KR101479979B1 - Club device mounted on golf club, method for detecting attitude deviation of the same, information processing method of the same and information processing method of terminal device wireless communicated with the same - Google Patents

Abstract

The present invention relates to a club device mounted on a golf club, a method of detecting a position deviation of the same, a method of processing information of the same, and a method of processing information of a terminal device wirelessly communicating with the same. The present invention aims to provide a method of processing information of a club device that is mounted on a golf club of a user and includes an operation sensor sensing the motion of the golf club, the method comprising the steps of: storing information on a reference mounting posture when the club device is mounted on the club device; sensing the motion of the golf club to transmit the sensed data to a terminal device wirelessly communicating with the club device, so that the terminal device provides analysis information regarding user′s golf swing by using the received sensed data; and determining whether or not the club device deviates from the reference mounting position to allow either or both the club device and the terminal device to notify the determined result to the user.

Description

TECHNICAL FIELD [0001] The present invention relates to a club device mounted on a golf club, a method for detecting a posture deformation of the club device, an information processing method for the club device, and an information processing method for a terminal device wirelessly communicating with the club device DEFINITION OF THE SAME, INFORMATION PROCESSING METHOD OF THE SAME AND INFORMATION PROCESSING METHOD OF TERMINAL DEVICE WIRELESS COMMUNICATED WITH THE SAME}

The present invention relates to a club device mounted on a golf club, and more particularly, to a club device mounted on a golf club, in which, when a user performs a golf swing using the golf club, The present invention relates to a club device capable of sensing motion of a golf club and providing analysis information on a golf swing to a user using the sensed data, and an information processing method using the club device.

In general, a golf game requires a precise golf swing to obtain a good result. Therefore, golfers who invest in a golf swing exercise a lot of time and effort in order to accurately use the golf swing, Analysis and the like to analyze and provide the golf swing of the user, so that various golf swing analysis apparatuses that enable users to practice more effective golf swing have been developed.

Recently, a variety of sensing devices have been developed in which small-size and high-performance sensing devices are miniaturized as a result of miniaturization of sensors and the like. A user purchases a golf swing analyzing device at a high cost or a golf training facility equipped with such a device A sensing device for easily providing analysis information of a user's golf swing is developed actively as long as the golf swing is simply mounted on the golf club instead of practicing the golf.

That is, the user can easily receive his / her analysis information on the golf swing by using a device (hereinafter referred to as "club device") built in a motion sensor such as an acceleration sensor and attached to the golf club.

In this connection, Korean Patent No. 10-0818169, Korean Patent No. 10-0777599, Korean Patent No. 10-0749383, Korean Patent No. 10-1018703, Korean Patent Laid-Open No. 10-2012-0131953 Disclose various types of club device technology and techniques for analyzing golf swing using the same in various prior art documents.

The shape of the club device varies, and depending on the attachment method, there are a head attachment type, a shaft attachment type, and a grip attachment type.

In any form, the club device incorporates an inertial sensor, such as an acceleration sensor or a gyro sensor, that senses the motion of the golf club, and analyzes the sensed data of the inertial sensor to calculate analytical information about the golf swing do.

However, if any type of club device is attached to a golf club and the user repeatedly performs a golf swing with the golf club to strike the ball, the impact of the golf club on the ball hits the club device The attitude attached to the golf club is distorted.

However, if the position of the club device attached to the golf club is changed, the measurement value is different from that when the club device is mounted on the golf club for the first time. Therefore, a serious error occurs in the sensing data, Problems that are totally different from golf swing are serious, which is a very big obstacle to commercialization of the club device.

In order to solve this problem, there have been various attempts made in the mechanical part to make the club device firmly attached to the golf club and to mitigate the impact from the golf club, Since there is no end, the user has to adjust the posture of the club device again after a few golf swings with the club device attached to the golf club.

In this regard, U.S. Published Patent Application No. US2002 / 0296454 discloses a club device in the form of attaching to the top of a grip of a golf club, wherein a user aligns the club device with the grip of the golf club to perform a golf swing And then displaying the alignment mark on the side of the club device and the grip of the golf club, respectively, so as to align the alignment again.

However, since the golf swing requires a high level of concentration, when the user concentrates on the golf swing, it is often the case that the golfer forgets to adjust the alignment of the club device and makes a golf swing. It is difficult to prevent it from being actually caused.

The present invention uses a sensing data of a sensor built in a club device to detect whether or not the position of the club device mounted on the golf club has been changed without any additional configuration for detecting a posture change of the club device, In addition, the present invention can calculate information about the degree of the posture of the club device mounted on the golf club and reflect the information on the sensing data of the club device, A club device mounted on a golf club that enables accurate swing analysis information to be generated without adjusting the mounting posture of the club device, a method of detecting the position deformation of the club device, an information processing method of the club device, Providing an information processing method of a terminal apparatus One will.

A method of processing information of a club device mounted on a golf club according to an embodiment of the present invention includes the steps of storing information on a reference mounting position when the club device is mounted on the golf club; Sensing the movement of the golf club and transmitting the sensed data to a terminal device wirelessly communicating with the club device, thereby providing analysis information on the user's golf swing using the received sensing data at the terminal device; And judging whether or not the club device is out of the reference mounting posture and informing the user of at least one of the club device and the terminal device as a result of the determination.

Preferably, the step of guiding the user to the user may include calculating the information on the current mounting posture of the golf club by the club device and comparing the information with the information about the reference mounting posture, The controller displays at least one of an alarm sound and a screen display in the terminal device by outputting a predetermined alarm sound, displaying the alarm sound through a display provided on the club device, or transmitting information about the deviation to the terminal device And instructing the user via the network.

Preferably, the step of storing the information on the reference mounting posture may include determining whether the user's swing posture is an address posture according to a preset item using the sensing data of the club device with respect to the motion of the golf club And storing the mounting position information of the club device when it is judged to be the address position, as the reference mounting position information, wherein in the step of informing the user, whether or not the club device is out of the reference mounting position Determining whether or not the swing posture of the user is an address posture according to a preset item using the sensing data of the club device with respect to the motion of the golf club, Information to the current Complex calculated as the position information is characterized in that compared to the reference mounting position information.

