JP2017170078A - Impact detection method, impact detection apparatus, impact detection system, impact detection program and storage medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an impact detection apparatus that can detect impact without requiring a light receiving part of a laser light source and a laser even in the practice swing.SOLUTION: An impact detection apparatus 40 comprises: a photographing unit 30 for photographing a hitting area over a period before and after a hitting area 3b of a device 3 to be practiced of swinging passes through the impact position set previously; a first moving locus acquisition unit 410 for acquiring a first moving locus T1 of the hitting area using an output of an inertia sensor for measuring a physical quantity of the hitting area; a second moving locus acquisition unit 420 for acquiring a second moving locus T2 of the hitting area using the output of the photographing unit; a reference position identification unit 430 for identifying the position becoming the lowest points p1, P2 as a common reference position in the gravity acceleration direction on the first moving locus and the second moving locus, respectively; and an output identification unit 440 for identifying the output corresponding to the impact position from among the output of the inertia sensor by using the common reference position.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an impact detection method, an impact detection device, an impact detection system, an impact detection program, a storage medium, and the like.

Patent Document 1 discloses that swing analysis is performed by detecting an impact by hitting a ball using a motion sensor in a swing.
By the way, even in the case of simple swinging without actually hitting the ball, the user swings while imagining the moment when the ball hits the face surface of the club head. Hereinafter, in this specification, the moment when a ball hits the face surface of the club head during swinging is referred to as “impact”. However, in simple swinging, the club head does not hit the ball, so the technical idea described in Patent Document 1 cannot detect impact during swinging.

  On the other hand, Patent Documents 2 and 3 disclose that the moment when the club head passes a predetermined impact position is detected as the impact timing even in the case of swinging without hitting the ball. ing.

  In both Patent Documents 2 and 3, a laser light source and a light receiving sensor are arranged immediately before the impact position of a golf club to which a motion sensor is attached, and the moment when the club head interrupts the laser is detected as an impact. Yes.

JP 2014-100341 A JP 2014-147554 A JP 2004-301797 A

  However, since both Patent Documents 2 and 3 require a laser light source and a laser light receiving section, the product cost increases as the number of parts increases.

  Some aspects of the present invention provide an impact detection method, an impact detection device, an impact detection system, an impact detection program, and an impact detection method capable of detecting an impact without requiring a laser light source and a laser light receiving unit even in the case of swinging. An object is to provide a storage medium.

(1) One aspect of the present invention is
The first movement trajectory of the striking unit is obtained using the output from the photographing unit that photographs the striking unit over a period before and after the striking unit of the instrument to be shaken passes through a preset impact position. A step to obtain,
Using the output of an inertial sensor that measures the physical quantity of the hitting part during shooting to obtain a second movement locus of the hitting part;
Identifying a position that is the lowest point in the gravitational acceleration direction on the first movement locus and the second movement locus as a common reference position;
Identifying an output corresponding to the impact position from outputs of the inertial sensor using the common reference position;
It is related with the impact detection method containing.

  According to one aspect of the present invention, as the movement trajectory of the striking unit of the instrument to be shaken, the first movement trajectory imaged including the impact position, and the second movement trajectory acquired using the inertial sensor, The lowest point on the first and second movement trajectories is set as a common reference position, and the output corresponding to the impact position is specified from the outputs of the inertial sensor using the common reference position. be able to. Therefore, in the case of swinging without hitting the ball, the impact can be detected without using the laser light source and the laser light receiving unit.

  (2) In one aspect of the present invention, using the output from the photographing unit and the step of acquiring the movement locus so that the first movement locus and the second movement locus overlap at the common reference position Obtaining a distance between the reference position and the impact position on the movement locus, and using the distance to specify an output corresponding to the impact position from outputs of the inertial sensor; , Can be included. In this way, since the impact trajectory and the common reference position are indicated in the travel trajectory acquired so that the first and second travel trajectories overlap at the reference position, the impact position is indicated on the second travel trajectory. The output corresponding to the impact position can be specified from the output of the inertial sensor.

