JP2016067408A - Sensor, arithmetic unit, movement measurement method, movement measurement system, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sensor, an arithmetic unit, a movement measurement method, a movement measurement system, and a program capable of reducing the time required for detecting a standstill period of an object to be measured.SOLUTION: A sensor unit 10 includes a measurement part 13, and a sampling rate switching part 14 for switching a sampling rate for the measurement by the measurement part 13. The measurement part 13 performs the measurement at a first sampling rate during a standstill period of a user 2, switches the sampling rate to a second sampling rate by the sampling rate switching part 14 during a movement period of the user 2, and performs the measurement. The first sampling rate is lower than the second sampling rate.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a sensor, a computing device, a motion measurement method, a motion measurement 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 a swing motion is 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 are few restrictions on the place where the user performs a swing.

JP 2008-73210 A

  When measuring the swing movement using the sensor output, the user has to rest for a few seconds before starting the swing, and the arithmetic unit uses the sensor output of the user's stationary period to obtain the zero point bias value of the sensor output Calibration may be performed. In order to accurately measure the swing motion, it is better that the sensor sampling rate is high. However, the higher the sensor sampling rate, the greater the amount of data transmitted from the sensor to the computing device. As a result, the time until the arithmetic device detects the stationary period of the user in the calibration becomes longer, and the user must remain stationary until the arithmetic device detects the stationary period, which is inconvenient. There's a problem. Such a problem is not limited to golf swing motion, but occurs in any motion.

  The present invention has been made in view of the above problems, and according to some aspects of the present invention, a sensor capable of reducing the time required to detect the stationary period of the measurement object, An arithmetic device, a motion measurement method, a motion measurement 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 sensor according to this application example includes a measurement unit and a sampling rate switching unit that switches a sampling rate measured by the measurement unit, and the measurement unit measures at a first sampling rate in a stationary period of the measurement object. In the movement period of the object to be measured, the sampling rate switching unit switches the sampling rate to the second sampling rate, and the first sampling rate is lower than the second sampling rate.

  The sensor according to this application example may be an inertial sensor, for example. The inertial sensor may be, for example, an acceleration sensor, an angular velocity sensor, or a sensor unit including an acceleration sensor and an angular velocity sensor.

  The object to be measured may be, for example, an exercise apparatus (for example, an apparatus such as a golf club, a tennis racket, a baseball bat, or a hockey stick) to which the sensor according to this application example is attached. It may be a user who uses it or a user to whom the sensor according to this application example is attached. The exercise period of the measurement object may be, for example, a period during which the user swings using an exercise device.

  Focusing on the fact that the sensor according to this application example has little variation in measurement data when there is almost no movement of the object to be measured. In the stationary period of the object to be measured, the second sampling rate in the movement period of the object to be measured The amount of measurement data can be reduced by measuring at a low first sampling rate. Therefore, by using the measurement data measured by the sensor according to this application example during the stationary period of the measurement object, it is possible to reduce the time required for detecting the stationary period of the measurement object.

[Application Example 2]
In the sensor according to the application example, the sampling rate switching unit may switch the first sampling rate to the second sampling rate based on a first switching signal from the outside.

[Application Example 3]
The arithmetic device according to this application example includes a stationary period detection unit that detects a stationary period in which a measurement object is stationary based on first measurement data measured by a sensor at a first sampling rate, and the stationary period detection unit Includes a sensor control unit that transmits a first switching signal instructing the sensor to switch to a second sampling rate when the stationary period is detected, wherein the first sampling rate is the second sampling rate. Lower than the rate.

  According to the arithmetic device according to this application example, the sensor reduces the data amount by measuring at the first sampling rate lower than the second sampling rate during the motion period of the measurement object in the stationary period of the measurement object. Based on the first measurement data, the time required for detecting the stationary period of the measurement object can be shortened.

[Application Example 4]
In the arithmetic device according to the application example, the stationary period detection unit may detect the stationary period when the first measurement data is within a predetermined range at a predetermined time.

[Application Example 5]
The arithmetic device according to the application example may include a zero point bias calculation unit that calculates a zero point bias value of the first measurement data of the sensor when the stationary period detection unit detects the stationary period.

[Application Example 6]
In the arithmetic device according to the application example, the zero point bias calculation unit may calculate an average value of the first measurement data in the stationary period and use the average value as the zero point bias value.

[Application Example 7]
The arithmetic device according to the application example may include a motion analysis unit that analyzes the motion of the measurement object using second measurement data measured by the sensor at the second sampling rate.

In the arithmetic device according to this application example, in order to acquire a sufficient amount of measurement data during the movement period of the measurement object, the sensor is configured to acquire the first sampling rate during the stationary period of the measurement object during the movement period of the measurement object. Measure at a higher second sampling rate. Therefore, according to the arithmetic device according to this application example, it is possible to acquire a sufficient amount of the second measurement data during the movement period of the object to be measured. Therefore, the arithmetic device can detect the object to be measured based on the second measurement data. The motion can be analyzed with high accuracy.

[Application Example 8]
The arithmetic device according to the application example includes a movement end detection unit that detects the end of movement of the measurement object, and the sensor control unit detects the movement end of the measurement object. In this case, a second switching signal for instructing the sensor to switch to the first sampling rate may be transmitted.

  According to the arithmetic device according to this application example, the amount of measurement data of the sensor can be reduced after the movement of the measurement target portion is completed.

[Application Example 9]
In the arithmetic device according to the application example, the first sampling rate may be equal to or lower than an output rate at which the sensor outputs the first measurement data.

  According to the arithmetic device according to this application example, since the sensor can output the first measurement data measured in the stationary period of the measurement object without delay, the arithmetic apparatus can output the stationary period of the measurement object without delay. Can be detected.

[Application Example 10]
In the motion measurement method according to this application example, the sensor measures the first measurement data in the stationary period of the measurement object at the first sampling rate, and outputs the measured first measurement data. A second measurement data output step of measuring at a second sampling rate and outputting the measured second measurement data during the movement period of the object to be measured, wherein the first sampling rate is greater than the second sampling rate. Is also low.

  In the motion measurement method according to this application example, paying attention to the fact that the amount of measurement data may be reduced in a stationary period in which there is little movement of the measurement object, so that the amount of measurement data may be reduced. In the period, measurement is performed at a first sampling rate lower than the second sampling rate in the movement period of the object to be measured. Therefore, according to the motion measurement method according to this application example, by reducing the amount of the first measurement data in the stationary period of the measurement object, the time required for detecting the stationary period of the measurement object based on the first measurement data is reduced. It can be shortened.

[Application Example 11]
The motion measurement method according to this application example includes a first measurement data output step in which a sensor measures at a first sampling rate and outputs the measured first measurement data, and an arithmetic device is based on the first measurement data. A stationary period detecting step for detecting a stationary period in which the measurement object is stationary; and a first instruction that instructs the sensor to switch to the second sampling rate when the arithmetic unit detects the stationary period. A first switching signal transmitting step for transmitting a switching signal; a first sampling rate switching step in which the sensor switches a sampling rate to the second sampling rate based on the first switching signal; and the sensor A second measurement data output step of measuring at a second sampling rate and outputting the measured second measurement data, wherein the first Emissions purine Great is lower than the second sampling rate.

In the motion measurement method according to this application example, paying attention to the fact that the amount of measurement data may be reduced in a stationary period in which there is little movement of the measurement object, so that the amount of measurement data may be reduced. In the period, measurement is performed at a first sampling rate lower than the second sampling rate in the movement period of the object to be measured. Therefore, according to the motion measurement method according to this application example, the arithmetic device can detect the stationary period of the measurement object based on the first measurement data by reducing the amount of the first measurement data in the stationary period of the measurement object. The time required can be shortened.

  The motion measurement method according to this application example may include a zero point bias calculation step of calculating a zero point bias value of the first measurement data of the sensor when the arithmetic device detects the stationary period. In the zero point bias calculation step, the arithmetic unit may calculate an average value of the first measurement data in the stationary period and use the average value as the zero point bias value.

  Further, in the motion measurement method according to this application example, the calculation device includes a motion analysis step of analyzing the motion of the measurement object using the second measurement data measured by the sensor at the second sampling rate. May be included.

  Further, in the motion measurement method according to this application example, the arithmetic device detects an end of motion of the object to be measured, and the arithmetic device detects the end of motion of the object to be measured. In this case, a second switching signal transmission step of transmitting a second switching signal instructing the sensor to switch to the first sampling rate may be included.

  Furthermore, the motion measurement method according to this application example may include a second sampling rate switching step in which the sensor switches a sampling rate to the first sampling rate based on the second switching signal.

[Application Example 12]
The motion measurement system according to this application example includes a sensor and an arithmetic device, and the sensor includes a measurement unit and a sampling rate switching unit that switches a sampling rate measured by the measurement unit, and the arithmetic device Is based on first measurement data measured by the sensor at a first sampling rate, and a stationary period detector that detects a stationary period in which the object to be measured is stationary, and the stationary period detector detects the stationary period A sensor control unit that transmits a first switching signal that instructs the sensor to switch to a second sampling rate, wherein the first sampling rate is lower than the second sampling rate.