According to another aspect of the present invention, there is provided a method of processing information on a club device mounted on a golf club, comprising the steps of: storing information on a reference mounting position when the golf club is mounted on the golf club; Calculating information on the current mounting position of the golf club relative to the information about the reference mounting position and calculating position deformation information about the degree of deviation of the current mounting position of the club device from the reference mounting position; Sensing movement of the golf club and calculating sensing data thereof; And providing analysis information on the golf swing of the user by reflecting the posture change information to the sensing data.

Preferably, the step of causing the club device to transmit the analysis information may include transmitting the sensed data and the posture error information to a terminal device wirelessly communicating with the club device, So as to provide analysis information on the golf swing of the user.

Preferably, the method further comprises the step of informing the user about the posture change of the club device when the posture change information is out of a preset value or range.

Meanwhile, an information processing method of a terminal device wirelessly communicating with a club device mounted on a golf club according to an embodiment of the present invention stores information about a reference mounting position when the club device is mounted on the golf club step; Receiving sensing data sensed by the club device with respect to a motion of the golf club and generating and providing analysis information on the golf swing of the user according to a preset program using the sensed data; And a step of comparing the information about the current mounting posture of the club device with the information about the reference mounting posture to guide the user to the user if the club device determines that the user has moved out of the reference mounting posture do.

Preferably, the storing the information on the reference mounting posture may include calculating and storing information on the reference mounting posture using data transmitted from the club device, or storing the information on the reference mounting posture Wherein the step of informing the user includes the step of calculating information on the current mounting posture using the data transmitted from the club device and transmitting the information on the reference mounting posture Or comparing the information with the information about the reference mounting posture when the information on the current mounting posture is calculated by the club device.

Preferably, the step of storing the information on the reference mounting posture may include determining whether the user's swing posture is an address posture according to a preset item using the sensing data of the club device with respect to the motion of the golf club And storing the mounting position information of the club device when it is judged to be the address position, as the reference mounting position information, wherein in the step of informing the user, whether or not the club device is out of the reference mounting position Determining whether or not the swing posture of the user is an address posture according to a preset item using the sensing data of the club device with respect to the motion of the golf club, Information to the current Complex calculated as the position information is characterized in that compared to the reference mounting position information.

In another aspect of the present invention, there is provided a method for detecting a position deformation of a club device mounted on a golf club, the method comprising: storing information on a reference mounting position when the club device is mounted on the golf club; Calculating information about a current mounting posture of the club device with respect to the golf club; And comparing the information about the reference mounting posture with information about the current mounting posture to detect a posture change of the club device according to a preset item.

Preferably, the club device includes an acceleration sensor for measuring a gravity acceleration in a three-axis direction, and the step of storing information about the reference mounting position includes: calculating a three-axis direction gravity acceleration value measured by the acceleration sensor Wherein the step of calculating the information on the current mounting posture includes the step of calculating the three-axis direction gravity acceleration value measured by the acceleration sensor as information on the current mounting posture And a step of calculating a difference value.

Preferably, the club device includes an acceleration sensor for measuring a gravity acceleration in a three-axis direction, and the step of storing information about the reference mounting position includes: calculating a three-axis direction gravity acceleration value measured by the acceleration sensor Calculating the Euler angles of the respective axes using the Euler angles of the respective axes, and storing the calculated Eulerian angle information of the axes as information on the reference mounting posture, And calculating the Euler angles of the respective axes as information on the current mounting posture using the three-axis direction gravity acceleration values measured by the acceleration sensor.

Preferably, the information about the reference mounting posture and the information about the current mounting posture may be stored in a predetermined specific situation or at a specific time point or a predetermined time point according to preset items using the sensing data of the club device with respect to the motion of the golf club. And the Euler angle information of each axis of the club device when it is determined that the Euler angle is a specific condition or a condition or a viewpoint or a condition.

Preferably, the information about the reference mounting posture and the information about the current mounting posture are obtained by analyzing the output waveform of the acceleration sensor of the club device with respect to the motion of the golf club, so that the output waveform of the acceleration sensor is substantially changed Axis direction gravity acceleration value measured by the acceleration sensor in the corresponding section or the measured Euler angular acceleration information of each axis calculated by using the measured three-axis direction gravity acceleration value in the corresponding section .

Preferably, the information about the reference mounting posture and the information about the current mounting posture are obtained by using the sensing data of the club device with respect to the motion of the golf club, And the Euler angle information of each axis calculated using the three-axis direction gravity acceleration value of the acceleration sensor of the club device when it is determined that it is the address posture.

Preferably, the step of detecting the posture deformation of the club device includes a predefined function having at least two of the Euler angles in the three axial directions and a gravitational acceleration value as parameters, The first attitude information calculated by at least two of the Euler angles in the three axial directions relating to the mounting posture and the gravitational acceleration value measured by the acceleration sensor by the predefined function, And a step of detecting the posture change of the club device by determining the similarity of the second posture information calculated by the predefined function to at least two of the Euler angles and the gravity acceleration value measured by the acceleration sensor .

Also, preferably, the club device includes an acceleration sensor for measuring acceleration in three axial directions, and the step of storing information about the reference mounting posture may include the step of, using the gravity acceleration value measured by the acceleration sensor, Calculating at least two of a roll, a pitch and a yaw; and storing at least two of the calculated rolls, pitch and urge as information on the reference mounting posture, Wherein the step of calculating information on the current mounting posture includes calculating at least two of the roll, pitch, and urge as information on the current mounting posture using the gravitational acceleration value measured by the acceleration sensor Wherein the step of detecting the posture change of the club device comprises the steps of: determining at least two of roll, pitch and urine in three axial directions and gravity acceleration as parameters; A reconstruction function for reconstructing a reference coordinate system of the vise is previously defined and information on the current mounting posture is calculated from the coordinate axes calculated by using the reconstruction function with respect to the reference mounting posture using the reconstruction function And calculating a degree of change of the coordinate axis of the club device to detect the posture change of the club device.

According to another aspect of the present invention, there is provided a club device mounted on a golf club, comprising: a device main body mounted on a user's golf club; an operation sensing unit built in the device main body and sensing motion of the golf club; A wireless communication unit built in the device body and capable of wirelessly transmitting / receiving information to / from an external device; and a control unit built in the device main body and controlling the operation sensing unit and the wireless communication unit, Wherein the motion sensing unit transmits sensed data sensed by the motion of the golf club to the terminal unit to generate and provide analysis information on the golf swing of the user at the terminal unit, In the reference mounting position when the device body is mounted on the golf club Or to transmit the sensed data of the operation sensing unit to the terminal device, or to transmit the sensed data of the operation sensing unit to the terminal device by sending the corresponding information to the terminal device in response to the posture error, The terminal device determines the posture change and alarms the user.

