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WO2006004908A2 - Mesures en temps reel pour etablir une base de donnees de parametres de deplacements et d'impacts d'un appareil de sport - Google Patents

Mesures en temps reel pour etablir une base de donnees de parametres de deplacements et d'impacts d'un appareil de sport Download PDF

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Publication number
WO2006004908A2
WO2006004908A2 PCT/US2005/023238 US2005023238W WO2006004908A2 WO 2006004908 A2 WO2006004908 A2 WO 2006004908A2 US 2005023238 W US2005023238 W US 2005023238W WO 2006004908 A2 WO2006004908 A2 WO 2006004908A2
Authority
WO
WIPO (PCT)
Prior art keywords
sporting implement
results
parameters
sporting
embedded
Prior art date
Application number
PCT/US2005/023238
Other languages
English (en)
Other versions
WO2006004908A3 (fr
Inventor
Hongchuan Wang
Jeffrey Yao
Damon Lim
Hongyi Wang
Original Assignee
Gyrosports
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Gyrosports filed Critical Gyrosports
Publication of WO2006004908A2 publication Critical patent/WO2006004908A2/fr
Publication of WO2006004908A3 publication Critical patent/WO2006004908A3/fr

Links

Classifications

    • 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
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2209/00—Characteristics of used materials
    • A63B2209/08—Characteristics of used materials magnetic
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/40—Acceleration
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
    • A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
    • 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
    • A63B69/0024—Training appliances or apparatus for special sports for hockey
    • 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
    • A63B69/3617—Striking surfaces with impact indicating means, e.g. markers
    • A63B69/362—Striking surfaces with impact indicating means, e.g. markers electrical or electronic
    • 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
    • A63B69/3623—Training appliances or apparatus for special sports for golf for driving
    • A63B69/3632—Clubs or attachments on clubs, e.g. for measuring, aligning