  According to the motion measurement system according to this application example, the sensor measures the first measurement data by measuring at a first sampling rate lower than the second sampling rate during the motion period of the measurement object in the stationary period of the measurement object. Therefore, the arithmetic unit can shorten the time required for detecting the stationary period of the measurement object based on the first measurement data.

[Application Example 13]
The program according to this application example includes a stationary period detection step of detecting a stationary period in which the measurement object is stationary based on first measurement data measured by the sensor at a first sampling rate, and the stationary period detection step. A first switching signal transmission step of transmitting a first switching signal that instructs the sensor to switch to a second sampling rate higher than the first sampling rate when the stationary period is detected; Let

  According to the program according to this application example, the sensor reduces the data amount by measuring at the first sampling rate lower than the second sampling rate during the motion period of the measurement object in the stationary period of the measurement object. Based on one measurement data, the time required for detecting the stationary period of the measurement object can be shortened.

Explanatory drawing of the outline | summary of the exercise | movement measurement 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. The figure which shows an example of the screen displayed on the display part of an arithmetic unit. The figure which shows the structural example of the exercise | movement measurement system of 1st Embodiment. The figure which shows an example of the time chart of a user's operation | movement, the process of a sensor unit, and the process of an arithmetic unit in 1st Embodiment. The flowchart figure which shows an example of the procedure of the exercise | movement measurement process by the arithmetic unit in 1st Embodiment. The flowchart figure which shows an example of the procedure of the measurement process by the sensor unit in 1st Embodiment. The figure which shows the structural example of the exercise | movement measurement system of 2nd Embodiment. The figure which shows an example of the time chart of a user's operation | movement, the process of a sensor unit, and the process of an arithmetic unit in 2nd Embodiment. The flowchart figure which shows an example of the procedure of the exercise | movement measurement process by the arithmetic unit in 2nd Embodiment. The flowchart figure which shows an example of the procedure of the measurement process by the sensor unit in 2nd Embodiment. The figure which shows the structural example of the exercise | movement measurement system of 3rd Embodiment. The figure which shows an example of the time chart of a user's operation | movement, the process of a sensor unit, and the process of an arithmetic unit in 3rd Embodiment. The flowchart figure which shows an example of the procedure of the exercise | movement measurement process by the arithmetic unit in 3rd Embodiment. The flowchart figure which shows an example of the procedure of the measurement process by the sensor unit in 3rd Embodiment.

  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.

  In the following, a motion measurement system (swing measurement system) for analyzing a golf swing will be described as an example.

1. 1. Motion measurement system 1-1. First embodiment 1-1-1. Outline of Motion Measurement System FIG. 1 is a diagram for explaining an outline of a motion measurement system of the present embodiment. The motion measurement system 1 of the present embodiment includes a sensor unit 10 (an example of a sensor) and a calculation device 20.

  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.

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. However, the sensor unit 10 may be attached to a part (for example, a hand or a glove) of the user 2 (an example of an object to be measured), 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. 3 is a diagram illustrating a procedure of an operation performed by the user 2. As shown in FIG. 3, the user 2 first performs a measurement start operation (operation for causing the sensor unit 10 to start measurement) via the arithmetic device 20 (S1). Next, after receiving a notification (for example, a notification by voice) that instructs the user 2 to take an address posture from the computing device 20 (Y of S2), the long axis of the shaft of the golf club 3 is the target line (the hit ball). The posture of the address is taken so as to be perpendicular to the (target direction), and it stops (S3). Next, after receiving notification (for example, notification by voice) that permits a swing from the computing device 20 (Y in S4), the user 2 performs a swing motion and hits the golf ball 4 (S5).

  When the user 2 performs the measurement start operation of S1 in FIG. 3, the sensor unit 10 measures the triaxial acceleration and the triaxial angular velocity, and sequentially transmits the measured data to the arithmetic device 20. Communication between the sensor unit 10 and the computing device 20 may be wireless communication or wired communication.

  The arithmetic unit 20 analyzes the swing motion that the user 2 hits with the golf club 3 using the data measured by the sensor unit 10. For example, the arithmetic unit 20 may generate trajectory information of the head or grip end of the golf club 3 in a swing using the measurement data measured by the sensor unit 10 and display it on a display unit (display). The computing device 20 may be, for example, a mobile device such as a smartphone or a personal computer (PC).

FIG. 4 is a diagram illustrating an example of a screen displayed on the display unit 25 (see FIG. 5) of the arithmetic device 20. 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 the screen of FIG. 4 includes information on the X axis, the Y axis, and the Z axis. In the screen of FIG. 4, S ₁ , HP ₁ , GP ₁ indicate the shaft, head position, and grip position at the start of the swing, respectively, and S ₂ , HP ₂ , GP ₂ indicate the impact time, respectively. The shaft, head position, and grip position are shown. The head position HP ₁ at the start of the swing corresponds to 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.

  In the present embodiment, the sensor unit 10 starts measurement at a first sampling rate (for example, 250 Hz) by the measurement start operation of the user 2 in S1 of FIG. The sensor unit 10 measures at the first sampling rate in the stationary period (an example of the stationary period of the object to be measured) in S3 in FIG. An example) is output and transmitted to the computing device 20 (an example of a first measurement data output step).

The arithmetic unit 20 receives the measurement data of the first sampling rate, and detects a predetermined stationary period (for example, a stationary period of 1 second) of the user 2 based on the measured data (an example of a stationary period detection step) ). Then, when the arithmetic unit 20 detects the stationary period of the user 2, the arithmetic unit 20 instructs the sensor unit 10 to switch to the second sampling rate (for example, 1 kHz) (an example of the first switching signal). Is transmitted (an example of a first switching signal transmission step).

  The sensor unit 10 receives the high rate setting command and switches the sampling rate to the second sampling rate based on the command (an example of a first sampling rate switching step). Then, the sensor unit 10 measures and measures the measured data (an example of the second measurement data) at the second sampling rate in the period of the swing motion of the user 2 in S5 of FIG. ) And transmitted to the computing device 20 (an example of a second measurement data output step).

  The arithmetic unit 20 receives the measurement data of the second sampling rate, and analyzes the swing motion of the user 2 using the measurement data (an example of a motion analysis process).

  Furthermore, the arithmetic unit 20 receives the measurement data of the second sampling rate, and detects the end of the swing motion of the user 2 (an example of the motion end detection step). When the end of the swing motion of the user 2 is detected, the arithmetic unit 20 transmits a low rate setting command (an example of a second switching signal) that instructs the sensor unit 10 to switch to the first sampling rate. (An example of a 2nd switching signal transmission process).

  The sensor unit 10 receives the low rate setting command and switches the sampling rate to the first sampling rate based on the command (an example of a second sampling rate switching step).

1-1-2. Configuration of Motion Measurement System FIG. 5 is a diagram illustrating a configuration example (configuration example of the sensor unit 10 and the arithmetic device 20) of the motion measurement system 1 of the first embodiment. As shown in FIG. 5, in the present embodiment, the sensor unit 10 includes an acceleration sensor 11, an angular velocity sensor 12, a measurement unit 13, a sampling rate switching unit 14, a communication unit 15, and a storage unit 16.

  The acceleration sensor 11 measures acceleration generated in each of the 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 12 measures the angular velocity generated around each of the 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.

  When the measurement unit 13 receives the measurement start command from the communication unit 15, the measurement unit 13 acquires acceleration data and angular velocity data from the acceleration sensor 11 and the angular velocity sensor 12, respectively, and performs communication by attaching time information to the acquired acceleration data and angular velocity data. The measurement data matching the format is generated and output to the communication unit 15. In addition, when receiving the measurement end command from the communication unit 15, the measurement unit 13 ends (stops) the acquisition of acceleration data and angular velocity data, the generation of measurement data, and the output of the measurement data to the communication unit 15.

Each of the acceleration sensor 11 and the angular velocity sensor 12 has three axes that coincide with three axes (x axis, y axis, z axis) of an 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 measurement unit 13 may perform 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 measurement unit 13 may perform temperature correction processing for the acceleration sensor 11 and the angular velocity sensor 12. Alternatively, the acceleration sensor 11 and the angular velocity sensor 12 may incorporate a temperature correction function.

  The acceleration sensor 11 and the angular velocity sensor 12 may output analog signals. In this case, the measurement unit 13 converts the output signal of the acceleration sensor 11 and the output signal of the angular velocity sensor 12 to A / D, respectively. What is necessary is just to produce | generate measurement data by converting.

  The sampling rate switching unit 14 switches the sampling rate that the measurement unit 13 measures (acquires triaxial acceleration data and triaxial angular velocity data). In the present embodiment, when the measurement unit 13 receives a measurement start command from the communication unit 15, the measurement unit 13 starts measurement at a first sampling rate (for example, 250 Hz). And the sampling rate switching part 14 will switch the sampling rate of the measurement part 13 to a 2nd sampling rate (for example, 1 kHz), if the high rate setting command is received from the communication part 15. FIG. When the sampling rate switching unit 14 receives a low rate setting command from the communication unit 15 when the sampling rate of the measuring unit 13 is the second sampling rate, the sampling rate switching unit 14 switches the sampling rate of the measuring unit 13 to the first sampling rate.

