JP2016116745A - Tilt determination device, tilt determination system, tilt determination method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tilt determination device which can determine whether the tilt of exercise equipment before the start of an exercise falls within a proper range, a tilt determination system, a tilt determination method and a program.SOLUTION: A tilt determination device 20 comprises a tilt calculation unit 211 that uses an output signal from an inertia sensor to calculate the tilt of exercise equipment before the start of an exercise, and a determination unit 212 that determines whether the tilt of exercise equipment falls within a reference range determined on the basis of information on the exercise equipment and information on a user body.SELECTED DRAWING: Figure 6

Description

  The present invention relates to an inclination determination apparatus, an inclination determination system, an inclination determination method, and a program.

  Patent Document 1 discloses a method of photographing a golf swing motion from behind the user with a camera, specifying a swing plane from the photographed image, displaying the swing plane, and measuring and displaying the area of the swing plane. ing. A swing plane is a plane in which a line segment constituted by an arm, a club shaft, and a club head (or a club shaft and a club head) moves during a golf swing motion and remains as a trajectory. The swing plane is considered to be a better swing if it is closer to the line segment with as little area as possible. Therefore, according to the method of Patent Document 1, the user can quantitatively know whether the swing is good or bad from the information of the area of the swing plane.

JP 2009-20897 A

  However, even if the area of the swing plane is small, depending on the trajectory of the swing, it may be a hook-type or slice-type hit ball, and it is not always a good swing. Therefore, in the guidance of the golf swing, an index such as a shaft plane and a Hogan plane may be used. The shaft plane is a plane composed of the major axis direction of the golf club shaft and the target line (direction of hitting ball) at the time of golf addressing (still state), and the Hogan plane is a golfer at the time of golf addressing. Is a plane composed of a virtual line connecting the vicinity of the shoulder (such as the base of the shoulder and neck) and the head (or ball) of the golf club and a target line (target direction of the hit ball). A region sandwiched between the shaft plane and the Hogan plane is called a V zone, and it is known that if a golf club track is in the V zone during a downswing, it becomes a straight hit ball. Therefore, the quality of the swing can be evaluated based on whether or not the golf club locus is in the V zone during the downswing.

  In order to specify the V zone, it is necessary to obtain the inclination of the shaft of the golf club at the address posture, but in the conventional method, the inclination of the shaft when the user does not take the address posture is determined before starting the exercise. In this case, since the inclination of the shaft is not in an appropriate range, an impossible V zone may be generated. In this way, if it is not possible to determine whether the inclination of the shaft before the start of the exercise is within an appropriate range, there are various other cases such as erroneously permitting the user to start the exercise, for example. Problems can also arise. These problems can also occur in various exercises other than golf swings.

  The present invention has been made in view of the above problems, and according to some aspects of the present invention, it is determined whether or not the inclination of the exercise apparatus before the start of exercise is within an appropriate range. A possible tilt determination device, tilt determination system, tilt determination method, and 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 inclination determination device according to this application example uses an output signal of the inertial sensor to calculate an inclination of the exercise equipment before starting exercise, and the inclination of the exercise equipment includes information on the exercise equipment and the user's And a determination unit that determines whether or not it is included in a reference range determined based on physical information.

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

  The exercise apparatus is an apparatus used for various types of exercise, and may be an apparatus used for swinging golf clubs, tennis rackets, baseball bats, hockey sticks, and the like.

  The inclination calculation unit may directly calculate the inclination of the exercise equipment before the start of exercise, or information that can specify the inclination of the exercise equipment (for example, when the relative position or posture with respect to the exercise equipment is known) The inclination of the exercise apparatus may be indirectly calculated by calculating the inclination of the detection axis of the inertia sensor or the attitude angle of the inertia sensor. The determination unit may directly determine whether or not the inclination of the exercise equipment is included in the reference range, and information that can specify the inclination of the exercise equipment corresponds to the reference range of the inclination of the exercise equipment. It may be determined indirectly whether or not the inclination of the exercise apparatus is included in the reference range by determining whether or not it is included in the desired range.

  The tilt determination device according to this application example focuses on the fact that the appropriate range of tilt of the exercise equipment is determined according to the exercise equipment and the user's body when the user takes an appropriate basic posture before starting the exercise. Then, it is determined whether or not the inclination of the exercise device before the start of exercise is included in a reference range determined based on the information related to the exercise device and the physical information of the user. Therefore, according to the inclination determination apparatus according to the application example, it is possible to determine whether or not the inclination of the exercise apparatus before the user starts exercising is included in an appropriate range.

[Application Example 2]
In the tilt determination apparatus according to the application example described above, the body information may include at least one information of a height, an arm length, and a leg length.

  According to the inclination determination apparatus according to this application example, it is possible to determine whether or not the inclination of the exercise apparatus before the user's exercise is included in an appropriate range in consideration of the user's physique.

[Application Example 3]
In the inclination determination apparatus according to the application example, the physical information may further include sex information.

  According to the inclination determination apparatus according to this application example, it is possible to determine whether or not the inclination of the exercise apparatus before the start of the user's exercise is included in an appropriate range considering not only the user's physique but also gender.

[Application Example 4]
In the tilt determination apparatus according to the application example, the information on the exercise equipment may be information on the length of the exercise equipment and information on at least one of the types of the exercise equipment.

  According to the inclination determination apparatus according to this application example, it is possible to determine whether or not the inclination of the exercise apparatus before the start of the user's exercise is included in an appropriate range in consideration of the length and type of the exercise apparatus.

[Application Example 5]
The inclination determination apparatus according to the application example may include a notification unit that notifies the start of exercise when the determination unit determines that the inclination of the exercise apparatus is included in the reference range.

  According to the inclination determination apparatus according to this application example, the user can determine whether or not the user has taken an appropriate basic posture before starting the exercise.

[Application Example 6]
In the inclination determination device according to the application example, when the determination unit determines that the inclination of the exercise apparatus is included in the reference range, the output signal of the inertial sensor is used to determine the direction of the long axis of the exercise apparatus. The 1st specific part which specifies the 1st axis | shaft along may be included.

  According to the inclination determination apparatus according to this application example, it is possible to specify the long axis direction of the exercise apparatus in a state where the user has taken an appropriate basic posture before starting the exercise.

[Application Example 7]
In the inclination determination device according to the application example, the first specifying unit specifies the first axis using an output signal of the inertial sensor when the inclination of the exercise apparatus is included in the reference range. May be.

[Application Example 8]
In the inclination determination device according to the application example, when the determination unit determines that the inclination of the exercise apparatus is included in the reference range, the user's head and chest are output using the output signal of the inertial sensor. A second specifying unit that specifies a second axis connecting the predetermined position and the hitting position may be included.

  The tilt determination apparatus according to this application example may estimate the predetermined position using an output signal of the inertial sensor and the physical information.

  According to the inclination determination apparatus according to this application example, it is possible to identify the second axis that connects the predetermined position between the head and the chest and the striking position in a state in which the user has taken an appropriate basic posture before starting the exercise. it can.

[Application Example 9]
In the inclination determination device according to the application example, the second specifying unit specifies the second axis using an output signal of the inertial sensor when the inclination of the exercise apparatus is included in the reference range. May be.

[Application Example 10]
A tilt determination system according to this application example includes any one of the tilt determination apparatuses described above and the inertial sensor.

