JP2018121900A - Motion analysis device, motion analysis method, display method, motion analysis system, and motion analysis program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motion analysis device capable of presenting accurate motion analysis information using output of an inertial sensor.SOLUTION: A motion analysis device (swing analysis device 20) includes: a deflection calculation part (arithmetic processing part 219) for calculating deflection information on a shaft 7 by a swing of sporting equipment (golf club 3) using output of an inertial sensor (acceleration sensor 12); a posture information generation part (motion analysis information generation part 215) for generating and outputting posture information on a posture of at least either a grip 5 or a striking part (head 6) of the sporting equipment from the deflection information; and a processing part 21 for outputting information on at least one of the deflection of the shaft, the posture of the grip, and the posture of the striking part based on the deflection information and the posture information.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a motion analysis device, a motion analysis method, a display method, a motion analysis system, and a motion analysis program.

  In golf, which is an example of exercise, the trajectory of a hit ball greatly depends on the posture of the hitting part at the time of impact (for example, the orientation of the club face). Conventionally, when calculating the attitude of the hitting part, the golf club is considered as a rigid body, and it is assumed that the hitting part before and after the measurement returns to the same position. In other words, it is assumed that the position of the hitting part at the impact after the start of the swing and the measurement is started returns to the position of the hitting part at the address (at rest) before the start of measurement.

  For example, in Patent Document 1, the golf club is considered as a rigid body, and the hitting position (head position) at the time of addressing (when stationary) and the hitting part when the grip returns to the same position as when stationary It is disclosed that, for example, the accuracy of the striking part posture (for example, the orientation of the club face) is improved by calculating the difference from the position (head position) of the head and correcting the analysis parameter.

Japanese Patent Laying-Open No. 2006-55028

  However, the golf club at the time of swinging is bent, and the position of the hitting part (head position) at the time of impact does not return to the same position as the position of the hitting part (head position) at the time of addressing (at rest). Sometimes. Therefore, there is a difference between the analysis result of the position of the hitting part (head position) and the actual hitting part position (head position) at the time of swing, such as the attitude of the hitting part (for example, the orientation of the club face). It was difficult to improve the analysis accuracy.

  The present invention has been made to solve at least a part of the above-described problems, and according to the following forms or application examples, highly accurate motion analysis information can be presented using the output of an inertial sensor. It is possible to realize a possible motion analysis device, motion analysis method, display method, motion analysis system, and motion analysis program.

  [Application Example 1] A motion analysis apparatus according to this application example uses a output of an inertial sensor to calculate a deflection information of a shaft due to a swing of the exercise equipment, a grip of the exercise equipment from the deflection information, and Based on the posture information generation unit that generates and outputs posture information related to at least one of the positions of the hitting unit, and the deflection information and the posture information, the deflection of the shaft, the posture of the grip, and the hitting unit And a processing unit that outputs information on at least one of the postures.

  According to the motion analysis device of this application example, the posture information related to the posture of at least one of the grip of the exercise equipment and the striking portion is obtained from the deflection information of the shaft due to the swing of the exercise equipment calculated using the output of the inertial sensor. Generate and output. Further, based on the deflection information and the posture information, information on at least one of the shaft deflection, the grip posture, and the striking portion posture is output. Thereby, since the difference in the analysis information between the position or posture information of the grip or hitting portion and the actual position of the grip or hitting portion or posture information at the time of swing can be reduced, for example, the posture of the hitting portion (for example, It is possible to provide a motion analysis apparatus with improved analysis accuracy such as face angle, loft angle, club pass, attack angle, and club face orientation.

  Application Example 2 In the motion analysis device according to the application example described above, it is preferable that the deflection information is deflection information of the shaft at the time of impact of the exercise equipment.

  According to this application example, it is possible to generate and output posture information related to the posture of at least one of the grip of the exercise equipment and the striking portion from the deflection information of the shaft at the time of impact. Thereby, the difference in the analysis result between the position or posture of the grip or hitting part and the actual position or posture of the grip or hitting part at the time of swing can be reduced.

  Application Example 3 In the motion analysis apparatus according to the application example described above, the display unit includes a display unit, and the display unit is based on the deflection information and the posture information, and the shaft deflection, the grip posture, and the It is preferable to perform display related to at least one of the postures of the hitting portions.

  According to this application example, the user can obtain, as visual information, at least one of the shaft deflection, the grip posture, and the striking portion posture displayed on the display unit based on the deflection information and the posture information. And the analysis result can be judged more accurately.

  Application Example 4 In the motion analysis apparatus according to the application example described above, the grip posture is preferably an index related to hand-up or an index related to hand-first.

  According to this application example, the user can capture the analysis result relating to the posture of the grip at the time of impact in detail and more accurately.

  Application Example 5 In the motion analysis apparatus according to the application example described above, it is preferable that the posture of the hitting unit includes at least one of a face angle, a loft angle, a club pass, and an attack angle.

  According to this application example, the user can capture the analysis result related to the posture of the striking unit at the time of impact in detail and more accurately.

  Application Example 6 In the motion analysis method according to this application example, the deflection information of the shaft due to the swing of the exercise equipment is calculated using the output of the inertial sensor, and at least the grip of the exercise equipment and the striking portion of the exercise equipment are calculated from the deflection information. Posture information relating to any of the postures is generated and output.

  According to the motion analysis method of this application example, the posture information related to the posture of at least one of the grip of the exercise equipment and the striking portion is obtained from the deflection information of the shaft due to the swing of the exercise equipment calculated using the output of the inertial sensor. Generate and output. As a result, the difference between the analysis result of the position of the hitting part and the actual position of the hitting part at the time of swing can be reduced, so that the user can analyze the posture of the hitting part (for example, the orientation of the club face), for example A motion analysis result with improved accuracy can be obtained.

  Application Example 7 In the motion analysis method described in the application example, it is preferable that the deflection information is deflection information of the shaft at the time of impact of the exercise equipment.

  According to this application example, it is possible to generate and output posture information related to the posture of at least one of the grip of the exercise equipment and the striking portion from the deflection information of the shaft at the time of impact. Thereby, the difference in the analysis result between the position or posture of the grip or hitting part and the actual position or posture of the grip or hitting part at the time of swing can be reduced.

  Application Example 8 In the motion analysis method according to the application example described above, based on the first acceleration measured by the inertial sensor, a second acceleration in the hitting unit is calculated, and based on the second acceleration. Preferably, the deflection information of the shaft is calculated, and the posture information related to the posture of the hitting portion is generated in consideration of the deflection information of the shaft.

  According to this application example, the deflection information of the shaft is calculated from the second acceleration at the striking portion calculated based on the first acceleration measured by the inertial sensor. Then, since the posture information related to the striking part posture is calculated in consideration of the calculated shaft deflection information, the difference between the analysis result of the striking part position and the actual striking part position during the swing does not occur, and the user Can obtain a motion analysis result with improved analysis accuracy, such as the posture of the striking part (for example, the orientation of the club face).

  Application Example 9 In the motion analysis method according to the application example described above, the grip posture is preferably an index related to hand-up or an index related to hand-first.

  According to this application example, the user can capture the analysis result relating to the posture of the grip at the time of impact in detail and more accurately.

  Application Example 10 In the motion analysis method described in the application example, it is preferable that the posture of the hitting unit includes at least one of a face angle, a loft angle, a club pass, and an attack angle.

