data generation unit 54, a storage unit 56, a behavior. The data generation means 58, the output means 60, etc. are comprised.
The first calibration unit 50, the second calibration unit 52, the first time series data generation unit 53, and the second time series data generation unit 54 are configured by the controller / data processing device 18 and the personal computer 22. .
The storage unit 56, the behavior data generation unit 58, and the output unit 60 are configured by the personal computer 22.
Further, a part of the first and second calibration means 50 and 52, a part of the first and second time series data generation means 53 and 54, a behavior data generation means 58, and an output means 60 are included in the CPU 30. Are realized by executing the dedicated program, but these parts may be configured by hardware such as a circuit.

Before describing each of the means 50, 52, 53, 54, 56, 58, 60, the positional relationship among the transmitter 12, the golf club 2, and the golf ball B as a premise will be described.
As shown in FIG. 3, the transmitter 12 is installed at a predetermined position, and specifically, is fixedly arranged behind a person who performs golf swing.
On the floor G, a ball placement position P0 for placing the golf ball B is determined in advance, and this ball placement position P0 is displayed by a mark or the like provided on the floor G. . Alternatively, a tee is provided at the ball placement position P0, and the golf ball B is placed on the tee.
Further, a cup C as a target for launching the golf ball B is provided in front of the ball placement position P0.
By swinging the golf club 2, the golfer hits the golf ball B placed at the ball placement position P 0 by the face surface 402 of the golf club head 4 toward the cup C.
In this case, a straight line connecting the center point P1 (FIG. 10) of the golf ball B placed at the ball placement position P0 and the cup C is the target line L.
When the golfer swings the golf club 2, a sufficient interval is secured between the transmitter 12 and the ball mounting position P <b> 0 so that the transmitter 12 does not interfere with the golfer or the golf club 2.

As shown in FIG. 1, the first calibration unit 50 is configured to perform the first detection based on the first detection signal S1 and the second detection signal S2 while the golf club 2 is held by the holding unit 20. The three-dimensional position data of the center point 410 (FIG. 6) of the face surface 402, which is a predetermined reference point of the golf club head 4 with respect to the measurement point 1402, and the face surface 402 of the golf club head 4 with respect to the first measurement direction 1404. Orientation data indicating the orientation of the first calibration data Dc1.
In other words, the three-dimensional position data of the center point 410 of the face surface 402 is data obtained using the first measurement point 1402 as the origin of the three-dimensional coordinates, and the orientation data of the face surface 402 is the first measurement direction 1404. Is obtained as a coordinate axis (Y-axis) of three-dimensional coordinates.
That is, based on the first detection signal S 1 and the second detection signal S 2, the three-dimensional position data of the second measurement point 1602 with respect to the first measurement point 1402 and the first measurement direction 1404 relative to the first measurement direction 1404. Data of two measurement directions 1604 are obtained.
Here, as described above, the three-dimensional position of the center point 410 of the face surface 402 and the orientation of the face surface 402 are obtained from the orientation of the second measurement point 1602 and the second measurement direction 1604.
Therefore, based on the first detection signal S1 and the second detection signal S2, the three-dimensional position data of the center point 410 of the face surface 402 with respect to the first measurement point 1402 and the direction of the first measurement direction 1404 The orientation data of the face surface 402 can be obtained as the first calibration data Dc1.
That is, the first calibration data Dc1 is used to correct the position of the center point 410 of the face surface 402 with respect to the first measurement point 1402 and to correct the orientation (direction) of the face surface 402 with respect to the orientation of the first measurement direction 1404. It is data for performing.

As shown in FIGS. 4 and 5, the second calibration means 52 matches the center point P1 of the golf ball B where the second measurement point 1602 is located at the ball placement position P0 in a plan view. In addition, with the holding means 20 positioned on the floor so that the direction of the second measurement direction 1604 matches the direction of the target line L, the second measurement direction 1604 is relative to the reference position 1202 based on the second detection signal S2. The three-dimensional position data of the second measurement point 1602 and the orientation data indicating the orientation of the second measurement direction 1604 with respect to the reference direction 1204 are obtained as the second calibration data Dc2.
In other words, the three-dimensional position data of the second measurement point 1602 is data obtained using the reference position 1202 as the origin of the three-dimensional coordinates, and the direction data of the second measurement direction 1604 is the reference direction 1204 of the three-dimensional coordinates. Is obtained as the coordinate axis (Y-axis).
That is, the second calibration data Dc2 is data for correcting the installation position of the golf ball B with respect to the reference position 1202 and correcting the direction of the target line L with respect to the reference direction 1204.

  The first time-series data generating means 53 includes the three-dimensional position data of the first measurement point 1402 and the reference with respect to the reference position 1202 generated based on the first detection signal S1 in the process of swinging the golf club 2 by the golfer. The first time-series data D1 is generated by correcting the actual measurement data including the orientation data indicating the orientation of the first measurement direction 1404 with respect to the direction 1204 using the first calibration data Dc1.

  The second time series data generation means 54 generates the second time series data D2 by correcting the first time series data D1 using the second calibration data Dc2.

The storage means 56 stores a three-dimensional shape model M that reproduces two golf club heads in a three-dimensional coordinate system.
In other words, the storage unit 56 stores the three-dimensional shape model M in association with the three-dimensional position of the center point 410 of the face surface 402 and the orientation of the face surface 402.
In the present embodiment, the loft angle of the golf club head 4 and the diameter of the golf ball B are registered in the storage unit 56 in advance.
In the present embodiment, the storage unit 56 is configured by the hard disk device 36 or the RAM 34 of the personal computer 22.

The behavior data generating means 58 generates behavior data D3 indicating the behavior of the golf club head 4 based on the second time series data D2 and the three-dimensional shape model M of the golf club 2 head.
In the present embodiment, the behavior data generation means 58 includes a calculation unit 58A that calculates time series data of the position and orientation of the three-dimensional shape model M, and an analysis unit 58B that calculates the behavior data D3 from the time series data. It is configured.

Here, the behavior data D3 will be further described.
In the present embodiment, the behavior data D3 includes the following data.
(1) Movement locus data as time series data indicating the movement locus of the golf club head 4:
As will be described later, the movement trajectory data is indicated by the movement trajectory of the center point 410 of the face surface 402 (FIGS. 17 and 18) or animation data indicating the outer shape of the golf club head 4 (FIG. 19). .

(2) Left / right approach angle θ _LR :
As shown in FIG. 10, when the movement locus T and the target line L on the horizontal plane are projected on the horizontal plane when the movement locus T and the target line L of the center point 410 of the face surface 402 are projected onto the horizontal plane, the left and right approach angle θ _LR is _calculated . The angle to make. In the figure, an arrow F indicates the moving direction of the golf club head 4.

(3) Vertical approach angle θ _UD :
As shown in FIG. 11, the vertical approach angle θ _UD is calculated on the vertical plane when the movement trajectory T of the center point 410 of the face surface 402 and the target line L are projected onto a vertical plane parallel to the target line L. An angle formed by the movement trajectory T and the target line L.

(4) Orientation data Df indicating the orientation of the golf club head 4 immediately before the face surface 402 hits the golf ball B:
In the present embodiment, the orientation data Df includes a hitting face angle φ, a hitting loft angle α, and a hitting lie angle β.
Hereinafter, a description will be given with reference to FIGS. 12, 13, and 14.

(4-1) As shown in FIG. 12, the face angle φ at the time of hitting is such that the normal H passing through the center point 410 of the face surface 402 and the target line L immediately before the face surface 402 hits the golf ball B are in a horizontal plane. Is projected by the angle formed by the normal H and the target line L on the horizontal plane.

(4-2) The hit loft angle α intersects the normal H passing through the center point 410 of the face surface 402 immediately before the face surface 402 hits the golf ball B and the normal H as shown in FIG. This is indicated by an angle formed between a horizontal plane (floor surface G) and a parallel plane.
Here, the generation of the hitting loft angle α by the behavior data generating means 58 is performed based on the second time-series data D2 and the loft angle of the golf club head 4 registered in the storage means 56 in advance.

(4-3) As shown in FIG. 14, the lie angle β at the time of hitting is an extension line of the shaft shaft 602 immediately before the face surface 402 hits the golf ball B and a horizontal plane where the extension line intersects (in this example, It is indicated by the angle formed by the floor surface G).

(5) Data of the hit point position indicating the location where the face surface 402 hits the golf ball B:
Here, the generation of hit point position data by the behavior data generation means 58 is based on the second time-series data D2, the three-dimensional shape model M, and the diameter of the golf ball B registered in the storage means 56 in advance. Made.

(Operation)
Next, operation | movement of the behavior measuring apparatus 10 is demonstrated with reference to the flowchart of FIG.
The transmitter 12 is fixed in advance at a predetermined position.
First, as shown in FIGS. 1, 4 to 6, the golf club 2 to be measured is held by the holding means 20 so as to follow the set lie angle and loft angle (step S <b> 10: hold). Step).

Next, with the holding means 20 holding the golf club 2 at an appropriate location, the measurement system 11 and the personal computer 22 are activated and the first calibration is executed (step S12: first calibration step).
That is, the first calibration means 50, based on the first detection signal S1 and the second detection signal S2, the three-dimensional position data of the center point 410 of the face surface 402 with respect to the first measurement point 1402 and the first detection signal S2. Orientation data indicating the orientation of the face surface 402 of the golf club head 4 with respect to one measurement direction 1404 is obtained as first calibration data Dc1.
Here, it is preferable to shorten the distance between the transmitter 12, the golf club side three-dimensional magnetic sensor 14, and the holding means side three-dimensional magnetic sensor 16.
The reason is that as the distance between the transmitter 12 and the magnetic sensors 14 and 16 is shortened, measurement in an area with a high magnetic flux density is possible, which is advantageous in ensuring accuracy.

