Patent Application
20120115626
The present invention relates to a measurement and analysis system for determining the effectiveness of a golfer's swing based on all measurements made at the golf club head for both free swing analysis and swing with impact analysis. The free swing analysis relates the dynamic characterization of the club head orientation and motional descriptors time line for the entire swing related to a predetermined spatial reference location. The impact analysis related to ball impact on the club face with respect to location and force profiles. The system to measure both requires dynamics motional analysis, a relative spatial analysis without a contact or impact being made and analysis of impact.
Golf swing analysis systems and concepts for swing analysis systems have existed for many years. The existing systems typically have sensors attached to or within the club head and/or the club shaft or both and many communicate information wirelessly.
A system shown in U.S. Pat. No. 7,736,242 to Stites, shows an integrated golf club with acceleration sensors on the shaft and in the club head and communicates wirelessly. The system also discloses a club head with an impact module that may include a strain gage. The system in U.S. Pat. No. 7,736,242 does not teach or suggest an integrated electronic system golf club head that integrates impact sensors into the club head face in combination with acceleration measurement sensors located in the club head and further does not teach an antenna system that utilizes the electrical properties and shape of the club head as an integral component element of the antenna system design to increase power efficiency and further operating time duration based on storage capacity of energy device. The system does not provide for a method of free swing analysis with the ability to relate a measurement time line to a predetermined spatial reference location.
Another example of attaching sensors to a golf club is shown in U.S. Pat. No. 4,898,389 to Plutt, who claims a self-contained device for indicating the area of impact on the face of the club and the ball, and a means for an attachable and detachable sensor or sensor array that overlies the face of the club. Plutt's device does not provide for an imbedded impact sensor array in the clubface that functions in conjunction with internal three dimensional g-force sensors to provide a superset of time varying spatial force impact contours of the clubface with club head acceleration force parameters that can be calibrated for highly accurate spatial and force measurement. Plutt's device is susceptible to location inaccuracy due to the removable constraint of the sensors and is susceptible to sensor damage since the sensors come in direct contact with the ball.
U.S. Pat. No. 7,672,781 to Churchill uses receiver signal strength measurements with multiple directional antennas in combination with linear calculation methods based on acceleration measurements to determine the location of a movable bodies that could be a golf club. Churchill fails to contemplate using RSSI measurements without the use of directional sectorized antennas in combination with acceleration measurements analysis applied to a movable object with non-linear travel.
These systems fail to teach or suggest a self-contained integrated electronic system golf club head comprising the functions and methods of measuring a the entire free swing with the ability to relate the free swing metrics time line to a predetermined spatial location through the use of measuring three orthogonal acceleration axes across time with accelerometer(s) from within the club head and measuring a spatial relationship variable to a predetermined spatial location near or on the swing path by means of receiver signal strength measurements. Further, they do not provide free swing analysis capabilities with impact analysis capabilities facilitated with impact sensors integrated within the club face in a single integrated electronic club head.
The present invention is golf swing analysis system that is capable measuring and providing comprehensive performance feedback for both free swings and impact swings that include the entire swing. In other words, the system is capable of measuring and analyzing an entire free swing with no club/ball contact or a golf swing with club/ball contact. Further, when a free swing analysis is being employed, the system provides comprehensive results in the form of a time line with a vast number of timing and dynamics swing metrics represented. Further the time line is also associated to one or more spatial locations related to the club head travel path. When swing and impact analysis is being employed both dynamics swing metrics are provided and a broad array of impact metrics such ball club face location, impact forces, impact duration and others.
The present invention is an integrated golf club that comprises an integrated electronic system golf club head that is attachable and detachable to a golf club shaft and the integrated electronic system golf club head has substantially the same physical and performance characteristics as a regulation golf club head of similar type. The integrated electronic system golf club head measure three orthogonal axis of acceleration during the entire swing and measures ball/club face impact force profiles distributed across club face throughout the time duration of the impact. Both types of measurements are synchronized on a single time line for swing and impact metric relationships. Additionally, RSSI (receiver signal strength measurements) are synchronized on the said time line to derive relative spatial relationships to predetermine spatial locations on or near the club head travel path of the swing.
Further the integrated electronic system golf club head communicates wirelessly using radio waves between itself and a user interface device. The transmission and reception of radio wave from the club head is efficiently facilitated by an integrated antenna system that by design defines and utilizes attributes including physical structure and electrical properties of the club head shell in the overall antenna system design. The integrated electronic system golf club head shell also serves as the physical structure for enclosing and mounting assemblies that provide the system functions including: sensing, data capture and processing, memory, communication signal wave generation and data formatting for wireless transmission and reception along with an energy source to operate the electronics.
The user interface face device that receives the sensor and RSSI data wirelessly from the integrated electronic system golf club head performs a series of algorithms to provides comprehensive feedback for swing characterization for detailed swing timing results, dynamic club head orientation and motion metrics and dynamics shaft actions all referenced to the spatial domain.
The benefits of an integrated electronic system golf club head is that it can perform substantially similar to that of a regulation golf club head of same type, while providing essential measurements of free swing and or impact performance characteristics to the golfer reliably over a time period that is of adequate length for a training session or round of golf. These requirements translated into an integrated electronics system golf club head with substantially the same physical properties of a similar type golf club head with regards to weight, center of gravity and structural impact performance. The integrated electronics system golf club head comprises a number of assemblies that include club face assembly including impact sensors, antenna system assembly including club head shell, electronics assembly, three dimensional acceleration sensor(s) assembly and energy source assembly. These assemblies all have a defined mass and weight that when assembled provide substantially the same coefficient of restitution, weight and center-of-gravity as a regulation golf club head of similar type. Therefore, this drives the requirement that the electronic measurement and communication support function assemblies be a light as possible while performing their required functions accurately and reliably over a defined period of time so enough mass of material is available for the club head shell structure to provide mechanical structural performance requirements to function as a high performance golf club head. To achieve the lightest weight electronic and support assemblies possible, the electronic component parts count must be minimized, and the electronic design including all processing and wireless communication must be optimized for power efficiency to reduce the size and weight of the energy source required to operate the electronics system for an adequate period of time. This invention is an integrated electronic system golf club head that preserves the golf club head physical performance properties and further utilizes the golf club head shell physical structure and electrical properties to reduce parts count, materials and improve power efficiency of the electronic processing and communication functions to reduce the physical weight of electronics while providing accurate and reliable measurement and wireless communication performance. Further, when integrated electronic system golf club head is combined with a golf club shaft with grip the combination become a complete golf swing and impact measurement system.
The first category of measured forces includes three dimensional motional acceleration forces at the club head during the entire golf swing including impact. The relationship between force and acceleration is F(t)=mcha(t) where F(t) is the time varying force vector, mch is the known mass of the club head and a(t) is the time varying acceleration vector experienced by a given acceleration force sensor. The three dimensional axial domain of the acceleration force vectors has its origin at or near the center of gravity and the axial domain is orientated with one axis referenced normal to the club head face and another axis aligned with a known or less than 6 degree unknown angle offset to anticipated non flexed shaft. The mechanism used to measure this category of motional forces is a three dimensional g-force acceleration sensor or sensors. The three orthogonal acceleration measurements along with RSSI (Receiver Signal Strength Indicator) measurements are used for free swing analysis to derive a result in the form of a swing metrics time line that is related to a one or more spatial reference location(s).