Also, preferably, the motion sensing unit includes an acceleration sensor that measures the gravity acceleration in three axial directions and senses a dynamic characteristic according to the movement of the golf club, and the control unit controls the three-axis direction gravity The Euler angles of the respective axes are calculated by using the acceleration values, and whether or not the device body is pushed or not is determined by a predefined function using the calculated Eulerian angles of the respective axes.

Preferably, the control unit determines whether the swing posture of the user is an address posture by using the data sensed by the acceleration sensor, and when the swing posture is judged to be an address posture, The Euler angles of the respective axes are calculated using the gravitational acceleration values to determine whether or not the device body is in a posture change state.

According to another aspect of the present invention, there is provided a club device mounted on a golf club, including: a device main body mounted on a user's golf club; an operation sensing unit built in the device main body, A wireless communication unit built in the device main body and capable of wirelessly transmitting and receiving information to and from an external device; and a control unit built in the device main body and controlling the operation sensing unit and the wireless communication unit, The motion sensing unit transmits sensed data sensed with respect to the movement of the golf club to the terminal unit to generate and provide analysis information on the golf swing of the user at the terminal unit, A reference value when the device body is mounted on the golf club from sensed data Wherein the control unit transmits the result data obtained by reflecting the posture change information to the data sensed by the operation sensing unit to the terminal device, And transmits the posture change information to the terminal device, and the terminal device reflects the posture change information to the sensed data to generate analysis information on the golf swing.

The information processing method of the club device mounted on the golf club according to the present invention, the method of detecting the position deformation of the club device, the information processing method of the club device, and the terminal device wirelessly communicating with the club device, The present invention can provide an alarm to the user by determining whether or not the position of the club device mounted on the golf club is changed by using the sensing data of the sensor built in the device. So that accurate swing analysis information can be generated even if the user does not need to individually adjust the mounting posture of the club device to the golf club .

1 is a view showing a club device and a terminal device capable of wireless communication therewith according to an embodiment of the present invention.
2 is a block diagram showing an example of the configuration of the club device shown in Fig.
3 is a diagram illustrating the main steps of a golf swing to illustrate the function of a club device according to an embodiment of the present invention.
Fig. 4 (a) shows a reference mounting posture when the club device according to the embodiment of the present invention is mounted on the grip of a golf club, and Fig. 4 (b) shows a state in which posture deformation of the club device occurs.
5 (a) and 5 (b) are diagrams for explaining an example of measurement regarding the posture change of the club device according to the embodiment of the present invention.
6 to 9 are flow charts for explaining a method of detecting a position deformation of a club device, a method of processing information of a club device, and an information processing method of a terminal device wirelessly communicating with the club device according to an embodiment of the present invention to be.

The information processing method of the club device, and the information processing method of the terminal device communicating wirelessly with the club device according to the present invention will be described in further detail with reference to the drawings. This will be described in detail.

First, the configuration of a club device according to an embodiment of the present invention will be described with reference to Figs. 1 and 2. Fig.

FIG. 1 is a diagram showing a club device and a terminal device capable of communicating therewith according to an embodiment of the present invention, and FIG. 2 is a block diagram showing an example of the configuration of the club device shown in FIG.

1, a club device CD according to an embodiment of the present invention includes a device body 100 and a device fixing unit 200, and includes a hole formed in the upper end of the grip GR of the golf club, And the device fixing portion 200 is fitted in the fixing portion GH and fixed.

It is possible to have a protruding fixing part 201 protruding laterally so that the club device CD can be more firmly mounted on the grip GR of the golf club so that it can be constrained to the hole GH. It is also possible to form a screw structure in the protrusion fixing portion 201 so as to facilitate interference fit in the hole GH.

The reference display unit 101 may be formed on one side of the top of the device body 100 to facilitate alignment of the golf club when the club device CD is mounted.

That is, when the user mounts the club device (CD) on the top of the grip (GR) of the golf club, the user can align the club device (CD) by using the reference display part 101 formed on the upper part of the device body 100 .

1 and 2, the club device CD may include an operation sensing unit 110, a wireless communication unit 120, a storage unit 130, and a control unit M, as shown in FIG. All of these components are embedded in the device body 100 of the club device (CD).

The motion sensing unit 110 may include an acceleration sensor that senses a motion of a golf club on which the club device is mounted and senses dynamic characteristics of the golf club by measuring gravity acceleration in three axes, In order to obtain more diverse sensing data, an orientation sensor such as a gyro sensor (that is, a sensor that measures the rotation angle in three axial directions according to the movement of an object to sense the orientation) and a geomagnetic sensor In other words, the sensor may be a sensor that senses a direction indicated by a specific part of an object, and may be implemented in the form of a complex sensor in which the functions of the acceleration sensor, the orientation sensor, and the orientation sensor are integrated into one component have.

The wireless communication unit 120 is a component that can transmit and receive predetermined information by wireless communication with an external device, that is, a terminal device (TD). The terminal device TD includes a mobile terminal such as a so-called smart phone, a tablet PC, a PDA, or the like.

The wireless communication unit 120 may be implemented as a module or a chip for wireless communication using an RF communication method or may be a wireless communication unit using a wireless communication method such as Bluetooth, May be implemented as a module or a chip.

When the wireless communication unit 120 is implemented as a Bluetooth module so as to wirelessly communicate with a Bluetooth module installed in a mobile terminal such as a smart phone, a tablet PC, and the like, a smart device or a tablet PC It is preferable because it can be easily interlocked.

The storage unit 130 is configured to store data sensed by the operation sensing unit 110. Also, the control unit M may calculate predetermined information by using the sensing data of the operation sensing unit 110, or may store the generated result information.

Although not shown in the block diagram of FIG. 2, a club device (CD) according to the present invention may include a USB port for wired connection with a user's PC or a notebook computer. The data sensed by the operation sensing unit 110 of the club device and the data calculated by the control unit M are accumulated and stored in the storage unit 130 as the golf swing is performed by mounting the club device according to the invention, The user downloads the data stored in the storage unit 130 by connecting the club device to his / her PC or notebook computer, analyzes the downloaded data with a golf information analyzing program installed in the PC or the notebook PC, And generate golf swing analysis information.