  The communication unit 15 receives measurement data output from the measurement unit 13 and transmits the measurement data to the arithmetic device 20, and various control commands (measurement start command, measurement end command, high rate setting command, low rate setting from the arithmetic device 20). Command) and the like and the like to send to the measuring unit 13 or the sampling rate switching unit 14. In the present embodiment, the communication unit 15 includes a reception buffer 151 and a transmission buffer 152.

  The communication unit 15 receives the control command transmitted by the arithmetic device 20 by writing it in the reception buffer. The transmission buffer 152 is configured as an N-stage (N is a positive integer) FIFO (First-In First-Out), and when the measurement data measured by the measurement unit 13 is output to the outside, up to N measurements are performed. Data can be retained. The communication unit 15 transmits the measurement data at the head of the transmission buffer 152 (N-stage FIFO) to the arithmetic device 20 when transmission to the arithmetic device 20 is possible.

  Every time measurement data is generated, the measurement unit 13 writes the measurement data at the end of the transmission buffer 152 (N-stage FIFO) if there is an empty space in the transmission buffer 152 (N-stage FIFO). Further, the measurement unit 13 determines that when the transmission buffer 152 (N-stage FIFO) is not empty, that is, when the transmission buffer 152 (N-stage FIFO) is full (when N pieces of measurement data are held), The measurement data is written at the end of the FIFO configured in the storage unit 16.

  If there is a vacancy in the transmission buffer 152 (N-stage FIFO), the communication unit 15 writes the measurement data in the FIFO configured in the storage unit 16 at the head of the FIFO configured in the storage unit 16. The measured data is taken out and written at the end of the transmission buffer 152 (N-stage FIFO).

  The storage unit 16 is a large-capacity memory, and the FIFO configured in the storage unit 16 calculates the time required for a series of operations related to the swing motion of the user 2 (operations such as address, waggle, and swing) and the sensor unit 10. In consideration of the communication environment (communication rate) and the like with the device 20, the size is set to be sufficient to store all the measurement data necessary for the processing of the arithmetic device 20.

  With the above-described configuration, when the communication environment with the arithmetic device 20 is good, the sensor unit 10 can transmit measurement data almost in real time while the transmission buffer 152 (N-stage FIFO) is always free. Can continue to send. On the other hand, when the communication environment with the arithmetic unit 20 is bad, the sensor unit 10 has no space in the transmission buffer 152 (N-stage FIFO), but measurement data accumulates in the FIFO configured in the storage unit 16. Even if the delay increases, all necessary measurement data can be transmitted to the arithmetic unit 20.

  The computing 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 performs processing for receiving measurement data transmitted from the sensor unit 10 and sending it to the processing unit 21, processing for receiving a control command from the processing unit 21, and sending it to the sensor unit 10.

  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 motion measurement program 240 that is read by the processing unit 21 and that executes a measurement process of the swing motion of the user 2. The motion measurement program 240 may be stored in advance in a nonvolatile recording medium, or the processing unit 21 may receive the motion measurement program 240 from the server via the network and store it in the storage unit 24.

  In addition, the storage unit 24 may store 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 of the lie angle, face angle, loft angle, etc.), the specification information of the input model number may be used 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 may be stored. 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 end).

  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 voice or various sounds. 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 measurement data received from the sensor unit 10 via the communication unit 22, and other various control processing. . In particular, in the present embodiment, the processing unit 21 executes the exercise measurement program 240 to thereby obtain a data acquisition unit 210, a stationary period detection unit 211, a zero point bias calculation unit 212, an exercise end detection unit 213, and an exercise analysis unit 214. , Sensor control unit 215, storage processing unit 216, display processing unit 217, and sound output processing unit 218.

  The data acquisition unit 210 performs processing for acquiring measurement data received from the sensor unit 10 by the communication unit 22 and sending the measurement data to the storage processing unit 216.

  The storage processing unit 216 performs processing for receiving measurement data from the data acquisition unit 210 and storing the measurement data in the storage unit 24.

  The stationary period detection unit 211 performs processing for detecting a stationary period in which the user 2 is stationary in S3 of FIG. 3 based on the measurement data measured by the sensor unit 10 at the first sampling rate. The stationary period detection unit 211 may detect the stationary period when the measurement data (triaxial acceleration data and triaxial angular velocity data) is within a predetermined range for a predetermined time (for example, 1 second).

  The zero point bias calculation unit 212 performs a process of calculating the zero point bias value of the measurement data of the sensor unit 10 when the stationary period detection unit 211 detects the stationary period. The zero point bias calculation unit 212 may calculate an average value of the measurement data in the stationary period (each average value of the three-axis acceleration data and each average value of the three-axis angular velocity data), and use the average value as the zero point bias value. .

  The movement end detection unit 213 performs processing for detecting the end of the swing movement of the user 2 (operation S5 in FIG. 3) based on the measurement data measured by the sensor unit 10 at the second sampling rate. For example, the exercise end detection unit 213 may detect a state where the user 2 is stationary after impact (a stationary state after follow-through) as the end of the swing exercise.

  The motion analysis unit 214 performs a process of analyzing the swing motion of the user 2 (operation S5 in FIG. 3) using the measurement data measured by the sensor unit 10 at the second sampling rate.

In the present embodiment, the motion analysis unit 214 performs processing for detecting the timing of each operation (measurement data measurement time) in the swing motion of the user 2 using the measurement data measured at the second sampling rate. Specifically, the motion analysis unit 214 first detects the impact timing using the measurement data. Next, using the measurement data before the impact timing, the motion analysis unit 214 detects the timing at which the swing direction is switched (the top timing at which the back swing is switched to the down swing). Next, the motion analysis unit 214 detects the swing start timing using measurement data before the timing at which the swing direction is switched. For example, the motion analysis unit 214 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. Here, as a composite value of angular velocities, the square root of the square sum of angular velocities around each axis, the square sum of angular velocities around each axis, the sum of angular velocities around each axis or an average value thereof, the product of angular velocities around each axis, etc. May be used. Similarly, as a composite value of acceleration, the square root of the square sum of acceleration in each axis direction, the sum of squares of acceleration in each axis direction, the sum of accelerations in each axis direction or an average value thereof, the product of acceleration in each axis direction, etc. May be used.

  In addition, the motion analysis unit 214 uses the measurement data measured at the second sampling rate to determine the position and orientation (posture angle) of the sensor unit 10 in the swing motion of the user 2 (position in the XYZ coordinate system (global coordinate system)). And posture). Specifically, the motion analysis unit 214 uses the zero point bias value calculated by the zero point bias calculation unit 212 to measure data (triaxial acceleration) corresponding to the swing motion of the user 2 (the operation of S5 in FIG. 3). Data and 3-axis angular velocity data) are bias-corrected, and the position and posture (posture angle) of the sensor unit 10 during the swing motion of the user 2 are calculated using the bias-corrected measurement data.

  For example, the motion analysis unit 214 uses the three-axis acceleration data, the club specification information 242 and the sensor mounting position information 244 to detect the sensor unit 10 when the user 2 is stationary (addressing) in the XYZ coordinate system (global coordinate system). The position (initial position) 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 S3 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 the acceleration sensor 11 measures only gravitational acceleration when the user 2 is stationary, so that motion analysis is performed. The unit 214 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 motion analysis unit 214 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), a position apart from the origin by a distance L _SH in the negative direction of the y-axis of the sensor unit 10 which is specified by the inclination angle of the shaft and the initial position of the sensor unit 10.

  In addition, the motion analysis unit 214 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 11. Then, the angular velocity data thereafter is integrated (rotation calculation), and the change in the 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, a rotation angle (roll angle, pitch angle, yaw angle) around the X axis, Y axis, or Z axis, or a quarter-on (quaternion). Since the acceleration sensor 11 measures only gravitational acceleration when the user 2 is stationary, the motion analysis unit 214 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 S3 in FIG. 3, the y-axis of the sensor unit 10 is on the YZ plane when the user 2 is stationary, so the motion analysis unit 214 determines the initial posture of the sensor unit 10. Can be identified.

  In addition, the motion analysis unit 214 performs a process of analyzing the swing motion of the user 2 using each detected motion and the calculated position and orientation of the sensor unit 10 and generating analysis information that is the analysis result.

For example, the motion analysis unit 214 calculates the position of the head and grip end of the golf club 3 in the swing motion of the user 2 in time series, and based on the calculation result, the track of the golf club 3 (the track of the head and grip end). The information may be generated. The motion analysis unit 214 determines a position separated from the position of the sensor unit 10 at each time of the swing by a distance L _{SH in} the positive direction of the y-axis of the sensor unit 10 specified by the attitude of the sensor unit 10 at the time. The position of the head at the time may be used. In addition, the motion analysis unit 214 detects the sensor mounting position information 244 (from the position of the sensor unit 10 at each time of the swing to the negative direction of the y-axis of the sensor unit 10 specified by the attitude of the sensor unit 10 at the time. A position separated by the distance L _SG between the sensor unit 10 and the grip end specified by the distance from the grip end) may be the position of the grip end at the time. Then, the motion analysis unit 214 uses the time-series information on the position of the head and grip end of the golf club 3, for example, connecting the position (coordinates) of the head from the start of the swing to the time of impact with a line in order. In addition, by connecting the position (coordinates) of the grip end from the start of the swing to the time of impact with a line in order, the trajectory information including the trajectory of the head and the grip end from the start of the swing to the time of impact (see FIG. 4). (Trajectory information as shown) may be generated.