Definitions

  • the present invention relates generally to design of microelectronic systems and methods for providing real-time measurements of the motion and impact parameters of sporting equipment. More particularly, this invention is related to the use of micro-electro-mechanical system (MEMS) and magneto- resistive (MR) sensors and other microelectronics installed in sporting equipment such as a golf club, a hockey stick, a boxing glove, a tennis racket or a baseball bat to obtain real-time motion parameter measurements for analyzing a player's performance and for establishing diagnostic and training databases associated with a given sport.
  • MEMS micro-electro-mechanical system
  • MR magneto- resistive
  • FIG. 1 is a cross section diagram of the club shaft at the grip end that illustrates the relative location of the sensors in the system.
  • FIG. 2 is a schematic that represents a golfer's swing of a golf club.
  • FIG. 3 is a schematic that illustrates the roll angle.
  • FIG. 4 illustrates the magnetic field vector in the horizontal plane relative to the earth coordinate system.
  • FIG. 5 illustrates the coordinate system of the earth's magnetic field vector in the shaft coordinate system relative to the earth coordinate system.
  • FIG. 6 is a flow chart that illustrates a process flow for calculating parameters associated with a sporting implement at impact.
  • an embedded sensing system is disposed in optimally selected locations of a sporting implement, such as a golf club, a baseball bat, a tennis racket, a hockey stick, a boxing glove, etc.
  • the embedded system includes sensors that are small in size, accurate and capable of high speed measurements in order to reliably and dynamically measure, record and/ or transmit the measurements to a processor.
  • the sporting implement includes sensors as described herein, an embedded micro controller or digital signal processor (DSP), a memory, an optional display and an embedded communication module.
  • the sensors include one or more magneto-resistive (MR) magnetic field or compass sensors.
  • the MR sensors are used for dynamically measuring the three-dimensional magnetic vectors through the motion of the sporting apparatus, as in a golf swing or swing of a hockey stick, for example.
  • a golf club is used as an example.
  • the embedded sensing system can be used for other sporting implements and can vary from implementation to implementation.
  • the sporting implements include but are not limited to baseball bats, cricket bats, hockey sticks, tennis rackets, squash rackets, boxing gloves, etc.
  • the sensors also include one or more MEMS accelerometer sensors for measuring the accelerations experienced by the sporting implement along various axes.
  • the measurements made by the MR sensors and the MEMS sensors are used as input data into the micro controller or DSP for dynamically determining the movement profile, the launch angle, the face angle, and impact speed, and vibration characteristics of the sporting implement.
  • Such parameters can be used for tracking and diagnosing the performance of the sportsman who is using the sporting implement.
  • Such parameters can be sent through the communication module to a base station for further processing.
  • the communication module can send data to the base station from the micro controller or DSP through wireless mechanisms such as infrared, Blue Tooth, WiFi, Zigbee or other Radio Frequency (RF) transmission mechanism.
  • the communications module can also send data through RS232, SPI, USB or I 2 C and other wire based transmission mechanisms.
  • the one or more embedded MR sensors are adapted for measuring relative changes of earth magnetic field in projection with respect to the multiple axes for dynamically recording the motion path, impact angle and launch angle of the sporting implement in real-time.
  • the sporting apparatus further includes one or more MEMS accelerometer sensors for sensing acceleration along multiple axes of a designated portion of the sporting implement for sensing impact velocity (when the designated portion impacts a ball, for example) and the tilt angle between the sporting implement shaft and the earth gravitational direction.
  • the sporting implement is a golf club where the accelerometer sensors and the magnetic sensors are disposed inside of the club shaft near the grip end for sensing a club head motion for measuring the velocity, club head orientation, hitting spot and motion path of the golf club head when a club head impact against a golf ball.
  • the accelerometer sensors and the magnetic sensors are disposed inside of the club shaft near the grip end of the shaft.
  • the sensors, micro controllers or DSP, memory and communication modules can be separate semiconductor chips that are mounted on a printed circuit board (PCB) or connected by wires.
  • the sensors, micro controllers or DSP, memory and communication modules can be integrated on a single chip that utilizes Application Specific Integrated Circuit Chip (ASIC) or Field Programmable Gate Arrays (FPGA) technologies that are capable of integrating several functions in a single chip.
  • ASIC Application Specific Integrated Circuit Chip
  • FPGA Field Programmable Gate Arrays