The second category of force measurements includes the impact pressure forces that occur across the golf club head face for the duration of time for clubface and ball impact. This time varying pressure force is a scalar pressure profile normal to the clubface that is a result of the impact force and location of the ball on the clubface. The relationship between pressure and force is p(t)=Fnormal-to-A (t) A where p(t) is the time varying pressure experienced by a given pressure force sensor, Fnormal-to-A (t) is the time varying vector component of the force vector that is normal to the surface of the pressure force sensor and also the clubface, and A is the surface area of a given pressure force sensor element. The axial reference domain is the same for the g-force sensors described above with respect to club face. The mechanism to measure this category of pressure forces is an array of one or more pressure force sensors embedded in the club face that are measuring time varying impact pressure forces across the club face during the entire duration of club head face and ball impact.
Both categories of dynamic direct vector measurements and RSSI measurements are related with a single time line and a single shared physical domain allowing a large number highly accurate golf club free swing, swing and club/ball impact and club head to ball orientation metrics to be realized. To achieve this aggregate of direct physical measurements, the golf club head has embedded within it at least one acceleration three dimensional g-force sensor, RSSI circuitry in the receiver and at least one, but preferably a plurality of impact pressure force sensors geometrically distributed in the club head face.
The calculations for free swing analysis metric based on three orthogonal acceleration measurements is provided in detail by Davenport et al, U.S. Pat. No. 7,871,333 and assigned to Golf Impact listed above in the Cross Reference to Related Application section and incorporated by reference in its entirety. Further the derivation of a swing metrics time line with a relationship to one or more spatial locations using RSSI measurements in combination with acceleration measurements is provided in detail by Davenport, applications U.S. Ser. No. 13/225,433 and U.S. Ser. No. 13/229,635 and both assigned to Golf Impact listed above in the Cross Reference to Related Application section and incorporated by reference in its entirety.
The free swing time metrics that are calculated with associated spatial relationship to one or more predetermined locations include:
The impact metrics that are measured and or calculated include:
The sensors are connected to electrical analog and digital circuitry and an energy storage/supply device, also embedded within the club head shell cavity. Further the analog and digital circuitry with RSSI measurements circuitry also referred to as electronics is electrically connected to an antenna system that uses the club head shell as an electrical conductive element as part of the antenna system. The analog and digital circuitry electronic assembly conditions the signals from the sensors, samples the signals from each sensor group category, converts to a digital format, attaches a time stamp to each category or group type of simultaneous sensor measurements, and then stores the data in memory. The process of sampling sensors simultaneously for each sensor category or group type is sequentially repeated at a fast rate and may be a different rate between sensor categories or group types, so that all measured points from each sensor category or group type are relatively smooth with respect to time. The minimum sampling rate is the “Nyquist rate” of the highest significant and pertinent frequency domain component for each of the sensors' category or group types time wave representations.
The electronics assembly further temporarily stores the measured data sets and further formats the data into protocol structures for wireless transmission. Each data set is queued and then transmitted in a wireless protocol format from a radio frequency transceiver circuit that is electrically connected to an antenna system assembly electrical port. The antenna system comprises at least two electrically conducting elements. One of the electrically conducting elements of the antenna system assembly is the electrically conductive club head shell. The shapes and sizes of all antenna elements and objects are optimized as an antenna system to provide a desired input electrical port impedance characteristic and a desired radio wave radiation pattern for the antenna system. Further the electrically conductive club head element and club face assembly also provides the physical structure and performance attributes of a functional golf club head.
The combined weight of all assemblies of the integrated electronics system golf club head is substantially equal to that of a regulation play club head of similar type. In addition, the mounting location of all pieces of all assemblies either internal to the club head shell or external to the club head shell are configured so the center of gravity of the integrated electronics system golf club head is substantially similar to that of regulation play golf club head of similar type that is considered to deliver good performance.
This invention also provides a variety of methods including the sequence of steps that may be used to effectively optimize all of the variable that are encountered with the design of integrated electronic system golf club head, taking into account the many tradeoffs between dual function requirements placed on individual components and structures.
The present invention encompasses a variety of options for the golfer to receive and interpret the information of swing, impact and orientation metrics or a subset of total metrics available. The human interface function is separate human interface device that communicates wirelessly with the integrated electronic system golf club head. The human interface function can provide all or any subset of audible and visual outputs. Examples may include wireless smart device such as a PDA or laptop computer or any other device that has processing capabilities and a display and audio capabilities and can be adapted to communicate wirelessly using standard or non-standard wireless protocols. Some of the standard wireless protocols may include but not limited to ZigBee, Blue-Tooth or WiFi. Some of the non-standard protocol may include a completely custom modulation with associated custom protocol data structure or standard high level packet structure based on 802.11 or 802.15 with custom sub-packet data structure within high level packet structure.
The preferred embodiment of the integrated golf club, in addition to the previous described electronics, also has data formatting for wireless transport using Bluetooth™ transceiver protocols. The data, once transferred over the wireless link to the laptop computer, are processed and formatted into visual and or audio content with a proprietary software program specific for this invention. Examples of user selectable information formats and content could be:
The above and other features of the present invention will become more apparent upon reading the following detailed description in conjunction with the accompanying drawings, in which:
The present invention comprises an integrated golf club that further comprises a golf club shaft with a grip attached at one end and an integrated electronic system golf club head attached at the other end. The integrated electronic system golf club head measures directly and stores time varying acceleration forces during the entire golf club swing, measures receiver signal strength using RSSI (Receiver Signal Strength Indicator) circuit during the entire swing and further measures time varying impact forces in the time span from before the golf club head and ball impact, to a point in time after club head and ball separation. There are three categories of physical parameters being measured in real time with different mechanisms; the sensors convert directly to time varying force vectors and the RSSI measurements are used for spatial reference of the club head to a predetermined location. The force vectors from each measurement mechanism are interdependent in time and in a fixed spatial relation to one another as the club head transitions through all of the different dynamic forces during a golf swing, ball impact and after impact. Further the club head itself has a dynamically changing spatial reference to at least one predefined fixed spatial location near to the club head travel path.
As shown in
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The non-conducting monolith material 15 with embedded pressure sensors 30 can be pressure fit between the outer layer 13 and the inner layer 14. The outer layer 13 and the inner layer 14 can be connected to the club head shell housing 16 with conventional club head construction techniques utilizing weld seams or other attachment processes. Some techniques might include Aluminum MIG (Metal Inert Gas) welding for aluminum to aluminum connection and brazing for aluminum to titanium connections. The clubface layers 13 and 14 can be titanium or comparable metal or alloy and the club head housing components can be an aluminum or alloy.
As shown in
The predetermined materials used and predetermined shapes and thicknesses of all components of the club face structure assembly are individually optimized to further optimize the physical properties of the overall club face system to be substantially similar to that of a regulation play golf club head face of similar type and to provide adequate sensitivity of sensor embedded 30 in monolith structure 15. The process for design optimization of the club face system assembly defines the material properties used for each individual piece of the club face assembly and also the physical structure including size and shape of each individual piece of the club face assembly. Further the defined materials, shapes and sizes of all pieces further defines the club head face system overall weight and form factor and mass distribution. The process for design optimization of the club face system is a sub process of the overall design optimization process of the integrated electronics system golf club head.
