JP2017124074A - Electronic apparatus, system, determination method, determination program and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electronic apparatus that can become an auxiliary for causing a user to comfortably use a state determination function of exercise equipment, and a system, a determination method, a determination program and a recording medium.SOLUTION: An electronic apparatus includes: a determination part for determining a static state of exercise equipment based on a preset determination criterion using output of an inertial sensor; and a notification part for notifying a user of information indicating a change of a state of the exercise equipment till determination is performed.SELECTED DRAWING: Figure 25

Description

  The present invention relates to an electronic device, a system, a determination method, a determination program, and a recording medium.

  Patent Document 1 discloses a terminal device that instructs a user to start a swing from a display unit or a speaker after detecting a posture in a stationary state using a motion sensor. When the user swings based on the instruction of the terminal device, the terminal device detects the impact by hitting the ball and performs a swing analysis.

  However, there are cases where the terminal device does not give an instruction to start a swing even if the user intends to take an address posture and stand still. As the cause, the following cause (1) or cause (2) can be considered.

  Cause (1) is when the terminal device or the motion sensor is out of order.

  The cause (2) is a case where the exercise tool does not satisfy the condition for determining that the user is stationary by the terminal device even though the user intends to remain stationary in the correct posture.

  Of these, in case (1), it is necessary to repair the terminal device or motion sensor, but in case (2), there is no need for repair, and the user only has to adjust the address posture. is there.

JP 2014-100341 A

  However, it is difficult for the user himself to determine whether the real cause is the cause (1) or the cause (2). For this reason, the user makes a repair request to the manufacturer of the terminal device or motion sensor regardless of the cause (2), or the user improves the address posture despite the cause (1). However, there were cases where time was wasted by trying many times, and problems such as wasted.

  The present invention has been made in view of the above-described problems, and according to some aspects of the present invention, an electronic device that can assist a user in comfortably using the state determination function of an exercise tool , A system, a determination method, a determination program, and a recording medium.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following aspects or application examples.

[Application Example 1]
The electronic device according to the application example includes a determination unit that determines the stationary state of the exercise tool based on a predetermined determination criterion using the output of the inertial sensor, and the exercise tool until the determination is reached. A notification unit for notifying the user of information indicating a state change.

  According to the electronic device according to this application example, since the user is notified of the change in the state of the exercise tool until the determination is made, the change in the state of the exercise tool when the preset determination criterion is not satisfied, and the determination It is possible to make the user compare the change in the state of the exercise device when the criterion is satisfied.

[Application Example 2]
In this application example, the notification unit may notify the user of permission to start swinging the exercise tool when the exercise tool is maintained in a predetermined state for a predetermined period.

  Therefore, the user of the electronic device according to the application example can obtain permission to start the exercise from the electronic device by taking a predetermined pose (for example, a posture of a posture such as a golf address posture) before starting the exercise. .

[Application Example 3]
In this application example, the notification unit may notify the user of information indicating a change in posture of the exercise tool.

  Therefore, according to the electronic device according to this application example, since the posture change of the exercise tool is notified to the user until the determination, the posture change of the exercise tool when the preset determination criterion is not satisfied It is possible to make the user compare the posture change of the exercise tool when the determination criterion is satisfied.

[Application Example 4]
In this application example, the exercise tool may be a golf club, and the notification unit may notify the user of a change in posture in a direction intersecting a ground plane of the golf club as the information.

  By this notification, the user can grasp the degree of wobbling in the vertical direction of the hand holding the golf club (the vertical direction of the user with the line of sight toward the head).

[Application Example 5]
In this application example, the exercise tool may be a golf club, and the notification unit may notify the user of a change in posture in a horizontal direction with respect to a ground plane of the golf club as the information.

  By this notification, the user can grasp the degree of wobbling in the left and right direction of the hand holding the golf club (the lateral direction of the user with a line of sight toward the head).

[Application Example 6]
In this application example, the exercise tool may be a golf club, and the determination criterion may be set based on a lie angle of the golf club.

  Therefore, the electronic device can make the user take a posture suitable for the lie angle of the golf club by using this criterion.

[Application Example 7]
In this application example, the notification unit notifies the user of the determination criterion together with the information.

Therefore, the user can confirm the relationship between the state change of the exercise equipment and the determination criterion during the determination.

[Application Example 8]
In this application example, the notification unit performs the notification by at least one of an image, light, sound, vibration, an image change pattern, a light change pattern, a sound change pattern, and a vibration change pattern.

  Therefore, the user can recognize the change in the state of the exercise tool by at least one of vision, touch, and hearing.

[Application Example 9]
In this application example, the inertial sensor includes at least one of an acceleration sensor and an angular velocity sensor.

  Therefore, the electronic device can determine the state of the exercise tool (for example, at least one of acceleration, speed, position, posture change, and posture).

[Application Example 10]
The system according to this application example includes any one of the electronic devices according to this application example and the inertial sensor.

[Application Example 11]
A system according to this application example includes any electronic device according to this application example, and a head-mounted display device that displays the information.

[Application Example 12]
A system according to this application example includes any electronic device according to this application example, and an arm-mounted display device that displays the information.

[Application Example 13]
The determination method according to this application example includes a step of determining a stationary state of the exercise tool based on a predetermined determination criterion using an output of the inertial sensor, and a state of the exercise tool until the determination is reached. And notifying the user of information indicating the change.

[Application Example 14]
In the determination method according to this application example, the notifying step notifies the user of permission to start swinging the exercise tool when the exercise tool is maintained in a predetermined state for a predetermined period.

[Application Example 15]
In the determination method according to this application example, the notifying step notifies the user of information indicating a change in posture of the exercise tool.

[Application Example 16]
In the determination method according to this application example, the exercise tool is a golf club, and the notifying step notifies the user of a change in posture in a direction intersecting a ground plane of the golf club as the information.

[Application Example 17]
In the determination method according to this application example, the exercise tool is a golf club, and the notifying step notifies the user of a change in posture in a horizontal direction with respect to a ground plane of the golf club as the information.

[Application Example 18]
In the determination method according to this application example, the exercise tool is a golf club, and the determination criterion is set based on a lie angle unique to the golf club.

[Application Example 19]
In the determination method according to this application example, the notifying step notifies the user of the determination criterion together with the information.

[Application Example 20]
In the determination method according to this application example, the notifying step may be performed by at least one of an image, light, sound, vibration, an image change pattern, a light change pattern, a sound change pattern, and a vibration change pattern. Make a notification.

[Application Example 21]
In the determination method according to this application example, the inertial sensor includes at least one of an acceleration sensor and an angular velocity sensor.

[Application Example 22]
The determination program according to this application example uses the output of the inertial sensor to determine the stationary state of the exercise tool based on a predetermined determination criterion and the state of the exercise tool until the determination is reached. Causing the computer to execute a step of notifying the user of information indicating the change.

[Application Example 23]
The recording medium according to this application example uses the output of the inertial sensor to determine the stationary state of the exercise tool based on a preset determination criterion and the state of the exercise tool until the determination is reached. Causing the computer to execute a step of notifying the user of information indicating the change.

The figure which shows the structural example of the swing analysis system of this embodiment. The figure which shows the example of mounting | wearing of a sensor unit. The figure which shows an example of the mounting position and direction of a sensor unit. The figure which shows the procedure of the operation | movement performed before a user hits a ball. The figure which shows an example of the input screen of body information and golf club information. Explanatory drawing about swing operation | movement. The figure which shows an example of the selection screen of swing analysis data. The figure which shows an example of a display screen. The figure which shows the structural example of a sensor unit and a swing analyzer. The top view which looked at the golf club and sensor unit at the time of a user's still view from the negative side of the X-axis. The graph which shows an example of the time change of a triaxial angular velocity. The graph which shows the time change of the composite value of a triaxial angular velocity. The graph which shows the time change of the derivative of a synthetic value. The figure which shows a shaft plane and a Hogan plane. The figure which looked at the sectional view which cut the shaft plane with the YZ plane from the negative side of the X-axis. The figure which looked at the cross-sectional view which cut the Hogan plane in the YZ plane from the negative side of the X-axis. The figure for demonstrating a face angle and a club path (incidence angle). The figure which shows an example of the time change of the shaft axis rotation angle from a swing start (back swing start) to an impact. The figure which shows an example of the time change of the speed of the grip in a downswing. The figure which shows an example of the relationship between a shaft plane and a Hogan plane, and several area | region A, B, C, D, E. The flowchart figure which shows an example of the procedure of a swing analysis process (swing analysis method). The figure which shows the structural example of a server apparatus. The flowchart figure which shows an example of the procedure of the process of the swing analysis apparatus relevant to a server apparatus. The flowchart figure which shows an example of the process sequence of a server apparatus. The figure which shows an example of an indicator screen. The figure which shows another example of an indicator screen. The figure which shows another example of an indicator screen. The figure which shows another example of an indicator screen. The flowchart figure which shows an example of the procedure of a swing analysis process (swing analysis method) (step (S16) regarding stationary determination among the flows of FIG. 21 subdivided into a plurality of steps (S161 to S166)). It is a figure which shows an example of a list-type display part. It is a figure which shows an example of a head mounted display.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. The embodiments described below do not unduly limit the contents of the present invention described in the claims. Also, not all of the configurations described below are essential constituent requirements of the present invention.

  Hereinafter, a swing analysis system that analyzes a golf swing when the exercise tool is a golf club will be described as an example.

1. Swing analysis system 1-1. Configuration of Swing Analysis System FIG. 1 is a diagram illustrating a configuration example of a swing analysis system according to this embodiment. As shown in FIG. 1, the swing analysis system 1 of this embodiment includes a sensor unit 10, a swing analysis device 20, and a server device 30.

  The sensor unit 10 (an example of an inertial sensor) can measure acceleration generated in each of the three axes and angular velocity generated around each of the three axes, and is attached to the golf club 3 as shown in FIG. .

  In this embodiment, as shown in FIG. 3, the sensor unit 10 has one of three detection axes (x axis, y axis, z axis), for example, the y axis as the longitudinal direction of the shaft of the golf club 3 ( It is attached to a part of the shaft so as to match the longitudinal direction of the golf club 3. Desirably, the sensor unit 10 is attached at a position close to a grip where impact at the time of hitting is difficult to be transmitted and centrifugal force is difficult to be applied at the time of swing. The shaft is a portion of the handle excluding the head of the golf club 3 and includes a grip. However, the sensor unit 10 may be attached to a part of the user 2 (for example, a hand or a glove), or may be attached to an accessory such as a wristwatch.

The user 2 performs a swing motion of hitting the golf ball 4 according to a predetermined procedure. FIG. 4 is a diagram showing a procedure of operations performed until the user 2 hits the ball in the present embodiment. As shown in FIG. 4, the user 2 first performs an input operation such as body information of the user 2 and information (golf club information) regarding the golf club 3 used by the user 2 via the swing analysis device 20 (S1). . The body information includes at least one piece of information on the height, arm length, and leg length of the user 2, and may further include sex information and other information. The golf club information includes information on the length of the golf club 3 (club length) and information on at least one of the types (counts) of the golf club 3. Next, the user 2 performs a measurement start operation (operation for causing the sensor unit 10 to start measurement) via the swing analysis device 20 (S2). Next, the user 2 receives a notification (for example, a notification by voice) instructing to take an address posture (basic posture before starting the swing) from the swing analysis device 20 (Y in S3), and then the shaft of the golf club 3 The address is positioned so that its longitudinal direction is perpendicular to the target line (the target direction of the hit ball), and it stops (S4). Next, after receiving notification (for example, notification by voice) that permits the swing from the swing analysis device 20 (Y in S5), the user 2 performs a swing motion and hits the golf ball 4 (S6).

  FIG. 5 is a diagram illustrating an example of an input screen for body information and golf club information displayed on the display unit 25 (see FIG. 9) of the swing analysis apparatus 20. In step S1 of FIG. 4, the user 2 inputs physical information such as height, gender, age, and country on the input screen shown in FIG. 5, and enters golf club information such as club length (shaft length) and count. input. The information included in the body information is not limited to this. For example, the body information may include information on at least one of the length of the arm and the length of the leg instead of the height or together with the height. Similarly, the information included in the golf club information is not limited to this. For example, the golf club information may not include information on either the club head or the count, or may include other information.

  When the user 2 performs the measurement start operation in step S2 of FIG. 4, the swing analysis apparatus 20 transmits a measurement start command to the sensor unit 10, and the sensor unit 10 receives the measurement start command and receives the triaxial acceleration and the triaxial angular velocity. Start measuring. The sensor unit 10 measures the triaxial acceleration and the triaxial angular velocity at a predetermined cycle (for example, 1 ms), and sequentially transmits the measured data to the swing analysis apparatus 20. Communication between the sensor unit 10 and the swing analysis device 20 may be wireless communication or wired communication.

  The swing analysis device 20 notifies the user 2 of the permission to start the swing shown in step S5 of FIG. 4, and then the swing motion in which the user 2 hits the golf club 3 based on the measurement data of the sensor unit 10. (Step S6 in FIG. 4) is analyzed.

  As shown in FIG. 6, the swing operation performed by the user 2 in step S <b> 6 of FIG. 4 is a half-way back and back swing in which the shaft of the golf club 3 is horizontal during the back swing after the start of the swing (back swing). It includes an operation that reaches the impact (hit ball) of hitting the golf ball 4 through each state of the top that switches from down to down swing and the half-way down state in which the shaft of the golf club 3 becomes horizontal during the down swing. Then, the swing analysis device 20 generates swing analysis data including the time (date and time) when the swing was performed, the identification information and sex of the user 2, the type of the golf club 3, and information on the analysis result of the swing motion, and the network 40 (See FIG. 1).

  The server device 30 receives and stores the swing analysis data transmitted from the swing analysis device 20 via the network 40. Therefore, every time the user 2 performs a swing motion according to the procedure of FIG. 4, the swing analysis data generated by the swing analysis device 20 is stored in the server device 30, and a swing analysis data list is constructed.

For example, the swing analysis device 20 may be realized by an information terminal (client terminal) such as a smartphone or a personal computer, and the server device 30 may be realized by a server that processes a request from the swing analysis device 20.

  The network 40 may be a wide area network (WAN: World Area Network) such as the Internet or a local area network (LAN). Alternatively, the swing analysis device 20 and the server device 30 may communicate without going through the network 40 by, for example, short-range wireless communication or wired communication.

  In the present embodiment, when the user 2 activates the swing analysis application via the operation unit 23 (see FIG. 9) of the swing analysis device 20, the swing analysis device 20 communicates with the server device 30, and the swing analysis device 20 For example, a swing analysis data selection screen as shown in FIG. 7 is displayed on the display unit 25. In this selection screen, each swing analysis data of the user 2 included in the swing analysis data list stored in the server device 30 is displayed as the time (date and time), the type of golf club used and the analysis result of the swing. The value of the index of the section is included.

