JP2016055028A - Motion analysis method, motion analysis device, motion analysis system and program - Google Patents

Motion analysis method, motion analysis device, motion analysis system and program Download PDF

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Publication number
JP2016055028A
JP2016055028A JP2014185204A JP2014185204A JP2016055028A JP 2016055028 A JP2016055028 A JP 2016055028A JP 2014185204 A JP2014185204 A JP 2014185204A JP 2014185204 A JP2014185204 A JP 2014185204A JP 2016055028 A JP2016055028 A JP 2016055028A
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position
motion
swing
time
unit
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JP2014185204A
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Japanese (ja)
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和宏 澁谷
Kazuhiro Shibuya
和宏 澁谷
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セイコーエプソン株式会社
Seiko Epson Corp
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Priority to JP2014185204A priority Critical patent/JP2016055028A/en
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    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00Training appliances or apparatus for special sports
    • A63B69/36Training appliances or apparatus for special sports for golf
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F19/00Digital computing or data processing equipment or methods, specially adapted for specific applications
    • G06F19/30Medical informatics, i.e. computer-based analysis or dissemination of patient or disease data
    • G06F19/34Computer-assisted medical diagnosis or treatment, e.g. computerised prescription or delivery of medication or diets, computerised local control of medical devices, medical expert systems or telemedicine
    • G06F19/3481Computer-assisted prescription or delivery of treatment by physical action, e.g. surgery or physical exercise
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00335Recognising movements or behaviour, e.g. recognition of gestures, dynamic facial expressions; Lip-reading
    • G06K9/00342Recognition of whole body movements, e.g. for sport training
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00496Recognising patterns in signals and combinations thereof
    • G06K9/00503Preprocessing, e.g. filtering
    • G06K9/0051Denoising
    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00Teaching not covered by other main groups of this subclass
    • G09B19/003Repetitive work cycles; Sequence of movements
    • G09B19/0038Sports
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04MTELEPHONIC COMMUNICATION
    • H04M1/00Substation equipment, e.g. for use by subscribers; Analogous equipment at exchanges
    • H04M1/72Substation extension arrangements; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selecting
    • H04M1/725Cordless telephones
    • H04M1/72519Portable communication terminals with improved user interface to control a main telephone operation mode or to indicate the communication status
    • H04M1/72522With means for supporting locally a plurality of applications to increase the functionality
    • H04M1/72527With means for supporting locally a plurality of applications to increase the functionality provided by interfacing with an external accessory
    • H04M1/7253With means for supporting locally a plurality of applications to increase the functionality provided by interfacing with an external accessory using a two-way short-range wireless interface

Abstract

To provide a motion analysis method, a motion analysis device, a motion analysis system, and a program capable of presenting motion analysis information with high accuracy using an output of an inertial sensor.
A method for analyzing a motion of a measured part at a first position at a first time using the output of an inertial sensor, and the measured part passing through the first position at a second time, A correction step of correcting a motion parameter of the measured part acquired from an output of the inertial sensor based on a difference between the first position at the first time point and the first position at the second time point (S70). And an analysis step (S80) of analyzing the motion using the motion parameter after the correction.
[Selection] Figure 6

Description

  The present invention relates to a motion analysis method, a motion analysis device, a motion analysis system, and a program.

  Patent Document 1 discloses a method in which a three-axis acceleration sensor and a three-axis gyro sensor are mounted on a golf club, and swing characteristics are measured based on outputs from these inertial sensors. According to the method of Patent Document 1, the amount of calculation can be greatly reduced as compared with a case in which a swing image captured by a camera is subjected to image processing and swing analysis. Further, according to the method of Patent Document 1, since a large-scale device such as a camera is unnecessary, there is no restriction on the place where the user performs a swing, and the convenience is high.

JP 2008-73210 A

  When performing a swing analysis using the output of the inertial sensor, it is necessary to calculate the position by integrating the acceleration second order, and calculate the angle (posture) by integrating the angular velocity first, but the output error of the inertial sensor As a result, the integration error increases, and the position and orientation errors increase in the second half of the swing. Therefore, for example, when the head speed is calculated using the calculated position information, the calculation error also increases. In addition, although the club head actually hits the ball, the club head trajectory during the swing drawn using the calculated position information indicates that the club head position at impact is away from the ball. Can also happen. This is not limited to a swing, and a similar problem occurs in exercises that pass through the same position at different points in time (for example, a circular motion of a pedal when pedaling a bicycle). If the sensor output error can be estimated accurately, the position and orientation can be calculated accurately, but it is practically difficult to accurately estimate the sensor output error. Therefore, it has been difficult to provide highly accurate motion analysis information with the conventional method.

  The present invention has been made in view of the above problems, and according to some aspects of the present invention, it is possible to present highly accurate motion analysis information using the output of an inertial sensor. A motion analysis method, a motion analysis device, a motion analysis system, and a program can be provided.

  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 motion analysis method according to this application example uses the output of the inertial sensor to analyze the motion of the measured portion at the first position at the first time point and the measured portion passing through the first position at the second time point. And correcting a motion parameter of the measured portion obtained from an output of the inertial sensor based on a difference between the first position at the first time point and the first position at the second time point. And an analysis step of analyzing the motion using the motion parameter after the correction.

  The inertial sensor may be any sensor that can measure an inertia amount such as acceleration or angular velocity, and may be, for example, an inertial measurement unit (IMU) that can measure acceleration or angular velocity. In addition, the inertial sensor may be attached to the exercise equipment or the user's site, and may be detachable from the exercise equipment or the user, or may be fixed to the exercise equipment such as being incorporated in the exercise equipment. Something that can't be done.

  In the motion analysis method according to this application example, using the fact that the measured unit is in the first position at the first time point and the second time point in the actual motion, the measurement target unit obtained from the output of the inertial sensor is used. Since the motion parameter is corrected, the motion parameter can be corrected to match the actual motion. Therefore, according to the motion analysis method according to this application example, the corrected motion parameter can be brought close to the motion parameter in the actual motion, and the motion is analyzed using the corrected motion parameter, and the motion analysis with high accuracy is performed. Information can be presented.

[Application Example 2]
In the exercise analysis method according to the application example described above, the exercise may be a swing using an exercise device, and the measurement target unit may be a striking unit of the exercise device.

