JP2016220904A - Behavior calculation system, moving body, calculation device, and calculation program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a behavior calculation system, a moving body, a calculation device, and a calculation program capable of accurately measuring various moving states and calculating behaviors for a moving body used in an athletic competition, such as a ball pitched in a baseball game.SOLUTION: A calculation device 2 receives measurement data acquired by the measurement by each of a plurality of sensors (S201), selects the measurement data used for calculation on the basis of a measurement result indicated by the measurement data and a range of the effective measurement result of each sensor (S204-S208), and records the selected measurement data in a measurement value database 21a as the measurement data used for calculating behaviors (S209).SELECTED DRAWING: Figure 7

Description

  The present invention relates to a behavior calculation system including a calculation device that calculates a behavior of a moving object used in athletic competition based on measurement data obtained by measuring a movement state, a moving object used in such a behavior calculation system, and a calculation. The present invention relates to an apparatus and a calculation program for realizing such a calculation apparatus.

  In recent years, with the advancement of information technology, circuits related to information technology such as microcomputer chips, various sensors, communication devices, etc. have been incorporated into various products, and various effects such as improved convenience and creation of new technologies, etc. Technological innovation has been carried out. As one of them, a system has been proposed in which circuits such as various miniaturized sensors are incorporated in a baseball ball, and a detection target such as a throwing form and a state in flight can be detected and analyzed (for example, , See Patent Document 1). In the system described in Patent Document 1, the behavior of the ball is evaluated using a gyro sensor incorporated in the ball.

JP 2008-73209 A

  However, for example, in the case of a baseball, the pitches thrown by the pitcher are various. For example, a curve with a high rotation speed and a knuckle ball in a state close to no rotation have completely different behaviors such as a rotation speed. The measurement requires a wide measuring range. Therefore, the system described in Patent Document 1 has a problem that the accuracy for detecting the movement state of the ball is not sufficient.

  The present invention has been made in view of such circumstances, and by measuring the movement state with a plurality of sensors having different effective measurement ranges, various movement states are measured with high accuracy, and the measurement data of each sensor. It is an object of the present invention to provide a behavior calculation system capable of calculating behavior based on the above.

  Another object of the present invention is to provide a moving body and a calculation device used in the behavior calculation system according to the present invention.

  Another object of the present invention is to provide a calculation program for realizing the calculation apparatus according to the present invention.

  In order to solve the above problems, a behavior calculation system according to the present invention is a behavior calculation system including a calculation device that calculates the behavior of a moving object used in athletic competition based on measurement data obtained by measuring a movement state. , Comprising a moving body to be measured for behavior, the moving body measuring a movement state, a plurality of sensors having different effective measurement ranges, and a memory for storing the measurement data measured by each sensor for each sensor And a communication unit that transmits the measurement data stored in the storage unit to the calculation device, and the mobile body or the calculation device is based on a measurement result indicated by the measurement data and an effective measurement range of each sensor. And a means for selecting measurement data used for calculation.

  The behavior calculation system according to the present application is characterized in that each sensor measures acceleration as a movement state.

  In the behavior calculation system described in the present application, the moving body includes a start unit that starts storing measurement data in the storage unit when the acceleration detected by the sensor is equal to or less than a predetermined measurement start value. And

  Further, in the behavior calculation system described in the present application, when the mobile body detects that the acceleration detected after the start unit starts storing measurement data changes in the opposite direction and the change amount is equal to or greater than a predetermined measurement end value. And ending means for ending the storage of the measurement data in the storage unit.

  In the behavior calculation system described in the present application, the moving body includes notification means for notifying that measurement data is stored in the storage unit when the acceleration detected by the sensor is equal to or less than a predetermined measurement value. It is characterized by that.

  Further, in the behavior calculation system described in the present application, the moving body includes a vibrating body, and the notification unit notifies by vibration of the vibrating body.

  Moreover, the behavior calculation system described in the present application is characterized in that the notification unit notifies the calculation device by transmitting a notification signal.

  Furthermore, the mobile body according to the present invention is a mobile body used for athletic competitions, which measures a moving situation, and a plurality of sensors having different effective measurement ranges, and measurement data measured by each sensor for each sensor. And a communication unit for transmitting measurement data stored in the storage unit.

  Further, the moving body described in the present application is a moving body used in athletic competition, and includes a sensor that measures measurement data indicating a moving state, a storage unit that stores measurement data measured by the sensor, and the sensor And a start unit that starts storing the measurement data in the storage unit when the measured data indicating the detected movement state is equal to or less than a predetermined measurement start value.

  Furthermore, the calculation device according to the present invention is a calculation device that calculates the behavior of a moving body used in athletic competition based on measurement data obtained by measuring a movement state, and is transmitted from a moving body that is a behavior measurement target. A means for receiving measurement data indicating the movement status measured by a plurality of sensors having different effective measurement ranges, and a measurement used for calculation based on the measurement data indicated by the received measurement data and the effective measurement range of each sensor. And means for selecting data.

  Further, the calculation program according to the present invention is a calculation program for causing a computer to calculate the behavior of a moving object used in athletic competition based on measurement data obtained by measuring the movement state, and for causing the computer to determine the behavior measurement target. Based on the measurement data indicated by the received measurement data and the effective measurement range of each sensor when the measurement data indicating the movement status measured by a plurality of sensors with different effective measurement ranges is transmitted. Then, a procedure for selecting measurement data used for calculation is executed.