  At the left end of the selection screen shown in FIG. 7, there are check boxes associated with each swing analysis data. After the user 2 checks any one check box through the operation of the swing analysis device 20, Press the OK button at the bottom of this selection screen. Accordingly, the swing analysis device 20 communicates with the server device 30 and displays the swing analysis data associated with the check box checked on the selection screen of FIG. 7 on the display unit 25 of the swing analysis device 20 (for example, FIG. 8).

1-2. Configuration of Sensor Unit and Swing Analysis Device FIG. 9 is a diagram illustrating a configuration example of the sensor unit 10 and the swing analysis device 20. As shown in FIG. 9, in this embodiment, the sensor unit 10 includes an acceleration sensor 12, an angular velocity sensor 14, a signal processing unit 16, and a communication unit 18. However, the sensor unit 10 may have a configuration in which some of these components are appropriately deleted or changed, or other components are added as appropriate.

  The acceleration sensor 12 measures acceleration generated in each of three axis directions that intersect (ideally orthogonal) with each other, and outputs a digital signal (acceleration data) corresponding to the magnitude and direction of the measured three axis acceleration. .

  The angular velocity sensor 14 measures an angular velocity generated around each of three axes that intersect each other (ideally orthogonal), and outputs a digital signal (angular velocity data) corresponding to the magnitude and direction of the measured three-axis angular velocity. Output.

  The signal processing unit 16 receives acceleration data and angular velocity data from the acceleration sensor 12 and the angular velocity sensor 14, respectively, attaches time information to the storage unit (not shown), and stores the measurement data (acceleration data and angular velocity data). Is attached with time information to generate packet data in accordance with the communication format, and outputs the packet data to the communication unit 18.

  The acceleration sensor 12 and the angular velocity sensor 14 each have three axes that coincide with the three axes (x axis, y axis, z axis) of the orthogonal coordinate system (sensor coordinate system) defined for the sensor unit 10. Although it is ideal to be attached to the unit 10, an error in the attachment angle actually occurs. Therefore, the signal processing unit 16 performs a process of converting the acceleration data and the angular velocity data into data in the xyz coordinate system using a correction parameter calculated in advance according to the attachment angle error.

  Further, the signal processing unit 16 may perform temperature correction processing of the acceleration sensor 12 and the angular velocity sensor 14. Alternatively, a temperature correction function may be incorporated in the acceleration sensor 12 and the angular velocity sensor 14.

  The acceleration sensor 12 and the angular velocity sensor 14 may output analog signals. In this case, the signal processing unit 16 converts the output signal of the acceleration sensor 12 and the output signal of the angular velocity sensor 14 to A / Measurement data (acceleration data and angular velocity data) is generated by D conversion, and packet data for communication may be generated using these.

  The communication unit 18 transmits the packet data received from the signal processing unit 16 to the swing analysis device 20, and receives various control commands such as a measurement start command from the swing analysis device 20 and sends the control data to the signal processing unit 16. Etc. The signal processing unit 16 performs various processes according to the control command.

  As shown in FIG. 9, in this embodiment, the swing analysis apparatus 20 (an example of an electronic device) includes a processing unit 21 (an example of a determination unit), a communication unit 22, an operation unit 23, a storage unit 24, and a display unit 25 ( An example of a notification unit), a sound output unit (an example of a notification unit) 26 and a communication unit 27 are included. However, the swing analysis apparatus 20 may have a configuration in which some of these components are appropriately deleted or changed, or other components are added as appropriate.

  The communication unit 22 receives the packet data transmitted from the sensor unit 10 and performs processing to send to the processing unit 21, processing to transmit a control command from the processing unit 21 to the sensor unit 10, and the like.

  The operation unit 23 performs processing to acquire data corresponding to the operation of the user 2 and send the data to the processing unit 21. The operation unit 23 may be, for example, a touch panel display, a button, a key, a microphone, or the like.

  The storage unit 24 includes, for example, various IC memories such as a ROM (Read Only Memory), a flash ROM, and a RAM (Random Access Memory), a recording medium such as a hard disk and a memory card, and the like. The storage unit 24 stores a program (an example of a determination program) for the processing unit 21 to perform various calculation processes and control processes, and various programs and data for realizing application functions.

  In the present embodiment, the storage unit 24 stores a swing analysis program 240 that is read by the processing unit 21 and that executes a swing analysis process. The swing analysis program 240 may be stored in advance in a non-volatile recording medium (a computer-readable recording medium), or the processing unit 21 receives a swing analysis program from a server (not shown) or the server device 30 via a network. 240 may be received and stored in the storage unit 24.

  In the present embodiment, the storage unit 24 stores golf club information 242, body information 244, sensor mounting position information 246, and swing analysis data 248. For example, the user 2 operates the operation unit 23, and the specification information of the golf club 3 to be used (for example, the shaft length, the position of the center of gravity, the lie angle, the face angle, the loft angle, etc.) from the input screen of FIG. Or at least a part of the information), and the inputted specification information may be used as the golf club information 242. Alternatively, the user 2 inputs the model number of the golf club 3 (or is selected from the model number list) in step S1 of FIG. 4 and is input from the specification information for each model number stored in advance in the storage unit 24. The specification information of the model number may be used as the golf club information 242.

  Further, for example, the user 2 may operate the operation unit 23 to input physical information from the input screen of FIG. 5, and the input physical information may be the physical information 244. Further, for example, in step S1 of FIG. 4, the user 2 operates the operation unit 23 to input the distance between the mounting position of the sensor unit 10 and the grip end of the golf club 3, and the input distance information is obtained. The sensor mounting position information 246 may be used. Alternatively, information on the predetermined position may be stored in advance as sensor mounting position information 246 on the assumption that the sensor unit 10 is mounted at a predetermined position (for example, a distance of 20 cm from the grip end).

  The swing analysis data 248 includes information on the result of the swing motion analysis by the processing unit 21 (swing analysis unit 211), along with the time (date and time) at which the swing was performed, the identification information and sex of the user 2, and the type of the golf club 3. It is data.

  The storage unit 24 is used as a work area of the processing unit 21, and temporarily stores data acquired by the operation unit 23, calculation results executed by the processing unit 21 according to various programs, and the like. Furthermore, the memory | storage part 24 may memorize | store the data which require long-term preservation | save among the data produced | generated by the process of the process part 21. FIG.

  The display unit 25 displays the processing results of the processing unit 21 as characters, graphs, tables, animations, and other images. The display unit 25 may be, for example, a CRT, LCD, touch panel display, head mounted display (HMD), or the like. In addition, you may make it implement | achieve the function of the operation part 23 and the display part 25 with one touchscreen type display.

  The sound output unit 26 outputs the processing result of the processing unit 21 as sound such as sound or buzzer sound. The sound output unit 26 may be, for example, a speaker or a buzzer.

  The communication unit 27 performs data communication with the communication unit 32 (see FIG. 22) of the server device 30 via the network 40. For example, the communication unit 27 performs a process of receiving the swing analysis data 248 from the processing unit 21 and transmitting it to the communication unit 32 of the server device 30 after the end of the swing analysis process. Further, for example, the communication unit 27 receives information necessary for displaying the selection screen of FIG. 7 from the communication unit 32 of the server device 30 and sends the information to the processing unit 21, or processes the selection information on the selection screen of FIG. 7. A process of receiving from the unit 21 and transmitting to the communication unit 32 of the server device 30 is performed. For example, the communication unit 27 performs processing for receiving information necessary for displaying the display screen of FIG. 8 from the communication unit 32 of the server device 30 and sending the information to the processing unit 21.

  The processing unit 21 performs processing for transmitting a control command to the sensor unit 10 via the communication unit 22 and various types of calculation processing for data received from the sensor unit 10 via the communication unit 22 according to various programs. In addition, the processing unit 21 performs processing of reading the swing analysis data 248 from the storage unit 24 and transmitting it to the server device 30 via the communication unit 27 according to various programs. Further, the processing unit 21 transmits various types of information to the server device 30 via the communication unit 27 according to various programs, and various screens (each of FIGS. 7 and 8) based on the information received from the server device 30. Screen). The processing unit 21 performs other various control processes.

  In particular, in the present embodiment, the processing unit 21 executes the swing analysis program 240, whereby the data acquisition unit 210, the swing analysis unit 211, the image data generation unit 212, the storage processing unit 213, the display processing unit 214, and the sound output. It functions as the processing unit 215 and performs a process of analyzing the swing motion of the user 2 (swing analysis process).

  The data acquisition unit 210 receives the packet data received from the sensor unit 10 by the communication unit 22, acquires time information and measurement data from the received packet data, and performs processing to send to the storage processing unit 213. Further, the data acquisition unit 310 receives information necessary for displaying various screens (such as the screens in FIGS. 7 and 8) received by the communication unit 27 from the server device 30 and sends the information to the image data generation unit 212. I do.

  The storage processing unit 213 performs read / write processing of various programs and various data for the storage unit 24. For example, the storage processing unit 213 associates the time information received from the data acquisition unit 210 with the measurement data and stores the information in the storage unit 24, various information calculated by the swing analysis unit 211, the swing analysis data 248, and the like. Processing to be stored in the storage unit 24 is performed.

  The swing analysis unit 211 analyzes the swing motion of the user 2 using the measurement data output from the sensor unit 10 (measurement data stored in the storage unit 24), the data from the operation unit 23, and the like. A process for generating swing analysis data 248 including information on the time (date and time) of the user, identification information and sex of the user 2, the type of the golf club 3, and the analysis result of the swing motion is performed. In particular, in the present embodiment, the swing analysis unit 211 calculates the value of each index of the swing as at least part of the information on the analysis result of the swing motion.

  The swing analysis unit 211 may calculate at least one virtual plane as a swing index. For example, the at least one virtual plane includes a shaft plane SP (first virtual plane) and a Hogan plane HP (second virtual plane) that forms a first angle with the shaft plane SP, which will be described later. As this index, “shaft plane SP” and “Hogan plane HP” may be calculated.

  Further, the swing analysis unit 211 may calculate the position of the head of the golf club 3 at the first timing during the backswing as a swing index. For example, the first timing is a halfway back in which the longitudinal direction of the golf club 3 is in the direction along the horizontal direction during the backswing, and the swing analysis unit 211 uses the “halfway back” described later as this index. The “position of the head at the time” may be calculated.

  Further, the swing analysis unit 211 may calculate the position of the head of the golf club 3 at the second timing during the downswing as a swing index. For example, the second timing is when the golf club 3 is halfway down during the downswing in which the longitudinal direction of the golf club 3 is along the horizontal direction, and the swing analysis unit 211 uses the “halfway down” described later as this index. The “position of the head at the time” may be calculated.

  Further, the swing analysis unit 211 may calculate an index based on the incident angle of the head of the golf club 3 at impact (at the time of hitting) as an index of swing. For example, the swing analysis unit 211 may calculate “club path (incident angle) ψ” and “attack angle”, which will be described later, as this index.

  Further, the swing analysis unit 211 may calculate an index based on the inclination of the head of the golf club 3 at impact (at the time of hitting) as an index of swing. For example, the swing analysis unit 211 may calculate “(absolute) face angle φ” and “relative face angle η”, which will be described later, as this index.

  In addition, the swing analysis unit 211 may calculate an index based on the speed of the golf club 3 at impact (at the time of hitting) as an index of swing. For example, the swing analysis unit 211 may calculate “head speed” described later as the index.

In addition, the swing analysis unit 211 uses the rotation of the shaft of the golf club 3 at a predetermined timing from the start of the back swing to the impact (at the time of hitting the ball) as a swing index with the longitudinal direction of the shaft as the rotation axis. An index based on a rotation angle around an axis (hereinafter referred to as a major axis) may be calculated. The rotation angle around the major axis of the golf club 3 may be an angle obtained by rotating the golf club 3 around the major axis from a reference timing to the predetermined timing. The reference timing may be at the start of the backswing or at the address. Further, the predetermined timing may be when shifting from the backswing to the downswing (at the top). For example, the swing analysis unit 211 may calculate a “shaft shaft rotation angle θ _top at the time of _top ”, which will be described later, as this index.

In addition, the swing analysis unit 211 may calculate an index based on the amount of deceleration of the grip of the golf club 3 during the downswing as a swing index. For example, the swing analysis unit 211 may calculate a “grip deceleration rate R _V ” described later as the index.

In addition, the swing analysis unit 211 may calculate an index based on the deceleration period of the grip of the golf club 3 in the downswing as the swing index. For example, the swing analysis unit 211 may calculate a “grip deceleration time rate R _T ” described later as the index.

  However, the swing analysis unit 211 may not calculate values of some of these indexes as appropriate, or may calculate values of other indexes.

  The image data generation unit 212 performs processing for generating image data corresponding to the image displayed on the display unit 25. For example, the image data generation unit 212 generates image data corresponding to the selection screen illustrated in FIG. 7 and the display screen illustrated in FIG. 8 based on various types of information received by the data acquisition unit 210.

  The display processing unit 214 performs processing for causing the display unit 25 to display various images (including characters and symbols in addition to images corresponding to the image data generated by the image data generation unit 212). For example, the display processing unit 214 displays the selection screen illustrated in FIG. 7, the display screen illustrated in FIG. 8, and the like on the display unit 25 based on the image data generated by the image data generation unit 212. Further, for example, the image data generation unit 212 causes the display unit 25 to display an image, characters, and the like for notifying the user 2 of permission to start swing (an example of permission to start exercise) in step S5 of FIG. May be. In addition, for example, the display processing unit 214 may display text such as characters and symbols indicating the analysis result by the swing analysis unit 211 automatically or in response to an input operation of the user 2 after the swing motion of the user 2 is completed. Information may be displayed on the display unit 25. Alternatively, a display unit is provided in the sensor unit 10, and the display processing unit 214 transmits image data to the sensor unit 10 via the communication unit 22, and displays various images and characters on the display unit of the sensor unit 10. It may be displayed.

  The sound output processing unit 215 performs processing for causing the sound output unit 26 to output various sounds (including sound and buzzer sound). For example, the sound output processing unit 215 may cause the sound output unit 26 to output a sound for notifying the user 2 of permission to start the swing in step S5 of FIG. In addition, for example, the sound output processing unit 215 outputs a sound or a sound indicating an analysis result by the swing analysis unit 211 automatically or in response to an input operation of the user 2 after the user 2 swings. You may make it output from the output part 26. FIG. Alternatively, a sound output unit is provided in the sensor unit 10, and the sound output processing unit 215 transmits various sound data and audio data to the sensor unit 10 via the communication unit 22, and the sound output unit of the sensor unit 10. Various sounds and sounds may be output.

  Note that a vibration mechanism may be provided in the swing analysis device 20 or the sensor unit 10, and various information may be converted into vibration information by the vibration mechanism and notified to the user 2.