Next, as shown in FIG. 2, after removing the golf club head 2 from the holding means 20, the holding means 20 is positioned and placed on the floor G by using the ball placement position P 0 and the target line L as a reference ( Step S14: holding means positioning step).
That is, as shown in FIGS. 4 and 5, the second measurement point 1602 of the holding means side three-dimensional magnetic sensor 16 in the plan view is the center point P1 of the golf ball B positioned at the ball placement position P0. The holding means 20 is positioned so that the second measurement direction 1604 matches the target line L.
In step S <b> 14, the holding means 20 that has been positioned in the vicinity of the transmitter 12 in step S <b> 10 is moved to the ball mounting position P <b> 0 that is separated from the transmitter 12.

Next, based on the second detection signal S 2, the second calibration unit 52 determines the three-dimensional position data of the second measurement point 1602 with respect to the reference position 1202 and the second measurement direction 1604 with respect to the reference direction 1204. Orientation data indicating the orientation is obtained as second calibration data Dc2 (step S16: second calibration step).
That is, the second calibration data Dc2 is obtained when the holding unit 20 is moved to the ball placement position P0 (the second measurement point 1602 matches the ball placement position P0 and the second measurement direction 1604 is The three-dimensional position and direction of the holding means side three-dimensional magnetic sensor 16 with respect to the transmitter 12 (in a state of matching with the target line L) are shown.
When step S16 is completed, the holding means 20 is moved from the ball placement position P0 to a position that does not interfere with the swing of the golf club 2.

Next, as shown in FIG. 3, the golf ball B is placed at the ball placement position P <b> 0, and the golfer swings the golf club 2 and strikes the golf ball B toward the cup C.
Then, in this swing process, the first time-series data generating means 53 corrects the actual measurement data generated based on the first detection signal S1 by using the first calibration data Dc1, thereby making the first time. Time-series data D1 is generated (step S18: first time-series data generation step).
That is, by correcting the actual measurement data using the first calibration data Dc1, the first data includes the three-dimensional position data of the center point 410 of the face surface 402 with respect to the transmitter 12 and the orientation data indicating the orientation of the face surface 402. Time series data D2 is generated.
However, since the first time series data D1 is not corrected for the ball placement position P0 and the target line L, the first time series data D1 is not yet accurate.

Next, the second time-series data generation unit 54 generates the second time-series data D2 by correcting the first time-series data D1 using the second calibration data Dc2 (step S20: Second time series data generation step).
That is, by correcting the first time series data D1 using the second calibration data Dc2, the accurate second time series data D2 corrected for the ball placement position P0 and the target line L is obtained. can get.

Next, the behavior data generating means 58 generates behavior data D3 indicating the behavior of the golf club head 2 based on the second time series data D2 and the three-dimensional shape model M of the golf club head read from the storage means 56. (Step S22: Behavior data generation step).
That is, the behavior data generating unit 58 generates a three-dimensional shape model based on time-series data including the three-dimensional position data of the center point 410 of the face surface 402 and the orientation data indicating the orientation of the face surface 402 obtained in step S20. By moving M in the virtual space, behavior data D3 is generated.

Next, the output means 60 outputs the behavior data D3 (step S24: output step).
That is, the output means 60 displays the behavior data D3 as a display screen of the display 44 or prints out the data by the printer 46.
Note that after the first and second calibrations are performed once for the golf club 2 to be used, the processes in steps S10, S12, S14, and S16 can be omitted, and the processes in and after step S18 may be performed.
In addition, when the ball placement position P0 or the target line L is changed, the processes of steps S10 and S12 are omitted, and only S14 and subsequent steps are performed.

Next, the display screen of the display 44 showing the behavior data D3 will be specifically described.
FIG. 16 is an explanatory diagram of a display screen showing the hit point position as the behavior data D3.
As shown in FIG. 16, the hit point position 420 is displayed as a mark on the face surface 402 of the golf club head 4.
When multiple measurements are performed, the number of marks corresponding to the number of measurements is displayed.

FIG. 17 is an explanatory diagram of a display screen showing a movement locus in the vertical direction of the center point 410 of the face surface 402 of the face surface 402 as the behavior data D3.
That is, in FIG. 17, the horizontal axis indicates the distance along the launch direction of the golf ball B, and the vertical axis indicates the distance in the height direction.
A center point 410 of the face surface 402 of the face surface 402 of the golf club head 4 is indicated by a mark (for example, a circle).

FIG. 18 is an explanatory diagram of a display screen showing a movement locus in the left-right direction of the center point 410 of the face surface 402 of the face surface 402 as the behavior data D3.
That is, in FIG. 18, the horizontal axis indicates the distance along the launch direction of the golf ball B, and the vertical axis indicates the distance in the left-right direction orthogonal to the launch direction of the golf ball B.
As in FIG. 17, the center point 410 of the face surface 402 of the face surface 402 of the golf club head 4 is indicated by a mark (for example, a circle).
17 and 18 show a single measurement result. When a plurality of measurements are performed, each movement locus is changed by changing the color or shape of the mark indicating the center point 410 of the face surface 402. Is preferable for easy identification.

FIG. 19 is an explanatory diagram of a display screen showing the movement trajectory of the golf club head 4 as the behavior data D3.
As shown in FIG. 19, the movement trajectory of the golf club head 4 is shown by displaying a plurality of images of the perspective view of the golf club head 4 in an overlapping manner.
Of course, the display screens shown in FIGS. 16 to 19 may be printed out by the printer 46.
Further, the movement trajectory of the golf club head 4 may be displayed as an animation image by displaying the images of the perspective view of the golf club head 4 one by one with the passage of time.
Further, FIG. 19 shows a case where an animation image in a state where the golf club head 4 is viewed obliquely in the moving direction is displayed, but the golf club head 4 is viewed from another direction (for example, obliquely rearward). The display method is arbitrary, such as switching to a displayed animation image.

In addition, numerical values such as the left and right approach angle θ _LR , the up and down approach angle θ _UD , the hitting face angle φ, the hitting loft angle α, and the hitting lie angle β as behavior data D3 are displayed on the display screen of the display 44 in a table format. It can be displayed or printed out by the printer 46.

According to the present embodiment, the transmitter 12 and the golf club side three-dimensional magnetic sensor 14 are used to obtain the second time series data D2 composed of the three-dimensional position data and the orientation data of the golf club head 4, Based on the second time series data D2 and the three-dimensional shape model M of the golf club head 4, behavior data D3 indicating the behavior of the golf club head 4 during the swing is obtained.
Therefore, an imaging device such as a camera is not required as compared with the conventional technology using image data, and it is not necessary to secure an imaging space. Therefore, while simplifying the configuration, saving space and reducing costs, a golf club This is advantageous in accurately measuring the behavior of the head 4.
Further, the measurement range of the golf club head 4 can be secured wider than the conventional technique using image data, and measurement can be performed over the entire swing.

In the present embodiment, the actual measurement data generated based on the first detection signal S1 detected by the golf club side three-dimensional magnetic sensor 14 is corrected by using the first calibration data Dc1. The first time series data D1 is generated, and the first time series data D1 is corrected by using the second calibration data Dc2, thereby generating the second time series data D2.
That is, by correcting the first time series data D1 using the second calibration data Dc2, the accurate second time series data D2 corrected for the ball placement position P0 and the target line L is obtained. I tried to get it.
Therefore, when the ball placement position P0 or the target line L is changed, accurate second time-series data D2 can be obtained by acquiring the second calibration data Dc2.
Therefore, it is advantageous in securing the degree of freedom in changing the installation layout of the golf club 2, the transmitter 12, and the holding means 20, so that the behavior of the golf club head 4 can be easily measured when moving the installation location. Can do. In addition, it can be easily installed even in places where layout restrictions are likely to occur, such as an actual golf driving range.
Further, by positioning the golf club side three-dimensional magnetic sensor 14 and the holding means side three-dimensional magnetic sensor 16 at a location close to the transmitter 12, the first calibration data Dc1 can be obtained with high accuracy. This is advantageous in increasing the accuracy of the behavior data D3.

Further, in the present embodiment, the case where the second calibration data Dc2 is obtained using the holding means side three-dimensional magnetic sensor 16 has been described.
However, a ball position measuring three-dimensional magnetic sensor may be provided separately from the holding means side three-dimensional magnetic sensor 16, and the second calibration data Dc2 may be obtained using the ball position measuring three-dimensional magnetic sensor.
That is, the ball position measuring three-dimensional magnetic sensor has a third measuring point and a third measuring direction, and senses magnetism around the third measuring point in three axial directions orthogonal to each other, A third detection signal is output according to the three-dimensional position of the second measurement point with respect to the reference position and the direction of the third measurement direction with respect to the reference direction.
Then, in a plan view, the third measurement point matches the predetermined ball installation position P0, and the direction in the third measurement direction connects the ball installation position P0 and the target point of the golf ball. The ball position measuring three-dimensional magnetic sensor is positioned so as to match the direction of the line L.
In this state, the second calibration unit 52 indicates the three-dimensional position data of the third measurement point with respect to the reference position 1202 and the direction of the third measurement direction with respect to the reference direction 1204 based on the third detection signal. The orientation data is acquired as the second calibration data Dc2.
As described above, the three-dimensional magnetic sensor for measuring the ball position may be provided separately from the holding means side three-dimensional magnetic sensor 16, but the holding means side three-dimensional magnetic sensor 16 is used as in the present embodiment. In other words, if the second calibration data Dc2 is obtained, in other words, if the holding means side three-dimensional magnetic sensor 16 is also used as the three-dimensional magnetic sensor for ball position measurement, the configuration can be simplified and the cost can be reduced. It will be advantageous.

In the present embodiment, the golf club side three-dimensional magnetic sensor 14 is provided in the grip portion 3 of the golf club 2, but the golf club side three-dimensional magnetic sensor 14 may be provided in the golf club head 6.
However, when the golf club side three-dimensional magnetic sensor 14 is provided in the grip portion 3 as in the present embodiment, the golf club side three-dimensional magnetic sensor 14 is not conspicuous, and it is difficult to get in the way of swinging. It becomes advantageous in raising.