  Therefore, in the present invention, the movement state can be measured by a plurality of sensors having different effective measurement ranges.

  The behavior calculation system, the moving body, the calculation device, and the calculation program according to the present invention measure the movement state of the moving body using a plurality of sensors having different effective measurement ranges. Thereby, even when the movement of the moving body is large or small, it can be measured by the sensor in the measurement range corresponding to the movement state. Therefore, there are excellent effects such as being able to calculate the behavior of the moving body with high accuracy.

It is a conceptual diagram which shows an example of the behavior calculation system which concerns on this invention. It is the schematic which shows an example of the external appearance and cross section of the ball | bowl used with the behavior calculation system which concerns on this invention. It is a block diagram which shows an example of a structure of the control system of the ball | bowl used with the behavior calculation system which concerns on this invention. It is a block diagram which shows an example of a structure of the calculation apparatus used with the behavior calculation system which concerns on this invention. It is explanatory drawing which shows notionally an example of the recording content of the measurement value database with which the calculation apparatus used with the behavior calculation system which concerns on this invention is provided. It is a flowchart which shows an example of the movement condition measurement process of the ball | bowl used with the behavior calculation system which concerns on this invention. It is a flowchart which shows an example of the measurement data recording process of the calculation apparatus used with the behavior calculation system which concerns on this invention. It is explanatory drawing which shows an example of the image displayed from the calculation apparatus used with the behavior calculation system which concerns on this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following embodiment is an example embodying the present invention, and is not intended to limit the technical scope of the present invention.

<System overview>
FIG. 1 is a conceptual diagram showing an example of a behavior calculation system according to the present invention. The behavior calculation system according to the present invention is a system that supports the analysis of the moving state of the moving object and the movement of the athlete by calculating the behavior of the moving object used in the athletic competition using a calculating device. The behavior calculation system illustrated in FIG. 1 calculates the behavior of a ball 1 such as a hard ball as a moving body used in athletics such as baseball by a calculation device 2 using a computer such as a personal computer or a tablet computer. The form is illustrated.

  In the behavior calculation system, a ball 1 in which various circuits such as various sensors for measuring a moving state are incorporated is used. The ball 1 is configured so that various elements such as appearance, shape, texture, weight, and center of gravity are equivalent to those of a normal hard sphere. When it is detected that the ball 1 is in a stationary state, it is determined that the pitcher who is the player who owns the ball 1 is ready to throw, which is the previous stage of the pitching operation, and stores the measurement data for the pitcher ( Recording) is notified by a method such as vibration. The pitcher who has recognized the notified situation throws the ball 1 to the catcher. During the movement until the ball 1 reaches the catcher, various physical quantities such as acceleration and speed in each direction are calculated in order to calculate the behavior such as flight trajectory (movement direction, movement distance), flight speed, rotation speed, rotation direction, etc. Is repeatedly measured at predetermined time intervals as a movement state, and a series of measurement data as measurement results is stored. When the ball 1 detects that the catcher has caught the ball, the ball 1 transmits a series of stored measurement data to the calculation device 2. The calculation device 2 calculates behaviors such as the flight trajectory, flight speed, rotation speed, rotation direction, and the like of the ball 1 based on the received measurement data, and supports pitching analysis.

<Configuration of ball 1>
Next, the hardware configuration of various devices used in the behavior calculation system will be described. FIG. 2 is a schematic view showing an example of an appearance and a cross section of the ball 1 used in the behavior calculation system according to the present invention. FIG. 2A shows the appearance of the ball 1, and FIG. 2B shows a cross section passing through the center of the ball 1. The appearance of the ball 1 is the same as that of a general hard ball, and is formed by stitching two pieces of cowhide together as an outer skin, so that the seam 1a can be visually recognized. The inside of the ball 1 is formed from cowhide, a yarn ball covered with cotton yarn, and a rubber material from the outside, and a spherical circuit arrangement chamber is provided at the center. The circuit arrangement chamber is provided at a position where a cork material as a core material is arranged in a general hard sphere, and is formed in a size of about 34 mm in diameter which is substantially the same as the cork material.

  In the circuit arrangement chamber, a control unit 10 is arranged at the center, and a pair of high-speed acceleration sensors 11 and 11 are arranged in opposite directions around the control unit 10. Further, a power control unit 12 including a receiving coil that receives wireless power feeding from the outside is provided. Furthermore, devices such as various sensors and circuits described later are arranged. In addition, an insulating member is packed in the other space in the circuit arrangement chamber so as to have the same weight and center of gravity as a general hard ball in which a cork material is arranged.

  FIG. 3 is a block diagram showing an example of the configuration of the control system of the ball 1 used in the behavior calculation system according to the present invention. FIG. 3 shows various configurations arranged in the circuit arrangement chamber of the ball 1. In the circuit arrangement room, the control unit 10, the pair of high-speed acceleration sensors 11, the power control unit 12, the low-speed acceleration sensor 13, the gyro sensor 14, the geomagnetic sensor 15, the recording unit 16, the storage unit 17, and the communication unit 18. Various devices such as the vibrator 19 and the rechargeable battery B are disposed.

  The control unit 10 is a processor such as a CPU (Central Processing Unit) that controls the entire apparatus, and is connected to devices such as various sensors and circuits through a connection interface.