  The exercise apparatus is an apparatus used for swinging, for example, a golf club, a tennis racket, a baseball bat, a hockey stick or the like.

  According to the motion analysis method according to this application example, the motion parameter of the striking part of the exercise device acquired from the output of the inertial sensor is corrected so as to be close to the motion parameter in the actual motion, and the swing can be analyzed with high accuracy. it can.

[Application Example 3]
In the motion analysis method according to the application example described above, the first position may be a position of the hitting portion of the exercise equipment before the start of a swing.

[Application Example 4]
In the motion analysis method according to the application example, in the correction step, the position of the hitting portion of the exercise device immediately before or immediately after the start of the swing that is the first time point and the exercise device at the time of the impact that is the second time point The motion parameter may be corrected based on the condition that the position of the hitting part is the same.

  In the motion analysis method according to this application example, generally, the position of the striking part of the exercise device immediately before or immediately after the start of the swing and the position of the striking part at the time of impact are substantially matched, and the output of the inertial sensor is used. It is possible to correct the motion parameter of the hitting portion of the exercise equipment to be close to the motion parameter in the actual swing motion, and to analyze the swing with high accuracy using the motion parameter after the correction.

[Application Example 5]
In the motion analysis method according to the application example, in the correction step, the position of the striking portion of the exercise equipment immediately before or immediately after the start of the swing that is the first time point and the exercise equipment immediately before the impact that is the second time point. The motion parameter may be corrected based on the condition that the position of the hitting part is the same.

In the motion analysis method according to this application example, generally, the position of the striking part of the exercise device immediately before or immediately after the start of the swing and the position of the striking part immediately before the impact are substantially matched, and the output of the inertial sensor is used. It is possible to correct the motion parameter of the hitting portion of the exercise equipment to be close to the motion parameter in the actual swing motion, and to analyze the swing with high accuracy using the motion parameter after the correction.

[Application Example 6]
In the motion analysis method according to the application example, the motion parameter may be position information.

  According to the motion analysis method according to this application example, the position information of the measurement target acquired from the output of the inertial sensor is corrected so as to approach the position information of the measurement target in the actual motion, and the corrected position information is The motion can be analyzed with high accuracy.

[Application Example 7]
In the motion analysis method according to the application example, the motion parameter may be velocity information.

  According to the motion analysis method according to this application example, the speed information of the measurement target acquired from the output of the inertial sensor is corrected so as to be close to the speed information of the measurement target in the actual motion, and the corrected speed information is The motion can be analyzed with high accuracy.

[Application Example 8]
The motion analysis apparatus according to this application example uses the output of the inertial sensor to analyze the motion of the measured portion at the first position at the first time point and the measured portion passing through the first position at the second time point. And a motion parameter of the measured part acquired from an output of the inertial sensor based on a difference between the first position at the first time point and the first position at the second time point. A correction unit that corrects the motion, and an analysis unit that analyzes the motion using the motion parameter after the correction.

  In the motion analysis apparatus according to this application example, the fact that the measured unit is in the first position at the first time point and the second time point in the actual motion is used to obtain the measurement target unit obtained from the output of the inertial sensor. Since the motion parameter is corrected, the motion parameter can be corrected to match the actual motion. Therefore, according to the motion analysis apparatus according to this application example, the corrected motion parameter can be approximated to the motion parameter in the actual motion, and the motion is analyzed using the corrected motion parameter, and the motion analysis with high accuracy is performed. Information can be presented.

[Application Example 9]
A motion analysis system according to this application example includes any of the motion analysis devices described above and the inertial sensor.

  According to the motion analysis system according to this application example, motion analysis information with high accuracy can be presented by the motion analysis device.

[Application Example 12]
The program according to this application example uses the output of the inertial sensor to analyze the movement of the measured portion at the first position at the first time point and the measured portion passing through the first position at the second time point. And correcting a motion parameter of the measured portion obtained from an output of the inertial sensor based on a difference between the first position at the first time point and the first position at the second time point. And a step of analyzing the motion using the motion parameter after the correction.

In the program according to this application example, using the fact that the measured part is in the first position at the first time point and the second time point in the actual motion, the motion parameter of the measured part obtained from the output of the inertial sensor Since the motion parameter is corrected, the motion parameter can be corrected to match the actual motion. Therefore, according to the program according to this application example, the corrected motion parameter can be brought close to the motion parameter in the actual motion, the motion is analyzed using the corrected motion parameter, and highly accurate motion analysis information is obtained. Can be presented.

Explanatory drawing of the outline | summary of the swing analysis system as an example of the exercise | movement analysis system of this embodiment. 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 which a user performs in this embodiment. FIG. 4A is a diagram showing the trajectory of the golf club before correction, and FIG. 4B is a diagram showing the trajectory of the golf club after correction. The figure which shows the structural example of the swing analysis system of this embodiment. The flowchart figure which shows an example of the procedure of the swing analysis process in this embodiment. The flowchart figure which shows an example of the procedure of the process which detects each operation | movement in a swing. 8A is a graph showing the triaxial angular velocity at the time of swing, FIG. 8B is a graph showing the synthesized value of the triaxial angular velocity, and FIG. 8C is a derivative of the synthesized value of the triaxial angular velocity. The figure which displayed the value in the graph. The flowchart figure which shows an example of the procedure of the process which correct | amends the position of the head of a golf club, and the position of a grip. FIG. 10A is a diagram showing time-series data of the position before correction of the head of the golf club, FIG. 10B is a diagram showing time-series data of the correction amount of the head position, and FIG. The figure which shows the time series data of the position after correction | amendment. FIG. 11A shows time-series data of triaxial speed before correction of the head of the golf club, and FIG. 11B shows time-series data of triaxial speed after correction of the head. FIG. 12A is a diagram showing time-series data of the combined speed before and after correction of the golf club head, and FIG. 12B is an enlarged view of FIG. 12A.

  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 will be described as an example of a motion analysis system.

1. Swing analysis system 1-1. Outline of Swing Analysis System FIG. 1 is a diagram for explaining an outline of a swing analysis system of the present embodiment. The swing analysis system 1 of the present embodiment includes a sensor unit 10 (an example of an inertial sensor) and a swing analysis device 20 (an example of a motion analysis device).

