KR20180035078A - Apparatus and method for measuring torque - Google Patents

Abstract

The present invention relates to a torque measurement device and a measurement method. More specifically, the torque measurement device comprises: a feature extraction unit for extracting joint position information which is information indicating a position of a golfer′s joint from shape information and depth information of the golfer input from a depth camera; a pressure measurement unit for measuring load distribution on a region where the golfer′s foot touches the ground; and a ground reaction force calculation unit for calculating a ground reaction force vector based on the golfer′s joint position information and the load distribution.

Description

TECHNICAL FIELD [0001] The present invention relates to a torque measuring apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a torque measuring apparatus and a measuring method, and more particularly, to a torque measuring apparatus for calculating a torque of a golfer using a ground reaction force during golf swing and a center of gravity of a golfer.

The direction and distance of the ball to the golfer who uses the golf practice device for golf practice is one of the important factors. The direction and distance of the ball is based on the torque applied by the golfer to the golf ball. There are two methods of measuring the direction and distance of the ball. The first method is to calculate the moment of inertia of the golfer in advance, then measure the angular acceleration of the golfer when the golfer rotates, and multiply the moment of inertia by the moment of inertia. The second method is the distance from the center of gravity of the golfer to the ball, It is a method of vector multiplying force applied to the ball.

However, in the case of the first method, it is not easy to calculate the moment of inertia of the golfer or to measure the angular acceleration. Therefore, it is difficult to measure the direction of the force applied to the golf ball in the second method.

Recently, a golf swing measuring device for measuring a swing speed, a hit speed, and the like using a sensor attached to a golf club and measuring the distance therefrom has been disclosed. As a result, the prior art document Korean Patent Application No. 10-2009-0028317 This is described in

However, even when the prior art document is used, the torque applied to the golf ball can not be obtained accurately, and thus the direction and distance of the ball can not be accurately measured.

Therefore, there is a need for a technique for solving the above-mentioned problem.

On the other hand, the background art described above is technical information acquired by the inventor for the derivation of the present invention or obtained in the derivation process of the present invention, and can not necessarily be a known technology disclosed to the general public before the application of the present invention .

An object of the present invention is to provide a torque measuring apparatus and a measuring method capable of measuring a direction of a ground reaction force based on image information and depth information.

An object of the present invention is to provide a torque measuring device and a measuring method capable of calculating a ground reaction force vector.

An object of the present invention is to provide a torque measuring device and a measuring method capable of measuring a torque using a distance between a center of gravity of a ball and a golfer and a ground reaction force vector without attaching a sensor directly to a ball or a golf club .

According to a first aspect of the present invention, there is provided a torque measuring apparatus for measuring a torque of a golfer, the apparatus comprising: A pressure measuring unit for measuring a load distribution of a region of the golfer's foot touching the ground, and a ground reaction force calculator for calculating a ground reaction force vector based on joint position information and a load distribution of the golfer .

The torque measuring method according to the second aspect of the present invention comprises the steps of extracting joint position information, which is information indicating the position of the golfer's joint from the shape information of the golfer input from the depth camera and depth information, Measuring a load distribution of a region of the golfer's foot contacting the ground, and calculating a ground reaction force vector based on the golfer's joint position information and the load distribution.

According to any of the above-mentioned objects of the present invention, an embodiment of the present invention can measure the direction of the ground reaction force based on the image information and the depth information.

According to any one of the above objects of the present invention, an embodiment of the present invention can calculate the ground reaction force vector.

According to one of the above-mentioned objects of the present invention, an embodiment of the present invention can measure a torque using a distance between a center of gravity of a ball and a golfer and a ground reaction force vector without attaching a sensor directly to a ball or a golf club .

The effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned can be clearly understood by those skilled in the art from the following description will be.

1 is a block diagram showing a configuration of a torque measuring apparatus according to an embodiment of the present invention.
FIG. 2 is a view showing a principle in which a torque measuring apparatus according to an embodiment of the present invention calculates a direction of a ground reaction force. FIG.
3 is a view showing a principle of calculating a magnitude of a ground reaction force according to an embodiment of the present invention.
4 is a diagram illustrating a principle of calculating a torque reaction force vector and a torque according to an embodiment of the present invention.
5 is a flowchart illustrating a method of measuring a torque applied to a golf ball according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "indirectly connected". Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

In the drawings, like reference numerals refer to like elements throughout. The same reference numerals are used to denote like elements in different drawings, and elements of different drawings can be cited when necessary in describing the drawings. Leave.