  According to this application example, the user can capture the analysis result related to the posture of the hitting portion at the time of impact in detail and more accurately.

  Application Example 11 In the display method according to this application example, the deflection information of the shaft due to the swing of the exercise equipment is calculated using the output of the inertia sensor, and at least one of the grip of the exercise equipment and the striking portion is calculated from the deflection information. At least one of the deflection of the shaft, the posture of the grip, and the posture of the hitting unit is generated based on the output deflection information and the posture information. The display according to the above is performed.

  According to the display method of this application example, the user can determine the posture related to the posture of at least one of the grip of the exercise equipment and the striking portion from the deflection information of the shaft due to the swing of the exercise equipment calculated using the output of the inertial sensor. Displayed on the display unit based on deflection information and posture information generated and output information, it is possible to obtain at least one of shaft deflection, grip posture, and striking portion posture as visual information, Analysis results can be judged more accurately.

  Application Example 12 The motion analysis system according to this application example includes an inertial sensor, a flexure calculating unit that calculates flexure information of a shaft due to a swing of an exercise instrument using an output of the inertial sensor, and the flexure information based on the flexure information. Based on the posture information generation unit that generates posture information related to the posture of at least one of the grip and striking unit of the exercise device and outputs the deflection information and posture information, the shaft information is based on the deflection information and the posture information. A display unit for performing display related to at least one of bending, the grip posture, and the striking portion posture.

  According to the motion analysis system of this application example, the posture information related to the posture of at least one of the grip of the exercise equipment and the striking portion is obtained from the deflection information of the shaft due to the swing of the exercise equipment calculated using the output of the inertial sensor. Generate and output. The user can obtain, as visual information, at least one of the shaft deflection, the grip posture, and the striking portion posture displayed on the display unit based on the output deflection information and posture information. Can be determined more accurately.

  Application Example 13 The motion analysis program according to this application example uses the output of the inertial sensor to calculate the deflection information of the shaft due to the swing of the exercise equipment, and the grip and striking part of the exercise equipment from the deflection information. Generating and outputting posture information relating to at least one of the postures, and causing the computer to execute.

  According to the motion analysis program of this application example, the computer relates to the posture of at least one of the grip of the exercise equipment and the striking portion from the deflection information of the shaft due to the swing of the exercise equipment calculated using the output of the inertial sensor. Posture information can be generated and output. As a result, the difference in the analysis result between the position or posture of the grip or hitting part and the actual position of the grip or hitting part at the time of swing can be reduced. Can be increased.

  Application Example 14 In the motion analysis program according to the application example described above, in the step of calculating the deflection information of the shaft, the second acceleration in the hitting unit is based on the first acceleration measured by the inertia sensor. And calculating the shaft deflection information based on the second acceleration.

  According to this application example, the computer calculates shaft deflection information from the second acceleration at the hitting portion calculated based on the first acceleration measured by the inertial sensor, and calculates the calculated shaft deflection information. The posture information related to the posture of the hitting unit can be calculated in consideration. As a result, the difference in the analysis result between the position or posture of the grip or hitting part and the actual position of the grip or hitting part at the time of swing can be reduced. Can be increased.

Explanatory drawing of the outline | summary of the swing analysis system as an example of the exercise | movement analysis system of this embodiment. The figure which shows an example of the mounting position and direction of a sensor unit. The figure which shows the procedure of the operation | movement which a user performs in this embodiment. It is a figure for demonstrating notionally about correction | amendment of the position of a head, and is a figure which shows the locus | trajectory of the golf club before correction | amendment. The figure which shows the locus | trajectory of the golf club after correction | amendment regarding correction | amendment of the position of a head. The conceptual diagram which shows roughly the swing model which concerns on calculation of the bending of a shaft. The figure which shows the structural example of a swing analysis system. The flowchart which shows an example of the procedure of a swing analysis process. The flowchart which shows an example of the procedure of the process which detects each operation | movement in a swing. The figure which displayed the triaxial angular velocity at the time of swing as a graph. The figure which displayed the composite value of the triaxial angular velocity on the graph. The figure which displayed the derivative value of the synthetic value of triaxial angular velocity on the graph. The flowchart which shows an example of the procedure of the process which correct | amends the position of the head of a golf club, and the position of a grip. The figure which shows the time series data of the position before correction | amendment of the head of a golf club. The figure which shows the time series data of the corrected amount of the position of a head. The figure which shows the time series data of the position after correction | amendment of a head. The figure which shows the time series data of the triaxial speed before correction | amendment of the head of a golf club. The figure which shows the time-series data of the triaxial speed after correction | amendment of a head. The figure which shows each time series data of the synthetic | combination speed before correction | amendment of the head of a golf club, and the composite speed after correction | amendment. FIG. 12B is an enlarged view of FIG. The block diagram which shows schematically the structural example of an arithmetic processing circuit. The graph which shows an example of the measurement result of bending rigidity. The flowchart which shows an example of the procedure of the process which correct | amends the position of a head based on the bending of the shaft in the swing of a golf club. The figure which shows the example 1 of a display of the attitude | position information of a grip or a head. The figure which shows the example 2 of a display of the attitude | position information of a grip or a head. The figure which shows the example 3 of a display of the attitude | position information of a grip or a head.

  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.

  Hereinafter, a swing analysis system that analyzes a golf swing will be described as an example of a motion analysis system.

1. Swing analysis system 1-1. Outline of Swing Analysis System FIG. 1 is a diagram for explaining an outline of a swing analysis system of the present embodiment. The swing analysis system 1 of the present embodiment includes a sensor unit 10 (an example of an inertial sensor) and a swing analysis device 20 (an example of a motion analysis device).

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

  In the present embodiment, as shown in FIG. 2, the sensor unit 10 has one of the three detection axes (x axis, y axis, z axis), for example, the y axis aligned with the long axis direction of the shaft 7. It is attached to a part of the shaft 7 of the golf club 3. Desirably, the sensor unit 10 is attached at a position close to the grip 5 where an impact at the time of impact is not easily transmitted and a centrifugal force is not applied during a swing. The shaft 7 is a portion of the handle excluding the head 6 of the golf club 3 and includes the grip 5.

  The user 2 performs a swing motion of hitting the golf ball 4 according to a predetermined procedure. FIG. 3 is a diagram illustrating a procedure of an operation performed by the user 2. As shown in FIG. 3, the user 2 first holds the golf club 3 and sets the address posture so that the long axis of the shaft 7 of the golf club 3 is perpendicular to the target line (target direction of the hit ball). Then, it stops for a predetermined time or longer (for example, 1 second or longer) (S1). Next, the user 2 performs a swing motion and hits the golf ball 4 (S2).

  While the user 2 performs an action of hitting the golf ball 4 according to the procedure shown in FIG. 3, the sensor unit 10 measures the triaxial acceleration and the triaxial angular velocity at a predetermined cycle (for example, 1 msec), and sequentially swings the measured data. It transmits to the analysis device 20. The sensor unit 10 may transmit the measured data immediately, or store the measured data in the internal memory, and transmit the measured data at a desired timing such as after the end of the swing motion of the user 2. It may be. Communication between the sensor unit 10 and the swing analysis device 20 may be wireless communication or wired communication. Alternatively, the sensor unit 10 may store the measured data in a removable recording medium such as a memory card, and the swing analysis apparatus 20 may read the measurement data from the recording medium.

