JP2016116566A - Motion analysis device, motion analysis method, program, and motion analysis system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to perform a swing evaluation simply.SOLUTION: A first virtual plane specifying part uses the output of an inertial sensor to specify a first shaft along the longitudinal direction of the shaft part of a locomotorium in the address position of a user. A second virtual plane specifying part has a ball hitting direction as a rotation axis and specifies a second shaft making a predetermined angle with respect to the first axis. A kinematic analysis part calculates the locus of the using of the user on the basis of the output of the inertial sensor. A locus judging part judges whether or not the locus of the swing passes a region specified on the basis of the first shaft and the second shaft.SELECTED DRAWING: Figure 3

Description

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

  In Patent Document 1, from the address state to the end of the swing, an image is acquired from the back in the hitting direction, the first straight line passing through the shaft axis of the golf club in the address state, and the first straight line It is described that the image is decomposed into at least three regions by means of a crossed and installed tee root and a second straight line passing through the golfer's neck.

JP 2010-82430 A

  By the way, the V zone is known as an index for improving the swing. Generally, if a swing trajectory is included in the V zone, it is evaluated as a good swing.

  In Patent Document 1, a golfer at the time of addressing is photographed using a camera from the back in the hitting direction, and the user specifies a V zone by drawing a line on the photographed image. In Patent Document 1, a swinging golfer is photographed with a camera, and it is visually confirmed whether or not the golfer's swing trajectory is included in the V zone where the user has drawn a line. Therefore, in patent document 1, there exists a problem that swing evaluation is difficult.

  Therefore, the present invention provides a technique that can easily perform swing evaluation.

  A first aspect of the present invention for solving the above-described problem is a first aspect of identifying a first axis along a major axis direction of a shaft portion of an exercise device in an address posture of a user using an output of an inertial sensor. Based on the output of the specific part, the second specific part that specifies the second axis that makes a predetermined angle with respect to the first axis with the direction of the hit ball as the rotational axis, and the output of the inertia sensor, A motion analysis apparatus comprising: an analysis unit that calculates; and a determination unit that determines whether or not the locus passes through a region specified based on the first axis and the second axis. is there. According to the first aspect, the motion analysis device can change the display form of the swing trajectory in accordance with the passage manner of the swing trajectory with respect to the region specified based on the first axis and the second axis. Thus, the user can easily see whether the locus of the swing passes through the region specified based on the first axis and the second axis, and can easily perform the swing evaluation.

  The determination unit may determine a portion of the locus that passes through the region and a portion of the locus that does not pass through the region. As a result, the motion analysis device can change the display form of the swing trajectory for the part that passes through the region of the swing trajectory and the part that does not pass through the region of the swing trajectory. Makes it easy to see whether the trajectory of the swing passes through a region specified based on the first axis and the second axis, and the swing evaluation can be easily performed.

  Image generation for generating image data in which the display form of the trajectory is different between a portion of the trajectory that has passed through the region and a portion of the trajectory that has not passed through the region, as determined by the determination unit It is good also as having a part. This makes it easier for the user to see whether or not the swing trajectory passes through the area specified based on the first axis and the second axis due to the difference in the display format of the swing trajectory, and makes it easy to perform the swing evaluation. Can be done.

  The image generation unit generates image data in which the color of the trajectory is different for a portion of the trajectory passing through the region and a portion of the trajectory not passing through the region. Also good. This makes it easier for the user to see whether the swing path passes through the area specified based on the first axis and the second axis, depending on the difference in the color of the swing path, and makes swing evaluation easier. It can be carried out.

  The image generation unit generates image data obtained by distinguishing the trajectory using a normal light and blinking for a portion passing through the region of the trajectory and a portion not passing through the region of the trajectory. It may be characterized by generating. This makes it easier for the user to see whether the swing trajectory passes through an area specified based on the first axis and the second axis, and whether the swing trajectory is always lit or blinking, thereby simplifying the swing evaluation. Can be done.

  The image generation unit generates image data having different types of lines of the trajectory for a portion passing through the region of the trajectory and a portion not passing through the region of the trajectory; It may be a feature. This makes it easier for the user to see whether or not the swing trajectory passes through an area specified based on the first axis and the second axis, depending on the type of swing trajectory, and makes swing evaluation easier. It can be carried out.

  The image generation unit generates image data in which the thickness of the line of the trajectory is different between a portion of the trajectory passing through the region and a portion of the trajectory not passing through the region. May be a feature. This makes it easier for the user to see whether the swing trajectory passes through the region specified based on the first axis and the second axis, and the difference in the thickness of the swing trajectory line. Can be done easily.

  The first specifying unit specifies a first virtual plane that includes the first axis and the hitting direction, and the second specifying unit specifies a second virtual plane that includes the second axis and the hitting direction. However, the region may be a region sandwiched between the first virtual plane and the second virtual plane. This makes it easy for the user to see whether or not the swing trajectory passes through a region sandwiched between the first virtual plane and the second virtual plane, and can easily perform a swing evaluation.

  The image generation unit defines a first area and a second area outside the area with the area interposed therebetween, and displays the area, the first area, and the second area separately. It is good also as generating data. Accordingly, the user can easily see how the swing locus passes through the first area and the second area, and can easily perform the swing evaluation.

  The second aspect of the present invention for solving the above-mentioned problem is a step of specifying a first axis along the long axis direction of the shaft portion of the exercise device in the user's address posture using the output of the inertial sensor; Identifying a second axis that forms a predetermined angle with respect to the first axis with the direction of the ball as the rotation axis, calculating a locus of the user's swing based on the output of the inertia sensor, Determining whether or not a trajectory passes through an area specified based on the first axis and the second axis. According to the second aspect, the motion analysis apparatus can change the display form of the swing trajectory according to the manner of passage of the swing trajectory with respect to the region specified based on the first axis and the second axis. Thus, the user can easily see whether the locus of the swing passes through the region specified based on the first axis and the second axis, and can easily perform the swing evaluation.

  A third aspect of the present invention for solving the above-described problem is a step of specifying a first axis along the longitudinal direction of the shaft portion of the exercise device in the user's address posture using the output of the inertial sensor; Identifying a second axis that forms a predetermined angle with respect to the first axis with the direction of the ball as the rotation axis, calculating a locus of the user's swing based on the output of the inertia sensor, Determining whether or not a trajectory passes through a region specified based on the first axis and the second axis. According to the third aspect, the computer can change the display form of the swing locus in accordance with the passage manner of the swing locus with respect to the region specified based on the first axis and the second axis. The user can easily see whether the trajectory of the swing passes through the region specified based on the first axis and the second axis, and can easily perform the swing evaluation.

  According to a fourth aspect of the present invention for solving the above-described problem, an inertial sensor and an output of the inertial sensor are used to provide a first axis along the longitudinal direction of the shaft portion of the exercise device in the user's address posture. Based on the output of the inertial sensor, a second specifying unit for specifying a second axis that makes a predetermined angle with respect to the first axis, with the direction of the hit ball as a rotation axis An analysis unit that calculates a trajectory of the swing of the motor, and a determination unit that determines whether or not the trajectory passes through an area specified based on the first axis and the second axis. It is a motion analysis system. According to the fourth aspect, the motion analysis system can change the display form of the swing locus in accordance with the passage manner of the swing locus for the region specified based on the first axis and the second axis. Thus, the user can easily see whether the locus of the swing passes through the region specified based on the first axis and the second axis, and can easily perform the swing evaluation.