  The high-speed acceleration sensors 11 and 11 are a pair of three-axis acceleration sensors that detect accelerations in the X-axis direction, the Y-axis direction, and the Z-axis direction that are orthogonal to each other, and as illustrated in FIG. Are arranged on the same straight line with the same distance from the center. By arranging the pair of high-speed acceleration sensors 11 and 11 in this manner, it is possible to detect the centrifugal force acceleration (rotational speed) generated in the ball 1 with high accuracy from the difference between the values in the triaxial directions. It becomes. For example, a pair of high-speed acceleration sensors 11 and 11 are arranged on a Y-axis straight line, the acceleration in the Y-axis direction measured by the pair of high-speed acceleration sensors 11 and 11 is “+10” and “−10”, and X When both the axial direction and the Z-axis direction are “0”, it is determined that the centrifugal force acceleration of “10” is generated based on the average of the absolute values of the respective accelerations in the Y-axis direction. From this centrifugal force acceleration value, the rotational speed can be obtained.

  The low-speed acceleration sensor 13 is a three-axis acceleration sensor that detects acceleration in the X-axis direction, the Y-axis direction, and the Z-axis direction that are orthogonal to each other, and is disposed near the center of the ball 1. The pair of high-speed acceleration sensors 11 and 11 and the low-speed acceleration sensor 13 are sensors that measure acceleration as the movement state of the ball 1. In general, an acceleration sensor has different measurement ranges that can be measured with high accuracy at high speed and low speed. In the ball 1, a high-speed acceleration sensor 11 that measures acceleration with high accuracy at high speeds and a low-speed acceleration sensor 13 that measures acceleration with high accuracy at low speeds are used in combination as a target for selecting measurement data. . The high-speed acceleration sensor 11 and the low-speed acceleration sensor 13 that are used in combination are different in a state where the speed ranges (effective ranges) in which acceleration can be measured with high accuracy are partially overlapped. Of the measurement data of the high-speed acceleration sensor 11 and the low-speed acceleration sensor 13, measurement data in which the speed of the ball 1 matches the measurement range is selected as measurement data for behavior calculation. The measurement data measured by the pair of high-speed acceleration sensors 11 and 11 is calculated as an average value for each corresponding axis, and the calculated average value is processed as measurement data of the high-speed acceleration sensor 11. Further, a plurality of sensors having different effective measurement ranges for high acceleration and low acceleration may be used in combination as a group to be selected for measurement data. In the present application, an “effective measurement range” is a measurement range in which measurement can be performed with high accuracy, and serves as a reference for determining measurement data to be selected when calculating the behavior of the ball 1. In addition, in order to measure seamlessly over a wide range, the effective measurement range needs to partially overlap among a plurality of sensors. A reference for selecting a value of measurement data by which sensor when the measurement data is a value is appropriately determined and set based on an effective measurement range of each sensor.

  The gyro sensor 14 is a triaxial sensor that measures the rotational speed as the movement state of the ball 1. As described above, the rotation speed can be obtained from the average value of the absolute difference between the accelerations of the pair of high-speed acceleration sensors 11 and 11, but the rotation of the ball 1 is a low-speed rotation. The gyro sensor 14 can determine the rotation speed with higher accuracy. Therefore, the gyro sensor 14 and the high-speed acceleration sensor 11 are a plurality of sensors having different effective measurement ranges with respect to speed measurement, and therefore can be handled as a group to be selected for measurement data. That is, in the ball 1, the gyro sensor 14 that measures the rotation speed with high accuracy during low-speed rotation and the high-speed acceleration sensor 11 that measures the rotation speed with high accuracy during high-speed rotation are used in combination. Measurement data whose rotation speed matches the measurement range is selected as measurement data for behavior calculation.

  The geomagnetic sensor 15 is a sensor that measures the posture of the ball 1 (the direction of the sensor substrate). For example, the direction of the rotation axis can be calculated from the value of the geomagnetic sensor 15.

  The low-speed acceleration sensor 13, the gyro sensor 14, and the geomagnetic sensor 15 are preferably arranged at the center position of the ball 1, but in reality, it is difficult to arrange all of them at the center. Is performed. The processing related to the calibration is performed by placing the ball 1 in advance on a dedicated fixing base, measuring in advance the measurement error of the direction and the rotational speed caused by the displacement of the arrangement position from the center position, and obtaining the correction value. . This correction value is recorded in a recording area of the recording unit 16, for example. As measurement data, a value corrected by a correction value is output instead of a value obtained by actual measurement.

  The recording unit 16 is a non-volatile recording medium such as a ROM (Read Only Memory), and a semiconductor memory such as a flash memory is used. Information such as various control programs and correction data read by the control unit 10 is recorded in the recording unit 16.

  The storage unit 17 is a volatile storage medium such as a RAM (Random Access Memory), and a semiconductor memory is used. The storage unit 17 is used for a work memory, a stack memory, or the like that stores temporary information generated when the control unit 10 executes a control program. The storage unit 17 has a storage area for storing measurement data measured by various sensors. And the control part 10 reads various information, such as a control program and data currently recorded on the recording part 16, and memorize | stores and executes required information in the memory | storage part 17 (refer FIG. 6). ) Can be performed.

  The communication unit 18 is a communication device that performs wireless communication defined by short-range wireless standards such as ZigBee (registered trademark), Wi-Fi (registered trademark), and Bluetooth (registered trademark). Communication such as transmission of measurement data.

  The vibrating body 19 is a vibrator using, for example, an eccentric motor, and can vibrate the entire ball 1.