Before describing the present invention, the terms derived from the present invention will be described.

In the present invention, 'depth information' refers to a point where a laser or an infrared ray incident on each pixel is reflected when a laser or an infrared ray irradiated to a subject from a depth camera reaches the image sensor inside the depth camera, Depth Indicates an indicator that indicates the distance between cameras. For example, when the depth information of a 3D image is represented by a value of 1 to 10, a 3D depth is formed relatively backward if the depth of focus of the screen is 1, and a 3D effect is formed when the depth of focus is 10 .

In the present invention, 'shape information' is image information obtained by photographing one surface of a golfer facing a depth camera by a depth camera.

In the present invention, the 'ground reaction force' refers to a force applied from the ground to a golfer in reaction to a force applied by the golfer to the ground.

Hereinafter, the configuration of the torque measuring device 1 and the principle of measuring the torque M will be described with reference to Figs. 1 to 4. Fig.

Fig. 1 is a block diagram showing a configuration of a torque measuring apparatus 1 according to an embodiment of the present invention. Fig. 2 is a view showing a torque measuring apparatus 1 according to an embodiment of the present invention. FIG. 3 is a view showing the principle of calculating the magnitude of the ground reaction force by the torque measuring apparatus 1 according to the embodiment of the present invention, and FIG. 4 is a graph showing the torque measurement (1) calculates a ground reaction force vector (F) and a torque (M).

First, a golfer practicing a swing at a golf driving range or the like places a golf ball B at a predetermined position and applies a torque M to the golf ball B using a golf club. The distance traveled by the golf ball B is determined by the magnitude of the torque M and the direction in which the golf ball B moves is determined by the direction of the torque M, (1) is a configuration and apparatus for measuring the magnitude and angle of a torque (M) when a golfer applies a torque (M) to the golf ball (B).

The torque measuring device 1 according to one embodiment of the present invention can calculate the ground reaction force vector F based on the magnitude and angle of the ground reaction force as a premise for calculating the torque M. [ 1, the torque measuring apparatus 1 may include a feature extracting unit 11, a pressure measuring unit 12, and a ground reaction force calculating unit 13 as shown in Fig. 1 for calculating the ground reaction force vector F .

The feature extracting unit 11 included in the torque measuring apparatus 1 according to the embodiment of the present invention is a component for measuring the direction of the ground reaction force generated between each leg and the ground, and the distance and direction between the golfer and the ball .

The feature extraction unit 11 can extract joint position information, which is position information of the golfer input from the depth camera.

Specifically, the depth camera can acquire the shape and depth information of the subject by irradiating a laser or an infrared ray toward the subject. The shape and depth information of the subject acquired by the depth camera include three-dimensional information indicating the golfer's joint position Information. The feature extraction unit 11 extracts joint position information from the shape information and depth information of the object acquired by the depth camera.

At this time, the torque measuring device 1 extracts the joint position information to obtain the direction of the torque M. In other words, in order to obtain the direction of the torque M, the torque measuring device 1 needs to estimate the direction of the ground reaction force based on the joint position information.

Specifically, the feature extraction unit 11 can extract the joint position information as a three-dimensional coordinate value based on the golfer's shape information and depth information. The feature extraction unit 11 obtains a vector pointing to a coordinate corresponding to both knees K1 and K2 from each coordinate corresponding to both feet F1 and F2 of the golfer in FIG. Can be calculated in the direction from the feet F1 and F2 of the legs K1 and K2. Then, each direction thus calculated is applied to each of the golfers from the ground as a reaction to a force applied to the ground by each of both feet of the golfer (hereinafter referred to as a first ground reaction force vector G1 and a second ground reaction force vector (Hereinafter referred to as " G2 ").

2, for example, the feature extraction unit 11 can extract the direction of the first ground reaction force vector G1 generated by the left leg of the golfer from the three-dimensional joint position information of the left leg. The direction of the vector pointing to the three-dimensional coordinate corresponding to the position of the left knee K1 is obtained from the three-dimensional coordinate corresponding to the position of the left foot F1 and the corresponding direction is determined as the first ground reaction force vector 0.0 > G1). ≪ / RTI > Further, the feature extraction unit 11 can extract the direction of the second ground reaction force vector G2 generated by the right leg from the three-dimensional joint position information of the right leg, and the feature corresponding to the position of the right foot F2 The direction of the vector facing the three-dimensional coordinate corresponding to the position of the right knee K2 is obtained from the three-dimensional coordinate and the direction is determined as the direction of the second ground reaction force vector G2 generated by the right leg.