The present invention is based on the premise that the relationship between the relative position and orientation between the golf club side three-dimensional magnetic sensor 14 and the golf club head 4 does not change.
Therefore, since the measurement error is large in the golf club 2 in which the shaft 6 is largely bent and twisted, the golf club to be measured in the present invention is preferably a putter club or a club used for approach shots.

(Second Embodiment)
Next, a second embodiment will be described.
In the first embodiment, by correcting the first time-series data D1 using the second calibration data Dc2, the accurate second that has been corrected for the ball placement position P0 and the target line L. The time series data D2 was obtained.
However, if the condition that the ball mounting position P0 with respect to the reference position 1202 of the transmitter 12 is fixedly determined and the target line L with respect to the reference direction 1204 of the transmitter 12 is fixedly determined is satisfied, the second condition is satisfied. Correction by the calibration data Dc2 is not necessary.
That is, the first time series generated by correcting the actual measurement data generated based on the first detection signal S1 detected by the golf club side three-dimensional magnetic sensor 14 using the first calibration data Dc1. The behavior data D3 can be obtained using the data D1.
Therefore, if the above condition is satisfied, the behavior data D3 can be obtained without using the second calibration data Dc2, and the holding means side three-dimensional magnetic sensor 16 for obtaining the second calibration data Dc2 can be obtained. Can be omitted.
In the second embodiment, a golf club head behavior measuring device in which the holding means side three-dimensional magnetic sensor 16 is omitted will be described.
In the following embodiments, the same parts and members as those in the first embodiment will be denoted by the same reference numerals, and the description thereof will be omitted or will be briefly described.

(Measurement system 11)
In the second embodiment, as shown in FIG. 20, the measuring system 11 includes a transmitter 12, a golf club side three-dimensional magnetic sensor 14, and a controller / data processor 18.

The transmitter 12 is configured similarly to the first embodiment.
The transmitter 12 is installed at a predetermined position. Specifically, the transmitter 12 is installed at a location near the ball mounting position P0.
Similarly to the first embodiment, the X axis and Y axis of the transmitter 12 extend on the horizontal plane and the Z axis faces the vertical direction, and the center position of the transmitter 12 is determined in advance. A reference position 1202 is set, and a Y-axis direction passing through the reference position 1202 is set as a predetermined reference direction 1204.
In the second embodiment, the reference position 1202 with respect to the ball placement position P0 is fixed, and the reference direction 1204 with respect to the target line L is fixed.

The golf club side three-dimensional magnetic sensor 14 is configured in the same manner as in the first embodiment, and has a first measurement point 1402 and a first measurement direction 1404, and the first measurement point with respect to the reference position 1202. The first detection signal S1 is output according to the three-dimensional position 1402 and the direction of the first measurement direction 1404 with respect to the reference direction 1204.
In the second embodiment, the first measurement point 1402 is the center position of the golf club side three-dimensional magnetic sensor 14, and the first measurement direction 1404 is the Y-axis direction passing through the first measurement point 1402.
The golf club side three-dimensional magnetic sensor 14 is fixed to the vicinity of the club head 4 on the shaft 6 of the golf club 2.
In the present embodiment, the golf club side three-dimensional magnetic sensor 14 has the Y axis (first measurement direction 1404) parallel to the striking direction of the golf club 2 and the Z axis parallel to the shaft axis.

(Holding means 20)
The holding means 20 is configured in the same manner as in the first embodiment except that the holding means side three-dimensional magnetic sensor 16 is omitted, and the golf club 2 has a set lie angle and loft angle. Is to hold.
The golf club is held by the holding means 20 so as to satisfy the following conditions.
1) The center point 410 (FIG. 6) of the face surface 402, which is a predetermined reference point of the golf club head 4, with respect to the reference position 1202 of the transmitter 12 matches the predetermined position.
2) The face surface 402 is oriented in a predetermined direction with respect to the reference direction 1204 of the transmitter 12.
3) The center point 410 (reference point) matches a predetermined position with respect to the golf ball installation position P0.
4) The face surface 402 is oriented in a predetermined direction with respect to the direction of the target line L that connects the golf ball installation position P0 with respect to the reference direction 1204 of the transmitter 12 and the target point C that hits the golf ball.
In the state where the golf club 2 is held by the holding means 20 in this way, the three-dimensional position of the center point 410 of the face surface 402 and the orientation of the face surface 402 with respect to the reference position 1202 and the reference direction 1204 of the transmitter 12 are known. It becomes the relationship.
Therefore, the three-dimensional position of the center point 410 of the face surface 402 and the orientation of the face surface 402 can be obtained from the orientations of the first measurement point 1402 and the first measurement direction 1404.

(Details of measurement system 11)
The controller / data processor 18 detects only the first detection signal S1 from the golf club side three-dimensional magnetic sensor 14, and therefore the reference position of the first measurement point 1402 of the golf club side three-dimensional magnetic sensor sensor 14 is detected. Except for generating only the time-series data of the three-dimensional position coordinates (x, y, z) with respect to 1202 and the posture angle (θy, θp, θr) with respect to the reference direction 1204 of the first measurement direction 1404, the first. The configuration is the same as in the embodiment.

  The three-dimensional position coordinates (x, y, z) and posture angles (θy, θp, θr) obtained by the measurement system 11 are taken into the personal computer 22 and AD-converted, and the behavior of the shaft 6 portion during swinging is taken. Can be obtained.

(Personal computer 22)
The personal computer 22 generates behavior data indicating the behavior of the golf club head 2 based on the time-series data supplied from the measurement system 11, and is configured in the same manner as in the first embodiment.

(Function of the behavior measuring apparatus 10)
FIG. 22 is a functional block diagram of the behavior measuring apparatus 10.
Functionally, the behavior measuring apparatus 10 includes a first calibration unit 50, a first time-series data generation unit 53, a storage unit 56, a behavior data generation unit 58, an output unit 60, and the like.
The first calibration unit 50, the first time-series data generation unit 53, the controller / data processing device 18, and the personal computer 22 are configured.
The storage unit 56, the behavior data generation unit 58, and the output unit 60 are configured by the personal computer 22.

As shown in FIG. 20, the first calibration means 50 has the golf club head 4 with respect to the first measurement point 1402 based on the first detection signal S <b> 1 in a state where the golf club 2 is held by the holding means 20. 3D position data of the center point 410 (FIG. 6) of the face surface 402, which is a predetermined reference point, and orientation data indicating the orientation of the face surface 402 of the golf club head 4 with respect to the first measurement direction 1404. This is obtained as the first calibration data Dc1.
In other words, the three-dimensional position data of the center point 410 of the face surface 402 is data obtained using the first measurement point 1402 as the origin of the three-dimensional coordinates, and the orientation data of the face surface 402 is the first measurement direction 1404. Is obtained as a coordinate axis (Y-axis) of three-dimensional coordinates.
Therefore, based on the first detection signal S1, the three-dimensional position data of the center point 410 of the face surface 402 with respect to the first measurement point 1402, and the data of the orientation of the face surface 402 with respect to the orientation of the first measurement direction 1404 Can be obtained as the first calibration data Dc1.
That is, the first calibration data Dc1 is used to correct the position of the center point 410 of the face surface 402 with respect to the first measurement point 1402 and to correct the orientation (direction) of the face surface 402 with respect to the orientation of the first measurement direction 1404. It is data for performing.
Note that the three-dimensional position data of the first measurement point 1402 is data obtained using the reference position 1202 as the origin of the three-dimensional coordinates, and the direction data of the first measurement direction 1404 is the reference direction 1204 of the three-dimensional coordinates. This is data obtained as a coordinate axis (Y axis).
Here, when the above-described conditions 1) to 4) are satisfied, the first calibration data Dc1 is obtained by correcting the installation position of the golf ball B with respect to the reference position 1202 and the direction of the target line L with respect to the reference direction 1204. It is also data for performing correction.

  The first time-series data generating means 53 includes the three-dimensional position data of the first measurement point 1402 and the reference with respect to the reference position 1202 generated based on the first detection signal S1 in the process of swinging the golf club 2 by the golfer. The first time-series data D1 is generated by correcting the actual measurement data including the orientation data indicating the orientation of the first measurement direction 1404 with respect to the direction 1204 using the first calibration data Dc1.

  As in the first embodiment, the storage unit 56 stores a three-dimensional shape model M that reproduces two golf club heads in a three-dimensional coordinate system.

  The behavior data generation means 58 generates behavior data D3 indicating the behavior of the golf club head 4 based on the first time series data D1 and the three-dimensional shape model M of the golf club 2 head. The behavior data D3 is generated in the same manner as in the first embodiment.

(Operation)
Next, operation | movement of the behavior measuring apparatus 10 is demonstrated with reference to the flowchart of FIG.
The transmitter 12 is fixed in advance at a predetermined position.
First, as shown in FIG. 20, the golf club 2 to be measured is held by the holding means 20 so as to be in the set lie angle and loft angle, and the holding means 20 is 1) to 4) described above. (Step S100: holding step).

Next, in a state where the holding means 20 holds the golf club 2, the measurement system 11 and the personal computer 22 are activated, and the first calibration is executed (step S102: first calibration step).
That is, the first calibration means 50, based on the first detection signal S1 and the second detection signal S2, the three-dimensional position data of the center point 410 of the face surface 402 with respect to the first measurement point 1402 and the first detection signal S2. Orientation data indicating the orientation of the face surface 402 of the golf club head 4 with respect to one measurement direction 1404 is obtained as first calibration data Dc1.

  Next, the holding means 20 is moved from the ball placement position P0 to a position that does not interfere with the swing of the golf club 2.

