US20140106892A1 - Method for swing result deduction and posture correction and the apparatus of the same - Google Patents

Method for swing result deduction and posture correction and the apparatus of the same Download PDF

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Publication number
US20140106892A1
US20140106892A1 US13/725,778 US201213725778A US2014106892A1 US 20140106892 A1 US20140106892 A1 US 20140106892A1 US 201213725778 A US201213725778 A US 201213725778A US 2014106892 A1 US2014106892 A1 US 2014106892A1
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Prior art keywords
golf club
posture correction
swing result
swing
deduction
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Abandoned
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US13/725,778
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English (en)
Inventor
Chung Wei Lin
Lun Chia Kuo
Chih Wei Yi
Yu Jung Yeh
Tsung Long Chen
Yi Chen Huang
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Industrial Technology Research Institute ITRI
National Yang Ming Chiao Tung University NYCU
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Industrial Technology Research Institute ITRI
National Chiao Tung University NCTU
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Assigned to INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE, NATIONAL CHIAO TUNG UNIVERSITY reassignment INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KUO, LUN CHIA, LIN, CHUNG WEI, YI, CHIH WEI, CHEN, TSUNG LONG, HUANG, YI CHEN, YEH, Yu Jung
Publication of US20140106892A1 publication Critical patent/US20140106892A1/en
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • A63B69/3608—Attachments on the body, e.g. for measuring, aligning, restraining
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/003—Repetitive work cycles; Sequence of movements
    • G09B19/0038—Sports

Definitions

  • the technical field of the present disclosure is related to a method for swing result deduction and posture correction and the device thereof.
  • misplayed shots include a hook, a slice, a pull, a push, a duff and a top, and a golf beginner usually does not know the type of misplayed shot made during practice as well as a correction method.
  • Such a problem may be solved through one-to-one teaching by an instructor; however, due to the lack of accurate swing and golfer body information, an instructor can only instruct a golf beginner on how to correct a body movement from the experience based on a swing result.
  • Such a problem may also be solved by recording swing information and the swing posture of a golf beginner with a high speed camera; however, such an approach may still encounter problems such as image obstruction (blind spot of camera), golfer privacy, an unknown body force application, and detection failure of the rotation angle of a club-face.
  • a pressure sensor is installed on a golf club to record the force application on a club-head and feed back the force of a player's swing and the flying direction of a ball.
  • a golf club requires special fabrication, which is not economical.
  • a light distribution sensor is added in a striking environment to observe the flying shadow of a ball, determine the flying direction of the ball based on the tangent plane point of the swing, and predict a golf three dimensional movement trajectory. Such a method is not suitable for an outdoor practical swing and but only suitable for an indoor small-range operation.
  • this set of method and structure may also provide a golf instructor with more precise, objective data to make better advices.
  • One embodiment of the present disclosure provides a method for swing result deduction and posture correction, the method includes performing coordinate transformation between a sensor frame and an earth frame; outputting a swing result according to at least one piece of sensor information and through a swing result deduction analysis method; and outputting a correction advice according to at least one piece of sensor information and through a posture correction analysis method.
  • an electronic device for swing result deduction and posture correction capable of receiving sensor information generated by at least one sensor
  • the electronic device includes a memory; and a processor including a coordinate transformation module, a swing result deduction module, and a posture correction module.
  • the coordinate transformation module is used for performing coordinate transformation between the coordinates of the at least one sensor and an earth frame
  • the swing result deduction module is used for outputting a swing result according to the sensor information generated by the at least one sensor and through a swing result deduction analysis method
  • the posture correction module is used for outputting a correction advice according to the sensor information generated by the at least one sensor and through a posture correction analysis method.
  • FIG. 1 shows an electronic device for swing result deduction and posture correction according to an embodiment of the present disclosure
  • FIG. 2 is a schematic view of the sensor frame-earth frame” transformation according to the present disclosure
  • FIG. 3A-1 to FIG. 3A-4 are schematic views of misplayed shot types
  • FIG. 3B is a schematic view of downswing trajectories
  • FIG. 3C-1 to FIG. 3C-2 are schematic views of rotation trends of a club-face
  • FIG. 4 shows the determination of the swing result of a duff according to the change of an acceleration value of a golf club according to an embodiment of the present disclosure
  • FIG. 5 shows the determination of the swing result of a top according to the change of an acceleration value of a golf club according to an embodiment of the present disclosure
  • FIG. 6 is a schematic view of an open club-face according to an embodiment of the present disclosure.