It is a figure showing the outline of the motion analysis system concerning one embodiment of the present invention. It is a figure explaining an example of a shaft plane and a Hogan plane. It is a block diagram which shows an example of a structure of a motion analysis system. It is a flowchart which shows an example of a motion analysis process. It is the top view which looked at the golf club and sensor unit at the time of a user's stationary from the negative side of the X-axis. It is the figure which looked at the sectional view which cut the shaft plane with the YZ plane from the negative side of the X-axis. It is the figure which looked at the cross-sectional view which cut the Hogan plane in the YZ plane from the negative side of the X-axis. It is a figure which shows an example of the angular velocity output from a sensor unit. It is a figure which shows an example of the norm of angular velocity. It is a figure which shows an example of the differential value of the norm of angular velocity. It is the figure (view projected on the YZ plane) which looked at the shaft plane and the Hogan plane from the negative side of the X axis. It is the figure which showed an example of the screen displayed on a display part. It is the flowchart which showed an example of operation | movement of a locus | trajectory determination part and an image generation part. It is the figure which showed an example of the screen which displayed the area | region outside V zone containing a line segment and a Hogan plane.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Hereinafter, a motion analysis system that analyzes a golf swing will be described as an example.

  FIG. 1 is a diagram showing an outline of a motion analysis system according to an embodiment of the present invention.

  The motion analysis system 1 includes a sensor unit 10 and a motion analysis device 20.

  As an inertial sensor, the sensor unit 10 can measure acceleration generated in each of the three axes and angular velocity generated around each of the three axes, and is attached to the golf club 3. The sensor unit 10 is attached to a part of the shaft of the golf club 3 such that one of three detection axes (x axis, y axis, z axis), for example, the y axis is aligned with the long axis direction of the shaft. It is done. Desirably, the sensor unit 10 is attached at a position close to a grip portion where a shock during a shot is not easily transmitted and a centrifugal force is not applied during a swing. The shaft is a portion of the handle excluding the head of the golf club 3 and includes a grip portion.

  The user 2 performs a swing motion of hitting a golf ball (not shown) according to a predetermined procedure. For example, the user 2 first holds the golf club 3 and takes an address posture so that the long axis of the shaft of the golf club 3 is perpendicular to the target line (the target direction of the hit ball), (For example, 1 second or more). Next, the user 2 performs a swing motion and hits and skips the golf ball. Note that the address posture in this specification includes a posture in a stationary state of the user before starting the swing, or a posture in a state where the user swings the exercise equipment (waggles) before starting the swing. In addition, the target line refers to an arbitrary hitting direction, and in this embodiment, the target direction of the hitting ball is defined as an example.

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

  The motion analysis device 20 analyzes the swing motion of the user 2 using the golf club 3 using the data measured by the sensor unit 10. In particular, in the present embodiment, the motion analysis device 20 uses the data measured by the sensor unit 10 to correspond to the shaft plane (at the time of addressing) of the user 2 (corresponding to the first virtual plane or the first axis of the present invention). And Hogan's plane (corresponding to the second virtual plane or the second axis of the present invention).

  The motion analysis device 20 calculates the trajectory (for example, the trajectory of the head) of the golf club 3 in the swing after the user 2 starts the swing motion. Then, the motion analysis apparatus 20 changes the display form of the trajectory according to the passage mode of the trajectory of the golf club 3 with respect to the region called the V zone between the shaft plane and the Hogan plane, and displays it on the display device. At that time, the motion analysis device 20 does not display the shaft plane and the Hogan plane indicating the V zone on the display device. In other words, the motion analysis device 20 displays the trajectory of the golf club 3 on the display device by changing the display form, so that the user 2 can see how the trajectory of the golf club 3 passes through the V zone. .

  For example, the motion analysis apparatus 20 displays a trajectory outside the V zone on the display device in a first color such as red, for example, and the trajectory inside the V zone is different from the first color, such as a first color such as blue. Display on the display device in two colors. Thereby, the user 2 can know how his / her swing trajectory passes through the V zone even when the shaft plane and the Hogan plane indicating the V zone are not displayed on the display device.

  The motion analysis device 20 may be, for example, a portable device such as a smartphone or a personal computer (PC). In FIG. 1, the motion analysis device 20 is mounted on the waist of the user 2, but the mounting position is not particularly limited, and the motion analysis device 20 may not be mounted on the user 2.

  FIG. 2 is a diagram illustrating an example of a shaft plane and a Hogan plane. In the present embodiment, an XYZ coordinate system in which the target line indicating the target direction of the hit ball is the X axis, the axis on the horizontal plane perpendicular to the X axis is the Y axis, and the vertical direction (the direction opposite to the direction of gravitational acceleration) is the Z axis. (Global coordinate system) is defined, and FIG. 2 shows the X axis, Y axis, and Z axis.

  Here, the shaft plane 30 at the time of the address of the user 2 includes a first line segment 51 as the first axis along the major axis direction of the shaft of the golf club 3 and a third axis as the third axis representing the target direction of the hit ball. 3 is a virtual plane including four line vertices, T1, T2, S1, and S2. In the present embodiment, the position 61 of the head (striking part) of the golf club 3 is the origin O (0, 0, 0) of the XYZ coordinate system, and the first line segment 51 is the position 61 (origin of the golf club 3) This is a line segment connecting O) and the grip end position 62. The third line segment 52 is a line segment having a length TL with T1 and T2 on the X axis as both ends and the origin O as a midpoint. When the user 2 takes the address attitude described above at the time of addressing, the shaft of the golf club 3 is perpendicular to the target line (X axis), and therefore, the third line segment 52 is the long axis direction of the shaft of the golf club 3. This is a line segment that is orthogonal to the first line segment 51. The shaft plane 30 is specified by calculating the coordinates of the four vertices T1, T2, S1, and S2 in the XYZ coordinate system. A method for calculating the coordinates of T1, T2, S1, and S2 will be described in detail later.

  The Hogan plane 40 is a virtual plane that includes a third line segment 52 and a second line segment 53 as the second axis, and has four vertices at T1, T2, H1, and H2. In the present embodiment, the second line segment 53 is a predetermined position 63 (for example, the position of the base of the neck or the position of one of the left and right shoulders) on the line segment connecting both shoulders of the user 2 and the head of the golf club 3. This is a line segment that connects the position 62 (an example of the striking position) of the (striking part). However, the second line segment 53 may be a line segment that connects the predetermined position 63 and the ball position at the time of addressing (an example of a hitting position). The Hogan plane 40 is specified by calculating the coordinates of the four vertices T1, T2, H1, and H2 in the XYZ coordinate system. A method for calculating the coordinates of T1, T2, H1, and H2 will be described in detail later.

  FIG. 3 is a block diagram illustrating an example of the configuration of the motion analysis system.

  The sensor unit 10 includes a control unit 11, a communication unit 12, an acceleration sensor 13, and an angular velocity sensor 14.

  The acceleration sensor 13 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 14 measures an angular velocity generated around each of three axes that intersect each other (ideally orthogonal), and outputs a digital signal (angular velocity data) corresponding to the magnitude and direction of the measured three-axis angular velocity. Output.

  The control unit 11 controls the sensor unit in an integrated manner. The control unit 11 receives acceleration data and angular velocity data from the acceleration sensor 13 and the angular velocity sensor 14, respectively, attaches time information, and stores them in a storage unit (not shown). In addition, the control unit 11 adds time information to the stored measurement data (acceleration data and angular velocity data), generates packet data that matches the communication format, and outputs the packet data to the communication unit 12.

  The acceleration sensor 13 and the angular velocity sensor 14 each have three axes that coincide with the three axes (x axis, y axis, z axis) of the orthogonal coordinate system (sensor coordinate system) defined for the sensor unit 10. Although it is ideal to be attached to the unit 10, an error in the attachment angle actually occurs. Therefore, the control unit 11 performs a process of converting the acceleration data and the angular velocity data into data in the xyz coordinate system using a correction parameter calculated in advance according to the attachment angle error.

  Further, the control unit 11 may perform temperature correction processing for the acceleration sensor 13 and the angular velocity sensor 14. Alternatively, a temperature correction function may be incorporated in the acceleration sensor 13 and the angular velocity sensor 14.

  The acceleration sensor 13 and the angular velocity sensor 14 may output analog signals. In this case, the control unit 11 converts the output signal of the acceleration sensor 13 and the output signal of the angular velocity sensor 14 to A / D, respectively. Measurement data (acceleration data and angular velocity data) may be generated by (analog / digital) conversion, and packet data for communication may be generated using these.

