TWI683689B - Ball force measuring system and method - Google Patents

Abstract

The invention relates to a measuring system for ball hitting force and its measuring method, which mainly include a strain detector, an angular velocity detector and an arithmetic unit. The computing unit converts the deformation measured by the strain detector into the moment value at the hitting position, and calculates the product of the moment value and the angular velocity to obtain the hitting force value. According to this, the present invention measures the deformation amount of the hand-held object when hitting the ball and the angular velocity of the swing, and calculates it to find the striking force. This method is quite accurate and does not require complicated calculations, and the demand for hardware is low In addition to the measured batting strength, the measured batting strength can be used to estimate the batting performance, and the batting distance and the location of the batting point can be calculated, so that the user can evaluate each swing performance in real time.

Description

Ball force measuring system and method

The invention relates to a measuring system and a measuring method for a hitting force, in particular to a system and a method suitable for measuring a hitting force when using sports equipment to hit a ball.

All athletes, whether professional or amateur, are committed to the pursuit of perfect performance. Taking golf as an example, all athletes are pursuing strong hitting strength and accurate hitting point, but the strength of hitting is not only related In addition to the distance to the ball, the strength of the ball can also show the point of impact in time, that is, whether the point of impact is at the best position on the golf club head, commonly known as the sweet spot. However, up to now, there is no related technology that can measure the strength of the hitting ball and accurately predict the hitting point.

Please refer to China Patent Publication No. 201625337 "Motion Analysis Device, Motion Analysis Method, Program, Recording Media, and Motion Analysis System" for its disclosure based on the angular velocity generated by the club when hitting the ball. The distance from the reference position of the hitting surface of the part to the hitting position, that is, the distance between the actual hitting position and the correct position (sweet spot). However, this prior art method of calculating the hitting position from the angular velocity alone requires complicated calculation and correction, and the accuracy is To be tested.

Furthermore, please refer to China Patent Publication No. 200934560 "Strike Position Detection Device and Strike Position Detection Method", which reveals that an image sensor is provided on the club and is calculated by using the electrical signal output by the image sensor when hitting the ball Batting position. In the same way, the method of calculating the hitting position by using the image in this prior art has also undergone complicated calculations and corrections, and its accuracy is yet to be tested.

In addition, there are many previous technologies that attempt to analyze the performance of hitting with sports movements and postures, such as China Patent Bulletin No. I341480 "Human Body Movement Analysis Method and System" (hereinafter referred to as Prior Art 1) and Bulletin No. I359336 "Watch-type motion trajectory analysis device" (hereinafter referred to as prior art 2). Among them, the above-mentioned prior art 1 discloses that the user's arm wears several acceleration sensing modules, and uses the measured acceleration values to derive the acceleration displacement trajectory data and the acceleration displacement graph, and finally obtains the human motion configuration analysis . In addition, the aforementioned prior art 2 discloses a wristwatch with a multi-axis trajectory sensor, and uses the trajectory measured by the wristwatch to present hand movements used. However, the previous technology of Shanghai Open only analyzes the posture of human movement, and does not involve the measurement or analysis of hitting performance.

The main objective of the present invention is to provide a measuring system and a measuring method for hitting force, so as to accurately measure the hitting force for evaluating the hitting performance.

In order to achieve the above object, a ball force measurement system of the present invention mainly includes a strain detector, an angular velocity detector and an arithmetic unit. Among them, the strain detector is set on a hand-held object, It is suitable for measuring the amount of deformation when a hand-held object hits the ball; the angular velocity detector is set on a hand-held object, and is suitable for measuring the angular velocity when the hand-held object hits the ball; the arithmetic unit is electrically coupled to the strain The detector and the angular velocity detector; and the arithmetic unit converts the deformation value measured by the strain detector into the moment value of a hitting position, and calculates the product of the moment value and the angular velocity to obtain a hitting force value.