  The power control unit 12 is a wireless power supply module that controls non-contact power transmission and power supply to the rechargeable battery B, which is a secondary battery. The power control unit 12 including the reception coil of the ball 1 is connected to an external transmission coil. Since the excited current is supplied to the rechargeable battery B by approaching the charging base C including the rechargeable battery B, the rechargeable battery B can be charged. As a non-contact power transmission method, various methods such as an electromagnetic induction method, an electromagnetic field resonance method, and a radio wave method can be applied. However, it can be applied even if the distance from the charging base C is relatively long. An electromagnetic resonance method is preferable.

<Configuration of Calculation Device 2>
FIG. 4 is a block diagram showing an example of the configuration of the calculation device 2 used in the behavior calculation system according to the present invention. The calculation device 2 is configured using a computer such as a personal computer, a tablet computer, or a smartphone, and includes a control unit 20, a recording unit 21, a storage unit 22, a communication unit 23, an input unit 24, a display unit 25, and a notification unit. Various configurations such as 26 are provided.

  The control unit 20 is a processor such as a CPU that includes various configurations such as an information processing circuit, a clock circuit, and a register circuit, and executes processing for controlling each unit in the apparatus.

  The recording unit 21 is a recording medium configured using a non-volatile memory such as a hard disk drive, in which various programs such as the calculation program 21a according to the present invention and information such as data are recorded. A part of the recording area of the recording unit 21 is used as a measurement value database 21 b that records measurement data received from the ball 1.

  The storage unit 22 is a storage medium configured using a volatile memory such as a RAM, and can store various types of data temporarily generated by the processing of the control unit 20. The control unit 10 reads various programs such as the calculation program 21a recorded in the recording unit 21, stores necessary information in the storage unit 22, and executes various procedures defined as the calculation program 21a. The computer operates as the calculation device 2 according to the present invention.

  The communication unit 23 is a communication device that performs wireless communication defined by the short-range wireless communication standard, and performs communication such as reception of measurement data from the ball 1.

  The input unit 24 is a device such as a touch panel, a keyboard, and a mouse that accepts various operations as a user interface. The display unit 25 is a device such as a liquid crystal panel that displays various types of information as a user interface. The input unit 24 and the display unit 25 are mounted as a liquid crystal touch panel in which a liquid crystal panel is stacked on a touch panel, for example.

  The notification unit 26 is a mechanism for notifying various types of information as a user interface, and is configured using a device such as a speaker for notification by voice or a rotating lamp for notification by light, for example. In addition, the alerting | reporting part 26 does not need to be incorporated in the calculation apparatus 2, and may be an external apparatus connected by wire or radio | wireless.

  FIG. 5 is an explanatory diagram conceptually showing an example of the recorded contents of the measurement value database 21b included in the calculation device 2 used in the behavior calculation system according to the present invention. The measurement value database 21b is a database that records measurement data received from the ball 1 in association with a pitch ID assigned to a single pitch in association with time. The measurement data is recorded for each item such as a high-speed acceleration sensor (high-speed acceleration sensor 1, high-speed acceleration sensor 2), low-speed acceleration sensor, gyro sensor, geomagnetic sensor, or the like that is the result of measurement by each sensor. In addition to the measured data, data is also recorded for items such as selected acceleration selected from the measurement data of the high-speed acceleration sensor 11 and the low-speed acceleration sensor 13. Since the data of each item is measured at a predetermined interval, M items (M is the M) associated with the values of 0001, 0002,. , Natural number) data is recorded.

<Processing of each device>
Next, processing of various devices used in the behavior calculation system will be described. FIG. 6 is a flowchart showing an example of the movement status measurement process of the ball 1 used in the behavior calculation system according to the present invention. The control unit 10 of the ball 1 executes the movement state measurement process by executing each procedure of the control program recorded in the recording unit 16. The control unit 10 of the ball 1 is activated as a resting state (sleep mode) by executing the control program (S101). The dormant state is maintained until a signal serving as a start trigger for shifting to the measurement mode is generated.

  The control unit 10 selects one of the high-speed acceleration sensor 11 and the low-speed acceleration sensor 13 in advance and monitors its output in order to suppress the consumption of the rechargeable battery B in the resting state. When an acceleration equal to or greater than the measurement start set value is detected (S102: YES), it is determined that a signal serving as a start trigger has been detected, the measurement mode transition processing is performed to shift to the measurement mode (S103), and the measurement processing described below is performed. Start. In step S103, the control unit 10 causes all the sensors and each unit necessary for measurement to function as measurement mode transition processing for transitioning from the hibernation state to the measurement mode. The acceleration exceeding the measurement start set value occurs when, for example, the pitcher grabs the placed ball 1 and a sudden movement is applied to the ball 1 due to warm-up, preparation operation, etc., and pitching starts. It is determined that there is a possibility of this, and subsequent processing is started. In step S102, when no acceleration equal to or greater than the predetermined measurement start set value is not detected (S102: NO), the pause state is continued.

  The control unit that has shifted to the measurement mode by the measurement mode transition process in step S103 performs an initialization process to set the value of the stationary counter set in the storage unit 17 to “0” (S104). The stationary counter is a counting counter that is used as an indicator of elapsed time when determining whether or not the pitcher has entered a stationary state, which is a stage before the pitching operation. The stationary state, which is a stage before the pitching operation, is a “baseball setting state” in so-called baseball terms.

  The control unit 10 starts measuring the time after shifting to the measurement mode, and determines whether the time after the shift is within a predetermined start determination time set in advance (S105). In addition, when the measurement of the time after the transition has already been started by the repetition process, it is determined whether the time during the measurement is within a predetermined start determination time.

