JP7058435B1 - Golf club with built-in 9-axis sensor and swing evaluation system using it - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a golf club capable of giving an index capable of swinging while maintaining a shaft plane on a flat surface with a relatively simple configuration, and a swing evaluation system using the golf club.
A golf club having a grip, a shaft and a head portion, a 9-axis sensor including an acceleration sensor, an angular velocity sensor and an orientation sensor, and processing output data of the 9-axis sensor to measure and evaluate a swing trajectory. A 9-axis sensor built-in golf club with a built-in 9-axis sensor built-in a swing trajectory measurement system and an output unit that outputs the evaluation results of the swing trajectory measurement system by light or sound, and a swing evaluation system using the same. ..
[Selection diagram] FIG. 4

Description

The present invention has a 9-axis sensor (a sensor consisting of an xyz 3-axis acceleration sensor, an xyz 3-axis angular velocity sensor, and an xyz 3-axis orientation (geomagnetic) sensor) built into the head of a golf club. Regarding golf clubs with built-in sensors and swing evaluation systems that process and calculate the data output from them to evaluate golf swings, in particular, golf clubs with built-in 9-axis sensors that have an ultra-small 9-axis sensor built into the head of the golf club. Swing evaluation using a swing trajectory measurement system that can easily measure and evaluate the swing trajectory based on the acceleration data, angular velocity data, and azimuth (geomagnetic) data output by the user's swing using the golf club. Regarding the system.

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

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

Japanese Unexamined Patent Publication No. 2020-182668 Japanese Unexamined Patent Publication No. 2019-150578 Japanese Unexamined Patent Publication No. 2018-126238 WO2019 / 212721 Japanese Unexamined Patent Publication No. 2020-75096 JP-A-2018-153295 Japanese Unexamined Patent Publication No. 2011-8335 Japanese Unexamined Patent Publication No. 4-146770

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

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

The present invention has been made in view of the above circumstances, and an object of the present invention is a golf club having a relatively simple configuration and capable of giving an index capable of swinging while keeping the shaft plane flat. The purpose is to provide a swing evaluation system used.

The present invention relates to a golf club having a grip, a shaft and a head portion, and the above object of the present invention is to process a 9-axis sensor including an acceleration sensor, an angular velocity sensor and an orientation sensor, and the output data of the 9-axis sensor to swing. A swing trajectory measurement system that measures and evaluates the trajectory of the head unit and an output unit that outputs the evaluation result of the swing trajectory measurement system by light or sound are built in the head unit . A first integrating unit that inputs acceleration data, angular velocity data, and orientation data from the 9-axis sensor and integrates the acceleration data twice, and a second integrating section that integrates the angular velocity data of the angular velocity sensor once. At least the output data of the first integration unit 1, the output data of the second integration unit 2, the memory for storing the orientation data, the backswing confirmation determination unit for determining and determining the range of the backswing, and the above. A comparison unit that compares backswing data and downswing data, a swing determination unit that determines whether the comparison result in the comparison unit is within a predetermined allowable range, and a top detection unit that determines the top position of the swing. It is composed of an impact detection unit that detects an impact and a time measuring unit that measures the passage of time, and is achieved by outputting the determination result of the swing determination unit from the output unit .