According to this, the batting force measurement system of the present invention measures the deformation amount of the hand-held object when hitting the ball and the angular velocity of the swing, and calculates it to find the batting force. This method is quite accurate and does not require complicated calculations. The demand for hardware is low, and the measured hitting strength can be used to evaluate the hitting performance, as well as to estimate the hitting distance and the position of the hitting point, which is a very creative invention.

Furthermore, the strain detector of the ball striking force measuring system of the present invention can be set at the strain measurement position, which can be located near the ball hitting position on the handheld object; and the arithmetic unit calculates the product of the deformation amount and the elastic coefficient of the handheld object The stress value at the measured position of the strain variable is obtained, and the stress value at the measured position of the strain variable is converted into a force value, and then the relationship between the force arm and the torque is used to obtain the force value at the hitting position, and then the hitting position Force value is converted into torque value.

The relationship between the force arm and the torque adopted in the present invention is exemplified as follows: the hand-held object may include a hand-held part, and there is a first distance between the hand-held part and the strain measurement position, and a second distance between the hand-held part and the hitting position Distance; and the arithmetic unit calculates the product of the stress value of the strain-dependent position and the ratio of the first distance and the second distance to obtain the force value of the hitting position. In other words, the present invention can use the cantilever beam (Cntilever Beam) theory The force arm and torque principle find the stress at the hitting point for calculating the hitting force.

In addition, the hitting force measurement system of the present invention may further include a memory unit, which is electrically coupled to the computing unit, and the memory unit may store a hitting performance conversion table and a hitting distance conversion table; hitting performance The conversion table can record the complex hitting power value and the corresponding complex hitting score, and the hitting distance conversion table can record the complex hitting power value and the corresponding complex hitting distance; the calculation unit can calculate the calculated hit The ball strength value is compared with the hitting performance conversion table to obtain the corresponding hitting score, or the hitting distance conversion table is compared to find the corresponding hitting distance. According to this, the present invention can convert the calculated batting force value into a batting performance, for example, presenting the batting performance in a fractional manner; moreover, it can also convert the batting force value into a prediction of the batting distance.

Preferably, the hitting force measurement system of the present invention may further include a wireless transmission module and an external display device, wherein the wireless transmission module is electrically coupled to the computing unit, and the computing unit can control the hitting force The value is transmitted to the external display device through the wireless transmission module. In other words, the present invention can immediately transmit the result of each swipe to an external display device such as a smart phone, smart watch, or other electronic device through wireless transmission for immediate display, so that the user can immediately get Know the performance of each swipe.

In order to achieve the above object, a method for measuring the impact strength of the present invention includes the following steps: First, measure the deformation amount when a hand-held object is hit by a strain detector, and measure the impact of the hand-held object by an angular velocity detector The angular velocity of the ball; The torque value of the position, and the product of the torque value and the angular velocity is calculated to obtain the hitting force value. According to this, the present invention provides a method for instantaneous measurement of the impact strength. Through simple hardware configuration and a simple calculation mechanism, extremely accurate results can be obtained, and it can be further used to calculate the impact distance, and You can simply score and compare, so that users can clearly and immediately know the performance of each shot.

2‧‧‧Strain detector

3‧‧‧Angular velocity detector

4‧‧‧ arithmetic unit

5‧‧‧Wireless transmission module

6‧‧‧External display device

7‧‧‧Memory unit

71‧‧‧ batting performance conversion table

72‧‧‧Ball Distance Conversion Table

81‧‧‧ circuit board

82‧‧‧Electronic device

D‧‧‧Ball distance

L ₁ ‧‧‧ First distance

L ₂ ‧‧‧ Second distance

O‧‧‧hand-held object

O _h ‧‧‧handheld

P _h ‧‧‧ batting position

P _e ‧‧‧ strain measurement position

F _h ‧‧‧Stress value at the hitting position

F _e ‧‧‧Stress value of the measured position

FIG. 1 is a schematic diagram of the first embodiment of the present invention.

