JP2017029516A - Golf swing analysis device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a golf swing analysis device capable of providing an index for evaluating a swing including motion of a body of a golfer in the swing on the basis of output of an inertial sensor.SOLUTION: A golf swing analysis device 20 calculates acceleration of the center of gravity of a body of a golfer 2 during a swing by using an output signal of a sensor unit 10a (first inertial sensor), estimates floor reaction force on the basis of the acceleration and mass information of the body including a golf club 3 of the golfer 2, and generates evaluation information of the swing on the basis of the floor reaction force estimated.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a golf swing analyzing apparatus.

  Patent Document 1 discloses a device that mounts a three-axis acceleration sensor and a three-axis gyro sensor on a golf club, measures a swing motion based on outputs of these inertial sensors, and analyzes a swing locus, a swing speed, and the like. ing. According to the apparatus of Patent Document 1, the amount of calculation can be greatly reduced as compared with the case where the swing image captured by the camera is subjected to image processing to analyze the swing. Further, according to the apparatus of Patent Document 1, since a large-scale apparatus such as a camera is unnecessary, there is an advantage that there are few restrictions on places where a golfer performs a swing.

JP 2008-73210 A

  However, as in the device described in Patent Document 1, a device for analyzing a swing by attaching a sensor to a golf club can analyze a swing trajectory and a swing speed, but it relates to how a golfer moves his body and transmits force. Since the analysis based on the theory cannot be performed, it is difficult to provide a sufficient index for evaluating the swing including the movement of the golfer's body during the swing.

  The present invention has been made in view of the above problems, and according to some aspects of the present invention, a swing including a golfer's body movement in a swing is evaluated based on the output of an inertial sensor. It is possible to provide a golf swing analyzing apparatus capable of providing an index for performing the above.

  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 golf swing analysis apparatus according to this application example calculates the acceleration of the center of gravity position of the golfer's body during the swing using the output signal of the first inertia sensor, and the mass information of the body including the acceleration and the golfer's golf club The floor reaction force is estimated based on the above and the swing evaluation information is generated based on the floor reaction force.

The first inertia sensor may be any sensor that can measure an inertia amount such as acceleration and angular velocity. For example, an inertia measurement unit (IMU: Inertial Measurement) that can measure acceleration and angular velocity.
Unit). For example, the first inertial sensor may be attached to and removed from the body part of the golfer.

According to the golf swing analyzing apparatus according to this application example, it is possible to estimate the floor reaction force that is the driving force of the golfer's swing based on the output signal of the inertial sensor and the weight information of the golfer. Therefore, according to the golf swing analyzing apparatus according to this application example, the estimated floor reaction force can be provided to the golfer as the swing evaluation information, and the golfer can evaluate the swing based on the information.

[Application Example 2]
In the golf swing analyzing apparatus according to the application example, the first inertial sensor may be attached to a waist portion of the golfer.

  According to the golf swing analysis apparatus according to this application example, according to the calculation formula derived from the swing analysis theory, using the amount of inertia applied to the waist near the center of gravity of the body of the golfer during the swing and the weight information of the golfer, The estimation accuracy of the reaction force can be improved.

[Application Example 3]
The golf swing analysis apparatus according to the application example may acquire the swing trajectory information, and generate and display the swing evaluation information including the floor reaction force and the trajectory information.

  According to the golf swing analyzing apparatus according to this application example, the golfer can evaluate the swing by associating the floor reaction force that is the driving force of the swing with the locus of the swing.

[Application Example 4]
In the golf swing analyzing apparatus according to the application example, the trajectory information of the swing may be generated using an output signal output from a second inertia sensor attached to the golf club.

  The second inertia sensor may be any sensor that can measure an inertia amount such as acceleration and angular velocity, and may be, for example, an inertia measurement unit (IMU) that can measure acceleration and angular velocity. The second inertia sensor may be detachable from the golf club.

[Application Example 5]
The golf swing analysis device according to this application example calculates at least one of acceleration and angular velocity of at least one part from the foot to the shoulder of the golfer during the swing using the output signal of the inertial sensor, and based on the equation of motion, An index for evaluating the swing is generated using at least one of the calculated acceleration and angular velocity.

  According to the golf swing analysis apparatus according to this application example, paying attention to the role of transmitting the floor reaction force, which is a driving force of the swing, to the golf club as a swing force, from the golfer's foot to the shoulder, Calculate at least one of the acceleration and angular velocity of the part using the output signal of the inertial sensor, and use at least one of the acceleration and angular velocity according to a calculation formula (kinetic equation) derived from the swing analysis theory. Can be estimated.

[Application Example 6]
The golf swing analysis apparatus according to the application example may evaluate the movement of the golfer during the swing using the angular velocity.

The figure which shows the link mechanism model of a golfer's body. Explanatory drawing of the force which acts on each link of a link mechanism model. Explanatory drawing of the force which acts on each link of the link mechanism model of a golfer's right leg. Explanatory drawing of the outline | summary of the golf swing analysis system of 1st 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 golfer performs. The figure which shows the structural example of the golf swing analysis system of 1st Embodiment. The flowchart figure which shows a part of procedure of the swing analysis process in 1st Embodiment. The figure which shows the example of a display of the image in 1st Embodiment. Explanatory drawing of the outline | summary of the golf swing analysis system of 2nd Embodiment. The figure which shows the structural example of the golf swing analysis system of 2nd Embodiment. The flowchart figure which shows a part of procedure of the swing analysis process in 2nd Embodiment. Explanatory drawing of the outline | summary of the golf swing analysis system of 3rd Embodiment. The figure which shows the structural example of the golf swing analysis system of 3rd Embodiment.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. The embodiments described below do not unduly limit the contents of the present invention described in the claims. Also, not all of the configurations described below are essential constituent requirements of the present invention.

1. Swing Analysis Theory In order to analyze the body movement during golf swing, the entire body of the golfer including the golf club is modeled by a link mechanism model composed of n = 16 parts (links). In the link mechanism model shown in FIG. 1, the position vectors of the joint at the proximal end and the distal end of the link i are x _i and x _{i + 1} , respectively. It is known that the equation obtained by adding the equations of motion of all links is expressed as the following equation (1).

In Formula (1), F is a floor reaction force (ground reaction force) applied to both legs, M is a mass of the entire body including the golf club, x _G is a position vector of the center of gravity, and g is a gravitational acceleration vector. in and, f _R is the floor reaction force applied to the right foot (ground reaction force), f _L is the floor reaction force on the left foot (ground reaction force). The floor reaction force F applied to both legs can be estimated by measuring the acceleration applied to the center of gravity of the body from equation (1). Details will be described in the first embodiment.

  Next, for example, as shown in FIGS. 3 (A) and 3 (B), a right leg link mechanism model (right thigh i = 3, right lower thigh i = 4, right foot i = 5) is considered. It can be expressed by an equation like (2).

Here, each parameter is defined as follows.
l _i-gj : moment arm vector from the joint x _i to the center of gravity x _gj (xi represents the position vector of the joint of link i, x _gj represents the position vector of the center of gravity of link i)
l _i-cR : moment arm vector from joint x _i to right foot pressure center (COP) x _cR m _i : mass of link i ω _i : angular velocity vector of link i τ _i : joint torque vector acting on link i

Note that the symbol “x” in Equation (2) represents a vector cross product operation. The left side of Equation (2) is represented by the sum of the inertial force terms of acceleration or angular velocity of each joint (i = 3 to 5) of the right foot. For example, when an efficient swing is made, the values of these inertial force terms become very small. On the other hand, if a value can be calculated for each inertial force term, it can be estimated that useless movement has occurred at that part. Details will be described in the second embodiment. In particular, the value of the term of angular velocity can be used to infer whether or not useless movement has occurred. Note that parameters such as link length necessary for calculating l _i-gj and l _i-cR can be acquired from the outside, or values acquired in advance can be used.