Further, the present invention relates to a golf swing evaluation system, and the above object of the present invention is a 9-axis sensor including an acceleration sensor, an angular velocity sensor and an azimuth sensor, and a first capable of wirelessly transmitting and receiving output data of the 9-axis sensor. A transmission / reception unit of 1 and an output unit that outputs the analyzed swing evaluation by light or sound are provided in the head unit of the golf club, and the transmission data from the first transmission / reception unit is received and transmitted data is received. 9 The second transmission / reception unit receives the acceleration data, the angular velocity data, and the orientation data from the axis sensor, and the first integrating unit that integrates the acceleration data twice and the second integrating unit that integrates the angular velocity data of the angular velocity sensor once. And at least the output data of the first integrating unit 1, the output data of the second integrating unit 2, the memory for storing the orientation data, and the backswing determination to determine and determine the range of the backswing. A determination unit, a comparison unit that compares the backswing data and the downswing data, a swing determination unit that determines whether the comparison result in the comparison unit is within a predetermined allowable range, and a swing top position determination. It is composed of a top detection unit, an impact detection unit that detects impact, and a time measuring unit that measures the passage of time, and the determination result of the swing determination unit is transmitted from the second transmission / reception unit to the first transmission / reception unit. A 9-axis sensor consisting of an acceleration sensor, an angular velocity sensor, and an azimuth sensor, and a transmission unit that wirelessly transmits the output data of the 9-axis sensor, by transmitting to the unit and outputting to the output unit. , Is provided in the head part of the golf club, and is a swing trajectory measurement system that inputs and processes the transmission data from the transmission unit via the network, measures the swing trajectory, and outputs the evaluation result. The swing trajectory measuring system inputs acceleration data, angular velocity data, and orientation data from the 9-axis sensor, which is the transmission data, and integrates the acceleration data twice. The first integrating unit and the angular velocity sensor. A second integrating unit that integrates the angular velocity data once, at least the output data of the first integrating unit 1, the output data of the second integrating unit 2, the memory that stores the orientation data, and the backswing. Data to judge and confirm the range The crossing confirmation determination unit, the comparison unit that compares the backswing data and the downswing data, the swing determination unit that determines whether the comparison result in the comparison unit is within a predetermined allowable range, and the top position of the swing. It is composed of a top detection unit for determination, an impact detection unit for detecting impact, and a timing unit for measuring the passage of time, and the determination result of the swing determination unit is wirelessly transmitted to the terminal device via the network. First, the terminal device outputs the determination result, or wirelessly transmits the output data of the 9-axis sensor including the acceleration sensor, the angular velocity sensor, and the orientation sensor, and the output data of the 9-axis sensor. A transmission unit is provided in the head unit of the golf club, receives and processes transmission data from the first transmission unit, measures the trajectory of the swing, and outputs a determination result to be evaluated and wirelessly. A swing trajectory measurement system including a second transmission unit for transmission is provided, and the swing trajectory measurement system receives acceleration data, angular velocity data, and orientation data from the 9-axis sensor, which is the transmission data, and the acceleration data. The first integrating unit that integrates twice, the second integrating unit that integrates the angular velocity data of the angular velocity sensor once, and the output data of at least the first integrating section 1, the output data of the second integrating section. 2. A memory that stores the orientation data, a backswing confirmation determination unit that determines and determines the range of the backswing, a comparison unit that compares the backswing data and the downswing data, and a comparison in the comparison unit. It consists of a swing determination unit that determines whether the result is within a predetermined allowable range, a top detection unit that determines the top position of the swing, an impact detection unit that detects impact, and a timing unit that measures the passage of time. The determination result of the swing determination unit is wirelessly transmitted from the second transmission unit to the terminal device, and the determination result is output by the terminal device .

According to the golf club according to the present invention, since the head portion has a built-in 9-axis sensor, various data related to the swing can be acquired at the same time during the swing, and the data can be calculated and processed by the trajectory measurement system. Therefore, the flatness of the shaft plane can be accurately evaluated, which can be useful for improving the swing skill of the practitioner.

Further, according to the swing evaluation system according to the present invention, a trajectory measurement system that processes data from a 9-axis sensor can be built in the head unit, or can be connected to the outside capable of wireless transmission / reception or via a network. , You can practice freely at your favorite time and place at your favorite time and get an immediate evaluation. When the golf club and the track measurement system are connected via a network, there is an advantage that a plurality of practitioners can swing and know their own evaluations.

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

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

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

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

Based on this premise, the present invention proposes an optimal golf club for measuring the deviation or coincidence between the trajectory of the backswing and the trajectory of the downswing, and swings that can objectively evaluate the swing using the golf club. Propose an evaluation system. Golf swing practice is not limited to amateurs, but it is naturally practiced by professional golfers, but coaches and lesson professionals often evaluate the swing by looking at it. However, in such a case, a coach, a lesson professional, or the like needs to be close to the practitioner, and even when the image is viewed and evaluated, there is the trouble of having to take an image. Therefore, it is significant that you can easily get an evaluation and practice at your own convenience, at a convenient place, just by swinging freely.