[Application Example 11]
The inclination determination method according to this application example includes an inclination calculation step of calculating an inclination of the exercise equipment before the start of exercise using an output signal of the inertial sensor, and the inclination of the exercise equipment includes information on the exercise equipment and a user's And a determination step of determining whether or not it is included in a reference range determined based on physical information.

  The inclination determination method according to this application example focuses on the fact that the appropriate range of the inclination of the exercise equipment is determined according to the exercise equipment and the user's body when the user takes an appropriate basic posture before starting the exercise. Then, it is determined whether or not the inclination of the exercise device before the start of exercise is included in a reference range determined based on the information related to the exercise device and the physical information of the user. Therefore, according to the inclination determination method according to this application example, it is possible to determine whether or not the inclination of the exercise apparatus before the start of the user's exercise is included in an appropriate range.

[Application Example 12]
The program according to this application example uses an output signal of the inertial sensor to calculate an inclination of the exercise equipment before starting exercise, and the inclination of the exercise equipment includes information on the exercise equipment and user physical information. And a determination step of determining whether or not it is included in a reference range determined based on the above.

  The program according to this application example focuses on the fact that when the user takes an appropriate basic posture before starting exercise, the appropriate range of inclination of the exercise equipment is determined according to the exercise equipment and the user's body. The computer determines whether or not the inclination of the exercise device before the start is included in a reference range determined based on the information related to the exercise device and the physical information of the user. Therefore, according to the program according to the application example, it is possible to cause the computer to determine whether or not the inclination of the exercise apparatus before the start of the user's exercise is included in an appropriate range.

Explanatory drawing of the outline | summary of the inclination determination system of this embodiment. The figure which shows an example of the mounting position and direction of a sensor unit. The figure which shows the procedure of the operation | movement which a user performs in this embodiment. FIG. 4A shows an example of an input screen for physical information, and FIG. 4B shows an example of an input screen for golf club information. The figure which shows a shaft plane and a Hogan plane. The figure which shows the structural example of the inclination determination system of this embodiment. The figure which shows an example of the table information which prescribes | regulates the upper limit of the reference | standard range of the inclination-angle of a golf club at the time of a user's address. The figure which shows an example of the table information which prescribes | regulates the lower limit of the reference | standard range of the inclination angle of the golf club at the time of a user's address. The flowchart figure which shows an example of the procedure of the exercise | movement analysis process in this embodiment. The flowchart figure which shows an example of the procedure of the process which specifies a shaft plane. 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. The figure which looked at the sectional view which cut the shaft plane in the YZ plane from the negative side of the X-axis. The flowchart figure which shows an example of the procedure of the process which specifies a Hogan plane. The figure which looked at the cross-sectional view which cut the Hogan plane in the YZ plane from the negative side of the X-axis. The flowchart figure which shows an example of the procedure of the process which detects the timing which the user hit the ball. The figure which looked at the shaft plane and the Hogan plane from the negative side of the X axis (projected on the YZ plane). The figure which shows an example of the image displayed on a display part.

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, an inclination determination system (motion analysis system) that performs golf swing analysis will be described as an example.

1. Inclination determination system 1-1. Overview of Inclination Determination System FIG. 1 is a diagram for describing an overview of an inclination determination system according to this embodiment. The tilt determination system 1 (motion analysis system) of the present embodiment includes a sensor unit 10 (an example of an inertial sensor) and a tilt determination device 20 (motion analysis device).

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

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

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

  FIG. 4A is a diagram illustrating an example of an input screen for physical information displayed on the display unit of the tilt determination apparatus 20, and FIG. 4B is a golf displayed on the display unit of the tilt determination apparatus 20. It is a figure which shows an example of the input screen of club information. In S1 of FIG. 3, the user 2 inputs physical information such as height, gender, age, nationality, etc. on the input screen shown in FIG. 4A, and the club head on the input screen shown in FIG. Enter golf club information such as the count. The information included in the body information is not limited to this. For example, the body information may include information on at least one of the length of the arm and the length of the leg instead of the height or together with the height. Similarly, the information included in the golf club information is not limited to this. For example, the golf club information may not include information on either the club head or the count, or may include other information.

When the user 2 performs the measurement start operation of S2 in FIG. 3, the sensor unit 10 measures the triaxial acceleration and the triaxial angular velocity at a predetermined cycle (for example, 1 ms), and sequentially transmits the measured data to the inclination determination device 20. To do. Communication between the sensor unit 10 and the inclination determination device 20 may be wireless communication or wired communication.

  The inclination determination device 20 calculates the inclination of the golf club 3 before the user 2 starts exercising using the data measured by the sensor unit 10 (an example of the output signal of the inertial sensor). It is determined whether it is included in the reference range determined based on the golf club information and physical information input in S1. When the inclination determination device 20 determines that the inclination of the golf club 3 before the start of exercise is included in the reference range, the swing start permission (an example of permission to start the exercise) shown in S5 of FIG. The user 2 is notified, and then the swing motion that the user 2 hits using the golf club 3 is analyzed. For example, the tilt determination device 20 uses the measurement data measured by the sensor unit 10 to generate trajectory information of the golf club 3 head and grip end in a swing.

  In particular, in this embodiment, when the inclination determination device 20 determines that the inclination of the golf club 3 before the user 2 starts exercising is included in the reference range, the inclination of the golf club 3 is included in the reference range. Using the measurement data of the sensor unit 10 at the time, the first axis along the long axis direction of the golf club 3 is specified, and the first virtual plane when the user 2 is stationary (at the time of addressing) based on the first axis Identify the shaft plane that is In addition, when the inclination determination device 20 determines that the inclination of the golf club 3 before the start of exercise of the user 2 is included in the reference range, the sensor unit 10 when the inclination of the golf club 3 is included in the reference range. The second axis that connects the predetermined position between the head and chest of the user 2 and the striking position is identified using the measurement data of the user 2, and the second axis when the user 2 is stationary (at the time of addressing) is determined based on the second axis. 2 Identify the Hogan plane, which is a virtual plane. And the inclination determination apparatus 20 determines whether the locus | trajectory of the golf club 3 from the user's 2 swing start to the time of hitting is contained in the space called the V zone between a shaft plane and a Hogan plane. In addition, the tilt determination device 20 generates image data including the locus of the golf club 3 in the swing of the user 2, the shaft plane, and the Hogan plane, and displays an image corresponding to the image data on a display unit (display). The inclination determination device 20 may be, for example, a portable device such as a smartphone or a personal computer (PC).

  FIG. 5 is a diagram showing a shaft plane and a Hogan plane at the time of the address of the user 2 in the present embodiment. 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 X axis, the Y axis, and the Z axis are shown in FIG.

  As shown in FIG. 5, in this embodiment, the shaft plane 30 at the time of the address of the user 2 includes a first line segment 51 as a first axis along the major axis direction of the shaft of the golf club 3 and the target direction of the hit ball And a third line segment 52 as a third axis that represents the virtual plane with T1, T2, S1, and S2 as four vertices. 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 performs the operation of S4 in FIG. 3 at the time of addressing, the shaft of the golf club 3 becomes perpendicular to the target line (X axis), so the third line segment 52 is the major axis of the shaft of the golf club 3 This is a line segment orthogonal to the direction, that is, a line segment orthogonal to the 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 later.