The process for design optimizing the club face system takes into account several considerations and tradeoffs. The primary two objectives are to define a club face system structure that physically performs like a regulation club face of similar type and also provides adequate sensor sensitivity across the club face to measure with reasonable resolution ball/club face impact relative to a reasonable dynamic range of club head speeds at impact. An example dynamic range for a driver type may be 45 MPH to 130 MPH. Secondary goals are to achieve the lowest weight possible for the club face system providing maximum flexibility for the final optimization process that defines final weight and mass distribution of integrated electronics system golf club head design. Therefore a means of defining the optimal predetermined materials, sizes and shapes for all components of the club face assembly are done with the design optimization process for the club face system include the steps of:
The electronics assembly 18 is located at a predetermined location within club head shell 10 cavity. The predetermined location and mounting method are defined later in the final design and optimization process. The electronics assembly 18 is electrically connected with flexible transmission line or coax cable 17c to antenna elements and object(s) assembly 27 that is located at a predetermined location on club head 10 shell outer surface. Further electronics assembly 18 is electrically connected with wire(s) 17d to energy source assembly 26 that is located at a predetermined location within club head 10 shell. All assemblies located in the club head 10 shell cavity may be mounted in their individual predefined locations with mounting structures attached to club head 10 shell cavity inner surface similar to structure 19 or may be held in their predetermined location within a light weight molded form body that that is spatially fixed in club head 10 shell cavity and provides spatial support for each assembly relative to club head 10 shell structure. The light weight molded form body may be a durable light weight foam material or a light weight plastic molded structure. The electronics assembly 18 provide circuitry for functions of: sensor data capture, wireless communications and RSSI measurements from signals received through antenna assembly 27.
All of the assemblies including: club face assembly, electronics assembly 18, acceleration g-force sensors assembly 20, antenna system assembly 27 and energy source assembly 26 each have a predetermined weight that is defined in the design optimization process of each separate assembly. The assemblies are combined and assembled in the final design optimization process where final individual predetermined location of assemblies and club head shell wall thickness profiles are defined to further define the desired weight and mass distribution of overall club head system. This includes the optimized club head shell structure that is part of the antenna system assembly to have a total weight substantially similar to that of a regulation golf club head of similar type that is recognized to have good performance. In addition, the predetermined locations of the antenna components sub-assembly(ies) and electronics assembly and the acceleration g-force sensor assembly and the energy source assembly in conjunction with club face assembly are optimized so that the center of gravity of the integrated electrons system golf club head is substantially similar to that of a regulation golf club head of similar type.
In general, mobile electronic devices that depend on a battery or other energy storage device(s) and that utilize radio wave wireless communications are challenged with size, weight and operational time duration. The power consumption efficiency of an electronics wireless system is heavily depend the ability to efficiently convert electronic signals generated from within the physical electronics to propagating radio waves with an intended radiation pattern. The power efficiency of the conversion process is typically dominated by the characteristics of the physical antenna elements structures that further control the electrical port impedance of the antenna system operating at a predetermined frequency or frequency band.
The integrated electronics system golf club head antenna system utilizes the electrical properties and defines physical surface shape properties of the club head shell itself as part of the antenna system. The components of the antenna system include at least two or more electrically conducting elements and may include at least one or more electrically non-conducting objects. The preferred embodiment antenna system of this invention utilizes and defines the club head shell and surface structure as one of the electrically conducting elements. The design optimization process for the antenna system defines the shape(s) size(s) and material properties of all components of the antenna system. All components of the antenna system are also in a predetermined fixed spatial relationship with one another. The design optimization process of the antenna system defines all components of the antenna system and specifically defines a club head shell outer surface structure that in combination with other antenna components provides desired radiation patterns and desired electrical input port impedance to optimize the power efficiency of the system that further enables a smaller and lighter energy storage device. In addition, the wall thickness of the club head 10 shell are further optimized in later described processes to provide structural support for the overall assembled club head to perform as a golf club head with substantially similar physical performance criteria as a regulation golf club head of similar type.
The integrated club head antenna system may be implemented with one or a combination of techniques that launch radio wave and influence radiation patterns. The first technique employs the club head as a quasi-ground plane or ground object reflector that is in a fixed spatial relationship with other electrically conducting element or elements. The radiating element such as a wire operating in the presence of a ground object produces two rays at each observation angle, a direct ray from the radiating element and a second ray due to the refection from the ground object affecting radiation pattern. The second technique employs patch antenna theory that requires a ground plane or quasi ground plane that in combination with a conductive patch or sheet type electrically conductive element creates a trapped wave resonant cavity. The resonant structure facilitates electric field fringe effects to generate electromagnetic radiating apertures. The required quasi ground plane or quasi-ground object is implemented with the conductive club head shell surface. In both techniques, the club head shell is used as an electrically conductive element of the antenna system and the structure of the electrically conductive club head shell outer surface is an integral part of the overall antenna system design and affects performance with regards to electrical port impedance and the radiation pattern and reception gain performance of the antenna system structure as a whole.
The preferred embodiment of the antenna system comprise at least, a first electrically conducting element that is a golf club head shell made of electrically conducting material and at least one additional electrically conducting element and may have at least one electrically non-conducting object.
The benefits of the integrated club head antenna system are multifaceted, namely fewer parts, lighter weight and better performance as compared to using an off the shelf antenna(s) that is/are not designed to function in the constant presence of a metal object namely the club head. For an off the shelf generic antenna designed for a free space environment, both port impedance and radiation pattern are also strongly influenced by all electrically conducting objects in their near environment. The result of using an off the shelf antenna in the near presence to a golf club head has the effect of detuning the electrical port impedance creating an impedance mismatch between the circuitry electrical output port that is driving the electrical input port of the antenna system. As shown in
All of the variations of the invention assembly antenna system comprise at least, a first electrically conducting element that is a golf club head shell made of electrically conducting material and at least one additional electrically conducting element and may have at least one electrically non-conducting object.
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Another antenna system example comprises a first conducting element that is the electrically conducting club head 10 shell, and at least two more additional electrically conducting elements comprising at least one that is adapted for patched type structure(s) and at least one adapted for a wire type structure(s) of individual predetermined size and shape. Further the antenna system may have electrically non-conducting objects of predetermined size and shape associated with each of the additional conducting elements. The club head shell 10 outer surface 50 structure and all predetermine dimension, shapes and locations of all additional electrically conducting elements and electrically non-conducting objects are defined to optimize the antenna system electrical port impedance for desired characteristics for a predefined frequency band and the antenna system radiation pattern for desired characteristics.
Another embodiment antenna system has more than one electrical port where each port has two electrical contact points. This antenna system comprises at least three electrically conducting elements and first electrically conducting element is the golf club head 10 shell and at least two addition electrically conducting elements. The first electrical port comprises two electrical contact points and first electrical contact point is electrically connected the first electrically conducting element club head and second electrical contact point is connected to one or more additional conducting element(s) but not all additional conducting elements. The second or additional electrical ports(s) each have two electrical contact points and the first electrical contact point is electrically connected to the first electrically conducting element the club head and the second electrical contact point is electrical connected to at least one additional electrically conducting element that is not electrically connected to the electrical contact point of first port or other additional port(s). The benefit of an integrated electronics system golf club head with multiple antenna ports is the system can then support full duplex operation with constant receive and transmit taking place simultaneously on two different frequencies or two different frequency bands. In addition an antenna system with multiple ports could support MIMO (Multiple Input Multiple Output) wireless communication structures supporting much higher communication data rates.