  (3) In one aspect of the present invention, the impact detection method is characterized in that the impact position is photographed simultaneously with the first movement trajectory. In this way, since the marker is present on the photographed first movement locus, the impact position can be easily specified on the first movement locus.

  (4) In one aspect of the present invention, the impact position is set within the same shooting range as when the first movement locus is photographed, and is photographed at a time different from the photographing time of the first movement locus. May be. In this way, it is possible to specify the striking position on the first movement locus by overlapping the photographing ranges.

  (5) The reference position may be a vertex of the arcuate locus when the first movement locus and the second movement locus are arcuate. Since the vertex of the arc-shaped trajectory indicates the lowest point of the hitting portion, the reference position can be easily specified on the first and second movement trajectories.

(6) Another aspect of the present invention is:
An imaging unit that photographs the hitting unit over a period before and after the hitting unit of the instrument to be shaken passes through a preset impact position;
A first movement trajectory acquisition unit that acquires a first movement trajectory of the hitting unit, using an output of an inertial sensor that measures a physical quantity of the hitting unit of the instrument to be shaken;
A second movement trajectory acquisition unit that acquires a second movement trajectory of the hitting unit using the output of the photographing unit;
A reference position specifying unit that specifies the position that is the lowest point in the gravitational acceleration direction on the first movement locus and the second movement locus as a common reference position;
Using the common reference position, an output specifying unit that specifies an output corresponding to the impact position from outputs of the inertial sensor,
It is related with the impact detection apparatus containing.
According to another aspect of the present invention, in the case of swinging without hitting a ball, the impact detection method according to one aspect of the present invention is suitably implemented without the need for a laser light source and a laser light receiving unit. Can do.

  (7) In another aspect of the present invention, the photographing unit can photograph by continuously opening the shutter over the period. In this way, the impact position can be reliably photographed even when the display frame rate is low.

(8) Still another aspect of the present invention provides:
The impact detection device described in (6) or (7) above;
An inertial sensor,
It is related with the impact detection system containing.
According to still another aspect of the present invention, it is possible to realize an impact detection system capable of detecting an impact position without using a laser light source and a laser light receiving unit in the case of swinging without hitting a ball. it can.

(9) Still another aspect of the present invention provides:
The first movement trajectory of the striking unit is obtained using the output from the photographing unit that photographs the striking unit over a period before and after the striking unit of the instrument to be shaken passes through a preset impact position. The steps to get and
Using the output of an inertial sensor that measures the physical quantity of the hitting part during shooting, a procedure for acquiring a second movement trajectory of the hitting part;
A procedure for specifying a position that is the lowest point in the direction of gravitational acceleration on the first movement locus and the second movement locus as a common reference position;
A procedure for identifying an output corresponding to the impact position from outputs of the inertial sensor using the common reference position;
The present invention relates to an impact detection program for causing a computer to execute.
The impact detection program according to still another aspect of the present invention is incorporated in the storage device of the impact detection device or the impact detection system, or is installed in the storage device of the impact detection device or the impact detection system from an external device, a server, or a recording medium. can do. Thus, this program can control execution of the external device support method according to an aspect of the present invention.

  (10) Still another aspect of the present invention defines a computer-readable storage medium in which an impact detection program is stored. This storage medium can be used as a storage device of an impact detection device or an impact detection system, or can be used to install a program from this recording medium into the storage device of the impact detection device or the impact detection system.

It is a figure which shows the structural example of the impact detection system of this embodiment. It is a figure which shows the imaging | photography part and impact marker which are arrange | positioned on the ground in the position facing the player, the sensor unit with which the golf club was mounted | worn. It is a figure which shows a golf club and the sensor unit with which it is mounted | worn. It is a block diagram of a sensor unit, an imaging part, and an impact detection apparatus. It is a flowchart figure which shows an example of the procedure which acquires the 1st movement locus | trajectory and the lowest point on this movement locus | trajectory. It is a figure which shows a 1st movement locus | trajectory and its lowest point. It is a figure which shows a 2nd movement locus | trajectory, its lowest point, and an impact marker. It is a figure which shows the movement locus | trajectory produced | generated by overlapping the 1st, 2nd movement locus | trajectory which makes the reference positions P1, P2 common. It is a figure which shows that distance xi can be calculated by integrating the speed of a club head from the time tu to the time ti. It is a figure which shows an example which comprised the impact detection apparatus with the head mounted display. It is a figure which shows an example which comprised the exercise | movement analysis apparatus with the list type terminal.