The controller M controls elements such as the operation sensing unit 110 and the wireless communication unit 120 and outputs sensing data of the operation sensing unit 110 and information calculated using the sensing data to the storage unit 130), and the like. A specific function of the control unit M will be described in more detail with reference to a method of detecting a position deformation of a club device and an information processing method of a club device, which will be described later.

Meanwhile, the club device according to the present invention may include a rechargeable battery for supplying power to the operation sensing unit, the wireless communication unit, the storage unit, and the control unit, or may be configured to detach the battery.

Although not shown in the drawing, the club device according to the present invention includes a display unit, and displays information such as predetermined information analyzed using a sensing result, whether the mounting posture of the club device is changed, and the like through a display unit. It is also possible to do.

Meanwhile, various information can be generated by using the club device according to the present invention. For example, it is possible to grasp the main steps of the user's golf swing, to grasp the trajectory of the golf club during golf swing, And the like can be generated.

Particularly, it is possible to detect the main steps in the golf swing of the user as shown in FIG. 3, namely, the address, the backswing, the backswing top, the downswing, the impact, and the like using the club device.

For example, when the motion sensing unit of the club device is implemented by an acceleration sensor or an attitude sensor, the output waveform of the motion sensing unit appears substantially regular when the user mounts the club device on the golf club and performs a golf swing.

In the address posture, the output waveform of the motion sensing unit remains constant without change, the output waveform starts to change gradually as the backswing starts, and the output waveform changes slightly more rapidly at the top of the backswing. Then, when the downswing begins again, the output waveform gradually changes and then changes very rapidly at the time of impact.

Therefore, the address, the backswing top, and the impact timing can be specified by specifying the abrupt change point or the non-change point of the output waveform by analyzing the output waveform of the operation sensing unit.

The analysis of various types of golf swing information such as information on the dynamic characteristics of a golf club during a golf swing using data sensed by the motion sensing unit of the club device is a known technique already disclosed in the prior art documents, Is omitted.

When the club device is mounted on the golf club as described above and the golf swing is performed, the club device's posture is changed due to a great impact of the ball and the club head, especially when the club device is impacted. Even if you swing, the result of the analysis such as the trajectory can be completely different.

However, since the club device only performs sensing in a distorted state even if its mounting posture is changed, the sensing data of the motion sensing unit is inevitably accumulated.

Therefore, the club device according to the present invention judges whether the club device is in a posture change state by using the sensing data of the operation sensing unit, and alerts the user to guide the user to correct the posture of the club device. Further, Information on the degree of the posture change is calculated and reflected in the sensing data to compensate for the error.

4 shows a case where the position of the club device CD mounted on the grip GR of the golf club is changed. Fig. 4 (a) shows a state in which the club device CD is mounted on the grip GR of the golf club (B) shows a state in which posture deformation of the club device (CD) occurs.

That is, if the club device CD is mounted on the grip GR and the golf swing is repeated several times, the club device CD rotates in the V direction shown in Figs. 4A and 4B, . The orientation of the club device's posture always changes in a certain direction.

As shown in FIGS. 4 (a) and 4 (b), when the x, y, and z coordinate systems are displaced in the V-direction posture, the sensing data of the motion sensing unit changes. That is, even in the same situation, the sensing data can not but be changed.

The club device according to an embodiment of the present invention uses Euler Angle information to detect the posture change of the club device as described above.

That is, assuming that the club device is initially mounted on the golf club by the user when the club device is mounted on the golf club, the Euler angle information at the address of the first golf shot is stored as the reference mounting attitude information, The Euler angle information at the time of the address is calculated as the current mounting attitude information, and compared with the reference mounting attitude information, if it is out of a certain range, it is determined that the positional deviation of the club device has occurred and the user is alarmed.

Here, when the motion sensing unit is implemented by an acceleration sensor, the golf swing posture of the user can be specified through the change of the output waveform. The reference mounting position and the reference position for determining the present mounting position do not necessarily have to be the address point.

That is, the reference mounting posture and the current mounting posture are determined by using the Euler angles calculated by the club device at the time when the specific situation, the specific time, Can be calculated and compared.

For example, it is possible to analyze the output waveform of the motion sensing unit to specify the backswing top viewpoint, to calculate and compare the reference mounting posture and the current mounting posture at the specified backswing top view.

However, there may be a slight difference in the method of detecting the posture change of the club device depending on which sensor the operation sensing unit of the club device is implemented.

When the motion sensing unit is implemented as an acceleration sensor for measuring the gravity acceleration in the three-axis direction, the acceleration sensor only measures the gravity acceleration value, so that the information about the absolute coordinate system can not be known.

That is, even if the club device including the acceleration sensor is rotated in the reference mounting posture, only the gravitational acceleration measurement value of the acceleration sensor is changed, and information about the absolute coordinate system can not be known. That is, with the acceleration sensor alone, the coordinate system information can not be known by the x, y, and z coordinate axes as shown in Figs. 4 (a) and 4 (b).

The acceleration sensor only measures the gravitational acceleration value. The coordinate axes of the absolute coordinate system as a reference can be set separately. However, in order to set the absolute coordinate system, the azimuth information needs to be known. To this end, .

However, because the club device is mounted on the golf club and the user must perform a golf swing with the golf club, the increase in size or price of the club device due to the additional configuration may be undesirable have.

Therefore, the club device according to the embodiment of the present invention provides a method of detecting the posture change of the club device by using only the acceleration sensor described above. This is because the gravity acceleration value measured by the above- Direction, and using the calculated Euler angle information.

Since the method of calculating the Euler angles by using the gravitational acceleration values measured by the acceleration sensor is already known, a detailed description thereof will be omitted.

The gravity acceleration value measured by the acceleration sensor in the state shown in Fig. 4 (a) and the gravity acceleration value measured by the acceleration sensor in the state shown in Fig. 4 (b) are clearly different from each other, The calculated Euler angle also has a difference between the state of FIG. 4 (a) and the state of FIG. 4 (b).