  If it is determined in step S105 that the start determination time has been exceeded (S105: NO), the process returns to step S101 and enters a resting state. In this case, it is determined that the ball 1 has only been moved because the start determination time has been exceeded without satisfying the stationary determination requirement indicated as the processing after step S106.

  If it is determined in step S105 that the current time is within the start determination time (S105: YES), the stationary determination requirement shown as the processing after step S106 is determined.

  The control unit 10 determines whether or not the acceleration measured by the high speed acceleration sensor 11 and the low speed acceleration sensor 13 is equal to or less than a predetermined measurement start value set in advance (S106). Step S106 is a process of determining whether or not the ball 1 determined to be moving is stationary, and the measurement start value includes “0” or an acceleration value indicating a range that can be regarded as being substantially stationary. Is set.

  If it is determined in step S106 that the acceleration is greater than the predetermined measurement start value (S106: NO), it is determined that the ball 1 is not stationary, the process returns to step S105, and the subsequent processing is repeated.

  If it is determined in step S106 that the acceleration is equal to or less than the predetermined measurement start value (S106: YES), the control unit 10 adds “1” to the value of the stationary counter (S107), and the stationary counter value is preset. It is determined whether or not the stationary determination reference value m (m is a natural number) is set (S108). The stationary counter is a value that serves as an indicator of the elapsed time of the stationary state. When the value of the stationary counter is larger than the stationary determination reference value m, it can be determined that the stationary state continues for a predetermined reference time or more. For example, in step S107, a predetermined time such as 1 second can be set as a delay time (wait time) to adjust the time.

  If it is determined in step S108 that the value of the stationary counter is equal to or smaller than the stationary determination reference value m (S108: NO), the process returns to step S106 and the subsequent processing is repeated. In this case, addition is repeated until the value of the stationary counter exceeds the stationary determination reference value m.

  If it is determined in step S108 that the value of the stationary counter is greater than the stationary determination reference value m (S108: YES), the control unit 10 initializes the measurement data stored in the storage unit 17 (S109). The measurement data initialization is a process of erasing the measurement data stored in the measurement data storage area secured in the storage unit 17.

  The control unit 10 notifies the start of storage of measurement data (S110). The notification of the storage start in step S110 is a process for prompting the pitcher to start pitching, and can be appropriately set as specific notification means. For example, it is possible to notify the pitcher who possesses the ball 1 by vibrating the vibrating body 19 as a notification means for a certain period of time. Moreover, it can alert | report by transmitting a alerting signal from the communication part 18 to the calculation apparatus 2 as an alerting | reporting means. In this case, the calculation device 2 that has received the notification signal performs notification output from the notification unit 26. The notification output is, for example, notification of sound from a speaker, display of an image, and output to an external device such as a rotating lamp arranged in advance so as to be able to communicate. For example, an external device such as a monitor for displaying an image can be installed behind the catcher, and a wording such as “start pitching” can be displayed on the external device. Further, various operations are possible such as not informing the pitcher directly, but informing other persons such as catchers and coaches, and the other person receiving the notification sends some sign to the pitcher.

  The control unit 10 stores measurement data (S111). Step S111 reads the measurement data measured by each of the pair of high-speed acceleration sensors 11, 11, the low-speed acceleration sensor 13, the gyro sensor 14, and the geomagnetic sensor 15, and stores the read measurement data in the storage area of the storage unit 17. It is a process to make. In the present application, the measurement data is described as being stored in the storage unit 17, but when the nonvolatile recording unit 16 is configured by a rewritable memory, the measurement data may be stored (recorded) in the recording unit 16. good. That is, the process of storing (recording) the measurement data by the control unit 10 in the present application indicates a process of writing in the memory. Even if the write destination is the non-volatile recording unit 16, the process is performed by the volatile storage unit 17. Even if there is, it is technically equivalent, and this does not change the scope of rights. In addition, since it is necessary to memorize | store measurement data periodically for every fixed time, such as 3 milliseconds, the process of step 111 is repeatedly performed so that it may mention later, In that case, for time adjustment Processing such as standby processing is performed.

  The control unit 10 determines whether or not the acceleration measured by the high speed acceleration sensor 11 and the low speed acceleration sensor 13 is equal to or less than a predetermined measurement pause value set in advance (S112). Step S112 is a process for determining whether or not the pitcher has entered a pitching motion and throws the ball 1, and the measurement pause value is set to “0” or an acceleration value indicating a range that can be regarded as a substantially stationary state. The

  When it is determined in step S112 that the acceleration is larger than the predetermined measurement pause value (S112: NO), the control unit 10 changes the acceleration values measured by the high speed acceleration sensor 11 and the low speed acceleration sensor 13 in the opposite directions. It is determined whether or not (S113). When it is determined in step S113 that the acceleration value has changed in the opposite direction (S113: YES), the control unit 10 determines whether or not the acceleration change amount is equal to or greater than a preset measurement end value. (S114). The high-speed acceleration sensor 11 and the low-speed acceleration sensor 13 are both triaxial acceleration sensors, but at least one of the accelerations in the respective axial directions is equal to or greater than the individually set measurement end value. It is determined that the conditions of steps S113 and S114 are satisfied. If the conditions of steps S113 and S114 are satisfied and it is determined that the acceleration has changed significantly in the opposite direction, that is, if a large value of reverse polarity (opposite direction) appears, it is determined that the ball 1 has been caught by the catcher.