FIG. 2 is a system architecture diagram of the first embodiment of the present invention.

FIG. 3 is a schematic diagram of calculating the stress value at the hitting position by using the relationship between the force arm and the torque in the first embodiment of the present invention.

4 is a schematic diagram of a second embodiment of the invention.

5 is a schematic diagram of a third embodiment of the present invention.

6A is a schematic diagram of a fourth embodiment of the invention.

6B is a schematic diagram of a fifth embodiment of the invention.

Before the hitting force measuring system and the measuring method of the present invention are described in detail in this embodiment, it should be particularly noted that in the following description, similar elements will be represented by the same element symbol. Furthermore, the drawings of the present invention are only for illustrative purposes, they are not necessarily drawn to scale, and all the details are not necessarily presented in the drawings.

Please refer to FIGS. 1 and 2 at the same time. FIG. 1 is a schematic diagram of the first embodiment of the present invention, and FIG. 2 is a system architecture diagram of the first embodiment of the present invention. As shown in the figure, this embodiment is described by taking golf as an example. However, the present invention is not limited to this, and any sport that uses sports equipment to perform a batting action can be applied to the present invention.

Furthermore, the main hardware components of this embodiment include a strain detector 2, an angular velocity detector 3, an arithmetic unit 4, a wireless transmission module 5, an external display device 6, and a memory unit 7; wherein, the arithmetic unit 4 serves as the entire The operating core of the system may include a microprocessor (MCU) and a circuit board, and the strain detector 2, the angular velocity detector 3, the wireless transmission module 5, and the memory unit 7 are all electrically coupled to the arithmetic unit 4 .

In addition, the strain detector 2 is mainly used to measure the amount of deformation ε when the golf club (handheld object O) hits the ball, the club receives the impact force of the ball. The strain detector 2 may be a strain gauge or a Wheatstone bridge (Winston Birdge), which is disposed on the hand-held object O at one of the strain-sensing positions P _e adjacent to the hitting position P _h . In this embodiment, it will be The strain gauge is assembled on the golf club near the head. Usually the strain of this part is large, so the final calculation result will be more accurate.

In addition, the angular velocity detector 3 is mainly used to measure the angular velocity ω of the hitting point when the golf club (handheld object O) hits the ball. In this embodiment, a gyroscope is used, which is installed on the head of the ball. P _h at ball position, whereby the ball can accurately position P _h angular velocity values measured when each swipe. Of course, the angular velocity detector 3 of the present invention may also use an integrated chip for angular velocity and acceleration measurement, such as a digital motion processor (Digital Motion Processor, DMP) combined with a three-axis gyroscope and a three-axis accelerometer. movement detecting the direction of rotation strike the ball accurately position P _h, except for calculating the strength of the ball, but also traceability swing trajectory of the ball striking position P _h, to facilitate the subsequent further movement of the gesture analysis.

Furthermore, the memory unit 7 of this embodiment may be any type of fixed or removable random access memory (RAM), read-only memory (ROM), flash memory (Flash memory), hard disk or other similar devices or a combination of these devices. In addition, the memory unit 7 of the present embodiment stores a batting performance conversion table 71 and a batting distance conversion table 72. The methods and functions of these conversion tables will be described in detail later.

Moreover, the wireless transmission module 5 of this embodiment may be infrared communication, radio frequency communication, Bluetooth communication, wireless network communication (Wi-Fi), global interoperable microwave access (WiMax), ZigBee, third 3G mobile communication (4G), 4G mobile communication (4G), 5G mobile communication (5G) or other equivalent wireless transmission modules. The wireless transmission module 5 is used to connect to an external display device 6 to transmit the calculated batting force and other sports data to the external display device 6, so that the user can immediately know the performance of each swing . The external display device 6 may be a smart phone, smart watch, tablet computer, or other equivalent or dedicated electronic device. In this embodiment, a smart watch is used.