  As shown in FIG. 5, in the present embodiment, the Hogan plane 40 includes a third line segment 52 and a second line segment 53 as the second axis, and T1, T2, H1, and H2 are set to four. A virtual plane with two vertices. 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 connecting the predetermined position 63 and the position of the golf ball 4 (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 later.

1-2. Configuration of Inclination Determination System FIG. 6 is a diagram illustrating a configuration example (configuration example of the sensor unit 10 and the inclination determination device 20) of the inclination determination system 1 of the present embodiment. As shown in FIG. 6, in this embodiment, the sensor unit 10 includes an acceleration sensor 12, an angular velocity sensor 14, a signal processing unit 16, and a communication unit 18.

  The acceleration sensor 12 (an example of an inertial sensor) measures acceleration generated in each of three axis directions that intersect each other (ideally orthogonal), and a digital signal (in accordance with the magnitude and direction of the measured three axis acceleration) Output acceleration data).

  The angular velocity sensor 14 (an example of an inertial sensor) measures an angular velocity generated around each of three axes that intersect each other (ideally orthogonally), and digital corresponding to the magnitude and direction of the measured three-axis angular velocity. A signal (angular velocity data) is output.

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

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

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

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

  The communication unit 18 performs processing for transmitting the packet data received from the signal processing unit 16 to the inclination determination device 20, processing for receiving a control command from the inclination determination device 20 and sending the control command to the signal processing unit 16, and the like. The signal processing unit 16 performs various processes according to the control command.

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

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

  The operation unit 23 performs a process of acquiring operation data from the user 2 and sending it to the processing unit 21. The operation unit 23 may be, for example, a touch panel display, a button, a key, a microphone, or the like.

  The storage unit 24 includes, for example, various IC memories such as a ROM (Read Only Memory), a flash ROM, and a RAM (Random Access Memory), a recording medium such as a hard disk and a memory card, and the like.

  The storage unit 24 stores programs for the processing unit 21 to perform various calculation processes and control processes, various programs and data for realizing application functions, and the like. In particular, in the present embodiment, the storage unit 24 stores an inclination determination program 240 (motion analysis program) that is read by the processing unit 21 and executes an inclination determination process (motion analysis process). The inclination determination program 240 may be stored in advance in a non-volatile recording medium, or the processing unit 21 may receive the inclination determination program 240 from the server via the network and store it in the storage unit 24.

  In the present embodiment, the storage unit 24 stores golf club information 242, body information 244, sensor mounting position information 246, and reference range information 248. For example, the user 2 operates the operation unit 23 to input the golf club information of the golf club 3 to be used from the input screen of FIG. 4B, and the input golf club information is used as the golf club information 242. Good. Alternatively, the user 2 inputs the model number of the golf club 3 in S1 of FIG. 3 (or selects from the model number list), and the specification information for each model number stored in the storage unit 24 in advance (for example, the length of the shaft) Of the center of gravity, lie angle, face angle, loft angle, etc.) may be used as the golf club information 242. Further, for example, the user 2 may operate the operation unit 23 to input physical information from the input screen in FIG. 4A, and the input physical information may be used as the physical information 244. Further, for example, in S1 of FIG. 3, the user 2 operates the operation unit 23 to input the distance between the mounting position of the sensor unit 10 and the grip of the golf club 3, and the information on the input distance is mounted on the sensor. The position information 246 may be used. Alternatively, information on the predetermined position may be stored in advance as sensor mounting position information 246, assuming that the sensor unit 10 is mounted at a predetermined position (for example, a distance of 20 cm from the grip).

  The reference range information 248 is information that defines an appropriate range (reference range) as the golf club inclination angle (tilt with respect to the horizontal plane (XY plane) or the vertical plane (XZ plane)) at the user's address. Table information defining each reference range according to the combination of the height of the golf club and the club length (shaft length) of the golf club used by the user.

FIG. 7 is table information (lookup table) that defines the upper limit value θ _MAX of the reference range of the golf club inclination angle θ (inclination with respect to the horizontal plane (XY plane)) included in the reference range information 248 at the user's address. It is a figure which shows an example. In FIG. 7, the column direction is height or crotch height (inseam length) (unit: cm), and the row direction is club length (unit: cm). In the present embodiment, the inclination angle θ when the height of the grip end of the golf club from the ground coincides with the crotch height (substantially the length of the legs) is set as the upper limit value θ _MAX . The inseam height is calculated by a correlation formula based on statistical data using height as a variable (more accurately, gender, age, nationality, etc.). If the club length is a and the inseam is b, The value θ _MAX is calculated as arcsin (b / a). In the look-up table in FIG. 7, for example, as shown in FIG. 4A, the user 2 who is 170 cm tall (and male, 36 years old, Japanese) is calculated to have an inseam height of 77.049 cm. As shown in FIG. 4B, when the golf club 3 having a club length of 115 cm is used, the upper limit value θ _MAX is defined to be 42.1 °. It should be noted that an address posture in which the club length a is smaller than the crotch height b (upper limit value θ _MAX exceeds 90 °) is not conceivable. Therefore, in the example of FIG. 7, the club length a is smaller than the crotch height b. In this combination, the upper limit value θ _MAX is 90 °.

FIG. 8 is table information (lookup table) that defines the lower limit value θ _MIN of the reference range of the golf club inclination angle θ (inclination with respect to the horizontal plane (XY plane)) at the time of the user's address, which is included in the reference range information 248. It is a figure which shows an example. In FIG. 8, the column direction is the height or the knee height (the length under the knee) (unit: cm), and the row direction is the club length (unit: cm). In the present embodiment, the inclination angle θ when the height of the grip end of the golf club from the ground coincides with the height below the knee is set to the lower limit value θ _MIN . The knee height is calculated by a correlation formula based on statistical data with height as a variable (more precisely, gender, age, nationality, etc.). When the club length is a and the knee height is c, The value θ _MIN is calculated as arcsin (c / a). In the lookup table of FIG. 8, for example, as shown in FIG. 4A, the user 2 whose height is 170 cm (and male, 36 years old, Japanese) is calculated to have a knee height of 46.491 cm, As shown in FIG. 4B, when the golf club 3 having a club length of 115 cm is used, the lower limit value θ _MIN is specified to be 23.8 °.

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

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

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

  The processing unit 21 performs processing for transmitting a control command to the sensor unit 10 according to various programs, various calculation processing for data received from the sensor unit 10 via the communication unit 22, and various other control processing. In particular, in the present embodiment, the processing unit 21 executes the inclination determination program 240 to thereby obtain a data acquisition unit 210, an inclination calculation unit 211, a determination unit 212, a first specifying unit 213, a second specifying unit 214, and a motion analysis. Functions as a unit 215, an image data generation unit 216, a storage processing unit 217, a display processing unit 218, and a sound output processing unit 219.

  The data acquisition unit 210 receives the packet data received from the sensor unit 10 by the communication unit 22, acquires time information and measurement data from the received packet data, and performs processing to send to the storage processing unit 217.

  The storage processing unit 217 receives time information and measurement data from the data acquisition unit 210, and performs a process of associating them with each other and storing them in the storage unit 24.