  The communication unit 12 performs processing for transmitting the packet data received from the control unit 11 to the motion analysis device 20, processing for receiving a control command from the motion analysis device 20 and sending it to the control unit 11, and the like. The control unit 11 performs various processes according to the control command.

  The motion analysis apparatus 20 includes a control unit 21, a communication unit 22, an operation unit 23, a storage unit 24, a display unit 25, and an audio output unit 26.

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

  The operation unit 23 performs a process of acquiring operation data from the user and sending it to the control 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 control 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 analysis program that is read by the control unit 21 and that executes a motion analysis process. The motion analysis program may be stored in advance in a nonvolatile recording medium, or the control unit 21 may receive the motion analysis program from the server via the network and store the motion analysis program in the storage unit 24.

  In the present embodiment, the storage unit 24 stores body information of the user 2, club specification information indicating the specifications of the golf club 3, and sensor mounting position information. For example, the user 2 operates the operation unit 23 to input physical information such as height, weight, and sex, and the input physical information is stored in the storage unit 24 as physical information. Further, 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, Of the shaft length, the position of the center of gravity, information on the lie angle, face angle, loft angle, etc.), the specification information of the input model number is used as club specification information. Further, for example, the user 2 operates the operation unit 23 to input the distance between the mounting position of the sensor unit 10 and the grip end of the golf club 3, and the information on the input distance is stored as sensor mounting position information. 24. Alternatively, the sensor unit 10 may be mounted at a predetermined position (for example, a distance of 20 cm from the grip end), and information on the predetermined position may be stored in advance as sensor mounting position information.

  The storage unit 24 is used as a work area of the control unit 21, and temporarily stores data input from the operation unit 23, calculation results executed by the control 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 control part 21. FIG.

  The display unit 25 displays the processing results of the control unit 21 as characters, graphs, tables, animations, and other images. The display unit 25 is, for example, a CRT (Cathode-Ray Tube) display, an LCD (Liquid Crystal Display), an EPD (Electrophoretic Display), a display using an organic light emitting diode (OLED), a touch panel display, or an HMD (head mounted display). It may be. 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 control unit 21 as sound such as sound and buzzer sound. The audio output unit 26 may be, for example, a speaker or a buzzer.

  The control unit 21 performs processing for transmitting a control command to the sensor unit 10 according to various programs, various calculation processing for data received from the sensor unit 10 via the communication unit 22, and other various control processing. In particular, in the present embodiment, the control unit 21 executes a motion analysis program, whereby a sensor information acquisition unit 210, a first virtual plane specifying unit 211 (corresponding to the first specifying unit of the present invention), a second virtual Plane specifying unit 212 (corresponding to the second specifying unit of the present invention), motion analyzing unit 213 (corresponding to the analyzing unit of the present invention), trajectory determining unit 214 (corresponding to the determining unit of the present invention), image generating unit 215 and the output processing unit 216. The sensor information acquisition unit 210, the first virtual plane specification unit 211, the second virtual plane specification unit 212, the motion analysis unit 213, the trajectory determination unit 214, the image generation unit 215, and the output processing unit 216 are individual calculation means. Calculation may be performed, or part or all may be calculated by the same calculation means.

  The control unit 21 includes, for example, a CPU (Central Processing Unit) that is an arithmetic device, a RAM (Random Access Memory) that is a volatile storage device, a ROM that is a nonvolatile storage device, and the control unit 21 and other units. May be realized by a computer including an interface (I / F) circuit for connecting the two, a bus for connecting these to each other, and the like. The computer may include various dedicated processing circuits such as an image processing circuit. The control unit 21 may be realized by an ASIC (Application Specific Integrated Circuit) or the like.

  The sensor information acquisition unit 210 receives the packet data received from the sensor unit 10 by the communication unit 22 and acquires time information and measurement data from the received packet data. Further, the sensor information acquisition unit 210 stores the acquired time information and measurement data in the storage unit 24 in association with each other.

  The first virtual plane specifying unit 211 uses the measurement data output from the sensor unit 10 to perform processing for specifying the first line segment 51 along the long axis direction of the shaft of the golf club 3 when the user 2 is stationary. Do. Further, the first virtual plane specifying unit 211 specifies a shaft plane (first virtual plane) 30 (see FIG. 2) including the first line segment 51 and the third line segment 52 representing the target direction of the hit ball. Process.

  The first virtual plane specifying unit 211 calculates the coordinates of the grip end position 62 of the golf club 3 using the measurement data output from the sensor unit 10, and calculates the first line segment 51 based on the coordinates of the grip end position 62. You may specify. For example, the first virtual plane specifying unit 211 uses the acceleration data measured by the acceleration sensor 13 when the user 2 is stationary (at the time of addressing), and the tilt angle (horizontal plane (XY plane) or vertical plane ( The first line segment 51 may be specified using the calculated inclination angle and the shaft length information included in the club specification information.

  Further, the first virtual plane specifying unit 211 may calculate the width of the shaft plane 30 using the length of the first line segment 51 and the length of the arm of the user 2 based on the body information.

  The second virtual plane specifying unit 212 is a second line that forms a predetermined angle with respect to the first line segment 51 specified by the first virtual plane specifying unit 211 with the target direction (third line segment 52) of the hit ball as the rotation axis. Processing for specifying the minute 53 is performed. Furthermore, the second virtual plane specifying unit 212 performs a process of specifying a Hogan plane (second virtual plane) 40 (see FIG. 2) including the second line segment 53 and the third line segment 52.

  For example, the second virtual plane specifying unit 212 uses the measurement data output from the sensor unit 10 and the body information, between the head and chest of the user 2 when the user 2 is stationary (for example, a line connecting both shoulders). The predetermined position 63 is estimated and the second line segment 53 connecting the estimated predetermined position 63 and the position 62 of the head (striking part) of the golf club 3 is specified. Then, the second virtual plane specifying unit 212 performs processing for specifying the Hogan plane 40 including the second line segment 53 and the third line segment 52.

  The second virtual plane specifying unit 212 estimates the predetermined position 63 using the coordinates of the grip end position 62 calculated by the first virtual plane specifying unit 211 and the arm length of the user 2 based on the body information. Also good. Alternatively, the second virtual plane specifying unit 212 may calculate the coordinates of the grip end position 62 of the golf club 3 using the measurement data output from the sensor unit 10. In this case, the first virtual plane specifying unit 211 may specify the shaft plane 30 using the coordinates of the grip end position 62 calculated by the second virtual plane specifying unit 212.

  Further, the second virtual plane specifying unit 212 may calculate the width of the Hogan plane 40 by using the length of the first line segment 51 and the arm length of the user 2 based on the body information.

  The motion analysis unit 213 performs processing for analyzing the swing motion of the user 2 using the measurement data output from the sensor unit 10. Specifically, the motion analysis unit 213 first uses the measurement data (acceleration data and angular velocity data) stored in the storage unit 24 when the user 2 is stationary (at the time of address), and the offset included in the measurement data. Calculate the quantity. Next, the motion analysis unit 213 performs bias correction by subtracting the offset amount from the measurement data after the start of the swing stored in the storage unit 24, and the user 2 is performing the swing operation using the bias-corrected measurement data. The position and orientation of the sensor unit 10 are calculated.

  For example, the motion analysis unit 213 uses the acceleration data measured by the acceleration sensor 13, the club specification information, and the sensor mounting position information to use the sensor unit when the user 2 is stationary (address) in the XYZ coordinate system (global coordinate system). 10 positions (initial positions) are calculated, and subsequent acceleration data is integrated to calculate a change in position of the sensor unit 10 from the initial position in time series. Since the user 2 stops at a predetermined address posture, the X coordinate of the initial position of the sensor unit 10 is zero. Further, the y-axis of the sensor unit 10 coincides with the long axis direction of the shaft of the golf club 3, and when the user 2 is stationary, the acceleration sensor 13 measures only the gravitational acceleration. Can be used to calculate the tilt angle of the shaft (tilt with respect to the horizontal plane (XY plane) or vertical plane (XZ plane)). Then, the motion analysis unit 213 uses the inclination angle of the shaft, club specification information (shaft length), and sensor mounting position information (distance from the grip end) to determine the Y coordinate and Z coordinate of the initial position of the sensor unit 10. And the initial position of the sensor unit 10 can be specified. Alternatively, the motion analysis unit 213 uses the coordinates of the grip end position 62 of the golf club 3 and the sensor mounting position information (distance from the grip end) calculated by the first virtual plane specifying unit 211 or the second virtual plane specifying unit 212. It may be used to calculate the coordinates of the initial position of the sensor unit 10.

