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    • 专利摘要:
    METHOD AND SYSTEM FOR ANALYZING SPORT MOVEMENTS. It is a method and system (100) for analyzing sports movements using the motion sensors of a mobile device (10), such as a smart phone. This method and system (100) uses the mobile device's motion sensor output (10) to define the point of impact with a virtual object, such as a golf ball, baseball, or tennis ball. The signature of the movement sensor of the sports movement is analyzed for specific characteristics for each type of sports movement. Methods and systems are revealed that use multiple sensor outputs on a mobile device to compute the point of impact with a virtual object, such as a golf ball, baseball, tennis ball. Additionally, a method is revealed in which moving virtual sports objects interact with virtual sports movements and responsive outputs are displayed on the mobile device (10) and / or any web-enabled display device.
    公开号:BR112014009707B1
    申请号:R112014009707-0
    申请日:2012-10-19
    公开日:2020-11-24
    发明作者:Mark Jeffery；Robert Komorous-King；Manoj Rana
    申请人:Aquimo, Llc；
    IPC主号:
    专利说明:

    CROSS REFERENCE TO RELATED ORDERS
    [001] The present application claims the priority of the provisional applications of serial number 61 / 551,388 by Jeffery et al., Entitled "Using a Mobile Phone With Integrated Motion Sensing For Evaluation of Sports Motions and Providing Customized Sports Instructions Responsive to Said Evaluation ", filed on October 25, 2011; Serial No. 61 / 580,534 by Jeffery et al., entitled "Using a Mobile Phone With Integrated Motion Sensing For Golf Swing Evaluation and Customized Golf Club Fitting", filed on December 27, 2011; and serial number 61 / 713,813, by Jeffery et al., entitled "Method to Analyze Sports Motions Using Multiple Sensor Information From a Mobile Device", filed on October 15, 2012; each of which is incorporated by reference in this document. BACKGROUND OF THE INVENTION FIELD OF THE INVENTION
    [002] The present invention relates to a method and system for analyzing sports movements using motion sensors of the mobile device. DESCRIPTION OF RELATED TECHNIQUE
    [003] There is an extensive prior technique in the evaluation of sports movements, particularly golf swings. For example, several manufacturers provide launch monitors that use high-speed video cameras to analyze the launch angle and speed of a golf ball. Additionally, it is revealed in the prior art to use various devices attached to a golf club to capture motion data for further analysis. For example, WIPO Publication No. WO2011085494 by Hashimoto et al. describes a system of motion sensors attached to a physical golf club with data analyzed by a personal computer. Similarly, Published Patent Application No. U.S. 2005/0054457 by Eyestone et al. reveals a plug-in motion sensor that can be attached to a physical golf club with data collection on a device with a Bluetooth connection. In addition, PING, Inc. has developed a putt analysis system in which users hit physical balls during the putt and motion sensors on a mobile phone embedded in a physical golf club provide data used by an application to analyze the putt and compare the results to those of professional golfers. However, such prior art systems and methods require impact with a physical ball and / or the use of or attachment to sports equipment.
    [004] In the world of computer games, several sports-related games have been introduced that use motion sensors. For example, the Nintendo Wii is a popular game console and the Wii controller contains a 3-axis accelerometer connected via infrared to a game console. The Nintendo Wii controller is connected via a Bluetooth connection to the game console and perceives the acceleration in the three geometric axes using the accelerometer. The Wii controller also portrays a PixArt optical sensor, which in combination with a 10 LED sensor bar placed several meters from the user and physically connected to the game console, allows the determination of where the Wii remote control is pointing. Wii controller is available that includes a gyroscope, but with or without, the Wii requires the user to purchase an entire game system that is costly, clunky and requires physical fixation to a television. SUMMARY OF THE INVENTION
    [005] One aspect of the revelation refers to a method for analyzing sports movements. The method comprises determining a starting point of a sports movement to be simulated using a mobile device that has integrated motion sensors; move the mobile device from the starting point along a path to complete the simulation; obtain movement data from the movement sensors in relation to the starting point and the movement along the path; determining an occurrence of a simulated sporting event using the obtained movement data; and issue information related to the simulated sports movement; where the mobile device is not attached to any piece of sports equipment and the starting point is not indicated by the entry entered by the user. In one embodiment, the starting point is indicated by the mobile device that is held motionless for a predetermined period of time. In one modality, information related to the simulated sporting event includes information on a mobile device screen, for example. In another modality, the information related to the simulated sporting event includes sending the information to a game system.
    [006] In a modality, the sporting event that is determined is the point of impact with a virtual object, such as a virtual golf ball. In the case of golf, the mobile device would be used in place of a golf club to sum up a complete golf swing, short stroke or light stroke. In one mode, specifically for a complete golf swing, the point of impact is determined by finding a moment when the inclination of the mobile device is at or near a second minimum. In another modality, the point of impact is determined by finding a moment when the inclination of the mobile device is at or near a minimum and the derivative (rate of change) of the yaw of the mobile device is at or near a maximum.
    [007] The method for analyzing sports movements may additionally include the step to determine the speed of the virtual object around the point of impact using gyro data (without requiring an accelerometer) along with data for the estimated arm length , club length and arc length for the swing type. In another mode, the instantaneous speed of a virtual object can be determined using a suitable accelerometer. In one embodiment, a multiplier can be applied to the speed based on the estimated forearm and wrist articulation rotation as measured by the yaw and roll, respectively, of the mobile device at the point of impact, included in the obtained movement data.
    [008] The method for analyzing sports movements can include the step of analyzing simulated sports movement. The analysis of the simulated sports movement may include analyzing the inclination of the mobile device during the simulated sports movement and the rolling of the mobile device at an impact point, for golf, for example. Analytical information regarding sports movement (for example, golf swing) can be displayed on the mobile device for the user or a web-enabled display connected to a cloud-based server via the Internet.
    [009] In one modality, the sporting event is a release point, for example, the release point of a bowling ball, a lacrosse stick, a basketball, a baseball, a hockey stick, a bag with filler and a fishing rod.