  If it is determined in step S114 that the acceleration change amount is greater than or equal to the preset measurement end value (S114: YES), the control unit 10 uses the measurement data stored in the storage unit 17 as the communication unit 18. To the calculation device 2 (S115). And it returns to step S101 and will be in a dormant state. When it is determined that the ball has been caught by the catcher, the control unit 10 ends the storage of the measurement data, transmits the measurement data to the calculation device 2, and ends the movement state measurement process of the ball 1.

  In step S113, when it is determined that there is no acceleration changed in the opposite direction (S113: NO), or when there is an acceleration changed in the opposite direction but less than the measurement end value (S114: NO), control is performed. The unit 10 determines whether or not a measurement time such as 5 seconds set in advance has elapsed since the measurement data storage start or notification (S116). If it is determined in steps S113 and S114 that the acceleration has not changed significantly in the opposite direction, and the measurement time has not elapsed, it is determined that the thrown ball 1 is in flight. Further, when the measurement time has elapsed, it is determined that the catcher has not been able to catch the ball and has been thrown.

  If it is determined in step S116 that the measurement time has not elapsed (S116: NO), the process returns to step S111, the next measurement data is stored, and the subsequent processing is repeated.

  If it is determined in step S116 that the measurement time has elapsed (S116: YES), the control unit 10 returns to step S101 and enters a dormant state. If it is determined that the throwing is over, the control unit 10 ends the storage of the measurement data and ends the movement status measurement process of the ball 1. In addition, even when it is determined that the measurement time has passed and it is determined that the project has been thrown, the measurement data stored in the storage unit 17 may be transmitted to the calculation device 2 in order to analyze the situation.

  When it is determined in step S112 that the acceleration is equal to or less than the predetermined measurement pause value (S112: YES), the control unit 10 adds “1” to the value of the stationary counter (S117), and the stationary counter value is preset. It is determined whether or not it is greater than the set measurement pause determination value n (n is a natural number greater than m) (S118). If the acceleration is equal to or smaller than the predetermined measurement pause value in step 112, it is determined that the ball 1 is not thrown, and if the stationary counter value is greater than the measurement pause determination value n, the stationary state continues for a predetermined reference time or longer. Therefore, it can be determined that the pitching has been stopped.

  In addition, the pitcher may perform actions such as false throwing to pretend to throw a check ball and gesture to play with the ball 1 before throwing toward the catcher, but the amount of acceleration change in step S114 and the measurement in step S116. These operations can be excluded by setting the time appropriately. However, other conditions may be additionally set in consideration of such situations, and measurement data including such situations may be continuously stored. is there.

  Although the storage of the measurement data has shown the processing performed in step S111, the present invention is not limited to this, and the high-speed acceleration sensor 11, the low-speed acceleration sensor 13, the gyro sensor 14, and the geomagnetic sensor 15 are not limited to the preset time. The measurement data storage subroutine may be executed in which the measurement data measured by each is read and the read measurement data is stored in the storage area of the storage unit 17. When such a subroutine is set, the subroutine is started in the first process of step S111, and the process for ending the subroutine is executed before the measurement data is transmitted or the movement status measurement process is terminated. When processing as a subroutine, the measurement data storage interval can be easily set.

  In such a movement state measurement process, it is possible to determine from the measurement data of the ball 1 the state where the pitching can be started and the state where the ball has been caught. Therefore, for example, there is no need to take a method of providing sensors on the pitcher's glove and catcher's mitt. For this reason, it becomes possible to use the tool which an athlete usually uses.

  As described above, the movement status measurement process is executed.

  FIG. 7 is a flowchart showing an example of measurement data recording processing of the calculation device 2 used in the behavior calculation system according to the present invention. The control unit 20 of the calculation device 2 executes a measurement data recording process for recording the measurement data transmitted from the ball 1 by executing each procedure of the calculation program 21 a recorded in the recording unit 21. The control unit 20 of the calculation device 2 receives the measurement data transmitted from the ball 1 by the communication unit 23 by executing the calculation program 21a (S201), and uses the received measurement data as a measurement value database of the recording unit 21. Record in 21b for each measured sensor. Note that the measurement data of the pair of high-speed acceleration sensors 11, 11 may be recorded, or only the average value may be recorded.

  The control unit 10 counts the number of sampling times M (M is a natural number) for the recorded measurement data, and sets the counted number of sampling times M as the upper limit value of the process (S202). Further, the control unit 10 sets “1” as an initial value in the counter N (S203).

  The control unit 10 reads acceleration measurement data, which is the Nth measurement result of the low-speed acceleration sensor 13, from the measurement value database 21 b of the recording unit 21 (S 204), and the value of the read measurement data is the low-speed acceleration sensor 13. It is determined whether it is within the effective measurement range (S205). Note that an effective measurement range as a reference for determination is set in advance.

  When it is determined in step S205 that the measurement data value is within the effective measurement range of the low-speed acceleration sensor 13 (S205; YES), the control unit 10 sets the measurement data value of the low-speed acceleration sensor 13 to the Nth time. Is selected as a measured value of acceleration (S206).

  When it is determined in step S205 that the measurement data value is outside the effective measurement range of the low-speed acceleration sensor 13 (S205: NO), the control unit 10 determines the acceleration that is the Nth measurement result of the high-speed acceleration sensor 11. Measurement data is read (S207), and the value of the read measurement data is selected as the measurement value of the Nth acceleration (S208).