  In addition, the motion analysis unit 213 uses the acceleration data measured by the acceleration sensor 13 to calculate the attitude (initial attitude) of the sensor unit 10 when the user 2 is stationary (addressing) in the XYZ coordinate system (global coordinate system). Then, the rotation calculation using the angular velocity data measured by the angular velocity sensor 14 is performed, and the change in posture of the sensor unit 10 from the initial posture is calculated in time series. The attitude of the sensor unit 10 can be expressed by, for example, rotation angles (roll angle, pitch angle, yaw angle) around the X axis, Y axis, and Z axis, Euler angles, and quarter-on (quaternion). . Since the acceleration sensor 13 measures only the gravitational acceleration when the user 2 is stationary, the motion analysis unit 213 uses the triaxial acceleration data to determine each of the x-axis, y-axis, and z-axis of the sensor unit 10 and the gravity direction. The angle formed by can be specified. Furthermore, since the user 2 stops at a predetermined address posture, the motion analysis unit 213 specifies the initial posture of the sensor unit 10 because the y axis of the sensor unit 10 is on the YZ plane when the user 2 is stationary. be able to.

  The control unit 11 of the sensor unit 10 may calculate the offset amount of the measurement data and correct the bias of the measurement data, or the bias correction function is incorporated in the acceleration sensor 13 and the angular velocity sensor 14. May be. In these cases, bias correction of measurement data by the motion analysis unit 213 is not necessary.

  In addition, the motion analysis unit 213 includes body information (height of the user 2 (arm length)), club specification information (shaft length and center of gravity position), sensor mounting position information (distance from the grip end), golf club 3) A motion analysis model (double pendulum model, etc.) that takes into account the characteristics of 3 (such as a rigid body) and the characteristics of the human body (such as the direction in which the joint bends) is defined. The trajectory of the golf club 3 in the swing of the user 2 is calculated using the information on the position and orientation of 10.

  In addition, the motion analysis unit 213 detects the timing of hitting the ball (impact timing) during the swing motion period of the user 2 using the time information and measurement data stored in the storage unit 24. For example, the motion analysis unit 213 calculates a composite value of measurement data (acceleration data or angular velocity data) output from the sensor unit 10 and specifies the timing (time) when the user 2 hits the ball based on the composite value. .

  Furthermore, the motion analysis unit 213 uses the motion analysis model and the position and orientation information of the sensor unit 10 to determine the swing rhythm from the back swing to the follow-through, the head speed, the incident angle (club path) at the time of hitting, Information such as face angle, shaft rotation (change amount of face angle during swing), deceleration rate of golf club 3, or information on variation of each information when user 2 swings multiple times is generated. To do.

  The trajectory determination unit 214 is configured such that the trajectory of the golf club 3 calculated by the motion analysis unit 213 is specified by the V zone (the shaft plane 30 specified by the first virtual plane specifying unit 211 and the second virtual plane specifying unit 212). It is determined whether or not the vehicle passes through a region between the Hogan plane 40 and the Hogan plane 40. Specifically, the trajectory determination unit 214 determines a portion that passes through the V zone and a portion that does not pass through the trajectory of the golf club 3 calculated by the motion analysis unit 213.

  The image generation unit 215 performs processing for generating image data corresponding to the motion analysis result image displayed on the display unit 25. In particular, in the present embodiment, the image generation unit 215 passes the V zone of the path of the golf club 3 determined by the path determination unit 214 and the V zone of the path of the golf club 3. Image data in which the display form of the path of the golf club 3 is changed with respect to the part that does not exist is generated. For example, the image generation unit 215 generates image data in which the color of the locus is changed for a portion of the locus of the golf club 3 that passes through the V zone and a portion that does not pass through the V zone. Specifically, the image generation unit 215 attaches a first color to the locus of the golf club 3 in the V zone in the portion of the locus of the golf club 3 that passes outside the V zone. In the portion that passes, image data in which a second color different from the first color is attached to the locus is generated.

  The first virtual plane identification unit 211, the second virtual plane identification unit 212, the motion analysis unit 213, the trajectory determination unit 214, and the image generation unit 215 also perform processing for storing various types of calculated information in the storage unit 24. Do.

  The output processing unit 216 performs processing for causing the display unit 25 to display various images (including characters and symbols in addition to images corresponding to the image data generated by the image generation unit 215). For example, the output processing unit 216 displays an image corresponding to the image data generated by the image generation unit 215 on the display unit 25 automatically after the swing motion of the user 2 ends or according to the input operation of the user 2. Display. Alternatively, a display unit is provided in the sensor unit 10, and the output processing unit 216 transmits image data to the sensor unit 10 via the communication unit 22 and displays various images on the display unit of the sensor unit 10. Also good.

  Further, the output processing unit 216 performs processing for causing the sound output unit 26 to output various sounds (including sound and buzzer sound). For example, the output processing unit 216 reads various kinds of information stored in the storage unit 24 automatically after a user's 2 swing motion is completed or when a predetermined input operation is performed. You may make the output part 26 output the sound and sound for motion analysis. Alternatively, the sensor unit 10 is provided with a sound output unit, and the output processing unit 216 transmits various sound data and audio data to the sensor unit 10 via the communication unit 22, Various sounds and sounds may be output.

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

  FIG. 4 is a flowchart illustrating an example of the motion analysis process. The control unit 21 executes the motion analysis program stored in the storage unit 24, thereby executing the motion analysis process according to the procedure of the flowchart shown in FIG.

  First, the sensor information acquisition unit 210 acquires measurement data of the sensor unit 10 (step S10). In addition, the control part 21 may perform the process after step S20 in real time, if the first measurement data in the swing motion (including a stationary motion) of the user 2 is acquired, or in the swing motion of the user 2 from the sensor unit 10. After acquiring a part or all of a series of measurement data, the process after step S20 may be performed.

  Next, the motion analysis unit 213 detects the stationary motion (address motion) of the user 2 using the measurement data acquired from the sensor unit 10 (step S20). In the case of performing processing in real time, the control unit 21 outputs, for example, a predetermined image or sound when detecting a stationary operation (address operation), or an LED (Light Emitting Diode) to the sensor unit 10. The user 2 may be notified that the stationary state has been detected by turning on the LED, and the user 2 may start swinging after confirming this notification.

  Next, the first virtual plane specifying unit 211 uses the measurement data acquired from the sensor unit 10 (measurement data in the static motion (address motion) of the user 2) and the club specification information, and the shaft plane 30 (first virtual plane). A plane is specified (step S30).

  Next, the second virtual plane specifying unit 212 uses the measurement data (measurement data in the static motion (address motion) of the user 2) and physical information acquired from the sensor unit 10 and the Hogan plane 40 (second virtual plane). ) Is specified (step S40).

  Next, the motion analysis unit 213 calculates the initial position and the initial posture of the sensor unit 10 using the measurement data acquired from the sensor unit 10 (measurement data in the static motion (address motion) of the user 2) (step S50). ).

  Next, the motion analysis unit 213 detects a series of movements (rhythms) from the start to the end of the swing using the measurement data acquired from the sensor unit 10 (step S60).

  The motion analysis unit 213 calculates the position and orientation of the sensor unit 10 during the swing motion of the user 2 in parallel with the process of step S60 (step S70).

  Next, the motion analysis unit 213 calculates the trajectory of the golf club 3 during the swing motion of the user 2 using the rhythm detected in step S60 and the position and orientation of the sensor unit 10 calculated in step S70 ( Step S80).