    [010] The method can be further extended to include sports movements that involve hitting virtual object (s) that are moving (such as a baseball, a hockey puck, a tennis ball, a ping-pong ball -pong, a shuttlecock, etc.) with virtual sports equipment (such as a baseball bat, a hockey stick, a tennis racket, a ping-pong racket, a badminton racket, etc.). The method can also be used to analyze sports movements that result in impact with objects at some distance from the player, such as a virtual feather fishing hook thrown at a fish, a virtual bowling ball that hits bowling pins, a virtual basketball thrown at a virtual hoop, an American football thrown at a running virtual receiver, a bag with virtual fill, or a virtual dart thrown at a target.
    [011] Another aspect of the revelation concerns a method for analyzing sports movements. The method comprises (a) displaying a moving virtual object on a web-enabled display screen;
    [012] (b) obtain movement data from the movement sensors of a mobile device, the movement data being related to a simulated sports movement; (c) determining a starting point of the sports movement and the movements along a sports movement path, using the obtained movement data; (d) compare the timing of the simulated sports movement with that of the moving virtual object to determine whether the virtual object was impacted, and if so, the point of impact; and (e) issue information related to the simulated sports movement; (f) where the web-enabled display is a separate device and distinct from the mobile device and visible to a user of the mobile device as the user moves the mobile device to simulate sports movement; the web-enabled display and the mobile device are connected via the Internet to a cloud-based mechanism; and the cloud-based engine manages the execution of games and is at least partially responsible for carrying out step (d). The web-enabled display can be one of a computer, a tablet-type computer, a web-enabled television and another mobile device that is connectable to the Internet. In one modality, the game involves an object thrown or hit and the virtual object is one among a baseball, a tennis ball, a racquetball ball, a ping-pong ball, a hockey puck and a badminton shuttlecock. The display of the virtual object can include displaying a video, a sprite, a cinemagraph or an animation on the web-enabled display. In one embodiment, the clocks of the cloud-based mechanism, the web-enabled display and the mobile device are synchronized using the Network Time Protocol (NTP). In one embodiment, comparing timing includes using interpolation to determine the point of impact.
    [013] In one mode, the method additionally comprises (g) displaying a virtual object flight on the web-enabled display responsive to the simulated sports movement. The virtual object flight can be a golf ball flight, a baseball ball flight, a tennis ball flight or a ping pong ball flight, for example. In one embodiment, the method additionally comprises (h) displaying the interaction with the virtual object flight on the web-enabled display. Such interaction can include picking up or hitting the virtual object, which can be displayed using one or more of a video, a sprite, a cinemagraph and an animation. The interaction can include the virtual object that is hit back to the user, so that after step (h), steps (b) to (f) can be repeated to provide an experience of playing a game.
    [014] Another aspect of the revelation concerns a system for analyzing sports movements that comprises a mobile device that includes a memory, a processor and an integrated geometrical multiple axis gyroscope. The mobile device is configured to determine a starting point for a simulated sports movement; obtain gyro measurements of the gyroscope in relation to the orientation of the mobile device at the starting point and during movement along a path that simulates sports movement; determining an impact point with a virtual object and the speed of the mobile device around the impact point using the gyro measurements obtained; and issue information related to the simulated sports movement. In one embodiment, the mobile device is attached to an auxiliary device (for example, a golf club or weighted golf grip).
    [015] Another aspect of the revelation concerns a system for analyzing sports movements that comprises a mobile device that includes an integrated memory, processor and motion sensors. The mobile device is configured to determine a starting point for a simulated sports movement, the starting point indicated by the mobile device that is held immobile for a predetermined period of time; obtain movement data from the movement sensors in relation to the orientation of the mobile device at the starting point and during movement along a path that simulates sports movement; determine a point of impact with the virtual object using the motion data obtained related to the orientation of the mobile device along at least two geometric axes; and issue information related to simulated sports movement through the mobile device. In one embodiment, the mobile device is attached to an auxiliary device.
    [016] Other aspects and modalities of the invention are also contemplated. The foregoing summary and the following detailed description are not intended to restrict the invention to any particular embodiment, but are intended only to describe certain embodiments of the invention. BRIEF DESCRIPTION OF THE DRAWINGS
    [017] Figure 1 illustrates various types of rotational motion measured by internal motion sensors on a mobile device;
    [018] Figure 2 illustrates a system for analyzing sports movements using the motion sensors of the mobile device;
    [019] Figure 3 illustrates the tilt and roll of the mobile device during an example of a complete golf swing to determine swing accuracy;
    [020] Figure 4 (a) illustrates a technique for calculating clubhead speed for a complete golf swing;
    [021] Figure 4 (b) illustrates a technique for calculating clubhead speed for a short golf shot;
    [022] Figure 5 illustrates the use of tilt data from the mobile device to determine the impact point and clubhead speed through the impact point;
    [023] Figure 6 illustrates the use of the mobile device's tilt and yaw during an exemplary full golf swing to determine the point of impact;
    [024] Figures 7 (a) to (c) illustrate changes in the inclination of the mobile device during an exemplary full golf swing, short stroke and light stroke, respectively;
    [025] Figure 8 illustrates changes in the inclination, yaw and roll of the mobile device during an exemplary tennis swing or horizontal seated golf swing;
    [026] Figure 9 illustrates yaw, roll and pitch for the baseball swing;
    [027] Figure 10 illustrates the inclination, roll and yaw for a bowling movement;
    [028] Figure 11 illustrates an exemplary mobile device retainer mounted on an auxiliary device; and
    [029] Figures 12 (a) to (c) illustrate the mobile device retainer of Figure 11 that is placed on the auxiliary device. DETAILED DESCRIPTION OF THE INVENTION
    [030] As used in this document, a mobile device refers to a portable device that has an integrated microprocessor, memory and motion sensors.
    [031] As used in this document, the calibration point refers to the location in time and space of the mobile device in a defining position before the start of the sports movement.
    [032] As used in this document, the impact point refers to the location in time and space of the impact with a virtual object.