  The swing analyzer 20 uses the data measured by the sensor unit 10, and the head (striking part) 6 of the golf club 3 is at the first position at the first time point, and the head 6 is at the first position at the second time point. Analyzing motion through In the present embodiment, the swing analysis device 20 calculates the position (coordinates) of the head 6 of the golf club 3 in the swing of the user 2 using the data measured by the sensor unit 10, and immediately before or immediately after the start of the swing and at the time of impact. Using the position (coordinates) of the head 6 on one side (or immediately before impact), the other position (coordinates) is corrected.

  4A and 4B are diagrams for conceptually explaining the correction of the position of the head of the golf club in the present embodiment, and FIG. 4A is drawn using the position of the head before correction obtained by calculation. FIG. 4B shows a golf club trajectory drawn using the corrected head position. FIG. 4B shows a golf club trajectory (head and grip trajectory). In the present embodiment, an XYZ coordinate system in which the target line indicating the target direction of the hit ball is the X axis, the axis on the horizontal plane perpendicular to the X axis is the Y axis, and the vertical direction (the direction opposite to the direction of gravitational acceleration) is the Z axis. (Global coordinate system) is defined, and the X axis, the Y axis, and the Z axis are shown in FIGS. 4A and 4B.

4A and 4B, S ₁ , HP ₁ , GP ₁ indicate the position of the shaft 7, the head 6, and the grip 5 at the start of the swing, respectively, and S ₂ , HP ₂ , GP ₂ respectively The shaft 7 and the position of the head 6 at the time of impact and the position of the grip 5 are shown. 4A and 4B, the position HP ₁ of the head 6 at the start of the swing is made coincident with the origin (0, 0, 0) of the XYZ coordinate system. A broken line HL ₁ and a solid line HL ₂ are a trajectory during the back swing of the head 6 and a trajectory during a down swing, respectively. A broken line GL ₁ and a solid line GL ₂ are a trajectory during the back swing of the grip 5, respectively. It is a trajectory during a downswing. The connection point between the broken line HL ₁ and the solid line HL ₂ and the connection point between the broken line GL ₁ and the solid line GL ₂ are respectively the position of the head 6 and the position of the grip 5 at the top of the swing (when the direction of the swing is switched). It corresponds to.

Since the head 6 is slightly in front of the ball at the start of the swing and comes into contact with the ball at the time of impact, the position of the head 6 should be substantially equal at the start of the swing and at the time of impact in an actual swing. However, as shown in FIG. 4A, the position HP ₂ of the head 6 at the time of impact obtained by calculation is a position slightly deviated from the position HP ₁ of the head 6 at the start of the swing due to the influence of an integration error of acceleration and angular velocity. It is in. That is, the locus in FIG. 4A is slightly different from the actual swing locus. Therefore, in the actual swing, for example, the position of the head 6 at one of the swing start time and the impact time in FIG. 4B, as shown in FIG. 4B, the position of the head 6 becomes equal at the start of swing and at the time of impact, and a locus closer to the actual swing than in FIG. 4A is obtained. If the position of the head 6 immediately before the impact is used, the error can be corrected with higher accuracy than the above. Details of the method for correcting the position of the head 6 will be described later.

  Further, the swing analyzer 20 uses the data measured by the sensor unit 10 to quantitatively calculate the dynamic behavior of the deflection and twist of the shaft 7 caused by the concentrated moment acting on both end portions of the shaft 7 during the swing. . Based on the calculated deflection and twist data of the shaft 7, posture information relating to the posture of at least one of the grip 5 and the head (striking portion) 6 of the golf club 3 in the swing of the user 2 is generated.

  FIG. 5 is a conceptual diagram schematically showing a swing model related to calculation of the deflection of the shaft of the golf club in the present embodiment. The deflection of the shaft 7 that occurs during the swing is calculated using the swing model shown in FIG. Both end portions are defined as a grip end 5P and a head end 6P of the shaft 7. Here, the grip end 5 </ b> P is set as a portion gripped by the hand of the grip 5, and the head end 6 </ b> P is set as a connecting portion between the shaft 7 and the head 6. A coordinate system is set for the grip end 5P. The x axis of the coordinate system is specified in the direction in which the grip 5 extends. The joint of the grip end 5P has a total of 6 degrees of freedom including 3 degrees of freedom of position and 3 degrees of freedom of rotation, and the position is specified by a position vector xw. The positions of the head end 6P of the shaft 7 and the center of gravity of the head 6 are specified by position vectors xl and xp, and the position of the inertial sensor (acceleration sensor 12) is specified by the position vector xs. The distance between the grip end 5P and the head end 6P is 1 (el). Here, EI (x) and GJ (x) mean the bending rigidity distribution and the torsional rigidity distribution of the shaft 7. The angular velocity vector of the golf club 3 is represented by ωs. The head 6 has a mass mp. The position vector of the head end 6P with respect to the grip end 5P is represented by Lp, and the position vector to the center of gravity of the head 6 with respect to the head end 6P of the shaft 7 is represented by rp. Details of a method for calculating the deflection of the shaft 7 that occurs during the swing and a method for generating posture information relating to at least one of the postures of the grip 5 and the head 6 will be described later.

  Further, it is preferable that the deflection information of the shaft 7 generated during the swing is the deflection information of the shaft 7 at the time of impact in the golf club 3. By doing this, it is possible to generate and output posture information relating to the posture of the grip 5 and the head 6 of the golf club 3 from the deflection information of the shaft 7 at the time of impact. And the difference in the analysis result between the actual position and posture of the grip 5 or the head 6 during the swing can be reduced. The deflection information of the shaft 7 generated during the swing may be each phase of the swing (back swing, top, down swing, follow-through) other than the deflection information of the shaft 7 at the time of impact. By generating and outputting posture information relating to the posture of the grip 5 and the head 6 of the golf club 3 from the deflection information of the shaft 7 in each phase, the rigidity of the shaft 7 with respect to the swing of the user 2 is output. It can be a measure of suitability.

  Then, the swing analysis device 20 uses the corrected position (coordinates) of the head 6 and the deflection and twist data of the shaft 7 to determine the path of the golf club 3 (for example, the path of the head 6 and the grip 5) and the shaft. The posture information related to the posture of at least one of the grip 5 and the head 6 generated by the bending of 7 is drawn on a display unit 25 (see FIG. 6) such as a display, for example. The swing analysis device 20 may be, for example, a portable device such as a smartphone or a personal computer (PC). Further, the swing analysis device 20 and the sensor unit 10 may be integrally formed. In this case, output may be performed from a device in which the swing analysis device 20 and the sensor unit 10 are integrally formed to a different device including the display unit 25. Further, the swing analysis device 20 and the sensor unit 10 may be integrally formed and further provided with a display unit.

1-2. Configuration of Swing Analysis System Next, a configuration example of the swing analysis system 1 of the present embodiment will be described with reference to FIG. FIG. 6 is a diagram illustrating a configuration example of the swing analysis system 1 of the present embodiment. As shown in FIG. 6, the swing analysis system 1 of the present embodiment includes a sensor unit 10 and a swing analysis device 20.

  In the present embodiment, the sensor unit 10 includes an acceleration sensor 12, an angular velocity sensor 14, a signal processing unit 16, and a communication unit 18. The swing analysis device 20 includes a processing unit 21, a communication unit 22, an operation unit 23, a storage unit 24, a display unit 25, and a sound output unit 26.