  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. Configuration of Impact Detection System Hereinafter, golf swing analysis will be described as an example of impact detection. FIG. 1 is a diagram illustrating a configuration example of an impact detection system according to the present embodiment. As shown in FIG. 1, the impact detection system 1 of the present embodiment includes a sensor unit (an example of an inertial sensor) 10 and an electronic device such as a smartphone 20 that includes a camera that is a photographing unit 30 and an impact detection device 40. . Communication between the sensor unit 10 and the smartphone 20 may be wireless communication or wired communication. Instead of the smartphone 20, an impact detection apparatus is used for mobile devices such as personal computers and tablets, or electronic devices such as various information terminals (client terminals) such as wearable terminals such as head mounted displays (HMDs) and wrist devices. It may be used as 40. In this case, an imaging unit 30 such as a camera is required in addition to the electronic device (impact detection device) 40 that does not include the imaging unit 30.

  The impact detection system 1 may be configured to include the server 50 separately from the smartphone 20. The server 50 provides an impact detection program to the impact detection device 40, and can process data from the impact detection device 40 as necessary. The smartphone 20 and the server 50 may be connected via the network 60. The network 60 may be a wide area network (WAN: Wide Area Network) such as the Internet or a local area network (LAN). In this case, the impact detection device 40 and the server 50 constitute an impact detection device in a broad sense.

2. Sensor Unit and Shooting Unit As shown in FIG. 2, the sensor unit 10 is mounted on, for example, the golf club 3, and the smartphone 20 is disposed on the ground, for example, at a position facing the player (user) 2 at the time of addressing. An impact marker 5 that is a shooting range of the smartphone 20 arranged at a position directly facing the player (user) 2 at the time of addressing, and serves as a mark or a mark of the impact position of the club head (striking portion) 3b of the golf club 3, For example, it is arranged to extend vertically from the ground.

  As shown in FIG. 3, the sensor unit 10 includes an inertial sensor capable of measuring, for example, acceleration in each of the three axes and angular velocity around each of the three axes, and is attached to, for example, the golf club 3.

  For example, as shown in FIG. 3, the sensor unit 10 is mounted on the golf club 3 with the directions of three detection axes (x axis, y axis, z axis) intersecting each other (ideally orthogonal) aligned. The In FIG. 3, for example, the y-axis is attached to a part of the shaft 3a such that the y-axis is aligned with the longitudinal direction of the shaft 3a of the golf club 3 (longitudinal direction of the golf club 3), and the x-axis is aligned with the target direction of the hit ball. Preferably, the sensor unit 10 is attached at a position close to a grip that is difficult to receive an impact at the time of impact and is difficult to receive a centrifugal force at the time of swing. The shaft 3a is a portion of the handle excluding the head (striking portion) 3b of the golf club 3, and includes a grip. However, the sensor unit 10 may be attached to a part of the user 2 (for example, a hand or a glove), or may be attached to an accessory such as a wristwatch.

  FIG. 4 is a block diagram of the sensor unit 10, the imaging unit 30, and the impact detection device 40. As shown in FIG. 4, the sensor unit 10 includes an acceleration sensor 100, an angular velocity sensor 110, a signal processing unit 120, and a communication unit 130.

  The acceleration sensor 100, which is an inertial sensor, measures accelerations in three axial directions that intersect (ideally orthogonal) with each other, and a digital signal (acceleration data) corresponding to the magnitude and direction of the measured three-axis accelerations. Is output.

  An angular velocity sensor 110, which is an inertial sensor, measures angular velocities in three axial directions that intersect (ideally orthogonal) with each other, and a digital signal (angular velocity data) corresponding to the magnitude and direction of the measured three-axial angular velocity. Is output.