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

In the present embodiment, as shown in FIG. 2, the sensor unit 10 has one of three detection axes (x-axis, y-axis, z-axis), for example, the y-axis aligned with the long axis direction of the shaft. It is attached to a part of the shaft of the golf club 3. Desirably, the sensor unit 10 is attached to a position close to a grip that is difficult to transmit an impact at the time of hitting and is not subjected to a centrifugal force during a swing. The shaft is a portion of the handle excluding the head of the golf club 3 and includes a grip.

  The user 2 performs a swing motion of hitting the golf ball 4 according to a predetermined procedure. FIG. 3 is a diagram illustrating a procedure of an operation performed by the user 2. As shown in FIG. 3, the user 2 first holds the golf club 3 and takes an address posture such that the long axis of the shaft of the golf club 3 is perpendicular to the target line (the target direction of the hit ball). Then, it stops for a predetermined time or longer (for example, 1 second or longer) (S1). Next, the user 2 performs a swing motion and hits the golf ball 4 (S2).

  While the user 2 performs an operation of hitting the golf ball 4 according to the procedure shown in FIG. 3, the sensor unit 10 measures the triaxial acceleration and the triaxial angular velocity at a predetermined cycle (for example, 1 ms), and sequentially swings the measured data. It transmits to the analysis device 20. The sensor unit 10 may transmit the measured data immediately, or store the measured data in the internal memory, and transmit the measured data at a desired timing such as after the end of the swing motion of the user 2. It may be. Communication between the sensor unit 10 and the swing analysis device 20 may be wireless communication or wired communication. Alternatively, the sensor unit 10 may store the measured data in a removable recording medium such as a memory card, and the swing analysis apparatus 20 may read the measurement data from the recording medium.

  The swing analyzer 20 uses the data measured by the sensor unit 10, and the head (striking part) (an example of the part to be measured) of the golf club 3 is at the first position at the first time point, and the head is at the second time point. The motion passing through the first position is analyzed. In the present embodiment, the swing analysis device 20 calculates the position (coordinates) of the head of the golf club 3 in the swing of the user 2 using the data measured by the sensor unit 10, and immediately before or immediately after the start of the swing and at the time of impact ( Alternatively, the position (coordinates) of the head on one side (immediately before impact) is used to correct the other position (coordinates). Then, the swing analysis apparatus 20 draws the trajectory of the golf club 3 (for example, the trajectory of the head and the grip) on the display unit (display) using the corrected head position (coordinates). The swing analysis device 20 may be, for example, a portable device such as a smartphone or a personal computer (PC).

4A and 4B are diagrams for conceptually explaining the correction of the position of the head of the golf club 3 in the present embodiment, and FIG. 4A is a pre-correction obtained by calculation. 4 shows the locus of the golf club 3 drawn using the head position (head and grip locus), and FIG. 4B shows the locus of the golf club 3 drawn using the corrected head position. ing. In the present embodiment, an XYZ coordinate system in which the target line indicating the target direction of the hit ball is the X axis, the axis on the horizontal plane perpendicular to the X axis is the Y axis, and the vertical direction (the direction opposite to the direction of gravitational acceleration) is the Z axis. (Global coordinate system) is defined, and FIG. 4 shows the X axis, the Y axis, and the Z axis. 4A and 4B, S 1 , HP 1 , and GP 1 indicate the shaft, head position, and grip position at the start of the swing, respectively, and S 2 , HP 2 , and GP 2 are These show the shaft, head position, and grip position at the time of impact, respectively. 4A and 4B, the head position HP 1 at the start of the swing is made coincident with the origin (0, 0, 0) of the XYZ coordinate system. Further, a broken line HL 1 and a solid line HL 2 are a trajectory at the time of backswing of the head and a trajectory at a time of downswing, respectively, and a broken line GL 1 and a solid line GL 2 are respectively a trajectory at the time of backswing of the grip and a downswing. It is a trajectory of time. The connection point between the broken line HL 1 and the solid line HL 2 and the connection point between the broken line GL 1 and the solid line GL 2 correspond to the head position and the grip position at the top of the swing (when the direction of the swing is switched), respectively. To do.

Since the head is slightly in front of the ball at the start of the swing and comes into contact with the ball at the time of impact, in actual swings, the position of the head should be approximately equal at the start of swing and at the time of impact. However, as shown in FIG. 4A, the head position HP 2 at the time of impact obtained by calculation is slightly deviated from the head position HP 1 at the start of the swing due to the influence of acceleration and angular velocity integration errors. In position. That is, the trajectory in FIG. 4A is slightly different from the actual swing trajectory. Therefore, in the actual swing, for example, the position of the head at one of the swing start time and the impact time in FIG. When correction is made to match the other position, as shown in FIG. 4B, the position of the head becomes equal at the start of swing and at the time of impact, and a locus closer to the actual swing than in FIG. 4A is obtained. . If the position of the head immediately before the impact is used, the error can be corrected with higher accuracy than the above. Details of the head position correction method will be described later.

1-2. Configuration of Swing Analysis System FIG. 5 is a diagram illustrating a configuration example (configuration example of the sensor unit 10 and the swing analysis device 20) of the swing analysis system 1 of the present embodiment. As shown in FIG. 5, 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.

  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 converts the packet data received from the signal processing unit 16 into the swing analysis device 20.
For example, a process for receiving a control command from the swing analysis apparatus 20 and sending it to the signal processing unit 16. The signal processing unit 16 performs various processes according to the control command.

  The swing analysis device 20 includes a processing unit 21, a communication unit 22, an operation unit 23, a storage unit 24, a display unit 25, and a sound output unit 26.

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

  The operation unit 23 performs a process of acquiring operation data from the user 2 and sending it 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 programs for the processing unit 21 to perform various calculation processes and control processes, various programs and data for realizing application functions, and the like. In particular, 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, or the processing unit 21 may receive the swing analysis program 240 from the server via the network and store it in the storage unit 24.