(Sensor unit)
The acceleration sensor 12 measures acceleration generated in each of three axis directions that intersect (ideally orthogonal) with each other, and outputs a digital signal (acceleration data) corresponding to the magnitude and direction of the measured three axis acceleration. .

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

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

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

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

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

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

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

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

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

  The storage unit 24 stores programs for the processing unit 21 to perform various calculation processes and control processes, various programs and data for realizing application functions, and the like. In particular, in the present embodiment, the storage unit 24 stores a swing analysis program 240 that is read by the processing unit 21 and that executes a swing analysis process. The swing analysis program 240 may be stored in advance in a non-volatile recording medium, or the processing unit 21 may receive the swing analysis program 240 from the server via the network and store it in the storage unit 24. Moreover, the memory | storage part 24 can memorize | store the exercise | movement analysis program which makes a computer perform a series of processes of the swing analysis system 1 which concerns on this embodiment.

  In the present embodiment, the storage unit 24 stores club specification information 242 representing the specifications of the golf club 3 and sensor mounting position information 244. For example, the user 2 inputs the model number of the golf club 3 to be used by operating the operation unit 23 (or is selected from the model number list), and the specification information for each model number stored in advance in the storage unit 24 (for example, the shaft 7 The specification information of the input model number is used as club specification information 242 among the information on the length, the position of the center of gravity, the lie angle, the face angle, the loft angle, and the like. Further, for example, the user 2 operates the operation unit 23 to input the distance between the mounting position of the sensor unit 10 and the grip 5 of the golf club 3, and the input distance information is stored as the sensor mounting position information 244. Stored in the unit 24. Alternatively, information on the predetermined position may be stored in advance as sensor mounting position information 244, assuming that the sensor unit 10 is mounted at a predetermined position (for example, a distance of 20 cm from the grip 5).

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

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

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

  The processing unit 21 performs processing for transmitting a control command to the sensor unit 10 according to various programs, various calculation processing for data received from the sensor unit 10 via the communication unit 22, and various other control processing. In particular, in the present embodiment, the processing unit 21 executes the swing analysis program 240 to thereby obtain a data acquisition unit 210, a motion detection unit 211, a position calculation unit 212, a position correction unit 213, a speed calculation unit 214, and motion analysis information. It functions as a generation unit 215, a storage processing unit 216, a display processing unit 217, a sound output processing unit 218, and an arithmetic processing unit 219 as a deflection calculation unit.

  The data acquisition unit 210 receives the packet data received from the sensor unit 10 by the communication unit 22, acquires time information and measurement data from the received packet data, and performs processing to send to the storage processing unit 216.

  The storage processing unit 216 performs processing for receiving time information and measurement data from the data acquisition unit 210 and storing them in the storage unit 24 in association with each other.

  The motion detection unit 211 performs processing for detecting the timing of each motion (measurement time of the measurement data) in the swing of the user 2 using the measurement data output from the sensor unit 10. Specifically, the motion detection unit 211 first detects the impact timing using the measurement data. Next, using the data before the impact timing included in the measurement data, the motion detection unit 211 detects the timing at which the swing direction is switched (the top timing at which the backswing is switched to the downswing). Next, the motion detection unit 211 detects the swing start timing using data before the timing at which the swing direction included in the measurement data is switched. For example, the motion detection unit 211 may calculate a composite value of measurement data (acceleration data or angular velocity data), and detect each timing of impact, top, and swing start using the composite value. Details of this detection method will be described later.

  The position calculation unit 212 uses the measurement data output from the sensor unit 10 to perform processing for calculating the position of the head 6 (an example of a hitting unit) of the golf club 3 in the swing (position coordinates in the XYZ coordinate system). In addition, the position calculation unit 212 performs processing for calculating the position of the grip 5 of the golf club 3 in the swing (the coordinates of the position in the XYZ coordinate system) using the measurement data output from the sensor unit 10.

  Specifically, the position calculation unit 212 first uses the measurement data (acceleration data and angular velocity data) stored in the storage unit 24 when the user 2 is stationary (at the time of address), and the offset included in the measurement data. Calculate the quantity. Next, the position calculation unit 212 performs bias correction by subtracting the offset amount from the measurement data after the start of swing stored in the storage unit 24, and the user 2 is performing a swing operation using the measurement data corrected for bias. The position and orientation (attitude angle) of the sensor unit 10 (during the operation of step S2 in FIG. 3) are calculated.

  For example, the position calculation unit 212 uses the acceleration data measured by the acceleration sensor 12, the club specification information 242, and the sensor mounting position information 244, when the user 2 is stationary (addressed) in the XYZ coordinate system (global coordinate system). The position (initial position) of the sensor unit 10 is calculated, and the subsequent acceleration data is integrated to calculate a change in position from the initial position of the sensor unit 10 in time series.

  Since the user 2 performs the operation of step S1 in FIG. 3, the X coordinate of the initial position of the sensor unit 10 is zero. Further, as shown in FIG. 2, the y-axis of the sensor unit 10 coincides with the long axis direction of the shaft 7 of the golf club 3, and the acceleration sensor 12 measures only the gravitational acceleration when the user 2 is stationary. The calculation unit 212 can calculate the inclination angle (inclination with respect to the horizontal plane (XY plane) or the vertical plane (XZ plane)) of the shaft 7 using the y-axis acceleration data. Then, the position calculation unit 212 obtains the distance between the sensor unit 10 and the head 6 from the club specification information 242 (length of the shaft 7) and the sensor mounting position information 244 (distance from the grip 5). With the position as the origin (0, 0, 0), the position of the distance from the origin in the negative y-axis direction of the sensor unit 10 specified by the inclination angle of the shaft 7 is the initial position of the sensor unit 10.

  Further, the position calculation unit 212 calculates the attitude (initial attitude) of the sensor unit 10 when the user 2 is stationary (at the time of address) in the XYZ coordinate system (global coordinate system) using the acceleration data measured by the acceleration sensor 12. Then, the rotation calculation using the angular velocity data measured by the angular velocity sensor 14 is performed, and the change in posture of the sensor unit 10 from the initial posture is calculated in time series. The posture of the sensor unit 10 can be expressed by, for example, rotation angles (roll angle, pitch angle, yaw angle) around the X axis, Y axis, and Z axis, quarter-on (quaternion), and the like. Since the acceleration sensor 12 measures only gravitational acceleration when the user 2 is stationary, the position calculation unit 212 uses the triaxial acceleration data to determine each of the x-axis, y-axis, and z-axis of the sensor unit 10 and the direction of gravity. The angle formed by can be specified. Furthermore, since the user 2 performs the operation of step S1 in FIG. 3, when the user 2 is stationary, the y-axis of the sensor unit 10 is on the YZ plane, so the position calculation unit 212 determines the initial posture of the sensor unit 10. Can be identified.

  Then, the position calculation unit 212 changes the position of the distance LSH from the position of the sensor unit 10 at each time of swing to the positive direction of the y-axis of the sensor unit 10 specified from the attitude of the sensor unit 10 at the time. The position of the head 6 in FIG.

  In addition, the position calculation unit 212 detects the sensor mounting position information 244 (from the position of the sensor unit 10 at each time of swing to the negative direction of the y-axis of the sensor unit 10 specified by the attitude of the sensor unit 10 at that time. The position of the distance LSG between the sensor unit 10 and the grip 5 specified by the distance from the grip 5) is defined as the position of the grip 5 at the time.