Next, as shown in FIG. 21, the golf ball B is placed at the ball placement position P 0, and the golfer swings the golf club 2 and strikes the golf ball B toward the cup C.
Then, in this swing process, the first time-series data generating means 53 corrects the actual measurement data generated based on the first detection signal S1 by using the first calibration data Dc1, thereby making the first time. Time-series data D1 is generated (step S104: first time-series data generation step).
That is, by correcting the actual measurement data using the first calibration data Dc1, the first data includes the three-dimensional position data of the center point 410 of the face surface 402 with respect to the transmitter 12 and the orientation data indicating the orientation of the face surface 402. Time series data D2 is generated.
Here, since the first time-series data D1 is corrected with respect to the ball placement position P0 and the target line L by the correction by the first calibration data Dc1, the first time-series data D1 is accurate. It has become a thing.

Next, the behavior data generating means 58 generates behavior data D3 indicating the behavior of the golf club head 2 based on the first time series data D1 and the three-dimensional shape model M of the golf club head read from the storage means 56. (Step S106: Behavior data generation step).
That is, the behavior data generating unit 58 generates a three-dimensional shape model based on time-series data including the three-dimensional position data of the center point 410 of the face surface 402 and the orientation data indicating the orientation of the face surface 402 obtained in step S20. By moving M in the virtual space, behavior data D3 is generated.

Next, the output means 60 outputs the behavior data D3 (step S108: output step).
That is, the output means 60 displays the behavior data D3 as a display screen of the display 44 or prints out the data by the printer 46.
Note that, after the first calibration is performed once for the golf club 2 to be used, the processes in steps S10, S12, S14, and S16 can be omitted, and the processes in and after step S18 may be performed.

  Next, since the display of the behavior data D3 is the same as that of the first embodiment, the description thereof is omitted.

According to the second embodiment, it is needless to say that the same effects as those of the first embodiment can be obtained, and the following effects can be obtained.
1) Since the holding means side three-dimensional magnetic sensor 16 is not required as compared with the first embodiment, only the golf club side three-dimensional magnetic sensor 14 needs to be provided. It is advantageous in planning.
2) Since the holding means side three-dimensional magnetic sensor 16 is not required, an error component caused by an error in the mounting position of the holding means side three-dimensional magnetic sensor 16 can be removed, which is advantageous in improving measurement accuracy. .

In the second embodiment, the positional relationship and direction between the reference position 1202 and the reference direction 1204 of the transmitter 12, the golf ball installation position P0, and the target line L must be fixed.
Therefore, when the behavior measuring apparatus 10 is installed, a plate to which the transmitter 12 is fixed is prepared, and the golf ball installation position P0 and the target line L are displayed on the plate so as to be visible with marks or the like. Measurements can be made on the plate.

  As described in the first embodiment, by using the ball position measuring three-dimensional magnetic sensor, the data of the orientation of the ball installation position P0 and the target line L is acquired as calibration data, and this calibration is performed. The first time series data D1 may be corrected using the data to obtain the second time series data D2, and the behavior data D3 may be calculated from the second time series data.

(Third embodiment)
Next, a third embodiment will be described.
In the first embodiment, the case where the behavior of the golf club head is measured has been described. However, in other sports in which the hitting tool is swung to hit the ball for competition, the hitting tool can be flexed and twisted. For example, it is possible to measure the behavior of the hitting tool on the same principle as in the first embodiment.
Examples of such a hitting tool include a baseball bat or a tennis racket.
In the third embodiment, a behavior measuring device that measures the behavior of a bat will be described.
In the following embodiments, the same or the same parts and members as those of the first embodiment are denoted by the same reference numerals, and the description thereof is omitted or simply performed.

In the third embodiment, as shown in FIG. 24, the behavior of the bat 64 (striking tool) when the player strikes the baseball ball B (game ball) placed on the tee 62 with the bat 64. The case of measuring the will be described.
FIG. 25 is an explanatory diagram showing a configuration of a bat behavior measuring apparatus 10A (hereinafter referred to as a behavior measuring apparatus 10A).
As shown in FIG. 25, the behavior measuring apparatus 10A is installed and used in, for example, a batting center or a sports shop, and the behavior measuring apparatus 10A includes the measuring system 11, the holding unit 66, and a personal computer. 22.

(Measurement system 11)
The measurement system 11 measures time-series data indicating the three-dimensional position and direction (direction) of the bat 64.
In the present embodiment, as in the first embodiment, the measurement system 11 includes a transmitter 12, a striking device side three-dimensional magnetic sensor 14A, a holding means side three-dimensional magnetic sensor 16A, and a controller / data processing device. 18 is comprised.

Similar to the first embodiment, the transmitter 12 is installed at a predetermined position.
As shown in FIG. 31, the transmitter 12, the striking device side three-dimensional magnetic sensor 14A, and the holding means side three-dimensional magnetic sensor 16A are each looped in the directions of three axes (X axis, Y axis, Z axis) orthogonal to each other. It is constituted by three coils wound around.
The configurations of the transmitter 12, the hitting tool side three-dimensional magnetic sensor 14A, and the holding means side three-dimensional magnetic sensor 16A are the same as those of the transmitter 12, the golf club side three-dimensional magnetic sensor 14, and the holding means side three-dimensional magnetism of the first embodiment. Since the configuration of each sensor 16 is the same, detailed description thereof is omitted.
The center position of the transmitter 12 is set as a predetermined reference position 1202, and the Y-axis direction passing through the reference position 1202 is set as a predetermined reference direction 1204.
Further, the impact tool side three-dimensional magnetic sensor 14A has a first measurement point 1402 and a first measurement direction 1404, and the first measurement point 1402 with respect to the reference position 1202 and the first three-dimensional position with respect to the reference direction 1204. The first detection signal S1 is output according to the direction of the measurement direction 1404.
In the present embodiment, the first measurement point 1402 is the center position of the impact tool side three-dimensional magnetic sensor 14A, and the first measurement direction 1404 is the Y-axis direction passing through the first measurement point 1402.
The striking device side three-dimensional magnetic sensor 14A is fixed to the bat 64, and is fixed to the grip portion 6402 of the bat 64 in the present embodiment.
In the present embodiment, the striking instrument side three-dimensional magnetic sensor 14A has the Y axis (first measurement direction 1404) orthogonal to the central axis of the bat 64 (parallel to the striking direction), and the X axis is the bat 64. It is parallel to the central axis.

The holding means side three-dimensional magnetic sensor 16A has a second measurement point 1602 and a second measurement direction 1604, and the Y-axis, which is one of the three axis directions, is directed to the striking direction of the bat 64, and the reference The second detection signal S2 is output according to the three-dimensional position of the second measurement point 1602 with respect to the position 1202 and the direction of the second measurement direction 1604 with respect to the reference direction 1204.
The second measurement point 1602 is the center position of the holding means side three-dimensional magnetic sensor 16 A, and the second measurement direction 1604 is the Y-axis direction passing through the second measurement point 1602.
The holding means side three-dimensional magnetic sensor 16 </ b> A is integrally supported by the holding means 66.
As will be described later, the holding means side three-dimensional magnetic sensor 16A has the Y-axis (second measurement direction 1604) parallel to the striking direction of the bat 64 and the Z-axis oriented in the vertical direction.

(Holding means 66)
The holding means 66 holds the bat 64 so as to have a set posture.
As shown in FIG. 25, the holding unit 66 includes a base 6602, a first support frame 6604, a first support portion 6606, a second support frame 6608, a second support portion 6610, and a positioning plate 6612. It consists of
The base 6602 is placed on the floor surface (horizontal plane).
The first frame 6604 and the second frame 6608 are erected from the base 6602.
The first support portion 6606 is provided at the upper end of the first frame 6604 and supports the middle portion of the bat 64 in the longitudinal direction so as to be detachable and the position and orientation of the bat 64 can be adjusted. In this example, the bat 64 is supported by the first support portion 6606 in an inclined state so that the tip of the bat 64 is positioned below the base end. Various known structures can be used as the first support portion 6606.
The second support portion 6610 is provided at the upper end of the second frame 6608 and supports the striking surface 6404 of the bat 64 from below.

28 shows a state in which the hitting surface 6404 of the bat 64 is applied to the positioning plate 6612 as seen from the A1 direction of FIG. 25, FIG. 29 is a view as seen from the arrow B1 in FIG. FIG.
As shown in FIGS. 28 to 30, the positioning plate 6612 has a rectangular plate shape, and is provided on the second support portion 6610 via an adjustment mechanism (not shown) that adjusts the inclination of the positioning plate 6612.
In the positioning plate 6612, an edge portion 6612A having a sharp cross section is formed on one side so as to extend linearly.
The positioning plate 6612 is adjusted in inclination angle by the adjusting mechanism so that the edge portion 6612A and the central axis of the bat 64 are parallel to each other.
On the upper surface of the positioning plate 6612, a reference line 6614 passing through the center in the extending direction of the edge portion 6612A and orthogonal to the edge portion 6612A is displayed.
A holding means side three-dimensional magnetic sensor 16 </ b> A is provided on the upper surface of the positioning plate 6612.
The holding means side three-dimensional magnetic sensor 16 </ b> A has the second measurement point 1602 positioned on the reference line 2012 and the second measurement direction 1604 coincident (parallel) with the reference line 6614 in a state in plan view.
The first support portion 6606 is configured such that the bat 64 is set in a state where the hitting surface 6404 is applied to the edge portion 6612A so that the edge portion 6612A passes through a predetermined center point 6410 on the hitting surface 6404. Supported by.
In the present embodiment, that the bat 64 is in the set posture means that a player (batter) with a standard physique swings the bat 64 and hits the ball B passing through the approximate center of the strike zone. A state that is in the posture at the time.

In the state where the bat 64 is held by the holding means 66 in this way, the three-dimensional position of the center point 6410 of the ball striking surface 6404 and the direction of a straight line perpendicular to the center axis of the bat 64 and passing through the center point 6410 are shown. The orientation of the bat 64 and the orientation of the second measurement point 1602 and the second measurement direction 1604 of the holding means side three-dimensional magnetic sensor 16A have a known relationship.
Therefore, the three-dimensional position of the center point 6410 of the ball striking surface 6404 and the direction of the bat 64 can be obtained from the directions of the second measurement point 1602 and the second measurement direction 1604.