  Equation (2) is a link mechanism model for the right leg, but the equation of motion of the link mechanism model for the left leg is derived in the same manner as in the example of the link mechanism model for the right leg.

  The formulas (1) and (2) are as follows: “Ota, Ken Nishikawa, Hiroki Usoki: Equation of motion suitable for inverse dynamic analysis of whole body motion using motion capture. The 35th Biomechanism Academic Lecture, Details are described in the article “2015”.

2. Golf swing analysis system 2-1. First Embodiment [Outline of Golf Swing Analysis System]
Formula (1) described above indicates that the floor reaction force F is necessary for the golfer to move the center of gravity during the swing, and the floor reaction force F is considered as an index for evaluating the golfer's swing. be able to. From the equation (1), the floor reaction force F theoretically matches the product of the total mass M and the acceleration of the center of gravity. Therefore, the golf swing analysis system according to the first embodiment uses the output signal of the inertial sensor to estimate the acceleration of the center of gravity position of the golfer's body during the swing, and based on the acceleration and the weight information of the golfer, the floor reaction force F (ground reaction force) is estimated, and swing evaluation information is generated based on the floor reaction force (ground reaction force).

  FIG. 4 is a diagram for explaining the outline of the golf swing analysis system of the first embodiment. As shown in FIG. 4, the golf swing analysis system 1 of the first embodiment includes a sensor unit 10 a (an example of a first inertia sensor), a sensor unit 10 b (an example of a second inertia sensor), and a golf swing analysis device 20. It consists of

  The sensor unit 10a can measure triaxial acceleration and triaxial angular velocity, and is attached at a position close to the center of gravity of the golfer 2 body. For example, the sensor unit 10 a is attached to the waist of the golfer 2.

  The sensor unit 10b can measure triaxial acceleration and triaxial angular velocity, and is attached to a position where the movement of the golf club 3 held by the golfer 2 can be measured. For example, as shown in FIG. 5, the sensor unit 10b is configured such that one of the three detection axes (x-axis, y-axis, z-axis), for example, the y-axis is aligned with the major axis direction of the shaft. It is attached to a part of the shaft. Desirably, the sensor unit 10b is attached at a position close to a grip where a shock at the time of hitting is difficult to be transmitted and a centrifugal force is not applied during a swing. The shaft is a portion of the handle excluding the head of the golf club 3 and includes a grip. However, the sensor unit 10b may be attached to a part of the golfer 2 (for example, a hand or a glove), or may be attached to an accessory such as a wristwatch.

  In the present embodiment, the golfer 2 performs a swing operation of hitting the golf ball 4 according to a predetermined procedure. FIG. 6 is a diagram illustrating a procedure of operations performed by the golfer 2. As shown in FIG. 6, the golfer 2 first performs an input operation such as body information of the golfer 2 and information (golf club information) regarding the golf club 3 used by the golfer 2 via the golf swing analysis device 20 (S1). ). The body information includes information on the weight of the golfer 2, and may further include height, arm length, leg length, sex information, and other information. The golf club information may include information on the length (club length) of the golf club 3 and the type (count) of the golf club 3. Next, the golfer 2 performs a measurement start operation (operation for causing the sensor units 10a and 10b to start measurement) via the golf swing analysis device 20 (S2). Next, the golfer 2 receives a notification (for example, a notification by voice) instructing to take an address posture (basic posture before starting the swing) from the golf swing analysis device 20 (Y in S3), and then the golf club 3 The posture of the address is taken so that the long axis of the shaft is perpendicular to the target line (the target direction of the hit ball), and it stops (S4). Next, the golfer 2 receives a notification (for example, a notification by voice) that permits a swing from the golf swing analysis device 20 (S5: Y), and then performs a swing motion to hit the golf ball 4 (S6).

  When the golfer 2 performs the measurement start operation in S2 of FIG. 6, the sensor units 10a and 10b measure the triaxial acceleration and the triaxial angular velocity at a predetermined cycle (for example, 1 ms), and sequentially measure the measured data. 20 to send. The communication between the sensor units 10a and 10b and the golf swing analyzing apparatus 20 may be wireless communication or wired communication.

  The golf swing analyzer 20 notifies the golfer 2 of the permission to start the swing shown in S5 of FIG. 6, and then uses the data measured by the sensor unit 10a (an example of the output signal of the first inertial sensor) during the swing. The acceleration of the center of gravity position of the golfer 2 is calculated, the floor reaction force is estimated based on the acceleration and the mass information including the golf club 3 of the golfer 2, and the swing evaluation information is calculated based on the estimated floor reaction force. Generate. In addition, the golf swing analysis apparatus 20 obtains swing trajectory information (trajectory information of the head and grip end of the golf club 3) using data measured by the sensor unit 10b (an example of an output signal of the second inertial sensor). The floor reaction force and the trajectory information are displayed as the swing evaluation information.

  In this embodiment, as shown in FIG. 4, 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 upward direction (the direction opposite to the direction of gravitational acceleration). An XYZ coordinate system (global coordinate system) is defined as the Z axis, the floor reaction force is estimated as a three-dimensional vector in the XYZ coordinate system, and swing trajectory information is generated as three-dimensional trajectory information in the XYZ coordinate system.

  The golf swing analysis device 20 may be, for example, a portable device such as a smartphone or a personal computer (PC).

[Configuration of golf swing analysis system]
FIG. 7 is a diagram illustrating a configuration example (configuration example of the sensor units 10a and 10b and the golf swing analysis device 20) of the golf swing analysis system 1 of the first embodiment. As shown in FIG. 7, in this embodiment, the sensor unit 10a and the sensor unit 10b have the same configuration, and include an acceleration sensor 11, an angular velocity sensor 12, a signal processing unit 13, a storage unit 14, and a communication unit 15. It is configured.

  The acceleration sensor 11 measures acceleration generated in each of the three axis directions that intersect (ideally orthogonal) with each other, and outputs a digital signal (acceleration data) corresponding to the magnitude and direction of the measured three axis acceleration. .

  The angular velocity sensor 12 measures the angular velocity generated around each of the three axes that intersect each other (ideally orthogonal), and outputs a digital signal (angular velocity data) corresponding to the magnitude and direction of the measured three-axis angular velocity. Output.

  The signal processing unit 13 receives acceleration data and angular velocity data from the acceleration sensor 11 and the angular velocity sensor 12, respectively, attaches time information to the storage unit 14 in order, and stores the measurement data (acceleration data) stored in the storage unit 14 And angular velocity data) are sequentially read out to generate packet data in conformity with the communication format and output to the communication unit 15.

  Each of the acceleration sensor 11 and the angular velocity sensor 12 has 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 10a or 10b. It is ideal that the sensor unit 10a or 10b is attached to the sensor unit 10a or 10b. Therefore, the signal processing unit 13 may perform a process of converting the acceleration data and the angular velocity data into data in the xyz coordinate system using a correction parameter calculated in advance according to the attachment angle error.

  Further, the signal processing unit 13 may perform temperature correction processing for the acceleration sensor 11 and the angular velocity sensor 12. Alternatively, the acceleration sensor 11 and the angular velocity sensor 12 may incorporate a temperature correction function.

  The acceleration sensor 11 and the angular velocity sensor 12 may output analog signals. In this case, the signal processing unit 13 converts the output signal of the acceleration sensor 11 and the output signal of the angular velocity sensor 12 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 15 performs processing for transmitting the packet data received from the signal processing unit 13 to the golf swing analysis device 20, processing for receiving a control command from the golf swing analysis device 20 and sending the control command to the signal processing unit 13, and the like. The signal processing unit 13 performs various processes according to the control command.

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

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

  The operation unit 23 performs a process of acquiring operation data from the golfer 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. Or you may make it implement | achieve the function of the display part 25 and the operation part 23 with one display with a touch sensor. For example, a software button may be displayed on a display with a touch sensor, and an input operation using the software button may be configured. An input operation corresponding to the movement of a finger or the like with respect to an arbitrary position of the display with a touch sensor may be performed. A possible configuration may be adopted.