Further, the torque measuring device 1 needs to measure the distance from the center of gravity CM of the golfer to the golf ball B in order to measure the torque M. Therefore, the feature extraction unit 11 can measure the distance from the center of gravity CM of the golfer to the golf ball B, as a value required for the torque calculation unit 14 to be described later to calculate the torque.

Specifically, the feature extraction unit 11 can measure the center of gravity (CM) of the golfer based on the shape information and depth information of the golfer input from the depth camera. Since the depth camera inputs not only the shape information but also the depth information toward the feature extracting unit 11, the position of the golfer's center of gravity CM and the position of the golf ball B are three-dimensional position information, . The feature extraction unit 11 measures the distance and direction between the golf ball B and the golfer's center of gravity CM based on the three-dimensional position information of the center of gravity CM and the three- can do.

On the other hand, the pressure measuring unit 12 can measure the load distribution applied by the feet F1 and F2 of the golfer to the ground.

Specifically, the pressure measuring unit 12 can obtain the load distribution of the feet F1 and F2 of the golfer by measuring the unit of a pixel, which is a minimum unit for measuring the load. That is, the pressure measuring unit 12 can obtain the load distribution over the entire foot area by measuring the load measured at each pixel. The pressure measuring unit 12 measures the ground level distribution of the golfer's feet F1 and F2 on the ground surface in the steady state before the swing for each pixel and measures how much load is additionally applied at the time of swing based on the measured load distribution It can be measured whether it is applied to the pixel.

For example, as shown in FIG. 3, the pressure measuring unit 12 can measure the load distribution of the feet F1 and F2 of the golfer. The pressure measuring unit 12 can integrate the load distribution by the area of each foot F1 and F2 and determine the resultant value as the magnitude of the ground reaction force generated by each foot F1 and F2.

To this end, the pressure measuring unit 12 measures the pressure of the golfer's feet F1 and F2 from a pressure sensor, for example, an FSR (Force Sensing Resistor) sensor installed on the plate on which the two feet F1 and F2 of the golfer are placed, It is possible to obtain a pressure value measured in pixel units over the entire contact area. The pressure measuring unit 12 determines the magnitude of the load on each of the feet F1 and F2 as the magnitude of the ground reaction force vectors G1 and G2 generated by the feet F1 and F2, .

At this time, the pressure measuring unit 12 determines the size of the ground reaction force vectors G1 and G2 using the load distribution of the feet F1 and F2 at the time of hit of the golf ball B, The magnitudes of the ground reaction force vectors G1 and G2 may be measured.

Meanwhile, if the direction and magnitude of the ground reaction force are calculated as described above, the ground reaction force calculation unit 13 included in the torque measuring apparatus 1 according to an embodiment of the present invention can calculate the ground reaction force vector F.

The ground reaction force calculation unit 13 calculates the ground reaction force vector F using the direction of the ground reaction force calculated by the feature extraction unit 11 and the magnitude of the ground reaction force calculated by the pressure measurement unit 12 Can be calculated. The ground reaction force vector F can be obtained by the sum of the first ground reaction force vector G1 and the second ground reaction force vector G2. To this end, the ground reaction force calculation unit 13 may first calculate the first ground reaction force vector G1 and the second ground reaction force vector G2. That is, the ground reaction force calculation unit 13 calculates the sum of the load distribution of the left foot F1 calculated by the pressure measurement unit 12 as the vector size of the first ground reaction force vector G1, The first ground reaction force vector G1 can be calculated from the direction of the left knee K1 toward the left knee K1 as the vector direction. The ground reaction force calculation unit 13 calculates the sum of the load distribution of the right foot F2 calculated by the pressure measurement unit 12 as a vector size and calculates the sum of the right knee K2 from the right foot F2 of the golfer The second ground reaction force vector G2 can be calculated.

Then, the ground reaction force calculation unit 13 calculates the ground reaction force vector F by summing the first ground reaction force vector G1 and the second ground reaction force vector G2.