    [033] As used in this document, the release point refers to the location in time and space of the release of a virtual object.
    [034] In some sports, such as golf, the point of impact and the point of release can be the same physical location in time and space. However, in other sports, the point of impact and the point of release may not coincide. For example, in lacrosse, the ball is caught by a long-handled stick (the ball impacts the lacrosse stick at the point of impact), then, it is later thrown from the stick from a different location (at the release point). Furthermore, in some sports, there is only one release point since there is no impact point. For example, in feather fishing, the release point occurs by throwing the wrist transmitting the angular momentum to the fishing rod, which above a certain maximum value causes the weighted fishing hook to be released from the rod.
    [035] Figure 1 illustrates the various types of rotational motion measured by internal motion sensors in a mobile device 10 such as an Apple iPhone 4G, an Apple iPod Touch or a Samsung Galaxy III smartphone. These sensors of the mobile device 10 include an accelerometer to capture the acceleration data X, Y and Z (expressed in G's along a respective geometric axis) and a gyroscope to measure the inclination, roll and yaw of the mobile device 10 according to the same moves (expressed in radians in relation to a respective geometric axis). At present, the sample of motion sensors at about 100 times per second (100 hertz), with that data made available (either by election or having the data sent) to an application program loaded on the mobile device 10. A representative gyroscope useful in conjunction with the present invention is the L3G4200D gyroscope made with STMicroelectronics, Inc. However, it should be understood that the present invention is not limited to the currently available motion sensor technology.
    [036] Figure 2 illustrates a system for analyzing sports movements 100. As shown, the system for analyzing sports movements 100 includes an analysis mechanism 50 that can include an application program loaded into the memory of the mobile device 10. Such a program applications for an Apple iPhone can be developed using the Apple Developer Suite, including the use of Xcode, Interface Builder and iPhone Simulator development tools, or through customized Objective C programming. The Core Motion Framework can be used to obtain and manage the accelerometer and gyroscope data. It should be understood that when mobile device 10 is different from an Apple iPhone, other programming techniques and tools can be used. For example, when mobile device 10 is a smartphone using the Android operating system, an appropriate Android software development kit (SDK) can be used to provide the tools and application program interfaces (API) to develop the application on Android platform using the Java programming language.
    [037] A notable feature of the system to analyze sports movements 100 is that, initially, (1) the user keeps the mobile device 10 immobile for a predetermined period of time (for example, at least 1 second for golf), the which represents the "zero" calibration of the mobile device 10, this is the calibration point for sports movement. The definition position of the player and the calibration point will be different for different sports: for golf the definition position is the address position of the golf swing, for baseball it is the location of the ball on a virtual tee, in tennis or table tennis, it can be the resting position for the racket before the swing.
    [038] Note that the calibration point does not have to be a specific setting position where the mobile device 10 is held still for a second in the same position. For tennis or table tennis, the calibration point can be obtained from any point where the player has his hands in a ready-to-play position and / or can be selected as an end point or calibration point for a move previous sporting event.
    [039] Then, the user makes a balance (2) and the data of motion sensor are obtained by the analysis mechanism 50 during the balance (by election, for example). The analysis mechanism 50 then detects the type of balance (3). The swing type can be either entered by the user via a mobile device screen 10 (for example, selection from a "complete golf swing", "short swing", "short swing" drop-down list) or detected with based on the movement signature and, perhaps also another factor such as, in the case of golf, club selection (for example, a wedge is selected and the movement signature shows that the user only swung back 30 degrees so that the type balance sheet is a short shot). Then, the analysis mechanism 50 detects the impact with a virtual object and / or the release point (4), analyzes the motion signature to calculate the movement variables (for golf, swing speed and swing precision) (5) and determines the key output parameters (for golf, the flight distance of the ball) (6). Finally, information regarding the balance sheet can be displayed on the graphical output on the mobile device 10 (7) or on a separate web-enabled display. Alternatively or additionally, the information in relation to the balance sheet can be used as inputs to a gaming system, as revealed in document Ser. Copending No. 61 / 641,825 by Jeffery et al., Entitled "Web-Based Sports Game Platform With Mobile Phone Motion Sensor Input ", deposited on May 2, 2012, which is incorporated in this document as a reference.
    [040] These and other innovative elements of the invention will become apparent from the following detailed description of the invention in the context of a golf swing sports movement and then in relation to other sports movements including baseball and bowling. However, it should be understood that the following examples are not intended to be limiting. Golf Example
    [041] Figure 3 illustrates the tilt and roll of the mobile device 10 during an exemplificative full golf swing. An important element of the present invention is the calibration of the mobile device 10 while keeping the mobile device 10 immobile in the address position (position 1). The movement signature for the slope then increases in the back swing (position 2) and has a local minimum at the top of the golf back swing (position 3). However, the minimum (position 3) is an artifact of the tilt motion sensor that rotates more than 180 degrees. In reality, the slope continues to increase to a maximum, greater than 180 degrees, at the top of the swing back. However, the sensor's limitations restrict the motion signature to 0 to 180 degrees. The slope data continues to increase in the downward swing (position 4), back to the point of impact (position 5), as shown.
    [042] Precision Analysis
    [043] Note that at the point of impact (position 5), the mobile device 10 returned to near the initial calibration point (position 1), which for golf is the position of the hand on impact with a virtual golf ball and a minimal location. For a high speed golf swing, the minimum at the point of impact does not return exactly to the calibration zero due to the resolution limits of the gyroscope. Determining the point of impact is vitally important because the rolling of the mobile device 10 at that point defines the hook or slice of the club. In other sports, the point of impact is vital in determining the hook and slice of a bat or racket and / or the release point in throwing or throwing sports. From the point of impact, the golf swing continues through tracking, positions (6) and (7).
    [044] In summary, the data of inclination or rotation around the geometric axis that cuts the mobile device 10 in upper and lower halves when looking at the screen (geometric axis X) (see Figure 1) is the data flow more effective as a golfer moves through his swing. The impact can be found in the largest minima that approaches the initial calibration point (which is defined as "zero" by averaging all phone orientation / position data over the course of a second, for example, taken before the swing when the golfer is in his defining position). To bring context, on a golfer's swing, the slope data rises as the golfer moves backwards, returns to calibration as he or she swings through impact, then rises again as he or she moves. moves to your follow. The impact is the slope position that approaches the definition or calibration point.