The following detailed description of the operation of the process embodiment of the present embodiment: First, when a user swipes a golf club (handheld object O) operation makes a stroke, then 2 strain detecting the amount of deformation measured when hitting the variable detection position P _e The angular velocity detector 3 also measures the angular velocity ω of the impact position P _{h at the time} of impact. In this case, the first arithmetic unit 4 by the following calculation formula (1) should be calculated stress detection position P _e of the value of the variable σ _e.

σ _e =ε×E _o ......(1)

Where, σ _e is the value of the variable to be measured stress of the position P _e, ε is the strain detecting the amount of deformation is measured to 2, E _o is the elastic modulus of the handheld object O (elastic constant).

Then by arithmetic unit 4 is calculated by the following formula (2) obtained by strain measurement position value of the force P _e F _e, i.e. the stress value of the variable to be calculated detection position P _e of σ _e 2 strain detecting area A ₂ The product.

F _e =σ _e ×A ₂ ......(2)

Wherein, F _e is the strain measuring position of the force value P _e, σ _e is the strain detection position P of the stress value _e, A ₂ is 2 strain detecting area.

Please also refer to FIG. 3, which is a schematic diagram of calculating the stress value at the hitting position by using the relationship between the force arm and the torque in the first embodiment of the present invention. Next, according to the cantilever beam (Cntilever Beam) theory of force arm and moment principle, the force value F _h at the hitting point is obtained. In this embodiment, the golf club (handheld object O) of the grip portion (holding portion O _h) as a fulcrum, and the strain detection position and the strain O _h holding portion is provided of detecting two spaced a first P _e Distance L ₁ , and there is a second distance L ₂ between the handhold _Oh and a hitting position P _h . At this time, the arithmetic unit 4 obtains the force value F _h of the hitting position P _{h according} to the following calculation formula (3).

F _h = F _e ×L ₁ /L ₂ ... (3)

Wherein, F _h by the value of the force of the ball striking position P _h, F _e is the strain measurement position by the force values of P _e, L ₁ is the distance between the holding portion O _h with strain measuring position P _e, L ₂ It is the distance between the ball and the hand portion position O _h P _h.

Furthermore, the arithmetic unit 4 converts the force value F _{h of the} hitting position P _h into the torque value τ _h according to the following calculation formula (4).

τ _h =F _h ×L ₂ ... (4)

Where τ _h is the moment value at the hitting position P _h , F _h is the force value at the hitting position P _h , L ₂ is the distance between the handhold _Oh and the hitting position P _h ; in other words, the hitting value is calculated The moment value τ _{h of} the hitting position P _h can be obtained by multiplying the force value F _{h at the} position P _h and the second distance L ₂ of the arm length.

Finally, the arithmetic unit 4 calculates the product of the moment value τ _{h of the} impact position P _h and the angular velocity ω to obtain the impact force value P; that is, the impact force value P is obtained by the following calculation formula (5).

P=τ _h ×ω(5)

However, in this embodiment, the batting force value P obtained through the above calculation formula is presented in a power manner, that is, the amount of work per unit time during each batting, so the strength of each batting or Batting performance. In fact, in addition to expressing the striking force, the striking force value P calculated in this step can also be used to predict the striking distance and estimate the striking point.

To further explain, the batting performance conversion table 71 and the batting distance conversion table 72 pre-stored in the memory unit 7 of this embodiment can be created according to the general user's experience of use. Taking the golf ball of this embodiment as an example, it is possible to separately record the hitting power value P measured by the user with different degrees of swing to estimate the hitting performance S to form a hitting performance conversion table 71; that is, the following table a presenter, a plurality of the power stroke is recorded values P _1, P ₂ ... P _n and the corresponding fraction of the plurality of shot _{S 1, S 2 ... S n} .