  • the memory in the embedded sensing system can be flash memory or DRAM for storing the programs used by the micro controller or DSP and for storing the measurement data from the sensors.
  • the flash memory can also be used to transport the data from the sporting apparatus to the base station for further analysis.
  • the base station is a separate unit that is not embedded in the sporting implement.
  • the base station has a central processing unit (CPU) or a DSP x memory, display and communications modules to receive data transmitted by the embedded micro controller or DSP in the sporting implement for further processing and analysis.
  • the base station can be but is not limited to a personal digital assistant (PDA), a cell phone or a portable handheld computer.
  • PDA personal digital assistant
  • the MR and MEMS sensors can be disposed adjacent to the club head for measuring the impact force of the club head against a golf ball, for example.
  • the sensors can be mounted at the tip of the shaft of the golf club, or at the tip of the grip end of the shaft using a mounting module to be snapped onto the club.
  • the following parameters can be determined using the calculation methods described herein: 1) angular difference of the sporting implement at moment of impact with the target object (examples of target objects are golf ball, hockey puck, baseball, etc.) compared with the address or static position.
  • hitting zone of the sporting implement club face if applicable (e.g., golf club face or hockey stick hook end. etc.);
  • the above parameters provide valuable evaluation feedback to the sportsman.
  • a database can be maintained for storing the above parameters.
  • the database can further include a data bank of data values of the above parameters associated with the performance of famous sportsman.
  • a given player can analyze his performance based on comparisons with the data values associated with the performance of famous sportsman, or by comparing to another player of similar handicap, age, swing pattern, physical attributes, equipment used, etc.
  • the types of the sensors used in this design include a single-axis or multiple-axis magneto-resistive compass sensor (e.g. HMCl 051 from Honeywell, Inc.) and a single-axis or multiple-axis MEMS accelerometer sensor (e.g. ADXL202 from Analog Devices).
  • a single-axis or multiple-axis magneto-resistive compass sensor e.g. HMCl 051 from Honeywell, Inc.
  • a single-axis or multiple-axis MEMS accelerometer sensor e.g. ADXL202 from Analog Devices.
  • the MR sensor measures the magnetic vector of the earth magnetic field along the MR sensor's axis.
  • the MEMS accelerometer sensor measures the acceleration along the MEMS sensor's axis.
  • the sensors can be installed anywhere between the tip and the grip end of the club shaft. According to one embodiment the sensors are installed near the grip end. When the sensors are installed near the grip end, there is minimum weight impact from the sensors and accompanying circuitry. The larger shaft diameter at the butt end is also convenient for installation of the sensors. The sensor system also bears relatively less force at the butt end of the shaft during the impact as compared to that at the club head.
  • FIG. 1 is a cross section diagram of the club shaft at the grip end that illustrates the relative location of the sensors in the system.
  • the sensors are mounted on a printed circuit board (PCB) inside the shaft at the grip end of the shaft.
  • the cross section shown in FIG. 1 has a centerline 30.
  • Sensors 21, 22, 23, 24 and 28 are single-axis MEMS accelerometers and sensors 25, 26 and 27 are MR earth magnetic field sensors.
  • the axis of sensors 21, 22 and 26 are along the Y (11) direction.
  • the axis of sensors 23, 25 and 28 are along the Z (12) direction.
  • the axis of sensors 24 and 27 are along the X (10) direction.
  • X (10) Y (11) Z (12) are in the club shaft coordinate system.
  • multiple-axes sensors can be used.
  • a two-axis MR sensor can replace the single-axis MR sensors 25 and 26.
  • One two-axis accelerometer sensor can replace sensors 22 and 24.
  • FIG. 2 is a schematic that represents a golfer's swing of a golf club.
  • Rod 101 represents the arms of the golfer, having the equivalent mechanical properties of his two arms
  • rod 102 represents the golf club, having the mechanical properties of the club used in the swing.
  • the joint (103) between rod 101 and rod 102 is a fully articulated joint.
  • joint 103 also represents the location of one set of sensors such as sensors 21, 22, 23, 24 of FIG. 1.
  • the system rotates about an origin 100, which has a horizontal acceleration.
  • the horizontal acceleration is along a direction in XH YH plane.
  • Location 104 is the location of another set of sensors, such as sensors 25, 26, 27 and 28 of FIG. 1. From the above model, the club head velocity at the impact is composed of three components.
  • the three components are:
  • the shaft can have a rotation around centerline 30 as shown in FIG. 1.
  • Such a rotation is for purposes of modeling the waggle of golfer's wrist and hand.
  • This rotation acceleration can be measured by the acceleration difference of sensor 21 (A21) and sensor 22 (A22). This rotation acceleration is used in following roll angle calculation.
  • the roll angle ( ⁇ ) is required for the launch angle ( ⁇ ) and face angle ( ⁇ ) calculation.