1-3. Swing analysis processing In this embodiment, the position of the head of the golf club 3 at the time of addressing (at rest) is the origin, the target line indicating the target direction of the hit ball is the X axis, and the axis on the horizontal plane perpendicular to the X axis is the Y axis An XYZ coordinate system (global coordinate system) is defined with the vertical direction (the direction opposite to the direction of gravitational acceleration) as the Z axis. Then, the swing analysis unit 211 uses the measurement data (acceleration data and angular velocity data) of the sensor unit 10 to calculate each index value, and the sensor unit from the address in the XYZ coordinate system (global coordinate system). 10 positions and orientations are calculated in time series. Further, the swing analysis unit 211 detects each timing of the swing start, top, and impact shown in FIG. 6 using measurement data (acceleration data or angular velocity data) of the sensor unit 10. Then, the swing analysis unit 211 uses the time series data of the position and orientation of the sensor unit 10 and the timings of the start of the swing, the top, and the impact, and each index of the swing (eg, shaft plane, hogan plane, halfway). Calculate the values of head position at back, head position at halfway down, face angle, club path (incident angle), shaft shaft rotation angle at top, head speed, grip deceleration rate, grip deceleration time rate, etc. The swing analysis data 248 is generated.

[Calculation of position and orientation of sensor unit 10]
When the user 2 performs the operation of step S4 in FIG. 4, first, the swing analysis unit 211 determines that the user 2 does not exceed the threshold for a predetermined amount of time, such as the amount of change in acceleration data measured by the acceleration sensor 12. It is determined that the camera is stationary with the address posture. Next, the swing analysis unit 211 calculates an offset amount included in the measurement data using the measurement data (acceleration data and angular velocity data) within the predetermined time. Next, the swing analysis unit 211 subtracts an offset amount from the measurement data to perform bias correction, and uses the bias-corrected measurement data to detect a sensor during the swing operation of the user 2 (during operation in step S6 in FIG. 4). The position and orientation of the unit 10 are calculated.

  Specifically, first, the swing analysis unit 211 uses the acceleration data measured by the acceleration sensor 12, the golf club information 242 and the sensor mounting position information 246 when the user 2 is stationary in the XYZ coordinate system (global coordinate system). The position (initial position) of the sensor unit 10 at the time of addressing is calculated.

FIG. 10 is a plan view of the golf club 3 and the sensor unit 10 viewed from the negative side of the X axis when the user 2 is stationary (addressing). The head position 61 of the golf club 3 is the origin O (0, 0, 0), and the coordinates of the grip end position 62 are (0, G _Y , G _Z ). Since the user 2 performs the operation of step S4 in FIG. 4, the grip end position 62 and the initial position of the sensor unit 10 have an X coordinate of 0 and exist on the YZ plane. As shown in FIG. 10, since the gravitational acceleration 1G is applied to the sensor unit 10 when the user 2 is stationary, the y-axis acceleration y (0) measured by the sensor unit 10 and the inclination angle of the shaft of the golf club 3 (the length of the shaft) The relationship between the direction and the angle α formed by the horizontal plane (XY plane) is expressed by Expression (1).

従って、スイング解析部２１１は、アドレス時（静止時）の任意の時刻間内の任意の加速度データを用いて、式（１）より、傾斜角αを算出することができる。

Therefore, the swing analysis unit 211 can calculate the inclination angle α from Equation (1) using arbitrary acceleration data within an arbitrary time at the time of addressing (at rest).

Next, the swing analysis unit 211 subtracts the distance L _SG between the sensor unit 10 and the grip end included in the sensor mounting position information 246 from the shaft length L ₁ included in the golf club information 242 to obtain the sensor unit 10. The distance L _SH between the head and the head is obtained. Further, the swing analysis unit 211 determines the position of the distance L _SH from the head position 61 (origin O) in the direction specified by the tilt angle α of the shaft (the negative direction of the y-axis of the sensor unit 10). The initial position.

  Then, the swing analysis unit 211 integrates subsequent acceleration data and calculates the coordinates of the position of the sensor unit 10 from the initial position in time series.

  In addition, the swing analysis unit 211 calculates the posture (initial posture) of the sensor unit 10 when the user 2 is stationary (at the time of address) in the XYZ coordinate system (global coordinate system) using the acceleration data measured by the acceleration sensor 12. To do. Since the user 2 performs the operation of step S4 in FIG. 4, the direction of the x-axis of the sensor unit 10 coincides with the X-axis of the XYZ coordinate system at the time of the address of the user 2 (at rest), and the sensor unit 10 Since the y-axis is on the YZ plane, the swing analysis unit 211 can identify the initial posture of the sensor unit 10 from the inclination angle α of the shaft of the golf club 3.

  Then, the swing analysis unit 211 performs a rotation calculation using the angular velocity data measured by the subsequent angular velocity sensor 14 and calculates the change in posture of the sensor unit 10 from the initial posture in time series. The posture of the sensor unit 10 can be expressed by, for example, rotation angles (roll angle, pitch angle, yaw angle) around the X axis, Y axis, and Z axis, quarter-on (quaternion), and the like.

  The signal processing unit 16 of the sensor unit 10 may calculate the offset amount of the measurement data and perform bias correction of the measurement data, or the acceleration sensor 12 and the angular velocity sensor 14 may incorporate a bias correction function. It may be. In these cases, the bias correction of the measurement data by the swing analysis unit 211 becomes unnecessary.

[Detect swing start, top and impact timing]
First, the swing analysis unit 211 detects the timing at which the user 2 hits the ball (impact timing) using the measurement data. For example, the swing analysis unit 211 may calculate a composite value of measurement data (acceleration data or angular velocity data) and detect an impact timing (time) based on the composite value.

Specifically, first, the swing analysis unit 211 calculates a value of a combined value n0 (t) of angular velocities at each time t using the angular velocity data (bias corrected angular velocity data at each time t). For example, assuming that the angular velocity data at time t is x (t), y (t), and z (t), the swing analysis unit 211 calculates the synthesized value n ₀ (t) of the angular velocity by the following equation (2). calculate.

次に、スイング解析部２１１は、各時刻ｔでの角速度の合成値ｎ_０（ｔ）を所定範囲に正規化（スケール変換）した合成値ｎ（ｔ）に変換する。例えば、計測データの取得期間における角速度の合成値の最大値をｍａｘ（ｎ_０）とすると、スイング解析部２１１は、次の式（３）により、角速度の合成値ｎ_０（ｔ）を０〜１００の範囲に正規化した合成値ｎ（ｔ）に変換する。

Next, the swing analysis unit 211 converts the combined value n ₀ (t) of angular velocities at each time t into a combined value n (t) normalized (scaled) to a predetermined range. For example, assuming that the maximum value of the combined value of angular velocities in the measurement data acquisition period is max (n ₀ ), the swing analysis unit 211 sets the combined value n ₀ (t) of angular velocities from 0 to 0 according to the following equation (3). It is converted into a composite value n (t) normalized to a range of 100.

次に、スイング解析部２１１は、各時刻ｔでの正規化後の合成値ｎ（ｔ）の微分ｄｎ（ｔ）を計算する。例えば、３軸角速度データの計測周期をΔｔとすると、スイング解析部２１１は、次の式（４）により、時刻ｔでの角速度の合成値の微分（差分）ｄｎ（ｔ）を計算する。

Next, the swing analysis unit 211 calculates a differential dn (t) of the combined value n (t) after normalization at each time t. For example, assuming that the measurement period of the triaxial angular velocity data is Δt, the swing analysis unit 211 calculates the differential (difference) dn (t) of the synthesized value of angular velocities at time t by the following equation (4).

図１１は、ユーザー２がスイングを行ってゴルフボール４を打ったときの３軸角速度データｘ（ｔ）、ｙ（ｔ）、ｚ（ｔ）の一例を示す。図１１において、横軸は時間（ｍｓｅｃ）、縦軸は角速度（ｄｐｓ）である。

FIG. 11 shows an example of triaxial angular velocity data x (t), y (t), and z (t) when the user 2 swings and hits the golf ball 4. In FIG. 11, the horizontal axis represents time (msec) and the vertical axis represents angular velocity (dps).

  FIG. 12 shows the result of calculating the combined value n0 (t) of the triaxial angular velocities from the triaxial angular velocity data x (t), y (t), z (t) of FIG. It is the figure which displayed the synthetic value n (t) normalized to 0-100 in the graph. In FIG. 12, the horizontal axis represents time (msec), and the vertical axis represents the combined value of angular velocities.

  FIG. 13 is a graph obtained by calculating the derivative dn (t) from the combined value n (t) of the triaxial angular velocities in FIG. In FIG. 13, the horizontal axis represents time (msec), and the vertical axis represents the differential value of the combined value of the triaxial angular velocities. 11 and 12, the horizontal axis is displayed in 0 to 5 seconds. In FIG. 13, the horizontal axis is in 2 seconds to 2.8 seconds so that the change in the differential value before and after the impact can be seen. it's shown.

Next, the swing analysis unit 211 detects the previous time as the impact time t _impact (impact timing) among the time when the value of the derivative dn (t) of the combined value is maximum and minimum ( (See FIG. 13). In a normal golf swing, it is considered that the swing speed becomes maximum at the moment of impact. Then, since it is considered that the value of the combined value of angular velocities also changes according to the swing speed, the swing analysis unit 211 has a timing at which the differential value of the combined value of angular velocities becomes maximum or minimum in a series of swing operations (that is, The timing at which the differential value of the combined value of the angular velocities becomes the maximum positive value or the minimum negative value) can be regarded as the impact timing. In addition, since the golf club 3 vibrates due to the impact, it is considered that the timing at which the differential value of the combined value of the angular velocities is the maximum and the timing at which the differential is the minimum occurs. Conceivable.

Next, the swing analysis unit 211 detects the time of the minimum point where the composite value n (t) approaches 0 before the _impact time t _impact as the top time t _top (top timing) (see FIG. 12). ). In a normal golf swing, it is considered that after the start of the swing, the operation is temporarily stopped at the top, and then the swing speed is gradually increased to cause an impact. Therefore, the swing analysis unit 211 can recognize the timing at which the combined value of the angular velocities approaches 0 and becomes minimum before the impact timing as the top timing.

Next, the swing analysis unit 211 sets a section in which the composite value n (t) is equal to or less than a predetermined threshold before and after the _top time t _top as a top section, and the composite value n (t) is before the start time of the top section. The last time that is less than or equal to the predetermined threshold is detected as the time t _start of the swing start (back swing start) (see FIG. 12). In a normal golf swing, it is unlikely that the swing operation starts from a stationary state and stops until the top. Therefore, the swing analysis unit 211 can recognize the last timing before the combined value of the angular velocities is equal to or less than the predetermined threshold before the top section as the timing for starting the swing motion. Note that the swing analysis unit 211 may detect the time of the minimum point at which the composite value n (t) approaches 0 before the _top time t _top as the swing start time t _start .

  Note that the swing analysis unit 211 can detect the timing of the start of the swing, the top, and the impact in the same manner using the triaxial acceleration data.

[Calculation of shaft plane and Hogan plane]
The shaft plane is a first virtual plane that is specified by the target line (the target direction of the hit ball) and the longitudinal direction of the shaft of the golf club 3 at the time of address before the user 2 starts swinging (still state). In addition, the Hogan plane is a virtual line connecting the vicinity of the shoulder of the user 2 (such as the base of the shoulder or neck) and the golf club head (or the golf ball 4) and the target line (the target direction of the hit ball) at the address of the user 2 ).

  FIG. 14 is a diagram illustrating a shaft plane and a Hogan plane. FIG. 14 also shows the X axis, Y axis, and Z axis of the XYZ coordinate system (global coordinate system).

  As shown in FIG. 14, in the present embodiment, the first line segment 51 as the first axis along the target direction of the hit ball and the second line as the second axis along the longitudinal direction of the shaft of the golf club 3. And a virtual plane having four vertices U1, U2, S1, and S2 is defined as a shaft plane SP (first virtual plane). In the present embodiment, the head position 61 of the golf club 3 at the time of addressing is the origin O (0, 0, 0) of the XYZ coordinate system, and the second line segment 52 is the head position 61 (origin O of the golf club 3). ) And the grip end position 62. The first line segment 51 is a line segment having a length UL with U1 and U2 on the X axis as both ends and the origin O as a midpoint. Since the user 2 performs the operation of step S4 of FIG. 4 at the time of addressing, the shaft of the golf club 3 becomes perpendicular to the target line (X axis), so the first line segment 51 is the length of the shaft of the golf club 3 This is a line segment orthogonal to the direction, that is, a line segment orthogonal to the second line segment 52. The swing analysis unit 211 calculates the coordinates of the four vertices U1, U2, S1, and S2 in the XYZ coordinate system as the shaft plane SP.

Specifically, first, the swing analysis unit 211 uses the inclination angle α and the shaft length L ₁ included in the golf club information 242 to determine the coordinates (0, G) of the grip end position 62 of the golf club 3. _Y , G _Z ) is calculated. As shown in FIG. 10, the swing analysis unit 211 can calculate G _Y and G _Z using Equation (5) and Equation (6) using the shaft length L ₁ and the inclination angle α. .

次に、スイング解析部２１１は、ゴルフクラブ３のグリップエンドの位置６２の座標（０，Ｇ_Ｙ，Ｇ_Ｚ）にスケールファクターＳを乗算し、シャフトプレーンＳＰの頂点Ｓ１と頂点Ｓ２の中点Ｓ３の座標（０，Ｓ_Ｙ，Ｓ_Ｚ）を計算する。すなわち、スイング解析部２１１は、式（７）及び式（８）により、Ｓ_Ｙ及びＳ_Ｚをそれぞれ計算する。

Next, the swing analysis unit 211 multiplies the coordinates (0, G _Y , G _Z ) of the grip end position 62 of the golf club 3 by the scale factor S, and the midpoint S3 of the vertex S1 and the vertex S2 of the shaft plane SP. The coordinates of (0, S _Y , S _Z ) are calculated. That is, the swing analysis unit 211 calculates _SY and _SZ , respectively, according to the equations (7) and (8).

図１５は、図１４のシャフトプレーンＳＰをＹＺ平面で切った断面図をＸ軸の負側から視た図である。図１５に示すように、頂点Ｓ１と頂点Ｓ２の中点Ｓ３と原点Ｏとを結ぶ線分の長さ（シャフトプレーンＳＰのＸ軸と直交する方向の幅）は、第２線分５２の長さＬ_１のＳ倍となる。このスケールファクターＳは、ユーザー２のスイング動作中のゴルフクラブ３の軌跡がシャフトプレーンＳＰに収まるような値に設定される。例えば、ユーザー２の腕の長さをＬ２とすると、シャフトプレーンＳＰのＸ軸と直交する方向の幅Ｓ×Ｌ_１が、シャフトの長さＬ_１と腕の長さＬ_２の和の２倍となるように、スケールファクターＳを式（９）のように設定してもよい。

FIG. 15 is a cross-sectional view of the shaft plane SP of FIG. 14 taken along the YZ plane, as viewed from the negative side of the X axis. As shown in FIG. 15, the length of the line segment connecting the midpoint S3 of the vertex S1 and the vertex S2 and the origin O (the width of the shaft plane SP in the direction orthogonal to the X axis) is the length of the second line segment 52. It is the S multiple of _{L 1.} The scale factor S is set to a value such that the trajectory of the golf club 3 during the swing motion of the user 2 fits in the shaft plane SP. For example, when the length of the arm of the user 2 is L2, the width S × L ₁ in the direction orthogonal to the X axis of the shaft plane SP is twice the sum of the shaft length L ₁ and the arm length L _2. The scale factor S may be set as shown in Equation (9) so that

また、ユーザー２の腕の長さＬ_２は、ユーザー２の身長Ｌ_０と相関があり、統計情報に基づき、例えば、ユーザー２が男性の場合は式（１０）のような相関式で表され、ユーザー２が女性の場合は式（１１）のような相関式で表される。

Further, the arm length L ₂ of the user ₂ has a correlation with the height L _{0 of} the user 2, and is represented by a correlation equation such as Expression (10) when the user 2 is male based on statistical information. When the user 2 is a woman, it is expressed by a correlation equation such as equation (11).