All attachments required between electrically conducting elements and electrically non-conductive objects may be accomplished with an electrical conductive or non-conductive adhesive or fasteners.
All of the antenna system embodiments may have additional electrical non-conducting structures that attached to the club head 10 shell external surface that further cover antenna system components to provide a smooth surface of overall club head structure to provide a similar aerodynamic structure to that of a similar golf club head type. The material properties of the aerodynamic enhancement structures include radio frequency transparency with regards to radio wave signals. In other words do not affect radio waves as radio waves pass through the aerodynamic enhancement structures.
As previously recited, the antenna system has numerous control variables that affect the electrical performance of the total electronics system and the structural physical performance of the club head. To define the predetermined values for all of the control variables in the antenna system to meet electrical and physical requirements, a design optimization process is used. A means of antenna system design optimization comprises a process with the steps of:
As shown in
The electronics controller 406 dynamically organizes and controls the electrical sequencing and processing of the signals based on a fixed startup sequence and then triggers. When the integrated electronic system golf club head is initially turned on, the controller starts capturing and monitoring the g-force sensor(s) 20 measurement axes values form sensors 200 and measuring receiver signal strength at the antenna system 501a. After startup the controller 406 comprises logic implemented with firmware residing and executing in controller 406 that defines a trigger events that may indicate for example weather the club head is moving or still or what portion of the swing is taking place based g-force sensor data. Further more complex triggers may be defined for triggers based on a combination of g-force sensor data and impact sensor data. Based on a predefined trigger events occurring the controller instructs electronic circuitry to individually or in any combination start or stop or adjust any operational function or combination of functions for example: memory storage of a given sensors category, wireless transmission, sample rate for individual sensor categories or any other electronic function affecting system operation and or mode of operation. The benefits of the of a system based on predefined logic triggers based on sensor inputs is the ability to optimize the state of operation of electronic function when needed to acquire the minimal amount of data to fully describe the desired swing characteristics and further reducing electronic function operations when not needed to minimize overall energy consumption. The lower overall energy consumption of the electronics allows for smaller lighter energy source or energy storage supply which contributes to the overall design flexibility of achieving an integrated electronics system golf club head with weight, center of gravity and physical structural performance similar to that of a regulation golf club head of similar type.
As shown in
The electronics assembly comprises input and output electrical connections to all other assemblies. As previously shown in
The energy source assembly comprises components that facilitate the storage and release of energy to operate electronics. The energy source components may comprise various electrical components for enabling and disabling energy or power to electronics, connectors for electrically connecting to all electronics, and physical structure for assembly of all components and physical structure for supporting assembly either internal or external to club head shell cavity. The energy storage cells may be batteries or capacitors or supper capacitors or other component devices or combination of, that can store and release electrical energy. Further, batteries may be of rechargeable or disposable types.
The design optimization process for the energy source assembly focuses defining a design that has minimal weight and volume while providing operation of electronics for predetermined time duration. The energy source assembly design optimization process includes the steps of:
Another assembly for purposes of energy harvesting may also be included in the integrated electronics system golf club head that harvest energy from the impact sensor elements generated power signal. The impact sensor elements may be made of piezoelectric materials that do not require a power supply to function. The piezoelectric elements, however, generate and provide an output voltage and current waveform when a force is applied to the elements such as the impact of a golf ball on the club face assembly. A portion of the generated electrical power signal comprising voltage and current from the impact sensor elements may be used to apply charge to an energy storage cell device in a recharging fashion. The portion of power signal extracted from the impact sensor element(s) is done in a ratio format, so the shape of the signal waveform from impact sensor elements applied to the processing electronics is not changed. Further with the ratio of signal amplitude extracted for recharging purposes known, no information carried by signal portion applied to electronics processing is lost.
The process of optimizing the overall assembly of the integrated electronics golf club head is focused on defining a system golf club head that has all measurements and electronic processing and communication capabilities desired and that functions substantially similar to regulation golf club head of similar type based on physical properties. Further, the specific physical properties being substantially similar include: coefficient of restitution of club face, overall weight of club head and center of gravity of club head. The system club head variables that are defined in this final optimization process include: placement of all assemblies, components and elements in relation to club head shell outer surface and in conjunction defining the club head shell wall thickness profile. The optimization process for the aggregation of all assemblies and structures for the integrated electronics system golf club head include the steps of:
As seen in the overall optimization process of the integrated electronics system golf club head design, the process requires providing structural integrity of club head shell structure with a predetermine weight that is less than a typical club head shell of similar type without additional assemblies. The club head wall thickness profile variable and the materials profile selected are the central control factors defining structural integrity within the confines of a predetermined weight limit and predetermined center of gravity.
As shown in
The club head shell structure with predetermined varying wall thickness profile is modeled and designed as a single entity, however for manufacturing purposes the design is segmented into two or more pieces that are attached through welding or other affixing process. An example of the segmented two pieces may be a crown and a base that allow attachment of other electronics based assemblies before attachment of crown and based and club face.
The preferred embodiment of the measurements and analysis system functions in the following manner. As the golfer swings the club, the club head is in bidirectional wireless communication with a second module and in this embodiment a wireless USB module that is placed at a predetermined location near the swing path of the integrated electronics golf club head. The wireless USB Module is also in wired communication with a user interface device that in this embodiment is a laptop computer. As the golf swing is in progress weather it is a free swing or a swing with impact the club head is capturing sensor data and receiver signal strength data from the wireless USB. The integrated electronics club head is also transmitting the all sensor measurements synchronized with the receiver signal strength measurements to the wireless USB module that then further transmits the data through a wired connection to the user interface device that in the case is a laptop. Residing on the laptop is application software that runs algorithms to interpret all data that has been measured at the club head. The following sections describe how these algorithms to interpret and calculate the swing metrics from the measurement made at the club head.
The following section of this patent application describe the algorithms used in the processing software to interpret all sensors and receiver signal strength measurements made at the club head during free swing and during impact to provide a rich set golf metrics describing the quality of a golf free swing or a golf swing with impact.
For the club head acceleration measurement assembly 5101 mounted perfectly in the club head 5201 the following relations are achieved: The zf-axis 5105 is aligned so that it is parallel to the club shaft 5202. The xf-axis 5104 is aligned so that is orthogonal to the zf-axis 5105 and perpendicular to the plane 5203 that would exist if the club face has a zero loft angle. The yf-axis 5106 is aligned orthogonally to both the xf-axis 5104 and zf-axis 5105.
With these criteria met, the plane created by the xf-axis 5104 and the yf-axis 5106 is perpendicular to the non-flexed shaft 5202. In addition the plane created by the yf-axis 5106 and the zf-axis 5105 is parallel to the plane 5203 that would exist if the club face has a zero loft angle. However, in the manufacturing process of the integrated electronics club head there may be variations in alignment of the orientation of the acceleration measurement assembly 5101 that are detected and corrected with a correction algorithm that is covered later.
The mathematical label asx represents the acceleration force measured by a sensor along the club head acceleration measurement assembly 5101 xf-axis 5104. The mathematical label asy represents the acceleration force measured by a sensor along the club head acceleration measurement assembly 5101 yf-axis 5106. The mathematical label asz represents the acceleration force measured by a sensor along the club head acceleration measurement assembly 5101 zf-axis 5105.