  • FIG. 7 shows a schematic view of a closed club-face according to an embodiment of the present disclosure
  • FIG. 8 is a flow chart of an analysis method for determining a swing result according to an embodiment of the present disclosure
  • FIG. 9 shows a structure of swing result deduction and posture correction according to an embodiment of the present disclosure.
  • FIG. 10 is a flow chart of an analysis method for providing a posture correction advice according to an embodiment of the present disclosure.
  • FIG. 11A to FIG. 11D show various manners of connecting a sensor and a golf club according to embodiments of the present disclosure.
  • a ball striker may dispose a sensor, for example, a movement sensing accessory on the grip of a golf club, place a sensor through a method for connecting a sensor and a golf club, for example, an appendage or a fixation outside a golf club or an insertion in a golf club, and optionally wear a smartphone with a sensing function at the waist.
  • a sensor for example, a movement sensing accessory on the grip of a golf club
  • a sensor for example, a movement sensing accessory on the grip of a golf club, place a sensor through a method for connecting a sensor and a golf club, for example, an appendage or a fixation outside a golf club or an insertion in a golf club, and optionally wear a smartphone with a sensing function at the waist.
  • swing practice may start.
  • the movement sensing accessory may measure the current gravity and magnetic force and return the current gravity and magnetic force to a framework including the deduction and posture correction device for calculating a “sensor frame-earth frame” transformation matrix during the current take-away movement.
  • the framework first transforms all the information back to the sensor frame during the take-away, and then, through a “sensor frame-earth frame” transformation procedure, transforms the sensed information into information using the earth frame as a reference.
  • the framework calculates a swing trajectory, an angle of a club-face and an acceleration value of a golf club, and determines a swing result.
  • the framework automatically determines the major cause for an undesirable swing result based on the deduced swing result in combination with the body movement of the ball striker determined by the sensor.
  • FIG. 1 shows an electronic device 100 for swing result deduction and posture correction according to an embodiment of the present disclosure.
  • the electronic device 100 may receive sensor information generated by at least one sensor (not shown), and the electronic device 100 includes a memory 12 and a processor 10 .
  • the processor 10 further includes a coordinate transformation module 14 , a swing result deduction module 16 , and a posture correction module 18 .
  • the functions of all the above modules are described below.
  • the electronic device 100 is a computer unit in this embodiment; however, the electronic device 100 is not limited thereto, and any electronic device 100 having basic computation and processing functions, such as a tablet computer, a smartphone, may be used as the electronic device 100 .
  • the processor 10 further includes a wireless module 19 .
  • the wireless module 19 may receive signals of other mobile devices in a manner such as, but not limited to, Bluetooth, Wi-Fi or 3G.
  • other mobile devices may be at least one sensor or movement sensing accessory.
  • a plurality of sensors or movement sensing accessories transmits sensed information to the electronic device 100 .
  • the different modules perform computation through the data of these pieces of sensed information and output results to be displayed on a peripheral (for example a screen) of the electronic device 100 , or output the results to display devices of the sensors through wireless transmission.
  • the result calculated by the electronic device 100 may be transmitted through a cloud to a remote device, for example, a mobile communication device or a home computer unit of a user or the ball striker.
  • the coordinate transformation module 14 in the electronic device 100 in FIG. 1 is used for “sensor frame-earth frame” coordinate transformation.
  • a golf ball striker 20 holds a golf club 22 in hand, while a sensing device 24 is disposed on the golf club 22 .
  • the sensing device 24 may be fixed on the golf club 22 .
  • a detachable conical sleeve ring 111 A slides over a golf club 110 A, and then a bolt 113 A for connecting a sensing device 112 A is screwed in a screw-hole of the sleeve ring 111 A (however, the present disclosure is not limited thereto).
  • the sleeve ring 111 A may be, but is not limited to, a rubber sleeve ring.
  • the sensing device 112 A may also combine with a bolt 113 A and be screwed in the screw-hole positioned on top of the golf club 110 A as shown in FIG. 11A-1 . Further, as shown in FIG. 11A-1 .