従って、スイング解析部２１１は、身体情報２４４に含まれるユーザー２の身長Ｌ_０と性別とを用いて、式（１０）又は式（１１）により、ユーザーの腕の長さＬ_２を算出することができる。

Therefore, the swing analysis unit 211 calculates the user's arm length L _{2 according} to the equation (10) or the equation (11) using the height L ₀ and the gender of the user 2 included in the body information 244. Can do.

Next, the swing analysis unit 211 uses the coordinates (0, S _Y , S _Z ) of the midpoint S3 and the width of the shaft plane SP in the X-axis direction (the length of the first line segment 51) UL. The coordinates of the vertex U1 of the SP (-UL / 2, 0, 0), the coordinates of the vertex U2 (UL / 2, 0, 0), the coordinates of the vertex S1 (-UL / 2, S _Y , S _Z ), The coordinates (UL / 2, S _Y , S _Z ) are calculated. The width UL in the X-axis direction is set to a value such that the trajectory of the golf club 3 during the swing motion of the user 2 is within the shaft plane SP. For example, even if the width UL in the X-axis direction is the same as the width S × L ₁ in the direction orthogonal to the X-axis, that is, twice the sum of the shaft length L ₁ and the arm length L _2. Good.

  In this way, the swing analysis unit 211 can calculate the coordinates of the four vertices U1, U2, S1, and S2 of the shaft plane SP.

  Moreover, as shown in FIG. 14, in this embodiment, the first line segment 51 as the first axis and the third line segment 53 as the third axis are included, and U1, U2, H1, and H2 are set to four. A virtual plane having two vertices is defined as a Hogan plane HP (second virtual plane). The third line segment 53 is a line segment that connects a predetermined position 63 in the vicinity of the line segment that connects both shoulders of the user 2 and the head position 62 of the golf club 3. However, the third line segment 53 may be a line segment that connects the predetermined position 63 and the position of the golf ball 4. The swing analysis unit 211 calculates the coordinates of the four vertices U1, U2, H1, and H2 in the XYZ coordinate system as the Hogan plane HP.

Specifically, first, the swing analysis unit 211 determines the user 2 based on the coordinates (0, G _Y , G _Z ) of the grip end position 62 of the golf club 3 at the time of addressing (at rest) and the physical information 244. The predetermined position 63 is estimated using the arm length L ₂ and the coordinates (A _X , A _Y , A _Z ) are calculated.

FIG. 16 is a cross-sectional view of the Hogan plane HP of FIG. 14 taken along the YZ plane, as viewed from the negative side of the X axis. In FIG. 16, the midpoint of the line segment connecting both shoulders of the user 2 is a predetermined position 63, and the predetermined position 63 exists on the YZ plane. Therefore, the X-coordinate _{A X} a predetermined position 63 is zero. Then, as shown in FIG. 16, the swing analysis unit 211 has a predetermined position 63 that is a position obtained by moving the grip end position 62 of the golf club 3 in the positive direction of the Z axis by the arm length L ₂ of the user 2. Presume that there is. Accordingly, the swing analyzer 211, a Y coordinate _{A Y} of the predetermined position 63 to the same value as the Y-coordinate _{G Y} position 62 of the grip end. Further, the swing analysis unit 211 calculates the Z coordinate _{A Z} of predetermined positions 63, as in Equation (12), as the sum of the length _{L 2} of the arm of the Z coordinate _{G Z} and user 2 position 62 of the grip end To do.

次に、スイング解析部２１１は、所定位置６３のＹ座標Ａ_Ｙ及びＺ座標Ａ_ＺにそれぞれスケールファクターＨを乗算し、ホーガンプレーンＨＰの頂点Ｈ１と頂点Ｈ２の中点Ｈ３の座標（０，Ｈ_Ｙ，Ｈ_Ｚ）を計算する。すなわち、スイング解析部２１１は、式（１３）及び式（１４）により、Ｈ_Ｙ及びＨ_Ｚをそれぞれ計算する。

Next, the swing analysis unit 211 multiplies the Y coordinate A _Y and the Z coordinate _AZ of the predetermined position 63 by the scale factor H, respectively, and coordinates (0, H) of the midpoint H3 of the vertex H1 and the vertex H2 of the Hogan plane HP. _Y , H _Z ) is calculated. That is, the swing analysis unit 211 calculates H _Y and H _{Z according} to the equations (13) and (14), respectively.

図１６に示すように、頂点Ｈ１と頂点Ｈ２の中点Ｈ３と原点Ｏとを結ぶ線分の長さ（ホーガンプレーンＨＰのＸ軸と直交する方向の幅）は、第３線分５３の長さＬ３のＨ倍となる。このスケールファクターＨは、ユーザー２のスイング動作中のゴルフクラブ３の軌跡
がホーガンプレーンＨＰに収まるような値に設定される。例えば、ホーガンプレーンＨＰは、シャフトプレーンＳＰと同じ形及び大きさとしてもよい。この場合、ホーガンプレーンＨＰのＸ軸と直交する方向の幅Ｈ×Ｌ_３が、シャフトプレーンＳＰのＸ軸と直交する方向の幅Ｓ×Ｌ_１と一致し、ゴルフクラブ３のシャフトの長さＬ_１とユーザー２の腕の長さＬ_２の和の２倍となる。従って、スイング解析部２１１は、スケールファクターＨを式（１５）により、計算することができる。

As shown in FIG. 16, the length of the line segment connecting the midpoint H3 of the vertex H1 and the vertex H2 and the origin O (the width in the direction perpendicular to the X axis of the Hogan plane HP) is the length of the third line segment 53. It becomes H times L3. This scale factor H is set to a value such that the trajectory of the golf club 3 during the swing motion of the user 2 falls within the Hogan plane HP. For example, the Hogan plane HP may have the same shape and size as the shaft plane SP. In this case, the width H × L ₃ in the direction orthogonal to the X axis of the Hogan plane HP matches the width S × L ₁ in the direction orthogonal to the X axis of the shaft plane SP, and the length L of the shaft of the golf club 3 _This is twice the sum of the arm length L ₂ of ₁ and the user 2. Therefore, the swing analysis unit 211 can calculate the scale factor H by the equation (15).

また、スイング解析部２１１は、所定位置６３のＹ座標Ａ_Ｙ及びＺ座標Ａ_Ｚを用いて、式（１３）により、第３線分５３の長さＬ３を計算することができる。

Further, the swing analysis unit 211 can calculate the length L3 of the third line segment 53 by using the Y coordinate _AY and the Z coordinate _AZ of the predetermined position 63 according to the equation (13).

Next, the processing unit 21 uses the coordinates (0, H _Y , H _Z ) of the midpoint H3 and the width (the length of the first line segment 51) UL of the Hogan plane HP in the X-axis direction to use the Hogan plane HP. The coordinates of the vertex H1 (−UL / 2, H _Y , H _Z ) and the coordinates of H2 (UL / 2, H _Y , H _Z ) are calculated. Since the two vertices U1 and U2 of the Hogan plane HP are common to the shaft plane SP, the swing analysis unit 211 does not need to newly calculate the coordinates of the vertices U1 and U2 of the Hogan plane HP.

  In this way, the swing analysis unit 211 can calculate the coordinates of the four vertices U1, U2, H1, and H2 of the Hogan plane HP.

An area sandwiched between the shaft plane SP (first imaginary plane) and the Hogan plane HP (second imaginary plane) is called “V zone”, and the position of the head of the golf club 3 during the backswing or downswing and the V zone Therefore, it is possible to estimate the trajectory (ball muscle) of the hit ball to some extent. For example, when the head of the golf club 3 exists in a space lower than the V zone at a predetermined timing during the backswing or downswing, it is likely to be a hook-type hit ball. In addition, when the head of the golf club 3 exists in a space higher than the V zone at a predetermined timing during the backswing or the downswing, a slicing ball is likely to occur. In this embodiment, as is apparent from FIG. 16, the first angle β formed by the shaft plane SP and the Hogan plane HP is equal to the shaft length L ₁ of the golf club 3 and the arm length L ₂ of the user 2. Will be decided accordingly. That is, since the first angle β is not a fixed value but is determined according to the type of the golf club 3 and the body of the user 2, the shaft plane SP and the Hogan plane HP (V Zone) is calculated.

[Calculation of head position at halfway back and halfway down]
The head position at the time of halfway back is the position of the head immediately before or immediately after the halfway back, and the head position at the time of halfway back is the position of the head immediately before, immediately after or immediately after the halfway back.

First, the swing analysis unit 211 uses the position and posture of the sensor unit 10 at each time t from the swing start time t _start to the impact time t _impact to determine the head position and the grip end position at each time t. calculate.

Specifically, at each time t, the swing analysis unit 211 sets a position separated from the position of the sensor unit 10 by a distance LSH in the positive direction of the y-axis specified by the attitude of the sensor unit 10 as the head position. Calculate the coordinates of the head position. As mentioned above, the distance L _S
H is the distance between the sensor unit 10 and the head. In addition, the swing analysis unit 211 sets the grip end position as a grip end position at each time t from the position of the sensor unit 10 by the distance LSG in the negative y-axis direction specified by the attitude of the sensor unit 10. Calculate the coordinates of the end position. As described above, the distance LSG is a distance between the sensor unit 10 and the grip end.

  Next, the swing analysis unit 211 detects the halfway back timing and the halfway down timing using the coordinates of the head position and the coordinates of the grip end.

Specifically, the swing analysis unit 211 calculates a difference ΔZ between the Z coordinate of the head position and the Z coordinate of the grip end position at each time t from the swing start time t _start to the impact time t _impact. . Then, the swing analysis unit 211 detects a time t _{HWB at} which the sign of ΔZ is inverted between the swing start time t _start and the top time t _top as the halfway back timing. Further, the swing analysis unit 211 detects a time t _{HWD at} which the sign of ΔZ is inverted between the _top time t _top and the impact time t _impact as the halfway down timing.

Then, the swing analysis unit 211 sets the head position at time t _{HWB as} the head position at the time of halfway back, and sets the head position at time t _{HWD as} the head position at the time of halfway down.

[Calculation of head speed]
The head speed is the magnitude of the head speed at the time of impact (instant of impact, immediately before impact, or immediately after impact). For example, the swing analyzer 211, the difference of the coordinates of the position of the head at time t _impact of the impact and the position of the coordinates of the head at the previous time, to calculate the velocity of the head at time t _impact of the impact. Then, the swing analysis unit 211 calculates the magnitude of the head speed as the head speed.

[Calculation of face angle and club path (incident angle)]
The face angle is an index based on the inclination of the head of the golf club 3 at impact, and the club path (incident angle) is an index based on the trajectory of the head of the golf club 3 at impact.

  FIG. 17 is a diagram for explaining the face angle and the club path (incident angle). FIG. 17 shows the golf club 3 (only the head is shown) on the XY plane viewed from the positive side of the Z axis in the XYZ coordinate system. In FIG. 17, reference numeral 74 denotes a face surface (striking surface) of the golf club 3, and 75 denotes a hitting point. Reference numeral 70 denotes a target line indicating the target direction of the hit ball, and reference numeral 71 denotes a plane orthogonal to the target line 70. Further, 76 is a curve representing the locus of the head of the golf club 3, and 72 is a tangent to the curve 76 at the hitting point 75. At this time, the face angle φ is an angle formed by the plane 71 and the face surface 74, in other words, an angle formed by the straight line 73 orthogonal to the face surface 74 and the target line 70. The club path (incident angle) ψ is an angle formed by the tangent line 72 (the direction in which the head passes the ball hitting point 75 in the XY plane) and the target line 70.

For example, the swing analysis unit 211 assumes that the angle formed by the face surface of the head and the x-axis direction is always constant (for example, orthogonal), and determines from the posture of the sensor unit 10 at the _impact time t _impact to the face surface. Calculate the direction of orthogonal straight lines. Then, the swing analysis unit 211 calculates the angle (face angle) φ formed by the straight line 73 and the target line 70 by setting the Z-axis component of the straight line direction to 0 as the straight line 73 direction.

Further, for example, the swing analysis unit 211 sets the direction of the speed (that is, the speed of the head in the XY plane) where the Z-axis component of the head speed at _impact time t _impact is 0 as the direction of the tangent 72, An angle (club path (incident angle)) ψ formed with the target line 70 is calculated.

  Note that the face angle φ is also referred to as an absolute face angle because it represents the inclination of the face surface 74 relative to the target line 70 whose direction is fixed regardless of the direction of incidence on the ball hitting point 75 of the head. On the other hand, the angle η formed by the straight line 73 and the tangent line 72 is referred to as a relative face angle because it represents the inclination of the face surface 74 with respect to the direction of incidence on the hitting point 75 of the head. The relative face angle η is an angle obtained by subtracting the club path (incident angle) ψ from the (absolute) face angle φ.

[Calculation of attack angle]
The attack angle is an index based on the trajectory of the head of the golf club 3 at the impact time t _impact as with the club path (incident angle). However, the attack angle is calculated by calculating the trajectory angle in a plane different from the club path (incident angle).

The swing analysis unit 211 calculates an angle formed by the head velocity vector at the impact time t _impact and the Z axis on the XZ plane as an attack angle. For example, when the head moving direction at the impact time t _impact is a so-called upper blow direction, the attack angle is a positive value, and when the head is so-called down blow, the attack angle is a negative value, so-called level blow direction. The attack angle is zero when.

[Swing rhythm calculation]
The swing rhythm is an index indicating the ratio of the required time of each section of the swing.

For example, the swing analysis unit 211 determines the period of the entire swing as follows: swing start time t _start , half way back time t _HWB , top time t _top , half way down time t _HWD , grip deceleration start time t _vmax , impact time t _impact Is divided into a plurality of sections, and the required time for each section is calculated.

  Then, the swing analysis unit 211 calculates a ratio of required times of two different sections as a swing rhythm. Two sections that are different from each other may be two sections that do not overlap each other, or may be two sections that have a relationship in which one includes the other. Further, the two sections different from each other may be two sections designated in advance by the user 2.

For example, the swing analysis unit 211 calculates the time required for the back swing (the time required for the section from the swing start time t _start to the top time t _top ) and the time required for the down swing (from the top time t _top to the impact time t _impact ). The ratio obtained by dividing by the required time of the section is calculated as a swing rhythm.