For example, according to FIG. 4, when the golfer swings the golf ball B, the ground reaction force vector F is obtained through the sum of the first ground reaction force vector G1 and the second ground reaction force vector G2 . As described above, the first ground reaction force vector G1 is a vector direction from the left foot F1 to the left knee K1, and the size of the ground reaction force acting on the left foot F1 is the vector magnitude . The second ground reaction force vector G2 has a vector direction from the right foot F2 to the right knee K2 and a size of the vector reaction force acting on the right foot F2. The ground reaction force calculator 13 can calculate the ground reaction force vector F by vector summing the first ground reaction force vector G1 and the second ground reaction force vector G2 thus formed.

Meanwhile, the torque measuring device 1 according to an embodiment of the present invention can also measure the magnitude of the torque M applied to the golf ball B by the golfer as described above. In other words, it is preferable to directly measure the torque M applied to the golf ball B in order to measure the torque M applied to the golf ball B, The torque measuring device 1 according to the embodiment of the present invention is able to measure the distance from the center of gravity CM of the golfer to the golf ball B by using the ground reaction force vector F and the distance r from the golfer's center of gravity CM to the golf ball B And a torque calculation section 14 for calculating the torque M.

That is, the torque calculation unit 14 calculates the distance vector r extending from the center of gravity CM of the golfer to the position of the golf ball B, and calculates the distance vector r and the ground reaction force vector F And the torque M can be calculated by multiplying the vector.

Specifically, the torque calculating section 14 calculates a distance vector r extending from the center of gravity CM to the position of the golf ball B before calculating the torque M, The torque calculator 14 can calculate the distance and the direction between the golf ball B and the center of gravity CM of the golfer, The distance between the center of gravity CM of the golfer can be calculated as the size of the distance vector r and the direction from the center of gravity CM of the golfer toward the golf ball B in the direction of the distance vector r.

Then, the torque calculation unit 14 can calculate the torque M by multiplying the ground reaction force vector F calculated by the ground reaction force calculation unit 13 by the above-described distance vector r.

Hereinafter, a method of measuring the torque M applied to the golf ball B by the torque measuring device 1 will be described with reference to Figs. 2 to 5. Fig. 5 is a flowchart of a method of measuring the torque M applied to the golf ball B by the torque measuring device 1 according to an embodiment of the present invention.

According to the torque measuring method according to the embodiment of the present invention, the torque measuring device 1 includes a step (S10) of calculating a ground reaction force vector and a step (S20) of calculating a distance vector r. The two steps may be performed in parallel with each other as shown in FIG. 5, and a step of photographing the golfer's shape information and depth information using the depth camera before each step is performed, A step of photographing the shape information and the depth information may be performed. At this time, the shape information and the depth information of the golfer may be obtained at the swing of the golfer, for example, at the time when the golf club is hit by the golf ball (B).

First, a step S10 of calculating a ground reaction force vector is first described. Step S10 of calculating a ground reaction force vector calculates the direction of the ground reaction force vector from the shape information and the depth information of the golfer photographed by the depth camera (S11).

In this case, step S11 may include a step (G2) of calculating the direction of each of the first ground reaction force vector G1 and the second ground reaction force vector, which are two components constituting the ground reaction force vector F to be finally calculated .

Specifically, the direction of the first ground reaction force vector G1 is the direction from the left foot F1 of the golfer toward the left knee K1, and the direction of the second ground reaction force vector G2 is the direction of the right foot F2 of the golfer And can be determined in the direction toward the right knee K2.

In addition, step S12 of calculating the size of the ground reaction force vector by measuring the load distribution of the golfer's feet F1 and F2 in parallel or independently with the step S11 may be performed. At this time, the magnitude of the ground reaction force vector can be calculated by measuring the load distribution of each foot F1 and F2 of the golfer as described above. At this time, in step S12, the size of the ground reaction force vector can be calculated based on the load distribution at the hit time of the golf ball (B) or the change in the load distribution measured before the load distribution. At this time, the magnitude of the first ground reaction force vector G1 and the magnitude of the second ground reaction force vector G2 can be calculated based on the load distribution measured at the feet F1 and F2 of the golfer, respectively.

Subsequently, at step S10, a step S13 of calculating a ground reaction force vector F using the direction and magnitude of the ground reaction force vector calculated at steps S11 and S12 may be included. At this time, in step S13, the torque measuring device 1 may calculate the first and second surface reaction force vectors G1 and G2, and then calculate a reaction force vector F by vector summing the first and second ground reaction force vectors G1 and G2. To this end, step S13 may include calculating the first ground reaction force vector G1 and calculating the second ground reaction force vector G2, respectively. Specifically, each step calculates the first ground reaction force vector G1 using the direction of the first ground reaction force vector G1 calculated in step S11 and the magnitude of the first ground reaction force vector G1 calculated in step S12 Calculating a second ground reaction force vector G2 by using the direction of the second ground reaction force vector G2 calculated in step S11 and the magnitude of the second ground reaction force vector G2 calculated in step S12 Lt; / RTI > And a step of vector-summing the first ground reaction force vector G1 and the second ground reaction force vector G2 thus calculated.