  The inclination calculation unit 211 performs a process of calculating the inclination of the golf club 3 before the user 2 starts swinging using the measurement data output from the sensor unit 10. In the present embodiment, the user 2 performs the operation of S4 in FIG. 3, and the inclination calculation unit 211 performs the predetermined time when the change amount of the acceleration data measured by the acceleration sensor 12 does not exceed the threshold for a predetermined time. The inclination angle θ of the shaft of the golf club 3 is calculated using the acceleration data inside.

  The determination unit 212 determines whether or not the inclination (inclination angle θ) of the golf club 3 calculated by the inclination calculation unit 211 is included in a reference range determined based on the golf club information 242 and the body information 244. . Specifically, the determination unit 212 refers to the reference range information 248 (for example, the look-up table in FIG. 7 and the look-up table in FIG. 8), and information on the club length and physical information 244 included in the golf club information 242. A reference range of the inclination angle θ of the golf club 3 is determined according to information such as the height included in the golf club 3, and whether or not the inclination angle θ of the golf club 3 calculated by the inclination calculation unit 211 is included in the reference range. judge. For example, when the user 2 inputs the physical information shown in FIG. 4A and the golf club information shown in FIG. 4B in S1 of FIG. 3, the determination unit 212 displays the lookup table of FIG. Is set to a range of 23.8 ° or more and 42.1 ° or less, and the inclination angle θ of the golf club 3 calculated by the inclination calculation unit 211 is 23. It is determined whether it falls within the range of 8 ° or more and 42.1 ° or less.

  When the determination unit 212 determines that the inclination (inclination angle θ) of the golf club 3 is included in the reference range, the first specifying unit 213 outputs the measurement data stored in the storage unit 24 and output from the sensor unit 10. Is used to specify the first line segment 51 (see FIG. 5) which is the first axis along the long axis direction of the golf club 3. Specifically, the first specifying unit 213 specifies the first line segment 51 using measurement data when the inclination angle θ of the golf club 3 is included in the reference range. For example, the first specifying unit 213 calculates the inclination angle of the shaft of the golf club 3 using the measurement data, and calculates the calculated inclination angle and the length of the golf club 3 included in the golf club information 242 (the length of the shaft). )) Is used to calculate the coordinates of the grip end position 62 of the golf club 3, and a line connecting the position 61 (origin O) of the head (striking part) of the golf club 3 and the position 62 of the grip end. The minute may be specified as the first line segment 51.

  Furthermore, the 1st specific | specification part 213 specifies the shaft plane (1st virtual plane) 30 (refer FIG. 5) containing the 1st line segment 51 and the 3rd line segment 52 showing the target direction of a hit ball. Do. The first specifying unit 213 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 244.

The second specifying unit 214 uses the measurement data output from the sensor unit 10 and stored in the storage unit 24 when the determination unit 212 determines that the inclination of the golf club 3 is included in the reference range. The second line segment 53 (see FIG. 5) that is the second axis that connects the predetermined position 63 and the striking position between the head and the chest (for example, on the line segment that connects both shoulders) is performed. . Specifically, the second specifying unit 214 specifies the second line segment 53 using measurement data when the inclination of the golf club 3 is included in the reference range. For example, the second specifying unit 214 estimates the predetermined position 63 using the measurement data and the physical information 244, and the estimated predetermined position 63 and the position 62 (origin O) of the head (striking part) of the golf club 3. May be specified as the second line segment 53. For example, the second specifying unit 214 may estimate the predetermined position 63 using the coordinates of the grip end position 62 calculated by the first specifying unit 213 and the arm length of the user 2 based on the body information 244. Good. Alternatively, the second specifying unit 214 may calculate the coordinates of the grip end position 62 of the golf club 3 using measurement data when the inclination of the golf club 3 is included in the reference range. In this case, the first specifying unit 213 may specify the first line segment 51 using the coordinates of the grip end position 62 calculated by the second specifying unit 214.

  Further, the second specifying unit 214 performs processing for specifying the Hogan plane (second virtual plane) 40 (see FIG. 5) including the second line segment 53 and the third line segment 52. The second specifying unit 214 may calculate the width of the Hogan plane 40 using the length of the first line segment 51 and the arm length of the user 2 based on the body information 244.

  The motion analysis unit 215 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 215 first uses the measurement data (acceleration data and angular velocity data) when the user 2 is stationary (at the time of addressing) stored in the storage unit 24, and the offset included in the measurement data. Calculate the quantity. Next, the motion analysis unit 215 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 (during the operation of step S6 in FIG. 3) are calculated.

For example, the motion analysis unit 215 uses the acceleration data measured by the acceleration sensor 12, the golf club information 242, and the sensor mounting position information 246 when the user 2 is stationary (at the time of address) in the XYZ coordinate system (global coordinate system). The position (initial position) of the sensor unit 10 is calculated, and the subsequent acceleration data is integrated to calculate a change in position from the initial position of the sensor unit 10 in time series. Since the user 2 performs the operation of step S4 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 12 measures only gravitational acceleration when the user 2 is stationary, so that motion analysis is performed. The unit 215 can calculate the tilt angle of the shaft using the y-axis acceleration data. Then, the motion analysis unit 215 obtains the distance L _SH between the sensor unit 10 and the head from the golf club information 242 (shaft length) and the sensor mounting position information 246 (distance from the grip), and determines the head position as the origin ( 0, 0, 0), the position of the distance L _SH from the origin in the negative y-axis direction of the sensor unit 10 specified by the tilt angle of the shaft is set as the initial position of the sensor unit 10. Alternatively, the motion analysis unit 215 uses the coordinates of the grip end position 62 of the golf club 3 and the sensor mounting position information 246 (distance from the grip end) calculated by the first specifying unit 213 or the second specifying unit 214. The coordinates of the initial position of the sensor unit 10 may be calculated.

  Further, the motion analysis unit 215 calculates the posture (initial posture) of the sensor unit 10 when the user 2 is stationary (at the time of address) in the XYZ coordinate system (global coordinate system) using the acceleration data measured by the acceleration sensor 12. Then, the rotation calculation using the angular velocity data measured by the angular velocity sensor 14 is performed, and the change in posture of the sensor unit 10 from the initial posture is calculated in time series. The posture of the sensor unit 10 can be expressed by, for example, rotation angles (roll angle, pitch angle, yaw angle) around the X axis, Y axis, and Z axis, quarter-on (quaternion), and the like. Since the acceleration sensor 12 measures only gravitational acceleration when the user 2 is stationary, the motion analysis unit 215 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. Further, since the user 2 performs the operation of step S4 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 215 determines the initial posture of the sensor unit 10. Can be identified.

Then, the motion analysis unit 215 determines the position of the distance L _SH from the position of the sensor unit 10 at each time of the swing in the positive direction of the y-axis of the sensor unit 10 specified from the attitude of the sensor unit 10 at the time. The head position at the time.

In addition, the motion analysis unit 215 performs sensor mounting position information 246 (from the position of the sensor unit 10 at each time of swing to the negative direction of the y-axis of the sensor unit 10 specified by the posture of the sensor unit 10 at the time. The position of the distance L _SG between the sensor unit 10 and the grip specified by the distance from the grip) is defined as the position of the grip at that time.

