JP2017051269A - Control device, retainer, sensor set, control method, control program, and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mark projector control system and method capable of enhancing safety and convenience of a mark projector mounted on sporting goods, etc. (sporting goods, hands of a user, etc.).SOLUTION: The control device includes a timing control unit 261 for controlling a timing at which a mark projector 20d for projecting a mark stops the projection of the mark based on output of an inertial sensor (a sensor unit) 10 mounted on sporting goods or a user.SELECTED DRAWING: Figure 11

Description

  The present invention relates to a control device, a holder, a sensor set, a control method, a control program, and a recording medium.

  Patent Document 1 discloses a system for calibrating the swing of a golf club. In this system, a beam projector is mounted on a shaft of a golf club, and a mark serving as a guide in the hitting direction is projected toward a target line. This system is effective for putting exercises where accuracy in the direction of the hit ball is important.

  The “target line” in the present specification is a line on the horizontal plane that indicates the target direction specified by the posture of the face surface of the golf club. For example, the surface normal at the hitting point of the face surface of the golf club A straight line formed by projecting on a horizontal plane.

US Pat. No. 8,961,328

  In general, a projector that projects a mark onto a distant surface often uses a light source (laser light source) with high directivity. For this reason, if the light emitted from the projector is mistakenly incident on the human eye, even if the incident time is short, the energy density of the light is high, which may damage the eyes.

  The present invention has been made in view of the above problems, and according to some aspects of the present invention, a mark projector fixed to an exercise tool (exercise tool, user's hand, etc.) is provided. Provided are a control device, a holder, a sensor set, a control method, a control program, and a recording medium that can enhance safety or convenience.

  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 control device according to this application example includes a timing control unit that controls a timing at which a mark projector that projects a mark stops or starts projection of the mark based on an output of an inertial sensor attached to the exercise tool or the user. including.

The timing control unit controls the timing of stopping or starting the projection of the mark based on the amount of inertia applied to the exercise tool or the user. Therefore, the timing control unit projects, for example, when the exercise tool is in a state where the light emitted from the mark projector is likely to enter the human eye (for example, when the striking unit is not facing the ground, during a swing). By stopping, the safety of the mark projector can be increased. In addition, the timing control unit, for example, when the exercise tool is in a state where the light emitted from the mark projector is difficult to enter the human eye (for example, when the striking unit faces the ground surface and the user starts taking a posture) Etc.), the convenience of the mark projector can be improved.

[Application Example 2]
In the control device according to this application example, the timing control unit may stop the projection at a timing after the start of the projection and before the inertial sensor starts measuring a swing.

  Since the timing control unit stops the projection at the timing before the start of the swing measurement, it is possible to ensure the safety at the time when the swing is started.

[Application Example 3]
In the control device according to this application example, the timing may be a timing at which a stationary state of the exercise tool over a predetermined period is detected.

  The timing control unit stops the projection when the user takes a posture, for example. Therefore, it is possible to ensure the safety at the time when the swing is started.

[Application Example 4]
In the control device according to this application example, the timing control unit may start the projection at a timing when a user makes a predetermined gesture with the exercise tool after the inertial sensor is activated.

  The timing control unit starts projection when the user makes a predetermined gesture. Therefore, the user can start projecting the mark at a desired timing.

[Application Example 5]
In the control device according to this application example, the timing control unit may start the projection at a timing when the hitting unit of the transportation tool faces the ground side after the inertial sensor is activated.

  The timing control unit starts projection when the striking unit of the exercise tool faces the ground surface. Therefore, the projection can be started when the exercise tool is in a state in which the light emitted from the mark projector is difficult to enter the human eye (for example, when the user starts to take a posture).

[Application Example 6]
The holder according to the application example is used for mounting the inertial sensor on the exercise tool, and includes a control device according to the application example and the mark projector.

  The timing control unit controls the timing at which the projection of the mark is stopped or started based on the amount of inertia applied to the exercise tool. Therefore, the timing control unit projects, for example, when the exercise tool is in a state where the light emitted from the mark projector is likely to enter the human eye (for example, when the striking unit is not facing the ground, during a swing). By stopping, the safety of the mark projector can be increased. In addition, the timing control unit, for example, when the exercise tool is in a state where the light emitted from the mark projector is difficult to enter the human eye (for example, when the striking unit faces the ground surface and the user starts taking a posture) Etc.), the convenience of the mark projector can be improved.

[Application Example 7]
In the holder according to this application example, the mark projector may project a line-shaped mark onto the ground surface.

  Therefore, the user can use the projected mark as a guide in the hitting direction.

[Application Example 8]
The sensor set according to the application example includes a holder according to the application example and the inertial sensor.

[Application Example 9]
The control method according to this application example includes a procedure in which a mark projector that projects a mark controls a timing at which the projection of the mark is stopped or started based on an output of an inertial sensor attached to the exercise tool or the user. .

  In the control procedure, the timing for stopping or starting the projection of the mark is controlled based on the amount of inertia applied to the exercise tool or the user. Therefore, for example, by stopping the projection when the exercise tool is in a state where the light emitted from the mark projector is likely to enter the human eye (for example, when the hitting part is not facing the ground surface, during the swing), The safety of the mark projector can be increased. On the other hand, for example, when there is an exercise tool in a state in which the light emitted from the mark projector is difficult to enter the human eye (for example, when the striking part faces the ground surface, the user starts taking a posture) By starting, the convenience of the mark projector can be enhanced.

[Application Example 10]
In the control method according to this application example, the control procedure may stop the projection at a timing after the start of the projection and before the inertial sensor starts measuring a swing.

  In the controlling procedure, since the projection is stopped at the timing before the swing measurement is started, the safety at the time when the swing is started can be reliably ensured.

[Application Example 11]
In the control method according to this application example, the timing may be a timing at which a stationary state of the exercise tool over a predetermined period is detected.

  The control procedure stops the projection when the user takes a posture, for example. Therefore, it is possible to ensure the safety at the time when the swing is started.

[Application Example 12]
In the control method according to this application example, the control procedure may start the projection at a timing when a user makes a predetermined gesture with the exercise tool after the inertial sensor is activated.

  The controlling procedure starts projection when the user makes a predetermined gesture. Therefore, the user can start projecting the mark at a desired timing.

[Application Example 13]
In the control method according to this application example, the control procedure may start the projection at a timing when the striking portion of the exercise tool faces the ground surface after the inertial sensor is activated.

  The control procedure starts projection when the striking part of the exercise tool faces the ground surface. Therefore, the projection can be started when the exercise tool is in a state in which the light emitted from the mark projector is difficult to enter the human eye (for example, when the user starts to take a posture).

[Application Example 14]
The control program according to this application example includes a procedure in which the mark projector that projects the mark controls the timing of stopping or starting the projection of the mark based on the output of the inertial sensor attached to the exercise tool or the user. .

  In the control procedure, the timing for stopping or starting the projection of the mark is controlled based on the amount of inertia applied to the exercise tool or the user. Therefore, for example, by stopping the projection when the exercise tool is in a state where the light emitted from the mark projector is likely to enter the human eye (for example, when the hitting part is not facing the ground surface, during the swing), The safety of the mark projector can be increased. On the other hand, for example, when there is an exercise tool in a state in which the light emitted from the mark projector is difficult to enter the human eye (for example, when the striking part faces the ground surface, the user starts taking a posture) By starting, the convenience of the mark projector can be enhanced.

[Application Example 15]
The recording medium according to this application example includes a computer that controls a timing at which a mark projector that projects a mark stops or starts the projection of the mark based on an output of an inertial sensor attached to the exercise tool or the user. Record the control program to be executed.

  In the control procedure, the timing for stopping or starting the projection of the mark is controlled based on the amount of inertia applied to the exercise tool or the user. Therefore, for example, by stopping the projection when the exercise tool is in a state where the light emitted from the mark projector is likely to enter the human eye (for example, when the hitting part is not facing the ground surface, during the swing), The safety of the mark projector can be increased. On the other hand, for example, when there is an exercise tool in a state in which the light emitted from the mark projector is difficult to enter the human eye (for example, when the striking part faces the ground surface, the user starts taking a posture) By starting, the convenience of the mark projector can be enhanced.