    [045] In one mode, the point of impact for a complete golf swing is selected to be the second minimum of the slope using a tracking algorithm. In another modality, the minimum can be confirmed by aligning it with a peak in the Z acceleration. When more than a larger minimum in the slope is found, the minimum selected as the impact is determined by which point has the best Z acceleration. This confirmation helps in cases where a golfer's back swing or tracking rotation is so large (close to 360 degree rotation from definition) that the gyroscope turns completely and creates extra minimums close to calibration.
    [046] An impact is found, the balance accuracy is determined by subtracting the rolling data from the impact of the rolling data on the calibration. The rolling data or the rotation around the geometric axis that cuts the phone in left and right halves when looking at the screen (geometric Y axis) describes the "open and closed" face positions on the club head. Figure 3 shows an expanded view of the bearing data. Swings that return a negative difference mean that the user spun too much on impact which implies a closed face on impact and a resulting draw or hook depending on the quantity. Swings that return a positive difference mean that the user has spun little on impact which implies an open face on impact and a resulting fade or slice. Swings that return a value close to zero mean that the club face corresponded very closely to the calibration orientation on impact and imply a straight ball flight.
    [047] Speed Analysis
    [048] Clubhead speed is a critical parameter for golf in defining the flight distance of the ball. Golf club manufacturers have empirical tables that detail the flight distance from ball to golf balls hit by club heads moving at a specific swing speed. Such tables also take into account the type of club (for example, driver, iron 5, putter), the high clubhead curve, the shaft hardness and other variables that impact the ball flight.
    [049] Swing speed is a complex calculation due to the mechanics of sports movements. The challenge is that the sensors measure hand movements while it is interesting to calculate the speed of virtual sports equipment, such as a golf club head. Extensive experiments with professional athletes were conducted with the use of appropriately fitted sports equipment to understand how hand and arm movements translate to the output of motion sensor data. Although the analysis for golf is illustrated, it must be appreciated that the present method is generalizable to other sports movements, such as those found in the sports of baseball, tennis, bowling, basketball, American football and table tennis.
    [050] Figure 4 illustrates the swing movement elements for (a) a complete golf swing and (b) a short shot that is a short swing. If the club is swung exactly in line with the arms, then the speed of the mobile device, V, is related to the speed of the taco head (V taco head) for i
    [051] V clubhead = V x (Arm length + Club length) / Arm length (1)
    [052] However, experienced players bend their wrist and rotate their forearms to increase clubhead speed across the ball. These rotation and articulation movements can dramatically increase clubhead speed through impact, so Equation (1) is a gross underestimation of golf swing speed for most golfers. It is good for putts, however, since there is no articulation of the wrists.
    [053] Figure 5 illustrates specifically how the speed of the mobile device 10 is calculated for a golf swing. The motion signature for the inclination of the mobile device 10 for an exemplary complete golf swing is illustrated graphically. The corresponding sports movement with points (4), (5) and (6) in the slope data classified in the balance is shown below. First, the point of impact is found in the inclination data, defined as the minimum location of the inclination at the end of the balance (point 5). Then, it searches forward and backward in the inclination data by 60 degrees. These data points, assuming the appropriate wrist joint, align with the balance (4) and (6) positions. Generally, about a tenth of a second passes between these two positions, so that, given the player's arm length, one can find the speed of the mobile device 10 around the impact by dividing the length of an arc 120 degrees where the radius of the arc is equal to the arm length by the amount of time elapsed: This provides the speed of the mobile device 10 (hand speed). A similar method can be used for short strokes, but with a length of shorter arc of 55 degrees or less due to reduced swing length.
    [054] It has been revealed, with the use of the high speed video stopwatch, that the driver clubhead speed can be as slow as 2.4 times the speed of the hand (ie in the case of a user swinging a club with rigid arms, forearms and wrists) or as fast as 6 times the speed of the hand (in the case of a world-class professional golfer). The difference between these two multipliers comes from the combination of forearm rotation and wrist articulation that allow golfers to force the club head through a much longer arc length (sometimes even close to 180 degrees) in the time it takes to hands travel through 90 degrees of arc length around the impact. The chosen multiplier is directly driven by the gyroscope acceleration through the impact on the geometric Z and Y axes (yaw and bearing) that consider the wrist joint and forearm rotation, respectively.
    [055] From the detailed experiments with the iPhone 4 and 4s, it was revealed that the gyroscope is particularly accurate, so that the rolling data is very good for predicting the hook or slice within approximately half a degree. The accelerometer data on the iPhone 4, however, is "noisy" and is not particularly accurate across the entire golf swing, but works well to measure the forearm rotation rate around the impact. This is why the balance is divided into portions and an average speed, V, of the mobile device is calculated through impact:

    [056] where D2-D1Q is the distance between points (4) and (6) in Figure 5; and tz - ti is the time taken to cover the distance D2-D1. a shorter distance is preferred, as this allows a closer approximation of the instantaneous speed at the point of impact. However, the 0.01 second resolution of the current gyroscope requires that the 120 degree arc be used. In the future, as the sampling resolution of the gyroscope increases, an arc of 30 degrees or less will be preferred.
    [057] Equation (2) is an approximation of the actual instantaneous speed of the phone and is only a first-order approximation of the golf club head speed, as it does not include the wrist joint or forearm rotation described above. Through detailed experiments with a high speed video camera, it was possible to find multipliers for these variables, with the result of calculating clubhead speed within +/- 10% for a variety of swing types. From the clubhead speed, it was possible to predict the flight distance of the ball under ideal conditions.