  • one sleeve ring 111 B having a groove 113 B is sleeved over a golf club 110 B (in this embodiment, it is shown that the sleeve ring 111 B is located below the grip position of a ball striker), a thin-type sensing device 112 B (for example, in a form of a card) may be inserted in the groove 113 B of the sleeve ring 111 B and be fixed by the sleeve ring 111 B.
  • the sleeve ring 111 B may be, but is not limited to, a rubber sleeve ring.
  • FIG. 11C it is shown that the sleeve ring 111 B is located above the grip position of a ball striker.
  • the sensing device 24 shown in FIG. 2 may also be inserted inside the golf club 22 . As shown in
  • the golf club 110 C may adopt a two-section design, so that a user or the ball striker may detach the golf club 110 C into two sections ( 110 C, 110 C′) and insert the sensing device 112 C or 112 C′ into the gold club.
  • FIG. 11A to FIG. 11C show that a golf club ( 110 A, 110 B) may be combined with the sensing device ( 112 A, 112 B) without a special customization process.
  • an acceleration value and a swing trajectory required for the process of determining a swing result is based on the reference of the earth frame, and the sensing device 24 may be unable to be precisely placed along the direction of the club. Therefore, coordinate transformation between a sensor frame and the earth frame is required.
  • a ball striker first keeps still for several seconds during the preparation for a take-away movement, so that the gravity sensor and the magnetic sensor in the sensing device 24 are able to measure the current gravity and magnetic force and returns the current gravity and magnetic force to the framework. As shown in FIG.
  • E the basis of the earth frame
  • the sensor frame during the take-away preparation movement may be transformed into the earth frame:
  • the framework transforms the data returned by the sensor from the sensor frame into the earth frame according to the description below.
  • the angular speeds ( ⁇ x , ⁇ y , ⁇ z ) measured by a gyro sensor in each time of sampling are introduced to obtain a quaternion Q.
  • a sensor frame Q n:1 at the time of the take-away may be obtained through the vector product multiplication of quaternions Q generated at different sampling points.
  • the sensor frame Q n:1 at the time of the take-away is introduced into a corresponding rotation matrix R, and the value of a corresponding acceleration a is taken, so that the acceleration value of the sensor frame at the time of the take-away is obtained.
  • all obtained acceleration values of the sensor frame of the sampling points at the time of the take-away are taken into the transformation matrix T e:s to obtain the acceleration transformed into the “earth frame”.
  • the computation equation is as follows:
  • R [ 1 - 2 ⁇ q 2 2 - 2 ⁇ q 3 2 2 ⁇ ( - q 0 ⁇ q 3 + q 1 ⁇ q 2 ) 2 ⁇ ( q 0 ⁇ q 2 + q 1 ⁇ q 3 ) 2 ⁇ ( q 0 ⁇ q 3 + q 1 ⁇ q 2 ) 1 - 2 ⁇ q 1 2 - 2 ⁇ q 3 2 2 ⁇ ( q 0 ⁇ q 1 + q 2 ⁇ q 3 ) 2 ⁇ ( - q 0 ⁇ q 2 + q 1 ⁇ q 3 ) 2 ⁇ ( - q 0 ⁇ q 2 + q 1 ⁇ q 3 ) 2 ⁇ ( q 0 ⁇ q 1 + q 2 ⁇ q 3 ) 1 - 2 ⁇ q 1 2 - 2 ⁇ q 2 2 ] .
  • Q n is expressed as the quaternion of the n th sampling point in the current sensor frame, the sensor frame at the time of the take-away is the vector product multiplication of the quaternion:
  • Q n:1 Q n ⁇ Q n ⁇ 1 . . . ⁇ Q 1 .
  • the swing result deduction module 16 in the electronic device 100 in FIG. 1 deduces a swing result through different sensor information.
  • Common misplayed shots of golfers include a hook (as shown in FIG. 3A-1 ), a slice (as shown in FIG. 3A-2 ), a push (as shown in FIG. 3A-3 ), a pull (as shown in FIG. 3A-4 ), a top (not shown), and a duff (not shown).
  • the swing result deduction module 16 may determine what type of misplayed shot a ball striker has made.
  • the sensor information used by the swing result deduction module 16 includes the acceleration value of the swing movement in the three-axis (X, Y, Z), a downswing trajectory, and the trend of the rotation angle of a club-face along the X-axis of a golf club.
  • the practical method of obtaining the acceleration value of the movement of the golf club in the three-axis (X, Y, Z) is already recorded in the previous paragraphs, which is no longer described here.