It is a figure showing the outline of swing analysis system 1 of this embodiment. It is a figure which shows a mode that the sensor set 100 projects the mark 71 on the ground surface. 1 is an external perspective view of a golf club 3 to which an attachment 20 is attached. FIG. 4 is an enlarged view of a range indicated by a symbol A in FIG. 3, and is a schematic diagram illustrating a state where the sensor unit 10 is fitted to the attachment 20. 2 is an external perspective view of an attachment 20. FIG. 1 is an external perspective view showing a relationship between an attachment 20 attached to a golf club 3 and a sensor unit 10. FIG. It is a figure which shows the diffusion direction of the laser beam inject | emitted from the attachment 20. FIG. 2 is a diagram illustrating an example of the mounting position and orientation of a sensor unit 10 with respect to a golf club 3. FIG. It is a figure which shows the relationship of the mounting position and direction of the sensor unit 10 and the laser marker 20d. It is a figure which shows the procedure of the operation | movement performed before the user 2 hits a ball. 1 is a diagram illustrating a configuration example of a swing analysis system 1. FIG. It is a flowchart figure which shows an example of the procedure of a swing analysis process (swing analysis method). It is a figure which shows an example of a predetermined | prescribed gesture. It is a figure which shows an example of the time change waveform corresponding to a predetermined | prescribed gesture. It is a flowchart figure which shows an example of the procedure of the swing analysis process (swing analysis method) in 2nd Embodiment. It is a figure which shows a mode that the sole of a head is facing the ground surface side. It is a figure which shows a mode that the sole of a head does not face the ground surface side.

  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. 1. First embodiment 1-1. Outline of Exercise Tool and Holding Tool This embodiment is an embodiment of a swing analysis system. In this swing analysis system, an exercise tool equipped with a holding tool and an inertial sensor is used.

  The exercise tool is not limited as long as it has a shape that can be gripped, such as a rod shape, a column shape, a cylindrical shape, and the like, and can exercise a swing motion actively or passively. The swing motion may involve, for example, spatial position movement, shape or posture change, rotation, vibration, and the like. Examples of such exercise equipment include those used in various athletics, such as golf clubs, baseball bats, rackets such as tennis, bamboo swords, and the like.

  Hereinafter, a case where the exercise tool is a golf club will be described. Also, the golf club is not particularly limited, but a case where a rubber grip is attached to the shaft will be described. In addition, the mounting destination of the holder of the present embodiment is a rubber grip portion, but may be a shaft or a boundary portion between the grip and the shaft.

1-2. Overview of Swing Analysis System FIG. 1 is a diagram illustrating an overview of a swing analysis system according to this embodiment, and FIG. 2 is a diagram illustrating a state in which the sensor set 100 projects a mark 71 on the ground surface.

  As shown in FIG. 1, the swing analysis system 1 of the present embodiment includes a sensor set 100 and a swing analysis device 30.

  The sensor set 100 is attached to the golf club 3 (an example of an exercise tool). The sensor set 100 includes a sensor unit (an example of an inertial sensor) and an attachment (an example of a holder) for mounting the sensor unit to the golf club 3. The acceleration generated in each of the three axes and three axes ( It is possible to measure angular velocities generated around each axis (x-axis, y-axis, z-axis).

  The mounting posture of the sensor set 100 with respect to the golf club 3 is set to a predetermined posture, and the sensor set 100 projects a predetermined mark 71 representing the position and direction of the target line on the ground surface as shown in FIG. The “target line” is a line on the horizontal plane (on the ground surface) indicating the target direction specified by the posture of the face surface of the golf club 3, for example, a surface normal at the hitting point of the face surface of the golf club 3. A straight line formed by projecting on a horizontal plane.

  For example, the user 2 projects the golf ball 4 by projecting the mark 71 on the ground surface before the shot or putting, and holding the golf club 3 so that the mark 71 or the extension line of the mark 71 and the target (for example, the cup 5) intersect. It is possible to launch toward the target (for example, the cup 5).

1-3. Sensor Set The sensor set 100 includes the attachment 20 and the sensor unit 10 as described above.

  FIG. 3 is an external perspective view of the golf club 3 to which the attachment 20 is attached, and FIG. 4 is an enlarged view of the range indicated by reference numeral A in FIG. 3 and the sensor unit 10 is fitted to the attachment 20. It is a schematic diagram which shows.

  As shown in FIG. 3, the attachment 20 is formed of, for example, a curved plate-like (partial cylindrical) member having elasticity, and grips the grip portion 200a of the rod-like golf club 3 by the elastic force of the curved plate-like member. To do. In this state, the attachment 20 is fixed to the golf club 3.

  As shown in FIG. 4, fitting portions 20 b and 20 c are provided at two ends of the attachment 20 extending in the longitudinal direction of the golf club 3 as a mechanism for holding the sensor unit 10. The user 2 attaches the sensor unit 10 to the attachment 20 by fitting the sensor unit 10 to the fitting portions 20 b and 20 c of the attachment 20 and sliding the sensor unit 10 in the longitudinal direction (arrow direction) of the golf club 3. Therefore, the mounting position and mounting posture of the sensor unit 10 with respect to the golf club 3 are held by the attachment 20.

1-4. Laser Marker FIG. 5 is an external perspective view of the attachment 20, FIG. 6 is an external perspective view showing the relationship between the attachment 20 attached to the golf club 3 and the sensor unit 10, and FIG. It is a figure which shows the spreading | diffusion direction of the emitted laser beam (In FIG. 7, the putter is drawn as the golf club 3).

  As shown in FIG. 5, for example, a substantially cylindrical laser marker 20 d (an example of a projector) is provided on the top of the surface of the attachment 20. Inside the laser marker 20d, a visible light source having high directivity such as a laser diode and a projection optical system including a refractive member are mounted in a predetermined positional relationship. The longitudinal direction of the laser marker 20d corresponds to the optical axis direction of the projection optical system, and a laser beam exit 20d-1 is located at one end of the laser marker 20d.

  Here, it is assumed that the mark projected by the laser marker 20d is a line mark. In this case, for example, a light diverging element (magnifying optical system) such as a cylindrical lens (cylindrical prism) that diffuses a laser beam emitted from a light source in a single direction is disposed at the exit 20d-1 of the laser marker 20d. The

  As shown in FIG. 6, the orientation of the laser marker 20d relative to the attachment 20 is such that the optical axis direction of the laser marker 20d is along the longitudinal direction of the golf club 3, and the diffusion direction of the laser light by the exit 20d-1 of the laser marker 20d (The direction in which the surface of the cylindrical lens is curved) is set to coincide with the direction of the target line.

  As shown in FIG. 7, the laser marker 20 d in the attachment 20 is disposed so that, for example, the injection hole 20 d-1 of the laser marker 20 d faces the hitting point side of the head (an example of a hitting ball portion) of the golf club 3. In this case, the laser marker 20d can project the line mark 71 on the target line. FIG. 7 shows the golf club 3 (putter) of the right-handed user 2, and the line mark 71 is drawn long on the target side and short on the non-target side.

1-5. FIG. 8 is a diagram illustrating an example of the mounting position and orientation of the sensor unit 10 with respect to the golf club 3, and FIG. 9 illustrates the relationship between the mounting position and orientation of the sensor unit 10 and the laser marker 20d. FIG.

  As shown in FIG. 8, the sensor unit 10 is mounted on the golf club 3 in one of the three detection axes (x axis, y axis, z axis) of the sensor unit 10 (here, y axis). Is set along the longitudinal direction of the shaft of the golf club 3 (the direction from the grip toward the head).

  Further, the posture of the other one axis (here, x axis) of the sensor unit 10 with respect to the golf club 3 is, for example, a posture (hereinafter, referred to as “x axis” along a target line specified from the posture of the face surface). This is called “ideal posture”.