  The signal processing unit 120 receives acceleration data and angular velocity data from the acceleration sensor 100 and the angular velocity sensor 110, stores them in a storage unit (not shown), and adds time information to the stored measurement data (acceleration data and angular velocity data). Then, packet data matching the communication format is generated and output to the communication unit 130.

  The acceleration sensor 100 and the angular velocity sensor 110 are each attached to the sensor unit 10 so that the three axes coincide with the three axes (x axis, y axis, z axis) of the orthogonal coordinate system defined for the sensor unit 10. This is ideal, but in reality there is an error in the mounting angle. Therefore, the signal processing unit 120 performs a process of converting the acceleration data and the angular velocity data into data in the xyz coordinate system using a correction parameter calculated in advance according to the attachment angle error.

  Further, the signal processing unit 120 performs temperature correction processing for the acceleration sensor 100 and the angular velocity sensor 110. It should be noted that the acceleration sensor 100 and the angular velocity sensor 110 may incorporate a temperature correction function.

  The acceleration sensor 100 and the angular velocity sensor 110 may output analog signals. In this case, the signal processing unit 120 converts the output signal of the acceleration sensor 100 and the output signal of the angular velocity sensor 110 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 130 performs processing for transmitting the packet data received from the signal processing unit 120 to the smartphone 20, processing for receiving a control command from the smartphone 20 and transmitting the control command to the signal processing unit 120, and the like. The signal processing unit 120 performs various processes according to the control command.

  The smartphone 20 includes an imaging unit 30, an impact detection unit 40, a communication unit 210, an operation unit 220, a ROM 230, a RAM 240, and a display unit 250.

  The communication unit 210 receives packet data transmitted from the sensor unit 10 and performs processing to send the packet data to the processing unit 200, processing to transmit a control command from the processing unit 200 to the sensor unit 10, and the like.

  The operation unit 220 performs a process of acquiring operation data from the user and sending it to the processing unit 200. The operation unit 220 may be, for example, a touch panel display, a button, a key, a microphone, or the like.

  The ROM 230 stores programs for the impact detection unit 40 to perform various calculation processes and control processes, various programs and data for realizing application functions, and the like.

  The RAM 240 is used as a work area of the impact detection unit 40, and temporarily stores programs and data read from the ROM 230, data input from the operation unit 220, calculation results executed by the impact detection unit 40 according to various programs, and the like. It is a memory | storage part to memorize | store.

  In the present embodiment, the ROM 230 and RAM 240 store specification information of the golf club 3 (information such as the shaft length, the position of the center of gravity, the lie angle, the face angle, and the loft angle) and the mounting position of the sensor unit 10 (golf Information such as the distance from the head or the grip end of the club 3, the arm length of the user 2, the position of the center of gravity, and the like are stored, and these information are used by the impact detection unit 40.

  The display unit 260 displays the processing results of the processing unit 200 as characters, graphs, tables, animations, and other images.

  The impact detection unit 40 performs processing for transmitting a control command to the sensor unit 10 according to an impact detection program stored in the ROM 230 or an impact detection program received from the server via the network and stored in the RAM 240, or the sensor unit 10 Various calculation processes on the data received from the communication unit 210 via the communication unit 210 and other various control processes are performed. In particular, in the present embodiment, the impact detection unit 40 functions as the first movement locus acquisition unit 410, the second impact detection unit 420, the reference position specification unit 430, and the force specification unit 440 by executing the program. To do.

  In the present embodiment, the photographing unit 30 executes the impact detection program, so that the club head 3b of the golf club 3 to be shaken is in a period before and after passing through the impact position indicated by the preset impact marker 5. The club head 3b and the impact marker 5 are photographed simultaneously.

  The first movement trajectory acquisition unit 410 calculates and acquires the first movement trajectory of the club head 3b using the output of the sensor unit 10 that measures the physical quantity of the club head 3b of the previous golf club 3 to be shaken. . The second movement trajectory acquisition unit 420 acquires the second movement trajectory of the club head 3b using the output of the photographing unit 30. The reference position specifying unit 430 specifies a feature point on the first movement locus and the second movement locus, for example, a position that is the lowest point in the gravitational acceleration direction as a common reference position. The output specifying unit 440 specifies an output corresponding to the impact position from the outputs of the sensor unit 10 using a common reference position.