(Details of measurement system 11)
The measurement system 11 will be described in more detail.
As shown in FIG. 31, the controller / data processing apparatus 18 includes a drive circuit 18A, a detection circuit 18B, and a computer 18C, as in the first embodiment.
The drive circuit 18 </ b> A generates a drive signal for causing the transmitter 12 to sequentially generate predetermined three types of magnetic fields, and supplies the drive signal to the transmitter 12.
The detection circuit 18B detects the first detection signal S1 supplied from the striking tool side three-dimensional magnetic sensor 14A and the second detection signal S2 supplied from the holding means side three-dimensional magnetic sensor 16A. .

The computer 18C implements the following functions by executing data processing software.
That is, the computer 18C controls the drive circuit 18A and the detection circuit 18B, performs data processing from the output voltage obtained from the detection circuit 18B, and positions and orientations of the striking instrument side three-dimensional magnetic sensor 14A and holding means. Data indicating the position and orientation of the side three-dimensional magnetic sensor 16A is generated.
As described above, the computer 18C calculates the time-series data of the three-dimensional position coordinates (x, y, z) based on the three axes X, Y, Z orthogonal to each other with the position of the transmitter 12 as the reference position 1202. And output.
Further, as described above, the computer 18C sets the Y-axis direction centering on the transmitter 12 as the reference direction 1204, and time-series data of the posture angles θy, θp, and θr representing the orientations of the magnetic sensors 14 and 16 with respect to the reference direction 1204. Is calculated and output.
Therefore, the time-series data of the three-dimensional position coordinates (x, y, z) is data indicating the positions of the magnetic sensors 14 and 16, and the time-series data of the yaw angle θy, the pitch angle θp, and the roll angle θr is the magnetic sensor 14. , 16 data indicating the direction of 16.

  Three-dimensional position coordinates (x, y, z) with respect to the reference position 1202 of the first measurement point 1402 of the impact tool side three-dimensional magnetic sensor 14A by the computer 18C, and the attitude angle of the first measurement direction 1404 with respect to the reference direction 1204 The generation of time series data of (θy, θp, θr) is performed in the same manner as in the first embodiment.

  The three-dimensional position coordinates (x, y, z) and posture angles (θy, θp, θr) obtained by the measurement system 11 are taken into the personal computer 22 and AD-converted, and the grip portion 6402 of the bat 64 is swinging. The time series data of the behavior of can be obtained.

  Note that the three-dimensional position coordinates (x, y, z) of the second measuring point 1602 with respect to the reference direction position 1202 of the holding means side three-dimensional magnetic sensor 16A and the attitude angle of the second measuring direction 1604 with respect to the reference direction 1204 ( The generation of data of [theta] y, [theta] p, [theta] r) is basically the same as in the case of the impact tool side three-dimensional magnetic sensor 14A, and thus the description thereof is omitted.

As described above, the transmitter 12, the striking instrument side three-dimensional magnetic sensor 14A, and the holding means side three-dimensional magnetic sensor 16A are arranged so that the coil loops in the three-axis directions orthogonal to each other as shown in FIG. It is wound into a shape.
Accordingly, the three-axis directions of the transmitter 12 and the magnetic sensors 14 and 16 are matched as much as possible to detect the three-dimensional position coordinates (x, y, z) and the posture angle (θy) detected by the magnetic sensors 14 and 16, respectively. , Θp, θr) is preferable in reducing the load when the personal computer 22 described later performs the processing.
From such a viewpoint, the striking instrument side three-dimensional magnetic sensor 14A is set so that one axis (X axis) in the three axis directions is coincident with the central axis of the bat 64, and another axis (Y axis). ) Is preferably fixed to the grip portion 6402 of the bat 64 in the striking direction of the bat 64. Also, the holding means side three-dimensional magnetic sensor 16A has one of the three axis directions (Y axis) as the bat 64. It is preferable to support the holding means 66 in the striking direction.
In the present embodiment, the transmitter 12 has the X axis and the Y axis extending in the horizontal plane, and the Z axis extending in the vertical direction.

(Personal computer 22)
Next, the personal computer 22 will be described.
The personal computer 22 generates behavior data indicating the behavior of the bat 64 based on the time series data supplied from the measurement system 11.

FIG. 32 is a block diagram showing the configuration of the personal computer 22.
FIG. 32 shows that the striking instrument side three-dimensional magnetic sensor 14A and the holding means side three-dimensional magnetic sensor 16A are provided in the measuring system 11, and a dedicated program for the hard disk device 36 to measure the behavior of the bat 64. Is the same as that of the first embodiment (FIG. 8) except that it is stored, and detailed description thereof is omitted.

(Function of the behavior measuring apparatus 10A)
FIG. 33 is a functional block diagram of the behavior measuring apparatus 10A.
Similar to the first embodiment, the behavior measuring apparatus 10A includes a first calibration unit 50, a second calibration unit 52, a first time series data generation unit 53, a second time series data generation unit 54, The storage unit 56, behavior data generation unit 58, output unit 60, and the like are included.

First, the positional relationship between the transmitter 12, the bat 64, and the ball B will be described.
As shown in FIG. 27, the transmitter 12 is installed at a predetermined position. Specifically, the transmitter 12 is fixedly arranged behind the player swinging the bat 64.
On the floor G, a tee 62 is installed, and a ball B is placed on the upper end of the tee 62.
On the floor surface G, the ball placement position P0 is displayed by a mark or the like. A tee 62 is placed on the ball placement position P0, and the ball B is placed on the upper end of the tee 62.
Therefore, when viewed in plan, the center point P1 of the ball B coincides with the ball placement position P0.
Further, a mark (not shown) as a target for launching the ball B is provided in front of the tee 62.
The player swings the bat 64 to strike the ball B placed on the tee 62 toward the target by the striking surface 6404 of the bat 64.
In this case, a straight line connecting the center point P1 of the ball B placed on the tee 62 and the target is the target line L.
When the player swings the bat 64, a sufficient interval is secured between the transmitter 12 and the tee 62 (ball placement position P0) so that the transmitter 12 does not interfere with the player or the bat 64.

As shown in FIG. 25, the first calibration unit 50 performs the first measurement based on the first detection signal S1 and the second detection signal S2 while the bat 64 is held by the holding unit 66. Three-dimensional position data of the center point 6410 (FIG. 30) of the hitting surface 6404, which is a predetermined reference point of the bat 64 with respect to the point 1402, and orientation data indicating the orientation of the bat 64 of the bat 64 with respect to the first measurement direction 1404. Are obtained as the first calibration data Dc1.
In other words, the three-dimensional position data of the center point 6410 of the ball striking surface 6404 is data obtained using the first measurement point 1402 as the origin of the three-dimensional coordinates, and the orientation data of the bat 64 is the first measurement direction 1404. This is data obtained as a coordinate axis (Y-axis) of three-dimensional coordinates.
That is, based on the first detection signal S 1 and the second detection signal S 2, the three-dimensional position data of the second measurement point 1602 with respect to the first measurement point 1402 and the first measurement direction 1404 relative to the first measurement direction 1404. Data of two measurement directions 1604 are obtained.
Here, as described above, the three-dimensional position of the center point 6410 of the ball striking surface 6404 and the direction of the bat 64 are obtained from the directions of the second measurement point 1602 and the second measurement direction 1604.
Therefore, based on the first detection signal S1 and the second detection signal S2, the three-dimensional position data of the center point 6410 of the ball striking face 6404 with respect to the first measurement point 1402 and the direction of the first measurement direction 1404 The orientation data of the bat 64 can be obtained as the first calibration data Dc1.
That is, the first calibration data Dc1 includes the correction of the position of the center point 6410 of the ball striking surface 6404 with respect to the first measurement point 1402, and the correction of the direction (direction) of the bat 64 with respect to the direction of the first measurement direction 1404. It is data for performing.

As shown in FIGS. 28 and 29, the second calibration means 52 is a ball in which the second measurement point 1602 is located on the ball placement position P0 (placed on the tee 62) in a plan view. In the state where the holding means 66 is positioned on the floor surface so as to match the center point P1 of B and the direction of the second measurement direction 1604 matches the direction of the target line L, the second detection signal Based on S2, the three-dimensional position data of the second measurement point 1602 with respect to the reference position 1202 and the orientation data indicating the direction of the second measurement direction 1604 with respect to the reference direction 1204 are obtained as the second calibration data Dc2. It is.
In other words, the three-dimensional position data of the second measurement point 1602 is data obtained using the reference position 1202 as the origin of the three-dimensional coordinates, and the direction data of the second measurement direction 1604 is the reference direction 1204 of the three-dimensional coordinates. Is obtained as the coordinate axis (Y-axis).
That is, the second calibration data Dc2 is data for correcting the setting position of the ball B (game ball setting position) with respect to the reference position 1202 and correcting the direction of the target line L with respect to the reference direction 1204. .

  The first time-series data generating means 53 includes the three-dimensional position data of the first measurement point 1402 and the reference direction with respect to the reference position 1202 generated based on the first detection signal S1 in the process of swinging the bat 64 by the player. The first time series data D1 is generated by correcting the actual measurement data including the orientation data indicating the orientation of the first measurement direction 1404 with respect to 1204 using the first calibration data Dc1.

  The second time series data generation means 54 generates the second time series data D2 by correcting the first time series data D1 using the second calibration data Dc2.

The storage means 56 stores a three-dimensional shape model M reproducing the bat 64 in a three-dimensional coordinate system.
In other words, the storage means 56 stores the three-dimensional shape model M in association with the three-dimensional position of the center point 6410 of the hitting surface 6404 and the orientation of the bat 64.
In the present embodiment, the storage unit 56 is configured by the hard disk device 36 or the RAM 34 of the personal computer 22.