  In addition, the mounting position of the sensor unit 10 on the golf club 3 is desirably closer to the grip side than the head side, so that impact at the time of hitting is less likely to be transmitted and centrifugal force is less likely to be applied at the time of swing. Further, the “shaft” here refers to a portion of the handle excluding the head of the golf club 3 and includes a grip. The “face surface” refers to the ball striking surface of the head of the golf club 3.

  As shown in FIG. 9, the longitudinal direction of the laser marker 20 d (the optical axis direction of the projection optical system) is set along the y axis of the sensor unit 10, for example. Further, the diffusion direction of the laser light from the exit 20d-1 of the laser marker 20d is set so as to be along the x-axis direction of the sensor unit 10.

1-6. User Operations FIG. 10 is a diagram showing a procedure of operations performed until the user 2 hits the ball. Hereafter, each step of FIG. 10 is demonstrated in order.

  Step S <b> 1: The user 2 performs an input operation such as body information of the user 2 and information (golf club information) regarding the golf club 3 used by the user 2 through the swing analysis device 30. The body information includes at least one piece of information on the height, arm length, and leg length of the user 2, and may further include sex information and other information. The golf club information includes information on the length of the golf club 3 (club length) and information on at least one of the types (counts) of the golf club 3.

  Step S2: The user 2 performs a measurement start operation (an operation for causing the sensor unit 10 to start measurement) via the swing analysis device 30. Thereafter, the swing analysis device 30 transmits a measurement start command to the sensor unit 10, and the sensor unit 10 receives the measurement start command and starts measuring the triaxial acceleration and the triaxial angular velocity. The sensor unit 10 measures the triaxial acceleration and the triaxial angular velocity at a predetermined cycle (for example, 1 ms), and sequentially transmits the measured data to the swing analysis device 30. Communication between the sensor unit 10 and the swing analysis device 30 is wireless communication or wired communication.

  Step S3: The user 2 starts projection of the line mark 71 on the laser marker 20d by making a predetermined gesture with the golf club 3. Then, the user 2 finds the optimum posture of the head of the golf club 3 using the line mark 71 as a guide. Specifically, the user 2 adjusts the posture of the head of the golf club 3 so that the line mark 71 (or an extension line of the line mark 71) intersects the target (for example, the cup 5).

Here, the predetermined gesture is, for example, a gesture such as “lightly hit the ground surface twice with the sole of the head of the golf club 3”. The predetermined gesture may be another gesture. (1) When the user 2 moves the golf club 3 by hand, (2
) When the user 2 is swinging at the golf club 3, (3) When the user 2 is at the address posture at the golf club 3, the output (measurement data) of the sensor unit 10 is changed in a different pattern. Any gesture can be used. In order to avoid the laser light being incident on the human eye, it is desirable that this gesture is such that the sole of the head of the golf club 3 faces the ground surface.

  Step S4: When the posture of the head of the golf club 3 is determined, the user 2 takes a posture (address posture) and rests for a predetermined time (for example, 1 second) or longer. In the present embodiment, the gesture of being stationary for a predetermined time or more is not only a swing start notification to the swing analysis device 30 but also a notification of a line mark projection stop instruction. Therefore, the projection of the line mark 71 is stopped when the user 2 takes an address posture and stops for a predetermined time or longer.

  Step S5: The user 2 determines whether or not a notification permitting swing (for example, notification by voice) has been received from the swing analysis device 30, and if the notification has been received (S5Y), moves to step S6 and does not receive it. In this case (S5N), the process proceeds to step S4.

  Step S6: The user 2 performs a swing motion and hits the golf ball 4. Thereafter, the swing analysis device 30 analyzes the swing motion that the user 2 hits with the golf club 3 based on the measurement data of the sensor unit 10.

  Therefore, the user 2 of this embodiment can start projecting the line mark 71 by performing a predetermined gesture such as “lightly tapping the ground surface twice with the sole of the head of the golf club 3”. The projection of the line mark 71 can be stopped by performing a gesture of “still in a posture for a predetermined time or more”.

1-7. Configuration of Swing Analysis System FIG. 11 is a diagram illustrating a configuration example of the swing analysis system 1.

  The swing analysis system 1 includes a sensor unit 10 and an attachment 20 that constitute a sensor set 100, and a swing analysis device 30.

  As shown in FIG. 11, the sensor unit 10 includes an acceleration sensor 12, an angular velocity sensor 14, a control unit 16, a communication unit 18, a battery 29, and the like. However, the sensor unit 10 may have a configuration in which some of these components are appropriately deleted or changed, or other components such as a geomagnetic sensor are added.

  The acceleration sensor 12 measures the acceleration generated in each of the three axial 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. To do.

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

  The control unit 16 receives acceleration data and angular velocity data from the acceleration sensor 12 and the angular velocity sensor 14, respectively, attaches time information to the storage unit (not shown), and stores the measurement data (acceleration data and angular velocity data). Packet data matching the format for communication with the time information is generated and output to the communication unit 18.

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

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

  The acceleration sensor 12 and the angular velocity sensor 14 may output analog signals. In this case, the control unit 16 converts the output signal of the acceleration sensor 12 and the output signal of the angular velocity sensor 14 to A / D, respectively. It is only necessary to generate measurement data (acceleration data and angular velocity data) by conversion, and generate packet data for communication using these.

  The control unit 16 includes a timing control unit 161. When receiving a projection start command from the swing analysis device 30, the timing control unit 161 inputs a projection start signal to the control unit 26 of the attachment 20. When the timing control unit 161 receives a projection stop command from the swing analysis device 30, the timing control unit 161 inputs a projection stop signal to the control unit 26 of the attachment 20.

  Here, control terminals 10e and 20e are provided at portions where the sensor unit 10 and the attachment 20 are in contact with each other (for example, the fitting portions 20b and 20c described above) while being attached to the golf club 3. The control signals (projection start signal and projection stop signal) from the sensor unit 10 to the attachment 20 are input via the terminals 10e and 20e. Here, the contact type is adopted as the input method of the control signal from the sensor unit 10 to the attachment 20, but a non-contact type may be adopted.

  The communication unit 18 receives processing for transmitting packet data received from the control unit 16 to the swing analysis device 30 and various control commands (projection start command, projection stop command) such as a measurement start command from the swing analysis device 30. The processing to be sent to the control unit 16 is performed. The control unit 16 performs various processes according to the control command.

  The battery 29 supplies power to each element of the sensor unit 10 and the attachment 20.

  Here, power supply terminals 10a and 20a are provided at portions where the sensor unit 10 and the attachment 20 are in contact with each other (for example, the fitting portions 20b and 20c described above) while being attached to the golf club 3. The power supply from the sensor unit 10 to the attachment 20 is performed via the terminals 10a and 20a. Here, a contact type is adopted as a method of supplying power from the sensor unit 10 to the attachment 20, but a non-contact type may be adopted. Here, the battery 29 mounted on the sensor unit 10 is used as a power source for the attachment 20. However, a dedicated battery may be mounted on the attachment 20 and the battery may be used as the power source for the attachment 20.

  As shown in FIG. 11, the attachment 20 (an example of a holder) includes a laser marker 20d (an example of a mark projector), a control unit 26 (an example of a control device), and the like. However, the attachment 20 may have a configuration in which some of these components are appropriately deleted or changed, or other components are added as appropriate.

  The laser marker 20d includes a projection optical system 221 including the above-described exit and a light source 222 such as a laser diode.

  The control unit 26 drives the light source 222 by supplying power from the battery 29 to the light source 222. Further, the control unit 26 includes a timing control unit 261. The timing control unit 261 controls the timing at which the light source 222 is turned on or off by controlling the timing at which power supply to the light source 222 is started or stopped.

  The timing control unit 261 turns on the light source 222 in accordance with the projection start signal input from the sensor unit 10, thereby causing the laser marker 20d to start projecting the line mark 71. In addition, the timing control unit 261 turns off the light source 222 according to the projection stop signal input from the sensor unit 10, thereby causing the laser marker 20 d to stop projecting the line mark 71.