  • the roll angle is defined as the angle between the club shaft and the gravitational force.
  • FIG. 3 is a schematic that illustrates the roll angle.
  • orthogonal coordinates XH 108, YH 109, ZHIIO represent the earth coordinate system
  • (X H , Y H ) plane is the horizontal plane
  • Location 104 is the location of sensors as previously described with reference to FIG. 2 and FIG. 1.
  • Angle 106 is the roll angle ( ⁇ ), axis 105 is in the direction of the earth's gravitational force.
  • Axis 107 is an axis perpendicular to the longitudinal axis of the club shaft and parallel to the axis of the accelerometer sensor 21 installed at location 103 of FIG. 1.
  • the roll angle is the angle between the horizontal plane and axis 107.
  • the heading direction is in the direction of XH 108 in the earth coordinate system.
  • the acceleration component A21 can be measured by sensor 21.
  • the roll angle ( ⁇ ) can be calculated as arccosine (A21/g), where g is earth gravity.
  • a static launch angle or pitch angle can be measured by sensor 24 and calculated as arccosine (A24/g), where A24 is the acceleration measured by sensor 24 and g is earth's gravity.
  • FIG. 4 illustrates the magnetic field vector (MXH113, MyHll4, MZH115) in the horizontal plane relative to the earth coordinate system.
  • Angle 116 is the face angle.
  • FIG. 5 illustrates the coordinate system of the earth magnetic field vector (Mxll7, Myll ⁇ , Mzll9) in the shaft coordinate system (i.e., embedded sensor coordinate system) relative to the earth coordinate system XH 108, Y H 109, ZH 110.
  • Angle 120 is the launch angle
  • angle 106 is the roll angle.
  • Mearth 111 is the earth's magnetic field.
  • Mxo, Myo and Mzo can be transformed back to the horizontal plane (XH, YH) by applying the rotational equations shown below:
  • MXH Mxo*cos ( ⁇ o) + Myo*sin ( ⁇ o)*sin ( ⁇ o) - Mzo*cos ( ⁇ o)*sin ( ⁇ o)
  • My H Myo*cos ( ⁇ o) + Mz o *sin (G 0 )
  • the pitch angle can not be measured by the accelerometer sensor 24 due to the interference of the shaft acceleration along the X (10) direction in the swing.
  • Mx, My and Mz can still be transformed back to the horizontal plan (XH, YH),
  • MXH Mx*cos ( ⁇ ) + My*sin ( ⁇ )*sin ( ⁇ ) - Mz*cos ( ⁇ )*sin ( ⁇ )
  • A Mx 2 + ((Mz*cos ( ⁇ ) - My*sin ( ⁇ )) 2
  • B 2*(Mz*cos ( ⁇ ) - My*sin ( ⁇ ))*root square (M 2 -M g 2 - (My*cos ( ⁇ ) + Mz*sin ( ⁇ )) 2
  • C M 2 ⁇ M g 2 - Mx 2 - (My*cos ( ⁇ ) + Mz*sin ( ⁇ )) 2
  • FIG. 6 is a flow chart that illustrates a process flow for calculating parameters associated with a sporting implement at impact.
  • the sensing and DSP system embedded and non-embedded
  • some data is input into the base station (such as a PDA) and the sensors are calibrated at block 604. Examples of data that is input into the base station are arm length of the player, and height of the player.
  • the sensors can be calibrated based on a table lookup automatically performed by the base station, or the base station can be equipped to calculate the calibration. In the case of a table look-up, the table of data can be resident on the base station or can be downloaded over-the-air onto the base station from an appropriate server.
  • the sensors need to be calibrated based on the geographic location where the game is played.
  • static position address position, for example
  • the sporting implement is swung and impact of the sporting implement against a target object (such as a golf ball, shuttle cock, etc.) takes pace.
  • the impact velocity, the roll angle, the face angle, the launch angle and the hitting zone are calculated.
  • the swing path is calculated.
  • the measurements and results are stored in the base station such as a PDA.
  • the results are displayed on a display device such as the PDA and the results and measurement can be optionally transmitted (uploaded) to a relational database.
  • the relational database can be web-based.
  • the process flow is complete and the system is reset.

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Golf Clubs (AREA)

Abstract

L'invention porte sur un appareil de sport comprenant un capteur unique ou plusieurs capteurs magnétorésistants intégrés permettant de mesurer des vecteurs magnétiques du champ magnétique terrestre afin d'enregistrer de manière dynamique une trajectoire du déplacement de l'appareil de sport en temps réel. L'appareil de sport comprend également un ou plusieurs capteurs d'accéléromètres MEMS (système microélectromécanique) pour détecter l'accélération d'une partie désignée de l'appareil de sport et mesurer la vitesse d'impact lorsque la partie désignée heurte une balle.
PCT/US2005/023238 2004-06-28 2005-06-28 Mesures en temps reel pour etablir une base de donnees de parametres de deplacements et d'impacts d'un appareil de sport WO2006004908A2 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US58387604P 2004-06-28 2004-06-28
US60/583,876 2004-06-28
US11/051,087 2005-02-04
US11/051,087 US20050288119A1 (en) 2004-06-28 2005-02-04 Real-time measurements for establishing database of sporting apparatus motion and impact parameters

Publications (2)

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WO2006004908A2 true WO2006004908A2 (fr) 2006-01-12
WO2006004908A3 WO2006004908A3 (fr) 2006-03-16

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