On the other hand, the hitting distance conversion table 72 can be created in advance by recording the hitting force value P and the hitting distance D formed by the user with different degrees of swing at different strengths; , The hitting distance conversion table 72 records the plural hitting power values P1, P2...Pn and the corresponding plural hitting distances D1, D2...Dn. However, it should be noted that the data provided in Table 1 and Table 2 are not the measured values in actual use, and are only used for explanation.

According to this, the arithmetic unit 4 can look up the batting performance conversion table 71 in the above table 1 according to the batting power value P obtained by the foregoing calculation formula (5) to evaluate the batting score S of this time to present the batting performance. Similarly, the arithmetic unit 4 can look up the hitting distance conversion table 72 in Table 2 according to the obtained hitting force value P to estimate the hitting distance D of the time. Finally, as shown in FIG. 1, the wireless transmission module 5 transmits the stroke score S and the stroke distance D of the swing to the external display device 6 for display, so that the user can immediately know the performance of the swing . Furthermore, generally, the closer to the correct hitting area (sweet spot), the higher the hitting power value P, so the hitting power value P can also present the position of the hitting point in time.

Please refer to FIG. 4 and FIG. 5 again. FIG. 4 is a schematic diagram of the second embodiment of the present invention, and FIG. 5 is a schematic diagram of the third embodiment of the present invention. fact Above, these diagrams are mainly used to illustrate that the hitting force measurement system and method of the present invention can be applied to any sports field that uses sports equipment to hit the ball, such as the golf game shown in the first embodiment, the second The baseball sport shown in the embodiment, and the tennis sport shown in the third embodiment.

Please refer to FIGS. 6A and 6B at the same time. FIG. 6A is a schematic diagram of a fourth embodiment of the present invention, and FIG. 6B is a schematic diagram of a fifth embodiment of the present invention. The main difference between the fourth embodiment and the previous embodiment is that this embodiment is a strain detector 2, an angular velocity detector 3, an arithmetic unit 4, a memory unit (not shown) and a wireless transmission module (pictured (Not shown) integrated on a circuit board 81 for easier installation. Among them, because the strain detector 2 needs to be directly attached to the surface of the rod body, the actual sensing part is additionally pulled out from the circuit board 81. In addition, the above components can also be integrated on an independent electronic device 82, as shown in FIG. 6B, so that consumers can assemble themselves on the sports equipment they want to operate.

In summary, this embodiment has at least the following innovative effects and advantages:

1. The user can instantly know the performance of each swing when performing sports, such as the strength of the ball, the distance of the ball, the performance score, and the position of the ball;

2. The calculation method provided in this embodiment is simple and quite accurate, and can accurately show the performance of each slam;

3. In this embodiment, the invention can be realized by using common gyroscopes, strain gauges and general single-chip processors, with simple structure, low cost and reliability;

4. The angular velocity detector of this embodiment can be expanded to a digital motion processor, so in addition to the calculation of the striking force, it can also track the swing track Traces to facilitate further analysis of movement posture.

5. All components can be integrated on a circuit board for easy installation; in addition, all components can also be configured as an independent electronic device, so that consumers can assemble themselves on the sports equipment they want to operate.

The above embodiments are only examples for the convenience of description, and the scope of rights claimed by the present invention should be subject to the scope of the patent application, and not limited to the above embodiments.

2‧‧‧Strain detector

3‧‧‧Angular velocity detector

4‧‧‧ arithmetic unit

6‧‧‧External display device

O‧‧‧hand-held object

O _h ‧‧‧handheld

P _h ‧‧‧ batting position

P _e ‧‧‧ strain measurement position

Claims (11)