  As shown in FIG. 11, the swing analysis device 30 includes a processing unit 31, a communication unit 32, an operation unit 33, a storage unit 34, a display unit 35, and a sound output unit 36. However, the swing analysis device 30 may have a configuration in which some of these components are appropriately deleted or changed, or other components are added as appropriate.

  The communication unit 32 receives the packet data transmitted from the sensor unit 10 and transmits to the sensor unit 10 a process to be sent to the processing unit 31 and a control command (including a projection start command and a projection stop command) from the processing unit 31. Process.

  The operation unit 33 performs processing for acquiring data corresponding to the operation of the user 2 and sending the data to the processing unit 31. The operation unit 33 may be, for example, a touch panel display, a button, a key, a microphone, or the like.

  The storage unit 34 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 34 stores programs for the processing unit 31 to perform various calculation processes and control processes, various programs and data for realizing application functions, and the like.

  In the present embodiment, the storage unit 34 stores a swing analysis program 340 that is read by the processing unit 31 and that executes a swing analysis process. The swing analysis program 240 may be stored in advance in a non-volatile recording medium (computer-readable recording medium), or the processing unit 31 receives and stores it from a server (not shown) via a network. The information stored in the unit 34 may be used.

  The storage unit 34 also stores golf club information 342, body information 344, sensor mounting position information 346, and swing analysis data 348. For example, the user 2 operates the operation unit 23 to input specification information of the golf club 3 to be used (for example, information such as the length of the shaft, the position of the center of gravity, the lie angle, the face angle, and the loft angle) from the input screen. At least a part of the information), and the input specification information may be used as the golf club information 342. Alternatively, in step S1, the user 2 inputs the model number of the golf club 3 (or selects from the model number list), and the specification of the input model number among the specification information for each model number stored in advance in the storage unit 34. The information may be golf club information 342.

Further, for example, the user 2 may operate the operation unit 33 to input physical information from the input screen, and the input physical information may be used as the physical information 344. Further, for example, in step S1, the user 2 operates the operation unit 23 to input the distance between the mounting position of the sensor unit 10 and the grip end of the golf club 3, and the input distance information is used as the sensor mounting position. Information 346 may be used. Alternatively, information on the predetermined position may be stored in advance as sensor mounting position information 346, assuming that the sensor unit 10 is mounted at a predetermined position (for example, a distance of 20 cm from the grip end).

  The swing analysis data 348 is data including information on the analysis result (index) of the swing motion by the processing unit 31 as well as the time (date and time) at which the swing was performed, the identification information and sex of the user 2, and the type of the golf club 3. . The swing analysis data is managed for each golf club and for each swing.

  The storage unit 34 is used as a work area of the processing unit 31 and temporarily stores data acquired by the operation unit 33, calculation results executed by the processing unit 31 according to various programs, and the like. Furthermore, the storage unit 34 may store data that needs to be stored for a long time among the data generated by the processing of the processing unit 31.

  The display unit 35 displays the processing result of the processing unit 31 as characters, graphs, tables, animations, and other images. The display unit 35 may be, for example, a CRT, an LCD, a touch panel display, a head mounted display (HMD), a display unit included in a wrist device, or the like. In addition, you may make it implement | achieve the function of the operation part 33 and the display part 35 with one touchscreen type display.

  The sound output unit 36 outputs the processing result of the processing unit 31 as sound such as sound or buzzer sound. The sound output unit 36 may be, for example, a speaker or a buzzer.

  The processing unit 31 performs processing for transmitting a control command to the sensor unit 10 via the communication unit 32 and various calculation processing for data received from the sensor unit 10 or the attachment 20 via the communication unit 32 according to various programs. . The processing unit 31 performs other various control processes.

  In particular, in the present embodiment, when executing the swing analysis program 240, the processing unit 31 appropriately includes a data acquisition unit 310, an image data generation unit 312, a display processing unit 314, a swing analysis unit 311, a storage processing unit 313, It functions as a sound output processing unit 315 and a timing control unit 316, and performs processing (swing analysis processing) for analyzing the swing motion of the user 2.

  The data acquisition unit 310 receives the packet data received from the sensor unit 10 by the communication unit 32, acquires time information and measurement data from the received packet data, and performs processing to send to the storage processing unit 313.

  The timing control unit 316 sends a projection start command or a projection stop command to the sensor unit 10 via the communication unit 32, and controls the timing of starting or stopping the projection of the line mark 71 by the attachment 20 via the sensor unit 10. .

  The storage processing unit 313 performs read / write processing of various programs and various data for the storage unit 34. For example, the storage processing unit 313 stores the time information received from the data acquisition unit 310 and the measurement data in association with each other and stores them in the storage unit 34, various information calculated by the swing analysis unit 311, the swing analysis data 348, and the like. Processing to be stored in the storage unit 34 is performed.

The swing analysis unit 311 analyzes the swing motion of the user 2 using measurement data output from the sensor unit 10 (measurement data stored in the storage unit 24), data from the operation unit 33, and the like. A process of generating swing analysis data 348 including information on the received time (date and time), identification information and sex of the user 2, the type of the golf club 3, and the analysis result of the swing motion is performed. Further, the swing analysis unit 311 calculates the value of each index of the swing as at least part of the information on the analysis result of the swing motion.

  The image data generation unit 312 performs processing for generating image data corresponding to the image displayed on the display unit 35. For example, the image data generation unit 312 generates image data based on various types of information received by the data acquisition unit 310.

  The display processing unit 314 performs processing for causing the display unit 35 to display various images (including characters and symbols in addition to images corresponding to the image data generated by the image data generation unit 312). For example, the display processing unit 314 causes the display unit 35 to display various screens based on the image data generated by the image data generation unit 312. Further, for example, the image data generation unit 312 may display an image, characters, or the like for notifying the user 2 on the display unit 35. In addition, for example, the display processing unit 314 may display text such as characters and symbols indicating the analysis result by the swing analysis unit 311 automatically or in response to an input operation of the user 2 after the user 2 finishes the swing motion. Information may be displayed on the display unit 35. Alternatively, a display unit is provided in the sensor unit 10, and the display processing unit 314 transmits image data to the sensor unit 10 via the communication unit 32, and displays various images and characters on the display unit of the sensor unit 10. It may be displayed.

  The sound output processing unit 315 performs processing for causing the sound output unit 36 to output various sounds (including sound and buzzer sound). For example, the sound output processing unit 315 may cause the sound output unit 36 to output a sound for notifying the user 2. Further, for example, the sound output processing unit 315 outputs a sound or a sound indicating an analysis result by the swing analysis unit 211 automatically or in response to an input operation of the user 2 after the swing motion of the user 2 is completed. You may make it output from the output part 36. FIG. Alternatively, a sound output unit is provided in the sensor unit 10, and the sound output processing unit 315 transmits various sound data and audio data to the sensor unit 10 via the communication unit 32, and the sound output unit of the sensor unit 10. Various sounds and sounds may be output.

  Note that a vibration mechanism may be provided in the swing analysis device 30 or the sensor unit 10, and various information may be converted into vibration information by the vibration mechanism and notified to the user 2.

1-8. Calculation of position and orientation The calculation of the position and orientation of the sensor unit 10 is basically performed as follows.

  First, the swing analysis unit 311 represents the initial position of the sensor unit 10 at the start of the swing in the global coordinate system, and represents the position of the sensor unit 10 at each time as a relative value based on the value of the initial position. The position of the sensor unit 10 at each time of the swing can be obtained by, for example, integrating the acceleration data output from the sensor unit 10 during the swing over a period from the start of the swing to the time.

  The swing analysis unit 311 represents the initial posture of the sensor unit 10 at the start of the swing as a value in the global coordinate system, and represents the posture of the sensor unit 10 at each time as a relative value with respect to the initial posture. The attitude of the sensor unit 10 at each time of the swing can be obtained by, for example, rotating the angular velocity data output from the sensor unit 10 during the swing over a period from the start of the swing to the time.