    [058] It is predicted that the quality of data emitted from the accelerometer will improve dramatically in future versions of the iPhone or phones based on Android. In one embodiment of the present invention, the speed of a mobile device 10 (which has a sufficiently accurate accelerometer) on impact is calculated by integrating the acceleration from the top of the swing backwards (tbs) to the zero (to) of the mobile device:

    with the total mobile device speed on impact:

    [059] where to-tbs θ the time between the minimum at the top of the balance backwards () measured from the slope data and the zero at the bottom of the balance at impact, the integrals are calculating in the software using of a fourth-order Runge-Kutta algorithm. See, for example, William H. Press et al, Numerical Recipes 3rd Edition: The Art of Scientific Computing, 2007.
    [060] The velocity component vectors (4) are difficult to calculate precisely with the current version of the accelerometers, since the internal accelerometer has a noisy output, so why use the average method equation (2) . The data in the balance sheet movement is presented to the user and stored, local to the application and on a server in the user's account, for longitudinal comparisons to improve balance consistency.
    [061] The user can also attach the phone to his golf club by means of a support and compare the actual practice balances to the computed balances for distance and accuracy. A similar analysis is used when the phone is attached to the club, but the multipliers are different primarily due to users swinging the golf club slower than the phone, the phone is lighter than a golf club, so the hands naturally go more fast.
    [062] As an additional example of swing analysis, light strokes are considered, rather than the complete swing of a golf club. PING, Inc. previously created an iPhone application for putts. His invention of the prior art has three significant limitations, however: His method (1) requires fixation to a putter, (2) requires impact with a physical ball and (3) is not necessary for long strokes (instead of approximately 6.1 meters (20 feet)).
    [063] The method described in this document does not have any of these limitations. Similar to the full balance described above, the user retains the mobile device 10 as if it were a putter and after a second of being retained it still vibrates: the phone is ready. The user then makes a light shot of an imaginary (virtual) ball. In comparison to the full balance, the phone's tilt data is now a relatively smooth sine wave function with minimal impact. The putter swing is analyzed similar to the complete golf swing, but with average speed calculated from Eq. 2 where Di and D2 are the respective maximum distances to pull back and swing through the impact with the ball. An advantage of the putter swing is that the function is smooth and the speed is relatively low compared to the full golf swing. Therefore, equations (3) and (4) can also be used to calculate an instantaneous speed on impact - both methods are used, the integration of equations (3) and Eq. (2) average speed, with a multiplier scale for the length of the putter paravelocidade in the putter head on impact with a ball, refer to Eq. (1). For the long putt the acceleration method becomes increasingly imprecise, therefore the average speed method provides better results with a multiplier derived from empirical measurements.
    [064] From the putter head speed, the distance the ball travels can be calculated assuming ideal conditions. The most important thing, however, is that we have the ability to quantify differences in phone roll angle on impact (similar to the hook or slice for the full swing) without impacting a physical ball. It is also possible to analyze the gyro acceleration data for errors such as deceleration through the putt, or one pulled to the left or pulled to the right (these last two errors are identified by combining the second integral of the acceleration and the data bearing). The data on the accuracy of the swing movement is also presented to the user and stored, local to the application and on the server in the user's account, for longitudinal comparisons to improve the consistency of putts. Impact Detection by Multiple Sensors
    [065] A technique for detecting the "point of impact" with a virtual object using a single type of rotational data (tilt) from the mobile device 10 has been described above. The signature of the sports movement (inclination data as a function of time) was analyzed for characteristics, specific to the type of sports movement (e.g., the complete golf swing). The a priori structure of the sports movement signature was necessary to isolate the location in time and space from the virtual impact point. In another modality, the inventive concept is extended to enable the impact point detection for many different sports movement signatures and for a wide range of movements.
    [066] Figure 6 illustrates changes in tilt and yaw of the mobile device during an exemplary full golf swing. In this case, the mobile device used was an Apple iPhone 4Gs. As noted above, the calibration of the mobile device 10 is performed by holding the mobile device 10 still in the address position (position 1). The movement signature for the slope then increases on the back swing (position 2) and has a minimal location at the top of the backward golf swing (position 3). However, the minimum (position 3) is an artifact of the tilt motion sensor that rotates more than 180 degrees. As noted earlier, in reality, the tilt continues to increase to a maximum, greater than 180 degrees at the top of the swing back. However, the sensor's limitations limit motion signature to 0 to 180 degrees. The slope data continues to decline in the downward swing (position 4), back to the point of impact (position 5), as shown.
    [067] From detailed experiments with high-speed cameras, it was found that the virtual impact point (position 5) is a minimum slope location, in which the mobile device returned to close to the starting address position (position 1) . From the point of impact (position 5), the golf swing continues through monitoring (positions 6 and 7).
    [068] Determining the point of impact is vitally important because the roll of the phone at that point defines the hook or slice of the club, stick or racket, and / or the release point in the shooting or launching sports. The inventors previously used tracking software to search for the signature of tilt movement for the second minimum. However, this method is not universally applicable, since different balances have different movement signatures.
    [069] Figures 7 (a) to (c) illustrate changes in the inclination of the mobile device for three different types of golf swing. Figure 7 (a) shows a complete golf swing for a professional golfer, 7 (b) a short golf swing and 7 (c) a golf swing. Although the point of impact is the same in all three cases, movement signatures are quite different. Furthermore, even on a full golf swing, the basic motion signature can be different. Specifically, it has been observed that for older people to play golf, there is a tendency to shorten the swing back, so that the swing signature looks more like a short stroke.
    [070] Therefore, the tracking method that searches for a specific motion signature feature of a single motion sensor output produces erroneous results. Specifically, in the case of golf, the motion signature for a complete swing of the professional golfer has an impact point on the second minimum of slope data. However, Figure 7 (b) and (c) does not have a second minimum; therefore, the search for the second minimum in these types of moves will create an error. Consequently, the method of using motion signature data for single type of rotational measurement to obtain the point of impact has limitations. In the present modality, at least two different types of rotational measurements (inclination and yaw in golf, for example) are used to calculate the point of impact and / or release point to overcome this.