  In the present embodiment, the storage unit 24 stores club specification information 242 representing the specifications of the golf club 3 and sensor mounting position information 244. For example, the user 2 inputs the model number of the golf club 3 to be used by operating the operation unit 23 (or selected from the model number list), and the specification information for each model number stored in advance in the storage unit 24 (for example, the shaft Of the length, the position of the center of gravity, the information such as the lie angle, the face angle, and the loft angle), the specification information of the input model number is set as the club specification information 242. Further, for example, the user 2 operates the operation unit 23 to input a distance between the mounting position of the sensor unit 10 and the grip of the golf club 3, and information on the input distance is stored as sensor mounting position information 244. 24. Alternatively, information on the predetermined position may be stored in advance as sensor mounting position information 244, assuming that the sensor unit 10 is mounted at a predetermined position (for example, a distance of 20 cm from the grip).

  The storage unit 24 is used as a work area of the processing unit 21, and temporarily stores data input from 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, HMD (head mounted display), 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 processing unit 21 performs processing for transmitting a control command to the sensor unit 10 according to various programs, various calculation processing for data received from the sensor unit 10 via the communication unit 22, and various other control processing. In particular, in the present embodiment, the processing unit 21 executes the swing analysis program 240 to thereby obtain a data acquisition unit 210, a motion detection unit 211, a position calculation unit 212, a position correction unit 213, a speed calculation unit 214, and motion analysis information. It functions as a generation unit 215, a storage processing unit 216, a display processing unit 217, and a sound output processing unit 218.

  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 sends the data to the storage processing unit 216.

  The storage processing unit 216 performs processing for receiving time information and measurement data from the data acquisition unit 210 and storing them in the storage unit 24 in association with each other.

  The motion detection unit 211 performs processing for detecting the timing of each motion (measurement time of the measurement data) in the swing of the user 2 using the measurement data output from the sensor unit 10. Specifically, the motion detection unit 211 first detects the impact timing using the measurement data. Next, using the data before the impact timing included in the measurement data, the motion detection unit 211 detects the timing at which the swing direction is switched (the top timing at which the backswing is switched to the downswing). Next, the motion detection unit 211 detects the swing start timing using data before the timing at which the swing direction included in the measurement data is switched. For example, the motion detection unit 211 may calculate a composite value of measurement data (acceleration data or angular velocity data), and detect each timing of impact, top, and swing start using the composite value. Details of this detection method will be described later.

  The position calculation unit 212 uses the measurement data output from the sensor unit 10 to perform a process of calculating the position (coordinates of the position in the XYZ coordinate system) of the golf club 3 head (an example of a hitting unit) in the swing. In addition, the position calculation unit 212 performs processing for calculating the position of the grip of the golf club 3 in the swing (position coordinates in the XYZ coordinate system) using the measurement data output from the sensor unit 10.

  Specifically, the position calculation unit 212 first uses the measurement data (acceleration data and angular velocity data) stored in the storage unit 24 when the user 2 is stationary (at the time of address), and includes the offset included in the measurement data. Calculate the quantity. Next, the position calculation unit 212 performs bias correction by subtracting the offset amount from the measurement data after the start of swing stored in the storage unit 24, and the user 2 is performing a swing operation using the measurement data corrected for bias. The position and orientation (attitude angle) of the sensor unit 10 (during the operation of step S2 in FIG. 3) are calculated.

  For example, the position calculation unit 212 uses the acceleration data measured by the acceleration sensor 12, the club specification information 242, and the sensor mounting position information 244, when the user 2 is stationary (addressing) in the XYZ coordinate system (global coordinate system). The position (initial position) of the sensor unit 10 is calculated, and the subsequent acceleration data is integrated to calculate a change in position from the initial position of the sensor unit 10 in time series.

Since the user 2 performs the operation of step S1 in FIG. 3, the X coordinate of the initial position of the sensor unit 10 is zero. Further, as shown in FIG. 2, the y-axis of the sensor unit 10 coincides with the long axis direction of the shaft of the golf club 3, and when the user 2 is stationary, the acceleration sensor 1
Since 2 measures only gravitational acceleration, the position calculation unit 212 can calculate the tilt angle of the shaft (tilt with respect to the horizontal plane (XY plane) or the vertical plane (XZ plane)) using the y-axis acceleration data. Then, the position calculation unit 212 obtains the distance L SH between the sensor unit 10 and the head from the club specification information 242 (shaft length) and the sensor mounting position information 244 (distance from the grip), for example, the position of the head. As the origin (0, 0, 0), the position of the distance L SH from the origin in the negative y-axis direction of the sensor unit 10 specified by the tilt angle of the shaft is set as the initial position of the sensor unit 10.

  Further, the position calculation unit 212 calculates the attitude (initial attitude) 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. Then, the rotation calculation using the angular velocity data measured by the angular velocity sensor 14 is performed, and the change in posture of the sensor unit 10 from the initial posture is calculated 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. Since the acceleration sensor 12 measures only gravitational acceleration when the user 2 is stationary, the position calculation unit 212 uses the triaxial acceleration data to determine each of the x-axis, y-axis, and z-axis of the sensor unit 10 and the direction of gravity. The angle formed by can be specified. Furthermore, since the user 2 performs the operation of step S1 in FIG. 3, when the user 2 is stationary, the y-axis of the sensor unit 10 is on the YZ plane, so the position calculation unit 212 determines the initial posture of the sensor unit 10. Can be identified.

Then, the position calculation unit 212 determines the position of the distance L SH from the position of the sensor unit 10 at each time of the swing in the positive direction of the y-axis of the sensor unit 10 specified from the attitude of the sensor unit 10 at the time. The head position at the time.

In addition, the position calculation unit 212 detects the sensor mounting position information 244 (from the position of the sensor unit 10 at each time of swing to the negative direction of the y-axis of the sensor unit 10 specified by the attitude of the sensor unit 10 at that time. The position of the distance L SG between the sensor unit 10 and the grip specified by the distance from the grip) is defined as the position of the grip at that time.

  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 position calculation unit 212 becomes unnecessary.

  The position correction unit 213 (an example of the correction unit) is a sensor based on the difference between the position of the head of the golf club 3 at the first time point (an example of the first position) and the position of the head of the golf club 3 at the second time point. Processing for correcting position information (an example of a motion parameter) of the head of the golf club 3 acquired from the measurement data of the unit 10 is performed. In the present embodiment, the position correction unit 213 is at the start of a swing that is an example of the first time point (before the start of the swing, immediately before the start of the swing, or immediately after the start of the swing) and at the time of the impact that is an example of the second time point (or just before the impact). Processing for correcting the position of the head on the other side is performed using the position of the head on one side. The swing start time and impact time may be the measurement time when the motion detection unit 211 detects the swing start timing and the measurement time when the impact timing is detected, respectively.