  The signal processing unit 16 of the sensor unit 10 may calculate the offset amount of the measurement data and perform bias correction of the measurement data, or the acceleration sensor 12 and the angular velocity sensor 14 have a bias correction function incorporated therein. It may be. In these cases, the bias correction of the measurement data by the position calculation unit 212 becomes unnecessary.

  The position correction unit 213 (an example of a correction unit) is based on the difference between the position of the head 6 of the golf club 3 at the first time point (an example of the first position) and the position of the head 6 of the golf club 3 at the second time point. The position information (an example of the motion parameter) of the head 6 of the golf club 3 acquired from the measurement data of the sensor unit 10 is corrected. In the present embodiment, the position correction unit 213 is at the start of a swing that is an example of the first time point (before the start of the swing, immediately before the start of the swing or immediately after the start of the swing) and at the time of the impact that is an example of the second time point (or just before the impact). Using the position of the head 6 on one side, processing for correcting the position of the head 6 on the other side is performed. The swing start time and impact time may be the measurement time when the motion detection unit 211 detects the swing start timing and the measurement time when the impact timing is detected, respectively.

  For example, the position correction unit 213 corrects the position of the head 6 at the time of impact (or just before the impact) by using the position of the head 6 at the time of the start of swing (before the start of swing, immediately before the start of swing or immediately after the start of swing). Alternatively, the position of the head 6 at the start of the swing may be corrected using the position of the head 6 at the time of impact. Further, for example, the position correction unit 213 may correct the position of the head 6 so that the position of the head 6 is matched at the start of swing and at the time of impact (based on the same conditions).

  The position correction unit 213 also corrects the position of the head 6 at each time other than the start of swing or impact in the swing, and generates time series information of the position of the head 6 in the swing. For example, the position correction unit 213 uses the correction amount of the position of the head 6 at the start of the swing (difference between the corrected position and the position before the correction) and the correction amount of the position of the head 6 at the time of impact to linearly. A correction amount at an arbitrary time may be calculated by a method such as complementation, and the position of the head 6 at each time may be corrected using the correction amount.

  Further, the position correction unit 213 corrects the position of the grip 5 using the time series information of the position of the head 6 after the correction in the swing, and generates time series information of the position of the grip 5 after the correction in the swing. For example, the position correction unit 213 changes the position of the distance LSH + LSG from the position of the head 6 at each time in the negative direction of the y-axis of the sensor unit 10 specified by the attitude of the sensor unit 10 at the time. It is good also as a position of grip 5 in. In addition, the position correction unit 213 may generate time-series information of the positions of various parts (for example, the center of gravity of the golf club 3) other than the grip 5 of the golf club 3 in a swing by a similar method.

  The speed calculation unit 214 (another example of the correction unit) includes a position of the head 6 of the golf club 3 (an example of the first position) at the start of a swing (an example of the first time point) and an impact (an example of the second time point). ) To correct speed information (an example of a motion parameter) of the head 6 of the golf club 3 acquired from the measurement data of the sensor unit 10 based on the difference from the position of the head 6 of the golf club 3 in FIG. In the present embodiment, processing for correcting the speed of the head 6 (processing for correcting) is performed using the time series information of the corrected position of the head 6 generated by the position correction unit 213. For example, the speed calculation unit 214 differentiates the position of the head 6 at an arbitrary time (for example, at the time of impact) included in the time-series information of the corrected position of the head 6 (from the position of the head 6 at the previous time). The speed of the head 6 at the time may be calculated.

  Further, the speed calculation unit 214 may calculate the speed of the part using the time series information of the position of the part other than the head 6 of the golf club 3 after the correction generated by the position correction part 213. For example, the speed calculation unit 214 calculates a derivative of the position of the grip 5 at an arbitrary time included in the time series information of the position of the grip 5 after correction (difference from the position of the grip 5 at the previous time). The speed of the grip 5 at the time may be calculated.

The motion analysis information generation unit 215 performs a swing analysis using the corrected position information (or corrected speed information), and performs processing to generate motion analysis information that is analysis result information. For example, the motion analysis information generation unit 215 uses the time series information of the positions of the various parts of the golf club 3 generated by the position correction unit 213 to obtain the trajectory information (image data) of the golf club 3 during a predetermined period of the swing. Generate the process. For example, the motion analysis information generating unit 215 connects the positions (coordinates) of the head 6 from the start of the swing to the time of impact with a line in order, and similarly, the position (coordinates) of the grip 5 from the start of the swing to the time of impact. Are connected by lines in order, and trajectory information including the trajectory of the head 6 (HL ₁ and HL _{2 in} FIG. 4B) and the trajectory of the grip 5 (GL ₁ and GL _{2 in} FIG. 4B) from the start of swing to the impact. May be generated.

  Further, for example, the motion analysis information generation unit 215 may generate motion analysis information such as a change in swing speed using the speed information of various parts of the golf club 3 generated by the speed calculation unit 214. Further, for example, the motion analysis information generation unit 215 generates and outputs posture information relating to at least one of the grip 5 of the golf club 3 and the head 6 from the deflection information of the shaft 7 calculated by the arithmetic processing unit 219. It can have a function as a posture information generation unit.

  The storage processing unit 216 performs read / write processing of various programs and various data for the storage unit 24. The storage processing unit 216 is calculated by the position calculation unit 212, the position correction unit 213, and the motion analysis information generation unit 215 in addition to the process of associating the time information received from the data acquisition unit 210 with the measurement data and storing them in the storage unit 24. A process for storing the various information and the like in the storage unit 24 is also performed.

  The display processing unit 217 performs processing for displaying various images (images, characters, symbols, and the like corresponding to the motion analysis information generated by the motion analysis information generation unit 215) on the display unit 25. For example, the display processing unit 217 may display an image or a character corresponding to the motion analysis information generated by the motion analysis information generation unit 215 automatically or after the user 2 has finished the swing motion or in response to an input operation of the user 2. Are output and displayed on the display unit 25. Alternatively, a display unit is provided in the sensor unit 10, and the display processing unit 217 transmits (outputs) image data to the sensor unit 10 via the communication unit 22, and various images and images are displayed on the display unit of the sensor unit 10. Characters or the like may be displayed.

  The sound output processing unit 218 performs processing for causing the sound output unit 26 to output various sounds (including sound and buzzer sound). For example, the sound output processing unit 218 reads various information stored in the storage unit 24 automatically or after a predetermined input operation is performed after the user 2 has finished the swing motion. You may make the sound output part 26 output the sound and sound for swing analysis. Alternatively, a sound output unit is provided in the sensor unit 10, and the sound output processing unit 218 transmits various sound data and audio data to the sensor unit 10 via the communication unit 22, and the sound output unit of the sensor unit 10. Various sounds and sounds may be output.

  The swing analysis device 20 or the sensor unit 10 may be provided with a vibration mechanism, and various information may be converted into vibration information by the vibration mechanism and presented to the user 2.

  The arithmetic processing unit 219 serving as a deflection calculating unit performs arithmetic processing related to the deflection of the shaft 7 that occurs during the swing using the swing model illustrated in FIG. 5, and calculates data relating to the deflection of the shaft 7. Then, posture information relating to the posture of at least one of the grip 5 and the head 6 is generated from the data relating to the deflection of the shaft 7. The posture information includes, for example, an index related to hand-up as a posture related to the grip 5 in a swing or an index related to hand first, a face angle, a loft angle, a club pass as a posture related to the head (hitting unit) 6, and An index including at least one of the attack angles may be calculated.