  Further, for example, the motion analysis unit 214 obtains a part or all of information such as the back swing time, the top section time, the down swing time, the follow through time, etc. from the timing of each motion in the swing motion of the user 2. Including swing tempo information may be generated. In addition, the motion analysis unit 214 calculates the ratio of the backswing time and the downswing time and the ratio of the time of the top section (the summing time at the top) and the downswing time, and obtains information on these ratios. Information about the swing rhythm may be generated.

  In addition to this, the motion analysis unit 214 uses the information on the position and orientation of the head and grip end to determine the head speed and grip speed at impact, the incident angle (club path) and face angle of the head at impact. , Information such as shaft rotation (face angle change amount during swing), head deceleration rate, or information on variation of each information when the user 2 swings a plurality of times may be generated. .

  The sensor control unit 215 generates various control commands for the sensor unit 10 and sends them to the communication unit 22. Specifically, when receiving operation data corresponding to the measurement start operation (S1 in FIG. 4) by the user 2 from the operation unit 23, the sensor control unit 215 generates a measurement start command and sends it to the communication unit 22. . When the sensor control unit 215 receives operation data corresponding to the measurement end operation by the user 2 from the operation unit 23, the sensor control unit 215 generates a measurement end command and sends it to the communication unit 22. The sensor control unit 215 generates a high rate setting command and sends it to the communication unit 22 when the stationary period detection unit 211 detects the stationary period. Further, when the exercise end detection unit 213 detects the end of the swing exercise of the user 2, the sensor control unit 215 generates a low rate setting command and sends it to the communication unit 22.

  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 performs a process of storing various types of information calculated by the motion analysis unit 214 in the storage unit 24 in addition to a process of storing the measurement data received from the data acquisition unit 210 in the storage unit 24.

The display processing unit 217 performs processing for displaying various images (such as images corresponding to the analysis information generated by the motion analysis unit 214) on the display unit 25. For example, the display processing unit 217 may display an image corresponding to the analysis information on the display unit 25 automatically or in response to an input operation of the user 2 after the user 2 swings. Note that the 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 voice and various sounds. For example, when the user 2 performs a measurement start operation, the sound output processing unit 218 outputs a voice that instructs the user 2 to take an address posture (for example, “Please remain stationary for at least one second in the address posture”). The sound output unit 26 may output the sound. Furthermore, the sound output processing unit 218 also outputs a sound that instructs the user 2 to take an address posture after a predetermined time has elapsed even when the exercise end detection unit 213 detects the end of the swing motion of the user 2. 26 may be output. In addition, the sound output processing unit 218 causes the sound output unit 26 to output a sound permitting the user 2 to swing (for example, “Please swing”) when the stationary period detection unit 211 detects the stationary period. Also good. In addition to this, the sound output processing unit 218 may output sounds and sounds corresponding to the analysis information automatically after the swing motion of the user 2 ends or according to the input operation of the user 2. Good. Note that 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.

  In addition, the arithmetic unit 20 or the sensor unit 10 may be provided with a light emitting unit or a vibration mechanism, and various types of information may be converted into light information or vibration information by the light emitting unit or the vibration mechanism to notify the user 2.

1-1-3. Motion measurement system processing [Time chart]
FIG. 6 is a diagram illustrating an example of a time chart of the operation of the user 2, the process of the sensor unit 10, and the process of the arithmetic device 20 in the first embodiment. In the example of FIG. 6, at time t ₀ , the arithmetic device 20 transmits a measurement start command to the sensor unit 10 in response to the measurement start operation performed by the user 2. The sensor unit 10 receives the measurement start command, starts measurement at the first sampling rate (low rate), and sequentially transmits the measurement data to the arithmetic device 20.

At time t _1, computing device 20, the user 2, an instruction to notify to take the address posture. User 2, in response to this notice, to rest from time t ₂ in the address position.

At time t _3, the arithmetic unit 20 detects a predetermined rest period, the first sampling rate in the rest period using the measurement data measured by the (low rate), the zero point bias calculation.

At time t ₄ , the arithmetic unit 20 transmits a high rate setting command to the sensor unit 10. The sensor unit 10 receives the high rate setting command, switches to measurement at the second sampling rate (high rate), and sequentially transmits the measurement data to the arithmetic device 20.

At time t _5, the arithmetic unit 20, the user 2, and notifies to allow swing. User 2 receives the notification, after Wagguru from time t _6, performs swing motion (back swing, down swing follow-through) at between time t ₇ to the time t _8.

Calculation unit 20 analyzes the swing motion with the measurement data measured by the second sampling rate (high rate), at time t _9, detects the end of the swing operation.

At time t ₁₀ , the arithmetic unit 20 transmits a low rate setting command to the sensor unit 10. The sensor unit 10 receives the low rate setting command, switches to measurement at the first sampling rate (low rate), and sequentially transmits the measurement data to the arithmetic device 20.

At time t _11, computing device 20, the user 2, an instruction to notify to take the address posture.

Time _{t 11} after the user 2, a similar series of operations as that performed at time _t 2 ~t ₈ (address, Wagguru, swing) may be repeated. The sensor unit 10 and the arithmetic unit 20 repeatedly perform the same processing as that at times t _{2 to} t ₁₁ according to each of a series of operations of the user 2.

Then, at time t _12, the arithmetic unit 20, in response to measurement end user interactions 2 has performed, and transmits a measurement end command to the sensor unit 10, the process ends. The sensor unit 10 receives the measurement end command and ends the measurement.

For the user 2 is increased only short to convenience possible time at rest at the address position (time t ₂ ~t 6 in FIG. _6), the operation unit 20 to perform the detection of the rest period as possible in real time Is required. Therefore, the first sampling rate is set to the output rate at which the sensor unit 10 outputs the measurement data (the transmission of the measurement data from the sensor unit 10 to the calculation device 20) so that the calculation device 20 can receive the measurement data in real time without delay. Rate) is preferably set below. Furthermore, although the arithmetic unit 20 calculates the zero point bias value using the measurement data during the stationary period, since the variation of the measurement data is small while the user 2 is stationary, the number of measurement data may be small. Therefore, it is more preferable to set the first sampling rate as low as possible within a range in which the arithmetic unit 20 does not erroneously detect the stationary period.

In contrast, during the swing operation User 2 (time t ₇ ~t 8 in FIG. _6), since the fluctuation of the measurement data is large, in order to perform motion analysis accuracy, the second sampling rate is high it is Good. In addition, during the swing motion of the user 2, it is not highly necessary for the computing device 20 to receive the measurement data in real time without delay, so the second sampling rate is set to the output rate of the sensor unit 10 (from the sensor unit 10 to the computing device 20). Higher than the measurement data transmission rate).

  Considering such a situation, in the present embodiment, the first sampling rate is set lower than the second sampling rate. For example, when the output rate (transmission rate) of the sensor unit 10 is 500 Hz, the first sampling rate is set to 250 Hz or less (1/2 or less of the output rate (transmission rate)), and the second sampling rate is set to 1 kH or more ( It may be set to an output rate (two times or more of the transmission rate). With this setting, when the user 2 is stationary at the address posture, even if the measurement data is retransmitted to some extent due to a transmission error or the like, the arithmetic unit 20 can detect the stationary period in real time. During the swing motion 2, the arithmetic unit 20 can acquire a large number of measurement data and perform motion analysis with high accuracy.

[Processing procedure of arithmetic unit]
FIG. 7 is a flowchart illustrating the procedure of the motion measurement process performed by the processing unit 21 of the arithmetic device 20 according to the first embodiment. The processing unit 21 of the arithmetic device 20 (an example of a computer) executes the motion measurement process according to the procedure of the flowchart of FIG. 7 by executing the motion measurement program 240 stored in the storage unit 24. Hereinafter, the flowchart of FIG. 7 will be described.

  First, the processing unit 21 waits until the measurement start operation by the user 2 is performed (N in S10). When the measurement start operation is performed (Y in S10), the measurement is performed by the sensor unit 10 via the communication unit 22. A start command is transmitted (S12).

  In addition, the processing unit 21 notifies the user 2 to instruct the user 2 to take an address posture by voice or the like (S14).

  Next, the processing unit 21 acquires measurement data measured by the sensor unit 10 at the first sampling rate (S16).

  Next, the processing unit 21 repeats the process (S16) of acquiring new measurement data until it detects that the user 2 is stationary for a predetermined time (N in S18), When a stationary period) is detected (Y in S18), a zero point bias value is calculated using measurement data corresponding to the stationary period (S20).

  Further, the processing unit 21 calculates the initial position and the initial posture of the sensor unit 10 using the measurement data corresponding to the stationary period acquired in step S16, the club specification information 242, the sensor mounting position information 244, and the like (S22). .

  In addition, the processing unit 21 transmits a high rate setting command to the sensor unit 10 via the communication unit 22 (S24).

  Furthermore, the processing unit 21 notifies the user 2 of permission to swing by voice or the like (S26). Alternatively, the sensor unit 10 may be provided with an LED, and the processing unit 21 may perform control such as turning on the LED via the communication unit 22 to perform notification that permits the swing.