The behavior data generation means 58 generates behavior data D3 indicating the behavior of the bat 64 based on the second time series data D2 and the three-dimensional shape model M of the bat 64 head.
In the present embodiment, the behavior data generation means 58 includes a calculation unit 58A that calculates time series data of the position and orientation of the three-dimensional shape model M, and an analysis unit 58B that calculates the behavior data D3 from the time series data. It is configured.

Here, the behavior data D3 will be further described.
In the present embodiment, the behavior data D3 includes the following data.
(1) Movement locus data as time series data indicating the movement locus of the bat 64:
The movement trajectory data is indicated by the movement trajectory of the center point 6410 of the ball striking face 6404, or by animation data indicating the outer shape of the bat 64.

(2) Hit point position data indicating the location where the hitting surface 6404 hits the ball B:
Here, the hit point position data is generated by the behavior data generating unit 58 based on the second time-series data D2, the three-dimensional shape model M, and the diameter of the ball B registered in the storage unit 56 in advance. The

(Operation)
Next, the operation of the behavior measuring apparatus 10A will be described with reference to the flowchart of FIG.
The transmitter 12 is fixed in advance at a predetermined position.
First, as shown in FIG. 25 and FIG. 28 to FIG. 30, the bat 64 to be measured is held by the holding means 66 so as to be in the set posture (step S30: holding step).

Next, in a state where the holding means 66 holds the bat 64 at an appropriate place, the measurement system 11 and the personal computer 22 are activated and the first calibration is executed (step S32: first calibration step).
That is, the first calibration means 50, based on the first detection signal S1 and the second detection signal S2, the three-dimensional position data of the center point 6410 of the ball striking surface 6404 with respect to the first measurement point 1402, and the first The orientation data indicating the orientation of the bat 64 with respect to one measurement direction 1404 is obtained as the first calibration data Dc1.

Next, as shown in FIG. 26, after removing the bat 64 from the holding means 66, the holding means 66 is positioned with respect to the ball placement position P0 and the target line L and placed on the floor G (step S34). : Holding means positioning step).
That is, as shown in FIG. 28 and FIG. 29, the second measurement point 1602 of the holding means side three-dimensional magnetic sensor 16A is aligned with the center point P1 of the ball B located at the ball mounting position P0 in a plan view. In addition, the holding unit 66 is positioned so that the second measurement direction 1604 matches the target line L.
In step S <b> 34, the holding means 66 that has been positioned in the vicinity of the transmitter 12 in step S <b> 30 is moved to the ball mounting position P <b> 0 that is separated from the transmitter 12.

Next, based on the second detection signal S 2, the second calibration unit 52 determines the three-dimensional position data of the second measurement point 1602 with respect to the reference position 1202 and the second measurement direction 1604 with respect to the reference direction 1204. Orientation data indicating the orientation is obtained as second calibration data Dc2 (step S36: second calibration step).
That is, the second calibration data Dc2 is obtained when the holding means 66 is moved to the ball placement position P0 (the second measurement point 1602 matches the ball placement position P0 and the second measurement direction 1604 is The three-dimensional position and direction with respect to the transmitter 12 of the holding means side three-dimensional magnetic sensor 16A (in a state of matching with the target line L) are shown.
When step S36 is completed, the holding means 66 is moved from the ball mounting position P0 to a position that does not interfere with the swing of the bat 64.

Next, as shown in FIG. 27, the ball B is placed on the tee 62, and the player swings the bat 64 and strikes the ball B toward the target.
Then, in this swing process, the first time-series data generating means 53 corrects the actual measurement data generated based on the first detection signal S1 by using the first calibration data Dc1, thereby making the first time. Time-series data D1 is generated (step S38: first time-series data generation step).
In other words, by correcting the actual measurement data using the first calibration data Dc1, the first time includes the three-dimensional position data of the center point 6410 of the hitting surface 6404 with respect to the transmitter 12 and the orientation data indicating the orientation of the bat 64. Series data D2 is generated.
However, since the first time series data D1 is not corrected for the ball placement position P0 and the target line L, the first time series data D1 is not yet accurate.

Next, the second time-series data generating unit 54 generates the second time-series data D2 by correcting the first time-series data D1 using the second calibration data Dc2 (step S40: Second time series data generation step).
That is, by correcting the first time series data D1 using the second calibration data Dc2, the accurate second time series data D2 corrected for the ball placement position P0 and the target line L is obtained. can get.

Next, the behavior data generating means 58 generates behavior data D3 indicating the behavior of the bat 64 based on the second time-series data D2 and the three-dimensional shape model M of the bat 64 read from the storage means 56 (step). S42: Behavior data generation step).
That is, the behavior data generation means 58 is based on the time-series data composed of the three-dimensional position data of the center point 6410 of the hitting surface 6404 obtained in step S30 and the orientation data indicating the direction of the bat 64. Is moved in the virtual space to generate behavior data D3.

Next, the output means 60 outputs the behavior data D3 (step S44: output step).
That is, the output means 60 displays the behavior data D3 as a display screen of the display 44 or prints out the data by the printer 46.
Note that after the first and second calibrations are performed once on the bat 64 to be used, the processes of steps S30, S32, S34, and S36 can be omitted, and the processes after step S38 may be performed.
Further, when the ball placement position P0 or the target line L is changed, the processes of steps S30 and S32 are omitted, and only S14 and subsequent steps need be performed.

About the display screen of the display 44 which shows the behavior data D3, it is the same as that of 1st Embodiment, For example, it illustrates as follows.
(1) The hit point position of the hitting surface 6404 is displayed as a mark.
(2) The movement locus in the vertical direction of the center point 6410 of the hitting surface 6404 is shown.
(3) The movement locus in the left-right direction of the center point 6410 of the hitting surface 6404 is shown.
(4) The movement trajectory of the bat 64 is shown by displaying a plurality of images of the perspective view of the bat 64 in an overlapping manner.
(5) By displaying the images of the perspective view of the bat 64 one by one over time, the movement trajectory of the bat 64 is displayed as an animation image.

As described above, also in the third embodiment, as in the first embodiment, an imaging device such as a camera becomes unnecessary, and it is not necessary to secure an imaging space. Therefore, the configuration is simplified and the space is saved. This is advantageous in accurately measuring the behavior of the bat 64 while reducing the cost and cost.
In addition, the measurement range of the bat 64 can be secured wider than the conventional technique using image data, and measurement can be performed over the entire swing.

Also, the first calibration data Dc1 is obtained based on the first detection signal S1 of the striking tool side three-dimensional magnetic sensor 14A and the second detection signal S2 of the holding means side three-dimensional magnetic sensor 16A. . Therefore, it is advantageous in securing the degree of freedom in changing the installation layout of the bat 64, the transmitter 12, and the holding means 66, so that the behavior of the bat 64 can be easily measured when the installation location is moved. In addition, it can be easily installed even in a place that is subject to layout restrictions such as an actual batting center.
Further, since the striking instrument side three-dimensional magnetic sensor 14A and the holding means side three-dimensional magnetic sensor 16A can be positioned in the vicinity of the transmitter 12, the first calibration data Dc1 can be obtained with high accuracy. This is advantageous in increasing the accuracy of the behavior data D3.

In the third embodiment, the case where the second calibration data Dc2 is obtained using the holding means side three-dimensional magnetic sensor 16A has been described.
However, a ball position measuring three-dimensional magnetic sensor may be provided separately from the holding means side three-dimensional magnetic sensor 16A, and the second calibration data Dc2 may be obtained using the ball position measuring three-dimensional magnetic sensor.
That is, the ball position measuring three-dimensional magnetic sensor has a third measuring point and a third measuring direction, and senses magnetism around the third measuring point in three axial directions orthogonal to each other, A third detection signal is output according to the three-dimensional position of the second measurement point with respect to the reference position and the direction of the third measurement direction with respect to the reference direction.
In a plan view, the third measurement point coincides with a predetermined ball installation position P0, and the direction of the third measurement direction is a target line connecting the ball installation position P0 and the target point of the ball. The ball position measuring three-dimensional magnetic sensor is positioned so as to match the direction of L.
In this state, the second calibration unit 52 indicates the three-dimensional position data of the third measurement point with respect to the reference position 1202 and the direction of the third measurement direction with respect to the reference direction 1204 based on the third detection signal. The orientation data is acquired as the second calibration data Dc2.
As described above, the ball position measuring three-dimensional magnetic sensor may be provided separately from the holding means side three-dimensional magnetic sensor 16A. However, as in the present embodiment, the holding means side three-dimensional magnetic sensor 16A is used. In other words, if the second calibration data Dc2 is obtained, in other words, if the above-described three-dimensional magnetic sensor for ball position measurement is also used by the holding means side three-dimensional magnetic sensor 16A, the structure can be simplified and the cost can be reduced. It will be advantageous.

In the third embodiment, the striking instrument side three-dimensional magnetic sensor 14A is provided in the grip portion 6402 of the bat 64. However, the striking instrument side three-dimensional magnetic sensor 14A may be provided in another location of the bat 64. .
However, if the hitting tool side three-dimensional magnetic sensor 14A is provided in the grip portion 6402 as in the present embodiment, the hitting tool side three-dimensional magnetic sensor 14A is not conspicuous, and it is difficult to interfere with the swinging. It becomes advantageous in raising.

  In the third embodiment, the case where the striking tool is the bat 64 has been described. However, the present invention can be widely applied to striking tools in other ball games as long as the striking tool can ignore deflection and torsion.

  2 ... Golf club, 3 ... Grip part, 4 ... Golf club head, 402 ... Face surface, 6 ... Shaft, 602 ... Shaft axis, 10 ... Golf club head behavior measuring device, 11 ... Measurement system, 12 ... Transmitter, 1202 ... Reference position, 1204 ... Reference direction, 14 ... Golf club side three-dimensional magnetic sensor, 1402 ... First measurement point, 1404 ... First measurement direction, 16 ... 3D magnetic sensor on holding means side, 1602 ... 2nd measurement point, 1604 ... 2nd measurement direction, 18 ... controller / data processing device, 20 ... holding means, 22 ... personal computer, 50 ... First calibration means 52. Second calibration means 53. First time series data generation means 54. Second time series data generation Stage 56... Storage means 58... Behavior data generation means 60... Output means S 1... First detection signal S 2... Second detection signal Dc 1. Dc2: second calibration data, D1: first time series data, D2: second time series data, D3: behavior data, M: three-dimensional shape model, 10A: impact tool Behavior measuring device, 62... Tee, 64... Impact tool, 6402 .. grip part, 6404 .. hitting surface, 14A .. bat side three-dimensional magnetic sensor, 16A. ... holding means.