  Further, the swing analysis unit 311 determines the position of a predetermined portion (head, grip, etc.) of the golf club 3 at each time of the swing, the position of the sensor unit 10 at the same time, the posture of the sensor unit 10 at the same time, and the sensor. This is determined based on the positional relationship from the unit 10 to a predetermined part (represented by the sensor mounting position information 346 and the golf club information 342).

  The swing analysis unit 311 obtains the posture of the predetermined part of the golf club 3 at each time of the swing based on the posture of the sensor unit 10 at the same time.

  Since the measurement data (acceleration data and angular velocity data at each time) output from the sensor unit 10 is biased, the swing analysis unit 311 calculates the offset amount of the measurement data and corrects the bias of the measurement data. You may go. The function of bias correction may be mounted on the acceleration sensor 12 and the angular velocity sensor 14 of the sensor unit 10 or may be mounted on the swing analysis unit 311 side.

1-9. Timing Detection The swing analysis unit 311 detects the timing (impact timing) when the user 2 hits the ball using the measurement data. For example, the swing analysis unit 311 may calculate a composite value of measurement data (acceleration data or angular velocity data) and detect impact timing (time) based on the composite value.

Specifically, first, the swing analysis unit 311 calculates a value of a combined value n ₀ (t) of angular velocities at each time t using angular velocity data (bias corrected angular velocity data at each time t). .

Next, the swing analysis unit 311 converts the combined value n ₀ (t) of the angular velocities at each time t into a combined value n (t) normalized (scaled) to a predetermined range. For example, if the maximum value of the combined value of angular velocities during the measurement data acquisition period is max (n ₀ ), the swing analysis unit 311 normalizes the combined value n ₀ (t) of angular velocities in the range of 0 to 100. The synthesized value n (t) is converted.

  Next, the swing analysis unit 311 calculates a differential dn (t) of the combined value n (t) after normalization at each time t.

Next, the swing analysis unit 311 detects the previous time as the impact time t _impact (impact timing) among the time when the value of the derivative dn (t) of the combined value is maximum and minimum. In a normal golf swing, it is considered that the swing speed becomes maximum at the moment of impact. Since the combined value of the angular velocities is considered to change according to the swing speed, the swing analysis unit 311 has a timing at which the differential value of the combined value of the angular velocities is maximized or minimized during a series of swing operations (that is, The timing at which the differential value of the combined value of the angular velocities becomes the maximum positive value or the minimum negative value) can be regarded as the impact timing. In addition, since the golf club 3 vibrates due to the impact, it is considered that the timing at which the differential value of the combined value of the angular velocities is the maximum and the timing at which the differential is the minimum occurs. Conceivable.

Next, the swing analysis unit 311 detects the time of the minimum point where the composite value n (t) approaches 0 before the _impact time t _impact as the top time t _top (top timing). In a normal golf swing, it is considered that after the start of the swing, the operation is temporarily stopped at the top, and then the swing speed is gradually increased to cause an impact. Therefore, the swing analysis unit 311 can grasp the timing at which the combined value of the angular velocities approaches 0 and becomes the minimum before the impact timing as the top timing.

Next, the swing analysis unit 311 sets a section in which the composite value n (t) is equal to or less than a predetermined threshold before and after the _top time t _top as a top section, and the composite value n (t) is before the start time of the top section. The last time that is less than or equal to the predetermined threshold is detected as the time t _start of the swing start (back swing start). In a normal golf swing, it is unlikely that the swing operation starts from a stationary state and stops until the top. Therefore, the swing analysis unit 311 can grasp the last timing at which the combined value of the angular velocities is equal to or less than the predetermined threshold before the top section as the start timing of the swing motion. Note that the swing analysis unit 311 may detect the time of the minimum point where the composite value n (t) approaches 0 before the _top time t _top as the swing start time t _start .

  Note that the swing analysis unit 311 can similarly detect each timing of the start of the swing, the top, and the impact even if the triaxial acceleration data is used.

1-10. Swing Analysis Processing FIG. 12 is a flowchart showing an example of the procedure of swing analysis processing (swing analysis method). The processing unit 31 executes the swing analysis program 340 stored in the storage unit 34, thereby executing the swing analysis process, for example, according to the procedure of the flowchart of FIG. Hereinafter, the flowchart of FIG. 12 will be described.

  Step S10: The processing unit 31 waits until the measurement start operation by the user 2 is performed (N in S10). When the measurement start operation is performed (Y in S10), the processing unit 31 proceeds to Step S12.

  Step S <b> 12: The processing unit 31 transmits a measurement start command to the sensor unit 10 and starts acquiring measurement data from the sensor unit 10.

  Step S14: Based on the measurement data transmitted from the sensor unit 10, the timing control unit 316 of the processing unit 31 monitors whether or not a predetermined change pattern is included in the time change waveform of the measurement data. If yes (Y in S14), it is determined that the user 2 has made a predetermined gesture at the golf club 3, and the process proceeds to step S16. If not included (N in S14), step S14 is performed again. Run.

  Specifically, when the predetermined gesture is “lightly tapping the ground surface twice with the sole of the golf club 3 head” as shown in FIG. 13, the magnitude of the z-axis acceleration is large as shown in FIG. 14, for example. The peaks should appear twice in succession. The horizontal axis in FIG. 14 is time, and the vertical axis in FIG. 14 is z-axis acceleration.

  Therefore, the timing control unit 316 in step S14 stores a standard time change waveform (standard change pattern) when a predetermined gesture is performed in the storage unit 34, and is transmitted from the sensor unit 10. The difference between the time change waveform of the magnitude of the z-axis acceleration included in the measurement data and the standard time waveform is monitored, and it is determined that a predetermined gesture has been performed when the monitored difference is equal to or less than a threshold value, If the difference exceeds the threshold, it is determined that a predetermined gesture has not been performed. Here, the determination of whether or not a predetermined gesture has been performed is performed based on the z-axis acceleration, but may be performed based on acceleration in other axial directions instead of the z-axis acceleration or in addition to the z-axis acceleration. Good. Moreover, you may perform based on angular velocity instead of or in addition to acceleration.

  Step S16: The timing control unit 316 of the processing unit 31 transmits a projection start command to the sensor unit 10. In response to this, the control unit 16 of the sensor unit 10 inputs a projection start signal to the attachment 20. Therefore, the timing control unit 261 of the attachment 20 starts projection of the line mark 71 by the laser marker 20d.

  Step S18: The timing control unit 316 of the processing unit 31 determines whether or not the golf club 3 is in a stationary state using the measurement data acquired from the sensor unit 10, and detects that the golf club 3 is in a stationary state (in S18). Y) The process proceeds to step S20, and otherwise waits (N in S18).

  Step S20: The timing control unit 316 of the processing unit 31 transmits a projection stop command to the sensor unit 10. In response to this, the timing control unit 161 of the sensor unit 10 inputs a projection stop signal to the attachment 20. Therefore, the timing control unit 261 of the attachment 20 stops the projection of the line mark 71 by the laser marker 20d.

  Step S22: The processing unit 31 notifies the user 2 of permission to start the swing. The processing unit 31 outputs, for example, a predetermined sound, or notifies the user 2 of permission to start swinging by providing an LED in the sensor unit 10 and lighting the LED. After confirming this notification, the swing operation is started.

  Step S24: The timing control unit 316 of the processing unit 31 monitors whether or not a predetermined change pattern is included in the time change waveform of the measurement data based on the measurement data transmitted from the sensor unit 10. If yes (Y in S24), it is determined that the user 2 has made a predetermined gesture at the golf club 3, and the process proceeds to step S16. If not included (N in S24), the process proceeds to step S26. To do. Note that the determination method in step S24 is the same as the determination method in step S14.