If the club head acceleration measurement assembly of the preferred embodiment is not aligned exactly with the references of the golf club there is an algorithm that is used to detect and calculated the angle offset from the intended references of the club system and a method to calibrate and correct the measured data. This algorithm is covered in detail after the analysis is shown for proper club head acceleration measurement assembly attachment with no mounting angle variations.
Club head motion is much more complicated than just pure linear accelerations during the swing. It experiences angular rotations of the fixed sensor orthogonal measurement axes, xf-axis 5104, yf-axis 5106 and zf-axis 5105 of acceleration measurement assembly 5101 around all the center of mass inertial acceleration force axes during the swing, as shown in
The three orthogonal measurement axes xf-axis 5104, yf-axis 5106 and zf-axis 5105 of acceleration measurement assembly 5101, along with a physics-based model of the multi-lever action of the swing of the golfer 5301, are sufficient to determine the motion relative to the club head three-dimensional center of mass axes with the xcm-axis 5303, ycm-axis 5305 and zcm-axis 5304.
The mathematical label az is defined as the acceleration along the zcm-axis 5304, the radial direction of the swing, and is the axis of the centrifugal force acting on the club head 5201 during the swing from the shoulder 5306 of the golfer 5301. It is defined as positive in the direction away from the golfer 5301. The mathematical label ax is the defined club head acceleration along the xcm-axis 5303 that is perpendicular to the az-axis and points in the direction of instantaneous club head inertia on the swing arc travel path 5307. The club head acceleration is defined as positive when the club head is accelerating in the direction of club head motion and negative when the club head is decelerating in the direction of club head motion. The mathematical label ay is defined as the club head acceleration along the ycm-axis 5305 and is perpendicular to the swing plane 5308.
During the golfer's 5301 entire swing path 5308, the dynamically changing relationship between the two coordinate systems, defined by the acceleration measurement assembly 5101 measurements coordinate system axes xf-axis 5104, yf-axis 5106 and zf-axis 5105 and the inertial motion acceleration force coordinate system axes xcm-axis 5303, ycm-axis 5305 and zcm-axis 5304, must be defined. This is done through the constraints of the multi-lever model partially consisting of the arm lever 5309 and the club shaft lever 5310.
The multi lever system as shown in
There are several ways to treat the rotation of one axes frame relative to another, such as the use of rotation matrices. The approach described below is chosen because it is intuitive and easily understandable, but other approaches with those familiar with the art would fall under the scope of this invention.
Using the multi-lever model using levers, rigid and non-rigid, the rotation angles describing the orientation relationship between the acceleration measurement assembly measured axis coordinate system and the inertial acceleration force axes coordinate system can be determined from the sensors in the club head acceleration measurement assembly 5101 through the following relationships:
a
sx
=a
z cos(Φ)cos(η)−ay sin(Φ)−az cos(Φ)sin(η) 1.
a
sy
=a
x sin(Φ)cos(η)+ay cos(Φ)+az(sin(Ω)−sin(Φ)sin(η)) 2.
a
sz
=a
z sin(η)−ay sin(Ω)cos(Φ)+az cos(η) 3.
The following is a reiteration of the mathematical labels for the above equations.
ax is the club head acceleration in the xcm-axis 303 direction.
ay is the club head acceleration in the ycm-axis 305 direction.
az is the club head acceleration in the zcm-axis 304 direction.
asx is the acceleration value returned by the club head acceleration measurement assembly 5101 sensor along the xf-axis 5104.
asy is the acceleration value returned by the club head acceleration measurement assembly 5101 sensor along the yf-axis 5106.
asz is the acceleration value returned by the club head acceleration measurement assembly 5101 sensor along the zf-axis 5105.
During a normal golf swing with a flat swing plane 5308, ay will be zero, allowing the equations to be simplified:
a
sx
=a
x cos(Φ)cos(η)−az cos(Φ)sin(η) 4.
a
sy
=a
x sin(Φ)cos(η)+az(sin(Ω)−sin(Φ)sin(η)) 5.
a
sz
=a
x sin(η)+az cos(η) 6.
These equations are valid for a “free swing” where there is no contact with the golf ball.
The only known values in the above are asx, asy, and asz from the three sensors. The three angles are all unknown. It will be shown below that ax and az are related, leaving only one unknown acceleration. However, that still leaves four unknowns to solve for with only three equations. The only way to achieve a solution is through an understanding the physics of the multi-lever variable radius swing system dynamics and choosing precise points in the swing where physics governed relationships between specific variables can be used.
The angle Φ 5501, also known as the club face approach angle, varies at least by 180 degrees throughout the backswing, downswing, and follow through. Ideally it is zero at maximum velocity, but a positive value will result in an “open” clubface and negative values will result in a “closed” face. The angle Φ 5501 is at the control of the golfer and the resulting swing mechanics, and is not dependent on either ax or az. However, it can not be known a-priori, as it depends entirely on the initial angle of rotation around the shaft when the golfer grips the shaft handle and the angular rotational velocity of angle Φ 5501 during the golfer's swing.
The angle Ω 5601, on the other hand, is dependent on az, where the radial acceleration causes a centrifugal force acting on the center of mass of the club head, rotating the club head down around the xf-axis into a “toe” down position of several degrees. Therefore, angle Ω 5601 is a function of az. This function can be derived from a physics analysis to eliminate another unknown from the equations.
The angle η 5401 results from both club shaft angle 5702 lag/lead during the downswing and wrist cock angle 5701. Wrist cock angle is due both to the mechanics and geometry relationships of the multi lever swing model as shown in
Before examining the specifics of these angles, it is worth looking at the general behavior of equations (4) through (6). If both angle Ω 5601 and angle η 5401 were always zero, which is equivalent to the model used by Hammond in U.S. Pat. No. 3,945,646, the swing mechanics reduces to a single lever constant radius model. For this case:
a
sx
=a
x cos(Φ) 7.
a
sy
=a
x sin(Φ) 8.
a
sz
=a
z 9.
This has the simple solution for club face angle Φ of:
In Hammond's U.S. Pat. No. 3,945,646 he states in column 4 starting in line 10 “By computing the vector angle from the acceleration measured by accelerometers 12 and 13, the position of the club face 11 at any instant in time during the swing can be determined.” As a result of Hammond using a single lever constant radius model which results in equation 10 above, it is obvious he failed to contemplate effects of the centrifugal force components on sensor 12 and sensor 13 of his patent. The large error effects of this can be understood by the fact that the az centrifugal acceleration force is typically 50 times or more greater than the measured acceleration forces of asx and asy for the last third of the down swing and first third of the follow through. Therefore, even a small angle Ω 5601 causing an az component to be rotated onto the measured asy creates enormous errors in the single lever golf swing model.
In addition, the effect of the angle η 5401 in the multi lever variable radius swing model is to introduce az components into asx and asy, and an ax component into asz. The angle η 5401 can vary from a large value at the start and midpoint of the down stroke when az is growing from zero. In later portion of the down stroke az becomes very large as angle η 5401 tends towards zero at maximum velocity. Also, as mentioned above, the angle η 5401 introduces an ax component into asz. This component will be negligible at the point of maximum club head velocity where angle η 5401 approaches zero, but will be significant in the earlier part of the swing where angle η 5401 is large and the value of ax is larger than that for az.