  Next, the trajectory determination unit 214 indicates that the trajectory of the golf club 3 calculated in step S80 is an area between the V zone (the shaft plane 30 specified in step S30 and the Hogan plane 40 specified in step S40). ) Is determined (step S90). Specifically, the trajectory determination unit 214 determines a portion that passes through the V zone and a portion that does not pass through the trajectory of the golf club 3 calculated by the motion analysis unit 213.

  Next, the image generation unit 215 generates image data including the trajectory of the golf club 3 based on the determination result of step S90 (step S100). At that time, the image generation unit 215 does not include the images of the shaft plane 30 and the Hogan plane 40 in the image data, and changes the display mode of the golf club 3 trajectory according to the passage manner of the golf club 3 trajectory with respect to the V zone. Generate the changed image data. For example, the image generation unit 215 generates image data in which the color of the locus is changed for a portion of the locus of the golf club 3 that passes through the V zone and a portion that does not pass through the V zone.

  The image data generated by the image generation unit 215 is output to the display unit 25 by the output processing unit 216. And the control part 21 complete | finishes the process of the flowchart shown in FIG.

  In the flowchart of FIG. 4, the order of each process may be appropriately changed within a possible range.

  Next, an example of the process of specifying the shaft plane (first virtual plane) (the process of step S30 in FIG. 4) will be described in detail.

First, as shown in FIG. 2, the first virtual plane specifying unit 211 sets the head position 61 of the golf club 3 as the origin O (0, 0, 0) of the XYZ coordinate system (global coordinate system). The coordinates (0, G _Y , G _Z ) of the grip end position 62 are calculated using the acceleration data at rest measured by 10 and the club specification information. FIG. 5 is a plan view of the golf club 3 and the sensor unit 10 viewed from the negative side of the X axis when the user 2 is stationary (addressing). In FIG. 5, the position 61 of the head of the golf club 3 is the origin O (0, 0, 0), and the coordinates of the position 62 of the grip end are (0, G _Y , G _Z ). Since the gravitational acceleration G is applied to the sensor unit 10 when the user 2 is stationary, the y-axis acceleration y (0) and the tilt angle of the shaft of the golf club 3 (the angle formed by the long axis of the shaft and the horizontal plane (XY plane)) α Is expressed by the formula (1).

Therefore, when the length of the shaft of the golf club 3 included in the club specification information L _1, G _Y, G _Z, using the inclination angle α and the length L ₁ of the shaft, the formula (2) and ( Each is calculated in 3).

Next, the first imaginary plane specifying unit 211 multiplies the coordinates (0, G _Y , G _Z ) of the grip end position 62 of the golf club 3 by the scale factor S to obtain the vertexes S1 and S2 of the shaft plane 30. The coordinates (0, S _Y , S _Z ) of the midpoint S3 are calculated. That is, _SY and _SZ are calculated by the equations (4) and (5).

FIG. 6 is a cross-sectional view of the shaft plane 30 of FIG. 2 taken along the YZ plane as viewed from the negative side of the X axis. Line segment length connecting the midpoint S3 and the origin O of the vertices S1 and the vertex S2 (width in the direction perpendicular to the X axis of the shaft plane 30), and S times the length L ₁ of the first segment 51 Become. The scale factor S is set to a value such that the locus of the golf club 3 during the swing motion of the user 2 is within the shaft plane 30. For example, when the length of the arm of the user 2 is L ₂ , the width S × L ₁ in the direction orthogonal to the X axis of the shaft plane 30 is _{2 which is} the sum of the shaft length L ₁ and the arm length L 2. You may set the scale factor S like Formula (6) so that it may be doubled.

The arm length L ₂ of the user ₂ has a correlation with the height L _{0 of} the user 2, and is represented by a correlation equation such as Expression (7) when the user 2 is male based on statistical information. When the user 2 is a woman, it is represented by a correlation equation as shown in Equation (8).

Accordingly, the length L ₂ of the user's arm, with the height L ₀ and gender users 2 included in the physical information is calculated by the equation (7) or (8).

Next, the first virtual plane specifying unit 211 calculates the coordinates (0, S _Y , S _Z ) of the midpoint S3 and the width of the shaft plane 30 in the X-axis direction (the length of the third line segment 52) calculated as described above. Using the TL, the coordinates of the vertex T1 of the shaft plane 30 (−TL / 2, 0, 0), the coordinates of the vertex T2 (TL / 2, 0, 0), the coordinates of the vertex S1 (−TL / 2, (S _Y , S _Z ), S2 coordinates (TL / 2, S _Y , S _Z ) are calculated. The width TL in the X-axis direction is set to a value such that the locus of the golf club 3 during the swing motion of the user 2 is within the shaft plane 30. For example, even if the width TL in the X-axis direction is the same as the width S × L ₁ in the direction orthogonal to the X-axis, that is, twice the sum of the shaft length L ₁ and the arm length L _2. Good.

  The shaft plane 30 is specified by the coordinates of the four vertices T1, T2, S1, and S2 calculated in this way.

  Next, an example of the process of specifying the Hogan plane (second virtual plane) (the process of step S40 in FIG. 4) will be described in detail.

First, the second virtual plane specifying unit 212 uses the coordinates (0, G _Y , G _Z ) of the grip end position 62 of the golf club 3 and the physical information of the user 2 calculated as described above. A predetermined position 63 on the line segment connecting the shoulders of the two is estimated, and its coordinates (A _X , A _Y , A _Z ) are calculated.

FIG. 7 is a cross-sectional view of the Hogan plane 40 of FIG. 2 taken along the YZ plane as viewed from the negative side of the X axis. In FIG. 7, the midpoint of the line segment connecting both shoulders of the user 2 is a predetermined position 63, and the predetermined position 63 exists on the YZ plane. Therefore, the X-coordinate _{A X} a predetermined position 63 is zero. Then, the second virtual plane surface specifying portion 212, a grip end position 62 of the golf club 3 is moved in the positive direction of the Z-axis of the user 2 arm by a length L ₂ position is estimated to be the predetermined position 63 . Therefore, the Y coordinate _{A Y} of the predetermined position 63 is the same as the Y-coordinate _{G Y} position 62 of the grip end, the Z-coordinate _{A Z} of predetermined positions 63, as shown in equation (9), position 62 of the grip end It is calculated as the sum of the Z coordinate G _Z and the arm length L ₂ of the user 2.

The length L ₂ of the user's arm, with the height L ₀ and gender users 2 included in the physical information is calculated by the equation (7) or (8).

Next, the second virtual plane specifying unit 212 multiplies the Y coordinate A _Y and the Z coordinate _AZ of the predetermined position 63 by the scale factor H, respectively, and the coordinates of the midpoint H3 of the vertex H1 and the vertex H2 of the Hogan plane 40 ( 0, H _Y , H _Z ). That is, H _Y and H _Z are calculated by the equations (10) and (11).

As shown in FIG. 7, the length of the line segment connecting the midpoint H3 of the vertex H1 and the vertex H2 and the origin O (the width in the direction perpendicular to the X axis of the Hogan plane 40) is the length of the second line segment 53. It is the H multiple of _{L 3.} The scale factor H is set to a value such that the trajectory of the golf club 3 during the swing motion of the user 2 fits in the Hogan plane 40. For example, the Hogan plane 40 may have the same shape and size as the shaft plane 30. In this case, the width H × L ₃ in the direction orthogonal to the X axis of the Hogan plane 40 matches the width S × L ₁ in the direction orthogonal to the X axis of the shaft plane 30, and the length L of the shaft of the golf club 3 since the ₁ and 2 times the sum of the lengths L ₂ of the arm of the user 2, a scale factor H may be set as in equation (12).

Further, the length L ₃ of the second line segment 53 is calculated by the equation (13) using the Y coordinate A _Y and the Z coordinate _AZ of the predetermined position 63.