  For example, the position correction unit 213 may correct the position of the head at the time of impact (or just before the impact) using the position of the head at the time of the start of swing (before the start of swing, immediately before the start of swing, or just after the start of swing). The head position at the start of the swing may be corrected using the head position at the time of impact (or just before impact). Further, for example, the position correction unit 213 may correct the head position so that the head position is matched (based on the same conditions) at the start of swing and at the time of impact (or just before impact).

  The position correction unit 213 also corrects the position of the head at each time other than the start of swing or the impact in the swing, and generates time-series information on the position of the head in the swing. For example, the position correction unit 213 uses the correction amount of the head position at the start of the swing (difference between the corrected position and the position before the correction) and the correction amount of the head position at the time of impact (or immediately before the impact). Then, the correction amount at an arbitrary time may be calculated by a method such as linear interpolation, and the head position at each time may be corrected using the correction amount.

Further, the position correction unit 213 corrects the position of the grip by using the time series information of the corrected head position in the swing, and generates time series information of the corrected grip position in the swing. For example, the position correction unit 213 determines the position of the distance L SH + L SG from the position of the head at each time in the negative direction of the y-axis of the sensor unit 10 specified by the attitude of the sensor unit 10 at that time, respectively. The position of the grip at the time may be used. In addition, the position correction unit 213 may generate time-series information of the positions of various parts (for example, the center of gravity of the golf club 3) other than the grip of the golf club 3 in the swing by a similar method.

  The speed calculation unit 214 (another example of the correction unit) includes the position of the head of the golf club 3 (an example of the first position) at the start of swing (an example of the first time point) and the impact (or just before the impact) (the first). Based on the difference from the position of the head of the golf club 3 at one time point), the speed information (an example of the motion parameter) of the golf club 3 acquired from the measurement data of the sensor unit 10 is corrected. In the present embodiment, the head speed calculation process (correction process) is performed using the time-series information of the corrected head position generated by the position correction unit 213. For example, the speed calculation unit 214 differentiates the head position at an arbitrary time (for example, at the time of impact) included in the time-series information of the corrected head position (difference from the head position at the previous time). And the speed of the head at the time may be calculated.

  Further, the speed calculation unit 214 may calculate the speed of the part using the time series information of the position of the part other than the head of the golf club 3 after correction generated by the position correction unit 213. For example, the speed calculation unit 214 calculates a derivative of the position of the grip part at an arbitrary time included in the time series information of the position of the grip part after correction (difference from the position of the grip part at the previous time). The speed of the grip portion at the time may be calculated.

The motion analysis information generation unit 215 (an example of the analysis unit) analyzes the swing using the corrected position information (or corrected speed information), and generates a motion analysis information that is analysis result information. Do. For example, the motion analysis information generation unit 215 uses the time series information of the positions of the various parts of the golf club 3 generated by the position correction unit 213 to obtain the trajectory information (image data) of the golf club 3 during a predetermined period of the swing. Generate the process. For example, the motion analysis information generation unit 215 connects the position (coordinates) of the head from the start of the swing to the time of impact with a line in order, and similarly, the position (coordinates) of the grip from the start of the swing to the time of impact is in turn. By connecting with a line, a head trajectory (HL 1 and HL 2 in FIG. 4B) and a grip trajectory (GL 1 and GL 2 in FIG. 4B) from the start of swing to the impact are included. Trajectory information may be generated.

Further, for example, the motion analysis information generation unit 215 may generate motion analysis information such as a change in swing speed using the speed information of various parts of the golf club 3 generated by the speed calculation unit 214.

  The storage processing unit 216 performs read / write processing of various programs and various data for the storage unit 24. The storage processing unit 216 is calculated by the position calculation unit 212, the position correction unit 213, and the motion analysis information generation unit 215 in addition to the process of associating the time information received from the data acquisition unit 210 with the measurement data and storing them in the storage unit 24. A process for storing the various information and the like in the storage unit 24 is also performed.

  The display processing unit 217 performs processing for displaying various images (images, characters, symbols, and the like corresponding to the motion analysis information generated by the motion analysis information generation unit 215) on the display unit 25. For example, the display processing unit 217 may display an image or a character corresponding to the motion analysis information generated by the motion analysis information generation unit 215 automatically or after the user 2 has finished the swing motion or in response to an input operation of the user 2. Etc. are displayed on the display unit 25. Alternatively, a display unit is provided in the sensor unit 10, and the display processing unit 217 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 218 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 218 reads various information stored in the storage unit 24 automatically or after a predetermined input operation is performed after the user 2 has finished the swing motion. You may make the sound output part 26 output the sound and sound for swing analysis. Alternatively, a sound output unit is provided in the sensor unit 10, and the sound output processing unit 218 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.

  The swing analysis device 20 or the sensor unit 10 may be provided with a vibration mechanism, and various information may be converted into vibration information by the vibration mechanism and presented to the user 2.

1-3. Processing of swing analysis device [Swing analysis processing]
FIG. 6 is a flowchart showing the procedure of the swing analysis process performed by the processing unit 21 of the swing analysis apparatus 20 according to this embodiment. The processing unit 21 of the swing analysis apparatus 20 (an example of a computer) executes a swing analysis process according to the procedure of the flowchart of FIG. 6 by executing the swing analysis program 240 stored in the storage unit 24. Hereinafter, the flowchart of FIG. 6 will be described.

  First, the processing unit 21 acquires measurement data of the sensor unit 10 (S10). When the processing unit 21 acquires the first measurement data in the swing (including the stationary motion) of the user 2 in step S10, the processing unit 21 may perform the processing after step S20 in real time, or the swing motion of the user 2 from the sensor unit 10 After acquiring a part or all of the series of measurement data in step S20, the processes after step S20 may be performed.

  Next, the processing unit 21 detects the stationary motion (address motion) of the user 2 (the motion of step S1 in FIG. 3) using the measurement data acquired from the sensor unit 10 (S20). When processing is performed in real time, the processing unit 21 outputs a predetermined image or sound, for example, when detecting a stationary operation (address operation), or by providing an LED in the sensor unit 10 and the LED The user 2 may be notified that the stationary state has been detected, for example, by turning on, and the user 2 may start swinging after confirming this notification.