[Calculation of hand-up angle]
The hand-up angle is one of the indexes indicating the shaft posture deviation between the swing start time t _start and the impact time t _impact, and is an inclination angle α (t in the lie angle direction of the shaft at the swing start time t _start . _start ) and an inclination angle α (t _impact ) in the lie angle direction of the shaft at the impact time t _impact . Instead of the inclination angle α (t _start ) in the lie angle direction of the shaft at the swing start time t _start , the inclination angle α (t _address ) in the lie angle direction of the shaft at the address time t _address can also be used. In addition, the inclination angle α in the lie angle direction is an angle indicated by a symbol α in FIG. 10, and is an angle formed by the y axis and the Y axis in the YZ plane.

For example, the swing analysis unit 211 calculates the tilt angle α (t _start ) at the _start of the swing based on the posture of the golf club 3 at the swing start time t _start (the posture represented by the global coordinates).

In addition, the swing analysis unit 211 calculates an inclination angle α (t _impact ) at the impact time t _impact based on, for example, the posture of the golf club 3 at the impact time t _impact (posture expressed in global coordinates).

Further, the swing analysis unit 211, for example, based on the ratio of the z-axis acceleration component _{a z} and y-axis acceleration component _{a y} in the address time _{t address (a y / a z} ), the tilt angle in the address time _{t address} alpha ( t _address ) is calculated. Note that the swing analysis unit 211 can also obtain the tilt angle α (t _address ) at the address time by applying the y-axis acceleration component a _y to “y (0)” in Expression (1).

Further, the swing analysis unit 211 subtracts the inclination angle α (t _start ) at the swing start time t _start from the inclination angle α (t _impact ) at the impact time t _impact , for example, to thereby determine the hand-up angle Δα = α (t _impact ) −α (t _start ).

In addition, the swing analysis unit 211 subtracts the inclination angle α (t _address ) at the address time t _address from the inclination angle α (t _impact ) at the impact time t _impact , for example, so that the hand-up angle Δα = α (t _impact). ) -Α (t _address ) may be calculated.

[Calculation of shaft rotation angle at top]
The shaft shaft rotation angle θ _top at the time of _top is an angle (relative rotation angle) that the golf club 3 rotates around the shaft axis from the reference timing to the top timing. The reference timing is, for example, at the start of backswing or at the time of addressing. In this embodiment, when the user 2 is right-handed, the tightening direction of the right screw with the tip directed to the head side of the golf club 3 (the clockwise direction when viewing the head side from the grip end side) is the shaft axis. A positive direction of the rotation angle θ _top is assumed. Conversely, when the user 2 is left-handed, the shaft is rotated in the direction of tightening the left screw with the tip facing the golf club 3 head side (counterclockwise when viewing the head side from the grip end side). The positive direction of the angle θ _top is assumed.

FIG. 18 is a diagram illustrating an example of a temporal change in the shaft shaft rotation angle from the swing start (back swing start) to the impact. In FIG. 18, the horizontal axis represents time (s), and the vertical axis represents the shaft axis rotation angle (deg). FIG. 18 shows the shaft shaft rotation angle θ _top at the top when the swing start time (back swing start time) is the reference timing (the shaft shaft rotation angle is 0 °).

In the present embodiment, as shown in FIG. 3, the y-axis of the sensor unit 10 substantially coincides with the longitudinal direction of the golf club 3 (longitudinal direction of the golf club 3). Accordingly, for example, the swing analysis unit 211 time-integrates the y-axis angular velocity included in the angular velocity data from the swing _start time t _start (backswing start time) or from the address time to the top time t _top (top time). Then, the shaft shaft rotation angle θ _top is calculated. Similarly, the swing analysis unit 211 time-integrates the y-axis angular velocity included in the angular velocity data from the swing _start time t _start (at the _{start of the} back swing) or from the address time to the half way back time t _HWB , thereby _performing the half way The shaft shaft rotation angle θ _HWB at the back time t _HWB is calculated.

[Calculation of grip deceleration rate and grip deceleration time rate]
The grip deceleration rate is an index based on the amount of deceleration of the grip, and is a ratio between the grip speed when the grip starts to decelerate during the downswing and the grip speed at the time of impact. The grip deceleration time rate is an index based on the grip deceleration period, and is a ratio between the time from the start of deceleration of the grip during the downswing to the impact and the time of the downswing. The grip speed is preferably the speed of the part gripped by the user 2, but may be the speed of any part of the grip (for example, the grip end) or the speed of the part near the grip. May be.

FIG. 19 is a diagram illustrating an example of a temporal change in the grip speed in the downswing. In FIG. 19, the horizontal axis represents time (s), and the vertical axis represents grip speed (m / s). In FIG. 19, when the grip speed when the grip starts to decelerate (maximum grip speed) is V1, and the grip speed at the time of impact is V2, the grip deceleration rate R _V (unit:%) is It is represented by Formula (16).

また、図１９において、トップからグリップが減速を開始するまでの時間をＴ１、グリップが減速を開始してからインパクトまでの時間をＴ２とすると、グリップ減速時間率Ｒ_Ｔ（単位：％）は、次の式（１７）で表される。

In FIG. 19, when the time from the top until the grip starts to decelerate is T1, and the time from when the grip starts decelerating to the impact is T2, the grip deceleration time rate R _T (unit:%) is It is represented by the following formula (17).

例えば、ユーザー２がゴルフクラブ３を把持する部分の近くにセンサーユニット１０が取り付けられるものとして、センサーユニット１０の速度をグリップの速度とみなしてもよい。従って、まず、スイング解析部２１１は、トップの時刻ｔ_ｔｏｐからインパクトの時刻ｔ_{ｉｍｐａｃｔ}まで（ダウンスイング中）の各時刻ｔにおけるセンサーユニット１０の位置の座標とその１つ前の時刻におけるセンサーユニット１０の位置の座標との差分により、各時刻ｔにおけるセンサーユニット１０の速度を計算する。

For example, assuming that the sensor unit 10 is attached near the portion where the user 2 holds the golf club 3, the speed of the sensor unit 10 may be regarded as the grip speed. Therefore, first, the swing analysis unit 211 detects the coordinates of the position of the sensor unit 10 at each time t from the top time t _top to the impact time t _impact (during the downswing) and the sensor unit 10 at the previous time. The speed of the sensor unit 10 at each time t is calculated based on the difference from the coordinates of the position.

Next, the swing analysis unit 211 calculates the magnitude of the speed of the sensor unit 10 at each time t, and sets the maximum value as V1 and the magnitude of the speed at the _impact time _timpact as V2. In addition, the swing analysis unit 211 specifies a time _tvmax when the magnitude of the speed of the sensor unit 10 becomes the maximum value V1. Further, the swing analysis unit 211 calculates T1 = t _vmax −t _top and T2 = t _impact −t _vmax . Then, the swing analysis unit 211 calculates the grip deceleration rate R _V and the grip deceleration time rate _{RT according} to the equations (16) and (17), respectively.

The swing analysis unit 211 regards the grip end speed as the grip speed and calculates the grip end speed based on the coordinates of the position of the grip end at each time t (during the downswing), and the same calculation as above. Thus, the grip deceleration rate _RV and the grip deceleration time rate _RT may be obtained.

[Calculation of "V zone" item index]
The swing analysis unit 211 has a head position at halfway back time t _HWB , a head position at halfway down time t _HWD, and a head position at grip deceleration start time _tvmax. And the area to which the head position belonged at the top time t _top is calculated as an index. The boundaries of the plurality of areas are determined based on the shaft plane SP and Hogan plane HP (V zone), which are virtual planes determined by the address posture of the user 2.

FIG. 20 is a diagram showing an example of the relationship between the shaft plane SP and Hogan plane HP (V zone) and a plurality of regions (note that the lower part of FIG. 20 shows the shaft plane SP and Hogan plane HP and the user 2 An example of the outline of the posture was shown.) FIG. 20 shows the relationship between the shaft plane SP, the Hogan plane HP, and the five areas A to E when viewed from the negative side of the X axis (projected on the YZ plane). The region B is a predetermined space including the Hogan plane HP, and the region D is a predetermined space including the shaft plane SP. Region C is a space (the space between the boundary surface S _CD between the boundary surface S _BC and region D of the region B) which is sandwiched between the regions B and D. The region A is a space in contact with the region B at the boundary surface S _AB opposite to the region C. The region E is a space in contact with the region D at the boundary surface _SDE opposite to the region C.

Various methods for setting the boundary surface S _AB , the boundary surface S _BC , the boundary surface S _CD, and the boundary surface S _DE are conceivable. For example, on the YZ plane, the Hogan plane HP is exactly in the middle of the boundary surface S _AB and the boundary surface S _BC , and the shaft plane SP is in the middle of the boundary surface S _CD and the boundary surface S _DE . In addition, the angles around the origin O (X axis) of the regions B, C, and D can be set to be equal. That is, with respect to the first angle β formed by the shaft plane SP and the Hogan plane HP, the angles formed by the Hogan plane HP, the boundary surface SAB, and the boundary surface SBC are respectively set to β / 4. If the angles formed by S _CD and boundary surface S _DE are respectively set to β / 4, region B, region C,
Both angles of the region D are set to β / 2.

Since it is not possible to assume a swing in which the Y coordinate of the head position is negative during halfway back or halfway down, in FIG. 20, the boundary surface opposite to the boundary surface S _AB in the region A is the XZ plane. Is set. Similarly, the Z-coordinate of the head position at the half-way back or during Halfway down swing such that negative can not be assumed, the boundary surface between the boundary surface S _DE region E opposite side is set to the XY plane Yes. Of course, the boundary surfaces of the regions A and E may be set so that the angles around the origin O (X axis) of the regions A and E are also equal to the regions B, C, and D.

Specifically, first, the swing analysis unit 211 is based on the coordinates of the four vertices U1, U2, S1, and S2 of the shaft plane SP and the coordinates of the four vertices U1, U2, H1, and H2 of the Hogan plane HP. , Each boundary surface S _AB , boundary surface S _BC , boundary surface S _CD and boundary surface S _DE of the regions A to E are set.

Then, the swing analysis unit 211, the coordinates of the head position of the half-way back time _{t HWB,} the coordinates of the head position of the half-way down the time _{t HWD,} coordinates of the position of the head of the grip deceleration starting time _{t vmax,} top time _{t top} It is determined which of the areas A to E each of the head position coordinates belongs to.

[Swing analysis procedure]
FIG. 21 is a flowchart illustrating an example of a procedure of swing analysis processing by the processing unit 21. The processing unit 21 executes the swing analysis program 240 stored in the storage unit 24, thereby executing the swing analysis process, for example, according to the procedure shown in the flowchart of FIG. Hereinafter, the flowchart of FIG. 21 will be described.

  First, the processing unit 21 waits until a measurement start operation (operation in step S2 in FIG. 4) by the user 2 is performed (N in S10). When the measurement start operation is performed (Y in S10), the sensor unit 10 A measurement start command is transmitted to the sensor unit 10, and acquisition of measurement data from the sensor unit 10 is started (S12).

  Next, the processing unit 21 instructs the user 2 to take an address posture (S14). In accordance with this instruction, the user 2 takes an address posture and stops (step S4 in FIG. 4).

  Next, the processing unit 21 determines whether or not the golf club 3 is stationary in a correct posture for a predetermined period using the measurement data acquired from the sensor unit 10 (S16), and when it is stationary (S16Y). The user 2 is notified of permission to start the swing (S18). Otherwise, the process proceeds to the end determination process (S24). For example, the processing unit 21 outputs a predetermined sound or notifies the user 2 of permission to start swinging by providing an LED in the sensor unit 10 and lighting the LED. Starts the swing operation (the operation in step S6 in FIG. 4) after confirming this notification.

  Next, the processing unit 21 determines whether or not an impact is detected within a predetermined period from the permission of the swing (S18) based on the measurement data acquired from the sensor unit 10 (S20), and if it is detected (S20Y). Shifts to the swing analysis data generation process (S22), otherwise shifts to the end determination process (S24).

  Next, the processing unit 21 extracts the measurement data during the swing before and after the impact from the measurement data acquired from the sensor unit 10, and calculates various indexes and trajectories based on the measurement data during the swing. Is generated and transmitted to the server device 30 (S22). Note that the processing unit 21 uses measurement data during a period in which the golf club 3 is stationary in a correct posture for bias correction and global coordinate setting regarding measurement data during a swing. Further, the processing unit 21 may include the measurement data itself during swing (so-called raw data) with respect to the swing analysis data transmitted to the server device 30.

  Next, the processing unit 21 determines whether or not a measurement end operation has been performed by the user 2 (S24), and if it has been performed (S24Y), the flow ends, and if not (S24N), The process proceeds to the address instruction process (S14).

  In the flowchart of FIG. 21, the order of the steps may be appropriately changed within a possible range, some of the steps may be deleted or changed, and other steps may be added.

1-4. Configuration of Server Device FIG. 22 is a diagram illustrating a configuration example of the server device 30. As shown in FIG. 22, in the present embodiment, the server device 30 includes a processing unit 31, a communication unit 32, and a storage unit 34. However, the server device 30 may have a configuration in which some of these components are appropriately deleted or changed, or other components are added as appropriate.

The storage unit 34 includes, for example, various IC memories such as a ROM, a flash ROM, and a RAM, a recording medium such as a hard disk and a memory card, and the like. The storage unit 34 stores programs for the processing unit 31 to perform various calculation processes and control processes, various programs and data for realizing application functions, and the like.

  In the present embodiment, the storage unit 34 stores (saves) a swing analysis data list 341 including a plurality of swing analysis data 248 generated by the swing analysis device 20. That is, the swing analysis data 248 generated every time the processing unit 21 of the swing analysis device 20 analyzes the swing motion of the user 2 is sequentially added to the swing analysis data list 341.

  The storage unit 34 is used as a work area of the processing unit 31 and temporarily stores calculation results and the like executed by the processing unit 31 according to various programs. Furthermore, the storage unit 34 may store data that needs to be stored for a long time among the data generated by the processing of the processing unit 31.

  The communication unit 32 performs data communication with the communication unit 27 (see FIG. 9) of the swing analysis device 20 via the network 40. For example, the communication unit 32 performs a process of receiving the swing analysis data 248 from the communication unit 27 of the swing analysis device 20 and sending it to the processing unit 31. Further, for example, the communication unit 32 transmits information necessary for display of the selection screen of FIG. 7 to the communication unit 27 of the swing analysis device 20, or transmits selection information on the selection screen of FIG. 7 to the communication of the swing analysis device 20. The processing received from the unit 27 and sent to the processing unit 31 is performed. Further, for example, the communication unit 32 performs processing for receiving information necessary for displaying the display screen of FIG. 8 from the processing unit 31 and transmitting the information to the communication unit 27 of the swing analysis apparatus 20.

  The processing unit 31 receives the swing analysis data 248 from the swing analysis device 20 via the communication unit 32 and stores it in the storage unit 34 (added to the swing analysis data list 341) according to various programs. Further, the processing unit 31 receives various types of information from the swing analysis apparatus 20 via the communication unit 32 in accordance with various programs, and information necessary for displaying various screens (the respective screens in FIGS. 7 and 8, etc.). Is transmitted to the swing analysis device 20. The processing unit 31 performs other various control processes.