3. Processing procedure 3.1. Acquisition of First Trajectory and Bottom Point The club head 3b during the swing motion is photographed by the photographing unit 30 of the smartphone 20 arranged at the position shown in FIG. The shooting period is a period before and after passing through the impact position indicated by the impact marker 5. Here, since the frame rate of the smartphone 20 is about 30 fps, it is impossible to accurately grasp the timing at which the club head 3b reaches the impact position. In such a case, the shutter of the photographing unit 30 can be continuously opened over a period before and after the club head 3b passes the impact position. In this way, the first movement trajectory T1 of the club head and the impact marker 5 are photographed by the smartphone 20, as shown in FIG. The first movement trajectory acquisition unit 410 acquires the first movement trajectory T1 from the imaging unit 30. As shown in FIG. 6, the first movement trajectory acquisition unit 410 can obtain the lowest point P1 serving as the reference position as the vertex of the arc-shaped first movement trajectory T1.

3.2. Acquisition of Second Trajectory and Bottom Point FIG. 5 is a flowchart showing an example of a procedure for acquiring the second trajectory and the lowest point on the trajectory according to the present embodiment.

  As shown in FIG. 5, first, the second movement trajectory acquisition unit 420 acquires measurement data of the sensor unit 10 (step 1). When the first movement trajectory acquisition unit 420 acquires the first measurement data in the swing motion (including the stationary motion) of the user 2 in Step 1, the second movement trajectory acquisition unit 420 may perform the processing after Step 2 in real time. After acquiring a part or all of a series of measurement data in the swing motion of the user 2, the processing after step 2 may be performed.

  Next, the second movement locus acquisition unit 420 detects the stationary motion (address motion) of the user 2 using the measurement data acquired from the sensor unit 10 (step 2). In the case of performing processing in real time, the first movement locus acquisition unit 410 outputs, for example, a predetermined image or sound when a stationary operation (address operation) is detected, or an LED is provided in the sensor unit 10. In addition, the user 2 may be notified that the stationary state has been detected by turning on the LED, and the user 2 may start swinging after confirming this notification.

  Next, the second movement trajectory acquisition unit 420 calculates the initial position and initial posture of the club head 3b at the address of the user 2 using the measurement data acquired from the sensor unit 10 (step 3). The second movement locus acquisition unit 420 uses the initial position of the club head 3b as the origin of the XYZ coordinate system, identifies the direction of gravity acceleration from the acceleration data measured by the sensor unit 10, and calculates the initial posture in the XYZ coordinate system. To do.

  The second movement locus acquisition 420 is a process of calculating the position and posture of the club head 3b during the swing motion of the user 2 (step 4), and the change in the position and posture of the club head 3b. A process of calculating the second movement locus (step 5) is performed. The second movement trajectory acquisition unit 420 calculates the position by integrating the acceleration data measured by the sensor unit 10, calculates the posture by performing rotation calculation using the angular velocity data measured by the sensor unit 10, and The second movement locus of the club head 3b is calculated using the position and orientation of the head 3b, the specification information of the golf club 3, the mounting position of the sensor unit 10, the feature information of the user 2, and the like. The acquired second movement trajectory T2 is shown in FIG.

  Next, the reference position specifying unit 430 calculates and obtains the position coordinates of the lowest point P2 serving as the reference position on the second movement locus T2 of the club head 3b as shown in FIG. 6 (step 6). The lowest point P2 serving as the reference position can also be obtained as the vertex of the arcuate second movement locus T2.