  The signal processing unit 16 of the sensor unit 10 may calculate the offset amount of the measurement data and perform bias correction of the measurement data, or the acceleration sensor 12 and the angular velocity sensor 14 may incorporate a bias correction function. It may be. In these cases, bias correction of measurement data by the motion analysis unit 215 becomes unnecessary.

  In addition, the motion analysis unit 215 detects the timing (impact timing) of hitting the ball 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 215 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.

  In addition, the motion analysis unit 215 performs the trajectory of the golf club 3 (particularly, the position of the head of the golf club 3 and the grip) during the swing (particularly, the downswing from when the golf club 3 is at the top position to when hitting the ball (impact)). Is determined to be included in the space (V zone) between the shaft plane 30 and the Hogan plane 40, and the evaluation information of the swing of the user 2 is generated based on the determination result. .

  Furthermore, based on the measurement data of the sensor unit 10, the motion analysis unit 215 performs a swing rhythm from back swing to follow-through, head speed, incident angle (club path) and face angle at the time of hitting, shaft rotation (in the swing) The amount of change in the face angle), the deceleration rate of the golf club 3, or the variation of each information when the user 2 performs a plurality of swings may be analyzed.

  The image data generation unit 216 performs processing for generating image data corresponding to the motion analysis result image displayed on the display unit 25. In particular, in this embodiment, the image data generation unit 216 includes the shaft plane 30 specified by the first specification unit 213, the Hogan plane 40 specified by the second specification unit 214, and the user 2 calculated by the motion analysis unit 215. Image data including a golf club 3 trajectory in a swing (particularly, a downswing) is generated. For example, the image data generation unit 216 generates polygon data of the shaft plane 30 having T1, T2, S1, and S2 as four vertices based on the information on the coordinates of T1, T2, S1, and S2 shown in FIG. , And polygon data of the Hogan plane 40 having T1, T2, H1, and H2 as four vertices is generated based on the information on the coordinates of T1, T2, H1, and H2. Further, the image data generation unit 216 generates curve data representing the locus of the golf club 3 when the user 2 is downswing. Then, the image data generation unit 216 generates image data including polygon data of the shaft plane 30, polygon data of the Hogan plane 40, and curve data representing the locus of the golf club 3.

The storage processing unit 217 performs read / write processing of various programs and various data for the storage unit 24. The storage processing unit 217 is calculated by the first specifying unit 213, the second specifying unit 214, and the motion analysis unit 215 in addition to the process of associating the time information received from the data acquisition unit 210 with the measurement data and storing them in the storage unit 24. A process for storing the various information and the like in the storage unit 24 is also performed.

  The display processing unit 218 performs processing for displaying various images (including characters and symbols in addition to images corresponding to the image data generated by the image data generation unit 216) on the display unit 25. For example, the display processing unit 218 includes an image or motion analysis unit corresponding to the image data generated by the image data generation unit 216 automatically or after the user 2's swing motion is completed, or in response to an input operation of the user 2. Characters or the like indicating the analysis result by 215 are displayed on the display unit 25. Alternatively, a display unit is provided in the sensor unit 10, and the display processing unit 218 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 219 performs processing for causing the sound output unit 26 to output various sounds (including sound and buzzer sound). For example, the sound output processing unit 219 reads out various information stored in the storage unit 24 automatically or after a predetermined input operation is performed after the user 2 swings. The sound output unit 26 may output sounds and sounds for motion analysis. Alternatively, a sound output unit is provided in the sensor unit 10, and the sound output processing unit 219 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 particular, in the present embodiment, the sound output processing unit 219 generates audio data notifying permission to start a swing when the determination unit 212 determines that the inclination of the golf club 3 is included in the reference range, The sound output unit 26 is caused to function as a notification unit, and the user 2 is notified of the permission to start swing by voice. Alternatively, when the determination unit 212 determines that the inclination of the golf club 3 is included in the reference range, the image data generation unit 216 generates and displays data such as an image and characters that notify the permission to start the swing. The processing unit 218 may cause the display unit 25 to function as a notification unit and notify the user 2 of permission to start a swing with an image, text, or the like.

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

1-3. Inclination determination device processing [Motion analysis processing]
FIG. 9 is a flowchart showing a part of the procedure of the motion analysis process by the processing unit 21 in the present embodiment. The processing unit 21 executes a part of the motion analysis process according to the procedure of the flowchart of FIG. 9 by executing the inclination determination program 240 (motion analysis program) stored in the storage unit 24. Hereinafter, the flowchart of FIG. 9 will be described.

  First, the processing unit 21 starts obtaining measurement data from the sensor unit 10 (S10).

  Next, the processing unit 21 detects the stationary state continuously for a predetermined time by using the measurement data acquired from the sensor unit 10 by the stationary operation (address operation) of the user 2 (operation of step S4 in FIG. 3). (Y of S12), the inclination (inclination angle θ) of the golf club 3 is calculated using the measurement data acquired within the predetermined time (S14).

  Next, the processing unit 21 uses the golf club information 242, the body information 244, and the reference range information 248 to determine whether or not the inclination (inclination angle θ) of the golf club 3 calculated in step S14 is included in the reference range. Determine (S16).

Then, when the inclination (inclination angle θ) of the golf club 3 is not included in the reference range (N in S16), the processing unit 21 returns to the process of step S12, and when included in the reference range (Y in S16). ), The user 2 is notified of permission to start the swing (S18). The processing unit 21 outputs, for example, a predetermined image or sound, or notifies the user 2 of permission to start swinging by providing an LED in the sensor unit 10 and turning on the LED. Starts the swing after confirming this notification.

  Next, the processing unit 21 performs the processes after step S20 in real time during the swing motion of the user 2 or after the end of the swing.

  First, the processing unit 21 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) (S20).

  Next, the processing unit 21 detects the timing at which the user 2 hits the ball (impact timing) using the measurement data acquired from the sensor unit 10 (S22).

  Further, the processing unit 21 calculates the position and orientation of the sensor unit 10 during the swing motion of the user 2 in parallel with or before or after the process of step S22 (S24).

  Next, the processing unit 21 calculates the trajectory of the golf club 3 during the downswing of the user 2 using the impact timing detected in step S22 and the position and orientation of the sensor unit 10 calculated in step S24. (S26).

  Next, the processing unit 21 uses the measurement data acquired from the sensor unit 10 (measurement data during a period when it is determined that the inclination of the golf club 3 is included in the reference range) and the golf club information 242, and the shaft plane 30. Is specified (S28).

  Next, the processing unit 21 uses the measurement data acquired from the sensor unit 10 (measurement data during a period in which the inclination of the golf club 3 is determined to be included in the reference range) and the body information 244 to determine the Hogan plane 40. Specify (S30).

  Next, the processing unit 21 generates and displays image data including the shaft plane 30 identified in step S28, the Hogan plane 40 identified in step S30, and the golf club trajectory during the downswing calculated in step S26. It is displayed on the part 25 (S32).

  Further, the processing unit 21 determines whether or not the trajectory of the golf club 3 during the downswing is included in the V zone (the space between the shaft plane 30 and the Hogan plane 40) (S34).

  And the process part 21 produces | generates the evaluation information of the user's 2 swing using the determination result of process S34, and displays it on the display part 25 (S36), and complete | finishes a process.

  In the flowchart of FIG. 9, the order of each process may be appropriately changed within a possible range.