    [071] Referring again to Figure 6, the yaw of the mobile device through the golf swing is shown. In the case of golf and baseball swings, the yaw is changing rapidly through the point of impact (5). Figure 6 also shows the corresponding derivative, or obliquity, of the yaw. These data quantify the rate of change of the yaw sensor data. Note that the maximum rate of change is close to the point of impact (5) for the golf swing. Therefore, using both tilt and yaw sensor data, an individual can isolate the impact zone by looking at the minimum tilt motion data that has a maximum yaw derivative (yaw change). This method works for all types of golf swing and enables accurate impact point detection for short and light strokes, such as those shown in FIG 7 (b) and (c).
    [072] This technique is generalizable for other types of sports movements. Figure 8 is an example of a tennis forehand, or a horizontal seated golf swing. In this example, the swing path is in the horizontal plane, but with forearm rotation and wrist articulation around impact. Therefore, the motion signature is different from an upright golf swing and the point of impact in Figure 8 for the slope is now a zero intersection of the slope data. The challenge is to detect the correct zero intersection. In this example, the yaw is a local maximum near the point of impact. Therefore, again with the use of two types of rotational measurements (tilt and yaw), refer to the "tilt" and "yaw" of Figure 8, it is possible to detect the single point of impact of the single sensor less erroneously and more accurately. , in the slope of this case. In the case of a tennis swing, refer to the "bearing" in Figure 8, the rolling data at the point of impact can be used to calculate the hook or slice turn given to the tennis ball. Examples of Baseball and Bowling
    [073] To illustrate preferred modalities in which sports movement can (1) intersect with a virtual object and movement and where (2) the release point and impact point is different from the calibration point, examples are provided for baseball and bowling.
    [074] Baseball swing motion sensor data is illustrated in Figure 9. For a baseball swing the calibration point is a defining position with the mobile device 10 held in both hands in front of the body, with the fingers aimed for the purpose of naturally aligning the mobile device (virtual stick) with a ball on a virtual tee; the hands are perpendicular to the ground. The data shown in Figure 9 is from a professional athlete and illustrates the essential features of an optimal baseball swing movement. For the baseball sports movement, the yaw is the variable key, since the "bat" is swayed through the point of impact with a virtual ball, the ideal hand position is with the palms parallel to the ground, which causes a change quick turn of the mobile device through impact. The yaw at the calibration point was zero; therefore the point of impact is when the yaw crosses zero (see Figure 9, "yaw"), although the mobile device is rotated ninety degrees from the calibration point. In an ideal baseball swing the bat is rolled just after the point of impact (see Figure 9, "bearing"). In the event there is a maximum roll at the point of impact, so the wrists have a tendency to lift the stick over the top of the ball, causing a stray ball or a ground ball: this is the "balance bubble".
    [075] The tilt and yaw of the mobile device 10 taken together provides insights into the angle of the pole through the point of impact. For example, the tilt data in Figure 9 shows that the hands are obliquely down at the point of impact, as the tilt is negative at the point of impact and does not return to zero until after the point of impact and therefore the stick it would come into contact with the virtual ball if it were played below the calibration point, that is, in the lower half of the strike zone.
    [076] Jeffery et al., 61 / 580,534 and Jeffery et al 61 / 641,825 revealed a method with the use of several displays in which games and / or virtual sports instructions can be played using a web-enabled display device , as a web-enabled TV, this is separate and distinct from the mobile device and which coordinates the presentation of games and / or virtual sports instruction with the use of the mobile device and the web-enabled display device through a mechanism based on a cloud. Consequently, animations, lessons and other video can be displayed on the display device physically separated from the mobile device and responsive to the mobile device by outputting motion sensors, for example.
    [077] As an example of this modality for baseball, the player (1) stands in front of his HTML5 enabled web TV and calibrates the mobile device as above. (2) They then see a displayed video or animation (which may include a sprite or a cinemagraph, or other visual accent) from a pitcher who throws the ball, the web-enabled TV screen positioned so that the pitcher appears directly in front of the hitter. The cloud-based engine (3) synchronizes the tilt time and compares it to that of the player's swing (4) and the player's motion sensor data is analyzed on the mobile device and sent to the cloud-based engine.
    [078] The floating time it takes for the virtual tilt to reach the player can be calculated from float time = d / v where d is the distance from the pitcher to the starting base (18.44 meters (60, 5 feet) for major league baseball or 12.72 meters (45 feet) for little league, as examples) and v is the pitch speed. Assuming a pitch of 152 km / h (95 mph) in major league baseball, the flight time of the baseball from the pitcher to the starting base is 0.43 seconds. That is, float float = 0.4 3 seconds. The cloud-based engine compares the launched tilt timestamp, tinting plus float to timestamp of impact point, impact point- If they match within a predetermined time interval
    [079] Δt - I point of impact (tinclination + tvoo debola) I (5)
    [080] less than or equal to δ seconds, 0.15 seconds for example, so it can be assumed that the virtual bat hit the virtual ball and (6) an animation of the ball flight can then be rendered on the web-enabled display via of the cloud-based engine. However, if Δt> δ seconds, the virtual stick is assumed to have missed the virtual ball and the swing is considered a strike.
    [081] Preferably, sports movement analysis and synchronization uses a synchronized mobile device 10, a cloud-based (or otherwise networked) software engine and a web-enabled display each with 0.1 fidelity second or less. Current web browsers have unreliable local clock timestamps and JavaScript calls to the internal clock do not query at exactly the same interval. In a preferred embodiment, the Network Time Protocol (NTP) can be used to synchronize computer systems over a packet-switched variable latency data network. The JavaScript client NTP is used to acquire time deviations from clients (mobile device 10 and web page) and server (cloud-based software engine). This sets the initial coordinated time based on an accurate external clock. A JavaScript callback is then scheduled using setinterval () at the most reliable granularity possible, which is a dependent web browser. It is not assumed that the callback is being called at reliable intervals, however, but instead use the new Date (). getTime () from within the callback and apply the deviation to generate the real coordinate time and then interpolate to find the real time of the slope, tinciination θ virtual impact point, impact point- These data are then used to calculate Eq . (5).