  Next, the processing unit 21 acquires measurement data measured by the sensor unit 10 at the second sampling rate (S28).

  Next, the processing unit 21 detects each movement in the swing using the measurement data acquired in step S28 (S30).

  Moreover, the process part 21 calculates the position and attitude | position of the sensor unit 10 using the measurement data acquired by process S28 (S32).

  Next, the processing unit 21 analyzes the swing motion of the user 2 using the detection result of each operation in step S30, the position and orientation of the sensor unit 10 calculated in step S32, and the analysis information which is the analysis result Is generated (S34). In step S34, the processing unit 21 generates, for example, analysis information on the rhythm and tempo of the swing, the locus of the head and grip end of the golf club 3, the analysis information on the head speed and grip speed at impact, and the like.

  Next, the processing unit 21 repeats the processes of steps S28 to S34 until the state in which the user 2 finishes the swing motion (still state after impact) is detected (N in S36), and detects the end of the swing motion. (Y in S36), the analysis information generated in step S34 is displayed on the display unit 25 (S38).

  In addition, the processing unit 21 transmits a low rate setting command to the sensor unit 10 via the communication unit 22 (S40).

  If the measurement end operation by the user 2 is not performed before the predetermined time elapses (Y in S42), the processing unit 21 performs the processes in steps S14 to S40 again (or the processes in steps S26 to S40). May be performed).

  On the other hand, if the measurement end operation is performed by the user 2 before the predetermined time has elapsed (N in S42 and Y in S44), the processing unit 21 sends a measurement end command to the sensor unit 10 via the communication unit 22. Is transmitted (S46), and the process is terminated.

  In addition, in the flowchart of FIG.

[Sensor unit processing procedure]
FIG. 8 is a flowchart showing the procedure of the measurement process of the sensor unit 10 in the first embodiment. Hereinafter, the flowchart of FIG. 8 will be described.

  First, the sensor unit 10 stands by until a measurement start command is received from the arithmetic unit 20 (N in S100). When the measurement start command is received (Y in S100), the sensor unit 10 performs measurement (three-axis acceleration data) And triaxial angular velocity data are acquired) (S102).

  Next, if the transmission buffer 152 (N-stage FIFO) is not full (N in S104), the sensor unit 10 writes the measurement data obtained in the measurement in step S102 to the transmission buffer 152 (N-stage FIFO) (S106). ) If the transmission buffer 152 (N-stage FIFO) is full (Y in S104), the measurement data obtained by the measurement in step S102 is written into the FIFO configured in the storage unit 16 (S108).

  Next, if transmission is possible (Y in S110), the sensor unit 10 transmits the first measurement data in the transmission buffer 152 (N-stage FIFO) to the arithmetic unit 20 (S112).

  The sensor unit 10 repeats the processes of steps S102 to S112 until a measurement end command or a high rate setting command is received from the arithmetic unit 20 (N in S114 and N in S116).

  When the sensor unit 10 receives the measurement end command (Y in S114), the measurement process ends.

  When the sensor unit 10 receives the high rate setting command (Y in S116), the sensor unit 10 measures (acquires triaxial acceleration data and triaxial angular velocity data) at the second sampling rate (S118).

  Next, if the transmission buffer 152 (N-stage FIFO) is not full (N in S120), the sensor unit 10 writes the measurement data obtained by the measurement in step S118 to the transmission buffer 152 (N-stage FIFO) (S122). If the transmission buffer 152 (N-stage FIFO) is full (Y in S120), the measurement data obtained by the measurement in step S118 is written into the FIFO configured in the storage unit 16 (S124).

Next, if transmission is possible (Y in S126), the sensor unit 10 transmits the first measurement data in the transmission buffer 152 (N-stage FIFO) to the arithmetic unit 20 (S128).

  The sensor unit 10 repeats the processes of steps S118 to S128 until a measurement end command or a low rate setting command is received from the arithmetic unit 20 (N in S130 and N in S132).

  When the sensor unit 10 receives the measurement end command (Y in S130), the sensor unit 10 ends the measurement process.

  In addition, when the sensor unit 10 receives the low rate setting command (Y in S132), the process after step S102 is performed again.

  In the flowchart of FIG. 8, the order of each process may be changed as appropriate within the possible range.

1-1-4. Effect As described above, in the first embodiment, focusing on the fact that the amount of measurement data may be reduced in a stationary period in which there is almost no movement of the user 2, the amount of measurement data may be reduced. In the stationary period of the user 2, measurement is performed at a first sampling rate lower than the second sampling rate in the swing operation period of the user 2. Therefore, according to the first embodiment, by reducing the amount of measurement data in the stationary period of the user 2, the arithmetic unit 20 acquires the measurement data in real time and reduces the time required for detecting the stationary period of the user 2. It can be shortened.

  In the first embodiment, in order to acquire a sufficient amount of measurement data during the exercise period of the user 2, the sensor unit 10 is more than the first sampling rate during the stationary period of the user during the swing operation period of the user 2. Measure at a high second sampling rate. Therefore, according to the first embodiment, the arithmetic unit 20 can acquire a sufficient amount of measurement data during the swing operation period of the user 2, and therefore, the swing motion of the user 2 can be accurately performed based on the measurement data. Can be analyzed.

1-2. Second Embodiment 1-2-1. Outline of Motion Measurement System A motion measurement system 1 according to the second embodiment includes a sensor unit 10 and a computing device 20 as in the first embodiment. In the second embodiment, the sensor unit 10 has two output modes, a buffering mode and a real time mode.

  In the buffering mode, if the transmission buffer 152 (N-stage FIFO) is not full, new measurement data is written to the transmission buffer 152 (N-stage FIFO), and if the transmission buffer 152 (N-stage FIFO) is full, a new measurement is performed. In this mode, data is written to the FIFO configured in the storage unit 16. That is, the sensor unit 10 performs the same operation as that in the first embodiment in the buffering mode.

  On the other hand, in the real-time mode, if the transmission buffer 152 (N-stage FIFO) is not full, new measurement data is written to the transmission buffer 152 (N-stage FIFO), and transmission is performed when the transmission buffer 152 (N-stage FIFO) is full. This is a mode in which the buffer 152 (N-stage FIFO) is shifted by one stage and the head data is discarded to create a vacancy, and new measurement data is written (overwritten) in the transmission buffer 152 (N-stage FIFO).

In the second embodiment, the sensor unit 10 is set to the real time mode when measuring at the first sampling rate (for example, 250 Hz), and is buffered when measuring at the second sampling rate (for example, 1 kHz). Set to ring mode.

  Specifically, in the second embodiment, the sensor unit 10 starts measurement at the first sampling rate by the measurement start operation of the user 2 in S1 of FIG. Then, the sensor unit 10 performs measurement at the first sampling rate in the stationary period (an example of the stationary period of the object to be measured) in S3 in FIG. 3, and the measurement data (an example of the first measurement data). Is transmitted to the computing device 20 in real time mode (an example of a first measurement data output step).

  The arithmetic unit 20 receives the measurement data of the first sampling rate, and detects a predetermined stationary period (for example, a stationary period of 1 second) of the user 2 based on the measured data (an example of a stationary period detection step) ). The arithmetic unit 20 then detects a high rate & buffering mode setting command (first switching signal) that instructs the sensor unit 10 to switch to the second sampling rate and the buffering mode when the stationary period of the user 2 is detected. (An example of a first switching signal transmission step).

  The sensor unit 10 receives the high rate & buffering mode setting command, switches the sampling rate to the second sampling rate, and switches the output mode to the buffering mode based on the command (first sampling rate switching). Example of process). Then, the sensor unit 10 measures at the second sampling rate in the period of the swing motion of the user 2 in S5 of FIG. 3 (an example of the exercise period of the object to be measured), and the measurement data (an example of the second measurement data). It transmits to the arithmetic unit 20 in a buffering mode (an example of a 2nd measurement data output process).

  The arithmetic unit 20 receives the measurement data of the second sampling rate, and analyzes the swing motion of the user 2 using the measurement data (an example of a motion analysis process).

  Furthermore, the arithmetic unit 20 receives the measurement data of the second sampling rate, and detects the end of the swing motion of the user 2 (an example of the motion end detection step). Then, when detecting the end of the swing motion of the user 2, the arithmetic unit 20 instructs the sensor unit 10 to switch to the first sampling rate and the real-time mode with a low rate & real-time mode setting command (second switching signal). (An example of a second switching signal transmission step).

  The sensor unit 10 receives the low rate & real time mode setting command, switches the sampling rate to the first sampling rate, and switches the output mode to the real time mode based on the command (in the second sampling rate switching step). One case).

1-2-2. Configuration of Motion Measurement System FIG. 9 is a diagram illustrating a configuration example (configuration example of the sensor unit 10 and the arithmetic device 20) of the motion measurement system 1 of the second embodiment. In FIG. 9, the same components as those in FIG. 5 are denoted by the same reference numerals, and in the following, descriptions overlapping with those of the first embodiment are omitted or simplified.

  The sensor unit 10 in the second embodiment includes the same components as those in the first embodiment, and an output mode switching unit 17 is further added.