[Shaft plane (first virtual plane) identification process]
FIG. 10 is a flowchart illustrating an example of a procedure of a process of specifying a shaft plane (first virtual plane) by the processing unit 21 in the present embodiment (the process of step S28 in FIG. 9). Hereinafter, the flowchart of FIG. 10 will be described.

First, as shown in FIG. 5, the processing unit 21 uses the golf club 3 head position 61 as the origin O (0, 0, 0) of the XYZ coordinate system (global coordinate system) and the inclination of the golf club 3. The coordinates (0, G _Y , G _Z ) of the grip end position 62 are calculated using the acceleration data measured by the sensor unit 10 and the golf club information 242 during the period determined to be included in the reference range (S100). ). FIG. 11 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), and the head position 61 of the golf club 3 is the origin O (0, 0). , 0) and the coordinates of the grip end position 62 are (0, G _Y , G _Z ). As shown in FIG. 11, 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 inclination angle of the shaft of the golf club 3 (the long axis of the shaft and the horizontal plane (XY plane) )) And the relationship with α is expressed by equation (1).

Therefore, when the length of the shaft of the golf club 3 included in the golf club information 242 and 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 processing unit 21 multiplies the coordinates (0, G _Y , G _Z ) of the grip end position 62 of the golf club 3 by the scale factor S, and the midpoint S3 between the vertex S1 and the vertex S2 of the shaft plane 30 is obtained. Coordinates (0, S _Y , S _Z ) are calculated (S110). That is, _SY and _SZ are calculated by the equations (4) and (5).

12 is a cross-sectional view of the shaft plane 30 of FIG. 5 taken along the YZ plane, as viewed from the negative side of the X axis. As shown in FIG. 12, the length of the line segment connecting the midpoint S3 of the vertex S1 and the vertex S2 and the origin O (the width in the direction perpendicular to the X axis of the shaft plane 30) is the length of the first line segment 51. It is the S multiple of _{L 1.} 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).

Thus, the user's arm length L ₂ is, by using the height L ₀ and gender users 2 included in the body information 244 is calculated by the equation (7) or (8).

Next, the processing unit 21 uses the coordinates (0, S _Y , S _Z ) of the midpoint S3 calculated in step S110 and the width of the shaft plane 30 in the X-axis direction (the length of the third line segment 52) TL. Then, the coordinates (−TL / 2, 0, 0) of the vertex T1 of the shaft plane 30, the coordinates (TL / 2, 0, 0) of the vertex T2, and the coordinates (−TL / 2, S _Y , S _Z ) of the vertex S1. ), And the coordinates (TL / 2, S _Y , S _Z ) of S2 are calculated (S120). 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.

[Hogan plane (second virtual plane) identification process]
FIG. 13 is a flowchart illustrating an example of a procedure of a process (process S30 in FIG. 9) for specifying a Hogan plane (second virtual plane) by the processing unit 21 in the present embodiment. Hereinafter, the flowchart of FIG. 13 will be described.

First, the processing unit 21 uses the coordinates (0, G _Y , G _Z ) of the grip end position 62 of the golf club 3 and the body information 244 of the user 2 calculated in step S100 of FIG. A predetermined position 63 on the line connecting the shoulders is estimated, and its coordinates (A _X , A _Y , A _Z ) are calculated (S200).

14 is a cross-sectional view of the Hogan plane 40 of FIG. 5 taken along the YZ plane, as viewed from the negative side of the X axis. In FIG. 14, the midpoint of the line segment connecting both shoulders of the user 2 is a predetermined position 63, and the predetermined position 63 exists on the YZ plane. Therefore, the X-coordinate _{A X} a predetermined position 63 is zero. Then, as shown in FIG. 14, the processing unit 21 has a predetermined position 63 that is a position obtained by moving the grip end position 62 of the golf club 3 in the positive direction of the Z axis by the length L ₂ of the arm of the user 2. Estimated. 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 body information 244 is calculated by the equation (7) or (8).

Next, the processing unit 21 multiplies the Y coordinate A _Y and the Z coordinate _AZ of the predetermined position 63 by the scale factor H, respectively, and coordinates (0, H _Y) of the midpoint H3 of the vertex H1 and the vertex H2 of the Hogan plane 40. , H _Z ) is calculated (S210). That is, H _Y and H _Z are calculated by the equations (10) and (11).

As shown in FIG. 14, 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 Expression (13) using the Y coordinate A _Y and the Z coordinate _AZ of the predetermined position 63.

Next, the processing unit 21 uses the coordinates (0, H _Y , H _Z ) of the midpoint H3 calculated in step S210 and the width (the length of the third line segment 52) TL of the Hogan plane 40 in the X-axis direction. The coordinates (−TL / 2, 0, 0) of the vertex T1 of the Hogan plane 40, the coordinates (TL / 2, 0, 0) of the vertex T2, and the coordinates (−TL / 2, H _Y , H _Z ) of the vertex H1. ), H2 coordinates (TL / 2, H _Y , H _Z ) are calculated (S220). 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 the present 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.

[Impact detection process]
FIG. 15 is a flowchart illustrating an example of a procedure of a process for detecting the timing at which the user 2 hits the ball (the process in step S22 in FIG. 9). Hereinafter, the flowchart of FIG. 15 will be described.

First, the processing unit 21 calculates a value of a combined value n ₀ (t) of angular velocities at each time t using the acquired angular velocity data (angular velocity data for each time t) (S300). For example, assuming that the angular velocity data at time t is x (t), y (t), z (t), the synthesized value n ₀ (t) of the angular velocity is calculated by the following equation (14).

Next, the processing unit 21 converts the combined value n ₀ (t) of angular velocities at each time t into a combined value n (t) normalized (scale converted) to a predetermined range (S310). For example, assuming that the maximum value of the combined value of angular velocities in the measurement data acquisition period is max (n ₀ ), the combined value of angular velocities n ₀ (t) is normalized to a range of 0 to 100 by the following equation (15). Is converted into the synthesized value n (t).

  Next, the processing unit 21 calculates a differential dn (t) of the composite value n (t) after normalization at each time t (S320). For example, if the measurement period of the triaxial angular velocity data is Δt, the differential (difference) dn (t) of the synthesized value of angular velocity at time t is calculated by the following equation (16).

  Finally, the processing unit 21 detects the previous time as the hit ball timing among the time when the value of the differential dn (t) of the combined value is maximum and minimum (S330). In a normal golf swing, it is considered that the swing speed becomes maximum at the moment of hitting. Since the combined value of the angular velocities is considered to change according to the swing speed, the timing at which the differential value of the combined angular velocity value becomes maximum or minimum in a series of swing motions (ie, the differential of the combined angular velocity value). The timing at which the value reaches the maximum positive value or the minimum negative value) can be regarded as the timing of the hit ball (impact). Since the golf club 3 is vibrated by the hit ball, it is considered that the timing at which the differential value of the combined value of the angular velocities is the maximum and the timing at which the differential is the minimum occurs. Conceivable.

  When the user 2 performs a swing motion, a series of rhythms are assumed in which the golf club is stopped at the top position, the downswing is performed, the ball is hit, and the follow-through is performed. Accordingly, the processing unit 21 detects a timing candidate hit by the user 2 in accordance with the flowchart of FIG. 15, determines whether or not the measurement data before and after the detected timing matches this rhythm, and matches the rhythm. May determine the detected timing as the timing at which the user 2 hits the ball, and if there is no match, the next candidate may be detected.