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

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

  In the present embodiment, the storage unit 24 stores golf club information 242, body information 244, and sensor mounting position information 246. For example, the golfer 2 may input the golf club information of the golf club 3 to be used by operating the operation unit 23 in S1 of FIG. 6, and the input golf club information may be used as the golf club information 242. Alternatively, the golfer 2 inputs the model number of the golf club 3 in S1 of FIG. 6 (or selects from the model number list), and the specification information (for example, the golf club 3 of the golf club 3) stored in the storage unit 24 in advance. Of the mass, the length of the shaft, the position of the center of gravity, the lie angle, the face angle, the loft angle, etc.), the input model number specification information may be used as the golf club information 242. Further, for example, the golfer 2 may input physical information by operating the operation unit 23 in S1 of FIG. 6, and the input physical information may be used as the physical information 244. Further, for example, the golfer 2 operates the operation unit 23 in S1 of FIG. 6 to input the distance between the mounting position of the sensor unit 10b and the grip of the golf club 3, and the input distance information is detected by the sensor. The mounting 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 10b is mounted at a predetermined position (for example, a distance of 20 cm from the grip).

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

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

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

  The processing unit 21 performs processing for transmitting control commands to the sensor units 10a and 10b according to various programs, various types of calculation processing for data received from the sensor units 10a and 10b via the communication unit 22, and various other types of control. Process. In particular, in the present embodiment, the processing unit 21 executes the swing analysis program 240 to thereby obtain a data acquisition unit 210, a floor reaction force estimation unit 211, a swing analysis unit 212, an evaluation information generation unit 213, and an image data generation unit 214. , Function as a storage processing unit 215, a display processing unit 216, and a sound output processing unit 217.

  The data acquisition unit 210 receives the packet data received from the sensor units 10 a and 10 b by the communication unit 22, acquires time information and measurement data from the received packet data, and sends the data to the storage processing unit 215.

The storage processing unit 215 receives the time information and the 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 floor reaction force estimation unit 211 uses the measurement data output from the sensor unit 10a (measurement data stored in the storage unit 24) to determine the acceleration (XYZ coordinate system (global coordinates) of the body position of the golfer 2 during the swing. Acceleration vector) in the system) is approximated, and the floor reaction force is estimated based on the acceleration and the weight information of the golfer 2 (included in the body information 244). For example, the floor reaction force estimation unit 211 uses the data measured by the sensor unit 10a during the period in which the golfer 2 performs the operation of step S6 in FIG. 6 to calculate the floor reaction force in at least a part of the period in time series. May be estimated.

In the present embodiment, the sensor unit 10a is attached to a position close to the center of gravity of the golfer 2 body, for example, the waist of the golfer 2, and the floor reaction force estimation unit 211 is the sensor unit 10a in the XYZ coordinate system (global coordinate system). The acceleration vector is approximated as the acceleration vector of the center of gravity position. Then, the floor reaction force estimation unit 211, in accordance with the above-described equation (1), subtracting the gravitational acceleration vector g from the acceleration vector of the center of gravity position estimate (position vector x _G a second-order differentiating vector of the center of gravity), the golfer 2 The floor reaction force F is estimated by multiplying the weight by M (the sum of the weight of the golfer 2 and the mass of the golf club 3 (included in the golf club information 242) may be M).

  Specifically, the floor reaction force estimation unit 211 first includes measurement data (acceleration data and angular velocity data) stored in the storage unit 24 when the golfer 2 is stationary (at the time of addressing). The offset is calculated, and the bias is corrected by subtracting the offset from the measurement data after the start of the swing. The signal processing unit 13 of the sensor unit 10a may calculate the offset amount of the measurement data and perform bias correction of the measurement data, or the acceleration sensor 11 and the angular velocity sensor 12 may have a bias correction function. It may be. In these cases, the bias correction of the measurement data by the floor reaction force estimation unit 211 becomes unnecessary.

  Next, the floor reaction force estimation unit 211 uses the bias-corrected acceleration data to determine the posture (initial posture) of the sensor unit 10a when the golfer 2 is stationary (at the time of addressing) in the XYZ coordinate system (global coordinate system). After that, a rotation calculation using angular velocity data (bias corrected angular velocity data) measured by the angular velocity sensor 12 is performed to calculate the posture of the sensor unit 10a in time series. The attitude of the sensor unit 10a 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 11 measures only gravitational acceleration when the golfer 2 is stationary, the floor reaction force estimation unit 211 uses the x-axis, y-axis, and z-axis of the sensor unit 10a using the bias-corrected three-axis acceleration data. The angle formed between each of these and the direction of gravity can be specified. Furthermore, since the golfer 2 performs the operation of step S4 in FIG. 6, the relationship between the x-axis, y-axis, z-axis of the sensor unit 10a and the XYZ coordinate system (global coordinate system) when the golfer 2 is stationary is uniquely determined. As described above, if the mounting angle of the sensor unit 10a is determined, the floor reaction force estimation unit 211 can specify the initial posture of the sensor unit 10a.

Next, the floor reaction force estimation unit 211 converts the bias-corrected acceleration data into an acceleration vector of an XYZ coordinate system (global coordinate system) according to the attitude of the sensor unit 10a. Acceleration vector of the sensor unit 10a corresponds to the position vector x _G of the center of gravity to the second differentiation with vector.

The floor reaction force estimation unit 211 then subtracts the gravitational acceleration vector g from the acceleration vector of the sensor unit 10a according to the equation (1), and sets the weight of the golfer 2 as M (adds the weight of the golfer 2 and the mass of the golf club 3). The floor reaction force F is calculated (estimated) by multiplication.

  The swing analysis unit 212 performs a process of analyzing the swing motion of the golfer 2 using the measurement data output from the sensor unit 10b (measurement data stored in the storage unit 24).

  Specifically, the swing analysis unit 212 first uses the measurement data (acceleration data and angular velocity data) when the golfer 2 is stationary (at the time of addressing) stored in the storage unit 24 to include the offset included in the measurement data. The amount is calculated, and the bias is corrected by subtracting the offset amount from the measurement data after the start of the swing. The signal processing unit 13 of the sensor unit 10b may calculate the offset amount of the measurement data and correct the bias of the measurement data, or the acceleration sensor 11 and the angular velocity sensor 12 have a bias correction function incorporated therein. It may be. In these cases, the bias correction of the measurement data by the swing analysis unit 212 becomes unnecessary.

  Next, the swing analysis unit 212 uses the bias-corrected measurement data to determine the position of the sensor unit 10b in the XYZ coordinate system (global coordinate system) during the swing operation of the golfer 2 (during step S6 in FIG. 6). And calculate posture. For example, the swing analysis unit 212 uses an acceleration data (bias-corrected acceleration data) measured by the acceleration sensor 11 of the sensor unit 10b, golf club information 242, and sensor mounting position information 246 to generate an XYZ coordinate system (global coordinate system). ) Calculates the position (initial position) of the sensor unit 10b when the golfer 2 is stationary (at the time of addressing), and integrates the subsequent bias-corrected acceleration data to change the position of the sensor unit 10b from the initial position. Calculate to series. Since the golfer 2 performs the operation of step S4 in FIG. 6, the X coordinate of the initial position of the sensor unit 10b is zero. Further, as shown in FIG. 5, the y-axis of the sensor unit 10b coincides with the long axis direction of the shaft of the golf club 3, and when the golfer 2 is stationary, the acceleration sensor 11 measures only gravitational acceleration. The unit 212 can calculate the tilt angle of the shaft using the y-axis acceleration data.

Then, the swing analysis unit 212 obtains the distance L _SH between the sensor unit 10b 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 10b specified by the tilt angle of the shaft is set as the initial position of the sensor unit 10b.