The cos(η) term in equations (4) and (5) is the projection of ax onto the xf-yf plane, which is then projected onto the xf axis 5104 and the yf axis 5106. These projections result in the ax cos(Φ)cos(η) and ax sin(Φ)cos(η) terms respectively in equations (4) and (5). The projection of ax onto the zf-axis 5105 is given by the ax sin(η) term in equation (6).
The sin(η) terms in equations (4) and (5) are the projection of az onto the plane defined by xf axis 5104 and the yf axis 5106, which is then projected onto the xf axis 5104 and yf axis 5106 through the az cos(Φ)sin(η) and az sin(Φ)sin(η) terms respectively in equations (4) and (5). The projection of az onto the zf-axis 5105 is given by the az cos(η) term in equation (6).
The angle Ω 5601 introduces yet another component of az into asy. The angle Ω 5601 reaches a maximum value of only a few degrees at the point of maximum club head velocity, so its main contribution will be at this point in the swing. Since angle Ω 5601 is around the xf-axis 5104, it makes no contribution to asx, so its main effect is the az sin(Ω) projection onto the yf-axis 5106 of equation (5). Equations (4) and (5) can be simplified by re-writing as:
a
sx=(ax cos(η)−az sin(η))cos(Φ)=f(η)cos(Φ) 11.
and
a
sy=(ax cos(η)−az sin(η))sin(Φ)+az sin(Ω)=f(η)sin(Φ)+az sin(Ω) 12.
where
f(η)=ax cos(η)−az sin(η). From (11): 13.
which when inserted into (12) obtains:
a
sy
=a
sx tan(Φ)+az sin(Ω) 15.
From equation (15) it is seen that the simple relationship between asx and asy of equation (10) is modified by the addition of the az term above. Equations (4) and (6) are re-written as:
These equations are simply solved by substitution to yield:
Equation (19) can be used to find an equation for sin(η) by re-arranging, squaring both sides, and using the identity, cos2(η)=1−sin2(η), to yield a quadratic equation for sin(η), with the solution:
To get any further for a solution of the three angles, it is necessary to examine the physical cause of each. As discussed above the angle η 5401 can be found from an analysis of the angle α 5403, which is the sum of the angles αwc 5701, due to wrist cock and αsf 5702 due to shaft flex lag or lead.
Angle α 5403, and angle η 5401 are shown in
R
2
=A
2
+C
2+2AC cos(α) 21.
A
2
=R
2
+C
2−2RC cos(η) 22.
Using R2 from equation (21) in (22) yields a simple relationship between α and η:
α=cos−1((R cos(η)−C)/A) 23.
The swing radius, R 5402, can be expressed either in terms of cos(α) or cos(η). Equation (21) provides R directly to be:
R=√{square root over (C2+A2+2AC cos(α))}. 24.
Equation (22) is a quadratic for R which is solved to be:
R=C cos(η)+√{square root over (C2(cos(η)−1)+A2)}. 25.
Both α 5403 and η 5401 tend to zero at maximum velocity, for which Rm=A+C.
The solutions for the accelerations experienced by the club head as it travels with increasing velocity on this swing arc defined by equation (25) are:
The acceleration az is parallel with the direction of R 5402, and ax is perpendicular to it in the swing plane 5308. The term VΓ is the velocity perpendicular to R 5402 in the swing plane 5308, where Γ is the swing angle measured with respect to the value zero at maximum velocity. The term VR is the velocity along the direction of R 5402 and is given by dR/dt. The swing geometry makes it reasonably straightforward to solve for both VR and its time derivative, and it will be shown that az can also be solved for which then allows a solution for VΓ:
Now define:
so that:
V
Γ=√{square root over (RaZ-radial)}, 30.
Next define:
Because (31) has the variable R 5402 included as part of the time derivative equation (27) can be written:
Also equation (26) can be written:
The acceleration av 805 is the vector sum of ax 5804 and az 5803 with magnitude:
The resulting magnitude of the force acting on the club head is then:
F
v
=m
s
a
v 36.
β=η for no wrist torque. 37.
On the other hand, when force Fwt 5808 is applied due to wrist torque 5802:
β=η+ηwt 38.
where:
F
wt
=F
v sin(ηwt). 39.
The angle ηwt 5809 is due to wrist torque 5802. From (38):
where Cη<1 is a curve fitting parameter to match the data, and is nominally around the range of 0.75 to 0.85. From the fitted value:
ηwt=(1−Cη))β 41.
Using (41) in (39) determines the force Fwt 5808 due to wrist torque 5802.
To solve for angle Ω 5601 as previously defined in
It is worth noting that from equation (42) for increasing values of az there is a maximum angle Ω 5601 that can be achieved of d CΩ/C which for a typical large head driver is around 4 degrees. The term CΩ is a curve fit parameter to account for variable shaft stiffness profiles for a given K. In other words different shafts can have an overall stiffness constant that is equal, however, the segmented stiffness profile of the shaft can vary along the taper of the shaft.
An equation for angle Φ 5501 in terms of angle Ω 5601 can now be found. This is done by first using equation (17) for az in equation (15):
Re-arranging terms:
(asy−asz cos(η)sin(Ω))cos(Φ)=asx sin(Φ)−asx sin(η)sin(Ω) 44.
Squaring both sides, and using the identity cos2(Φ)=1−sin2(Φ) yields a quadratic equation for sin(Φ):
sin2(Φ)[asx2+(asy−asz cos(η)sin(Ω))2]−2asx2 sin(Φ)sin(η)sin(Ω)+asx2(sin(η)sin(Ω))2−(asy−asz cos(η)sin(Ω))2=0 45.
Equation (45) has the solution:
where the terms in (46) are:
b
1
=a
sx
2+(asy−asz cos(η)sin(Ω))2
b
2=−2asx2 sin(η)sin(Ω)
b
3
=a
sx
2(sin(η)sin(Ω))2−(asy−asz cos(η)sin(Ω))2
Equations (42) for Ω 5601, (46) for Φ 5501, and (20) for η 5401 need to be solved either numerically or iteratively using equations (32) for ax, (33) for az, and (25) for R 5402. This task is extremely complex. However, some innovative approximations can yield excellent results with much reduced complexity. One such approach is to look at the end of the power-stroke segment of the swing where VR and its time derivative go to zero, for which from equations (32), (33), (35) and (40):
In this part of the swing the asx term will be much smaller than the asz term and equation (18) can be approximated by:
a
z
=a
z-radial
=a
sz cos(η) 48.
During the earlier part of the swing, the curve fit coefficient Cη would accommodate non-zero values of VR and its time derivative as well as the force due to wrist torque 5802.
The maximum value of η 5401 is nominally around 40 degrees for which from (48) ach/az-radial=1.34 with Cη=0.75. So equation (47) is valid for the range from ach=0 to ach=1.34 az-radial, which is about a third of the way into the down-stroke portion of the swing. At the maximum value of η 5401 the vector av 5805 is 13 degrees, or 0.23 radians, off alignment with the zf axis and its projection onto the zf axis 5105 is asz=av cos(0.23)=0.97av. Therefore, this results in a maximum error for the expression (48) for az=az-radial of only 3%. This amount of error is the result of ignoring the asx term in equation (18). This physically means that for az in this part of the swing the az-radial component value dominates that of the asx component value. Equation (47) can not be blindly applied without first considering the implications for the function ƒ(η) defined by equations (13) and (14), which has a functional dependence on cos(Φ) through the asx term, which will not be present when (47) is used in (13). Therefore, this cos(Φ) dependence must be explicitly included when using (47) to calculate (13) in equation (12) for asy, resulting in:
a
sy=(ax cos(η)−az sin(η))tan(Φ)+az sin(Ω). 49.