Therefore, the Euler angles in the state of FIG. 4 (a) are stored as the information on the reference mounting posture, the Euler angles in the state of FIG. 4 (b) are calculated as the information about the current mounting posture, It is possible to judge that the cller device is wrong if the difference is more than a certain range.

For example, as shown in FIG. 4, a roll as a rotation component in the x-axis direction, a pitch as a rotation component in the y-axis direction, and a yaw value as a rotation component in the z- It is possible to determine whether or not the club device is in a posture change state by using the calculated gravity acceleration value.

However, as described above, there is a limitation in detecting the posture change of the club device only with the Euler angle information. If the posture of the club device is changed, the yaw value changes in the coordinate axis shown in FIG. It can not be known whether the posture has changed or not, so that the change in the yaw value due to the posture change may not be reflected in the Euler angle calculated by the gravitational acceleration measurement value.

Therefore, it may be desirable to ignore the portion by yaw and use roll and pitch to determine whether the club device is in a posture deflection state.

As described above, a more preferable method of determining the posture of the club device using the roll and the pitch is to reconstruct the reference coordinate axis of the sensor using the roll and the pitch, and then, using the reconstructed coordinate axis information, It is determined whether or not the posture is changed.

In order to reconstruct the coordinate axes using the Euler angle as described above, an Euler angular rotation transformation matrix can be used. If a rotation matrix (roll-pitch-yaw rotation matrix) rotating in XYZ order is expressed, Equation 1].

[Formula 1]

Here, cφ represents cos φ, s φ represents sin φ, s θ represents sin θ, c θ represents cos θ, cψ represents cos φ, and s φ represents sin φ. Φ is the roll value, θ is the pitch value, and ψ is the yaw value.

Since the yaw is neglected as described above, the above expression [1] can be expressed as [Expression 2] below.

[Formula 2]

The coordinate axes can be reconstructed using the rotation matrix R shown in the above [Expression 2], for example, a method of rotating the gravity acceleration vector by the upper rotation matrix R and converting the coordinate axes.

However, it is not necessarily necessary to reconstruct the coordinate axes according to the above [Expression 1] or [Expression 2] and define the coordinate axes reconstructed by the function of the gravitational acceleration value and the roll and pitch values as the following Expression 3 Can be used.

[Formula 3]

Ax = g * (- sin?)

Ay = g * (cos? * Sin?)

Az = g * (cos? * Cos?)

Where Ax, Ay and Az are the reconstructed coordinate axes, g is the gravitational acceleration value,? Is the pitch value, and? Is the roll value. Ignore yaw.

It is possible to check the posture of the club device using the reconstructed coordinate axes expressed in the above-mentioned [Expression 3] through the measurement result graph shown in FIG.

That is, FIG. 5A shows the values of the coordinate axes according to the roll and pitch values calculated using the gravitational acceleration values measured in the reference mounting posture of the club device in a graph on a two-dimensional plane using MATLAB And FIG. 5 (b) is a graph showing the relationship between the values of the coordinate axes according to the roll and pitch values calculated using the measured gravity acceleration values after the golf swing has been performed a plurality of times using the golf club in the reference mounting position, using MATLAB (In the graph shown in FIG. 5, x represents the Ax axis, y represents the Ay axis, and z represents the Az axis).

5 (a) and 5 (b), it can be seen that the Ax axis and the Az axis are largely rotated on the coordinate axes reconstructed in accordance with the formula 3 by the posture change of the club device.

Therefore, the coordinate axes reconstructed using the gravitational acceleration values and the Euler angles can be calculated for a predefined function such as the function defined in the above-mentioned [Expression 3], and the reconstructed coordinate axis information according to the reference mounting posture is referred to as the first posture information , And when the reconstructed coordinate axis information according to the current mounting attitude is referred to as second attitude information, the similarity degree between the first attitude information and the second attitude information is calculated, and if the calculated similarity degree is out of a preset range or smaller than a preset value It is determined that the first posture information and the second posture information are different from each other, and it can be determined that the posture deformation of the club device has occurred.

For example, it is possible to determine that the posture deformation of the club device has occurred when the cosine similarity of the initial Ax axis vector and the Ax axis vector is calculated and the value exceeds the predetermined angle value.

Meanwhile, the above-described club device according to an embodiment of the present invention has described the process of calculating the Euler angles using the acceleration sensor and reconstructing the coordinate axes thereof to detect whether the club device is in a posture change state. It is also possible to detect the posture change of the club device by adding a sensor of another function in addition to the acceleration sensor, and it is also possible to calculate information about the degree of posture change of the club device.

For example, when the motion sensing unit is implemented as an attitude sensor such as a gyro sensor together with an acceleration sensor (the acceleration sensor and the attitude sensor may be respectively provided or integrated into one component and provided in the form of a composite sensor) It can be used by measuring the 3-axis Euler angles. In this case, however, since the absolute coordinate system of the sensor can not be known, the posture deformation information is grasped by using the function defined by Equation 3 above.

If the motion sensing unit further includes a direction sensor such as a geomagnetic sensor (which may be provided in the form of a single sensor or a complex sensor), the orientation sensor and the orientation sensor, The reference coordinate axis can be set and it is possible to calculate how much the reference coordinate axis is rotated by the posture changing.

That is, the coordinate axes as shown in FIG. 4A can be set for the club device by using the orientation sensor and the orientation sensor, and the state of the club device is changed as shown in FIG. 4B It is possible to detect the change of the set coordinate axes and further to calculate how much the change has occurred, that is, how much the posture of the club device has been twisted.

Therefore, if the posture error information of the club device is calculated by the orientation sensor and the posture sensor as described above, the error can be compensated by reflecting the posture error information in the sensing data of the operation sensing unit even if the user does not re- have.

6 to 9, a method of detecting a posture change of a club device according to an embodiment of the present invention, a method of processing information of a club device, and a method of processing information of a terminal device The information processing method will be described.

FIG. 6 shows a method of detecting a position deformation of a club device and a method of processing information of a club device according to an embodiment of the present invention.

First, the club device is mounted on the golf club (S10). At this time, it is assumed that the user aligns the club device to the golf club.

In the state that the club device is mounted on the golf club, the motion sensing unit of the club device continuously senses according to the motion of the golf club (S11), and the control unit of the club device analyzes the sensed data of the motion sensing unit It is determined whether the current state is the golf swing address state (S12).