  The swing analysis unit 212 calculates the posture (initial posture) of the sensor unit 10b when the golfer 2 is stationary (at the time of addressing) in the XYZ coordinate system (global coordinate system) using the bias-corrected acceleration data. Subsequent rotation calculation using angular velocity data (bias corrected angular velocity data) measured by the angular velocity sensor 12 is performed to calculate the attitude of the sensor unit 10b in time series. The posture of the sensor unit 10b 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 11 measures only the gravitational acceleration when the golfer 2 is stationary, the swing analysis unit 212 uses the bias-corrected triaxial acceleration data for each of the x-axis, y-axis, and z-axis of the sensor unit 10b. And the direction of gravity can be specified. Furthermore, since the golfer 2 performs the operation of step S4 in FIG. 6, when the golfer 2 is stationary, the y-axis of the sensor unit 10b is on the YZ plane, so the swing analysis unit 212 determines the initial posture of the sensor unit 10b. Can be identified.

The swing analysis unit 212 then detects the sensor unit 10b at each swing time.
The position of the distance L _{SH in} the positive direction of the y-axis of the sensor unit 10b specified from the position of the sensor unit 10b at the time is defined as the head position at the time.

Further, the swing analysis unit 212 changes the sensor mounting position information 246 (from the position of the sensor unit 10b at each time of the swing to the negative direction of the y-axis of the sensor unit 10b specified by the attitude of the sensor unit 10b at the time. The position of the distance L _SG between the sensor unit 10b and the grip specified by the distance from the grip) is defined as the position of the grip at that time.

  Further, the swing analysis unit 212 may detect the timing (impact timing) of hitting a ball during the swing operation period of the golfer 2 using the time information and measurement data stored in the storage unit 24. For example, the swing analysis unit 212 may calculate a composite value of measurement data (acceleration data or angular velocity data) output from the sensor unit 10b and specify the timing (time) when the golfer 2 hits the ball based on the composite value. it can.

  Further, the swing analysis unit 212 uses the measurement data output from the sensor unit 10a in the same manner as the calculation of the position of the sensor unit 10b, and the golfer 2 is performing the swing operation (during step S6 in FIG. 6). The position (the position of the center of gravity) of the sensor unit 10a in the XYZ coordinate system (global coordinate system) may be calculated.

  Further, based on the measurement data of the sensor unit 10b, the swing analysis unit 212 is based on the swing rhythm from the back swing to the follow-through, the head speed, the incident angle (club path) at hitting, the face angle, the 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 these pieces of information when the golfer 2 performs a plurality of swings may be analyzed.

  Based on the floor reaction force estimated by the floor reaction force estimation unit 211, the evaluation information generation unit 213 performs processing for generating the evaluation information of the swing of the golfer 2 (information usable for the evaluation of the swing). For example, the evaluation information generation unit 213 calculates time series information (swing trajectory information) of the floor reaction force estimated by the floor reaction force estimation unit 211 and the position of the golf club 3 head and the grip position calculated by the swing analysis unit 212. (For example, evaluation information in which the floor reaction force is associated with the swing trajectory information at each time from the start of the swing) may be generated. The evaluation information generation unit 213 may further generate evaluation information including information on the position of the center of gravity calculated by the swing analysis unit 212.

  The image data generation unit 214 performs processing for generating image data corresponding to the image of the swing analysis result displayed on the display unit 25 using various information calculated by the swing analysis unit 212. Further, the image data generation unit 214 performs processing for generating image data corresponding to the evaluation information generated by the evaluation information generation unit 213. The image data generation unit 214 corresponds to evaluation information including floor reaction force and swing trajectory information (for example, evaluation information in which floor reaction force and swing trajectory information are associated at each time from the start of the swing). Image data may be generated.

  The storage processing unit 215 performs read / write processing of various programs and various data for the storage unit 24. The storage processing unit 215 associates the time information received from the data acquisition unit 210 with the measurement data and stores it in the storage unit 24, and also stores the floor reaction force information estimated by the floor reaction force estimation unit 211, the swing analysis unit Various types of information calculated by 212, evaluation information generated by the evaluation information generation unit 213, and the like are also stored in the storage unit 24.

The display processing unit 216 performs processing for causing the display unit 25 to display various images (including characters and symbols in addition to images corresponding to the image data generated by the image data generation unit 214). For example, the display processing unit 216 performs an image or swing analysis unit corresponding to the image data generated by the image data generation unit 214 automatically or after the golfer 2 performs the swing motion. Characters or the like indicating the analysis result by 212 are displayed on the display unit 25. Alternatively, a display unit is provided in the sensor unit 10a or 10b, and the display processing unit 216 transmits image data to the sensor unit 10a or 10b via the communication unit 22, and various types of data are displayed on the display unit of the sensor unit 10a or 10b. You may display the image of this, a character, etc.

  The sound output processing unit 217 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 217 reads various information stored in the storage unit 24 automatically or after a predetermined input operation is performed after the golfer 2 finishes the swing motion. You may make the sound output part 26 output the sound and sound for swing analysis. Alternatively, a sound output unit is provided in the sensor unit 10a or 10b, and the sound output processing unit 217 transmits various sound data and audio data to the sensor unit 10a or 10b via the communication unit 22, and the sensor unit 10a. Alternatively, various sounds and sounds may be output to the sound output unit 10b.

  For example, the sound output processing unit 217 may generate sound data for performing the notification in steps S3 and S5 in FIG. 6 and notify the golfer 2 of an instruction for an address posture and permission to start a swing by sound.

  The golf swing analyzing device 20 or the sensor unit 10a or 10b may be provided with a vibration mechanism, and various information may be converted into vibration information by the vibration mechanism and notified to the golfer 2.

[Processing procedure of golf swing analyzer]
FIG. 8 is a flowchart showing a part of the procedure of the swing analysis process performed by the processing unit 21 in the first embodiment. The processing unit 21 executes a swing analysis program 240 stored in the storage unit 24, thereby executing a part of the swing analysis process in the procedure of the flowchart of FIG. Hereinafter, the flowchart of FIG. 8 will be described.

  First, the processing unit 21 stands by until a measurement start operation by the golfer 2 (operation in step S2 in FIG. 6) is performed (N in S10), and when the measurement start operation is performed (Y in S10), the sensor unit 10a. , 10b, a measurement start command is transmitted (S20).

  Next, the processing unit 21 instructs the golfer 2 to take an address posture (S30). In accordance with this instruction, the golfer 2 takes an address posture and stops.

  Next, the processing unit 21 functions as the data acquisition unit 210 and acquires measurement data of the sensor units 10a and 10b (S40).

  Next, the processing unit 21 repeats the measurement data acquisition (S40) until the stationary motion is detected using the measurement data acquired in step S40 (N in S50), and detects the stationary motion (Y in S50). The golfer 2 is notified of permission to start the swing (S60). For example, the processing unit 21 outputs a predetermined sound, or notifies the golfer 2 of permission to start swinging by providing an LED in the sensor unit 10b and lighting the LED, and the golfer 2 After confirming this notification, the swing is started.

Next, the processing unit 21 functions as the data acquisition unit 210, and the sensor units 10a, 1
Measurement data of 0b is acquired (S70).

  Next, the processing unit 21 functions as the floor reaction force estimation unit 211, and estimates the floor reaction force F during the swing based on the measurement data of the sensor unit 10a acquired in step S70 (S80).

  Next, the processing unit 21 functions as the swing analysis unit 212, and calculates the position and orientation of the sensor unit 10b based on the measurement data of the sensor unit 10b acquired in step S70 (S90).

  Next, the processing unit 21 determines whether or not the golfer 2 has finished the swing (S100). For example, the processing unit 21 can determine whether or not the golfer 2 has finished the swing from the measurement data acquired in step S70 or information on the position and orientation of the sensor unit 10b calculated in step S30.