  In the flowchart of FIG. 15, the processing unit 21 detects the hitting ball timing using the triaxial angular velocity data, but can similarly detect the hitting ball timing using the triaxial acceleration data.

1-4. Swing Evaluation FIG. 16 is a diagram (projected on the YZ plane) of the shaft plane 30 and the Hogan plane 40 of FIG. 5 viewed from the negative side of the X axis. As shown in FIG. 16, when all of the trajectory of the golf club 3 during the downswing of the user 2 is included in the V zone that is a space between the shaft plane 30 and the Hogan plane 40, a straight hit ball is obtained. Probability is high. On the other hand, when a part of the locus of the golf club 3 at the time of the down swing of the user 2 is included in a space lower than the V zone, it becomes a hook-type hit ball, and when it is included in a space higher than the V zone, it is a slice type There is a high possibility of hitting. Therefore, for example, the processing unit 21 may determine whether or not all of the trajectory of the golf club 3 during the downswing of the user 2 is included in the V zone in step S34 of FIG. Then, in step S36 of FIG. 9, the processing unit 21 evaluates the golf club 3 as a proper swing if all of the trajectory of the golf club 3 during the downswing is included in the V zone, and the trajectory of the golf club 3 during the downswing. If a part of the ball is not included in the V zone, it may be evaluated as an inappropriate swing in which the hit ball becomes a hook system or a slice system. When displaying, it is not necessary to display the plane, and only the first line segment 51 of the shaft plane 30 and the second line segment 53 of the Hogan plane 40 are displayed and the swing is evaluated as shown in FIG. good.

FIG. 17 is an example of an image generated by the processing unit 21 in step S32 of FIG. 9 and displayed on the display unit 25. An image 300 illustrated in FIG. 17 includes a polygon 301 representing the shaft plane 30, a polygon 302 representing the Hogan plane 40, and a curve 303 representing the path of the golf club 3 when the user 2 is downswing. In the image 300 shown in FIG. 17, all of the curve 303 is included in the V zone that is a space between the polygon 302 and the polygon 303. Therefore, the user 2 can confirm that his / her swing is appropriate by viewing the image 300. The processing unit 21 also displays an image 30 shown in FIG.
In the case where 0 (an image in which all of the curve 303 is included in the V zone) is displayed on the display unit 25, it is evaluated that the swing of the user 2 is appropriate in step S36 of FIG. You may display on the display part 25 with 300. FIG.

  Note that the image 300 illustrated in FIG. 17 may be a still image or a moving image. In addition, the image 300 may be a three-dimensional image in which the display angle (the viewpoint from which the image 300 is viewed) can be changed according to the operation of the user 2.

1-5. Effect According to the present embodiment, when the user 2 takes an appropriate dressing posture before starting the swing, the golf club 3 or the user 2 has an appropriate inclination (inclination angle θ) according to the golf club 3 or the user 2. Focusing on the determination of the range, the tilt determination device 20 determines whether the tilt angle θ before the start of the swing is included in the reference range determined based on the golf club information 242 and the body information 244. Therefore, according to the present embodiment, it is possible to determine whether or not the inclination of the exercise apparatus before the start of the user's exercise is included in an appropriate range. In particular, according to the present embodiment, the inclination determination device 20 is configured to provide a more accurate reference for the inclination (inclination angle θ) of the golf club 3 in accordance with the length of the golf club 3 and the height, sex, age, nationality, etc. of the user 2. By setting the range, it can be more accurately determined whether or not the inclination of the exercise apparatus before the start of the user's exercise is included in an appropriate range.

  And according to this embodiment, since the inclination determination apparatus 20 notifies the user 2 permission to start the swing only when the inclination of the exercise apparatus before the user's exercise is included in an appropriate range, the user 2 Thus, it is possible to check whether or not an appropriate address posture has been taken and perform a better swing.

  In addition, according to the present embodiment, the tilt determination device 20 is used for a predetermined time when the user 2 leans the golf club 3 against a wall after performing a measurement start operation or when the user 2 stands still before taking an address posture. Even if measurement is performed and stillness is detected, if the inclination of the golf club 3 (inclination angle θ) is not included in the reference range, permission to start a swing is not notified, thereby reducing the possibility of presenting an incorrect swing analysis result. be able to.

  Further, according to the present embodiment, the user 2 uses the image 300 displayed on the display unit 25 of the inclination determination device 20 to determine the address posture based on the position and inclination of the shaft plane 30 and the Hogan plane 40, the size of the V zone, and the like. Can be recognized objectively. Further, the user 2 can recognize the positional relationship between the path of the golf club 3 during the downswing and the shaft plane 30 and the Hogan plane 40 (whether the path of the golf club 3 is in the V zone). , You can evaluate the quality of the swing.

Further, according to this embodiment, the inclination judgment unit 20, the Z-coordinate A _Z of the predetermined position 63 on the line connecting both shoulders of the user 2, Z coordinate G position 62 of the grip end in the shaft plane 30 _{By making} the sum of _Z and the arm length L ₂ of the user 2, the Hogan plane 40 that matches the body shape of the user 2 can be specified.

In addition, according to the present embodiment, the inclination determination device 20 uses the correlation formula between the height and the arm length derived based on the statistical data, and the height information included in the body information 244 of the user 2. since calculating the arm length L ₂ from the user 2 is normally no need to input the information of the length of the arm that does not know the exact number may convenience.

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

  Further, according to the present embodiment, the inclination determination device 20 determines whether or not the locus of the golf club 3 in the downswing enters the V zone, and presents the swing evaluation information based on the determination result, so that the user 2 Can objectively and easily evaluate whether the swing is good or bad.

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 the above-described embodiment, the first specifying unit 213 and the second specifying unit 214 are each first when the inclination (inclination angle θ) of the golf club 3 calculated by the inclination calculating unit 211 is included in the reference range. A process of specifying the line segment 51 (or shaft plane 30) and the second line segment 53 (or Hogan plane 40) is performed (the process is not performed when the inclination angle θ is not included in the reference range). Is not limited to this. For example, when it is detected that the user 2 is stationary for a predetermined time, the first specifying unit 213 and the second specifying unit 214 are independent of whether the inclination angle θ is included in the reference range. However, the image data generation unit 216 includes the polygon data of the shaft plane 30, the polygon data of the Hogan plane 40, and the curve data representing the locus of the golf club 3, while the inclination angle θ is included in the reference range. Image data may be generated (if the inclination angle θ is not included in the reference range, the image data is not generated).

  In the above embodiment, the inclination calculation unit 211 directly calculates the inclination (inclination angle θ) of the golf club 3 before the start of the swing using the measurement data of the sensor unit 10. Although it is directly determined whether or not the inclination angle θ is included in the reference range, the present invention is not limited to this. For example, when the angle formed by the major axis direction of the golf club 3 and each detection axis of the sensor unit 10 is known, the inclination calculation unit 211 uses the measurement data of the sensor unit 10 to determine the inclination of the sensor unit 10 ( For example, the inclination angle) or attitude of one detection axis with respect to the horizontal plane (XY plane) is calculated, and the determination unit 212 determines the inclination or attitude range of the sensor unit 10 corresponding to the reference range of the inclination angle θ of the golf club 3. Whether or not the inclination angle θ is included in the reference range may be indirectly determined by determining whether or not the inclination or posture of the sensor unit 10 is included in the range based on the information to be defined.