Next, the second virtual plane specifying unit 212 calculates the coordinates (0, H _Y , H _Z ) of the midpoint H3 and the width of the Hogan plane 40 in the X-axis direction (the length of the third line segment 52) calculated as described above. ) Using TL, the coordinates of the vertex T1 of the Hogan plane 40 (-TL / 2, 0, 0), the coordinates of the vertex T2 (TL / 2, 0, 0), the coordinates of the vertex H1 (-TL / 2, H _Y , H _Z ), H2 coordinates (TL / 2, H _Y , H _Z ) are calculated. The width TL in the X-axis direction is set to a value such that the locus of the golf club 3 during the swing motion of the user 2 is within the Hogan plane 40. In this embodiment, since the width TL in the X-axis direction of the Hogan plane 40 is the same as the width in the X-axis direction of the shaft plane 30, as described above, the shaft length L ₁ and the arm length L ₂ . You may set to 2 times the sum.

  The Hogan plane 40 is specified by the coordinates of the four vertices T1, T2, H1, and H2 calculated in this way.

  Next, an example of a process for detecting the timing at which the user 2 hits the ball (the process in step S60 in FIG. 4) will be described in detail.

  The motion analysis unit 213 uses the measurement data acquired from the sensor unit 10 to perform a series of operations (also referred to as “rhythm”) from the start to the end of the swing, for example, from the start of the swing to the back swing, top, down swing. , Detect impact, follow-through and end of swing. Although the specific rhythm detection procedure is not particularly limited, for example, the following procedure can be adopted.

  First, the motion analysis unit 213 calculates the sum of the magnitudes of the angular velocities around each axis at each time t (referred to as a norm) using the acquired angular velocity data at each time t. The motion analysis unit 213 may differentiate the norm of the angular velocity at each time t with respect to time.

  Here, consider a case where the angular velocities around the three axes (x-axis, y-axis, z-axis) appear in a graph as shown in FIG. 8 (an example of an angular velocity output from the sensor unit), for example. In FIG. 8, the horizontal axis represents time (msec), and the vertical axis represents angular velocity (dps). Further, the norm of the angular velocity appears in a graph as shown in FIG. 9 (a diagram showing an example of the norm of angular velocity), for example. In FIG. 9, the horizontal axis represents time (msec), and the vertical axis represents the norm of angular velocity. Further, the differential value of the norm of angular velocity appears in a graph as shown in FIG. 10 (an example of the differential value of the norm of angular velocity), for example. In FIG. 10, the horizontal axis represents time (msec), and the vertical axis represents the differential value of the norm of angular velocity. 8 to 10 are for facilitating understanding of the present embodiment, and do not show accurate values.

  Further, the motion analysis unit 213 detects the impact timing in the swing using the calculated norm of the angular velocity. For example, the motion analysis unit 213 detects the timing at which the norm of the angular velocity is maximum as the impact timing (T5 in FIG. 9). Alternatively, for example, the motion analysis unit 213 may detect the earlier timing as the impact timing among the timing at which the calculated differential value of the norm of the angular velocity is maximized and minimized (FIG. 10). T5).

  Further, the motion analysis unit 213 detects, for example, the timing at which the calculated norm of the angular velocity is minimized before the impact as the top timing of the swing (T3 in FIG. 9). In addition, the motion analysis unit 213 specifies, for example, a continuous period in which the norm of the angular velocity is equal to or less than the first threshold before the impact as a top period (a period of accumulation at the top) (T2 to T4 in FIG. 9).

  Further, the motion analysis unit 213 detects, for example, the timing at which the norm of the angular velocity is equal to or less than the second threshold before the top as the swing start timing (T1 in FIG. 9).

  Further, the motion analysis unit 213 detects, for example, the timing at which the norm of the angular velocity becomes minimum after the impact as the timing of the end of the swing (finish) (T7 in FIG. 9). Alternatively, for example, the motion analysis unit 213 may detect the first timing when the norm of the angular velocity is equal to or less than the third threshold after the impact as the timing of the end of the swing (finish). Further, for example, the motion analysis unit 213 specifies a continuous period after the impact timing and approaches the impact timing and the norm of the angular velocity is equal to or less than the fourth threshold as the finish period (T6 to T8 in FIG. 9). ).

  As described above, the motion analysis unit 213 can detect the rhythm of the swing. In addition, the motion analysis unit 213 detects each rhythm to detect each period during the swing (for example, a backswing period from the start of the swing to the top start, a downswing period from the top end to the impact, and from the impact to the end of the swing. Follow-through period) can be specified.

  The locus determination unit 214 and the image generation unit 215 will be described in detail.

  FIG. 11 is a view of the shaft plane and Hogan plane as viewed from the negative side of the X axis (projected on the YZ plane). FIG. 11 shows the shaft plane 30, the Hogan plane 40, and the locus 3 a of the golf club 3. A trajectory 3a indicated by a dotted line in FIG. 11 indicates a trajectory of the golf club 3 in a backswing, and a trajectory 3a indicated by a one-dot chain line indicates a trajectory of the golf club 3 in a downswing.

  The locus determination unit 214 divides the space defined by the XYZ coordinate system (global coordinate system) into predetermined regions. For example, the trajectory determination unit 214 is an area (indicated by hatching in FIG. 11) sandwiched between the shaft plane 30 specified by the first virtual plane specifying unit 211 and the Hogan plane 40 specified by the second virtual plane specifying unit 212. It is divided into a V zone 71) and other areas. Then, the locus determination unit 214 determines whether or not the locus 3 a of the golf club 3 calculated by the motion analysis unit 213 passes through the V zone 71. Specifically, the locus determination unit 214 determines a portion of the locus 3 a of the golf club 3 that passes through the V zone 71 and a portion that does not pass through the V zone 71.

  For example, in the case of FIG. 11, the trajectory 3a of the portion shown in the range A1, A2 does not pass through the V zone 71, and the trajectory 3a of the portion other than the range A1, A2 passes through the V zone 71. Yes. Therefore, in the case of FIG. 11, the trajectory determination unit 214 determines that the trajectory 3a of the portion shown in the ranges A1 and A2 does not pass through the V zone 71, and the trajectory 3a of the portion other than the ranges A1 and A2 It is determined that the vehicle passes through the V zone 71.

  When the image generation unit 215 generates image data of the locus 3 a of the golf club 3, the image generation unit 215 changes the display form of the locus 3 a of the golf club 3 based on the determination result of the locus determination unit 214. For example, the image generation unit 215 generates image data in which the locus 3a in the V zone 71 (the locus 3a indicated by the dotted line and the locus 3a indicated by the alternate long and short dash line in the V zone 71) is blue. Further, the image generation unit 215 generates image data in which the locus 3a outside the V zone 71 shown in the ranges A1 and A2, for example, is red.

  FIG. 12 is a diagram illustrating an example of a screen displayed on the display unit. The image data generated by the image generation unit 215 is output to the display unit 25 by the output processing unit 216. A screen 80 illustrated in FIG. 12 illustrates a screen example displayed on the display unit 25. The screen 80 shows an example of the screen viewed from the back in the hitting direction.

  On the screen 80, the locus 3a of the golf club 3 is displayed without displaying the V zone. Whether or not the locus 3a of the golf club 3 is in the V zone is indicated by the color of the locus 3a.

  For example, the trajectories 3aa and 3ac indicated by bold lines indicate trajectories outside the V zone in the backswing (see, for example, the ranges A1 and A2 in FIG. 11) and are displayed in red. The trajectories 3ab and 3ad indicated by thin lines indicate trajectories in the V zone in the backswing, and are indicated in blue, for example.

  Further, for example, a locus 3ae indicated by a thin line indicates a locus in the V zone in the downswing and is indicated in blue. A trajectory 3af indicated by a bold line indicates a trajectory outside the V zone in the downswing (see, for example, the range A2 in FIG. 11), and is indicated in red, for example.

  As a result, the user 2 can know in which part of his / her swing is out of the V zone. For example, when the locus 3a is displayed in the color as in the above example, the user 2 can recognize that his / her swing is out of the V zone in the red locus 3aa, 3ac, 3af.