On the other hand, in step S20, the torque measuring device 1 obtains the position coordinates of the golfer's center of gravity CM based on the golfer's shape information and depth information photographed by the depth camera, (Step S21).

Then, the torque measuring device 1 can calculate the distance vector r using the center of gravity CM of the golfer and the position coordinates of the golf ball B (S21).

The torque measuring device 1 may perform step S30 of calculating the torque M by multiplying the vector of the ground reaction force F calculated in step S10 and the distance vector r calculated in step S20. It is preferable to directly measure the torque M applied to the golf ball B in order to measure the torque M applied to the golf ball B but it is preferable to directly attach the sensor to the hit point of the golf ball B The torque measuring apparatus 1 according to the embodiment of the present invention calculates the torque M based on the above-described ground reaction force vector F and the distance from the center of gravity CM of the golfer to the golf ball B .

That is, the torque measuring device 1 calculates a distance vector r extending from the center of gravity CM of the golfer to the position of the golf ball B, and outputs the distance vector r and the ground reaction force vector F to each other And the torque M can be calculated by multiplying the vector.

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

1: Torque measuring device
11: Feature extraction unit
12: Pressure measuring section
13: Ground reaction force calculation unit
14: torque calculation unit

Claims (8)

A feature extraction unit for extracting joint position information, which is information indicating the position of the golfer's joint from the shape information and depth information of the golfer inputted from the depth camera;
A pressure measuring unit for measuring a load distribution of a region of the golfer's foot contacting the ground; And
And a ground reaction force calculation unit for calculating a ground reaction force vector based on the golfer's joint position information and the load distribution. The method according to claim 1,
The ground reaction force calculation unit may calculate,
A first ground reaction force vector generated by a left foot of a golfer and a second ground reaction force vector generated by a right foot of a golfer when a golfer hits a golf ball on the basis of the joint position information, And calculates a reaction force vector. 3. The method of claim 2,
Wherein the first ground reaction force vector
The sum of the load distribution of the left foot of the golfer is a vector size, the direction from the left foot of the golfer to the left knee is in the vector direction,
The second ground reaction force vector is calculated by:
Wherein the sum of the load distribution of the right foot of the golfer is a vector magnitude and has a vector direction from the right foot to the right knee of the golfer. The method of claim 3,
The feature extraction unit may extract,
Extracting three-dimensional position information of the golfer's center of gravity and the golf ball from the golfer's shape information and depth information,
The torque measuring device includes:
Further comprising a torque calculation section for calculating a distance vector extending from the center of gravity to the position of the golf ball and calculating a torque by multiplying the distance vector and the ground reaction force vector by a vector. Performed by a torque measuring device;
Extracting joint position information which is information indicating a position of the golfer's joint from the shape information and depth information of the golfer inputted from the depth camera;
Measuring a load distribution of a region of the golfer's foot contacting the ground; And
And calculating a ground reaction force vector based on the golfer's joint position information and the load distribution. 6. The method of claim 5,
The step of calculating the ground reaction force vector includes:
A first ground reaction force vector generated by a left foot of a golfer and a second ground reaction force vector generated by a right foot of a golfer when a golfer hits a golf ball on the basis of the joint position information, And calculating a reaction force vector. The method according to claim 6,
The step of calculating the ground reaction force vector includes:
Calculating the first ground reaction force vector having a sum of the load distribution of the left foot of the golfer as a vector size and having a vector direction from the left foot to the left knee of the golfer; And
Calculating a second ground reaction force vector having a sum of the load distribution of the right foot of the golfer as a vector size and having a vector direction from the right foot of the golfer toward the right knee. 8. The method of claim 7,
Wherein the step of extracting the joint position information comprises:
And extracting three-dimensional position information of the golfer's center of gravity and the golf ball from the golfer's shape information and depth information,
The torque measuring method includes:
Calculating a distance vector extending from the center of gravity to a position of the golf ball, and calculating a torque by vector-multiplying the distance vector and the ground reaction force vector.

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