Next, the processing unit 21 uses the measurement data acquired from the sensor unit 10 (measurement data in the stationary operation (address operation) of the user 2), the club specification information 242, the sensor mounting position information 244, and the like. An initial position and an initial posture are calculated (S30).

  Next, the processing unit 21 detects each operation in the swing using the measurement data acquired from the sensor unit 10 (S40). An example of the procedure of the operation detection process will be described later.

  Further, the processing unit 21 calculates the position and orientation of the sensor unit 10 in the swing using the measurement data acquired from the sensor unit 10 in parallel with or before and after the process of step S40 (S50).

Next, the processing unit 21 uses the position and posture of the sensor unit 10 calculated in step S50, the club specification information 242, the sensor mounting position information 244, and the like, and the position of the head of the golf club 3 and the grip position in the swing. The position of the sensor unit 10 is calculated (S60). The processing unit 21, in this step S60, the position of the head of the golf club 3 at the swing start time t 1 detected in step S40 is adjusted to be the origin (0,0,0).

  Next, the processing unit 21 corrects the position of the head of the golf club 3 and the position of the grip in the swing calculated in step S60 using the detection result in step S40 (S70). An example of the procedure of this position correction process will be described later.

Then, the processing unit 21 uses the position and the position of the grip of a golf club 3 after correction in step S70 head trajectory information of the swing (e.g., from the swing start time t 1 to time t 3 of the impact (Trajectory information including the trajectory of the head and grip) is generated and displayed on the display unit 25 (S80).

  Next, the processing unit 21 calculates the head speed and the grip speed in the swing (for example, at the time of impact) using the head position and the grip position of the golf club 3 corrected in step S70. Display on the display unit 25 (S90), and the process ends.

  In the flowchart of FIG. 6, the order of the steps may be appropriately changed within a possible range.

[Motion detection processing]
FIG. 7 is a flowchart showing an example of the procedure of the process for detecting each action in the swing of the user 2 (the process in step S40 in FIG. 6). Hereinafter, the flowchart of FIG. 7 will be described.

  First, the processing unit 21 performs bias correction on the measurement data (acceleration data and angular velocity data) stored in the storage unit 24 (S200).

Next, the processing unit 21 calculates the value of the combined value n 0 (t) of the angular velocities at each time t using the angular velocity data (angular velocity data for each time t) corrected in step S200 (S210). . For example, assuming that the angular velocity data at time t is x (t), y (t), and z (t), the synthesized value n 0 (t) of the angular velocity is calculated by the following equation (1).

  An example of the triaxial angular velocity data x (t), y (t), z (t) when the user 2 swings and hits the golf ball 4 is shown in FIG. In FIG. 8A, the horizontal axis represents time (msec) and the vertical axis represents angular velocity (dps).

Next, the processing unit 21 converts the combined value n 0 (t) of angular velocities at each time t into a combined value n (t) that is normalized (scaled) to a predetermined range (S220). For example, assuming that the maximum value of the combined value of angular velocities during the measurement data acquisition period is max (n 0 ), the combined value of angular velocities n 0 (t) is normalized to a range of 0 to 100 by the following equation (2). Is converted into the synthesized value n (t).

FIG. 8B calculates the composite value n 0 (t) of the triaxial angular velocity from the triaxial angular velocity data x (t), y (t), z (t) of FIG. 8A according to the equation (1). It is the figure which displayed the synthetic | combination value n (t) normalized to 0-100 according to Formula (2) after carrying out. In FIG. 8B, the horizontal axis represents time (msec), and the vertical axis represents the combined value of angular velocities.

  Next, the processing unit 21 calculates a differential dn (t) of the normalized composite value n (t) at each time t (S230). For example, assuming that the measurement period of the triaxial angular velocity data is Δt, the differential (difference) dn (t) of the synthesized value of angular velocities at time t is calculated by the following equation (3).

  FIG. 8C is a graph showing the differential dn (t) calculated from the combined value n (t) of the triaxial angular velocities in FIG. In FIG. 8C, the horizontal axis represents time (msec), and the vertical axis represents the differential value of the combined value of the triaxial angular velocities. 8A and 8B, the horizontal axis is displayed in 0 to 5 seconds, but in FIG. 8C, the horizontal axis is shown so that the change in the differential value before and after the impact can be seen. Is displayed in 2 seconds to 2.8 seconds.

Then, the processing unit 21, the value of the differential dn (t) of the composite value of the time that the time and the minimum of the maximum, to identify the previous time as the measurement time t 3 of the impact (S240) (FIG. 8 (See (C)). In a normal golf swing, it is considered that the swing speed becomes maximum at the moment of impact. Since the combined value of the angular velocities is considered to change according to the swing speed, the timing at which the differential value of the combined angular velocity value becomes maximum or minimum in a series of swing motions (ie, the differential of the combined angular velocity value). The timing at which the value 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.

Then, the processing unit 21 identifies the time of the minimum point of the combined value earlier than the measurement time t 3 Impact n (t) approaches zero as the measurement time t 2 of the top (S250) (FIG. 8 (B) reference). 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 timing at which the combined value of the angular velocities approaches 0 and becomes the minimum before the impact timing can be regarded as the top timing.

Then, the processing unit 21, the combined value n before and after the top of the measurement time t 2 (t) is identified as a top section of the following sections a predetermined threshold (S260). In a normal golf swing, the operation stops once at the top, so it is considered that the swing speed is low before and after the top. Therefore, a continuous section including the top timing and the combined value of the angular velocities being equal to or less than the predetermined threshold can be regarded as the top section.

Next, the processing unit 21 specifies the last time when the composite value n (t) is equal to or lower than a predetermined threshold before the start time of the top section as the swing start measurement time t 1 (S270) (FIG. 8 ( B)), and the process is terminated. In a normal golf swing, it is unlikely that the swing operation starts from a stationary state and stops until the top. Therefore, the last timing at which the combined value of the angular velocities is less than or equal to the predetermined threshold before the top timing can be regarded as the timing for starting the swing motion. In prior top measurement time t 2, the time of minimum point approaching the composite value n (t) is 0 may be specified as the measurement time of the swing start.