FIG. 4 shows a structural example of the golf club 10 (first embodiment golf club) according to the present invention, and is a switch 11 that turns on / off the power supply at the end of the grip 12 and instructs the start of evaluation measurement. Is provided, and an ultra-small 9-axis sensor 100 and a swing trajectory measurement system 200 are provided in the head portion 14 at the tip of the shaft 13. The switch 11 is a pressing type or a contact type, and the power is turned on / off by a long press (for example, 3 seconds), and when the switch 11 is pressed or touched for a short time (for example, less than 3 seconds) after the power is turned on, the contents are reset and evaluated. Start the measurement. The switch 11 can also be provided at another location. Further, the head portion 14 is provided with a rechargeable battery 30, and the upper surface of the head portion 14 is provided with a long-shaped lamp display unit 20 that lights up in color for each section.

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

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

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

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

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

Since the memory 210 of this example is in the FIFO (First-In First-Out) format, the stored contents read from the memory 210 are temporally inverted by the inversion unit 211.

In this example, in order to explain the first embodiment golf club 10, the output of the output unit 212 is connected to the lamp display unit 20, but in the case of the second embodiment golf club 10A, the lamp display unit 20 is replaced. The speaker 21 that generates sound is connected. The generated sound may be variable (treble and bass, etc.) depending on the position of the swing. For example, it outputs low-pitched sound near the top position and changes it to high-pitched sound as it approaches the impact position.

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

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

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

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

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

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

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

In the above, the position data index dfp1, the angle data index dfa1, and the azimuth data index dfr1 are evaluated evenly, but the weighting coefficients w1, w2, and _{w3 are} used to perform weighting as shown in the following numbers ₅ to 7. May be.
(Number 5)
w ₁・ ｜ dfp1 ｜ ＋ w ₂・ ｜ dfa1 ｜ ＋ w ₃・ ｜ dfr1 ｜ ε11 → "OK" state (number 6)
ε11 ≧ w ₁・ ｜ dfp1 ｜ ＋ w ₂・ ｜ dfa1 ｜ ＋ w ₃・ ｜ dfr1 ｜ ＞ ε12 → "Good" state (number 7)
ε12 ≧ w ₁・ ｜ dfp1 ｜ ＋ w ₂・ ｜ dfa1 ｜ ＋ w ₃・ ｜ dfr1 ｜ ≧ 0 → "excellent" state

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

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

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

(Number 9)
｜ dfp2 ｜ ＋ ｜ dfa2 ｜ ＋ ｜ dfr2 ｜ ＞ ε21 → "OK" state (number 10)
ε21 ≧ ｜ dfp1 ｜ ＋ ｜ dfa1 ｜ ＋ ｜ dfr1 ｜ ＞ ε22 → "Good" state (number 11)
ε22 ≧ ｜ dfp1 ｜ ＋ ｜ dfa1 ｜ ＋ ｜ dfr1 ｜ ≧ 0 → "excellent" state

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Further, although the above is an operation example of one swing determination evaluation, if the switch 11 is pressed or touched, the previous content is reset and the swing determination evaluation can be performed again. That is, it is possible to repeatedly perform swing determination evaluation by the switch 11.

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

FIG. 18A shows a person (using) who connects the golf club 10B and the swing trajectory measurement system 300 via a network 350 such as the Internet, and swings the result evaluated by the swing trajectory measurement system 300 via the network 350. This is an example of a swing evaluation system that is to be transmitted to a terminal device 360 such as a smartphone of the person). That is, the sensor output data is transmitted from the transmission unit 22 of the golf club 10B to the network 350 such as the Internet, and is transmitted to the trajectory measurement system 300 connected to the network 350. The evaluation result evaluated by the orbit measurement system 300 is transmitted to the terminal device 360 via the network 350 and displayed. The evaluation result is displayed on the display unit of the terminal device 360. Therefore, the user can know the evaluation of his / her swing at any time, at any place, and repeatedly with the terminal device 360 on hand. Although FIG. 18A shows a single golf club 10B and a terminal device 360, it can be used by a plurality of golf clubs and a terminal device by using the network 350.