  Steps S204 to S208 are processes for selecting measurement data used for calculation based on the measurement results indicated by the measurement data and the effective measurement ranges of the sensors. The control unit 10 records the measurement data selected in the processes of steps S204 to S208 in the measurement value database 21b of the recording unit 21 as data of the Nth selected acceleration (S209).

  The control unit 10 adds “1” to the counter N (S210), and determines whether or not the value of the counter N after the addition is larger than the sampling count M set as the upper limit value of the process (S211).

  If it is determined in step S211 that the value of N is greater than M (S211: YES), it is determined that selection has been completed for all measurement data, and the control unit 10 ends the measurement data recording process. If it is determined in step S211 that the value of N is less than M (S211: NO), it is determined that there is measurement data that has not yet been selected, and the control unit 10 returns to step S204 and repeats the subsequent processing. .

  In FIG. 7, the high-speed acceleration sensor 11 and the low-speed acceleration sensor 13 whose effective ranges capable of measuring acceleration with high accuracy are partially overlapped, and the velocity of the ball 1 is measured among the respective measurement data. An example of selecting measurement data that matches the range was shown. The gyro sensor 14 that measures the rotational speed with high accuracy during low-speed rotation and the high-speed acceleration sensor 11 that measures and calculates the rotational speed with high precision during high-speed rotation are used in combination. It is also possible to select measurement data that matches the measurement range as measurement data for behavior calculation. Further, the gyro sensor 14, the low-speed acceleration sensor 13 and the high-speed acceleration sensor 11 can be used in combination, and more sensors can be used in combination. In addition, since the value of measurement data may fluctuate when the sensor is switched, it is preferable to calibrate sufficiently and correct the measurement data as necessary.

  In this example, the received measurement data and the selected measurement data are all recorded in the measurement value database 21b. However, the received measurement data is temporarily stored in the storage unit 22, and the selected measurement data is stored. The acceleration may be recorded in the measurement value database 21b.

  The measurement data recording process is executed as described above.

  The calculation device 1 can calculate the behavior of the ball 1 such as the flight trajectory, flight speed, rotation speed, rotation direction, and the like based on the measurement data recorded in the measurement value database 21b. As the calculation method, various existing calculation methods and techniques can be used. As an example, a method for calculating the speed and moving distance of the ball 1 from acceleration, which is measurement data obtained by the low-speed acceleration sensor 13 and the high-speed acceleration sensor 11, will be described.

  The relationship between the acceleration a and the speed S based on the measurement data can be expressed as the following equation.

an = (Sn-Sn-1) /. DELTA.t; that is, Sn = Sn-1 + an.times..DELTA.t
a1 = (S1-S0) /. DELTA.t; that is, S1 = S0 + a1.times..DELTA.t
However, an: Nth time (sampling time N) acceleration Sn: Nth speed Sn-1: N-1th speed (immediately before the Nth time) Δt: Sampling time interval a1: First (N = 1) Acceleration value at the time of sampling S1: Speed at the time of first sampling (N = 1) S0: Default speed (initial value)

  The relationship between the speed S and the moving distance d can be expressed as the following equation.

Sn = (dn-dn-1) /. DELTA.t; that is, dn = dn-1 + Sn.times..DELTA.t
S1 = (d1-d0) /. DELTA.t; that is, d1 = d0 + S1.times..DELTA.t
However, dn: Nth position dn-1: N-1th position d1: First (N = 1) sampling position d0: Default position (initial value);

  Further, the movement distance dn can be calculated by the following equation.

dn = d0 + Sn.times..DELTA.t
= D0 + (S1 + S2 +... + Sn) × Δt
= D0 + (a1 + a2 +... + An) × Δt × Δt + S0 × Δt

  Since d0 is a pitching start position, the flight distance is a value obtained by subtracting d0 from dn. In S0, the velocity of the ball 1 in a stationary state is set to “0” as an initial value, and the moving distance of the ball 1 is (a1 + a2 +... + An) × Δt × Δt And can be calculated.

  As illustrated, the behavior of the ball 1 is calculated by various calculation methods. The calculated behavior of the ball 1 is output by various methods. FIG. 8 is an explanatory diagram showing an example of an image displayed from the calculation device 2 used in the behavior calculation system according to the present invention. FIG. 8 is an image in which the position of the ball 1 at a predetermined time interval is displayed as the behavior of the ball 1 on the display unit 25 of the calculation device 2, and shows the trajectory of the ball 1. Thus, by displaying an image by various methods, it is possible to analyze and compare the calculated behavior of the ball 1 such as the flight trajectory, flight speed, rotation speed, and rotation direction.

  The present invention is not limited to the embodiments described above, and can be implemented in various other forms. For this reason, the above-described embodiment is merely an example in all respects and should not be interpreted in a limited manner. The scope of the present invention is shown by the scope of claims, and is not restricted by the text of the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

  For example, in the above-described embodiment, the baseball hard ball is shown as the ball 1 as the mobile body. However, the present invention includes various mobile bodies used in various athletic competitions, including soft baseball and softball, which are similar games. It is possible to apply to the calculation of the behavior. For example, as a moving object and an athletic competition using the moving object, it is possible to calculate the behavior of the soccer ball in a motion such as a soccer penalty kick or free throw using a soccer ball as the moving object. It is also possible to calculate the behavior of various moving objects such as the behavior of a ball in a serve action in ball games such as volleyball and tennis, and the behavior of a ball in a free throw action in basketball. In addition to ball games, it is possible to calculate the behavior of moving objects such as discs, cannonballs, spears and hammers in throwing competitions such as disc throws, cannonball throws, spear throws and hammer throws. Furthermore, it is possible to calculate the behavior of not only flying objects but also moving objects such as hand balls, target balls, and balls used for athletic competitions such as billiards and bowling.