The output mode switching unit 17 switches the output mode to the real time mode or the buffering mode. Specifically, when receiving the high rate & buffering mode setting command from the communication unit 15, the output mode switching unit 17 switches the output mode to the buffering mode. When the output mode switching unit 17 receives the low rate & real time mode setting command from the communication unit 15, the output mode switching unit 17 switches the output mode to the real time mode.

  The sampling rate switching unit 14 switches the sampling rate measured by the measuring unit 13 (acquisition of triaxial acceleration data and triaxial angular velocity data). Specifically, when receiving the high rate & buffering mode setting command from the communication unit 15, the sampling rate switching unit 14 switches the sampling rate of the measurement unit 13 to the second sampling rate (for example, 1 kHz). When the sampling rate switching unit 14 receives the low rate & real time mode setting command from the communication unit 15, the sampling rate switching unit 14 switches the sampling rate of the measuring unit 13 to the first sampling rate.

  The configuration of the arithmetic device 20 in the second embodiment is the same as that of the first embodiment. However, the function of the sensor control unit 215 of the processing unit 21 is different from that of the first embodiment.

  The sensor control unit 215 according to the second embodiment generates a high rate & buffering mode setting command and sends it to the communication unit 22 when the stationary period detection unit 211 detects a stationary period. Further, when the exercise end detection unit 213 detects the end of the swing exercise of the user 2, the sensor control unit 215 generates a low rate & real time mode setting command and sends it to the communication unit 22.

  Similarly to the first embodiment, the sensor control unit 215 in the second embodiment generates a measurement start command and sends it to the communication unit 22 when operation data corresponding to the measurement start operation is received from the operation unit 23. When the operation data corresponding to the measurement end operation is received from the operation unit 23, a measurement end command is generated and sent to the communication unit 22.

1-2-3. Motion measurement system processing [Time chart]
FIG. 10 is a diagram illustrating an example of a time chart of the operation of the user 2, the process of the sensor unit 10, and the process of the arithmetic device 20 in the second embodiment. In the example of FIG. 10, at time t ₀ , the arithmetic device 20 transmits a measurement start command to the sensor unit 10 in response to the measurement start operation performed by the user 2. The sensor unit 10 receives the measurement start command, starts measurement at the first sampling rate (low rate), and sequentially transmits the measurement data to the arithmetic device 20 in the real time mode.

At time t _1, computing device 20, the user 2, an instruction to notify to take the address posture. User 2, in response to this notice, to rest from time t ₂ in the address position.

At time t _3, the arithmetic unit 20 detects a predetermined rest period, the first sampling rate in the rest period using the measurement data measured by the (low rate), the zero point bias calculation.

At time t ₄ , the arithmetic unit 20 transmits a high rate & buffering mode setting command to the sensor unit 10. The sensor unit 10 receives the high rate & buffering mode setting command, switches to measurement at the second sampling rate (high rate), and sequentially transmits the measurement data to the arithmetic unit 20 in the buffering mode.

At time t _5, the arithmetic unit 20, the user 2, and notifies to allow swing. User 2 receives the notification, after Wagguru from time t _6, performs swing motion (back swing, down swing follow-through) at between time t ₇ to the time t _8.

Calculation unit 20 analyzes the swing motion with the measurement data measured by the second sampling rate (high rate), at time t _9, detects the end of the swing operation.

At time t ₁₀ , the arithmetic unit 20 transmits a low rate & real time mode setting command to the sensor unit 10. The sensor unit 10 receives the low rate & real time mode setting command, switches to the measurement at the first sampling rate (low rate), and sequentially transmits the measurement data to the arithmetic unit 20 in the real time mode.

At time t _11, computing device 20, the user 2, an instruction to notify to take the address posture.

Time _{t 11} after the user 2, a similar series of operations as that performed at time _t 2 ~t ₈ (address, Wagguru, swing) may be repeated. The sensor unit 10 and the arithmetic unit 20 repeatedly perform the same processing as that at times t _{2 to} t ₁₁ according to each of a series of operations of the user 2.

Then, at time t _12, the arithmetic unit 20, in response to measurement end user interactions 2 has performed, and transmits a measurement end command to the sensor unit 10, the process ends. The sensor unit 10 receives the measurement end command and ends the measurement.

In the second embodiment, the sensor unit 10 sets the sampling rate to the first sampling rate and sets the output mode to the real-time mode while the user 2 is stationary in the address posture. In the real time mode, the sensor unit 10 always discards the oldest measurement data when the transmission buffer 152 (N-stage FIFO) is full, and always keeps the latest N or less measurement data in the transmission buffer 152 (N-stage FIFO). Holds the written state. In the real-time mode, the sensor unit 10 transmits the latest measurement data or measurement data close to the latest to the calculation device 20 when transmission is possible, so that the calculation device 20 reliably detects the stationary period in real time. Can do. Further, the arithmetic unit 20 calculates the zero point bias value using the measurement data during the stationary period. However, since the fluctuation of the measurement data is small while the user 2 is stationary, even if a part of the measurement data is discarded. The impact is small. Therefore, the time during which the user 2 is stationary in the address posture (time t _{2 to} t _{6 in} FIG. 10) can be reliably shortened, and the convenience of the user 2 can be further improved.

In contrast, during the swing operation User 2 (time t ₇ ~t 8 in FIG. _10), the sensor unit 10, the sampling rate is set to the second sampling rate, and set the output mode in buffering mode Is done. In the buffering mode, the sensor unit 10 writes the latest measurement data to the FIFO configured in the storage unit 16 when the transmission buffer 152 (N-stage FIFO) is full, so that the measurement data necessary for motion analysis can be calculated without omission. Can be transmitted to the device 20.

  As described above, in the second embodiment, when the user 2 is stationary at the address posture, the arithmetic unit 20 detects the stationary period in real time even if the measurement data is frequently retransmitted due to a transmission error or the like. When the user 2 is swinging, the arithmetic unit 20 can acquire a large number of measurement data and perform motion analysis with high accuracy.

[Processing procedure of arithmetic unit]
FIG. 11 is a flowchart illustrating the procedure of the motion measurement process performed by the processing unit 21 of the arithmetic device 20 according to the second embodiment. In FIG. 11, the same reference numerals are given to the steps for performing the same processing as in FIG. 7. The processing unit 21 of the arithmetic device 20 (an example of a computer) executes the motion measurement process according to the procedure of the flowchart of FIG. 11 by executing the motion measurement program 240 stored in the storage unit 24. In the following, the flowchart of FIG. 11 will be described focusing on processing different from the flowchart of FIG.

  First, the processing unit 21 waits until the measurement start operation by the user 2 is performed (N in S10), and when the measurement start operation is performed (Y in S10), similarly to the first embodiment (FIG. 7). The processes of steps S12 to S22 are performed.

  Next, the processing unit 21 transmits a high rate & buffering mode setting command to the sensor unit 10 via the communication unit 22 (S25).

  Next, the process part 21 performs the process of process S26-S38 similarly to 1st Embodiment (FIG. 7).

  Next, the processing unit 21 transmits a low rate & real time mode setting command to the sensor unit 10 via the communication unit 22 (S41).

  If the measurement end operation by the user 2 is not performed before the predetermined time elapses (Y in S42), the processing unit 21 performs the processes in steps S14 to S41 again (or the processes in steps S26 to S41). May be performed).

  On the other hand, if the measurement end operation is performed by the user 2 before the predetermined time has elapsed (N in S42 and Y in S44), the processing unit 21 sends a measurement end command to the sensor unit 10 via the communication unit 22. Is transmitted (S46), and the process is terminated.

  In addition, in the flowchart of FIG. 11, the order of each process may be changed as appropriate within a possible range.

[Sensor unit processing procedure]
FIG. 12 is a flowchart showing the procedure of the measurement process of the sensor unit 10 in the second embodiment. In FIG. 12, the same reference numerals are given to the steps for performing the same processing as in FIG. 8. In the following, the flowchart of FIG. 12 will be described focusing on processing different from the flowchart of FIG.

  First, the sensor unit 10 stands by until a measurement start command is received from the arithmetic unit 20 (N in S100). When the measurement start command is received (Y in S100), the sensor unit 10 performs measurement (three-axis acceleration data) And triaxial angular velocity data are acquired) (S102).

  Next, if the transmission buffer 152 (N-stage FIFO) is not full (N in S104), the sensor unit 10 writes the measurement data obtained in the measurement in step S102 to the transmission buffer 152 (N-stage FIFO) (S106). ) If the transmission buffer 152 (N-stage FIFO) is full (Y in S104), the head data of the transmission buffer 152 (N-stage FIFO) is discarded, and the measurement data obtained by the measurement in step S102 is transmitted to the transmission buffer. 152 (N-stage FIFO) is written (S109).

Next, if transmission is possible (Y in S110), the sensor unit 10 transmits the first measurement data in the transmission buffer 152 (N-stage FIFO) to the arithmetic unit 20 (S112).

  The sensor unit 10 repeats the processes of steps S102 to S112 until a measurement end command or a high rate & buffering mode setting command is received from the arithmetic unit 20 (N in S114 and N in S117).

  When the sensor unit 10 receives the measurement end command (Y in S114), the measurement process ends.