  The processing unit 21 repeats the processes in steps S70 to S90 until the golfer 2 finishes the swing (N in S100).

  When the golfer 2 finishes the swing (Y in S100), the processing unit 21 functions as the swing analysis unit 212, and based on the position and orientation (time series information) of the sensor unit 10b calculated in step S90, The swing analysis information including the trajectory information is generated (S110).

  Finally, the processing unit 21 functions as the evaluation information generation unit 213, generates swing evaluation information based on the floor reaction force estimated in step S80 and the trajectory information generated in step S110, and further includes image data. The image data corresponding to the evaluation information is generated by functioning as the generation unit 214, and the image is displayed on the display unit 25 (S120), and the process ends.

  In the flowchart of FIG. 8, the order of each process may be changed as appropriate within the possible range. For example, the processing unit 21 may perform the processes in steps S80 and S90 after the end of the swing (Y in S100).

  FIG. 9 shows an example of an image (image corresponding to evaluation information) displayed on the display unit 25 in step S120 of FIG. FIG. 9 is a three-dimensional image (an image in the XYZ coordinate system) corresponding to a certain time T during the downswing of the golfer 2, and a broken line S extends from the address through the backswing to the middle of the downswing (time T). The swing trajectory (here, the trajectory of the head of the golf club 3) is represented, and the point G represents the position of the center of gravity at time T. A solid arrow F represents a floor reaction force F estimated at time T.

  The golf swing analysis device 20 (processing unit 21) selects and displays a still image at an arbitrary time during the swing or displays a moving image from the start to the end of the swing according to the operation of the golfer 2. You may do it. In this way, the golfer 2 can recognize how the floor reaction force is changing at which timing during the swing and can evaluate the swing.

  The golf swing analysis apparatus 20 (processing unit 21) displays not only an image as shown in FIG. 9 but also a graph representing the floor reaction force behavior (change in magnitude) during a swing as evaluation information. Alternatively, the graph representing the behavior of the floor reaction force may be displayed together with the graph representing the behavior of the floor reaction force during the swing of the professional golfer and the behavior of the floor reaction force during the best swing of the golfer 2.

[effect]
As described above, according to the golf swing analysis system 1 (golf swing analysis device 20) of the first embodiment, the measurement of the sensor unit 10a attached to a position (waist) near the center of gravity of the body of the golfer 2. Based on the data, the acceleration applied to the center of gravity of the golfer 2's body is estimated, and using the estimated acceleration and the weight of the golfer 2, the floor reaction which becomes the driving force of the swing according to the equation (1) derived from the swing analysis theory. The force F can be estimated with relatively high accuracy. Therefore, according to the golf swing analysis system 1 (golf swing analysis device 20) of the first embodiment, it is possible to provide evaluation information for evaluating a swing based on the estimated floor reaction force.

  Further, according to the golf swing analysis system 1 (golf swing analysis device 20) of the first embodiment, the swing locus information is generated and estimated based on the measurement data of the sensor unit 10b attached to the golf club 3 or the like. By displaying the trajectory information of the swing together with the floor reaction force, the golfer 2 analyzes how the floor reaction force F, which is the driving force of the swing, changes in association with the trajectory of the swing. It can be evaluated in detail.

2-2. Second Embodiment [Outline of Golf Swing Analysis System]
When the golfer performs an efficient swing, there is little useless movement, and therefore, for example, the vector of the sum of the left side of the above-described equation (2) becomes small. Further, the smaller the useless movement of the right thigh (i = 3), the smaller the first term and the fourth term on the left side of the expression (2), and the less the useless movement of the right lower leg (i = 4), the expression ( The second term and the fifth term on the left side of 2) become smaller, and the third term and the sixth term on the left side of Equation (2) tend to become smaller as the useless movement of the right foot (i = 5) decreases. When generalized, a link mechanism model including an arbitrary part (link n) of the golfer is defined, and the left side of each link of the link mechanism model in the equation of motion related to the joint torque vector τ _n acting on the part (link n) If each term can be calculated, the degree of useless movement of each part can be known, which can be an index for evaluating a golfer's swing. Therefore, the golf swing analysis system according to the second embodiment attaches an inertial sensor to at least one part from the foot to the shoulder of the golfer corresponding to at least one link included in the predefined link mechanism model. At least one of acceleration and angular velocity of the part is calculated using the output signal, and an index for evaluating the swing is generated using at least one of the calculated acceleration and angular velocity based on the equation of motion. For example, the golf swing analysis apparatus may evaluate the movement of the golfer during the swing using the angular velocity.

  Below, the same code | symbol is attached | subjected to the structure similar to 1st Embodiment, description is abbreviate | omitted or simplified, and the content different from 1st Embodiment is mainly demonstrated.

  FIG. 10 is a diagram for explaining the outline of the golf swing analysis system of the second embodiment. As shown in FIG. 10, the golf swing analysis system 1 according to the second embodiment includes a sensor unit 10 a attached to a region of interest, a sensor unit 10 b attached to a golf club, and a golf swing analysis device 20.

Each of the sensor units 10 a can measure a triaxial acceleration and a triaxial angular velocity, and is attached to a region of interest of the golfer 2. A plurality of sensor units 10a may be attached to the golfer. Each of the sensor units 10a is attached to a part of the golfer 2 corresponding to one of a plurality of parts (links) in a predefined link mechanism model (for example, the link mechanism model shown in FIG. 1 or FIG. 3). It is done. Further, the sensor unit 10a is provided on at least one part (for example, at least one part among a plurality of parts corresponding to the links 1 to 5 of the link mechanism model shown in FIG. 1) from the foot to the shoulder of the golfer 2. It is attached.

  The sensor unit 10b can measure the triaxial acceleration and the triaxial angular velocity, and is attached to a position where the movement of the golf club 3 held by the golfer 2 can be measured, as in the first embodiment.

  Also in the second embodiment, as in the first embodiment, the golfer 2 performs a swing operation of hitting the golf ball 4 according to a predetermined procedure shown in FIG.

  When the golfer 2 performs the measurement start operation in S2 of FIG. 6, the sensor unit 10a and the sensor unit 10b measure the triaxial acceleration and the triaxial angular velocity at a predetermined cycle (for example, 1 ms), and sequentially perform the measured data on the golf swing. It transmits to the analysis device 20. The communication between the sensor unit 10a and the sensor unit 10b and the golf swing analysis device 20 may be wireless communication or wired communication.

  The golf swing analyzing apparatus 20 notifies the golfer 2 of permission to start the swing shown in S5 of FIG. 6, and then uses the data measured by the sensor unit 10a (an example of an output signal of the inertial sensor) to perform the golfer 2 during the swing. The angular velocity of the region of interest is calculated, and evaluation information as to whether or not useless movement in the swing is performed is generated based on the calculated angular velocity. The golf swing analysis device 20 calculates the angular velocity and acceleration of the region of interest of the golfer 2 during the swing using the data measured by the sensor unit 10a, and uses information for evaluating the swing based on the calculated angular velocity and acceleration. It may be generated. Further, the golf swing analyzing apparatus 20 may estimate the floor reaction force F using data measured by the sensor unit 10a attached to the waist of the golfer 2 as in the first embodiment. Moreover, the golf swing analysis apparatus 20 may generate | occur | produce the locus | trajectory information of a swing using the data which the sensor unit 10b measured similarly to 1st Embodiment.

[Configuration of golf swing analysis system]
FIG. 11 is a diagram illustrating a configuration example of the golf swing analysis system 1 according to the second embodiment (configuration example of the golf swing analysis device 20). Also in 2nd Embodiment, the sensor unit 10a and the sensor unit 10b are the same structures as 1st Embodiment (FIG. 7).

  As shown in FIG. 11, the golf swing analysis apparatus 20 in the second embodiment is similar to the first embodiment (FIG. 7) in the processing unit 21, the communication unit 22, the operation unit 23, the storage unit 24, and the display unit 25. And a sound output unit 26. The functions of the operation unit 23, the storage unit 24, the display unit 25, and the sound output unit 26 are the same as those in the first embodiment.