    [082] Therefore the method is generalizable and extensible for the use case where the sports movement is impacting a virtual object in motion, such as a baseball or tennis ball and can be applied in a similar way to tennis, badminton , table tennis, racquetball, hockey, basketball, football, and all other similar sports in which the virtual sporting object (for example, ball, puck, shuttlecock) is in motion and is then hit, launched , or caught by the sports movement and the virtual sports equipment of players.
    [083] As a last example, consider the use case where the release point is different from both the calibration point and the impact point. Figure 10 illustrates the motion sensor data from a mobile device for a sports bowling movement. In this example, the calibration point is the hand at rest, relaxed and fully extended on the player's side, with the palm facing forward. The bowling move is to first bring the virtual bowling ball up to the chin, nestled in both hands, and then swing down and forward while taking a few steps. The tilt data illustrates how the tilt of the mobile device 10 increases as the mobile device 10 is brought up to the chin, where there is a minimum location as the player starts walking forward. Then, the tilt decreases as the player swings down in the backward swing movement, in which there is a zero inclination corresponding to the initial calibration zero and then the movement moves to the final downward swing for one second, which is the point of release of the virtual bowling ball.
    [084] Similar to the golf swing described earlier, the speed of the virtual bowling ball can be calculated from Eq. (2) and the time difference between the 30 or 60 degree slope points, similar to Figure 5, or through the integration of Eq. (3). The rate of change of the rolling data, the rolling derivative, through the release point is proportional to the rate of rotation given to the virtual bowling ball. Therefore, it is possible to calculate the speed and spin of the virtual bowling ball at the release point.
    [085] Note in this example that the deliberation point is different in space from the calibration point and the impact point is additionally removed from the release point. In this example, the impact point occurs in virtual space. Using a cloud-based system previously described for baseball, the bowling ball can be displayed on a virtual bowling alley on an HTML5 web-enabled display, such as a web TV and the simulated pin impact over time and space given the speed and spin of the virtual bowling ball and the length of the virtual bowling alley. Therefore, the player performs the virtual bowling movement and sees the virtual bowling ball cross the track reaching the pins on the web-enabled display, with a path and speed determined by the speed and spin calculated from the balance signature of the mobile device. and synchronized in time to appear as a continuous movement. Attachment to an Auxiliary Device
    [086] So far, the description of the invention has been limited to the use of the mobile device 10 to simulate a sports movement by the user who holds the mobile device 10 in his hand and moves the mobile device 10 in a certain way (for example, swinging the mobile device 10 like a golf club). However, advanced players may wish to feel the grip of sports equipment in sports such as golf, baseball, tennis or fly fishing, for example. In the case of golf, for a right-handed player, advanced players can have a handle on the club so that the left hand is rotated approximately 20 degrees from the center towards the body. This handle on the golf club handle enables the club head to be more closed through the impact which in turn makes it easier to draw the golf ball, that is, to create a ball flight that bends to the left.
    [087] The methods of the present invention in relation to the analysis of sports movements are generalizable to also include the attachment of the mobile device to sports equipment, or weighted handles that simulate sports equipment.
    [088] As an example, Figure 11 shows a mobile device retainer 20 to securely mount the mobile device 10 to an auxiliary device 30, which in the illustrated embodiment is a weighted golf grip, but could instead (for golf) be a golf club. In one embodiment, the auxiliary device 30 is comprised of a 60.96 cm (24 ") graphite or steel golf club rod with a golf grip at one end and a weight of 170.00 grams (6 ounces) 18 on the other, preferably the entire auxiliary device 30 weighs approximately 311.84 grams (11 ounces) (similar to a golf club driver) and the center of mass is approximately 15.24 to 20.32 cm (6 to 8 "inches) from weight 18, in order to simulate a real golf club, which typically has the center of the dough approximately 1/4 - 1/3 of the length of the rod closest to the club head. Figure 11 is presented for illustrative purposes and is not intended to be limiting. Other sports, such as baseball, tennis and fly fishing, would have different auxiliary devices, but the handle, weight and center of mass more accurately simulate real sports equipment, and / or the mobile device could be attached to real sports equipment by middle of retainer 20.
    [089] Referring to Figure 12 (a), the mobile device retainer 20 comprises a two-piece assembly that includes a C-shaped coupler 24 and a frame 22. As shown, frame 22 is rectangular and includes a pair with grooved sides 25 and an open end 27. The C 24 shaped coupler is structured with the purpose of fitting comfortably around the auxiliary device 30 (as shown). As shown, frame 22 includes a hole 23. Hole 23 is sized to accommodate collar wings 26 of the C-shaped coupler 24, which can be fitted through hole 23 so that frame 22 is positioned perpendicular to the geometry axis longitudinal of the auxiliary device 25, as shown in Figure 12 (b). In addition, the frame 22 is turned 90 degrees so that the open end 27 points away from the club head, as shown in Figure 12 (c). Once turned 90 degrees, the collar wings 26 sit in pockets 28 molded inside the frame 22. Once the collar wings 26 are seated, the mobile device 10 can be slid into the frame, with the grooved sides 25 provide a secure friction fit. In one embodiment, the materials used for the frame 22 include a rigid polycarbonate, more preferably, silicon formed together with the polycarbonate for a sharp friction fit with the mobile device 10. However, it should be understood that several other materials can serve, such as stainless steel, aluminum, or other metal; polyethylene, acrylonitrile-butyl-styrene (ABS), polyvinyl chloride and nylon, or other plastic. Additionally, it should be understood that the particular form in which the mobile device 10 is mounted to the auxiliary device 30 (i.e., using the mobile device retainer 20) is presented for illustrative purposes and is not intended to be limiting.
    [090] As mentioned, an important feature of the present invention is that impact with a physical sporting object, such as a golf ball or tennis, is not required. However, the player can, in various modalities, attach the mobile device 10 to an auxiliary device to hit physical balls. As an example, detailed experiments were conducted with mobile devices 10 attached to real sports equipment in which professional athletes hit physical sports objects in order to validate the methods described in that invention.