  In FIG. 12, in order to clarify the difference between the trajectories 3ab, 3ad, 3ae in the V zone and the trajectories 3aa, 3ac, 3af outside the V zone, the trajectories 3aa, 3ac, 3af outside the V zone are indicated by thick lines. Although shown, it may be displayed by a solid line having the same thickness as the trajectories 3ab, 3ad, 3ae in the V zone.

  Further, the screen 80 shown in FIG. 12 may be a three-dimensional image in which the display angle (viewing point for viewing the image) can be changed according to the operation of the user 2.

  FIG. 13 is a flowchart illustrating an example of operations of the trajectory determination unit and the image generation unit. The flowchart in FIG. 13 is a flowchart showing detailed processing in steps S90 and S100 in FIG.

  First, the locus determination unit 214 specifies the V zone based on the shaft plane 30 specified in step S30 of FIG. 4 and the Hogan plane 40 specified in step S40 of FIG. 4 (step S901).

  Next, the trajectory determination unit 214 determines whether or not the trajectory of the golf club 3 calculated in step S80 of FIG. 4 is within the V zone specified in step S901 (step S902). For example, the trajectory determination unit 214 sequentially determines whether the trajectory of the golf club 3 is within the V zone specified in step S901 in order from the address position to the impact.

  In step S <b> 902, the image generation unit 215 determines that the track of the golf club 3 is in the V zone by the track determination unit 214 (“Yes” in S <b> 902). Is generated (step S903). That is, the image generation unit 215 generates image data with the first color applied to the locus of the golf club 3 in the V zone. When the image generation unit 215 generates image data with the first color added to the locus, the process proceeds to step S905.

  In step S902, the image generation unit 215 determines that the locus of the golf club 3 is not in the V zone by the locus determination unit 214 ("No" in S902). Is generated (step S904). That is, the image generation unit 215 generates image data with the second color applied to the locus of the golf club 3 outside the V zone. When the image generation unit 215 generates image data with the second color added to the locus, the process proceeds to step S905.

  The image generation unit 215 determines whether or not the processing from step S902 to step S904 has been performed from the address of the locus of the golf club 3 to the impact (step S905). That is, the image generation unit 215 determines whether or not the image data in which the coloring process is performed on the locus from the address to the impact is generated. If the image generation unit 215 determines that the coloring process is not performed on the trajectory from the address to the impact (S905 “No”), the process proceeds to step S902. If the image generation unit 215 determines that the coloring process is being performed on the trajectory from the address to the impact (S905 “Yes”), the process proceeds to step S906.

  If it is determined in step S905 that the locus is colored from the address to the impact (S905 “Yes”), the image generation unit 215 outputs the generated image data to the output processing unit 216 (step S906). .

  Thereby, for example, the screen 80 as described with reference to FIG. For example, the trajectories 3aa, 3ac, 3af indicated by thick lines in FIG. 12 are assigned the first color, and the trajectories 3ab, 3ad, 3ae indicated by thin lines are assigned the second color. Therefore, the user 2 can confirm whether or not the locus 3a of the golf club 3 is within the V zone on the screen 80, and can easily perform the swing evaluation of the golf club 3.

  In the above description, when the track of the golf club 3 is in the V zone, the first color (for example, red) is added to the track of the golf club 3, and when the track of the golf club 3 is outside the V zone, Although the second color (for example, blue) is added to the locus 3, the color may be changed depending on whether the locus of the golf club 3 is a backswing or a downswing.

  For example, the image generation unit 215 adds image data in which a first color (for example, red) is added to the locus outside the V zone in the backswing and a second color (for example, purple) is added to the locus outside the V zone in the downswing. Generate. In addition, the image generation unit 215 adds image data in which a third color (for example, blue) is added to the locus in the V zone in the backswing and a fourth color (for example, black) is added to the locus in the V zone in the downswing. Generate.

  In this case, for example, the trajectories 3aa and 3ac (trajectories outside the V zone in the back swing) in FIG. 12 are given the first color (for example, red), and the trajectories 3af (trajectories outside the V zone in the down swing) are shown. , A second color (for example, purple) is added. In addition, a third color (for example, blue) is attached to the trajectories 3ab and 3ad (trajectory in the V zone in the back swing) in FIG. 12, and a fourth color is added to the trajectory 3ae (the trajectory in the V zone in the down swing). A color (for example, black) is attached.

  Thereby, the user 2 can recognize whether the trajectory 3a of the golf club 3 is out of the V zone in the back swing or out of the V zone in the down swing, and the swing evaluation of the golf club 3 can be easily performed. Can be done.

  As described above, the motion analysis device 20 determines the passage of the path of the golf club 3 with respect to the V zone. Thereby, the motion analysis apparatus 20 can change the display form of a locus | trajectory according to the passage aspect of the locus | trajectory of the golf club 3 with respect to V zone, and the user 2 is what part of the locus | trajectory of the golf club 3 is V zone. The golf club 3 can be easily evaluated for swinging.

  Moreover, since the motion analysis apparatus 20 specifies the shaft plane 30 and the Hogan plane 40 using the sensor unit 10, it is not necessary to use a large-scale apparatus such as a camera, and there are few restrictions on the place where the swing analysis is performed.

  In the above description, the image generation unit 215 changes the color of the trajectory for the portion that passes through the V zone of the path of the golf club 3 and the portion that does not pass through the V zone of the path of the golf club. Although the image data is generated, the image data may be generated so that the locus is always lit and blinking. For example, the image generation unit 215 may generate the image data so that the locus in the V zone is always lit and the locus outside the V zone is blinked.

  Further, the image generation unit 215 may generate image data in which the type of the track line of the golf club 3 is changed. For example, the image generation unit 215 may generate the image data so that the locus in the V zone is displayed with a solid line and the locus outside the V zone is displayed with a dotted line or a broken line.

  Further, the image generation unit 215 may generate image data in which the thickness of the track line of the golf club 3 is changed. For example, the image generation unit 215 may generate the image data so that the trajectory in the V zone is displayed with a thin line and the trajectory outside the V zone is displayed with a thick line.

  Further, the image generation unit 215 may generate image data so that only the locus outside the V zone is displayed without displaying the locus within the V zone.

  Further, the image generation unit 215 defines the first area and the second area outside the V zone with the V zone interposed therebetween, and displays the V zone, the first area, and the second area separately. Data may be generated.

  In addition, the image generation unit 215 generates image data in which a predetermined color is given to a region opposite to the V zone including the shaft plane 30 and a region opposite to the V zone including the Hogan plane 40. Also good. For example, in FIG. 11, the image generation unit 215 performs predetermined processing on a first region outside the V zone that is counterclockwise from the shaft plane 30 and a second region outside the V zone that is clockwise from the Hogan plane 40. The image data with the color may be generated. At this time, the image generation unit 215 may include in the image data information indicating that the first area is a slice zone and the second area is a hook zone. Thereby, the user 2 can recognize whether his / her swing tendency is a slice tendency or a hook tendency.

  Further, the image generation unit 215 may change the display form of the trajectory in the rhythm of the predetermined section. For example, in FIG. 13, the image generation unit 215 changes the display form of the trajectory from the address to the impact. However, the display form may be changed with respect to the trajectory from the address to the end of the swing. Alternatively, the image generation unit 215 may change the display form of the trajectory with respect to the trajectory of only the downswing.

  The image generation unit 215 may generate image data in which the V zone is colored. For example, the image generation unit 215 may generate image data in which a region sandwiched between the shaft plane 30 and the Hogan plane 40 is filled with a predetermined color. In this case, the image generation unit 215 may display a trajectory in which the display form described above is changed in the image data colored in the V zone. Or the image generation part 215 may display a locus | trajectory, without changing a display form according to the inside / outside of V zone (for example, a locus | trajectory may be displayed by 1 color).

  The image generation unit 215 may generate image data including a line segment obtained by multiplying the first line segment 51 by the scale factor S and a region outside the V zone including the Hogan plane 40.