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

The processing unit 21 performs processing for transmitting a control command to the sensor unit 10a and the sensor unit 10b according to various programs, various calculation processing for data received from the sensor unit 10a and the sensor unit 10b via the communication unit 22, and others. Various control processes are performed. In particular, in the present embodiment, the processing unit 21 executes the swing analysis program 240 to thereby obtain a data acquisition unit 210, a floor reaction force estimation unit 211, a swing analysis unit 212, an evaluation information generation unit 213, and an image data generation unit 214. , Storage processing unit 215, display processing unit 216, sound output processing unit 217, and motion amount calculation unit 218. Floor reaction force estimation unit 211, swing analysis unit 212, storage processing unit 215, display processing unit 216, and sound output processing unit 2
The function 17 is the same as in the first embodiment.

  The data acquisition unit 210 performs processing for receiving packet data received by the communication unit 22 from the sensor unit 10 a and the sensor unit 10 b, acquiring time information and measurement data from the received packet data, and sending them to the storage processing unit 215.

  The motion amount calculation unit 218 performs processing for calculating the angular velocity of the region of interest of the golfer 2 during the swing using the data measured by the sensor unit 10a (measurement data stored in the storage unit 24). The motion amount calculation unit 218 may calculate the angular velocity and acceleration of the region of interest of the golfer 2 during the swing using data measured by the sensor unit 10a. Further, the motion amount calculation unit 218 may calculate the angular velocity and acceleration of a part (hand, arm, head, etc.) not included from the golfer 2's foot to shoulder. Then, the motion amount calculation unit 218 calculates the motion amount of each part of the golfer 2 based on the calculated angular velocity and acceleration.

In the present embodiment, the motion amount calculation unit 218 uses the angular velocity vector and acceleration vector of the sensor unit 10a in the XYZ coordinate system (global coordinate system) as the angular velocity vector and acceleration of the region of interest of the golfer 2 to which the sensor unit 10a is attached. Calculate as a vector. Then, the motion amount calculation unit 218 uses the calculated angular velocity vector and acceleration vector of the region of interest to calculate the relevant part (link n) of the link mechanism model including the predetermined part (link n) from the foot to the shoulder of the golfer 2. At least one of the terms on the left side of each part (link) in the equation of motion related to the acting joint torque vector τ _n is calculated as the amount of movement of each part.

For example, the motion amount calculation unit 218 defines the right leg link mechanism model (right thigh i = 3, right lower leg i = 4, right foot i = 5) shown in FIGS. 3 (A) and 3 (B). If the sensor unit 10a is attached to each of the right thigh i = 3, right lower leg i = 4, and right foot i = 5, the angular velocity vector of the sensor unit 10a attached to the right thigh during the swing of the golfer 2 and The acceleration vector is calculated as an angular velocity vector and an acceleration vector (corresponding to a vector obtained by second-order differentiation of ω ₃ and x _g3 in equation (2)) at the center of gravity position of the right thigh. Similarly, the motion amount calculation unit 218 uses the angular velocity vector and the acceleration vector of the sensor unit 10a attached to the right lower leg during the swing of the golfer 2 as the angular velocity vector and the acceleration vector of the center position of the right lower leg (in the formula (2)). the omega ₄ and x _g4 calculated as equivalent) to the second order differential with the vector, the angular velocity vector and the acceleration vector of the sensor unit 10a attached to the right foot during the golfer's swing 2, and the angular velocity vector of the center of gravity of the right foot It is calculated as an acceleration vector (corresponding to a vector obtained by second-order differentiation of ω ₅ and x _g5 in equation (2)). Then, the motion amount calculation unit 218 calculates the sum of the term including ω ₃ on the left side of Equation (2) and the term including a vector obtained by second-order differentiation of _xg3 , and sets this as the motion amount of the right thigh. Similarly, the motion amount calculation unit 218 calculates the sum of the term including ω ₄ on the left side of Equation (2) and the term including the vector obtained by second-order differentiation of x _g4 and sets this as the amount of motion of the right lower leg. The sum of the term containing ω ₅ on the left side of (2) and the term containing the vector obtained by second-order differentiation of x _g5 is calculated and this is used as the amount of movement of the right foot. Note that the motion amount calculation unit 218 may calculate only one term of the angular velocity vector and the acceleration vector of each part to obtain the motion amount of each part.

Specifically, the motion amount calculation unit 218 first uses the measurement data (acceleration data and angular velocity data) of the sensor unit 10a stored in the storage unit 24 when the golfer 2 is stationary (at the time of addressing). The offset amount included in the data is calculated, and the bias correction is performed by subtracting the offset amount from the measurement data after the start of the swing. The signal processing unit 13 of the sensor unit 10a may calculate the offset amount of the measurement data and perform bias correction of the measurement data, or the acceleration sensor 11 and the angular velocity sensor 12 may have a bias correction function. It may be. In these cases, the bias correction of the measurement data by the motion amount calculation unit 218 becomes unnecessary.

  Next, the motion amount calculation unit 218 uses the bias-corrected acceleration data and angular velocity data to determine the attitude (initial attitude) of the sensor unit 10a when the golfer 2 is stationary (addressing) in the XYZ coordinate system (global coordinate system). ) Is calculated, and then the rotation of the angular velocity data measured by the angular velocity sensor 12 (bias-corrected angular velocity data) is performed to calculate the attitude of the sensor unit 10a in time series. The attitude of the sensor unit 10a 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 11 measures only gravitational acceleration when the golfer 2 is stationary, the motion amount calculation unit 218 uses the bias-corrected three-axis acceleration data to calculate the x-axis, y-axis, and z-axis of the sensor unit 10a. The angle between each and the direction of gravity can be specified. Furthermore, since the golfer 2 performs the operation of step S4 in FIG. 6, the relationship between the x-axis, y-axis, z-axis of the sensor unit 10a and the XYZ coordinate system (global coordinate system) when the golfer 2 is stationary is uniquely determined. If the mounting angle of the sensor unit 10a is determined as described above, the motion amount calculation unit 218 can specify the initial posture of the sensor unit 10a.

Next, the motion amount calculation unit 218 converts the bias-corrected acceleration data and angular velocity data into acceleration vectors and angular velocity vectors in the XYZ coordinate system (global coordinate system) according to the attitude of the sensor unit 10a. The acceleration vector and the angular velocity vector of the sensor unit 10a correspond to a vector obtained by second-order differentiation of the position vector x _gi of the center of gravity of each corresponding part and the angular velocity vector ω _i of each corresponding part.

Then, the motion amount calculation unit 218 calculates each term on the left side of each link i in the motion equation related to the joint torque vector τ _n acting on the predetermined portion (link n) and sets it as the motion amount of each portion of the golfer 2.

  The evaluation information generation unit 213 performs processing for generating the evaluation information (information usable for swing evaluation) of the golfer 2 based on the movement amount of each part calculated by the movement amount calculation unit 218. For example, the evaluation information generation unit 213 uses the motion amount (vector magnitude) of each part calculated by the motion amount calculation unit 218 or the ratio of the motion amount of each part to the sum of the motion amounts of each part as a predetermined threshold value. By comparing or comparing the difference (ratio) of the amount of movement between each part, the degree of useless movement of each part is evaluated, the swing is judged, or evaluation information is generated by quantification May be.

  Similar to the first embodiment, the image data generation unit 214 uses the various information calculated by the swing analysis unit 212 to generate image data corresponding to the image of the swing analysis result displayed on the display unit 25. And processing for generating image data corresponding to the evaluation information generated by the evaluation information generation unit 213. The image data generation unit 214 evaluates information that includes the amount of movement of each part of the golfer and the swing trajectory information (for example, an evaluation that associates the amount of movement of each part with the trajectory information of the swing for each time from the start of the swing. Image data corresponding to information etc.) may be generated.