Equation (49) is applicable only when equation (47) is used for the angle η 5401.
A preferred embodiment is next described that uses the simplifying equations of (47) through (49) to extract results for Φ 5501 and η 5401 using (42) as a model for Ω 5601. It also demonstrates how the wrist cock angle αwc 5701 and shaft flex angle αsf 5702 can be extracted, as well as the mounting angle errors of the accelerometer acceleration measurement assembly. Although this is the preferred approach, other approaches fall under the scope of this invention.
The starting point is re-writing the equations in the following form using the approximations az-=az-radical and ax=ach. As discussed above these are excellent approximations in the later part of the swing. Re-writing the equations (4) and (49) with these terms yields:
a
sx
=a
ch cos(Φ)cos(η)−az-radial cos(Φ)sin(η) 50.
a
sy
=a
ch tan(Φ)cos(η)+az-radial sin(Ω)−az-radial tan(Φ)sin(η) 51.
a
z-radial
=a
sz cos(η) 52.
Simplifying equation (31):
In this approximation V=VΓ is the club head velocity and dt is the time increment between sensor data points. The instantaneous velocity of the club head traveling on an arc with radius R is from equation (29):
V=√{square root over (az-radialR)}=az-radial1/2R1/2 54.
for which:
Using equation (52) for az-radial in (55):
During the early part of the downswing, all the derivative terms will contribute to ach, but in the later part of the downswing when R is reaching its maximum value, Rmax, and η is approaching zero, the dominant term by far is the dasz/dt term, which allows the simplification for this part of the swing:
With discreet sensor data taken at time intervals Δt, the equivalent of the above is:
It is convenient to define the behavior for ach for the case where R=Rmax and η=0, so that from equation (52) az-radial=asz, which defines:
Then the inertial spatial translation acceleration component of the club head is:
Substituting equation (52) and (60) back into equations (50) and (51) we have the equations containing all golf swing metric angles assuming no acceleration measurement assembly mounting angle errors in terms of direct measured sensor outputs:
a
sx
=a
chsz(√{square root over (R cos(η))}/√{square root over (RMax)})cos(Φ)cos(η)−asz cos(η)cos(Φ)sin(η) 61.
a
sy
=a
chsz(√{square root over (R cos(η))}/√{square root over (Rmax)})tan(Φ)cos(η)+asz cos(η)sin(Ω)−asz cos(η)tan(Φ)sin(η) 62.
Using equation (62) to solve for Φ, since this is the only equation that contains both η and Ω, yields:
Now there are two equations with three unknowns. However, one of the unknowns, η, has the curve fit parameter Cη that can be iteratively determined to give best results for continuity of the resulting time varying curves for each of the system variables. Also, there are boundary conditions from the multi-lever model of the swing that are applied, to specifics points and areas of the golf swing, such as the point of maximum club head velocity at the end of the downstroke, where:
The angle Ω 601 is a function of asz through equations (42), (48) and (52). The curve fit constant, CΩ, is required since different shafts can have an overall stiffness constant that is equal, however, the segmented stiffness profile of the shaft can vary along the taper of the shaft. The value of CΩ will be very close to one, typically less than 1/10 of a percent variation for the condition of no acceleration measurement assembly mounting angle error from the intended alignment. Values of CΩ greater or less than 1/10 of a percent indicates a acceleration measurement assembly mounting error angle along the ycm-axis which will be discussed later. Re-writing equation (42) using (52):
The constants in equation (64) are:
The curve fit parameter, Cη, has an initial value of 0.75.
An iterative solution process is used to solve equations (61), (63), and (64), using (65) for η 401, which has the following defined steps for the discreet data tables obtained by the sensors:
{asx+asz cos(η)cos(φ)sin(η)}/{cos(φ)cos(η)}=achsz(√{square root over (R cos(η))}/√{square root over (Rmax)})
Variance={asx+asz cos(η)cos(φ)sin(η)}/{cos(φ)cos(η)}−achsz(√{square root over (R cos(η))}/√{square root over (Rmax)})
Since the acceleration measurement assembly 5101 is installed in the club head during the manufacturing process, the cost of manufacturing the integrated electronics golf club head is higher when more stringent requirements are placed on the orientation accuracy of the acceleration measurement assembly 5101. To reduce this cost the manufacturing accuracy requirements are reduced by using an algorithm that can detect orientation offsets of the acceleration measurement assembly 5101 and correct the measured data in accordance with the detected offset.
During the manufacturing an angle rotation error around the rotation around the yf-axis 5106 causing the xf-axis 5104 and zf-axis 5105 to be misaligned with their intended club structure references. The mathematical label that describes this error angle of rotation is λ. In addition, there can be an error angle rotation around the xf-axis 5104 causing the yf-axis 5106 and the zf-axis 5105 to be misaligned with the intended club structure references. The mathematical label that describes this angle of rotation is κ. This mounting error can be experimentally determined using a standard golf swing.
For a linear acceleration path the relationship between true acceleration and that of the misaligned measured value of asx is given by the following equations where asx-true is defined as what the measured data would be along the xf-axis 5104 with λ=0 degrees. A similar definition holds for asz-true along the zf axis 5105. Then:
a
sx-true
=a
sx/cos(λ) 66.
a
sz-true
=a
sz/cos(λ) 67.
However, the travel path 5307 is not linear for a golf swing which creates a radial component due to the fixed orientation error between the offset acceleration measurement assembly measurement coordinate system and the properly aligned acceleration measurement assembly measurement coordinate system. As a result, any misalignment of the club head acceleration measurement assembly axis by angle λ creates an az-radial component as measured by the misaligned xf-axis 5104. The az-radial component contributes to the asx measurement in the following manner:
a
sx
=a
sx-true
+a
sz sin(λ) 68.
The angle λ is constant in relation to the club structure, making the relationship above constant, or always true, for the entire swing. The detection and calibrating correction process of the mounting variation angle λ is determined by examining equations (50) and (53) at the point of maximum velocity where by definition:
a
sx-true
=a
sx
−a
sz sin(λ)=0 69.
Now the measured data arrays for both the affected measurement axis xf-axis 5104 and zf-axis 5105 must be updated with calibrated data arrays.
a
sx-cal
=a
sx
−a
sz sin λ 71.
a
sz-cal
=a
sz/cos λ 72.
The new calibrated data arrays asx-cal and asz-cal are now used and replaces all asx and asz values in previous equations which completes the detection and calibration of club head acceleration measurement assembly mounting errors due to a error rotation around the yf-axis 5106.
The detection of mounting error angle κ is achieved by evaluating CΩ resulting from the iterative solution steps 2 though 4 described earlier. If CΩ is not very close or equal to one, then there is an additional az-radial contribution to asy from mounting error angle κ. The magnitude of mounting error angle κ is determined by evaluating Ω 601 at maximum velocity from equation (64) where for no mounting error CΩ=1. Then the mounting angle κ is determined by:
κ=(CΩ−1)(dmsasz cos(η))/(C(KC+msasz cos(η))) 73.