  Step S26: When detecting the start of the swing based on the measurement data transmitted from the sensor unit 10 (Y in S26), the processing unit 31 proceeds to step S28, and if not (S26N), the processing unit 31 proceeds to step S24. Note that whether or not the swing has started is determined, for example, by whether or not the combined value of the three-axis angular velocities included in the measurement data exceeds a predetermined threshold, or the combined value of the three-axis accelerations included in the measured data. This can be done depending on whether a predetermined threshold is exceeded.

  Step S28: The processing unit 31 calculates the initial position and the initial posture of the sensor unit 10 in the global coordinate system based on the measurement data output from the sensor unit 10 when the golf club 3 is in the stationary state of Step S18.

  Step S30: The processing unit 31 detects timings such as the start of the swing, the top, and the impact using the measurement data acquired from the sensor unit 10 after the end of the swing motion of the user 2 or before the end of the swing motion. . The processing unit 31 may use the timing detected in step S26 as it is as the swing start timing, or may detect the swing start timing based on another timing.

  Step S32: The processing unit 31 calculates the position and orientation of the sensor unit 10 during the swing motion of the user 2 in parallel with or before or after the process of step S30.

Step S34: The processing unit 31 calculates a swing index using the measurement data acquired from the sensor unit 10, the timing of impact, and at least a part of the position and orientation of the sensor unit 10 calculated in step S28.

  Step S36: When generating the swing analysis data including one or a plurality of indices calculated in step S34, the processing unit 31 stores the swing analysis data of the golf club 3 in the swing analysis data 348 and ends the flow.

  In the flowchart of FIG. 13, the order of each process may be appropriately changed within a possible range, a part of the process may be deleted or changed, and another process may be added.

2. Second Embodiment Hereinafter, a swing analysis system according to a second embodiment will be described. Here, differences from the first embodiment will be described. The difference is in the swing analysis process. Further, the same elements as those described in the first embodiment will be described with the same reference numerals.

  FIG. 15 is a flowchart illustrating an example of a procedure of swing analysis processing (swing analysis method) in the second embodiment. The processing unit 31 executes the swing analysis program by executing the swing analysis program 340 stored in the storage unit 34, for example, according to the procedure of the flowchart of FIG. Hereinafter, the flowchart of FIG. 15 will be described.

  Step S10: The processing unit 31 waits until the measurement start operation by the user 2 is performed (N in S10). When the measurement start operation is performed (Y in S10), the processing unit 31 proceeds to Step S12.

  Step S <b> 12: The processing unit 31 transmits a measurement start command to the sensor unit 10 and starts acquiring measurement data from the sensor unit 10.

  Step S14 ′: The timing control unit 316 of the processing unit 31 determines whether the sole of the head of the golf club 3 is stable toward the ground surface based on the measurement data transmitted from the sensor unit 10, for example, If the head sole is stable toward the ground surface as shown in FIG. 16 (Y of S14 ′), the process proceeds to step S16. For example, as shown in FIG. 17, the head sole is not facing the ground surface side or If it is unstable (N in S14 ′), step S14 ′ is executed again.

  Specifically, if the sole of the head is stable toward the ground surface as shown in FIG. 16 (for example, the angle Θ formed by the y-axis with respect to the direction of gravitational acceleration is less than 50 ° and close to a stationary state) ), The y-axis acceleration falls within a predetermined value range, and the combined value of the three-axis acceleration becomes a value near the gravitational acceleration, but the head sole does not face the ground side as shown in FIG. For example, if the angle Θ formed by the y-axis with respect to the direction of gravitational acceleration is 50 ° or more) or unstable, the y-axis acceleration is out of the predetermined value range, or the combined value of the three-axis acceleration is separated from the gravitational acceleration. Should be the value. Although the threshold value of the angle Θ is 50 ° here, other values may be used. For example, the threshold value of the angle Θ may be set to any predetermined value in the range of 40 ° to 50 °.

  Therefore, the timing control unit 316 in step S14 ′ determines that the sole of the head is on the ground side when the y-axis acceleration is within a predetermined value range and the combined value of the three-axis acceleration is a value near the gravitational acceleration. It is determined that the head is facing and stable. Otherwise, it is determined that the sole of the head is not facing the ground surface or is unstable.

Step S16: The timing control unit 316 of the processing unit 31 transmits a projection start command to the sensor unit 10. In response to this, the control unit 16 of the sensor unit 10 inputs a projection start signal to the attachment 20. Therefore, the timing control unit 261 of the attachment 20 starts projection of the line mark 71 by the laser marker 20d.

  Step S18: The timing control unit 316 of the processing unit 31 determines whether or not the golf club 3 is in a stationary state using the measurement data acquired from the sensor unit 10, and detects that the golf club 3 is in a stationary state (in S18). Y) The process proceeds to step S20, and otherwise waits (N in S18).

  Step S20: The timing control unit 316 of the processing unit 31 transmits a projection stop command to the sensor unit 10. In response to this, the timing control unit 161 of the sensor unit 10 inputs a projection stop signal to the attachment 20. Therefore, the timing control unit 261 of the attachment 20 stops the projection of the line mark 71 by the laser marker 20d.

  Step S22: The processing unit 31 notifies the user 2 of permission to start the swing. The processing unit 31 outputs, for example, a predetermined sound, or notifies the user 2 of permission to start swinging by providing an LED in the sensor unit 10 and lighting the LED. After confirming this notification, the swing operation is started.

  Step S24 ′: The timing control unit 316 of the processing unit 31 determines whether the sole of the head of the golf club 3 is stable toward the ground surface based on the measurement data transmitted from the sensor unit 10, for example, If the head sole is stable toward the ground surface as shown in FIG. 16 (Y in S24 ′), the process proceeds to step S16. For example, as shown in FIG. 17, the head sole is not facing the ground surface. If it is unstable (N in S24 ′), step S24 ′ is executed again. Note that the determination method in step S24 'is the same as the determination method in step S14'.

  Step S26: When the processing unit 31 detects the start of the swing based on the measurement data transmitted from the sensor unit 10 (Y in S26), the process proceeds to step S28. Otherwise (S26N), the process proceeds to step S24 ′. . Note that whether or not the swing has started is determined, for example, by whether or not the combined value of the three-axis angular velocities included in the measurement data exceeds a predetermined threshold, or the combined value of the three-axis accelerations included in the measured data. This can be done depending on whether a predetermined threshold is exceeded.

  Step S28: The processing unit 31 calculates the initial position and the initial posture of the sensor unit 10 in the global coordinate system based on the measurement data output from the sensor unit 10 when the golf club 3 is in the stationary state of Step S18.

  Step S30: The processing unit 31 detects timings such as the start of the swing, the top, and the impact using the measurement data acquired from the sensor unit 10 after the end of the swing motion of the user 2 or before the end of the swing motion. . The processing unit 31 may use the timing detected in step S26 as it is as the swing start timing, or may detect the swing start timing based on another timing.

  Step S32: The processing unit 31 calculates the position and orientation of the sensor unit 10 during the swing motion of the user 2 in parallel with or before or after the process of step S30.

  Step S34: The processing unit 31 calculates a swing index using the measurement data acquired from the sensor unit 10, the timing of impact, and at least a part of the position and orientation of the sensor unit 10 calculated in step S28.

  Step S36: When generating the swing analysis data including one or a plurality of indices calculated in step S34, the processing unit 31 stores the swing analysis data of the golf club 3 in the swing analysis data 348 and ends the flow.

  In the flowchart of FIG. 15, the order of the steps may be appropriately changed within a possible range, some of the steps may be deleted or changed, and other steps may be added.

3. Operation and Effect of Embodiment (1) The control device (control unit 26) of the present embodiment is configured so that the mark projector (laser marker 20d) that projects the mark stops or starts the projection of the mark with the exercise tool ( It includes a timing control unit (timing control unit 261) that controls based on the output of an inertial sensor (sensor unit 10) attached to the golf club 3) or the user 2.