FIG. 18B shows an example of a swing evaluation system in which the golf club 10C includes a transmission / reception unit 22A, a lamp display unit 20 (or a speaker 21), and a trajectory measurement system 300 is not built in the head unit. Is. That is, the sensor output data of the golf club 10C is directly transmitted wirelessly from the transmission / reception unit 22A to the transmission / reception unit 301 of the swing trajectory measurement system 300, and the evaluation result evaluated by the trajectory measurement system 300 is transmitted from the transmission / reception unit 301 to the transmission / reception unit 22A. Is input to the golf club 10C and displayed on the lamp display unit 20. The person who swings can see the evaluation result from the trajectory measurement system 300 on the lamp display unit 20 (or the speaker 21). Therefore, even in this example, the user can know the evaluation of his / her swing at any time, at any place, and repeatedly. Also in this example, it is possible to evaluate via the network as shown in FIG. 18A, and in that case, a plurality of people perform swing evaluation using one swing trajectory measurement system 300. Can be obtained.

Further, FIG. 18C is a configuration of a swing evaluation system when the swing evaluation result is displayed on the terminal device 360 of the swinger without using the network. That is, the sensor output data is transmitted from the transmitting unit 22 of the golf club 10B to the receiving unit 301A of the track measuring system 300A. Then, the evaluation result evaluated by the orbit measurement system 300A is transmitted to the terminal device 360 via the transmission unit 331 and displayed. The evaluation result is displayed on the display unit of the terminal device 360. Therefore, the user can know the evaluation of his / her swing at any time, at any place, and repeatedly with the terminal device 360 on hand.

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

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

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

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

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

Although the configuration and operation of the swing evaluation system of FIG. 18C have been described here, the trajectory measurement system 300 also needs to include a transmission / reception unit in the swing evaluation systems of FIGS. 18A and 18B. There is no big difference in its configuration and operation, and it is almost the same as the orbit measurement system 300A.

The above memory is FIFO (First-In)
Although it is explained as the First-Out) format, the memory of the FIFO (First-In Last-Out) format can be used, and in this case, the data is output from the last stored data, so the inverted part is It becomes unnecessary. Further, although the swing trajectory has been described above, it can also be applied to a case where the output of the 9-axis sensor is processed and analyzed to check and give guidance on the speed of the swing and the strength of the impact.

Further, although the wood club has been described above, it can also be applied to golf clubs such as irons and utilities. In addition, the bending of the shaft differs between the backswing and the downswing depending on the hardness of the shaft of the golf club, the difference in the weight of the head, the head speed, etc. It is possible.

1 Golf club 2 Shaft plane (swing plane)
3 Golf balls 10, 10A, 10B, 10C Golf club 11 Switch 12 Grip 13 Shaft 14 Head 14A, 14B Lid 20 Lamp display 21 Speaker 22 Transmitter 30 Battery 31 USB terminal 100 9-axis sensor 110 Accelerometer (xyz)
120 Angular Velocity Sensor (xyz)
130 Directional (geomagnetic) sensor (xyz)
200, 300, 300A Swing trajectory measurement system 201 CPU (MPU, MCU)
202-204 Integral part 210 Memory 211 Inversion part 220 Backswing confirmation judgment part 230 Comparison part 240 Swing judgment part 250 Top detection part 260 Impact detection part 350 Network 360 Terminal device

Claims (4)