  Further, when the sensor unit 10 receives the high rate & buffering mode setting command (Y in S117), the processes of steps S118 to S128 are performed as in the first embodiment (FIG. 8).

  The sensor unit 10 repeats the processes of steps S118 to S128 until a measurement end command or a low rate & real time mode setting command is received from the arithmetic unit 20 (N in S130 and N in S133).

  When the sensor unit 10 receives the measurement end command (Y in S130), the sensor unit 10 ends the measurement process.

  In addition, when the sensor unit 10 receives the low rate & real time mode setting command (Y in S133), the sensor unit 10 performs the processes in and after step S102 again.

  In the flowchart of FIG. 12, the order of the steps may be changed as appropriate within the possible range.

1-2-4. Effects According to the second embodiment described above, the same effects as in the first embodiment can be obtained. Furthermore, even when the first sampling rate is higher than the transmission rate during the stationary period of the user 2, the sensor unit 10 can preferentially transmit the latest measurement data, so that the arithmetic device 20 The stationary period of the user 2 can be detected without delay.

1-3. Third Embodiment 1-3-1. Outline of Motion Measurement System The motion measurement system 1 of the third embodiment includes the sensor unit 10 and the arithmetic device 20 as in the first embodiment. In the third embodiment, the sensor unit 10 detects the high-speed operation of the user 2 based on the measurement data during measurement at the first sampling rate (for example, 250 Hz), and at the second sampling rate (for example, 1 kHz). Switch to measurement. Further, during measurement at the second sampling rate, the sensor unit 10 detects the low speed operation of the user 2 based on the measurement data, and switches to measurement at the first sampling rate.

  Specifically, in the third embodiment, the sensor unit 10 starts measurement at the first sampling rate by the measurement start operation of the user 2 in S1 of FIG. Then, the sensor unit 10 performs measurement at the first sampling rate in the stationary period (an example of the stationary period of the object to be measured) in S3 in FIG. 3, and the measurement data (an example of the first measurement data). Is transmitted to the arithmetic unit 20 (an example of a first measurement data output step).

The arithmetic unit 20 receives the measurement data of the first sampling rate, and detects a predetermined stationary period (for example, a stationary period of 1 second) of the user 2 based on the measured data (an example of a stationary period detection step) ).

  The sensor unit 10 detects a high-speed operation (for example, a swing start operation) in the user's swing operation in S5 of FIG. 3 based on the measurement data, and performs sampling based on this detection signal (an example of a first switching signal). The rate is switched to the second sampling rate (an example of a first sampling rate switching step). Then, the sensor unit 10 measures at the second sampling rate in the period of the swing motion of the user 2 in S5 of FIG. 3 (an example of the exercise period of the object to be measured), and the measurement data (an example of the second measurement data). It transmits to the arithmetic unit 20 (an example of a second measurement data output step).

  The arithmetic unit 20 receives the measurement data of the second sampling rate, and analyzes the swing motion of the user 2 using the measurement data (an example of a motion analysis process).

  The sensor unit 10 detects a low-speed operation (for example, a stationary state) after the end of the user's swing operation in S5 of FIG. 3 based on the measurement data, and based on this detection signal (an example of a second switching signal). The sampling rate is switched to the first sampling rate (an example of a second sampling rate switching step).

1-3-2. Configuration of Motion Measurement System FIG. 13 is a diagram illustrating a configuration example (configuration example of the sensor unit 10 and the arithmetic device 20) of the motion measurement system 1 of the third embodiment. In FIG. 13, the same reference numerals are given to the same components as those in FIG. 5, and the description overlapping with the first embodiment will be omitted or simplified below.

  The configuration of the sensor unit 10 in the third embodiment includes the same components as those in the first embodiment. However, the configuration of the sampling rate switching unit 14 is different from that of the first embodiment.

  The sampling rate switching unit 14 switches the sampling rate that the measurement unit 13 measures (acquires triaxial acceleration data and triaxial angular velocity data). Specifically, the sampling rate switching unit 14 generates measurement data (for example, a composite value of triaxial acceleration data or a composite value of triaxial angular velocity data) generated by the measurement unit 13 when the sampling rate is the first sampling rate. When the amount of change is equal to or greater than a predetermined first threshold, the high speed operation of the user 2 is detected, and the sampling rate is switched to the second sampling rate. The sampling rate switching unit 14 detects the low-speed operation of the user 2 when the change amount of the measurement data generated by the measurement unit 13 is equal to or less than a predetermined second threshold when the sampling rate is the second sampling rate, and performs sampling. Switch the rate to the first sampling rate.

  The configuration of the arithmetic device 20 in the third embodiment is the same as that in the first embodiment. However, the function of the sensor control unit 215 of the processing unit 21 is different from that of the first embodiment.

  Similarly to the first embodiment, the sensor control unit 215 in the third embodiment generates a measurement start command when receiving operation data corresponding to the measurement start operation from the operation unit 23 and sends the measurement start command to the communication unit 22. When operation data corresponding to the measurement end operation is received from the unit 23, a measurement end command is generated and sent to the communication unit 22. Also, unlike the first embodiment, the sensor control unit 215 in the third embodiment does not perform a process of generating a high rate setting command or a low rate setting command and sending it to the communication unit 22.

1-3-3. Motion measurement system processing [Time chart]
FIG. 14 is a diagram illustrating an example of a time chart of the operation of the user 2, the process of the sensor unit 10, and the process of the arithmetic device 20 in the third embodiment. In the example of FIG. 14, at time t ₀ , the arithmetic device 20 transmits a measurement start command to the sensor unit 10 in response to the measurement start operation performed by the user 2. The sensor unit 10 receives the measurement start command, starts measurement at the first sampling rate (low rate), and sequentially transmits the measurement data to the arithmetic device 20.

At time t _1, computing device 20, the user 2, an instruction to notify to take the address posture. User 2, in response to this notice, to rest from time t ₂ in the address position.

At time t _3, the arithmetic unit 20 detects a predetermined rest period, the first sampling rate in the rest period using the measurement data measured by the (low rate), the zero point bias calculation.

At time t _4, computing device 20, the user 2, and notifies to allow swing. User 2 receives the notification, after Wagguru from time t _5, performs swing motion (back swing, down swing follow-through) at between from time t ₆ to time t _8.

At time t ₇ , the sensor unit 10 detects the high-speed operation of the user 2, switches to measurement at the second sampling rate (high rate), and sequentially transmits the measurement data to the arithmetic device 20.

Calculation unit 20 analyzes the swing motion with the measurement data measured by the second sampling rate (high rate), at time t _9, detects the end of the swing operation.

At time t ₉ , the sensor unit 10 detects the low speed operation of the user 2, switches to measurement at the first sampling rate (low rate), and sequentially transmits the measurement data to the arithmetic device 20.

At time t _10, computing device 20, the user 2, an instruction to notify to take the address posture.

Time _{t 10} after the user 2, a similar series of operations as that performed at time _t 2 ~t ₈ (address, Wagguru, swing) may be repeated. The sensor unit 10 and the arithmetic unit 20 repeatedly perform the same processing as at times t _{2 to} t ₁₀ according to each of a series of operations of the user 2.

Then, at time t _11, the arithmetic unit 20, in response to measurement end user interactions 2 has performed, and transmits a measurement end command to the sensor unit 10, the process ends. The sensor unit 10 receives the measurement end command and ends the measurement.

In the third embodiment, the sensor unit 10 measures at the first sampling rate with a low rate while the user 2 is stationary in the address posture, and transmits the measurement data to the arithmetic device 20. The stationary period can be detected almost in real time. Therefore, the time during which the user 2 is stationary in the address posture (time t _{2 to} t _{5 in} FIG. 14) can be shortened, and the convenience of the user 2 can be improved.

The sensor unit 10 detects a high-speed operation at the start of the swing motion of the user 2 during measurement at the first sampling rate, switches to measurement at a higher second sampling rate, and calculates measurement data. and transmits to the device 20, (time t ₇ ~t 9 of FIG. ₁₄₎ during the swing operation, except for right after the swing start of user 2 can send the number of the measurement data necessary for the motion analysis to the arithmetic unit 20 . Accordingly, the arithmetic unit 20 can acquire a large number of measurement data and perform motion analysis with high accuracy.

[Processing procedure of arithmetic unit]
FIG. 15 is a flowchart illustrating the procedure of the motion measurement process performed by the processing unit 21 of the arithmetic device 20 according to the third embodiment. In FIG. 15, steps that perform the same processing as in FIG. 7 are given the same reference numerals. The processing unit 21 of the arithmetic device 20 (an example of a computer) executes the motion measurement process according to the procedure of the flowchart of FIG. 15 by executing the motion measurement program 240 stored in the storage unit 24. In the following, the flowchart of FIG. 15 will be described focusing on processing different from the flowchart of FIG.

  First, the processing unit 21 waits until the measurement start operation by the user 2 is performed (N in S10), and when the measurement start operation is performed (Y in S10), similarly to the first embodiment (FIG. 7). The processes of steps S12 to S22 are performed. In addition, the process part 21 does not perform the process of process S24 in 1st Embodiment (FIG. 7).