  In the flowchart of FIG. 7, the order of the steps may be appropriately changed within a possible range. Further, in the flowchart of FIG. 7, the processing unit 21 specifies the impact or the like using the triaxial angular velocity data, but can similarly specify the impact or the like using the triaxial acceleration data.

[Position correction processing]
FIG. 9 is a flowchart showing an example of the procedure of the process of correcting the position of the head and the position of the grip of the golf club 3 (process of step S70 in FIG. 6). Hereinafter, the flowchart of FIG. 9 will be described.

First, the processing unit 21 connects the X coordinate of the head position at the time of impact (time t 3 ) and the X coordinate of the head position at the start of swing (time t 1 ) calculated in step S60 of FIG. A straight line expression (primary expression representing the correction amount of the X coordinate) with time as a variable is calculated (S300).

Further, the processing unit 21 connects the Y coordinate of the head position at the time of impact (time t 3 ) and the Y coordinate of the head position at the start of swing (time t 1 ) calculated in step S60 of FIG. A straight line expression (primary expression representing the correction amount of the Y coordinate) with time as a variable is calculated (S310).

Further, the processing unit 21 connects the Z coordinate of the head position at the time of impact (time t 3 ) and the Z coordinate of the head position at the start of the swing (time t 1 ) calculated in step S60 of FIG. A straight line expression (primary expression representing the correction amount of the Z coordinate) with time as a variable is calculated (S320).

In FIG. 10A, the data of the actual swing measured by the sensor unit 10 is used to calculate the head of the head from the swing start time (time t 1 ) to the impact time (time t 3 ) calculated in step S60 of FIG. An example of the time-series data of the X coordinate, Y coordinate, and Z coordinate of the position (position before correction) is shown. In FIG. 10A, the horizontal axis represents time, the vertical axis represents coordinate values, the solid line represents the X coordinate, the broken line represents the Y coordinate, and the dotted line represents the Z coordinate. As shown in FIG. 10 (A), the swing start time t 1, the position of the head is at the origin, the X-coordinate, Y-coordinate, all Z coordinates are 0, the impact time t 3, X coordinate, Neither Y coordinate nor Z coordinate is 0.

FIG. 10B shows the X coordinate, Y coordinate, Z coordinate at the swing start time t 1 and X at the impact time t 3 with respect to the time-series data of the head position before correction shown in FIG. Three straight lines connecting the coordinate, the Y coordinate, and the Z coordinate are shown. In FIG. 10A, the horizontal axis represents time, and the vertical axis represents coordinate values. The solid line is a straight line corresponding to the X coordinate and corresponds to a linear expression representing the correction amount of the X coordinate. The broken line is a straight line corresponding to the Y coordinate and corresponds to a linear expression representing the correction amount of the Y coordinate. The dotted line is a straight line corresponding to the Z coordinate and corresponds to a linear expression representing the correction amount of the Z coordinate.

  Next, the processing unit 21 performs steps S300, S310, and S320 from the X coordinate, Y coordinate, and Z coordinate of the head position (position before correction) at each time in the swing calculated in step 60 of FIG. The amount of correction corresponding to the linear expression representing the amount of correction of the X, Y, and Z coordinates of the head position at each time in the swing calculated in step S is subtracted (S330).

FIG. 10C shows the X-coordinate, Y-coordinate, and Z-coordinate at each time of the position of the head before correction shown in FIG. 10A at each time on each straight line shown in FIG. The result corrected by subtracting the X, Y, and Z coordinates is shown. In FIG. 10A, the horizontal axis represents time, the vertical axis represents coordinate values, the solid line represents the corrected X coordinate, and the dotted line represents the corrected Z coordinate. As shown in FIG. 10C, at the impact time t 3 , the X coordinate, Y coordinate, and Z coordinate are all 0, and the X coordinate, Y coordinate, and Z coordinate at the swing start time t 1 are the same. I'm doing it.

  Next, the processing unit 21 performs steps S300, S310, and S320 from the X coordinate, Y coordinate, and Z coordinate of the grip position (position before correction) at each time in the swing calculated in step 60 of FIG. The amount of correction corresponding to the linear expression representing the amount of correction of the X, Y, and Z coordinates of the head position at each time in the swing calculated in step S340 is subtracted (S340), and the process ends.

  With the above processing, in step S80 of FIG. 6, a locus on which the head position at the start of the swing and the head at the time of impact is drawn as shown in FIG. Further, the head speed and the grip speed calculated in step S90 of FIG. 6 are calculated based on the corrected head position and grip position that are closer to reality.

FIG. 11A shows the time from the start of swing (time t 1 ) to the time of impact (time t 3 ) calculated from the X, Y, and Z coordinates of the head position before correction shown in FIG. FIG. 6 is a diagram illustrating an example of time-series data of an X-axis speed, a Y-axis speed, and a Z-axis speed of the head up to). Further, FIG. 11B shows the time from the start of swing (time t 1 ) to the time of impact (time) calculated from the X coordinate, Y coordinate, and Z coordinate of the corrected head position shown in FIG. t 3) the head of the X-axis speed of up to, Y-axis velocity is a diagram showing an example of time-series data of the Z-axis velocity. 11A and 11B, the horizontal axis represents time, the vertical axis represents speed (unit: m / s), the solid line represents the X-axis speed, the broken line represents the Y-axis speed, and the dotted line represents the Z-axis speed. Show.

Assuming that the X-axis speed, Y-axis speed, and Z-axis speed are v x , v y , and v z , respectively, the head speed v H obtained by combining the X-axis speed, the Y-axis speed, and the Z-axis speed ).

FIG. 12A shows the X-axis velocity Y calculated from the position of the head before correction shown in FIG.
X-axis speed, Y-axis speed, and Z-axis speed calculated from the time-series data of the head speed (speed before correction) obtained by combining the axial speed and the Z-axis speed and the corrected head position shown in FIG. FIG. 6 is a diagram showing time-series data of the speed (speed after correction) of a head that is synthesized. FIG. 12B is an enlarged view of the speed before and after correction of the head from time t4 to time t3 immediately before the impact in FIG. 12A and 12B, the horizontal axis represents time, the vertical axis represents speed (unit: m / s), the solid line represents the speed after correction, and the broken line represents the speed before correction. From FIG. 12B, the speed of the head before correction at the time of impact (time t 3 ) is 35.1 m / s, and the speed after correction is 35.4 m / s. On the other hand, the speed of the head at the time of impact in the swing measured by the sensor unit 10 was simultaneously measured by a highly reliable reference measuring instrument, and found to be 35.5 m / s. That is, it can be said that the head speed at impact calculated from the corrected head position is closer to the reference speed, and the accuracy is higher than the head speed at impact calculated from the head position before correction.