  In particular, in the present embodiment, the processing unit 31 functions as the data acquisition unit 310 and the storage processing unit 312 by executing a predetermined program.

  The data acquisition unit 310 performs processing for receiving the swing analysis data 248 received by the communication unit 32 from the swing analysis device 20 and sending it to the storage processing unit 312.

  The storage processing unit 312 performs read / write processing of various programs and various data for the storage unit 34. For example, the storage processing unit 312 receives the swing analysis data 248 from the data acquisition unit 310 and stores it in the storage unit 34 (adds it to the swing analysis data list 341), or the swing analysis data stored in the storage unit 34. Processing such as reading the swing analysis data 248 from the list 341 is performed.

1-5. Processing of Server Device The processing unit 31 of the server device 30 transmits / receives data to / from the swing analysis device 20 and manages user swing analysis data for each user.

[Processing procedure of server device]
FIG. 23 is a flowchart illustrating an example of a processing procedure performed by the processing unit 21 of the swing analysis device 20 related to the processing of the server device. FIG. 24 is a flowchart showing an example of the processing procedure of the server apparatus. The processing unit 31 (an example of a computer) of the server device 30 executes the program according to the procedure of the flowchart of FIG. 24 by executing the program stored in the storage unit 34, for example. Hereinafter, the flowcharts of FIGS. 23 and 24 will be described.

  First, the processing unit 21 of the swing analysis device 20 transmits the user identification information assigned to the user 2 to the server device 30 (S100 in FIG. 23).

  Next, the processing unit 31 of the server device 30 receives the user identification information and transmits the list information of the swing analysis data 248 corresponding to the user identification information (S200 in FIG. 24).

  Next, the processing unit 21 of the swing analysis device 20 receives the list information of the swing analysis data 248 and causes the display unit 25 to display a selection screen of swing analysis data (FIG. 7) (S110 in FIG. 23).

  Then, the processing unit 21 of the swing analysis device 20 waits until the swing analysis data 248 is selected on the swing analysis data selection screen (N in S120 in FIG. 23), and when selected (Y in S120 in FIG. 23). ), The swing analysis data selection information is transmitted to the server device 30 (S130 in FIG. 23).

  Next, the processing unit 31 of the server device 30 receives the selection information of the swing analysis data (S210 in FIG. 24).

  Next, the processing unit 31 of the server device 30 transmits the selected swing analysis data (S240 in FIG. 24).

  Next, the processing unit 21 of the swing analysis device 20 receives the selected swing analysis data, and displays images (images showing various indices, images showing swing trajectories, etc.) based on the swing analysis data on the display unit 25. It is displayed (S140 in FIG. 23), and the process is terminated.

  In the flowchart of FIG. 23, the order of each process may be appropriately changed within a possible range, a part of the process may be deleted or changed, and another process may be added. Similarly, in the flowchart of FIG. 24, the order of each process may be appropriately changed within a possible range, a part of the process may be deleted or changed, and another process may be added.

1-6. About stationary determination of swing analysis device 1-6-1. Overview of Stillness Determination As shown in FIG. 21, the swing analysis apparatus 20 of the present embodiment performs golf when it is determined that the golf club 3 is stationary (in a stationary state) after the measurement start operation (S10Y) (S16Y). The user 2 is notified of the permission to start the swing by the club 3 (S18), and the user 2 is not notified of the permission to start the swing if it is not determined to be stationary (S16N). Specifically, the swing analysis device 20 according to the present embodiment performs the swing when the posture of the golf club 3 is unstable or when the posture of the golf club 3 is significantly different from the posture of the standard address. The user 2 is not notified of permission to start.

  However, even when the user 2 takes an address posture and stands still, permission to start swing may not be notified. The cause is considered to be the following cause (1) or cause (2).

  (1) The swing analysis application or sensor unit 10 installed in the swing analysis device 20 is out of order.

  (2) Even if the user 2 intends to stand still in the correct posture, the golf club 3 does not satisfy the condition for the swing analysis device 20 to determine that the user 2 is stationary.

  Of these, in the case of cause (1), it is necessary to repair the sensor unit 10 or the swing analysis application (reinstallation, etc.), but in the case of cause (2), there is no need for repair. It is only necessary to adjust the address attitude.

  However, it is difficult for the user 2 to determine whether the real cause is (1) or (2). Therefore, even though the cause is (2), the user 2 makes a repair request to the manufacturer of the sensor unit 10 or the provider of the swing analysis application (for example, the operator of the server device 30) or the cause is (1). However, the user 2 has repeatedly tried to improve the address attitude, and time has been wasted.

  Therefore, the swing analysis apparatus 20 of the present embodiment is a process for determining whether or not the golf club 3 is stationary in a correct posture for a predetermined period of time (hereinafter, referred to as “step S16” in FIG. 21). This process is referred to as “stillness determination”), and the state of the golf club 3 is notified to the user 2 in real time.

  Accordingly, the user 2 swings when the state of the golf club 3 is changed by variously changing the state of the golf club 3 while checking the content of the notification during the stillness determination (S16 in FIG. 21). You can experience whether the start is allowed. The user 2 who has experienced this experience can almost accurately grasp the address posture that the user 2 should take since the start of the swing is permitted.

  Further, if the content of the notification does not change even when the state of the golf club 3 is variously changed during the stillness determination (S16 in FIG. 21), the user 2 has failed in the sensor unit 10 or the swing analysis application. It can be determined immediately.

1-6-2. Basic Processing of Stillness Determination First, the basic processing of stillness determination (S16 in FIG. 21) will be described.

  Basically, the swing analysis unit 211 of the swing analysis device 20 according to the present embodiment has a predetermined state (an example of a predetermined state) in which both the following stationary condition (A) and the following posture condition (B) are satisfied. It is assumed that the golf club 3 is determined to be stationary (in a correct posture) when continued over a period (for example, a period of 2 seconds, an example of a determination criterion). Here, it is assumed that the stationary condition is satisfied when both the stationary condition (A) and the posture condition (B) are satisfied. However, it is also possible to determine that the stationary condition is satisfied when only one of the stationary conditions (A) and the posture condition (B) is satisfied. is there.

  (A) The change amount per unit time of the attitude of the shaft indicated by the triaxial angular velocity data is less than a threshold value (an example of a determination criterion). In order to determine whether or not the stationary condition (A) is satisfied, the swing analysis unit 211 changes the posture per 1 ms, for example, based on the angular velocity data (or acceleration data) measured at a predetermined period (eg, 1 ms). An amount is calculated, and it is determined whether the posture change amount is less than a predetermined threshold. Then, the swing analysis unit 211 repeats this determination, for example, at a predetermined period (for example, 1 ms).

(B) The tilt angle α in the lie angle direction of the shaft indicated by the triaxial acceleration data (hereinafter referred to as the shaft angle α in the hand-up direction) is within the standard range (an example of a determination criterion). In order to determine whether or not this posture condition (B) is satisfied, for example, the swing analysis unit 211 performs acceleration data (y-axis acceleration component a _y , z-axis acceleration measured at a predetermined period (for example, 1 ms). Hand-up direction based on component a _z ) (an example of a direction intersecting the ground plane)
Is calculated, and it is determined whether or not the shaft angle α in the hand-up direction is within the standard range. Then, the swing analysis unit 211 repeats this determination, for example, at a predetermined period (for example, 1 ms).

  Note that the shaft angle α in the hand-up direction is the angle indicated by the symbol α in FIG. 10, and is the angle that the shaft (y axis) forms with respect to the Y axis in the YZ plane.

As shown in FIG. 10, the shaft angle α in the hand-up direction is an angle formed by the shaft extending direction (y-axis) and the ground (horizontal plane) on the yz plane. The shaft angle α in the hand-up direction is represented by a _z- axis acceleration component a _z and a y-axis acceleration component a _y included in the triaxial acceleration data. For example, the swing analysis unit 211 considers that the shaft angle α in the hand-up direction is larger as the ratio (a _y / a _z ) between the z-axis acceleration component a _z and the y-axis acceleration component a _y is larger.

The standard range of the shaft angle α in the hand-up direction is a range of the shaft angle α in the hand-up direction around the lie angle α _Lie unique to the golf club 3, and (α _Lie −Δα) <α < It is represented by the formula (α _Lie + Δα). The width (2Δα) of the standard range is set to be approximately equal to the variation in the shaft angle α in the hand-up direction at the time of addressing various users 2 using the same type of golf club 3, for example.

Further, the lie angle α _Lie unique to the golf club 3 corresponds to the shaft angle α in the hand-up direction when the sole surface of the head of the golf club 3 is in contact with the ground (horizontal plane).

Further, it is assumed that the information on the lie angle _αLie unique to the golf club 3 is included in the golf club information 242 input in advance by the user 2 to the swing analysis device 20. Therefore, the swing analysis unit 211 can recognize the lie angle α _Lie unique to the golf club 3 based on the golf club information 242.

1-6-3. Notification during stillness determination Next, notification during stillness determination (S16 in FIG. 21) will be described.

  Here, the case where the notification during the still determination (the period until the determination that the state is still) is an image notification (indicator screen) will be described, but the notification by image, notification by light, notification by sound, Notification by vibration, notification by light luminance change pattern, notification by light color change pattern, notification by sound change pattern, notification by vibration change pattern can be used, and at least two of these notifications can be used. It is also possible to use a notification combining the above.

  Further, notification by image or light is performed by, for example, the processing unit 21 (particularly the display processing unit 214) and the display unit 25, and notification by sound is performed by, for example, the processing unit 21 (particularly the sound output processing unit 215), sound output. This is performed by the unit 26. The notification by vibration is performed by, for example, the processing unit 21 (particularly, a vibration output processing unit not shown) or a vibration mechanism not shown. However, in the following description, it is assumed that the subject of the notification operation is the processing unit 21.

  First, the processing unit 21 sequentially reflects the shaft angle α in the hand-up direction calculated during the stillness determination on an indicator screen (described later) of the display unit 25. Accordingly, when viewed from the user 2, the shaft angle α in the hand-up direction is displayed on the indicator screen (described later) in substantially real time. Thereby, the change (state change) of the shaft angle α in the hand-up direction is displayed.

Further, the processing unit 21 reflects the x-axis acceleration component a _x of the acceleration data measured at a predetermined cycle (for example, 1 ms) during the stillness determination on the indicator screen (FIGS. 25 to 28 described later). The x-axis acceleration component a _x represents the degree of the inclination angle γ (hereinafter referred to as the shaft angle γ in the hand first direction) in the loft angle direction of the shaft (an example of the horizontal direction with respect to the ground plane).

  The shaft angle γ in the hand first direction is an angle formed by the shaft (y axis) with respect to the Z axis in the XZ plane.

Incidentally, if it is assumed that the mounting posture of the sensor unit 10 with respect to the golf club 3 is as shown in FIG. 3, it can be considered that the shaft angle γ in the hand first direction is larger as the x-axis acceleration component a _x is larger.

  Therefore, when viewed from the user 2, the degree of the shaft angle γ in the hand-first direction is displayed on the indicator screen almost in real time. Thereby, the change (state change) of the shaft angle γ in the hand first direction is displayed.

Further, the processing unit 21 displays the standard range (α _Lie −Δα) <α <(α _Lie + Δα) of the shaft angle α in the hand-up direction on the indicator screen during the stationary determination. Therefore, the user 2 can grasp the approximate target of the shaft angle α in the hand-up direction together with the shaft angle α in the actual hand-up direction.

  FIG. 25 is an example of an indicator screen.

  As shown in FIG. 25, on the indicator screen, a character image 25C “promptly ground the head when shaking is large” for prompting the user 2 to stand still is arranged. It should be noted that a character image “Please stand still” for instructing the address posture to the user 2 may be arranged on the indicator screen.

  On the indicator screen, a pointer 25A (an example of information indicating a change in state of the exercise equipment) is arranged. The position of the pointer 25A on the indicator screen represents the current posture of the golf club 3 with respect to the horizontal plane.

  First, the vertical position of the pointer 25A on the indicator screen represents the shaft angle α in the hand-up direction (an example of the posture change in the direction intersecting the ground surface), and the shaft angle α in the hand-up direction is large. The pointer 25A is positioned upward as the time passes, and the pointer 25A is positioned downward as the inclination angle α in the lie angle direction is smaller.

  Further, the position of the pointer 25A in the left-right direction on the indicator screen represents the shaft angle γ in the hand first direction (an example of a posture change in the horizontal direction with respect to the ground surface). The pointer 25A is located on the left side, and the pointer 25A is located on the right side as the shaft angle γ in the hand first direction is smaller.

  In the indicator screen shown in FIG. 25, the standard range of the shaft angle α in the hand-up direction is represented by a pair of line marks 25B. Of the pair of line-shaped marks 25B, the line-shaped mark 25B located on the upper side of the indicator screen represents the upper limit of the standard range, and the line-shaped mark 25B located on the lower side of the indicator screen represents the lower limit of the standard range. Represents.

  Further, the time change of the position of the pointer 25A on the indicator screen represents the time change of the posture of the golf club 3. Specifically, the time change in the vertical position of the pointer 25A indicates the time change in the shaft angle α in the hand-up direction, and the time change in the left-right direction in the pointer 25A indicates the shaft angle γ in the hand-first direction. Shows time change.

  Therefore, the user 2 takes an address posture so that the pointer 25A is within the rectangular area sandwiched between the pair of line-shaped marks 25B and the position of the pointer 25A is stabilized, and the state is maintained for 2 seconds. By maintaining it for a long time, the swing analysis device 20 can recognize that the golf club 3 is stationary in the correct posture.

  The user 2 can also know the hand first amount of his / her address posture from the position of the pointer 25A in the left-right direction. For example, it can be recognized that the hand first amount is larger as the position of the pointer 25A is on the left side.

  FIG. 26 is another example of the indicator screen. Here, differences from the indicator screen shown in FIG. 25 will be mainly described.

  In the indicator screen shown in FIG. 26, the standard range of the shaft angle α in the hand-up direction is represented by a pair of arrowhead marks 25B ′.

  The direction of each of the pair of arrowhead marks 25B 'is set so that the tips of each other face each other. Of these pair of arrowhead marks 25B ′, the arrowhead mark 25B ′ located above the indicator screen represents the upper limit of the standard range, and the arrowhead mark 25B ′ located below the indicator screen represents the standard range. Represents the lower limit.

  Therefore, the user 2 takes an address posture so that the pointer 25A is within the range sandwiched between the pair of arrowhead marks 25B ′ and the position of the pointer 25A is stabilized, and the state is maintained for 2 seconds. The swing analysis device 20 can recognize that the golf club 3 is stationary in the correct posture.

  FIG. 27 shows still another example of the indicator screen. Here, differences from the indicator screen shown in FIG. 26 will be mainly described.

  In the indicator screen shown in FIG. 27, the standard range of the shaft angle α in the hand-up direction is represented by a pair of partial ring-shaped marks 25B ″.