  Here, the hand-up index may be calculated as the inclination angle (hand-down angle, hand-up angle) of the golf club 3, or the hand-up degree (hand-up amount) of the grip 5 considering the deflection of the shaft 7. ). In addition, the hand first index may be calculated as a hand first degree (hand first amount) indicating the position of the hand holding the grip 5 at the time of impact when the head 6 and the golf ball 4 (see FIG. 1) hit.

  Further, the face angle as an index related to the posture of the head (striking part) 6 may be calculated as an index based on the tilt of the head 6 of the golf club 3 at the time of impact, and the club path (incident angle) is You may calculate as a parameter | index based on the track | orbit of the head 6 of the golf club 3 at the time of impact. The index related to the loft angle may be calculated as an angle formed by a vertical plane including the center line of the shaft 7 and the face plane. Further, the index related to the attack angle is calculated as an angle with respect to the tangent of the swing track at the hitting point at the time of impact (at the time of hitting) when the head 6 of the golf club 3 hits the golf ball 4 and the angle with respect to the horizontal plane in a predetermined swing track. May be. Further, the index related to the speed of the head 6 in the swing may be calculated as the speed at impact (during hitting) when the head 6 of the golf club 3 hits the golf ball 4 in a predetermined swing path.

1-3. Processing of swing analysis device [Swing analysis processing]
FIG. 7 is a flowchart illustrating the procedure of the swing analysis process performed by the processing unit 21 of the swing analysis apparatus 20 according to the present embodiment. The processing unit 21 of the swing analysis apparatus 20 (an example of a computer) executes a swing analysis process according to the procedure of the flowchart of FIG. 7 by executing the swing analysis program 240 stored in the storage unit 24. Hereinafter, the flowchart of FIG. 7 will be described. In addition, the structure similar to the swing analysis system 1 (the sensor unit 10 and the swing analysis apparatus 20) mentioned above is demonstrated using a same sign.

  First, the processing unit 21 acquires measurement data of the sensor unit 10 (step S10). When the processing unit 21 acquires the first measurement data in the swing (including the stationary motion) of the user 2 in step S10, the processing unit 21 may perform the processing from step S20 onward in real time. After acquiring a part or all of the series of measurement data in step S20, the processing after step S20 may be performed.

  Next, the processing unit 21 detects the stationary motion (address motion) of the user 2 (the motion of Step S1 in FIG. 3) using the measurement data acquired from the sensor unit 10 (Step S20). When processing is performed in real time, the processing unit 21 outputs a predetermined image or sound, for example, when detecting a stationary operation (address operation), or by providing an LED in the sensor unit 10 and the LED The user 2 may be notified that the stationary state has been detected, for example, by turning on, and the user 2 may start swinging after confirming this notification.

  Next, the processing unit 21 uses the measurement data acquired from the sensor unit 10 (measurement data in the stationary operation (address operation) of the user 2), the club specification information 242, the sensor mounting position information 244, and the like. An initial position and an initial posture are calculated (step S30).

  Next, the processing unit 21 detects each operation in the swing using the measurement data acquired from the sensor unit 10 (step S40). An example of the procedure of the operation detection process will be described later.

  Further, the processing unit 21 calculates the position and orientation of the sensor unit 10 in the swing using the measurement data acquired from the sensor unit 10 in parallel with or before or after the process of step S40 (step S50).

  Next, the processing unit 21 uses the position and posture of the sensor unit 10 calculated in step S50, the club specification information 242, the sensor mounting position information 244, and the like, and the position of the head 6 of the golf club 3 and the grip 5 in the swing. The position and the position of the sensor unit 10 are calculated (step S60). In step S60, the processing unit 21 adjusts the position of the head 6 of the golf club 3 at the swing start time t1 detected in step S40 to be the origin (0, 0, 0).

  Next, the processing unit 21 corrects the position of the head 6 of the golf club 3 and the position of the grip 5 in the swing calculated in Step S60 using the detection result of Step S40 (Step S70). An example of the procedure of this position correction process will be described later.

  Next, the processing unit 21 calculates data on the deflection of the shaft 7 that occurs during the swing in the arithmetic processing unit 219. Then, posture information relating to the posture of at least one of the grip 5 and the head 6 is generated from the data relating to the deflection of the shaft 7 (step S75). An example of a calculation process related to the deflection of the shaft 7 and a procedure for generating posture information related to the posture of the grip 5 or the head 6 will be described later.

Next, the processing unit 21 uses the position of the head 6 of the golf club 3 and the position of the grip 5 that have been corrected in step S70 to use the locus information of the swing (for example, from the swing start time t ₁ to the impact time t _3. (Trajectory information including the trajectories of the head 6 and the grip 5 up to this point), and any one of the posture information and the swing trajectory information of the grip 5 and the head 6 generated in step S75 is displayed on the display unit 25 (step S80). .

  Next, the processing unit 21 uses the position of the head 6 of the golf club 3 and the position of the grip 5 corrected in step S70, and the speed of the head 6 and the grip 5 in the swing (for example, at the time of impact). The speed is calculated and displayed on the display unit 25 (step S90), and the process ends. In the flowchart of FIG. 7, the order of the steps may be appropriately changed within a possible range.

[Motion detection processing]
FIG. 8 is a flowchart illustrating an example of a procedure of a process for detecting each action in the swing of the user 2 (the process in step S40 in FIG. 7). Hereinafter, the flowchart of FIG. 8 will be described. In addition, the structure similar to the swing analysis system 1 (the sensor unit 10 and the swing analysis apparatus 20) mentioned above is demonstrated using a same sign.

  First, the processing unit 21 performs bias correction on the measurement data (acceleration data and angular velocity data) stored in the storage unit 24 (step S200).

Next, the processing unit 21 uses the angular velocity data (angular velocity data for each time t) bias-corrected in step S200 to calculate the value of the combined angular velocity n ₀ (t) at each time t (step S210). ). For example, assuming that the angular velocity data at time t is x (t), y (t), and z (t), the synthesized value n ₀ (t) of the angular velocity is calculated by the following equation (1).

  An example of the triaxial angular velocity data x (t), y (t), z (t) when the user 2 swings and hits the golf ball 4 is shown in FIG. 9A. In FIG. 9A, the horizontal axis represents time (msec) and the vertical axis represents angular velocity (dps).

Next, the processing unit 21 converts the combined value n ₀ (t) of the angular velocities at each time t into a combined value n (t) that is normalized (scale converted) to a predetermined range (step S220). For example, assuming that the maximum value of the combined value of angular velocities during the measurement data acquisition period is max (n ₀ ), the combined value of angular velocities n ₀ (t) is normalized to a range of 0 to 100 by the following equation (2). Is converted into the synthesized value n (t).

FIG. 9B shows an equation (2) after calculating a combined value n ₀ (t) of the triaxial angular velocities from the triaxial angular velocity data x (t), y (t), z (t) of FIG. 9A according to the equation (1). FIG. 6 is a graph showing a composite value n (t) normalized to 0 to 100 according to FIG. In FIG. 9B, the horizontal axis represents time (msec), and the vertical axis represents the combined value of angular velocities.