  Next, the process part 21 performs the process of process S26-S38 similarly to 1st Embodiment (FIG. 7). However, in step S28, the processing unit 21 acquires the measurement data of the first sampling rate until the swing operation is started, and then acquires the measurement data of the second sampling rate. In addition, the process part 21 does not perform the process of process S40 in 1st Embodiment (FIG. 7).

  If the measurement end operation by the user 2 is not performed before the predetermined time elapses (Y in S42), the processing unit 21 performs the processes in steps S14 to S38 again (or the processes in steps S26 to S38). May be performed).

  On the other hand, if the measurement end operation is performed by the user 2 before the predetermined time has elapsed (N in S42 and Y in S44), the processing unit 21 sends a measurement end command to the sensor unit 10 via the communication unit 22. Is transmitted (S46), and the process is terminated.

  In the flowchart of FIG. 15, the order of the steps may be appropriately changed within a possible range.

[Sensor unit processing procedure]
FIG. 16 is a flowchart showing the procedure of the measurement process of the sensor unit 10 in the third embodiment. In FIG. 16, the same reference numerals are given to the steps for performing the same processing as in FIG. 8. In the following, the flowchart of FIG. 16 will be described focusing on processing different from the flowchart of FIG.

  First, the sensor unit 10 stands by until a measurement start command is received from the arithmetic unit 20 (N in S100). When the measurement start command is received (Y in S100), the sensor unit 10 performs measurement (three-axis acceleration data) And triaxial angular velocity data are acquired) (S102).

  Next, the sensor unit 10 performs the processes of steps S104 to S112 as in the first embodiment (FIG. 8).

  The sensor unit 10 repeats the processes of steps S102 to S112 until it receives a measurement end command from the arithmetic unit 20 or detects the high speed operation of the user 2 (N in S114 and N in S115).

  When the sensor unit 10 receives the measurement end command (Y in S114), the measurement process ends.

  Further, when the sensor unit 10 detects the high-speed operation of the user 2 (Y in S115), the processes of steps S118 to S128 are performed as in the first embodiment (FIG. 8).

  The sensor unit 10 repeats the processes of steps S118 to S128 until it receives a measurement end command from the arithmetic unit 20 or detects the low speed operation of the user 2 (N in S130 and N in S131).

  When the sensor unit 10 receives the measurement end command (Y in S130), the sensor unit 10 ends the measurement process.

  In addition, when the sensor unit 10 detects the low speed operation of the user 2 (Y in S131), the process after the step S102 is performed again.

  In the flowchart of FIG. 16, the order of the steps may be changed as appropriate within the possible range.

1-3-4. Effects According to the third embodiment described above, the same effects as in the first embodiment can be obtained. Furthermore, since the sensor unit 10 automatically switches the sampling rate based on the measurement data, the processing load on the computing device 20 can be reduced compared to the first embodiment.

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

  For example, in each of the above embodiments, the sampling rate of the sensor unit 10 is set to one of two types of sampling rates, ie, a first sampling rate (low rate) and a second sampling rate (high rate). It may be set to any one of the sampling rates of more than types.

  In the third embodiment, the sensor unit 10 determines the sampling rate switching timing based on the change amount of the measurement data, but calculates the operation speed of the user 2 based on the measurement data. The switching timing may be determined based on the operation speed. In addition, the sensor unit 10 may change the sampling rate according to the range of the operation speed of the user 2, for example, the sensor unit 10 may change the sampling rate to be higher as the operation speed of the user 2 is higher.

  In the third embodiment, when the sensor unit 10 detects the high speed operation of the user 2 based on the measurement data, the sensor unit 10 switches the sampling rate to the second sampling rate and switches the output mode to the buffering mode. When the low speed operation of the user 2 is detected based on the measurement data, the sampling rate may be switched to the first sampling rate and the output mode may be switched to the real time mode.

  Further, in each of the above embodiments, the acceleration sensor 11 and the angular velocity sensor 12 are integrated in the sensor unit 10, but the acceleration sensor 11 and the angular velocity sensor 12 may not be integrated. Alternatively, the acceleration sensor 11 and the angular velocity sensor 12 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 arithmetic unit 20 are separate bodies, but they may be integrated so as to be mountable to the golf club 3 or the user 2.

  Further, in each of the above embodiments, the motion measurement system that measures the swing motion of golf is given as an example, but the present invention can be applied to a motion measurement system that measures various swing motions such as tennis and baseball. it can. The present invention can also be applied to a motion measurement system that measures various motions other than swing motion.

  Further, in each of the above embodiments, the swing motion of the user 2 is measured, that is, the user 2 is described as an object to be measured, but it can be said that the motion of the golf club 3 is measured. You may think that 3 is a to-be-measured object. The present invention can be applied to any object to be measured that can be stationary and exercised, for example, an exercise equipment other than the golf club 3 or an object other than the exercise equipment.

  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 motion measurement system, 2 user, 3 golf club, 4 golf ball, 10 sensor unit, 11 acceleration sensor, 12 angular velocity sensor, 13 measurement unit, 14 sampling rate switching unit, 15 communication unit, 16 storage unit, 17 output mode switching Unit, 20 arithmetic unit, 21 processing unit, 22 communication unit, 23 operation unit, 24 storage unit, 25 display unit, 26 sound output unit, 151 reception buffer, 152 transmission buffer, 210 data acquisition unit, 211 stationary period detection unit, 212 Zero point bias calculation unit, 213 motion end detection unit, 214 motion analysis unit, 215 sensor control unit, 216 storage processing unit, 217 display processing unit, 218 sound output processing unit, 240 motion measurement program, 242 club specification information, 244 Sensor mounting position information

Claims (13)

A measurement unit;
A sampling rate switching unit that switches a sampling rate measured by the measurement unit, and
The measuring unit is
Measured at the first sampling rate during the stationary period of the object to be measured, and measured by switching the sampling rate to the second sampling rate by the sampling rate switching unit during the movement period of the object to be measured,
The sensor wherein the first sampling rate is lower than the second sampling rate.   The sensor according to claim 1, wherein the sampling rate switching unit switches the first sampling rate to the second sampling rate based on a first switching signal from the outside. Based on the first measurement data measured by the sensor at the first sampling rate, a stationary period detector that detects a stationary period in which the object to be measured is stationary;
A sensor control unit that transmits a first switching signal instructing the sensor to switch to a second sampling rate when the stationary period detection unit detects the stationary period;
The arithmetic unit, wherein the first sampling rate is lower than the second sampling rate.   The arithmetic unit according to claim 3, wherein the stationary period detection unit detects the stationary period when the first measurement data is within a predetermined range at a predetermined time.   5. The arithmetic device according to claim 3, further comprising a zero point bias calculation unit that calculates a zero point bias value of the first measurement data of the sensor when the stationary period detection unit detects the stationary period.   The arithmetic unit according to claim 5, wherein the zero point bias calculation unit calculates an average value of the first measurement data in the stationary period and sets the average value as the zero point bias value.   7. The arithmetic device according to claim 3, further comprising a motion analysis unit that analyzes the motion of the measurement object using second measurement data measured by the sensor at the second sampling rate. Including an end of motion detector for detecting the end of motion of the object to be measured;
The said sensor control part transmits the 2nd switching signal which instruct | indicates the switch to the said 1st sampling rate to the said sensor, when the said exercise | movement completion detection part detects the completion | finish of the movement of the said to-be-measured object. The arithmetic unit according to any one of 3 to 7.   9. The arithmetic device according to claim 3, wherein the first sampling rate is equal to or lower than an output rate at which the sensor outputs the first measurement data. 10. A first measurement data output step in which the sensor measures at a first sampling rate and outputs the measured first measurement data in a stationary period of the measurement object;
A second measurement data output step in which the sensor measures at a second sampling rate and outputs the measured second measurement data during the movement period of the object to be measured;
The motion measurement method, wherein the first sampling rate is lower than the second sampling rate. A first measurement data output step in which the sensor measures the first sampling rate and outputs the measured first measurement data;
An arithmetic unit detects a stationary period in which the object to be measured is stationary based on the first measurement data;
A first switching signal transmission step of transmitting a first switching signal instructing the sensor to switch to a second sampling rate when the arithmetic unit detects the stationary period;
A first sampling rate switching step in which the sensor switches a sampling rate to the second sampling rate based on the first switching signal;
A second measurement data output step in which the sensor measures at the second sampling rate and outputs the measured second measurement data;
The motion measurement method, wherein the first sampling rate is lower than the second sampling rate. Including a sensor and a computing device,
The sensor is
A measurement unit;
A sampling rate switching unit that switches a sampling rate measured by the measurement unit, and
The arithmetic unit is:
Based on first measurement data measured by the sensor at a first sampling rate, a stationary period detection unit that detects a stationary period in which the measurement object is stationary;
A sensor control unit that transmits a first switching signal instructing the sensor to switch to a second sampling rate when the stationary period detection unit detects the stationary period;
The motion measurement system, wherein the first sampling rate is lower than the second sampling rate. A stationary period detection step of detecting a stationary period in which the object to be measured is stationary based on the first measurement data measured by the sensor at the first sampling rate;
A first switching signal transmitting step of transmitting a first switching signal for instructing the sensor to switch to a second sampling rate higher than the first sampling rate when the stationary period is detected in the stationary period detecting step; A program that causes a computer to execute.

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