If the current golf swing state is the address state, the control unit calculates the Euler angles, i.e., the roll, pitch, and yaw value using the sensing data of the motion sensing unit, and stores the calculated Euler angles as information on the reference mounting position of the club device S13).

As the golf swing proceeds (S14), the operation sensing unit of the club device continuously performs sensing, and the control unit transmits the sensed data to the terminal device through the wireless communication unit (S15).

The terminal device continuously collects the sensing data transmitted from the club device and generates golf swing analysis information such as the trajectory information of the golf swing, the swing tempo information, and the like, and provides the generated information to the user.

On the other hand, as the next golf swing proceeds, the operation sensing unit of the club device continuously performs sensing (S20), and the controller analyzes the sensing data to determine whether the current golf swing state is the address state (S21).

In the case of the address state, the controller calculates the Euler angles, i.e., the roll, the pitch, and the yaw value using the sensed data of the operation sensing unit as information on the current mounting posture of the club device (S22).

The first posture information is calculated by applying the Euler angles as information on the reference mounting posture calculated and stored in step S13 to a predefined function, and the Euler angles calculated in step S22 are added to the predefined function (S23), and determines the degree of similarity between the first attitude information and the second attitude information (S24).

Here, the calculation of the first attitude information and the second attitude information through the predefined function using the Euler angles has already been described with reference to FIG. 4 and FIG. 5, so a detailed description thereof will be omitted.

If it is determined that the posture of the club device is not similar to the reference posture information (S25), the control unit of the club device determines that the posture of the club device is incorrect (S26).

At this time, the alarm to the user may include outputting a predetermined alarm sound, outputting a warning image on the screen through the display unit, and the control unit of the club device sends a signal to the terminal device, And informing the user of the posture change by a warning sound, a screen output, or the like.

On the other hand, Fig. 7 is a flowchart showing an information processing method of a terminal device performing wireless communication with a club device according to an embodiment of the present invention.

In the information processing method of the terminal apparatus according to the present embodiment, the determination of the address state performed by the control unit in the flowchart shown in Fig. 6 described above, the calculation of the mounting attitude information of the club device using the sensing data, Is performed by the terminal apparatus.

That is, the club device is attached to the golf club and continuously collects the sensing data and transmits the sensing data to the terminal device. The terminal device continuously receives and collects the sensing data to analyze various golf swing analysis information, It is also judged whether or not the posture is changed.

7, when the controller transmits data to the terminal device via the wireless communication unit (S31), the terminal device transmits the data transmitted from the club device (S40). Then, it is determined whether the swing state of the user is the address state (S41).

As a result of the determination, the terminal device calculates the Euler angles using the sensing data transmitted from the club device, and stores the calculated Euler angles as information on the reference mounting posture of the club device (S42).

The terminal device continuously collects sensing data (S50), generates analysis information on the user's golf swing using the collected sensing data, and provides the analysis information to the user (S50).

As the golf swing proceeds again after the golf swing, the club device continuously transmits the sensing data to the terminal device (S32), and the terminal device receives and analyzes the sensing data (S60) to determine whether the swing state of the current user is the address state (S61).

As a result of the determination, the terminal device uses the sensing data to calculate the Euler angle as information on the current mounting posture of the club device (S62).

The terminal apparatus calculates the first attitude information by applying the Euler angles as the information about the reference mounting attitude calculated and stored in step S42 to the predefined function, and the Euler angles calculated in step S62 are compared with the predefined function To calculate the second attitude information (S63), and determines the similarity between the first attitude information and the second attitude information (S64).

Here, the calculation of the first attitude information and the second attitude information through the predefined function using the Euler angles is the same as that already described with reference to Figs. 4 and 5, and only the subject of the information processing is the terminal apparatus There is a difference in point.

If it is determined that the posture of the club device is not similar to the reference posture information, the terminal device determines that the posture of the club device is different from the reference posture (S65), and alerts the user of the posture change S66).

Meanwhile, FIG. 8 shows a method of detecting a position deformation of a club device and an information processing method of a club device according to another embodiment of the present invention.

The present embodiment is a case in which the motion sensing portion of the club device includes the acceleration sensor, the orientation sensor, and the orientation sensor, respectively, or in the form of a composite sensor. As described above with reference to FIG. 4, The position information of the club device is stored in advance and the position of the club device is misaligned, that is, the position change information is calculated and reflected in the sensing data.

First, the club device is mounted on the golf club (S100). At this time, it is assumed that the user aligns the club device to the golf club.

With the club device mounted on the golf club, the motion sensing part of the club device continuously senses the movement according to the movement of the golf club (S110), and the controller of the club device analyzes the sensed data of the motion sensing part It is determined whether the current state is the golf swing address state (S120).

If the state of the golf swing is the address state, the control unit calculates and stores information about the reference mounting posture of the club device using the data sensed by the orientation sensor and the orientation sensor of the motion sensing unit (S130). For example, the control unit can calculate and store the reference coordinate system information of the club device through the sensing data of the operation sensing unit.

As the golf swing proceeds (S140), the operation sensing unit of the club device continuously performs sensing, and the control unit transmits the sensed data to the terminal device through the wireless communication unit (S150).

The terminal device continuously collects the sensing data transmitted from the club device and generates golf swing analysis information such as the trajectory information of the golf swing, the swing tempo information, and the like, and provides the generated information to the user.

On the other hand, as the next golf swing proceeds, the operation sensing unit of the club device continuously performs sensing (S200), and the controller analyzes the sensing data to determine whether the current state of the golf swing is the address state (S210).

In the case of the address state, the control unit calculates information about the current mounting posture of the club device using the sensing data of the operation sensing unit (S220).

Then, the controller compares the reference mounting attitude information stored in step S130 with the current mounting attitude information calculated in step S220, and calculates how much the club device deviates from the reference mounting attitude in the form of a rotation angle value or the like It is assumed that the information is the position change information (S230).

The control unit of the club device transmits the sensed data of the operation sensing unit and the posture deformation information to the terminal device so as to compensate the data error by reflecting the posture error information when analyzing the sensing data transmitted by the terminal device, Information reflecting the pose change information to the sensing data of the sensing unit may be transmitted to the terminal apparatus so that the terminal apparatus can directly analyze the transmitted information (S240).