In the above embodiment, the second specific portion 214, between the user 2 head and chest (e.g., line on connecting both shoulders) Z coordinate A _Z at a predetermined position 63 of formula (9) As described above, the calculation is performed as the sum of the Y coordinate G _Y of the grip end position 62 and the arm length L ₂ of the user 2, but other expressions may be used. For example, the second identification unit _214, as _{A Z = G Y + K ·} L 2, may be obtained _{A Z} by adding the _{G Y} is multiplied by coefficient K to _{L 2.}

  Moreover, in said embodiment, the process part 21 specifies a shaft plane and a Hogan plane using the measurement data of the sensor unit 10 with which the golf club 3 was mounted | worn, and calculates the locus | trajectory of the golf club 3 in swing. However, other than this, for example, by using the measurement data of the sensor unit 10 attached to the arm (wrist etc.) of the user 2, the shaft plane and the Hogan plane can be specified and the golf club by the same method as the above embodiment. 3 trajectories may be calculated. Alternatively, a plurality of sensor units 10 are attached to the golf club 3 or the user 2 such as an arm or a shoulder, and the measurement data of each of the plurality of sensor units 10 is used to specify the shaft plane and the Hogan plane or to play golf. The trajectory of club 3 may be calculated.

  In the above embodiment, the second specifying unit 214 uses the body information of the user 2 to calculate the coordinates of the predetermined position 63 between the head and the chest of the user 2 (for example, on a line segment connecting both shoulders). Although the second line segment 53 and the Hogan plane 40 which are the second axes are specified, the present invention is not limited to this. For example, the second specifying unit 214 rotates the first line segment 51 and the shaft plane 30 that are the first axes specified by the first specifying unit 213 by a predetermined angle (for example, 30 °) around the X axis. A thing may be specified as the second line segment 53 and the Hogan plane 40.

  Further, in the above embodiment, the processing unit 21 uses the square root of the sum of squares as shown in Expression (14) as the combined value of the triaxial angular velocities measured by the sensor unit, and the timing (impact) when the user 2 hits the ball. In addition to this, as a composite value of the triaxial angular velocity, for example, a sum of squares of the triaxial angular velocity, a sum of the three axial angular velocities, or an average value thereof, a product of the three axial angular velocities, or the like may be used. . Instead of the combined value of the three-axis angular velocities, a combined value of the three-axis accelerations such as a sum of squares of the three-axis accelerations or a square root thereof, a sum of the three-axis accelerations or an average value thereof, and a product of the three-axis accelerations may be used. .

  In the above embodiment, the acceleration sensor 12 and the angular velocity sensor 14 are integrated in the sensor unit 10, but the acceleration sensor 12 and the angular velocity sensor 14 may not be integrated. Alternatively, the acceleration sensor 12 and the angular velocity sensor 14 may be directly attached to the golf club 3 or the user 2 without being built in the sensor unit 10. Further, in the above embodiment, the sensor unit 10 and the tilt determination device 20 are separate bodies, but they may be integrated so as to be mountable to the golf club 3 or the user 2. In addition, the sensor unit 10 includes an inertial sensor (for example, the acceleration sensor 12 or the angular velocity sensor 14) and the tilt calculation unit 211, the determination unit 212, or other components of the tilt determination device 20, and the tilt determination of the present invention. It may function as a device.

  In the above-described embodiment, the tilt determination system (tilt determination device) that analyzes the golf swing is taken as an example. However, the present invention is applicable to various exercises such as tennis and baseball before the start of luck. The present invention can be applied to an inclination determination system (inclination determination apparatus) that determines whether an inclination is included in a reference range.

  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 tilt determination system, 2 users, 3 golf clubs, 4 golf balls, 10 sensor unit, 12 acceleration sensor, 14 angular velocity sensor, 16 signal processing unit, 18 communication unit, 20 tilt determination device, 21 processing unit, 22 communication unit, 23 Operation unit, 24 Storage unit, 25 Display unit, 26 Sound output unit, 30 Shaft plane, 40 Hogan plane, 51 First line segment, 52 Third line segment, 53 Second line segment, 61 Position of golf club head 62, the position of the grip end of the golf club, 63 a predetermined position on a line segment connecting both shoulders of the user, 210 data acquisition unit, 211 inclination calculation unit, 212 determination unit, 213 first identification unit, 214 second identification unit, 215 motion analysis unit, 216 image data generation unit, 217 storage processing unit, 218 display processing unit, 219 sound output processing unit, 240 exercise Analysis program, 242 golf club information, 244 body information, 246 sensor mounting position information, 248 reference range information, 300 images, 301 polygon representing shaft plane, 302 polygon representing Hogan plane, 303 golf club trajectory during downswing Representing curve

Claims (12)

Using an output signal of the inertial sensor, an inclination calculating unit for calculating an inclination of the exercise apparatus before starting exercise,
And a determination unit that determines whether or not the inclination of the exercise equipment is included in a reference range that is determined based on information related to the exercise equipment and physical information of the user.   The inclination determination apparatus according to claim 1, wherein the body information includes at least one information of a height, an arm length, and a leg length.   The inclination determination apparatus according to claim 2, wherein the physical information further includes sex information.   The inclination determination apparatus according to any one of claims 1 to 3, wherein the information on the exercise equipment is at least one of information on a length of the exercise equipment and information on a type of the exercise equipment.   The inclination according to any one of claims 1 to 4, further comprising a notification unit that notifies permission to start exercise when the determination unit determines that the inclination of the exercise apparatus is included in the reference range. Judgment device.   When the determination unit determines that the inclination of the exercise apparatus is included in the reference range, the first axis that identifies the first axis along the longitudinal direction of the exercise apparatus is determined using the output signal of the inertial sensor. The inclination determination apparatus according to any one of claims 1 to 5, including one specifying unit. The first specifying unit includes:
The inclination determination apparatus according to claim 6, wherein the first axis is specified using an output signal of the inertial sensor when the inclination of the exercise apparatus is included in the reference range.   When the determination unit determines that the inclination of the exercise apparatus is included in the reference range, the predetermined position between the user's head and chest and the striking position are determined using the output signal of the inertial sensor. The inclination determination apparatus according to claim 1, further comprising a second specifying unit that specifies a second axis to be connected. The second specifying unit includes:
The inclination determination apparatus according to claim 8, wherein the second axis is specified using an output signal of the inertial sensor when the inclination of the exercise apparatus is included in the reference range.   An inclination determination system including the inclination determination device according to claim 1 and the inertial sensor. An inclination calculation step of calculating the inclination of the exercise equipment before starting exercise using the output signal of the inertial sensor,
And a determination step of determining whether or not the inclination of the exercise equipment is included in a reference range determined based on information on the exercise equipment and user's physical information. An inclination calculation step of calculating the inclination of the exercise equipment before starting exercise using the output signal of the inertial sensor,
A program for causing a computer to execute a determination step of determining whether or not the inclination of the exercise equipment is included in a reference range determined based on information related to the exercise equipment and physical information of the user.

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