  Moreover, although the calculation apparatus 2 showed the form which selects measurement data based on an effective measurement range in the said embodiment, this invention is not restricted to this, The ball | bowl 1 is measured at the time of storage or transmission of measurement data It is possible to design appropriately such as selecting data.

  Further, when the behavior of the ball 1 is displayed on the screen based on the calculation result, the behavior of the ball 1 can be expressed more realistically by displaying the seam 1a of the ball 1. In this case, however, the positional (orientation) relationship between the seam 1a of the outer skin of the ball 1 and the sensor substrate built in the ball 1 needs to be fixed, and it is necessary to determine how the seam is displayed. For example, such a ball 1 is operated by operating a geomagnetic sensor 15 and a low-speed acceleration sensor 13 (measurement of gravitational acceleration (direction of gravity)) after the bobbin winding (before covering with a hull). It is possible to manufacture by detecting the position in the lateral direction and marking the detected position, and then covering and stitching the wound ball 1 with a pre-marked outer skin so that the markings coincide with each other. Further, after the ball 1 is manufactured (completed), markings are made at a plurality of locations on the ball 1, and the geomagnetic sensor 15 and the low-speed acceleration sensor 13 (measurement of gravitational acceleration) are performed with the ball 1 in a fixed posture based on the marking. To detect the deviation between the sensor substrate and the marking, and to record the data for correcting this deviation on the ball 1 side in advance, it matches the orientation of the sensor substrate when displaying the behavior of the ball 1 The position of the seam can be corrected and displayed. According to this method, complication of the ball manufacturing process can be avoided.

1 ball (moving body)
DESCRIPTION OF SYMBOLS 10 Control part 11 High speed acceleration sensor 13 Low speed acceleration sensor 14 Gyro sensor 16 Recording part 17 Memory | storage part 18 Communication part 19 Vibrating body 2 Calculation apparatus 20 Control part 21 Recording part 21a Calculation program 21b Measurement value database 23 Communication part 26 Notification part

Claims (11)

A behavior calculation system comprising a calculation device for calculating the behavior of a moving body used in athletic competition based on measurement data obtained by measuring a movement situation,
It has a moving object whose behavior is to be measured,
The moving body is
With multiple sensors that measure travel conditions and have different effective measurement ranges,
A storage unit for storing the measurement data measured by each sensor for each sensor;
A communication unit for transmitting the measurement data stored in the storage unit to the calculation device,
The mobile object or the calculation device is
A behavior calculation system comprising: means for selecting measurement data used for calculation based on a measurement result indicated by measurement data and an effective measurement range of each sensor. The behavior calculation system according to claim 1,
Each of the sensors measures an acceleration as a movement state. The behavior calculation system according to claim 2,
The moving body is
A behavior calculation system comprising start means for starting storage of measurement data in a storage unit when an acceleration detected by the sensor is equal to or less than a predetermined measurement start value. The behavior calculation system according to claim 3,
The moving body is
End means for ending the storage of the measurement data in the storage unit when the acceleration detected after the start of the storage of the measurement data by the start means changes in the opposite direction and the change amount is equal to or greater than a predetermined measurement end value. A behavior calculation system comprising: The behavior calculation system according to claim 3 or claim 4,
The moving body is
A behavior calculation system comprising: an informing means for informing that storage of measurement data in a storage unit is started when an acceleration detected by the sensor is equal to or less than a predetermined measurement value. The behavior calculation system according to claim 5,
The moving body includes a vibrating body,
The notification means notifies by vibration of a vibrating body. The behavior calculation system according to claim 5 or 6,
The said alerting | reporting means alert | reports to the said calculation apparatus by transmission of an alerting signal. The behavior calculation system characterized by the above-mentioned. A moving body used for athletic competitions,
With multiple sensors that measure travel conditions and have different effective measurement ranges,
A storage unit for storing the measurement data measured by each sensor for each sensor;
A mobile unit comprising: a communication unit that transmits measurement data stored in a storage unit. A moving body used for athletic competitions,
A sensor for measuring measurement data indicating the movement status;
A storage unit for storing measurement data measured by the sensor;
A moving body comprising: start means for starting storage of measurement data in a storage unit when measurement data indicating a movement state detected by the sensor is equal to or less than a predetermined measurement start value. A calculation device that calculates the behavior of a moving object used in athletic competition based on measurement data obtained by measuring a movement situation,
Means for receiving measurement data transmitted from a mobile object whose behavior is to be measured and indicating movement status measured by a plurality of sensors having different effective measurement ranges;
A calculation device comprising: means for selecting measurement data used for calculation based on measurement data indicated by received measurement data and an effective measurement range of each sensor. A calculation program for causing a computer to calculate the behavior of a moving object used in an athletic competition based on measurement data obtained by measuring a movement state,
When the computer receives measurement data transmitted from a mobile object whose behavior is to be measured and indicating the movement status measured by a plurality of sensors having different effective measurement ranges, the measurement data indicated by the received measurement data and each A calculation program for executing a procedure for selecting measurement data used for calculation based on an effective measurement range of a sensor.

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