  FIG. 14 is a diagram showing an example of a screen displaying a line segment and a region outside the V zone including the Hogan plane. As shown in FIG. 14, a line segment 91 obtained by multiplying the first line segment 51 by the scale factor S is displayed on the screen 90. Further, the screen 90 displays an area 92 outside the V zone that includes the Hogan plane 40 as a part of the side surface. The region 92 is filled with a predetermined color.

  As shown in FIG. 14, the image generation unit 215 may indicate a V zone by a line segment 91 and a region 92. Then, as described above, the image generation unit 215 displays a trajectory whose display form is changed according to the inside and outside of the V zone.

  Note that the image generation unit 215 may display the first line segment 51 on the screen 90 instead of the line segment 91. The image generation unit 215 may generate image data including a line segment obtained by multiplying the second line segment 53 by the scale factor H and a region outside the V zone including the shaft plane 30.

  In the above description, the second virtual plane specifying unit 212 specifies the second line segment 53 using the measurement data output from the sensor unit 10 and the body information, but the first virtual plane specifying unit 211 specifies the second line segment 53. Using the first line segment 51 and the predetermined angle θ with respect to the first line segment 51, a process of specifying the second line segment 53 connecting the position 62 and the position 63 of the head (striking part) of the golf club 3 is performed. May be.

  In the above description, the Hogan plane 40 is specified by the output of the sensor unit 10 attached to the golf club 3, but the present invention is not limited to this. For example, a sensor unit may be attached to the arm of the user 2 and the Hogan plane 40 may be specified based on the output of the sensor unit.

  In the above description, the acceleration sensor 13 and the angular velocity sensor 14 are integrated in the sensor unit 10, but the acceleration sensor 13 and the angular velocity sensor 14 may not be integrated. Alternatively, the acceleration sensor 13 and the angular velocity sensor 14 may be directly attached to the golf club 3 or the user 2 without being built in the sensor unit 10. In the above description, the sensor unit 10 and the motion analysis device 20 are separate, but they may be integrated so as to be mounted on the golf club 3 or the user 2.

  In the above description, the motion analysis apparatus 20 uses the Z coordinate AZ of the predetermined position 63 on the line segment connecting both the shoulders of the user 2 as the Y coordinate GY of the grip end position 62 and the user Although the calculation is performed as the sum of the lengths L2 of the two arms, other expressions may be used. For example, the motion analysis apparatus 20 may obtain AZ by multiplying L2 by a coefficient K and adding it to GY as AZ = GY + K · L2.

  In the above description, a motion analysis system (motion analysis device) that analyzes a golf swing is taken as an example. However, the present invention is a motion analysis system (motion analysis device) that analyzes swings of various motions such as tennis and baseball. Can be applied to.

  The functional configuration of the motion analysis system described above is classified according to the main processing contents in order to facilitate understanding of the configuration of the motion analysis system. The present invention is not limited by the way of classification and names of the constituent elements. The configuration of the motion analysis system can be classified into more components depending on the processing content. Moreover, it can also classify | categorize so that one component may perform more processes. Further, the processing of each component may be executed by one hardware or may be executed by a plurality of hardware.

  In addition, each processing unit in the flowchart described above is divided according to the main processing contents in order to facilitate understanding of the processing of the motion analysis system. The present invention is not limited by the way of dividing the processing unit or the name. The processing of the motion analysis system can be divided into more processing units according to the processing content. Moreover, it can also divide | segment so that one process unit may contain many processes. Further, the order of processing is not limited to the above flowchart.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made to the above-described embodiment. Further, it is apparent from the scope of the claims that embodiments with such changes or improvements can also be included in the technical scope of the present invention. The present invention can also be provided as a motion analysis method, a program for a motion analysis device, and a storage medium storing the program. In the above embodiment, the sensor unit 10 and the motion analysis device 20 are described as separate bodies. However, the sensor unit 10 may be equipped with the function of the motion analysis device 20.

1: Motion analysis system 1
2: User 3: Golf clubs 3a, 3ac-3af: Trajectory 10: Sensor unit 20: Motion analysis device 21: Control unit 210: Sensor information acquisition unit 211: First virtual plane identification unit 212: Second virtual plane identification unit 213 : Motion analysis unit 214: Trajectory determination unit 215: Image generation unit 216: Output processing unit 22: Communication unit 23: Operation unit 24: Storage unit 25: Display unit 26: Audio output unit 30: Shaft plane 40: Hogan plane 71: V zone 80: Screen 90: Screen 91: Line segment 92: Area

Claims (12)

Using the output of the inertial sensor, a first specifying unit that specifies a first axis along the longitudinal direction of the shaft portion of the exercise device in the address posture of the user;
A second specifying unit for specifying a second axis having a predetermined angle with respect to the first axis, with the hitting direction as a rotation axis;
Based on the output of the inertial sensor, an analysis unit that calculates a trajectory of the user's swing;
A determination unit that determines whether or not the trajectory passes through an area specified based on the first axis and the second axis;
A motion analysis apparatus comprising: The motion analysis apparatus according to claim 1,
The determination unit determines a portion of the trajectory passing through the region and a portion of the trajectory not passing through the region;
A motion analysis apparatus characterized by that. The motion analysis device according to claim 2,
Image generation for generating image data in which the display form of the trajectory is different between a portion of the trajectory that has passed through the region and a portion of the trajectory that has not passed through the region, as determined by the determination unit Part,
The motion analysis apparatus further comprising: The motion analysis apparatus according to claim 3,
The image generation unit generates image data in which the color of the locus is different for a portion of the locus that passes through the region and a portion of the locus that does not pass through the region.
A motion analysis apparatus characterized by that. The motion analysis apparatus according to claim 3,
The image generation unit generates image data obtained by distinguishing the trajectory using a normal light and blinking for a portion passing through the region of the trajectory and a portion not passing through the region of the trajectory. Generate,
A motion analysis apparatus characterized by that. The motion analysis apparatus according to claim 3,
The image generation unit generates image data having different types of lines of the locus for a portion passing through the region of the locus and a portion not passing through the region of the locus;
A motion analysis apparatus characterized by that. The motion analysis apparatus according to claim 3,
The image generation unit generates image data in which the line thickness of the trajectory is different for a portion that passes through the region of the trajectory and a portion that does not pass through the region of the trajectory.
A motion analysis apparatus characterized by that. The motion analysis device according to any one of claims 1 to 7,
The first specifying unit specifies a first virtual plane including the first axis and the hitting direction,
The second specifying unit specifies a second virtual plane including the second axis and the hitting direction,
The region is a region sandwiched between the first virtual plane and the second virtual plane.
A motion analysis apparatus characterized by that. The motion analysis apparatus according to claim 8,
The image generation unit defines a first area and a second area outside the area with the area interposed therebetween, and displays the area, the first area, and the second area separately. Generate data,
A motion analysis apparatus characterized by that. Identifying a first axis along the longitudinal direction of the shaft portion of the exercise device in the user's address posture using the output of the inertial sensor;
Identifying a second axis having a predetermined angle with respect to the first axis, with the direction of the ball as the rotation axis;
Calculating a locus of the user's swing based on the output of the inertial sensor;
Determining whether the trajectory passes through an area specified based on the first axis and the second axis;
A motion analysis method comprising: Identifying a first axis along the longitudinal direction of the shaft portion of the exercise device in the user's address posture using the output of the inertial sensor;
Identifying a second axis having a predetermined angle with respect to the first axis, with the direction of the ball as the rotation axis;
Calculating a locus of the user's swing based on the output of the inertial sensor;
Determining whether the trajectory passes through an area specified based on the first axis and the second axis;
A program that runs a computer. An inertial sensor,
Using the output of the inertial sensor, a first specifying unit for specifying a first axis along the long axis direction of the shaft unit of the exercise device in the address posture of the user;
A second specifying unit for specifying a second axis having a predetermined angle with respect to the first axis, with the hitting direction as a rotation axis;
Based on the output of the inertial sensor, an analysis unit that calculates a trajectory of the user's swing;
A determination unit that determines whether or not the trajectory passes through an area specified based on the first axis and the second axis;
A motion analysis system characterized by comprising:

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