  • the downswing trajectory includes three possibilities, outside-in, inside-out, and inside-in.
  • acceleration value of the movement of the golf club obtained previously may be integrated twice to calculate a trajectory displacement relative to the take-away position (0,0,0).
  • time of the sampling point may also be recorded.
  • the angle of the club-face may be approximately divided into an open type and a closed type. Seen from the angle of the ball striker, in FIG. 3C-1 , the club-face rotates in the clockwise direction along the X-axis, which is defined as an open club-face; and in FIG. 3C-2 , the club-face rotates in the counterclockwise direction along the X-axis, which is defined as a closed club-face.
  • the swing result deduction module 16 performs integration on the three-axis angular speed of the sensor at each time of the sampling point to obtain a three-axis rotation angle (depending on a ZYX-axis rotation sequence), calculates the rotation angle of the time of the sampling point relative to the angle at the time of the take-away, and observes the variation trend of the angle.
  • FIG. 4 shows the determination of the swing result of a duff according to the change of the acceleration value measured by a gravity sensor in an embodiment.
  • the horizontal axis is time
  • the vertical axis is a normalized acceleration value, in which the gravity acceleration (g) is taken as a unit
  • the three different lines represent the acceleration values of the movement of the club in the directions of X-axis, Y-axis, and Z-axis, respectively.
  • the acceleration value of the X-axis has two obvious surges between the time points of 241 ( 1/100 second) to 421 ( 1/100 second), while the difference between the two peak values is 4 g.
  • the swing result deduction module 16 determines that the swing result is duff.
  • FIG. 5 shows the determination of the swing result of a top according to the change of the acceleration value according to an embodiment.
  • the representation shown in FIG. 5 and in FIG. 4 is identical.
  • the acceleration value in the previously defined target line that is, the Y-axis direction
  • this oscillation is specially enlarged for further explanation.
  • the variation ( ⁇ y ) of the acceleration (g y ) in the target line within one time interval t may be calculated, and when the variation is greater than one specific value, for example, 1.2, the swing result deduction module 16 determines that the swing result is a top.
  • FIG. 6 shows the determination of an open club-face or a closed club-face based on the variation of the rotation angle of the club-face relative to the angle at the take-away in an embodiment.
  • the horizontal axis is time
  • the vertical axis is rotation angle of the club-face relative to the angle at the take-away
  • different lines represent different swing records, respectively.
  • a ball striker makes the golf club contact the ball at the 20 th sampling point of the time interval centered at the impact point, so that a local maximum of the vertical axis is generated near this time. As shown in FIG.
  • the rotation angle of the club-face within a large part of time relative to the angle at the take-away is a negative value
  • the swing result deduction module 16 determines that the swing result is an open club-face.
  • the rotation angle of the club-face within a large part of time relative to the angle at the take-away is a positive value
  • the swing result deduction module 16 determines that the swing result is a closed club-face.
  • FIG. 8 is a flow chart of an analysis method for the swing result deduction module 16 to determine a swing result.
  • the acceleration value along the club has at least two regional maximum values (for example, two peaks) 801 with a difference greater than a predetermined value; if yes, output a first swing result (the first swing result in this embodiment is a duff); and if no, perform a next determination step. Subsequently, determine whether the variation ( ⁇ y ) of the acceleration value (by taking g as a unit) along the target line (Y-axis) within one time interval t after an impact is greater than one specific value 802 ; if yes, output a second swing result (in this embodiment, the second swing result is a top); and if no, perform a next determination step.
  • two regional maximum values for example, two peaks
  • the angle of the club-face is greater than a predetermined value 803 ; if yes, determine whether the movement trajectory of the golf club is inside-out 803 A; if the conclusion is yes, output a third swing result (in this embodiment, the third swing result is a hook); and if the conclusion is no, output a fourth swing result (in this embodiment, the fourth swing result is a pull). If the angle of the club-face is not greater than a predetermined value, determine whether the trajectory of the golf club is inside-out 804 ; if the conclusion is yes, output a fifth swing result (in this embodiment, the fifth swing result is a push); if the conclusion is no, output a sixth swing result (in this embodiment, the sixth swing result is a slice).
  • FIG. 9 shows the structure according to an embodiment of the present disclosure.
  • a golf ball striker 90 holds a golf club 92 in hand, while a sensor 94 is disposed near the grip of a golf club 92 .