  Next, the processing unit 21 calculates a differential dn (t) of the composite value n (t) after normalization at each time t (step S230). For example, assuming that the measurement period of the triaxial angular velocity data is Δt, the differential (difference) dn (t) of the synthesized value of angular velocities at time t is calculated by the following equation (3).

  FIG. 9C is a graph showing the differential dn (t) calculated from the combined value n (t) of the triaxial angular velocities in FIG. In FIG. 9C, the horizontal axis represents time (msec), and the vertical axis represents the differential value of the combined value of the triaxial angular velocities. 9A and 9B, the horizontal axis is displayed for 0 to 5 seconds. In FIG. 9C, the horizontal axis is 2 to 2.8 seconds so that the change in the differential value before and after the impact can be seen. Is displayed.

Next, the processing unit 21 specifies the previous time as the impact measurement time t ₃ among the time when the value of the derivative dn (t) of the combined value is the maximum and the minimum (step S240) (FIG. 9C). 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 timing at which the differential value of the combined angular velocity value becomes the maximum or minimum in a series of swing motions (that is, the differential of the combined angular velocity value). The timing at which the value 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 processing unit 21 specifies the time of the minimum point where the composite value n (t) approaches 0 before the impact measurement time t ₃ as the top measurement time t ₂ (step S250) (see FIG. 9B). . 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 timing at which the combined value of the angular velocities approaches 0 and becomes the minimum before the impact timing can be regarded as the top timing.

Next, the processing unit 21 specifies a section where the composite value n (t) is equal to or less than a predetermined threshold before and after the top measurement time t ₂ as a top section (step S260). In a normal golf swing, the operation stops once at the top, so it is considered that the swing speed is low before and after the top. Therefore, a continuous section including the top timing and the combined value of the angular velocities being equal to or less than the predetermined threshold can be regarded as the top section.

Next, the processing unit 21 specifies the last time before the start time of the top section at which the composite value n (t) is equal to or less than a predetermined threshold as the measurement time t ₁ of the swing start (step S270) (FIG. 9B). (See), and the process is terminated. In a normal golf swing, it is unlikely that the swing operation starts from a stationary state and stops until the top. Therefore, the last timing at which the combined value of the angular velocities is less than or equal to the predetermined threshold before the top timing can be regarded as the timing for starting the swing motion. Note that the time at the minimum point where the composite value n (t) approaches 0 before the top measurement time t ₂ may be specified as the measurement time at the start of the swing.

  In the flowchart of FIG. 8, the order of each process may be changed as appropriate within the possible range. In the flowchart of FIG. 8, the processing unit 21 specifies the impact or the like using the triaxial angular velocity data, but can similarly specify the impact or the like using the triaxial acceleration data.

[Position correction processing]
FIG. 10 is a flowchart showing an example of the procedure of the process of correcting the head position and the grip position of the golf club 3 (the process of step S70 of FIG. 7). Hereinafter, the flowchart of FIG. 10 will be described. In addition, the structure similar to the swing analysis system 1 (the sensor unit 10 and the swing analysis apparatus 20) mentioned above is demonstrated using a same sign.

First, the processing unit 21 calculates the X coordinate of the position of the head 6 at the time of impact (time t ₃ ) and the X coordinate of the position of the head 6 at the start of swing (time t ₁ ) calculated in step S60 of FIG. A straight line expression using a time as a variable (a linear expression representing a correction amount of the X coordinate) is calculated (step S300).

Further, the processing unit 21 calculates the Y coordinate of the position of the head 6 at the time of impact (time t ₃ ) and the Y coordinate of the position of the head 6 at the start of swing (time t ₁ ) calculated in step S60 of FIG. A straight line expression (a linear expression representing the correction amount of the Y coordinate) using the time as a variable is calculated (step S310).

Further, the processing unit 21 calculates the Z coordinate of the position of the head 6 at the time of impact (time t ₃ ) and the Z coordinate of the position of the head 6 at the start of swing (time t ₁ ) calculated in step S60 of FIG. A straight line expression (primary expression representing the correction amount of the Z coordinate) using the time as a variable is calculated (step S320).

FIG. 11A shows the position of the head 6 from the swing start time (time t ₁ ) to the impact time (time t ₃ ) calculated in step S 60 of FIG. 7 using data obtained by measuring the actual swing by the sensor unit 10. An example of time-series data of the X coordinate, the Y coordinate, and the Z coordinate of the position before correction) is shown. In FIG. 11A, the horizontal axis represents time, the vertical axis represents coordinate values, the solid line represents the X coordinate, the broken line represents the Y coordinate, and the dotted line represents the Z coordinate. As shown in FIG. 11A, at the swing start time t ₁ , the position of the head 6 is at the origin, and its X coordinate, Y coordinate, and Z coordinate are all 0, but at the impact time t ₃ , the X coordinate, Y coordinate. Neither of the Z coordinates is 0.

FIG. 11B shows the X-coordinate, Y-coordinate, Z-coordinate at the swing start time t _{1, and} the X-coordinate, Y-coordinate at the impact time t ₃ with respect to the time-series data of the position of the head 6 before correction shown in FIG. Three straight lines each connecting the Z coordinate are shown. In FIG. 11A, the horizontal axis represents time, and the vertical axis represents coordinate values. The solid line is a straight line corresponding to the X coordinate and corresponds to a linear expression representing the correction amount of the X coordinate. The broken line is a straight line corresponding to the Y coordinate and corresponds to a linear expression representing the correction amount of the Y coordinate. The dotted line is a straight line corresponding to the Z coordinate and corresponds to a linear expression representing the correction amount of the Z coordinate.

  Next, the processing unit 21 performs steps S300, S310, and S3, respectively, from the X coordinate, the Y coordinate, and the Z coordinate of the position of the head 6 at each time (position before correction) calculated in step 60 of FIG. The correction amount calculated in S320 is subtracted according to a linear expression representing the correction amount of the X coordinate, Y coordinate, and Z coordinate of the position of the head 6 at each time in the swing (step S330).

11C shows the X, Y, and Z coordinates at each time on the straight line shown in FIG. 11B from the X, Y, and Z coordinates at the respective times of the position of the head 6 before correction shown in FIG. 11A. The result corrected by subtracting is shown. In FIG. 11A, the horizontal axis represents time, the vertical axis represents coordinate values, the solid line represents the corrected X coordinate, the broken line represents the corrected Y coordinate, and the dotted line represents the corrected Z coordinate. As shown in FIG. 11C, at the impact time t ₃ , the X coordinate, the Y coordinate, and the Z coordinate are all 0, and respectively match the X coordinate, the Y coordinate, and the Z coordinate at the swing start time t ₁ . .

  Next, the processing unit 21 performs steps S300, S310, and S3, respectively, based on the X coordinate, Y coordinate, and Z coordinate of the position of the grip 5 at the time of the swing (position before correction) calculated in step 60 of FIG. The correction amount calculated in S320 is subtracted according to the primary expression representing the correction amount of the X coordinate, Y coordinate, and Z coordinate of the position of the grip 5 at each time in the swing (step S340), and the process is terminated.

  With the above processing, in step S80 of FIG. 7, the display unit 25 is drawn with a locus on which the position of the head 6 coincides at the start of the swing and the impact as shown in FIG. 4B. Further, the speed of the head 6 and the speed of the grip 5 calculated in step S90 of FIG. 7 are calculated based on the corrected position of the head 6 and the position of the grip 5 that are closer to reality.