A golf club with a grip, shaft and head.
A 9-axis sensor consisting of an accelerometer, an angular velocity sensor, and a directional sensor,
A swing trajectory measurement system that processes the output data of the 9-axis sensor to measure and evaluate the swing trajectory, and
An output unit that outputs the evaluation result of the swing trajectory measurement system by light or sound, and
Is built in the head part ,
The swing trajectory measurement system
A first integrating unit that inputs acceleration data, angular velocity data, and orientation data from the 9-axis sensor and integrates the acceleration data twice, and a second integrating unit that integrates the angular velocity data of the angular velocity sensor once.
At least the output data of the first integration unit 1, the output data of the second integration unit 2, the memory for storing the orientation data, and
The backswing confirmation determination unit that determines and determines the range of the backswing,
A comparison unit that compares the backswing data and the downswing data,
A swing determination unit that determines whether the comparison result in the comparison unit is within a predetermined allowable range, and
A top detector that determines the top position of the swing and
Impact detector that detects impact and
A timekeeping unit that measures the passage of time,
Consists of
A golf club with a built-in 9-axis sensor, characterized in that the determination result of the swing determination unit is output from the output unit . A 9-axis sensor consisting of an accelerometer, an angular velocity sensor, and a directional sensor,
A first transmission / reception unit that can wirelessly transmit and receive the output data of the 9-axis sensor, and
An output unit that outputs the analyzed swing evaluation with light or sound ,
Is provided on the head of the golf club,
A swing trajectory measurement system having a second transmission / reception unit that receives transmission data from the first transmission / reception unit, processes the transmission data, measures the swing trajectory, and wirelessly transmits the evaluation result. ,
The swing trajectory measurement system
Acceleration data, angular velocity data, and orientation data from the 9-axis sensor, which are the transmission data, are received by the second transmitting / receiving unit, and the first integrating unit that integrates the acceleration data twice and the angular velocity data of the angular velocity sensor. The second integrator that integrates once, and
At least the output data of the first integration unit 1, the output data of the second integration unit 2, the memory for storing the orientation data, and
The backswing confirmation determination unit that determines and determines the range of the backswing,
A comparison unit that compares the backswing data and the downswing data,
A swing determination unit that determines whether the comparison result in the comparison unit is within a predetermined allowable range, and
A top detector that determines the top position of the swing and
Impact detector that detects impact and
A timekeeping unit that measures the passage of time,
Consists of
A swing evaluation system that transmits a determination result of the swing determination unit from the second transmission / reception unit to the first transmission / reception unit and outputs the determination result to the output unit. A 9-axis sensor consisting of an accelerometer, an angular velocity sensor, and a directional sensor,
A transmitter that wirelessly transmits the output data of the 9-axis sensor,
Is provided on the head of the golf club,
It is equipped with a swing trajectory measurement system that inputs and processes the transmission data from the transmission unit via the network, measures the swing trajectory, and outputs the evaluation result.
The swing trajectory measurement system
The first integrating unit that inputs the acceleration data, the angular velocity data, and the orientation data from the 9-axis sensor, which are the transmission data, and integrates the acceleration data twice, and the second integrating the angular velocity data of the angular velocity sensor once. Integral part and
At least the output data of the first integration unit 1, the output data of the second integration unit 2, the memory for storing the orientation data, and
The backswing confirmation determination unit that determines and determines the range of the backswing,
A comparison unit that compares the backswing data and the downswing data,
A swing determination unit that determines whether the comparison result in the comparison unit is within a predetermined allowable range, and
A top detector that determines the top position of the swing and
Impact detector that detects impact and
A timekeeping unit that measures the passage of time,
Consists of
A swing evaluation system that wirelessly transmits the determination result of the swing determination unit to a terminal device via the network and outputs the determination result in the terminal device. A 9-axis sensor consisting of an accelerometer, an angular velocity sensor, and a directional sensor,
A first transmitter that wirelessly transmits the output data of the 9-axis sensor,
Is provided on the head of the golf club,
A swing trajectory measurement system including a second transmission unit that receives and processes transmission data from the first transmission unit, measures the swing trajectory, outputs an evaluation result, and wirelessly transmits the evaluation result.
The swing trajectory measurement system
The first integrating unit that receives the acceleration data, the angular velocity data, and the orientation data from the 9-axis sensor, which are the transmission data, and integrates the acceleration data twice, and the second integrating the angular velocity data of the angular velocity sensor once. Integral part and
At least the output data of the first integration unit 1, the output data of the second integration unit 2, the memory for storing the orientation data, and
The backswing confirmation determination unit that determines and determines the range of the backswing,
A comparison unit that compares the backswing data and the downswing data,
A swing determination unit that determines whether the comparison result in the comparison unit is within a predetermined allowable range, and
A top detector that determines the top position of the swing and
Impact detector that detects impact and
A timekeeping unit that measures the passage of time,
Consists of
A swing evaluation system in which a determination result of the swing determination unit is wirelessly transmitted from the second transmission unit to a terminal device, and the determination result is output by the terminal device .

Images