  The timing control unit (timing control unit 261) controls the timing at which the projection of the mark is stopped or started based on the amount of inertia applied to the exercise tool (golf club 3) or the user 2. Accordingly, the timing control unit (timing control unit 261) is, for example, when the exercise tool (golf club 3) is in a state where the light emitted from the mark projector (laser marker 20d) is likely to enter the human eye (for example, hitting). The safety of the mark projector (laser marker 20d) can be improved by stopping the projection during the swing (when the part is not facing the ground). Further, the timing control unit (timing control unit 261) is, for example, when the exercise tool (golf club 3) is in a state in which the light emitted from the mark projector (laser marker 20d) is difficult to enter the human eye (for example, the hitting unit is The projection of the mark projector (laser marker 20d) can be improved by starting projection when the user 2 is facing the ground surface or when the user 2 starts taking a posture.

(2) In the control device (control unit 26) of the present embodiment, the timing control unit (timing control unit 261) performs timing after the start of projection (S16) and before the inertial sensor starts measuring the swing. Then, the projection is stopped (S20).

  Since the timing control unit (timing control unit 261) stops the projection at the timing before starting the swing measurement, it is possible to ensure the safety at the time when the swing is started.

(3) In the control device (control unit 26) of the present embodiment, the timing is a timing (Y in S18) when a stationary state of the sports equipment (golf club 3) over a predetermined period is detected.

  The timing control unit (timing control unit 261) stops the projection when the user 2 takes a posture, for example. Therefore, it is possible to ensure the safety at the time when the swing is started.

(4) In the control device (control unit 26) of the present embodiment, the timing control unit (timing control unit 261) is configured so that after the inertial sensor (sensor unit 10) is activated (S12), the user 2 moves the exercise tool ( The projection is started at the timing (Y in S14) when a predetermined gesture is made in the golf club 3).

  The timing control unit (timing control unit 261) starts projection when the user 2 makes a predetermined gesture. Therefore, the user 2 can start projecting the mark at a desired timing.

(5) In the control device (control unit 26) of the present embodiment, the timing control unit (timing control unit 261) is activated after the inertial sensor (sensor unit 10) is activated (S12), The projection is started at the timing when the head) faces the ground surface (Y in S14 ′).

  The timing control unit (timing control unit 261) starts projection when the striking unit (head) of the sports equipment (golf club 3) faces the ground surface side. Accordingly, when the exercise tool (golf club 3) is in a state where the light emitted from the mark projector (laser marker 20d) is difficult to enter the human eye (for example, when the user 2 starts taking a posture). Projection can begin.

(6) The holder (attachment 20) of the present embodiment is used for mounting the inertial sensor (sensor unit 10) on the exercise tool (golf club 3), and the control device (control unit 26) of the present embodiment. And the mark projector (laser marker 20d).

  The timing control unit (timing control unit 261) controls the timing at which the projection of the mark is stopped or started based on the amount of inertia applied to the exercise tool (golf club 3). Accordingly, the timing control unit (timing control unit 261) is, for example, when the exercise tool (golf club 3) is in a state where the light emitted from the mark projector (laser marker 20d) is likely to enter the human eye (for example, hitting). The safety of the mark projector (laser marker 20d) can be improved by stopping the projection during the swing (when the part is not facing the ground). Further, the timing control unit (timing control unit 261) is, for example, when the exercise tool (golf club 3) is in a state in which the light emitted from the mark projector (laser marker 20d) is difficult to enter the human eye (for example, the hitting unit is The projection of the mark projector (laser marker 20d) can be improved by starting projection when the user 2 is facing the ground surface or when the user 2 starts taking a posture.

(7) In the holder (attachment 20) of this embodiment, the mark projector (laser marker 20d) projects a line-shaped mark (line mark 71) onto the ground surface.

  Therefore, the user 2 can use the projected mark (line mark 71) as a guide in the hitting direction.

(8) The sensor set (sensor set 100) of this embodiment includes the holder (attachment 20) of this embodiment and the inertial sensor (sensor unit 10).

(9) In the control method (swing analysis method) of the present embodiment, the mark projector (laser marker 20d) that projects a mark stops or starts the projection of the mark according to the exercise tool (golf club 3) or A procedure (S20) of controlling based on the output of the inertial sensor (sensor unit 10) attached to the user 2 is included.

  In the control step (S20), the timing for stopping or starting the projection of the mark is controlled based on the amount of inertia applied to the exercise tool (golf club 3) or the user 2. Therefore, for example, when the exercise tool (golf club 3) is in a state where the light emitted from the mark projector (laser marker 20d) is likely to enter the human eye (for example, when the hitting part is not facing the ground surface, the swing is in progress). Etc.), the safety of the mark projector (laser marker 20d) can be improved. On the other hand, for example, when the exercise tool (golf club 3) is in a state where the light emitted from the mark projector (laser marker 20d) is difficult to enter the human eye (for example, when the hitting part faces the ground), the user 2 is ready. By starting projection when the posture is started, the convenience of the mark projector (laser marker 20d) can be improved.

(10) In the control method (swing analysis method) of the present embodiment, the control procedure stops the projection at the timing before the inertial sensor starts measuring the swing after the start of the projection.

  In the controlling procedure, since the projection is stopped at the timing before the swing measurement is started, the safety at the time when the swing is started can be reliably ensured.

(11) In the control method (swing analysis method) of the present embodiment, the timing is a timing at which a stationary state of the exercise tool over a predetermined period is detected.

  In the control procedure, the projection is stopped when the user 2 takes a posture, for example. Therefore, it is possible to ensure the safety at the time when the swing is started.

(12) In the control method (swing analysis method) of the present embodiment, the control procedure starts the projection at the timing when the user makes a predetermined gesture with the exercise tool after the inertial sensor is activated.

  The controlling procedure starts projection when the user makes a predetermined gesture. Therefore, the user 2 can start projecting the mark at a desired timing.

(13) In the control method (swing analysis method) of the present embodiment, the control procedure starts the projection at the timing when the striking part of the exercise tool faces the ground side after activation of the inertial sensor.

  The control procedure starts projection when the striking part (head) of the exercise tool (golf club 3) faces the ground surface. Accordingly, when the exercise tool (golf club 3) is in a state where the light emitted from the mark projector (laser marker 20d) is difficult to enter the human eye (for example, when the user 2 starts taking a posture). Projection can begin.

(14) The control program (swing analysis program 340) of the present embodiment sets the timing when the mark projector (laser marker 20d) that projects the mark stops or starts the projection of the mark, and the exercise tool (golf club 3). Or the procedure (S20) controlled based on the output of the inertial sensor (sensor unit 10) with which the user is mounted | worn is included.

  In the control step (S20), the timing for stopping or starting the projection of the mark is controlled based on the amount of inertia applied to the exercise tool (golf club 3) or the user. Therefore, for example, when the exercise tool (golf club 3) is in a state where the light emitted from the mark projector (laser marker 20d) is likely to enter the human eye (for example, when the hitting part is not facing the ground surface, the swing is in progress). Etc.), the safety of the mark projector (laser marker 20d) can be improved. On the other hand, for example, when the exercise tool (golf club 3) is in a state where the light emitted from the mark projector (laser marker 20d) is difficult to enter the human eye (for example, when the hitting part faces the ground), the user 2 is ready. By starting projection when the posture is started, the convenience of the mark projector (laser marker 20d) can be improved.

(15) In the recording medium of the present embodiment, the exercise device (golf club 3) or the user wears the timing at which the mark projector (laser marker 20d) that projects the mark stops or starts the projection of the mark. A control program (swing analysis program 340) for causing the computer (processing unit 31) to execute a control procedure (S20) based on the output of the inertial sensor (sensor unit 10) is recorded.

  In the control step (S20), the timing for stopping or starting the projection of the mark is controlled based on the amount of inertia applied to the exercise tool (golf club 3) or the user. Therefore, for example, when the exercise tool (golf club 3) is in a state where the light emitted from the mark projector (laser marker 20d) is likely to enter the human eye (for example, when the hitting part is not facing the ground surface, the swing is in progress). Etc.), the safety of the mark projector (laser marker 20d) can be improved. On the other hand, for example, when the exercise tool (golf club 3) is in a state where the light emitted from the mark projector (laser marker 20d) is difficult to enter the human eye (for example, when the hitting part faces the ground), the user 2 is ready. By starting projection when the posture is started, the convenience of the mark projector (laser marker 20d) can be improved.