At this time, calculating the posture error information may not completely compensate for the error. If the club device is severely misaligned, rather than compensating the error by calculating posture error information, the user is prompted to correct the mounting posture of the club device May be more preferable.

Accordingly, the control unit of the club device determines whether or not the posture change information calculated in step S230 is out of a preset value or range (S250). If the posture change of the club device exceeds the allowable level, It is preferable to make an alarm about the posture change (S260).

On the other hand, FIG. 9 is a flowchart showing an information processing method of a terminal device performing wireless communication with a club device according to another embodiment of the present invention.

The information processing method of the terminal device according to the present embodiment is a method of determining the address state performed by the control unit in the flowchart shown in Fig. 7 described above, calculating the mounting posture information of the club device using the sensing data, Or the like is performed by the terminal device.

That is, the club device is attached to the golf club, continuously collects the sensing data, and transmits the sensed data to the terminal device. The terminal device continuously receives and collects the sensing data to calculate posture error information of the club device, And analyzes the reflected information to generate various golf swing analysis information.

9, when the control device transmits data to the terminal device via the wireless communication unit (S310), the terminal device receives the data transmitted from the club device (S400). Then, it is determined whether the user's swing state is the address state (S410).

As a result of the determination, the terminal device calculates and stores information about the reference mounting position of the club device using the received data (e.g., the data sensed by the orientation sensor and the orientation sensor of the motion sensing unit) (S420) .

The terminal device continuously collects sensing data (S500), generates analysis information on the user's golf swing using the collected sensing data, and provides the analysis information to the user (S510).

As the golf swing proceeds again after the golf swing, the club device continuously transmits the sensing data to the terminal device (S320). The terminal device receives and analyzes the sensing data (S600) to determine whether the swing state of the current user is the address state (S610).

If the result of the determination is affirmative, the terminal device calculates information about the current mounting posture of the club device using the collected sensing data (S620).

The terminal compares the reference mounting posture information stored in step S420 with the current mounting posture information calculated in step S620, and calculates how much the club device has deviated from the reference mounting posture, that is, the posture changing information (S630).

The terminal device determines whether the posture error information is out of a preset value or range (S700). If the posture error information does not deviate from a preset value or range, the terminal device reflects the posture error information in the sensed data collected from the club device (S640, S650) by generating analytical information about the golf swing of the user by using the club device.

If it is determined in step S700 that the posture error information is out of a predetermined value or range, the controller determines that the club device is seriously wrong and causes the user to be notified of the posture change of the club device in step S710.

CD: Club device, TD: Terminal device
100: device body, 110: motion sensing unit
120: wireless communication unit, 130:
200: Device fixing section, M: Control section

Claims (22)