A ball force measurement system, comprising: a strain detector, which is arranged on a hand-held object, the strain detector is suitable for measuring the amount of deformation when the hand-held object hits the ball; an angular velocity detector , Which is arranged on the hand-held object, the angular velocity detector is suitable for measuring the angular velocity of the hand-held object when hitting the ball; and an arithmetic unit, which is electrically coupled to the strain detector and the angular velocity detector The computing unit converts the amount of deformation measured by the strain detector into a moment value at the hitting position, and calculates the product of the moment value and the angular velocity to obtain a hitting force value. As in the hitting force measurement system of claim 1, wherein the strain detector is disposed at a strain measurement position, which is located on the hand-held object adjacent to the hitting position; the computing unit calculates the deformation amount and The product of the elasticity coefficient of the hand-held object obtains the stress value of the strain measurement position, and converts the stress value into a force value, and then uses the relationship between the force arm and the moment to find the force value of the hitting position, The force value of the hitting position is converted into the moment value of the hitting position. The ball force measurement system of claim 2, wherein the hand-held object includes a hand-held portion, and the hand-held portion is spaced a first distance from the strain measurement position, and the hand-held portion is spaced from the ball-hit position by a first distance Two distances; the arithmetic unit calculates the product of the force value of the strain-measured position and the ratio of the first distance and the second distance to obtain the force value of the hitting position. If the hitting force measurement system of claim 1, it further includes a memory unit , Which is electrically coupled to the arithmetic unit, and a storage performance conversion table is stored in the memory unit, which records the complex batting power value and the corresponding complex batting score; the arithmetic unit will calculate The hitting force value ratio is compared to the hitting performance conversion table to obtain the corresponding hitting score. For example, according to claim 4, the batting force measurement system, wherein the memory unit further stores a batting distance conversion table, which records the complex batting force value and the corresponding complex batting distance; the arithmetic unit will calculate The ratio of the hitting power value to the hitting distance conversion table is used to obtain the corresponding hitting distance. A method for measuring the force of hitting a ball, comprising the following steps: (A) measuring the amount of deformation when a hand-held object hits a ball through a strain detector; and measuring the time when the hand-held object hits a ball through an angular velocity sensor Angular velocity; and (B) converting the amount of deformation into the moment value at the hitting position, and calculating the product of the moment value and the angular velocity to obtain a hitting force value. The method for measuring the hitting force according to claim 6, wherein the hand-held object includes a hand-held part, and the hand-held part is separated from the strain-sensing position set by the strain detector by a first distance, the hand-held part and a There is a second distance between the hitting positions; this step (B) includes the following steps: (B1) Calculate the product of the amount of deformation and the elastic coefficient of the handheld object to obtain the stress value of the strain-measured position, and apply the stress The value is converted into a force value; (B2) Calculate the product of the force value of the strain measurement position and the ratio of the first distance and the second distance to obtain the force value of the impact position; (B3) The impact value of the impact position The force value is converted into the moment value of the hitting position; and (B4) calculating the product of the moment value and the angular velocity of the hitting position to obtain the hitting force value. For example, in the method for measuring the hitting force of claim 6, after the step (B), the following steps are further included: (C) a hitting performance conversion table is searched according to the hitting strength value to find a hitting score; The hitting performance conversion table records the plural hitting power values and the corresponding plural hitting scores. For example, in the method of measuring the hitting force of claim 8, after the step (C), the following steps are further included: (D) Finding a hitting distance conversion table according to the hitting strength value to find a hitting distance; The hitting distance conversion table records the plural hitting force values and the corresponding plural hitting distances. A ball force measurement system includes: a strain detector, which is suitable for measuring the amount of deformation when the hand-held object hits the ball; an angular velocity detector, which is suitable for measuring the hand-held object when it hits the ball Angular velocity; a display device; and an arithmetic unit that is electrically coupled to the strain detector, the angular velocity detector, and the display device; the arithmetic unit is based on the strain The amount of deformation measured by the detector is converted into a moment value at the hitting position, and the product of the moment value and the angular velocity is calculated to obtain a hitting force value; the computing unit displays the hitting force value. As claimed in claim 10, the batting force measurement system further includes a wireless transmission module, the display device is an external display device, the wireless transmission module is electrically coupled to the arithmetic unit, and the arithmetic unit is controlled The ball striking power value is transmitted to the external display device through the wireless transmission module.

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