  • the sensor 94 may be fixed on the golf club 92 , while the golf club 92 is combined with sensor 94 without any special processing.
  • the ball striker 90 may dispose another sensor 96 at the waist to record the body movement of the ball striker 90 .
  • the sensor 96 may be any portable element having movement sensing and recording functions, for example, a small-size tablet computer or personal mobile phone.
  • the present disclosure is not limited to the placement of one sensor 96 on the ball striker 90 , and when the ball striker 90 wears more sensors, which, for example, may be at the positions such as waist and wrist, more information of human body movement is acquired. Therefore, the advice provided by the posture correction module 18 becomes more precise.
  • the sensor(s) transfers the sensor information to an electronic device 98 , for example, a computer unit, through wireless channels such as 3G or Wi-Fi, and after “sensor frame-earth frame” coordinate transformation of the sensor information is completed, the transformed information is provided to the swing result deduction module 16 and the posture correction module 18 in FIG. 1 for determination or analysis.
  • the electronic device 98 may further transmit a calculation result to another electronic device 99 through a cloud technology.
  • the electronic device 98 synchronously transfers data to a home computer, an office computer or a mobile phone of the ball striker 90 through cloud transmission, so that the ball striker 90 may watch the swing result and make systematical records at the aforementioned places.
  • the type of the cause fails to be determined, it is impossible to give an effective correction advice.
  • a hook which might be related to the gripping of club, stance, center of gravity of the body, wrist turning, over-tight arms, and coordination between the upper body and lower body.
  • the sensed movement information from multiple sensors and the causal relationship between body movement and sensed movement information are combined to determine the major cause of an undesirable swing result. See FIG. 10 , the portions marked with asterisk are the body movement targets to be determined by the swing result deduction and posture correction framework.
  • the framework may provide a specific body posture correction advice.
  • the analysis method used in the posture correction module 18 in FIG. 1 is shown in FIG. 10 .
  • the ball striker self checks whether the position of a ball is in the middle, and whether his or her stance is normal 101 ; if no, the ball striker adjusts accordingly and checks again; and if yes, the next step is performed.
  • the next step is to start a swing until the swing is completed, determine whether the movement trajectory of a golf club is inside-out according to the movement trajectory of the golf club and the occurrence time of the movement trajectory 102 ; if yes, output a first correction advice (in this embodiment, the first correction advice is “the left arm is over-tight”).
  • the ratio of the back-swing time and the downswing time of the golf club is between 2:1 to 3:1 103 ; if no, output a second correction advice (in this embodiment, the second correction advice is “bad tempo of back-swing and downswing”).
  • the posture correction module 18 may at the same time determine whether the horizontal or vertical displacement of the waist of the user between the position at the take-away and the position at the striking points is too large only according to the displacement amount of the waist of a user and a movement occurrence time 104 of the user; and if yes, output a third correction advice (in this embodiment, the third correction advice is “the center of gravity moves laterally or vertically”).
  • the posture correction module 18 may at the same time determine whether the movement of golf club is earlier than the movement of the waist according to the movement trajectory of golf club and the occurrence time of the movement trajectory as well as the displacement amount of the waist of the user and the movement occurrence time 105 of the user, if yes, output a fourth correction advice (in this embodiment, the fourth correction advice is “the movement of the upper body is earlier than that of the lower body”); if no, perform a next determination step.
  • next determination step determine whether the rotation angle of club-face is too large by calculating the rotation angle of club-face with reference to the sensor information 106 , and if yes, output a fifth correction advice (in this embodiment, the fifth correction advice is “the right wrist is over-turned”).
  • the recording of time, the movement trajectory of golf club and the displacement amount of the waist of a user may be separately or together added in the determination process of the posture correction module 18 .
  • the swing motion may be divided into different phases, for example, take-away, back-swing, transition, downswing, follow-through, and completion, to calculate the tempo of back-swing and downswing; the displacement amount of the waist may be used to learn the lateral and vertical movement of the center of gravity.
  • sensor information generated by a plurality of sensors are used for deduction.
  • the degree that the left arm is tightly held may be found out through the downswing trajectory; however, it still needs to be determined in advance whether there are influences of ball position and stance; the degree that the right wrist turns may be found out through the rotation angle of the golf club; however, it still needs to be determined in advance whether there is influences of the premature lower body turn.

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