[Processing procedure of golf swing analyzer]
FIG. 12 is a flowchart showing a part of the procedure of the swing analysis process performed by the processing unit 21 in the second embodiment. In FIG. 12, the same reference numerals are given to the steps for performing the same processing as in FIG. 8. The processing unit 21 executes a swing analysis program 240 stored in the storage unit 24, thereby executing a part of the swing analysis process according to the procedure of the flowchart of FIG. Hereinafter, the flowchart of FIG. 12 will be described with a focus on differences from FIG.

  First, the processing unit 21 performs the processes of steps S10 to S80 as in FIG.

  Next, the processing unit 21 functions as the motion amount calculation unit 218, and calculates the motion amount of each corresponding part of the golfer 2 based on the measurement data of the sensor unit 10a acquired in step S70 (S82).

  Next, similarly to FIG. 8, the processing unit 21 determines whether or not the golfer 2 has finished the swing after performing the process of step S90 (S100).

  The processing unit 21 repeats the processes in steps S70 to S90 until the golfer 2 finishes the swing (N in S100).

  When the golfer 2 finishes the swing (Y in S100), the processing unit 21 then performs the process of step S110 as in FIG.

  Finally, the processing unit 21 functions as the evaluation information generation unit 213, and based on the movement amount of each part of the golfer 2 calculated in step S82 (further, the floor reaction force estimated in step S80 and the generation in step S110). The swing evaluation information may be generated, and the image data corresponding to the evaluation information may be generated by functioning as the image data generation unit 214 to display the image on the display unit 25. Display (S122), and the process ends.

  In the flowchart of FIG. 12, the order of the steps may be changed as appropriate within the possible range. For example, the processing unit 21 may perform the processes in steps S80, S82, and S90 after the end of the swing (Y in S100).

  The golf swing analysis apparatus 20 (processing unit 21) displays, as evaluation information, for example, a graph representing the behavior (change in size) of the amount of movement (or angular velocity or acceleration itself) of each part of the golfer 2 during the swing. Alternatively, a graph showing the behavior of the movement amount (or angular velocity or acceleration itself) of each part may be used to show the behavior of the movement amount of each part during the swing of the professional golfer or each part during the best swing of the golfer 2. You may display with the graph showing the behavior of a motion amount. In addition, the golf swing analysis device 20 (processing unit 21) uses, for example, a graph representing the behavior of the movement amount (or angular velocity or acceleration itself) of each part of the golfer 2 during the swing as the evaluation information. You may display with the graph showing a behavior. In addition, the golf swing analysis device 20 (processing unit 21) uses, as evaluation information, for example, the magnitude and direction of the movement amount (or angular velocity or acceleration itself) of each part of the golfer 2 during the swing, and the magnitude of the floor reaction force. It may be displayed together with the direction and the trajectory of the swing.

[effect]
As described above, according to the golf swing analysis system 1 (golf swing analysis device 20) of the second embodiment, the angular velocity of the site of interest is measured using the measurement data of the sensor unit 10a attached to the site of interest of the golfer 2. Then, using the angular velocity and acceleration, the amount of motion of each part can be calculated according to a motion equation (for example, Expression (2)) regarding the joint torque vector derived from the swing analysis theory. Therefore, according to the golf swing analysis system 1 (golf swing analysis device 20) of the second embodiment, for example, evaluation information necessary for analyzing a useless movement that hinders efficient transmission of the swing and evaluating the swing. Can be provided. For example, the golfer 2 can evaluate the swing based on the evaluation information by analyzing how efficiently the energy can be utilized during the swing, whether or not the useless movement has been performed, and the like.

2-3. Third Embodiment [Outline of Golf Swing Analysis System]
Below, the same code | symbol is attached | subjected to the structure similar to 1st Embodiment or 2nd Embodiment, description is abbreviate | omitted or simplified, and the content different from 1st Embodiment and 2nd Embodiment is mainly demonstrated.

  FIG. 13 is a diagram for explaining the outline of the golf swing analysis system of the third embodiment. As shown in FIG. 13, the golf swing analysis system 1 of the third embodiment includes a sensor unit 10a, a sensor unit 10b, floor reaction force meters 30R and 30L, and a golf swing analysis device 20 that are attached to a golfer's site of interest. It consists of

  The sensor unit 10a can measure the triaxial acceleration and the triaxial angular velocity, and is attached to the region of interest of the golfer 2's body as in the second embodiment. Although there is only one sensor unit 10a in FIG. 13, it may be attached to a plurality of parts of the golfer 2's body.

  The sensor unit 10b can measure the triaxial acceleration and the triaxial angular velocity, and is attached to a position where the movement of the golf club 3 gripped by the golfer 2 can be measured as in the first and second embodiments.

The floor reaction force meter 30R is placed under the right foot of the golfer 2 and measures the floor reaction force f _R (size and direction) generated on the right foot of the golfer 2 during the swing. Similarly, the floor reaction force meter 30L is placed under the left foot of the golfer 2, and measures the floor reaction force f _L (size and direction) generated on the left foot of the golfer 2 during the swing. One of the floor reaction force meter 30R and the floor reaction force meter 30L may be omitted, and the golfer 2 places both feet on one floor reaction force meter, and the floor reaction force meter is generated on the left and right feet. The total sum of floor reaction forces f _R + f _L may be measured.

  Also in the third embodiment, similarly to the first embodiment, the golfer 2 performs a swing operation of hitting the golf ball 4 according to a predetermined procedure shown in FIG. However, the golfer 2 performs the swing motion with the right foot and the left foot on the floor reaction force meters 30R and 30L, respectively.

  When the golfer 2 performs the measurement start operation in S2 of FIG. 6, the sensor unit 10a and the sensor unit 10b measure the triaxial acceleration and the triaxial angular velocity at a predetermined cycle (for example, 1 ms), and sequentially perform the measured data on the golf swing. It transmits to the analysis device 20. The communication between the sensor unit 10a and the sensor unit 10b and the golf swing analysis device 20 may be wireless communication or wired communication.

  When the golfer 2 performs the measurement start operation of S2 in FIG. 6, the floor reaction force meter 30R and the floor reaction force meter 30L measure the floor reaction force at a predetermined cycle (for example, 1 ms), and the measured data is sequentially It transmits to the golf swing analysis apparatus 20. Communication between the floor reaction force meter 30R and the floor reaction force meter 30L and the golf swing analysis device 20 may be wireless communication or wired communication.

Moreover, the golf swing analysis apparatus 20 may generate | occur | produce the locus | trajectory information of a swing using the data which the sensor unit 10b measured similarly to 1st Embodiment.

[Configuration of golf swing analysis system]
FIG. 14 is a diagram illustrating a configuration example of the golf swing analysis system 1 according to the third embodiment (configuration example of the golf swing analysis device 20). Also in 3rd Embodiment, the sensor unit 10a and the sensor unit 10b are the same structures as 1st Embodiment (FIG. 7).

As shown in FIG. 14, the golf swing analysis apparatus 20 in the third embodiment is similar to the first embodiment (FIG. 7) and the second embodiment (FIG. 11) in the processing unit 21, the communication unit 22, and the operation unit. 23, the memory | storage part 24, the display part 25, and the sound output part 26 are comprised. The functions of the operation unit 23, the storage unit 24, the display unit 25, and the sound output unit 26 are the same as those in the first embodiment and the second embodiment.

  In addition to the process similar to 2nd Embodiment, the communication part 22 performs the process etc. which receive the measurement data transmitted from the floor reaction force meters 30R and 30L, and send to the process part 21.