  The direction of each of the pair of partial ring-shaped marks 25B ″ is set so that the concave portions face each other. Of these pair of partial ring-shaped marks 25B ″, they are positioned above the indicator screen. The partial ring-shaped mark 25B ″ represents the upper limit of the standard range, and the partial ring-shaped mark 25B ″ located on the lower side of the indicator screen represents the lower limit of the standard range.

  The width in the left-right direction of the pair of partial ring-shaped marks 25B ″ is set to a size corresponding to a standard range (described later) of the shaft angle γ in the hand-first direction.

  In addition, in the indicator screen shown in FIG. 27, a pair of arrowhead marks 25B 'indicating the standard range of the shaft angle α in the hand-up direction is supplementarily represented. The pair of arrowhead marks 25B 'is the same as the arrowhead mark 25B' shown in FIG.

Therefore, the user 2 takes an address posture so that the pointer 25A is within the oval or circular area sandwiched between the pair of partial ring-shaped marks 25B ″ and the position of the pointer 25A is stable, By maintaining the state for 2 seconds, the swing analysis device 20 can recognize that the golf club 3 is stationary in the correct posture.

Note that the user 2 takes the address posture so that the pointer 25A fits in the center of the oval or circular area sandwiched between the pair of partial ring-shaped marks 25B ″, thereby setting the shaft angle α in the hand-up direction. It is possible to match the angle α _Lie and set the shaft angle γ in the hand first direction to zero (the hand first amount is set to zero).

  FIG. 28 shows still another example of the indicator screen. Here, differences from the indicator screen shown in FIG. 27 will be mainly described.

  In the indicator screen shown in FIG. 28, a pair of partial ring-shaped marks 25B "similar to those shown in FIG. 27, a pair of arrowhead marks 25B 'similar to those shown in FIG. Another pair of arrowhead marks 25D that are not arranged are arranged.

  Another pair of arrowhead marks 25D represents a standard range (described later) of the shaft angle γ in the hand-first direction. Of the pair of arrowhead marks 25D, the arrowhead mark 25D located on the left side of the indicator screen is a standard range. The upper limit of the range (described later) is represented, and the arrowhead mark 25D located on the right side of the indicator screen represents the lower limit of the standard range (described later).

  In the example of FIG. 28, a cross mark indicating the center of the standard range of the shaft angle α in the hand-up direction and the center of the standard range (described later) of the shaft angle γ in the hand-first direction is represented.

Therefore, the user 2 takes the address posture so that the pointer 25A is placed in the center of the cross mark, thereby matching the shaft angle α in the hand-up direction with the lie angle α _Lie and setting the shaft angle γ in the hand-first direction. Can be zero (handfast amount is zero).

1-6-4. Analysis processing after calibration (calibration)
Here, the analysis process after the stillness determination (S22 in FIG. 21) will be described in detail.

  When the impact is detected after the stillness determination (S16 in FIG. 21) (S20Y in FIG. 21), the processing unit 21 extracts the measurement data during the swing from the measurement data generated by the sensor unit 10 before and after the impact.

  For example, the processing unit 21 detects each timing of the swing start, top, impact, and the like from the measurement data generated by the sensor unit 10 before and after the impact. For example, the measurement data generated during the period from the swing start to the impact is Extracted as measurement data during swing.

  The processing unit 21 refers to the measurement data generated by the sensor unit 10 before and after the impact, with reference to the measurement data for 2 seconds in which the golf club 3 was stationary in the correct posture before the start of the swing. Bias correction and global coordinate setting (target direction setting) are performed.

  Then, the processing unit 21 generates swing analysis data including various indexes and trajectories related to the swing based on the measurement data during the swing. Various indexes are calculated by the method described above. In addition, the index and the trajectory are expressed using global coordinates.

1-6-5. Stillness Determination Processing Here, the stillness determination step (S16 in FIG. 21) will be described in detail.

  FIG. 29 is a flowchart illustrating an example of a procedure of a swing analysis process (an example of a determination method) performed by the processing unit 21. FIG. 29 shows the flow of FIG. 21 in which step S16 (an example of a determination step) for stationary determination is subdivided into a plurality of steps S161 to S166.

  Hereinafter, each step of FIG. 29 will be described. In FIG. 29, the same steps as those in FIG. 21 are denoted by the same reference numerals.

  Step S10: The processing unit 21 determines whether or not the measurement start operation has been performed by the user 2 (S10). When the measurement start operation is performed (Y in S10), the process proceeds to the start process (S12). If not, the display of the initial screen is continued (S10N).

  Step S12: The processing unit 21 transmits a measurement start command to the sensor unit 10 and starts acquiring measurement data from the sensor unit 10 (S12).

  Step S14: The processing unit 21 instructs the user 2 to take an address posture (S14).

  Step S161: The processing unit 21 calculates a posture change amount per unit time, a shaft angle α in the hand-up direction, and a shaft angle γ in the hand-first direction (S161).

  Step S162: The processing unit 21 calculates a standard range of the shaft angle α in the hand-up direction and displays the range on the indicator screen together with a pointer (S162). When the standard range of the shaft angle γ in the hand first direction is displayed on the indicator screen, the processing unit 21 calculates and displays the standard range in this step.

  Step S163: The processing unit 21 reflects the shaft angle α in the hand-up direction and the shaft angle γ in the hand-first direction on the pointer position on the indicator screen (S163). Note that step S163 is an example of a notification step.

  Step S164: The processing unit 21 determines whether or not the calculated posture change amount is less than the threshold value (S164). When it is determined that the calculated posture change amount is less than the threshold value (S164Y), the processing unit 21 proceeds to posture determination (S165). Otherwise (S164N), the posture determination is skipped and the process proceeds to the measurement end determination (S24).

  Step S165: The processing unit 21 determines whether or not the calculated shaft angle α in the hand-up direction is within the standard range (S165), and when it is determined that it is within the standard range (S165Y), time determination (S166). If not (S165N), the time determination is skipped and the measurement end determination (S24) is performed.

  Step S166: The processing unit 21 determines whether or not the time during which the posture change amount is less than the threshold and the shaft angle α in the hand-up direction is within the standard range has reached a predetermined time (for example, 2 seconds) ( If it has reached (S166Y), the process proceeds to the swing permission process (S18), and if not (S166N), the process proceeds to the measurement end determination (S24).

Step S18: The processing unit 21 notifies the user 2 of permission to start swing (S18).
). Step S18 is an example of a notification step.

  Step S20: The processing unit 21 determines whether or not an impact is detected within a predetermined period from the permission of the swing (S18) based on the measurement data acquired from the sensor unit 10 (S20), and when it is detected (S20Y). Shifts to the swing analysis data generation process (S22), otherwise shifts to the end determination process (S24).

  Step S22: When the processing unit 21 extracts the measurement data during the swing before and after the impact from the measurement data acquired from the sensor unit 10, and calculates various indices and trajectories based on the measurement data during the swing, the index and the trajectory Is generated and transmitted to the server device 30 (S22). Note that the processing unit 21 uses measurement data during a period in which the golf club 3 is stationary in a correct posture for bias correction and global coordinate setting regarding measurement data during a swing. Further, when calculating the index and the trajectory, the processing unit 21 uses parameters suitable for the type (specification) of the golf club 3 currently designated. Further, the processing unit 21 may include the measurement data itself during swing (so-called raw data), the type information of the golf club 3 being specified, etc., with respect to the swing analysis data transmitted to the server device 30.

  Step S24: The processing unit 21 determines whether or not a measurement end operation has been performed by the user 2 (S24). If it has been performed (S24Y), the flow ends, and if not (S24N), The process proceeds to the address instruction process (S14).

  In the flowchart of FIG. 29, the order of each process may be appropriately changed within a possible range, a part of the process may be deleted or changed, and another process may be added.

1-7. As described above, the swing analysis apparatus 20 (an example of an electronic device) according to the present embodiment has a posture change (state) of the golf club 3 (an example of a sports equipment) that is being determined (until the determination is reached). An example of a change) is notified to the user 2, so that a predetermined criterion (here, a threshold value of the posture change amount, a standard range of the angle α, a period of 2 seconds), in this embodiment, the stationary condition and the posture condition are It is possible to cause the user 2 to compare the posture change of the golf club 3 when the condition (maintaining for a predetermined period) is not satisfied and the change in posture of the golf club 3 when the determination criterion is satisfied. Accordingly, the user 2 can change the state of the golf club 3 while checking the content of the notification during the determination, thereby permitting the swing start (an example of a predetermined determination result) ) Can be experienced. As a result, the user 2 can accurately grasp the address posture (an example of how to handle the golf club 3) for obtaining permission to start swing. That is, the exercise device state determination function can be comfortably utilized.

2. The present invention is not limited to this embodiment, and various modifications can be made within the scope of the present invention.

2-1. Regarding Attitude Conditions In this embodiment, there are two conditions for determining that the golf club 3 is stationary in the correct attitude: the stationary conditions (A) and the attitude conditions (B) (S164 and S165 in FIG. 129). The following posture condition (C) may be added.

(C) The shaft angle γ in the hand-first direction indicated by the triaxial acceleration data is within the standard range. In order to determine whether or not this posture condition (C) is satisfied, for example, the processing unit 21 performs hand first based on acceleration data (x-axis acceleration component a _x ) measured at a predetermined period (for example, 1 ms). The shaft angle γ in the direction is calculated, and it is sequentially determined whether or not the shaft angle γ in the hand first direction is within the standard range. Thus, it is determined whether or not the shaft angle γ in the hand first direction is within the standard range. And the process part 21 repeats this determination, for example with a predetermined period (for example, 1 ms).

In addition, the shaft angle γ in the hand first direction is an angle formed by the shaft extending direction (y-axis) and the ground (horizontal plane) on the xz plane. The shaft angle γ in the hand first direction is represented by an x-axis acceleration component a _x included in the triaxial acceleration data. For example, the processing unit 21 regards the shaft angle γ in the hand first direction as zero when the x-axis acceleration component a _x is zero, and increases the shaft angle γ in the hand first direction as the x-axis acceleration component a _x increases. I reckon.

  In addition, the standard range of the shaft angle γ in the hand first direction is set to a range centered on zero, for example. The width of the standard range is set to a width corresponding to the variation in the shaft angle γ in the hand-first direction at the time of addressing various users 2 using the same type of golf club 3.

  In that case, the indicator screen of FIG. 27 or FIG. 28 may be adopted as the indicator screen.

2-2. Adjustment of the Indicator Screen The processing unit 21 in the above embodiment uses the indicator image to notify the user 2 of the posture of the golf club 3 that is in stillness determination. However, in order to make the indicator screen easier to see, the indicator screen ( The user 2 may be able to adjust the display size of at least the area surrounded by the image showing the standard range, and the user 2 may set the aspect ratio of the indicator screen (at least the area surrounded by the image showing the standard range). It may be adjustable.

  Further, the processing unit 21 in the above embodiment makes it easy for the user 2 to see the indicator screen when the swing analysis device 20 is leaned against a wall or when an image of the swing analysis device 20 is projected onto a wall or the like. In addition, the user 2 may be able to adjust the ratio (trapezoidal distortion) between the width of the upper end and the width of the lower end of the indicator screen.

2-3. Modification of Indicator Screen The processing unit 21 in the above embodiment uses at least one of the color, brightness, gradation, texture, paint pattern, etc. of the pointer 25A on the indicator screen, and at least the frequency and amplitude of the posture change of the golf club 3. You may change according to one side. The posture change frequency or the posture change amplitude can be obtained based on angular velocity data or acceleration data.

  In addition, the processing unit 21 in the above-described embodiment may display a scale for indicating a standard of the posture of the golf club 3 on the indicator screen. Incidentally, in the indicator screens shown in FIGS. 25, 27, and 28, a scale is given to the line-shaped mark 25B or the partial ring-shaped mark 25B ″ indicating the standard range.

  In addition, the processing unit 21 in the above embodiment may sequentially draw the pointer movement locus during the stillness determination on the indicator screen. If the trajectory is drawn, the user 2 can recognize in which range his / her posture fluctuates.

  Further, the processing unit 21 in the above embodiment may use another image (for example, a pointer image) instead of the pointer 25A as an image representing the posture of the golf club 3 during the stillness determination. For example, the processing unit 21 in the above embodiment may use various real indicator images such as an image of a spirit level and an image of an analog posture finger as the indicator screen.

  The processing unit 21 in the above embodiment displays the partial ring-shaped mark 25B "to indicate the standard range on the indicator screen shown in FIGS. 27 and 28, but uses the ring-shaped mark to indicate the standard range. Also good.

2-4. Notification Off The swing analysis apparatus 20 in the above embodiment may allow the user 2 to turn off the function (indicator screen) for notifying the user 2 of the posture of the golf club 3 that is still stationary.

  Moreover, the swing analysis apparatus 20 in the above embodiment may be equipped with the function to be notified (indicator screen) as one of the practice modes.

  In addition, when the notification function (indicator screen) is turned off, the processing unit 21 in the above embodiment turns on another function, for example, a video shooting function, instead of the notification function (indicator screen). May be. The video shooting function is a function of shooting a video of the state of the user 2 in the address posture or in a swing and displaying the shot video image on the display unit 25 in real time. Note that video shooting is performed by a shooting unit (camera) (not shown) mounted on the swing analysis apparatus 20.

2-5. Other Notification Modes The processing unit 21 in the above-described embodiment can use various modes as modes for notifying the user 2 of the posture of the golf club 3 during stillness determination. For example, at least one of an image, light, sound, vibration, an image change pattern, a light change pattern, a sound change pattern, and a vibration change pattern can be used as the notification mode.

  For example, the processing unit 21 in the above-described embodiment has an image, light, sound, vibration, an image change pattern, and a light change between when the tilt angle is within the standard range and when the tilt angle is out of the standard range. Differences may be provided in combinations of change patterns, sound change patterns, and vibration change patterns.

  In addition, for example, the processing unit 21 in the above-described embodiment performs the image, light, sound, vibration, and image change pattern between when the posture change amount per unit time is less than the threshold value and when it is greater than or equal to the threshold value. A difference may be provided in the combination of the light change pattern, the sound change pattern, and the vibration change pattern.

  Further, for example, the processing unit 21 in the above embodiment generates a warning sound (a sound that feels uncomfortable) when the tilt angle is out of the standard range, and a warning canceling sound when the tilt angle falls within the standard range. (Sound that feels comfortable) may be generated.

  Further, for example, the processing unit 21 in the above embodiment generates a warning sound (a sound that feels uncomfortable) when the posture change amount per unit time is equal to or greater than the threshold, and the posture change amount per unit time is the threshold value. If it is less than this, a warning release sound (a sound that feels comfortable) may be generated.

  Further, for example, the processing unit 21 in the above embodiment blinks the entire screen in a warning color (yellow) when the tilt angle is out of the standard range, and cancels the warning when the tilt angle falls within the standard range. You may make it light continuously with a color (blue).

  Further, for example, the processing unit 21 in the above embodiment causes the entire screen to blink with a warning color (yellow) when the posture change amount per unit time is equal to or greater than the threshold value, and the posture change amount per unit time is less than the threshold value. In some cases, the entire screen may be continuously lit in the warning release color (blue).