    [091] Although this invention has been described in conjunction with the various exemplary modalities highlighted above, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Consequently, the exemplary embodiments of the invention, as presented above, are intended to be illustrative and not limiting. Several changes can be made without departing from the spirit and scope of the invention.
    权利要求:
    Claims (22)
    [0001]
    1. METHOD FOR ANALYZING SPORT MOVEMENTS, characterized by understanding: (a) determining a starting point of a sports movement to be simulated using a mobile device that has integrated motion sensors, where the starting point is indicated only by a user holding the mobile device immobile for a predetermined period of time; (b) moving the mobile device from the starting point along a path to complete the simulation; (c) obtain movement data from the motion sensors related to the starting point and the movement along the path; (d) determining an occurrence of a simulated sporting event using the obtained movement data; and (e) issue information related to the simulated sports movement based at least in part on the simulated sporting event, in which steps (c) to (e) are performed using a processor integral to the mobile device; (f) where the mobile device is not attached to any piece of sports equipment and the starting point is not indicated by an entry entered by the user.
    [0002]
    2. METHOD according to claim 1, characterized in that the mobile device is a telephone.
    [0003]
    3. METHOD, according to claim 1, characterized by the emission of information related to the simulated sporting event including emitting the information on a screen of the mobile device.
    [0004]
    4. METHOD, according to claim 1, characterized by the emission of information related to the simulated sporting event, including emission of information for a game system.
    [0005]
    5. METHOD, according to claim 1, characterized in that the motion sensors include an accelerometer and a gyroscope with multiple geometric axes.
    [0006]
    6. METHOD, according to claim 1, characterized by the sporting event being a point of impact with a virtual object.
    [0007]
    7. METHOD, according to claim 6, characterized by additionally comprising the step of determining the speed of a virtual object around the point of impact.
    [0008]
    8. METHOD according to claim 7, characterized in that the speed determination is based at least partially on the determined speed of the mobile device around the impact point, determined arm length, determined club length and determined arc length for the swing type.
    [0009]
    9. METHOD, according to claim 7, characterized by the determination of speed does not include the use of data from an accelerometer.
    [0010]
    10. METHOD, according to claim 7, characterized by determining the speed including calculating the speed using the first movement data and applying a multiplier based on the second simultaneous movement data.
    [0011]
    11. METHOD, according to claim 6, characterized in that it further comprises determining the instantaneous speed of a virtual object at the point of impact.
    [0012]
    12. METHOD, according to claim 1, characterized by the movement of the mobile device from the starting point along the path including swinging the mobile device to simulate one of a golf swing, a baseball swing, a bowling movement, a shuttlecock swing, and a fishing rod throw.
    [0013]
    13. METHOD, according to claim 6, characterized in that the point of impact is determined by finding a moment when a first rotational orientation of the mobile device is at or close to a minimum and that derived from a second rotational orientation of the mobile device is at or near a maximum.
    [0014]
    14. METHOD, according to claim 6, characterized in that the motion sensors include a gyroscope with multiple geometric axes and the point of impact is determined using two or more between inclination, bearing and yaw.
    [0015]
    15. METHOD, according to claim 1, characterized by including additionally analyzing the simulated sports movement.
    [0016]
    16. METHOD, according to claim 15, characterized by the analysis of the simulated sports movement including analyzing one of the inclination, rotation and orientation of the mobile device during the simulated sports movement.
    [0017]
    17. METHOD according to claim 15, characterized by the simulated sports movement being determined based on a first movement of the mobile device during the simulated sports movement and a second movement of the mobile device at an impact point.
    [0018]
    18. METHOD according to claim 17, characterized by analyzing the second movement of the mobile device at the point of impact including subtracting the second movement at the point of impact of the second movement from the starting point.
    [0019]
    19. METHOD, according to claim 1, characterized by the sporting event being a release point.
    [0020]
    20. METHOD, according to claim 1, characterized by the release point being one of a bowling ball release point, a lacrosse fist, a basketball, a baseball, a hockey stick, a bean bag, an American football and a fishing rod.
    [0021]
    21.METHOD, according to claim 1, characterized by the emission of information related to the simulated sports movements include emitting the information with the use of at least one among the mobile device and a separate web-enabled display.
    [0022]
    22. METHOD, according to claim 1, characterized by the emission of information related to the simulated sports movements include emitting one or more of a rendered golf ball flight, a baseball ball flight, a tennis ball movement, a ping-pong ball movement, a bean bag launch, a football ball flight, a bowling ball path, a fishing hook flight and another movement in response to the simulated sports movement.
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    同族专利:
    公开号 | 公开日
    US9101812B2|2015-08-11|
    JP6095073B2|2017-03-15|
    EP2771081A4|2015-05-20|
    AU2012329114B2|2018-03-01|
    EP2771081A1|2014-09-03|
    BR112014009707A2|2017-06-13|
    US20130102419A1|2013-04-25|
    JP2015504259A|2015-02-05|
    AU2012329114A1|2014-04-17|
    US9895590B2|2018-02-20|
    CA2850641C|2020-12-22|
    US20150231477A1|2015-08-20|
    CN104023799A|2014-09-03|
    CA2850641A1|2013-05-02|
    KR101817393B1|2018-01-10|
    CN104023799B|2017-02-15|
    KR20140096302A|2014-08-05|
    WO2013062873A1|2013-05-02|
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    法律状态:
    2019-05-14| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-10-08| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2020-09-01| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2020-11-24| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 19/10/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US201161551388P| true| 2011-10-25|2011-10-25|
    US61/551,388|2011-10-25|
    US201161580534P| true| 2011-12-27|2011-12-27|
    US61/580,534|2011-12-27|
    US201261713813P| true| 2012-10-15|2012-10-15|
    US61/713,813|2012-10-15|
    US13/655,366|US9101812B2|2011-10-25|2012-10-18|Method and system to analyze sports motions using motion sensors of a mobile device|
    US13/655,366|2012-10-18|
    PCT/US2012/061209|WO2013062873A1|2011-10-25|2012-10-19|Method and system to analyze sports motions using motion sensors of a mobile device|
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