3.3. Identification of Impact The first movement locus T1 shown in FIG. 6 and the second movement locus T2 shown in FIG. 7 are overlapped as shown in FIG. 8 so that the reference positions P1 and P2 are the lowest points. Since the first movement trajectory T1 shown in FIG. 6 and the second movement trajectory T2 shown in FIG. 7 are the movement trajectories of the same target club head 3b, overlapping movement trajectories T are obtained. The time when the club head 3b passes the reference position P1 (P2) is set as tu, and the impact time when the club head 3b passes the impact marker 5 indicating the impact position is set as ti. As shown in FIG. 9, the distance xi that the club head 3b travels in the x direction between the times ti and tu is obtained by integrating the speed v (t) of the club head 3b between the times ti and tu. And can be obtained as follows.

また、インパクト時のクラブヘッド３ｂの位置ｘ（ｔｉ）が求められれば、その時刻ｔｉもスイング解析データから求まる。このようにして、センサーユニット１０の出力の中からインパクト位置に対応する出力を特定することができる。なお、最下点Ｐ１，Ｐ２よりもインパクトが遅れる場合にも、上記と同様にしてインパクトを検出することができる。それにより、本実施形態によれば、ボールを打撃することがない素振りの場合において、レーザー光源とレーザーの受光部を必要とせずにインパクトを検出することができる。 Here, x (tu) is the position in the x direction of the club head 3b at time tu, and x (ti) is the position in the x direction of the club head 3b at time ti. Here, since x (tu) and xi are known from the swing analysis data and the image data, the position x (ti) of the club head 3b at the time of impact is obtained by the following equation.

If the position x (ti) of the club head 3b at the time of impact is obtained, the time ti is also obtained from the swing analysis data. In this way, the output corresponding to the impact position can be identified from the outputs of the sensor unit 10. Even when the impact is delayed from the lowest points P1 and P2, the impact can be detected in the same manner as described above. Thereby, according to the present embodiment, in the case of swinging without hitting the ball, it is possible to detect the impact without requiring a laser light source and a laser light receiving unit.

4). Although the present embodiment has been described in detail as described above, those skilled in the art can easily understand that many modifications can be made without departing from the novel matters and effects of the present invention. Let's go. Accordingly, all such modifications are intended to be included in the scope of the present invention.

For example, the impact position may be set in the same shooting range as when the first movement trajectory T1 is shot, and may be shot at a time different from the shooting time of the first movement trajectory T1. Within the same shooting range, the impact marker 5 can be accurately superimposed on the first movement locus t1. Further, the impact marker 5 is not always necessary, and for example, an impact marker photographed by the photographing unit 30 may be provided in the photographing unit. By placing the photographing unit 30 in a predetermined position, the user 2 can imagine an impact using the impact marker of the photographing unit 30 as a mark.
In the above-described embodiment, the smartphone 20 having the photographing unit 30 and the impact detection unit 40 is used. However, the impact detection unit 40 may be provided in a head-mounted display unit (HMD: head mounted display).

  FIG. 10 is a diagram illustrating an example of a head mounted display (HMD).

  As shown in FIG. 10, the HMD 500 includes a spectacle body 501 that is worn on the head of the user 2. The glasses main body 501 is provided with a display unit 502. The display unit 502 superimposes the virtual image of the image display unit 503 on the real image of the external world viewed from the user 2 by integrating the light beam emitted from the image display unit 503 with the light beam directed from the outside world toward the eyes of the user 2.

  The display unit 502 includes an image display unit 503 such as an LCD (liquid crystal display), a first beam splitter 504, a second beam splitter 505, a first concave reflection mirror 506, and a second concave reflection mirror 507, for example. A shutter 508 and a convex lens 509 are provided.

The first beam splitter 504 is disposed in front of the left eye of the user 2 and partially transmits and partially reflects light emitted from the image display unit 503.
The second beam splitter 505 is disposed in front of the right eye of the user 2 and partially transmits and partially reflects the partially transmitted light from the first beam splitter 504.
The first concave reflecting mirror 506 is disposed in front of the first beam splitter 504, partially reflects the partially reflected light of the first beam splitter 504, transmits the first beam splitter 504, and guides it to the left eye of the user 2. .
The second concave reflection mirror 507 is disposed in front of the second beam splitter 505, partially reflects the partially reflected light of the second beam splitter 505, transmits the second beam splitter 505, and guides it to the right eye of the user 2. .
The convex lens 509 guides the partially transmitted light of the second beam splitter 505 to the outside of the HMD 500 when the shutter 508 is opened.