And an operation sensing unit mounted on the user's golf club for sensing the movement of the golf club,
Storing information on a reference mounting posture when the club device is mounted on the golf club;
Sensing the movement of the golf club and transmitting the sensed data to a terminal device wirelessly communicating with the club device, thereby providing analysis information on the user's golf swing using the received sensing data at the terminal device; And
Determining whether or not the club device has deviated from the reference mounting posture, and guiding the determination result to at least one of the club device and the terminal device to the user;
Wherein the club device is mounted on a golf club. 2. The method of claim 1,
The club device calculates information about a current mounting posture of the golf club and compares the information with information about the reference mounting posture to output a predetermined alarm sound when the club device determines that the club device has deviated from the reference mounting posture, Displaying the information on the display provided on the club device or transmitting the information on the deviation to the terminal device and informing the user through at least one of an alarm sound and a screen display on the terminal device, The method comprising the steps of: 3. The method of claim 2,
Wherein the step of storing information on the reference mounting posture includes:
Determining whether or not the user's swing posture is an address posture according to a preset item using the sensing data of the club device with respect to the motion of the golf club, As reference mounting position information,
Wherein the determination of whether or not the club device has departed from the reference mounting posture in the step of guiding the user to the user is performed by using the sensing data of the club device with respect to the motion of the golf club, And the club device is mounted on the golf club. The club device according to claim 1, further comprising: Information processing method. CLAIMS 1. An information processing method of a club device that is mounted on a user's golf club and senses a motion of the golf club,
Storing information on a reference mounting posture when the golf club is mounted on the golf club;
Calculating information on the current mounting position of the golf club relative to the information about the reference mounting position and calculating position deformation information about the degree of deviation of the current mounting position of the club device from the reference mounting position;
Sensing movement of the golf club and calculating sensing data thereof; And
Providing analysis information on the golf swing of the user by reflecting the posture change information on the sensing data;
Wherein the club device is mounted on a golf club. 5. The method of claim 4, wherein the providing the analysis information comprises:
The club device transmitting the sensed data and the posture change information to a terminal device wirelessly communicating with the club device so that the terminal device provides analysis information on the golf swing of the user using the received sensing data The method comprising the steps of: (a) 5. The method of claim 4,
Further comprising the step of informing the user of the posture change of the club device when the posture error information is out of a preset value or range. A method for processing information of a terminal device that wirelessly communicates with a club device that is mounted on a user's golf club and senses the motion of the golf club,
Storing information on a reference mounting posture when the club device is mounted on the golf club;
Receiving sensing data sensed by the club device with respect to a motion of the golf club and generating and providing analysis information on the golf swing of the user according to a preset program using the sensed data; And
Comparing the information about the current mounting position of the golf club with the information about the reference mounting position to guide the user if the club device determines that the club device is out of the reference mounting position;
Wherein the club device is mounted on a golf club including the golf club. 8. The method of claim 7,
Wherein the step of storing information on the reference mounting posture includes:
Calculating and storing information about the reference mounting posture using the data transmitted from the club device or receiving and storing information about the reference mounting posture when the club device calculates the reference mounting posture,
The method of claim 1,
The information about the current mounting posture is calculated using the data transmitted from the club device, and the information about the current mounting posture is compared with the information about the reference mounting posture, or when the club device calculates the information about the current mounting posture, And comparing the information with the information on the mounting position of the golf club. The information processing method of the terminal device wirelessly communicates with the club device mounted on the golf club. 8. The method of claim 7,
Wherein the step of storing information on the reference mounting posture includes:
Determining whether or not the user's swing posture is an address posture according to a preset item using the sensing data of the club device with respect to the motion of the golf club, As reference mounting position information,
Wherein the determination of whether or not the club device has departed from the reference mounting posture in the step of guiding the user to the user is performed by using the sensing data of the club device with respect to the motion of the golf club, And the club device mounted on the golf club, the club device mounted on the golf club, the club device mounted on the golf club, the club device mounted on the golf club, A method of information processing of a terminal apparatus performing wireless communication. A method for detecting a position error of a club device mounted on a user's golf club to sense a motion of the golf club,
Storing information on a reference mounting posture when the club device is mounted on the golf club;
Calculating information about a current mounting posture of the club device with respect to the golf club; And
Comparing the information about the reference mounting posture with information about the current mounting posture to detect a posture change of the club device according to a preset item;
Wherein the club device is mounted on a golf club. 11. The method of claim 10,
Wherein the club device includes an acceleration sensor for measuring gravity acceleration in three axes,
Wherein the step of storing information on the reference mounting posture includes:
Calculating Euler angles of the respective axes by using the three-axis direction gravity acceleration values measured by the acceleration sensor; and storing the calculated Euler angular information of each axis as information on the reference mounting posture,
Wherein the step of calculating information on the current mounting posture includes:
And calculating the Euler angles of the respective axes as information on the current mounting posture using the three-axis direction gravity acceleration values measured by the acceleration sensor. Way. delete 12. The method of claim 11,
The information on the reference mounting posture and the information on the current mounting posture,
Determining whether a predetermined condition, a specific time, or a specific condition is determined according to a preset item using the sensing data of the club device with respect to the motion of the golf club, And the Euler angle information of each axis is included in the golf club. 12. The method of claim 11,
The information on the reference mounting posture and the information on the current mounting posture,
And an output waveform of the acceleration sensor of the club device with respect to the movement of the golf club is analyzed to determine an interval in which the output waveform of the acceleration sensor does not substantially change, Wherein the Euler angle information of each axis calculated using the acceleration value or the measured three-axis direction gravity acceleration value is included. 12. The method of claim 11,
The information on the reference mounting posture and the information on the current mounting posture,
Wherein the controller determines whether the swing posture of the user is an address posture according to a preset item using the sensing data of the club device with respect to the motion of the golf club, And the Euler angle information of each axis calculated using the direction gravity acceleration value. 12. The method of claim 11, wherein the step of detecting the posture of the club device comprises:
Wherein the predetermined items include a predefined function having at least two of the Euler angles in the three axial directions and a gravitational acceleration value as parameters,
A first attitude information calculated by the predefined function and at least two of Euler angles in three axial directions relating to the reference mounting posture and a gravitational acceleration value measured by the acceleration sensor; And determining a similarity of the second attitude information calculated by the predefined function to at least two of the Euler angles of the first and second directions and the gravitational acceleration value measured by the acceleration sensor to detect the attitude change of the club device And detecting the position of the club device mounted on the golf club. 11. The method of claim 10,
Wherein the club device includes an acceleration sensor for measuring gravity acceleration in three axes,
Wherein the step of storing information on the reference mounting posture includes:
Calculating at least two of a roll, a pitch, and a yaw using the gravitational acceleration value measured by the acceleration sensor; and calculating at least two of the calculated roll, And storing the information as information on the reference mounting posture,
Wherein the step of calculating information on the current mounting posture includes:
Calculating at least two of roll, pitch, and urge using the gravitational acceleration value measured by the acceleration sensor as information on the current mounting posture,
Wherein the step of detecting the positional deviation of the club device comprises:
Defining a reconstruction function for reconstructing a reference coordinate system of the club device using at least two of roll, pitch and yaw in three axial directions and gravitational acceleration as parameters,
And calculating a degree of change in coordinate axes calculated using the reconstruction function with respect to the information about the current mounting posture from the coordinate axes calculated using the reconstruction function with respect to the information about the reference mounting posture, And detecting the positional deviation of the club device mounted on the golf club. 17. A recording medium readable by a computing device recording the method according to any one of claims 1 to 11 and 13 to 17. A device body mounted on a user's golf club,
An operation sensing unit built in the device body for sensing movement of the golf club,
A wireless communication unit built in the device main body and capable of wirelessly transmitting / receiving information to / from an external device;
And a control unit built in the device body and controlling the operation sensing unit and the wireless communication unit,
The operation sensing unit transmits sensing data sensed by the motion sensing unit to the terminal through the wireless communication unit to generate analysis information on the golf swing of the user at the terminal,
Wherein the control unit detects whether or not the device body is deviated from a reference mounting posture when the device body is mounted on the golf club from the sensing data of the motion sensing unit and informs the user of the posture error, And transmits the sensed data to the terminal device so that the terminal device can determine the posture of the user and alert the user. Club devices. 20. The method of claim 19,
Wherein the motion sensing unit includes an acceleration sensor that measures a gravity acceleration in three axial directions and senses dynamic characteristics of the golf club according to the movement of the golf club,
Wherein the control unit calculates Euler angles of the respective axes by using the three-axis direction gravity acceleration values measured by the acceleration sensor and determines whether or not the device body is in a state of posture deflection by the predefined function using the Eulerian angle information of the calculated axes Wherein the club device is configured to determine a golf club. 21. The apparatus of claim 20,
Wherein the controller determines whether the swing posture of the user is an address posture by using the data sensed by the acceleration sensor, and determines whether the swing posture of the user is an address posture, Wherein the controller determines the position of the device body based on the calculated angle. A device body mounted on a user's golf club,
An operation sensing unit built in the device body for sensing movement of the golf club,
A wireless communication unit built in the device main body and capable of wirelessly transmitting / receiving information to / from an external device;
And a control unit built in the device body and controlling the operation sensing unit and the wireless communication unit,
Wherein the motion sensing unit transmits sensing data sensed by the motion sensing unit to motion of the golf club through the wireless communication unit to generate analysis information on the golf swing of the user at the terminal,
Wherein the control unit calculates posture deformation information on the degree of deviation from a reference mounting posture when the device body is mounted on the golf club from sensed data of the motion sensing unit,
The control unit transmits the resultant data reflecting the pose change information to the sensed data by the operation sensing unit to the terminal or transmits the sensed data and the pose change information to the terminal unit Wherein the terminal device generates the analysis information on the golf swing by reflecting the posture changing information on the sensed data.

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