4). In the above-described embodiment, the mark projected by the laser marker 20d onto the ground surface is a line mark (line-shaped mark), but another mark may be used. For example, a dot array mark formed by arranging a plurality of dots in a line may be used.

  In the above-described embodiment, the mark projected by the laser marker 20d onto the ground surface is a line mark, but the dot mark and the projection destination of the dot mark are scanned (laser scan) along the target line, The appearance of the mark may be a line.

  Further, the laser marker 20d in the above-described embodiment may continuously perform mark projection (laser light may be irradiated with CW (continuous wave) (continuous irradiation)) or intermittently. It is also possible (laser light may be pulsed).

  In addition, the timing control unit 261 in the above-described embodiment starts or stops the mark projection by turning on or off the light source 222, but opens and closes a shutter disposed in any one of the optical paths of the projection optical system 221. It may be done by doing.

  In any of the above-described embodiments, at least a part of the functions of the attachment 20 may be mounted on the sensor unit 10 side. For example, at least one of the laser marker 20d and the timing control unit 261 may be mounted on the sensor unit 10 side.

  In any of the above-described embodiments, some of the functions of the attachment 20 may be mounted on the swing analysis device 30 side. For example, the timing control unit 261 may be mounted on the swing analysis device 30 side.

  In any of the above-described embodiments, at least a part of the functions of the sensor unit 10 may be mounted on the attachment 20 side. For example, at least one of the acceleration sensor 12 and the angular velocity sensor 14 may be mounted on the attachment 20 side.

  In any of the embodiments described above, some functions of the sensor unit 10 may be mounted on the swing analysis device 30 side. For example, the control unit 16 may be mounted on the swing analysis device 30 side.

  In any of the above-described embodiments, at least a part of the functions of the swing analysis device 30 may be mounted on the attachment 20 side. For example, at least one of the function of the timing control unit 316 (the function of determining the start or stop timing of projection) and the function of the swing analysis unit 311 may be mounted on the attachment 20 side.

  In any of the above-described embodiments, at least a part of the functions of the swing analysis device 30 may be mounted on the sensor unit 10 side. For example, at least one of the function of the timing control unit 316 (the function of determining the start or stop timing of projection) and the function of the swing analysis unit 311 may be mounted on the sensor unit 10 side.

  In any of the embodiments described above, some functions of the swing analysis system 1 may be mounted on a server (not shown). For example, the function of the swing analysis unit 311 may be installed on the server side.

  In the above-described embodiment, the sensor unit 10, the attachment 20, and the swing analysis device 30 are configured separately (as separate units), but any two of the sensor unit 10, the attachment 20, and the swing analysis device 30 or Three may be integrated (as the same unit).

  In the above-described embodiment, the laser marker 20d is configured integrally with the attachment 20 (as the same unit), but may be configured separately (as a separate unit). For example, the laser marker 20d may be placed on a green surface such as the ground surface or turf so that the laser light diffusion direction matches the target line. In that case, the laser marker 20d may receive the output signal from the sensor unit 10 by wireless communication, and the laser marker 20d may be controlled to start or stop the projection of the laser light.

5). Other Modifications The present invention is not limited to this embodiment, and various modifications can be made within the scope of the gist of the present invention.

  For example, the sensor unit 10 may be attached to a glove worn by the user, the laser marker 20d may be attached to the shaft of the golf club, and the laser light diffusion direction may be aligned with the target line. In that case, the laser marker 20d may receive the output signal from the sensor unit 10 by wireless communication, and the laser marker 20d may be controlled to start or stop the projection of the laser light.

  For example, a plurality of sensor units 10 are mounted on a part such as the golf club 3 or the arm or shoulder of the user 2, and the swing analysis device 30 performs a swing analysis process using measurement data of each of the plurality of sensor units 10. Also good.

  In the above embodiment, the acceleration sensor 12 and the angular velocity sensor 14 are integrated in the sensor unit 10, but the acceleration sensor 12 and the angular velocity sensor 14 may not be integrated. Alternatively, the acceleration sensor 12 and the angular velocity sensor 14 may be directly attached to the golf club 3 or the user 2 without being built in the sensor unit 10.

  Further, in the above embodiment, the sensor unit 10 and the swing analysis device 30 are separate bodies, but they may be integrated so as to be mountable to the golf club 3 or the user 2. Further, the sensor unit 10 may include some components of the swing analysis device 30 together with the inertial sensor (for example, the acceleration sensor 12 or the angular velocity sensor 14).

  That is, some or all of the functions of the swing analysis device 30 may be mounted on the sensor unit 10 side, and some of the functions of the sensor unit 10 may be mounted on the swing analysis device 30 side. .

  In the above-described embodiment, a swing analysis system that analyzes a golf swing is taken as an example. However, the present invention can be applied to a swing analysis system that diagnoses a swing in various exercises such as tennis and baseball.

  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 ... Swing analysis system, 2 ... User, 3 ... Golf club, 4 ... Golf ball, 10 ... Sensor unit, 12 ... Acceleration sensor, 14 ... Angular velocity sensor, 16 ... Signal processing part, 18 ... Communication part, 30 ... Swing analysis Apparatus, 31 ... processing unit, 32 ... communication unit, 33 ... operation unit, 34 ... storage unit, 35 ... display unit, 36 ... sound output unit, 20 ... attachment, 21d ... laser marker, 221 ... projection optical system, 222 ... Light source, 26 ... control unit, 261 ... timing control unit, 316 ... timing control unit

Claims (15)

A mark projector that projects a mark includes a timing control unit that controls timing to stop or start projection of the mark based on an output of an inertial sensor attached to the exercise tool or the user.
Control device. In claim 1,
The timing controller is
After the start of the projection, the projection is stopped at a timing before the inertial sensor starts measuring a swing,
Control device. In claim 2,
The timing is
It is the timing at which a stationary state over a predetermined period of the exercise tool is detected.
Control device. In any one of Claims 1 thru | or 3,
The timing controller is
After starting the inertial sensor, the projection is started at a timing when a user makes a predetermined gesture with the exercise tool.
Control device. In any one of Claims 1 thru | or 3,
The timing controller is
After starting the inertial sensor, the projection is started at a timing when the striking part of the exercise tool faces the ground surface side,
Control device. Used to attach the inertial sensor to the exercise equipment;
A control device according to any one of claims 1 to 5;
The mark projector;
including,
Retaining tool. In claim 6,
The mark projector is
Projecting a line-shaped mark onto the ground surface;
Retaining tool. A holder according to claim 6 or 7,
The inertial sensor;
including,
Sensor set. A mark projector for projecting a mark includes a procedure for controlling timing of stopping or starting projection of the mark based on an output of an inertial sensor attached to an exercise tool or a user,
Control method. In claim 9,
The controlling procedure is as follows:
After the start of the projection, the projection is stopped at a timing before the inertial sensor starts measuring a swing,
Control method. In claim 10,
The timing is
It is a timing at which a stationary state over a predetermined period of the exercise tool is detected.
Control method. In any one of Claims 9 thru | or 11,
The controlling procedure is as follows:
After starting the inertial sensor, the projection is started at a timing when a user makes a predetermined gesture with the exercise tool.
Control method. In any one of Claims 1 thru | or 3,
The controlling procedure is as follows:
After starting the inertial sensor, the projection is started at a timing when the striking part of the exercise tool faces the ground surface side,
Control method. A mark projector for projecting a mark includes a procedure for controlling timing of stopping or starting projection of the mark based on an output of an inertial sensor attached to an exercise tool or a user,
Control program. The mark projector for projecting the mark recorded a control program for causing the computer to execute a procedure for controlling the timing of stopping or starting the projection of the mark based on an output of an inertial sensor attached to the exercise tool or the user.
recoding media.

Images