  According to the above HMD 500, the user 2 can check necessary information such as his / her swing type without holding the impact detection unit 40 by hand.

  Alternatively, in the above-described embodiment, all or part of the motion analysis device (display unit) can be a list-type terminal as a display destination of a determination result (diagnosis result) or the like. FIG. 11 shows a list type terminal 600 attached to the list of the user 2, and the list type terminal 600 includes an operation unit 601 and a display unit 602.

  DESCRIPTION OF SYMBOLS 1 ... Impact detection system, 2 ... User, 3 ... Golf club, 3b ... Club head (striking part), 10 ... Sensor unit, 20 ... Electronic device (smartphone), 30 ... Imaging | photography part, 40 ... Impact detection part, 410 ... First moving track acquisition unit, 420 ... second moving track acquisition unit, 430 ... reference position specifying unit, 440 ... output specifying unit, T1 ... first moving track, T2 ... second moving track, T ... moving Locus, P1, P2 ... reference position

Claims (10)

The output of the impacting unit including the impact position is output using the output from the imaging unit that captures the impacting part over a period before and after the impacting part of the instrument to be shaken passes through a preset impact position. Obtaining a movement trajectory of 1;
Using the output of an inertial sensor that measures the physical quantity of the hitting part during shooting to obtain a second movement locus of the hitting part;
Identifying a position that is the lowest point in the gravitational acceleration direction on the first movement locus and the second movement locus as a common reference position;
Identifying an output corresponding to the impact position from outputs of the inertial sensor using the common reference position;
The impact detection method characterized by including. In claim 1,
Obtaining a movement trajectory such that the first movement trajectory and the second movement trajectory overlap at the common reference position;
Obtaining a distance between the reference position and the impact position on the movement locus using an output from the photographing unit;
Identifying an output corresponding to the impact position from outputs of the inertial sensor using the distance;
The impact detection method characterized by including. In claim 1 or 2,
The impact detection method, wherein the impact position is photographed simultaneously with the first movement locus. In any one of Claims 1 thru | or 3,
The impact position is
It is set within the same shooting range as when shooting the first movement locus,
An impact detection method comprising: photographing at a time different from the time of photographing the first movement locus. In any one of Claims 1 thru | or 4,
The reference position is
When the first movement trajectory and the second movement trajectory are arcuate,
An impact detection method, wherein the impact detection method is an apex of the arcuate locus. An imaging unit that photographs the hitting unit over a period before and after the hitting unit of the instrument to be shaken passes through a preset impact position;
A first movement trajectory acquisition unit that acquires a first movement trajectory of the hitting unit, using an output of an inertial sensor that measures a physical quantity of the hitting unit of the instrument to be shaken;
A second movement trajectory acquisition unit that acquires a second movement trajectory of the hitting unit using the output of the photographing unit;
A reference position specifying unit that specifies the position that is the lowest point in the gravitational acceleration direction on the first movement locus and the second movement locus as a common reference position;
Using the common reference position, an output specifying unit that specifies an output corresponding to the impact position from outputs of the inertial sensor,
The impact detection apparatus characterized by including. In claim 6,
The impact detector according to claim 1, wherein the photographing unit has a shutter that is continuously open over the period. The impact detection device according to claim 6 or 7,
An inertial sensor,
The impact detection system characterized by including. The first movement trajectory of the striking unit is obtained using the output from the photographing unit that photographs the striking unit over a period before and after the striking unit of the instrument to be shaken passes through a preset impact position. The steps to get and
Using the output of an inertial sensor that measures the physical quantity of the hitting part during shooting, a procedure for acquiring a second movement trajectory of the hitting part;
A procedure for specifying a position that is the lowest point in the direction of gravitational acceleration on the first movement locus and the second movement locus as a common reference position;
A procedure for identifying an output corresponding to the impact position from outputs of the inertial sensor using the common reference position;
Impact detection program characterized by causing a computer to execute.   A computer-readable storage medium in which the impact detection program according to claim 9 is stored.

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