Claims (31)

A golf club head behavior measuring device for measuring a behavior of a golf club head of the golf club when a golfer swings a golf club,
A transmitter installed at a predetermined location and generating a magnetic field with a known distribution of strength and direction;
The golf club is fixed to the golf club, has a first measurement point and a first measurement direction, senses magnetism around the first measurement point in three axial directions orthogonal to each other, and has a predetermined reference position A golf club side three-dimensional magnetic sensor that outputs a first detection signal in accordance with a three-dimensional position of the first measurement point with respect to and a direction of the first measurement direction with respect to a predetermined reference direction;
Storage means in which a three-dimensional shape model reproducing the golf club head is stored in a three-dimensional coordinate system;
Holding means for holding the golf club so as to meet the set lie angle and loft angle;
In a state where the golf club is held by the holding means, three-dimensional position data of a predetermined reference point of the golf club head with respect to the first measurement point, and the golf club head with respect to the first measurement direction First calibration means for acquiring orientation data indicating the orientation of the face surface of the face as first calibration data;
Three-dimensional position data of the first measurement point with respect to the reference position generated based on the first detection signal in the process of swinging the golf club by a golfer, and an orientation of the first measurement direction with respect to the reference direction First time-series data generating means for generating first time-series data by correcting measured data composed of orientation data indicating the first time-series data by using the first calibration data;
The first time-series data includes a three-dimensional position indicating a golf ball installation position where the golf ball is installed with respect to the reference position, the golf ball installation position with respect to the reference direction, and a target point for hitting the golf ball. Second time-series data generating means for generating second time-series data by correcting using second calibration data indicating the direction of the target line to be connected;
Behavior data generating means for generating behavior data indicating the behavior of the golf club head based on the second time-series data and the three-dimensional shape model of the golf club head;
A golf club head behavior measuring device comprising: The unit is supported integrally with the holding means, has a second measurement point and a second measurement direction, and senses magnetism around the second measurement point in three axial directions orthogonal to each other, and the reference position A holding means side three-dimensional magnetic sensor that outputs a second detection signal according to a three-dimensional position of the second measurement point with respect to the reference direction and an orientation of the second measurement direction with respect to the reference direction;
Acquisition of the first calibration data by the first calibration means is made based on the first detection signal and the second detection signal.
The golf club head behavior measuring device according to claim 1. The golf club side three-dimensional magnetic sensor and the holding means side three-dimensional magnetic sensor have one of the three axial directions oriented in the direction of hitting the golf club.
3. The golf club head behavior measuring device according to claim 2, wherein In a plan view, the second measurement point coincides with a predetermined ball installation position, and the direction of the second measurement direction connects the ball installation position and the target point of the golf ball. 3D position data of the second measurement point with respect to the reference position based on the second detection signal with the holding means side 3D magnetic sensor positioned so as to match the orientation of Further comprising second calibration means for obtaining orientation data indicating the orientation of the second measurement direction with respect to the reference direction as the second calibration data.
3. The golf club head behavior measuring device according to claim 2, wherein The holding means side three-dimensional magnetic sensor has one of the three axial directions parallel to a target line connecting the ball installation position and the target point of the golf ball.
The golf club head behavior measuring device according to claim 4. A third measuring point having a third measuring point and a third measuring direction, wherein the magnetism around the third measuring point is sensed in three orthogonal directions perpendicular to each other, and the third dimension of the second measuring point with respect to the reference position; A ball position measuring three-dimensional magnetic sensor that outputs a third detection signal according to a position and an orientation of the third measuring direction with respect to the reference direction;
In a plan view, the third measurement point matches a predetermined ball installation position, and the direction of the third measurement direction connects the ball installation position and the target point of the golf ball. 3D position data of the third measurement point with respect to the reference position based on the third detection signal in a state where the ball position measurement 3D magnetic sensor is positioned so as to match the direction of And second calibration means for obtaining orientation data indicating the orientation of the third measurement direction with respect to the reference direction as the second calibration data,
The golf club head behavior measuring device according to claim 1. A golf club head behavior measuring device for measuring a behavior of a golf club head of the golf club when a golfer swings a golf club,
A transmitter installed at a predetermined location and generating a magnetic field with a known distribution of strength and direction;
The golf club is fixed to the golf club, has a first measurement point and a first measurement direction, senses magnetism around the first measurement point in three axial directions orthogonal to each other, and has a predetermined reference position A golf club side three-dimensional magnetic sensor that outputs a first detection signal in accordance with a three-dimensional position of the first measurement point with respect to and a direction of the first measurement direction with respect to a predetermined reference direction;
Storage means in which a three-dimensional shape model reproducing the golf club head is stored in a three-dimensional coordinate system;
Holding means for holding the golf club so as to meet the set lie angle and loft angle;
In a state where the golf club is held by the holding means, three-dimensional position data of a predetermined reference point of the golf club head with respect to the first measurement point, and the golf club head with respect to the first measurement direction First calibration means for acquiring orientation data indicating the orientation of the face surface of the face as first calibration data;
Three-dimensional position data of the first measurement point with respect to the reference position generated based on the first detection signal in the process of swinging the golf club by a golfer, and an orientation of the first measurement direction with respect to the reference direction First time-series data generating means for generating first time-series data by correcting measured data composed of orientation data indicating the first time-series data by using the first calibration data;
Behavior data generating means for generating behavior data indicating the behavior of the golf club head based on the first time-series data and the three-dimensional shape model of the golf club head;
The reference position and the reference direction are determined by the transmitter;
The golf club is held by the holding means.
Golf in which the reference point matches a predetermined position with respect to the reference position, the face surface is oriented in a predetermined direction with respect to the reference direction, and the golf ball is installed The reference point coincides with a predetermined position with respect to the ball installation position, and the direction of the target line connecting the golf ball installation position with respect to the reference direction and the target point hitting the golf ball is The face surface is oriented in a predetermined direction,
A golf club head behavior measuring device characterized by the above. The golf club side three-dimensional magnetic sensor is fixed to a grip portion of the golf club.
The golf club head behavior measuring device according to claim 1 or 7, wherein The behavior data includes a left and right approach angle formed by the movement locus and the target line on the horizontal plane when the movement locus of the center point of the face surface and the target line are projected onto the horizontal plane.
The golf club head behavior measuring device according to claim 1 or 7, wherein The behavior data includes an upper and lower direction formed by the movement trajectory and the target line on the vertical plane when the movement trajectory of the center point of the face surface and the target line are projected onto a vertical plane parallel to the target line. Including the approach angle,
The golf club head behavior measuring device according to claim 1 or 7, wherein The behavior data includes orientation data indicating the orientation of the golf club head immediately before the face surface hits the golf ball,
The orientation data is
When a normal line passing through the center point of the face surface and the target line are projected onto the horizontal plane, a face angle at the time of hitting between the normal line and the target line on the horizontal plane;
The golf club head behavior measuring device according to claim 1 or 7, wherein The behavior data includes orientation data indicating the orientation of the golf club head immediately before the face surface hits the golf ball,
The orientation data is
The lie angle at the time of impact formed by the shaft axis and a vertical line intersecting the shaft axis,
The golf club head behavior measuring device according to claim 1 or 7, wherein The behavior data includes orientation data indicating the orientation of the golf club head immediately before the face surface hits the golf ball,
The orientation data is an impact loft angle formed by a normal passing through the center point of the face surface and a plane parallel to a horizontal plane intersecting the normal.
The behavior data generating means generates the hitting loft angle based on the second time-series data and a loft angle of the golf club head registered in advance.
The golf club head behavior measuring device according to claim 1. The behavior data includes orientation data indicating the orientation of the golf club head immediately before the face surface hits the golf ball,
The orientation data is an impact loft angle formed by a normal passing through the center point of the face surface and a plane parallel to a horizontal plane intersecting the normal.
The behavior data generating means generates the hitting loft angle based on the first time series data and a loft angle of the golf club head registered in advance.
The golf club head behavior measuring device according to claim 7. The behavior data includes movement locus data indicating a movement locus of the golf club head.
The golf club head behavior measuring device according to claim 1 or 7, wherein The behavior data includes hit point position data indicating a location where the face surface hits the golf ball,
The behavior data generation means generates the hit point position data based on the second time-series data, the three-dimensional shape model, and the diameter of the golf ball registered in advance.
The golf club head behavior measuring device according to claim 1. The behavior data includes hit point position data indicating a location where the face surface hits the golf ball,
The behavior data generating means generates the hit point data based on the first time-series data, the three-dimensional shape model, and the diameter of the golf ball registered in advance.
The golf club head behavior measuring device according to claim 7. An output means for outputting the behavior data;
The output means includes the behavior data when the behavior data includes at least one of the left and right approach angles, the up and down approach angles, the striking face angle, the striking lie angle, and the striking loft angle. 15. The numerical values of the left / right approach angle, the up / down approach angle, the striking face angle, the striking lie angle, and the striking loft angle are displayed on a display screen or printed out. 4. The golf club head behavior measuring device according to any one of the above. An output means for outputting the behavior data;
16. The golf club according to claim 15, wherein when the behavior data includes the movement trajectory data, the output means displays a vertical movement trajectory of the center point of the face surface of the golf club head. Head behavior measurement device. An output means for outputting the behavior data;
16. The golf club according to claim 15, wherein when the behavior data includes the movement locus data, the output means displays a movement locus in the left-right direction of the center point of the face surface of the golf club head. Head behavior measurement device. An output means for outputting the behavior data;
16. The golf club head behavior according to claim 15, wherein when the behavior data includes the movement trajectory data, the output means displays a plurality of animation data indicating the outer shape of the golf club head in a superimposed manner. Measuring device. An output means for outputting the behavior data;
The output means displays a mark indicating the hit point position on an image showing the face surface of the golf club head when the behavior data includes the hit point position data. 17. A golf club head behavior measuring device according to claim 17. A golf club head behavior measuring method for measuring a behavior of a golf club head of the golf club when a golfer swings a golf club,