  The processing unit 21 transmits a control command to the sensor unit 10a and the sensor unit 10b according to various programs, various calculation processes for data received from the sensor unit 10a and the sensor unit 10b via the communication unit 22, Various calculation processes on the data received from the reaction force meters 30R and 30L via the communication unit 22 and other various control processes are performed. In particular, in the present embodiment, the processing unit 21 executes the swing analysis program 240, whereby the data acquisition unit 210, the swing analysis unit 212, the evaluation information generation unit 213, the image data generation unit 214, the storage processing unit 215, the display It functions as a processing unit 216, a sound output processing unit 217, a motion amount calculation unit 218, and a floor reaction force calculation unit 219. The functions of the swing analysis unit 212, the storage processing unit 215, the display processing unit 216, and the sound output processing unit 217 are the same as those in the first embodiment and the second embodiment. The function of the motion amount calculation unit 218 is the same as that of the second embodiment.

  In addition to the same processing as in the second embodiment, the data acquisition unit 210 performs a process of receiving the measurement data received by the communication unit 22 from the floor reaction force meters 30R and 30L and sending it to the storage processing unit 215.

The floor reaction force calculation unit 219 uses the data (measurement data stored in the storage unit 24) measured by the floor reaction force meters 30R and 30L, and the floor reaction force f _R generated on the right foot of the golfer 2 during the swing and A process of calculating the floor reaction force f _L generated on the left foot is performed.

In the present embodiment, the floor reaction force calculation unit 219 calculates the floor reaction force f _R (f _L ) on the right side or the floor reaction force F of both legs in Equations (1) and (2).

For example, the floor reaction force calculator 219 is defined by the right leg link mechanism model (right thigh i = 3, right lower leg i = 4, right foot i = 5) shown in FIGS. 3 (A) and 3 (B). If it is, it calculates the floor reaction force f _R of the right foot using a measurement data of force plate 30R during the golfer's swing 2.

The floor reaction force f _R of the right leg, the floor reaction force f _L of the left leg, and the floor reaction force F of both legs can be calculated using the floor reaction force meters 30R and 30L, and the right side is specifically determined in Equation (1). . Thus, in the first embodiment, the floor reaction force F of both legs is estimated from the acceleration of the center of gravity of the body, but it is decomposed into floor reaction forces f _R and f _L of the left and right legs in addition to the floor reaction force F of both legs. Detailed analysis is possible. Also in the formula (2), in the second embodiment, the angular velocity and acceleration magnitude of the target region are only evaluated relative to the swing. It is possible to analyze the degree of influence from the ratio.

  The evaluation information generation unit 213 uses the floor reaction force calculated by the floor reaction force calculation unit 219 and the movement amount of each part calculated by the movement amount calculation unit 218 to evaluate evaluation information (for evaluating the swing of the golfer 2). Generate usable information). For example, the evaluation information generation unit 213 uses the ratio of the motion amount (vector magnitude) of each part calculated by the motion amount calculation unit 218 to the floor reaction force calculated by the floor reaction force calculation unit 219 based on the ratio of each part. The degree of useless movement may be evaluated to determine a swing, or evaluation information may be generated by quantification.

  Similar to the first embodiment and the second embodiment, the image data generation unit 214 uses various information calculated by the swing analysis unit 212 and corresponds to the image of the swing analysis result displayed on the display unit 25. In addition to processing to generate data, processing to generate image data corresponding to the evaluation information generated by the evaluation information generation unit 213 is performed.

  In addition, the golf swing analysis device 20 (processing unit 21) represents, as evaluation information, for example, a behavior (size change) of a motion amount (or angular velocity or acceleration itself) of each part of the golfer 2 during a swing. May be displayed together with a graph representing the behavior of the floor reaction force, or a graph representing the behavior of the ratio between the amount of movement of each part of the golfer 2 and the floor reaction force.

[effect]
As described above, according to the golf swing analysis system 1 (golf swing analysis device 20) of the third embodiment, the floor reaction force that becomes the driving force of the swing is measured using the measurement data of the floor reaction force meters 30R and 30L. Calculate accurately, calculate the angular velocity and acceleration of each part using the measurement data of the sensor unit 10a attached to each part of the golfer 2, and use the calculated floor reaction force and the calculated angular velocity and acceleration to swing. The degree of evaluation can be specifically digitized and shown to the golfer.

  Further, according to the golf swing analysis system 1 (golf swing analysis device 20) of the third embodiment, the swing locus information is generated and calculated based on the measurement data of the sensor unit 10b attached to the golf club 3 or the like. By displaying the swing trajectory information along with the floor reaction force, the golfer 2 analyzes how the floor reaction force, which is the driving force of the swing, is transmitted in association with the swing trajectory, and details the swing. Can be evaluated.

3. 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 golf swing analysis system of each embodiment described above, the golf swing analysis device 20 and the sensor units 10a and 10b are wirelessly connected (may be wired connection), but the golf swing analysis device 20 and the sensor units 10a and 10b are connected. In addition, each of the memory card interface units may be provided so that the sensor units 10a and 10b write measurement data to the memory card, and the golf swing analysis device 20 reads the measurement data from the memory card and performs the swing analysis processing. .

  Further, for example, in each of the above-described embodiments, the acceleration sensor 11 and the angular velocity sensor 12 are integrated in the sensor units 10a and 10b, but the acceleration sensor 11 and the angular velocity sensor 12 are not integrated. Also good. Alternatively, the acceleration sensor 11 and the angular velocity sensor 12 may be directly attached to the golfer 2 or the golf club 3 without being built in the sensor units 10a and 10b. In the above embodiment, the sensor units 10a and 10b and the golf swing analysis device 20 are separate bodies. However, the golf swing 2 or the golf club can be obtained by integrating the golf swing analysis device 20 with any one of the sensor units 10a and 10b. 3 may be mountable. In addition, any one of the sensor units 10a and 10b includes an inertial sensor (the acceleration sensor 11 or the angular velocity sensor 12) and at least a part of the function of the processing unit 21 of the golf swing analysis apparatus 20, and the golf swing analysis according to the present invention. It may function as a device.

  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.

DESCRIPTION OF SYMBOLS 1 Golf swing analysis system, 2 Golfer, 3 Golf club, 4 Golf ball, 10a, 10b Sensor unit, 11 Acceleration sensor, 12 Angular velocity sensor, 13 Signal processing part, 14 Memory | storage part, 15 Communication part, 20 Golf swing analysis apparatus, 21 processing unit, 22 communication unit, 23 operation unit, 24 storage unit, 25 display unit, 26 sound output unit, 30R, 30L floor reaction force meter, 210 data acquisition unit, 211 floor reaction force estimation unit, 212
Swing analysis unit, 213 evaluation information generation unit, 214 image data generation unit, 215 storage processing unit, 216 display processing unit, 217 sound output processing unit, 218 motion amount calculation unit, 219 floor reaction force calculation unit, 240 swing analysis program, 242 Golf club information, 244 body information, 246 Sensor mounting position information

Claims (6)

  Calculating the acceleration of the center of gravity position of the golfer's body during the swing using the output signal of the first inertial sensor, and estimating the floor reaction force based on the acceleration and the mass information of the body including the golfer's golf club; A golf swing analysis device that generates evaluation information of the swing based on the floor reaction force.   The golf swing analyzing apparatus according to claim 1, wherein the first inertial sensor is attached to a waist portion of the golfer.   The golf swing analysis device according to claim 1, wherein the swing trajectory information is acquired, and the swing evaluation information including the floor reaction force and the trajectory information is generated and displayed.   4. The golf swing analysis apparatus according to claim 3, wherein the swing trajectory information is generated using an output signal output from a second inertia sensor attached to the golf club. Calculating at least one of acceleration and angular velocity of at least one part from the foot to the shoulder of the golfer during the swing using the output signal of the inertial sensor;
A golf swing analysis device that generates an index for evaluating the swing using at least one of the calculated acceleration and angular velocity based on an equation of motion.   The golf swing analysis apparatus according to claim 5, wherein the golf player's movement during the swing is evaluated using the angular velocity.