  Based on the above results, the head speed and the grip speed calculated in step S90 after the processing unit 21 corrects the head position and the grip position in step S70 of FIG. 6 are temporarily calculated in step S60. It can be said that the accuracy is improved over the head speed and the grip speed when calculated using the position and the position of the grip (position before correction), respectively.

1-4. Effect In the present embodiment, generally, the swing calculated by using the measurement data of the sensor unit 10 paying attention to the fact that the position of the head of the golf club 3 at the start of the swing substantially coincides with the position of the head at the time of impact. Using the head position at one of the start time and the impact time, the head position at the other is corrected. Therefore, according to the present embodiment, the corrected head position can be brought close to the actual head position in the actual swing. Therefore, highly accurate swing analysis information is generated using the corrected head position information. Can be presented.

  In particular, in this embodiment, since the head position calculation error due to the integration error increases with time, the head position is corrected according to the correction amount represented by the linear expression with time as a variable. Thus, the head position can be accurately corrected with a relatively small amount of calculation.

  Further, according to the present embodiment, the head speed, the grip position, the speed, and the like can be accurately calculated using the corrected head position.

  Also, according to the present embodiment, since the swing analysis information is generated using the sensor unit 10, it is not necessary to use a large-scale device such as a camera, and there are few restrictions on the place where the swing analysis is performed.

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

In the above embodiment, the X coordinate, Y coordinate, and Z coordinate of the position of the head of the golf club 3 are corrected by a linear expression using time as a variable, but as the second half of the swing (as the impact approaches). Since the amount of change in the head position is large and the amount of change in the integration error is also considered to be large, for example, the X, Y, and Z coordinates of the head position are corrected by a quadratic expression using time as variables, respectively. May be. Alternatively, the X coordinate, Y coordinate, and Z coordinate of the position of the sensor unit 10 are corrected by a quadratic expression using time as a variable, and the position of the golf club 3 is determined using the corrected position of the sensor unit 10. The X coordinate, Y coordinate, and Z coordinate of the calculated head position may be corrected by a linear expression using time as a variable.

  In the above embodiment, each motion in the swing of the user 2 is detected by using the square root of the sum of squares as shown in Expression (1) as the combined value of the three-axis angular velocities measured by the sensor unit 10. In addition to this, for example, a sum of squares of three-axis angular velocities, a sum of three-axis angular velocities, an average value thereof, or a product of three-axis angular velocities may be used as the composite value of the three-axis angular velocities. 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. .

  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.

  In the above embodiment, a swing analysis system (swing analysis device) for analyzing a golf swing is taken as an example. Analysis device). Further, the present invention provides a movement other than a swing (for example, pedaling a bicycle pedal) in which the measured part is in the first position at the first time point and the measured part passes through the first position at the second time point. It can also be applied to circular motions of

  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.

1 swing analysis system, 2 users, 3 golf clubs, 4 golf balls, 10
Sensor unit, 12 acceleration sensor, 14 angular velocity sensor, 16 signal processing unit, 18 communication unit, 20 swing analysis device, 21 processing unit, 22 communication unit, 23 operation unit, 24 storage unit, 25 display unit, 26 sound output unit, 210 data acquisition unit, 211 motion detection unit, 212 position calculation unit, 213 position correction unit, 214 speed calculation unit, 215 motion analysis information generation unit, 216 storage processing unit, 217 display processing unit, 218 sound output processing unit, 240 swing Analysis program, 242 Club specification information, 244 Sensor mounting position information

Claims (10)

  1. Using the output of the inertial sensor, the measured part is in the first position at the first time point, and the measured part analyzes the movement through the first position at the second time point,
    A correction step of correcting a motion parameter of the measured part acquired from an output of the inertial sensor based on a difference between the first position at the first time point and the first position at the second time point;
    An analysis step of analyzing the motion using the motion parameter after the correction.
  2. The exercise is a swing using exercise equipment,
    The motion analysis method according to claim 1, wherein the measured portion is a striking portion of the exercise equipment.
  3.   3. The motion analysis method according to claim 2, wherein the first position is a position of the hitting portion of the exercise equipment before the start of a swing.
  4. In the correction step,
    Based on the condition that the position of the striking part of the exercise equipment immediately before or immediately after the start of the swing that is the first time point and the position of the striking part of the exercise equipment at the time of the impact that is the second time point, The motion analysis method according to claim 2 or 3, wherein the motion parameter is corrected.
  5. In the correction step,
    Based on the condition that the position of the striking part of the exercise equipment immediately before or immediately after the start of the swing that is the first time point and the position of the striking part of the exercise equipment just before the impact that is the second time point, The motion analysis method according to claim 2 or 3, wherein the motion parameter is corrected.
  6.   The motion analysis method according to claim 1, wherein the motion parameter is position information.
  7.   The motion analysis method according to claim 1, wherein the motion parameter is speed information.
  8. A motion analysis device that uses the output of the inertial sensor to analyze the motion of the measured portion at the first position at the first time point and the measured portion passes through the first position at the second time point,
    A correction unit that corrects a motion parameter of the measurement target acquired from an output of the inertial sensor based on a difference between the first position at the first time point and the first position at the second time point;
    A motion analysis apparatus comprising: an analysis unit that analyzes the motion using the motion parameters after the correction.
  9.   A motion analysis system including the motion analysis device according to claim 8 and the inertial sensor.
  10. Using the output of the inertial sensor, a program for analyzing the movement of the measured portion at the first position at the first time point and the measured portion passing through the first position at the second time point,
    Correcting a motion parameter of the measured portion obtained from an output of the inertial sensor based on a difference between the first position at the first time point and the first position at the second time point;
    A program for causing a computer to execute the step of analyzing the motion using the motion parameter after the correction.
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