A transmitter installed at a predetermined location and generating a magnetic field with a known distribution of strength and direction;
The golf club is fixed to the golf club, has a first measurement point and a first measurement direction, senses magnetism around the first measurement point in three axial directions orthogonal to each other, and has a predetermined reference position A golf club side three-dimensional magnetic sensor that outputs a first detection signal in accordance with a three-dimensional position of the first measurement point with respect to and a direction of the first measurement direction with respect to a predetermined reference direction;
Storage means in which a three-dimensional shape model reproducing the golf club head is stored in a three-dimensional coordinate system;
Holding means for holding the golf club so as to be in accordance with the set lie angle and loft angle,
In a state where the golf club is held by the holding means, three-dimensional position data of a predetermined reference point of the golf club head with respect to the first measurement point, and the golf club head with respect to the first measurement direction A first calibration step of obtaining orientation data indicating the orientation of the face surface as first calibration data;
Three-dimensional position data of the first measurement point with respect to the reference position generated based on the first detection signal in the process of swinging the golf club by a golfer, and the orientation of the first measurement direction with respect to the reference direction A first time-series data generating step for generating first time-series data by correcting measured data consisting of orientation data indicating the first time-series data by using the first calibration data;
The first time series data includes a three-dimensional position indicating a golf ball installation position where the golf ball is installed with respect to the reference position, the golf ball installation position with respect to the reference direction, and a target point for hitting the golf ball A second time-series data generation step of generating second time-series data by correcting using the second calibration data indicating the direction of the target line to be connected;
A behavior data generating step for generating behavior data indicating the behavior of the golf club head based on the second time-series data and a three-dimensional shape model of the golf club head;
A method for measuring the behavior of a golf club head, comprising: A golf club head behavior measuring method for measuring a behavior of a golf club head of the golf club when a golfer swings a golf club,
A transmitter installed at a predetermined location and generating a magnetic field with a known distribution of strength and direction;
The golf club is fixed to the golf club, has a first measurement point and a first measurement direction, senses magnetism around the first measurement point in three axial directions orthogonal to each other, and has a predetermined reference position A golf club side three-dimensional magnetic sensor that outputs a first detection signal in accordance with a three-dimensional position of the first measurement point with respect to and a direction of the first measurement direction with respect to a predetermined reference direction;
Storage means in which a three-dimensional shape model reproducing the golf club head is stored in a three-dimensional coordinate system;
Holding means for holding the golf club so as to be in accordance with the set lie angle and loft angle,
In a state where the golf club is held by the holding means, three-dimensional position data of a predetermined reference point of the golf club head with respect to the first measurement point, and the golf club head with respect to the first measurement direction A first calibration step of obtaining orientation data indicating the orientation of the face surface as first calibration data;
Three-dimensional position data of the first measurement point with respect to the reference position generated based on the first detection signal in the process of swinging the golf club by a golfer, and the orientation of the first measurement direction with respect to the reference direction A first time-series data generating step for generating first time-series data by correcting measured data consisting of orientation data indicating the first time-series data by using the first calibration data;
A behavior data generating step for generating behavior data indicating the behavior of the golf club head based on the first time-series data and a three-dimensional shape model of the golf club head;
The reference position and the reference direction are determined by the transmitter;
The golf club is held by the holding means.
Golf in which the reference point matches a predetermined position with respect to the reference position, the face surface is oriented in a predetermined direction with respect to the reference direction, and the golf ball is installed The reference point coincides with a predetermined position with respect to the ball installation position, and the direction of the target line connecting the golf ball installation position with respect to the reference direction and the target point hitting the golf ball is The face surface is oriented in a predetermined direction,
A method for measuring the behavior of a golf club head. A striking instrument behavior measuring device for measuring the behavior of the striking instrument when a player swings a striking instrument that strikes a competition ball,
A transmitter installed at a predetermined location and generating a magnetic field with a known distribution of strength and direction;
A fixed reference position that is fixed to the striking tool, has a first measurement point and a first measurement direction, and senses magnetism around the first measurement point in three axial directions orthogonal to each other. A striking instrument side three-dimensional magnetic sensor that outputs a first detection signal in accordance with a three-dimensional position of the first measurement point with respect to and a direction of the first measurement direction with respect to a predetermined reference direction;
In a three-dimensional coordinate system, storage means for storing a three-dimensional shape model that reproduces the impact tool;
Holding means for holding the hitting tool in a set position and orientation;
In a state where the hitting tool is held by the holding means, three-dimensional position data of a predetermined reference point of the hitting tool with respect to the first measurement point, and the direction of the hitting tool with respect to the first measurement direction First calibration means for acquiring orientation data indicating the first calibration data;
The three-dimensional position data of the first measurement point with respect to the reference position generated based on the first detection signal in the process of swinging the hitting tool by the player and the direction of the first measurement direction with respect to the reference direction First time-series data generating means for generating first time-series data by correcting measured data composed of orientation data indicating the first time-series data by using the first calibration data;
The first time-series data is hit with a three-dimensional position indicating a game ball installation position where the game ball is installed with respect to the reference position, and with the game ball installation position and the game ball with respect to the reference direction. Second time series data generating means for generating second time series data by correcting using the second calibration data indicating the direction of the target line connecting the target points;
Behavior data generating means for generating behavior data indicating the behavior of the hitting tool based on the second time-series data and a three-dimensional shape model of the hitting tool;
A striking instrument behavior measuring device comprising: The unit is supported integrally with the holding means, has a second measurement point and a second measurement direction, and senses magnetism around the second measurement point in three axial directions orthogonal to each other, and the reference position A holding means side three-dimensional magnetic sensor that outputs a second detection signal according to a three-dimensional position of the second measurement point with respect to the reference direction and an orientation of the second measurement direction with respect to the reference direction;
Acquisition of the first calibration data by the first calibration means is made based on the first detection signal and the second detection signal.
26. The device for measuring a behavior of an impact tool according to claim 25. The striking tool side three-dimensional magnetic sensor and the holding means side three-dimensional magnetic sensor have one of the three axial directions oriented in the striking direction of the striking tool.
The striking tool behavior measuring device according to claim 26. In a plan view, the second measurement point coincides with a predetermined game ball installation position, and the direction of the second measurement direction is the competition ball installation position and the target point of the game ball. 3 of the second measurement point relative to the reference position based on the second detection signal in a state where the holding means side three-dimensional magnetic sensor is positioned so as to match the direction of the target line connecting A second calibration means for acquiring dimension position data and orientation data indicating the orientation of the second measurement direction with respect to the reference direction as the second calibration data;
The striking tool behavior measuring device according to claim 26. The holding means side three-dimensional magnetic sensor has one of the three axis directions parallel to a target line connecting the game ball ball installation position and the target point of the game ball,
The device for measuring a behavior of a striking tool according to claim 28. A third measuring point having a third measuring point and a third measuring direction, wherein the magnetism around the third measuring point is sensed in three orthogonal directions perpendicular to each other, and the third dimension of the second measuring point with respect to the reference position; A game ball position measuring three-dimensional magnetic sensor that outputs a third detection signal according to the position and the direction of the third measuring direction with respect to the reference direction;
In a plan view, the third measurement point coincides with a predetermined game ball installation position, and the direction of the third measurement direction is the competition ball installation position and the target point of the game ball. The third measurement with respect to the reference position based on the third detection signal in a state where the game ball position measuring three-dimensional magnetic sensor is positioned so as to match the direction of the target line connecting A second calibration means for acquiring, as the second calibration data, three-dimensional position data of the point and direction data indicating the direction of the third measurement direction with respect to the reference direction;
26. The device for measuring a behavior of an impact tool according to claim 25. A striking instrument behavior measuring method for measuring a behavior of the striking instrument when a player swings a striking instrument that strikes a competition ball,
A transmitter installed at a predetermined location and generating a magnetic field with a known distribution of strength and direction;
A fixed reference position that is fixed to the striking tool, has a first measurement point and a first measurement direction, and senses magnetism around the first measurement point in three axial directions orthogonal to each other. A striking instrument side three-dimensional magnetic sensor that outputs a first detection signal in accordance with a three-dimensional position of the first measurement point with respect to and a direction of the first measurement direction with respect to a predetermined reference direction;
In a three-dimensional coordinate system, storage means for storing a three-dimensional shape model that reproduces the impact tool;
Holding means for holding the hitting tool so as to have a set posture;
In a state where the hitting tool is held by the holding means, three-dimensional position data of a predetermined reference point of the hitting tool with respect to the first measurement point, and a face of the hitting tool with respect to the first measurement direction A first calibration step for obtaining orientation data indicating the orientation of the surface as first calibration data;
The three-dimensional position data of the first measurement point with respect to the reference position generated based on the first detection signal in the process of swinging the hitting tool by the player and the direction of the first measurement direction with respect to the reference direction A first time-series data generating step for generating first time-series data by correcting measured data consisting of orientation data indicating the first time-series data by using the first calibration data;
The first time-series data is hit with a three-dimensional position indicating a game ball installation position where the game ball is installed with respect to the reference position, and with the game ball installation position and the game ball with respect to the reference direction. A second time-series data generation step of generating second time-series data by correcting using second calibration data indicating the direction of the target line connecting the target points;
A behavior data generating step for generating behavior data indicating the behavior of the hitting tool based on the second time-series data and a three-dimensional shape model of the hitting tool;
A method for measuring the behavior of a hitting tool, comprising:

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