  In addition, the processing unit 21 in the above-described embodiment has an image, light, sound, vibration, image change pattern, light, and the like between when the inclination angle approaches the center of the standard range and when the inclination angle moves away. A difference may be provided in the combination of the change pattern, the sound change pattern, and the vibration change pattern.

  In addition, the processing unit 21 in the above-described embodiment performs the image, light, sound, vibration, image change pattern, light, and the like when the posture change amount per unit time is reduced and increased. A difference may be provided in the combination of the change pattern, the sound change pattern, and the vibration change pattern.

2-6. Stillness Determination Based on Angular Velocity Data Further, the processing unit 21 in the above embodiment calculates the attitude of the golf club 3 to be reflected on the indicator screen based on the acceleration data, but calculates based on both the angular velocity data and the acceleration data. Also good.

  Further, the processing unit 21 in the above embodiment performs the stillness determination of the golf club 3 based on both the angular velocity data and the acceleration data. However, the processing unit 21 may perform the stillness determination based on one of the angular velocity data and the acceleration data. Incidentally, an example of a device that performs stillness determination based on angular velocity data is as follows, for example.

  A threshold value determination unit that determines whether or not the angular velocity detected in a period of a predetermined time length falls within a predetermined threshold range on a time axis of a detection result of an angular velocity sensor that detects an angular velocity of the golf club; When the angular velocity detected in the period is determined to be within the threshold range, the angular velocity is included in the angular velocity based on a first average value that is an average value of the angular velocities detected in the period. An apparatus comprising: a bias value setting unit that sets a bias value; and an analysis information calculation unit that analyzes a motion of the golf club based on correction data from which the bias value has been removed.

  The threshold determination unit determines whether or not the angular velocity falls within the threshold range based on a second average value that is an average value of the angular velocities in all periods of the detection result. Also good.

  In addition, when there are a plurality of periods in which it is determined that the angular velocity falls within the threshold range, the bias value setting unit is configured so that the difference between the second average value and the angular velocity is the smallest in the period. The bias value may be set based on the first average value.

  Further, the threshold determination unit may determine whether or not the variance value of the angular velocity detected in the period falls within the threshold range.

  In addition, when there are a plurality of periods in which the variance value is determined to be within the threshold value range, the bias value setting unit is configured to determine the first average value in the period with the smallest angular velocity maximum variance value. The bias value may be set based on

  In addition, at least one of the time length and the threshold value may be defined according to the type of motion of the golf club.

  Further, at least one of the time length and the threshold value may be defined according to a position where the angular velocity sensor is attached.

  Further, at least one of the time length and the threshold value may be set based on a frequency component of a detection result of the angular velocity sensor.

2-7. Other Input Mode The processing unit 21 in the above embodiment performs one or more information inputs from the user 2 mainly by finger contact (tap operation on the touch panel, button operation). Various modes can be used as the mode of input. As an information input mode, for example, at least one of input by finger contact, input by voice, and input by gesture can be used.

2-8. Modification of V Zone In the above embodiment, in order to define the areas A, B, C, D and E to which the head belongs, the concept of V zone (area sandwiched between the shaft plane and the Hogan plane) is introduced. This V zone is a region sandwiched between a first virtual plane along the longitudinal direction of the golf club 3 and a second virtual plane passing near the shoulder of the user 2. The first virtual plane is, for example, a so-called shaft plane that is specified by a first axis along the target direction of the hit ball and a second axis along the longitudinal direction of the golf club 3 before the start of the swing. The second virtual surface is, for example, a so-called Hogan plane that includes the first axis and forms a predetermined angle with respect to the first virtual surface. However, the second virtual surface may be a virtual surface parallel to the first virtual surface (including both a virtual surface parallel to the first virtual surface and a virtual surface along the first virtual surface). Incidentally, the parallel virtual plane is sometimes called a “shoulder plane”. In the above embodiment, the second virtual surface is calculated based on both the first virtual surface and the physical information of the user 2, but a surface having a predetermined relationship with the first virtual surface may be used as the second virtual surface. Good.

2-9. Modification of swing analysis processing A plurality of sensor units 10 are mounted on a part such as the golf club 3 or the arm or shoulder of the user 2, and the swing analysis unit 211 uses the measurement data of each of the plurality of sensor units 10, Swing analysis processing may be performed.

  In the above embodiment, the swing analysis unit 211 calculates the third line segment 53 and the Hogan plane HP, which are the third axes, using the body information of the user 2, but the second axis that is the second axis. The line segment 52 and the shaft plane SP rotated by a predetermined first angle β (for example, 30 °) around the X axis may be used as the third line segment 53 and the Hogan plane HP.

  In the above embodiment, the swing analysis unit 211 detects the impact using the square root of the sum of squares as shown in Expression (2) as the combined value of the triaxial angular velocities measured by the sensor unit. As the combined value of the axial angular velocities, for example, the sum of squares of the three axial angular velocities, the sum of the three axial angular velocities or the average value thereof, and the product of the three axial angular velocities may be used. Instead of the combined value of the three-axis angular velocities, a combined value of the three-axis accelerations such as a sum of squares of the three-axis accelerations or a square root thereof, a sum of the three-axis accelerations or an average value thereof, and a product of the three-axis accelerations may be used. .

2-10. In the above-described embodiment, as a display destination of one or a plurality of images, for example, a list-type display unit (an example of an arm-mounted display device) as shown in FIG. It is also possible to use a head-mounted display unit (referred to as HMD, an example of a head-mounted display device) as shown in FIG.

  The head mounted display is a display that is attached to the head of the user 2 and displays an image with respect to one or both eyes of the user 2. The user 2 wearing the head-mounted display on the head can check various images without changing the line of sight from the direction of the head, ball, or target of the golf club 3.

  As shown in FIG. 31, the HMD 500 includes a spectacle body 501 that is worn on the head of the user 2. The glasses main body 501 is provided with a display unit 502. The display unit 502 superimposes the virtual image of the image display unit 503 on the real image of the external world viewed from the user 2 by integrating the light beam emitted from the image display unit 503 with the light beam directed from the outside world toward the eyes of the user 2.

  The display unit 502 includes an image display unit 503 such as an LCD (liquid crystal display), a first beam splitter 504, a second beam splitter 505, a first concave reflection mirror 506, and a second concave reflection mirror 507, for example. A shutter 508 and a convex lens 509 are provided.

  The first beam splitter 504 is disposed in front of the left eye of the user 2 and partially transmits and partially reflects light emitted from the image display unit 503.

  The second beam splitter 505 is disposed in front of the right eye of the user 2 and partially transmits and partially reflects the partially transmitted light from the first beam splitter 504.

  The first concave reflecting mirror 506 is disposed in front of the first beam splitter 504, partially reflects the partially reflected light of the first beam splitter 504, transmits the first beam splitter 504, and guides it to the left eye of the user 2. .

  The second concave reflection mirror 507 is disposed in front of the second beam splitter 505, partially reflects the partially reflected light of the second beam splitter 505, transmits the second beam splitter 505, and guides it to the right eye of the user 2. .

  The convex lens 509 guides the partially transmitted light of the second beam splitter 505 to the outside of the HMD 500 when the shutter 508 is opened.

  According to the HMD 500 described above, the user 2 can confirm necessary information without holding the swing analysis device 20 by hand.

2-11. Others In the above embodiment, part or all of the functions of the sensor unit 10 may be mounted on the swing analysis device 20 or the server device 30 side. Further, some or all of the functions of the swing analysis device 20 may be mounted on the sensor unit 10 or the server device 30 side. Also, some or all of the functions of the server device 30 may be mounted on the swing analysis device 20 or the sensor unit 10 side.

In the above embodiment, the acceleration sensor 12 and the angular velocity sensor 14 are integrated in the sensor unit 10, but the acceleration sensor 12 and the angular velocity sensor 14 may not be integrated. Alternatively, the acceleration sensor 12 and the angular velocity sensor 14 may be directly attached to the golf club 3 or the user 2 without being built in the sensor unit 10. Further, in the above embodiment, the sensor unit 10 and the swing analysis device 20 are separate bodies, but they may be integrated so as to be mountable to the golf club 3 or the user 2. The sensor unit 10 may include some components of the swing analysis device 20 together with the inertial sensor (for example, the acceleration sensor 12 or the angular velocity sensor 14).

  The inertial sensor may be any sensor that can measure an inertia amount such as acceleration and angular velocity, and may be an inertial measurement unit (IMU) that can measure acceleration and angular velocity, for example. Further, the inertial sensor may be attached to, for example, an exercise tool or a user's site, and may be detachable from the exercise tool or the user, or may be fixed to the exercise tool such as being built in the exercise tool. It may have been removed and cannot be removed.

In the above embodiment, a swing analysis system (server device) that analyzes a golf swing is taken as an example. However, the present invention is based on a swing analysis system (server) that analyzes swings in various exercises such as tennis and baseball. Device).

  The above-described embodiments and modifications are merely examples, and the present invention is not limited to these. For example, it is possible to appropriately combine each embodiment and each modification.

  The present invention includes configurations that are substantially the same as the configurations described in the embodiments (for example, configurations that have the same functions, methods, and results, or configurations that have the same objects and effects). In addition, the invention includes a configuration in which a non-essential part of the configuration described in the embodiment is replaced. In addition, the present invention includes a configuration that exhibits the same operational effects as the configuration described in the embodiment or a configuration that can achieve the same object. Further, the invention includes a configuration in which a known technique is added to the configuration described in the embodiment.

DESCRIPTION OF SYMBOLS 1 ... Swing analysis system, 2 ... User, 3 ... Golf club, 4 ... Golf ball, 10 ... Sensor unit, 12 ... Acceleration sensor, 14 ... Angular velocity sensor, 16 ... Signal processing part, 18 ... Communication part, 20 ... Swing analysis Device, 21 ... processing unit, 22 ... communication unit, 23 ... operation unit, 24 ... storage unit, 25 ... display unit, 26 ... sound output unit, 27 ... communication unit, 30 ... server device, 31 ... processing unit, 32 ... Communication unit 34 ... storage unit 40 40 network 51 first line segment 52 second line segment 53 third line segment 61 golf club head position 62 golf club grip end Position, 63 ... Predetermined position on a line segment connecting both shoulders of the user, 70 ... Target line (target direction of the hit ball), 71 ... Plane perpendicular to the target line, 72 ... Tangent line at the hitting point, 73 ... Face , 74: face surface, 75: hitting point, 76: curve representing the trajectory of the head of the golf club, 101 ... processing unit, 110 ... storage unit, 210 ... data acquisition unit, 211 ... swing analysis unit, 212 ... image data generation unit, 213 ... storage processing unit, 214 ... display processing unit, 215 ... sound output processing unit, 240 ... swing analysis program, 242 ... golf club information, 244 ... body information, 246 ... sensor mounting position information, 248 ... swing analysis data, 310 ... data acquisition unit, 312 ... storage processing unit, 341 ... swing analysis data list, SAB ... boundary surface between region A and region B, SBC ... boundary surface between region B and region C, SCD ... Boundary surface between region C and region D, SDE ... Boundary surface between region D and region E, SP ... Shaft plane, HP ... Hogan plane, H1, H2 ... Apex of chromatography cancer plane, H3 ... H1 and the midpoint of H2, S1, S2 ... vertex of the shaft plane, the midpoint of S3 ... S1 and S2, U1, U2 ... common vertex shaft plane and Hogan plane

Claims (23)

Using the output of the inertial sensor,
A determination unit for determining a stationary state of the exercise device based on a predetermined determination criterion;
Until reaching the determination, a notification unit for notifying the user of information indicating the state change of the exercise tool,
Including electronic equipment. In claim 1,
The notification unit
Notifying the user of permission to start swinging the exercise equipment when the exercise equipment is maintained in a predetermined state for a predetermined period;
Electronics. In claim 2,
The notification unit
Notifying the user of information indicating a change in posture of the exercise tool,
Electronics. In any one of Claims 1 thru | or 3,
The exercise equipment is a golf club;
The notification unit
Notifying the user of the posture change in the direction intersecting the ground plane of the golf club as the information;
Electronics. In any one of Claims 1 thru | or 4,
The exercise equipment is a golf club;
The notification unit
Notifying the user as a change in posture in the horizontal direction with respect to the ground plane of the golf club,
Electronics. In any one of Claims 1 thru | or 5,
The exercise equipment is a golf club;
The criterion is
Set based on the lie angle of the golf club,
Electronics. In any one of Claims 1 thru | or 6,
The notification unit
Notifying the user of the criteria along with the information;
Electronics. In any one of Claims 1 thru | or 7,
The notification unit
The notification is performed by at least one of an image, light, sound, vibration, an image change pattern, a light change pattern, a sound change pattern, and a vibration change pattern.
Electronics. In any one of Claims 1 thru | or 8,
In the inertial sensor,
Including at least one of an acceleration sensor and an angular velocity sensor,
Electronics. An electronic device according to any one of claims 1 to 9,
The inertial sensor;
Including the system. An electronic device according to any one of claims 1 to 9,
A head-mounted display device for displaying the information;
Including the system. An electronic device according to any one of claims 1 to 9,
An arm-mounted display device for displaying the information;
Including the system. Using the output of the inertial sensor,
Determining a stationary state of the exercise device based on a predetermined criterion,
Informing the user of information indicating a change in the state of the exercise tool until reaching the determination;
A determination method including In claim 13,
The notifying step includes
Notifying the user of permission to start swinging the exercise equipment when the exercise equipment is maintained in a predetermined state for a predetermined period;
Judgment method. In claim 14,
The notifying step includes
Notifying the user of information indicating a change in posture of the exercise tool,
Judgment method. In any one of Claims 13 thru | or 15,
The exercise equipment is a golf club;
The notifying step includes
Notifying the user of the posture change in the direction intersecting the ground plane of the golf club as the information;
Judgment method. In any one of Claims 13 thru | or 16,
The exercise equipment is a golf club;
The notifying step includes
Notifying the user as a change in posture in the horizontal direction with respect to the ground plane of the golf club,
Judgment method. In any one of Claims 13 thru | or 17,
The exercise equipment is a golf club;
The criterion is
Set based on the lie angle unique to the golf club,
Judgment method. In any one of Claims 13 thru | or 18,
The notifying step includes
Notifying the user of the criteria along with the information;
Judgment method. In any one of claims 13 to 19,
The notifying step includes
The notification is performed by at least one of an image, light, sound, vibration, an image change pattern, a light change pattern, a sound change pattern, and a vibration change pattern.
Judgment method. In any one of claims 13 to 20,
In the inertial sensor,
Including at least one of an acceleration sensor and an angular velocity sensor,
Judgment method. Using the output of the inertial sensor,
Determining the state of the exercise equipment based on a predetermined criterion,
Informing the user of information indicating a change in the state of the exercise tool until reaching the determination;
A judgment program that causes a computer to execute. Using the output of the inertial sensor,
Determining the state of the exercise equipment based on a predetermined criterion,
Informing the user of information indicating a change in the state of the exercise tool until reaching the determination;
A recording medium on which a determination program for causing a computer to execute is recorded.

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