As previously described for mounting angle error λ, the mounting error angle κ affects the two measurement sensors along the yf-axis 5106 and the zf-axis 5105. Consistent with the radial component errors resulting from the λ 1201 mounting angle error, the κ mounting angle error is under the same constraints. Therefore:
a
sy-cal
=a
sy
−a
sz sin(κ) 74.
a
sz-cal
=a
sz/cos λ 75.
The new calibrated data arrays asy-cal and asz-cal are now used and replaces all asy and asz values in previous equations which complete the detection and calibration of club head acceleration measurement assembly mounting errors due to a mounting error rotation around the xf-axis 5104.
Thereby, the preferred embodiment described above, is able to define the dynamic relationship between the acceleration measurement assembly 5101 measured axes coordinate system and the inertial acceleration force axes coordinate system using the multi-lever model and to define all related angle behaviors, including acceleration measurement assembly 5101 mounting errors.
All of the dynamically changing golf metrics described as angle and or amplitude values change with respect to time. To visually convey these metrics to the golfer, they are graphed in the form of value versus time. The graphing function can be a separate computer program that retrieves output data from the computational algorithm or the graphing function can be integrated in to a single program that includes the computational algorithm.
The standard golf swing can be broken into four basic interrelated swing segments that include the backswing, pause and reversal, down stroke, also called the power-stroke, and follow-through. With all angles between coordinate systems defined and the ability to separate centrifugal inertial component from inertial spatial translation components for each club head acceleration measurement assembly measured axis, the relationships of the data component dynamics can now be evaluated to define trigger points that can indicate start points, end points, or transition points from one swing segment to another. These trigger points are related to specific samples with specific time relationships defined with all other points, allowing precise time durations for each swing segment to be defined. The logic function that is employed to define a trigger point can vary since there are many different conditional relationships that can be employed to conclude the same trigger point. As an example, the logic to define the trigger point that defines the transition between the back swing segment and the pause and reversal segment is:
By defining the exact time duration for each swing segment and understanding that each swing segment is related and continuous with an adjacent segment, the golfer can focus improvement strategies more precisely by examining swing segments separately.
For the free swing the ability to correlate the acceleration measurements and resulting dynamics golf metrics time line to a spatial reference allows key dynamics swing metrics to be further evaluated in the contexts of space. This offers golfers great analytical benefit when evaluating a free golf swing that does not impact an object. The swing metrics can be analyzed in relation to key spatial reference locations, such as anticipated ball location, peak elevation of backswing, peak elevation of power-stroke, peak elevation of follow through and others such as club head travel path 90 degrees out from right or left shoulder. These spatial reference points all offer their own set of benefits when analyzing the varied dynamic swing metrics in reference to spatial locations near the club head travel path. True swing efficiency and effectiveness can now be evaluate without the motional perturbations that occur when the golf club strikes and object such as a golf ball. The benefit of analyzing a free swing as opposed to an impact swing can be demonstrated with a fundamental example of evaluating swing efficiency with respect to the dynamic swing metric of club head velocity which is directly related to achievable ball trajectory distance. In this example a golfer may want to improve and optimize their swing style for maximum distance. Using free swing measurements and analysis that provides dynamic club head velocity in relation to an anticipated ball location allows the golfer to evaluate if they are reaching maximum club head velocity before, at, or after the anticipated ball location. This is not possible with club/ball impact because of the abrupt velocity reduction resulting from impact eliminating the ability to determine where maximum velocity would have occurred after impact. Further, the swing style can be modified for maximum power and efficiency by aligning club head maximum velocity with anticipated ball location for maximum energy transfer at anticipated ball location. The same benefit themes demonstrated with the club head velocity example also can be applied to all dynamics swing metrics such as but not limited to, club head spatial acceleration and maximum club head spatial acceleration, club face angle and where the club face angle reached a square position, shaft flex lag/lead angle and many others.
These measurement and evaluation capabilities are not available with swing analyzers that only rely on impact with a golf ball, because the impact itself abruptly changes all swing metrics including club head orientation, club head motion and shaft actions and therefore eliminates the possibility of comprehensive analysis of true swing performance. Only swing analyzers that analyze both free swing and swing and impact completely characterize the need metric for true optimization.
The embodiment of correlation methods are demonstrated using the integration of conventional Receiver Signal Strength Indicator (also referred to as RSSI) functionality into the previously recited free swing measurement and analysis portion of this system. The system uses RSSI to determine relative spatial relationships between the Club Head acceleration measurement assembly 5101 (acceleration measurement assembly) and the wireless USB Module during the entire swing. The spatial relationships, such as nearest together or farthest apart or equivalents or ratios are used to identify club head location(s) at a point or points in time that correspond to time location(s) on the acceleration measurement time line thereby correlating space and time.
A software application of the first embodiment of the time-space correlation resides on User Interface 51302 computational engine and comprising all functions for user interface, display and data processing of measurements within software application. The data processing of measurements includes the previously recited algorithms for club head alignment calibration and acceleration data analysis. Further, software application implements a third algorithm that processes the receiver signal strength measurements in conjunction with synchronized acceleration measurements to determine time space correlation. The third algorithm processes steps of the first embodiment of the time-space correlation include the step of:
For swing and impact analysis the impact with the ball can serve as the detectable predetermined spatial location on the measurements time line to correlate the measurement time line to space. For impact analysis the determination of key metrics such as, location on club face, duration of impact time, dynamic force profile across club face and total energy of impact based on direct measurements of the sensor elements with known placement within the club face. The calibration of these sensor elements within the monolith with the club face has been describes in the club face assembly section of this application.
Although specific embodiments of the invention have been disclosed, those having ordinary skill in the art will understand that changes can be made to the specific embodiments without departing form the spirit and scope of the invention. The scope of the invention is not to be restricted, therefore, to the specific embodiments. Furthermore, it is intended that the appended claims cover any and all such applications, modifications, and embodiments within the scope of the present invention.
This patent application is a continuation-in-part application of patent application Ser. No. 13/273,216 filed Oct. 13, 2011, entitled “Golf Swing Measurement and Analysis System” that is a continuation application of patent application Ser. No. 13/269,603 filed Oct. 9, 2011, entitled “Golf Swing Measurement and Analysis System” that is a continuation-in-part application of U.S. Ser. No. 12/287,303 filed Oct. 9, 2008, entitled “Golf Swing Analysis Apparatus and Method”, and this patent application is a continuation-in-part of U.S. Ser. No. 13/229,635 filed Sep. 9, 2011 entitled “Golf Free Swing Measurement and Analysis System” that is a continuation application of U.S. Ser. No. 13/225,433 filed on Sep. 3, 2011 entitled “Golf Free Swing Measurement and Analysis System”. All of the above stated applications are incorporated in their entirety by reference. In addition, patent application Ser. No. 12/777,334 filed May 11, 2010, entitled “Golf Free Swing Apparatus and Method” that is now U.S. Pat. No. 7,871,333 issued on Jan. 18, 2011 entitled “Golf Swing Measurement and Analysis System” is incorporated by reference.
| Number | Date | Country | |
|---|---|---|---|
| Parent | 13269603 | Oct 2011 | US |
| Child | 13273216 | US | |
| Parent | 13225433 | Sep 2011 | US |
| Child | 13229635 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | 13273216 | Oct 2011 | US |
| Child | 13352313 | US | |
| Parent | 12287303 | Oct 2008 | US |
| Child | 13269603 | US | |
| Parent | 13229635 | Sep 2011 | US |
| Child | 12287303 | US |