12A shows the head 6 from the swing start time (time t ₁ ) to the impact time (time t ₃ ) calculated from the X coordinate, Y coordinate, and Z coordinate of the position of the head 6 before correction shown in FIG. 11A. It is a figure which shows an example of the time series data of X-axis speed, Y-axis speed, and Z-axis speed. FIG. 12B shows the time from the start of swing (time t ₁ ) to the time of impact (time t ₃ ) calculated from the X, Y, and Z coordinates of the corrected head 6 position shown in FIG. 11C. It is a figure which shows an example of the time series data of the X-axis speed of the head 6, a Y-axis speed, and a Z-axis speed. 12A and 12B, the horizontal axis represents time, the vertical axis represents speed (unit: m / s), the solid line represents the X-axis speed, the broken line represents the Y-axis speed, and the dotted line represents the Z-axis speed.

Assuming that the X-axis speed, Y-axis speed, and Z-axis speed are vx, vy, and vz, respectively, the speed v _H of the head 6 that combines the X-axis speed, the Y-axis speed, and the Z-axis speed is, for example, Calculated.

13A shows time-series data of the speed of the head 6 (speed before correction) obtained by combining the X-axis speed, Y-axis speed, and Z-axis speed calculated from the position of the head 6 before correction shown in FIG. 12A, and FIG. 12B. It is a figure which shows the time series data of the speed (speed after correction | amendment) of the head 6 which compounded the X-axis speed calculated from the position of the head 6 after correction | amendment shown, the Y-axis speed, and the Z-axis speed. FIG. 13B is an enlarged view of the speed before and after correction of the head 6 from time t ₄ immediately before the impact in FIG. 13A to time t ₃ . 13A and 13B, the horizontal axis indicates time, the vertical axis indicates speed (unit: m / s), the solid line indicates the speed after correction, and the broken line indicates the speed before correction. From FIG. 13B, the speed before correction of the head 6 at the time of impact (time t ₃ ) is 35.1 m / s, and the speed after correction is 35.4 m / s. On the other hand, the speed of the head 6 at the time of impact in the swing measured by the sensor unit 10 was simultaneously measured by a highly reliable reference measuring instrument, and found to be 35.5 m / s. That is, the speed of the head 6 at the time of impact calculated from the position of the head 6 after correction is closer to the reference speed, and the accuracy is higher than the speed of the head 6 at the time of impact calculated from the position of the head 6 before correction. It can be said.

  Based on the above results, the speed of the head 6 and the speed of the grip 5 calculated in step S90 after the processing unit 21 corrects the position of the head 6 and the position of the grip 5 in step S70 of FIG. 7 are temporarily calculated in step S60. It can be said that the accuracy is higher than the speed of the head 6 and the speed of the grip 5 calculated using the calculated position of the head 6 and the position of the grip 5 (position before correction), respectively.

[Calculation processing related to shaft deflection]
The arithmetic processing unit 219 performs arithmetic processing using the swing model shown in FIG. 5 as an example of the motion analysis method of the present invention. The arithmetic processing unit 219 performs arithmetic processing related to the deflection of the shaft 7 that occurs during the swing, and calculates data relating to the deflection of the shaft 7. Then, posture information relating to the posture of at least one of the grip 5 and the head 6 is generated from the data relating to the deflection of the shaft 7.

(Configuration of arithmetic processing circuit)
FIG. 14 is a block diagram schematically showing a configuration example of an arithmetic processing circuit constituting the arithmetic processing unit 219. As shown in FIG. 14, the arithmetic processing unit 219 includes a force calculation unit 28. The force calculation unit 28 receives an acceleration signal and an angular velocity signal from an inertial sensor (acceleration sensor 12). The force calculation unit 28 calculates a force (vector) Fp acting on the head 6 based on the acceleration and the angular velocity. In the calculation, the force calculation unit 28 acquires mass data of the head 6. In the mass data, the mass mp of the head 6 is described. The mass data may be stored in the storage unit 24 in advance. When the acceleration (vector) acting on the head 6 is ap, the force (vector) Fp is calculated according to the following equation (5).

Here, a _s represents acceleration (including gravitational acceleration (vector) g) obtained from the output of the inertial sensor (acceleration sensor 12), ω _s represents angular velocity obtained from the output of the acceleration sensor 12, and L _sp indicates a distance (position vector) from the acceleration sensor 12 to the center of gravity of the head 6. The dot on the letter indicates time differentiation. Note that the operator “x” indicates a vector outer product. The acceleration and angular velocity of the grip end 5P are calculated from the measured values of the acceleration sensor 12. The acceleration (vector) ap acting on the head 6 is estimated from the acceleration sensor 12 mounted on the shaft 7 by using the following equation (5) to calculate the force (vector) F _p . When the acceleration sensor 12 is mounted on the head 6 or the shaft 7 near the head 6, the output of the acceleration sensor 12 is directly input to the acceleration (vector) a _p on the upper side of the equation (5) to obtain a force (vector). F _p can be obtained. Here, L _sp is the distance from the position where the acceleration sensor 12 is attached to the position of the center of gravity of the head 6, but approximately from the position where the acceleration sensor 12 is attached to the connecting portion of the shaft 7 and the head 6. _May be calculated as _Lsp . The force calculation unit 28 calculates the force F _p using Expression (5) and outputs a force signal.

  The arithmetic processing unit 219 includes a first concentrated moment calculating unit 31 and a second concentrated moment calculating unit 32. The first concentration moment calculation unit 31 and the second concentration moment calculation unit 32 are connected to the force calculation unit 28, respectively. A force signal is input from the force calculation unit 28 to the first concentration moment calculation unit 31 and the second concentration moment calculation unit 32, respectively. The first concentrated moment calculator 31 calculates a concentrated moment (vector) M (l) acting on the head end 6P (x = 1), for example, according to the following equation (6). The calculation of the concentration moment M (l) is performed at each time at predetermined time intervals.

In calculating the concentration moment M (l), the first concentration moment calculation unit 31 acquires first position vector data. The first position vector data, the position vector r _p from connecting portion of the shaft 7 and the head 6 to the center of gravity of the head 6 is described. The first position vector data may be stored in advance in the storage unit 24 (see FIG. 6). The first concentration moment calculator 31 outputs a first concentration moment signal. The concentration moment M (l) is specified by the first concentration moment signal.

  The second concentrated moment calculation unit 32 calculates a concentrated moment M (0) acting on the grip end 5P (x = 0) according to the following equation (7), for example. The calculation of the concentration moment M (0) is performed at each time at predetermined time intervals.

  In calculating the concentration moment M (0), the second concentration moment calculation unit 32 acquires second position vector data. In the second position vector data, a position vector Lp from the grip end 5P to the head end 6P is described. The second position vector data may be stored in advance in the storage unit 24 (see FIG. 6). The second concentrated moment calculation unit 32 outputs a second concentrated moment signal. The concentration moment M (0) is specified by the second concentration moment signal.

The arithmetic processing unit 219 includes a bending moment distribution calculation unit 35 and a torsion (torsion) moment calculation unit 36. The bending moment distribution calculating unit 35 is connected to the first concentrated moment calculating unit 31 and the second concentrated moment calculating unit 32. The bending moment distribution calculating unit 35 receives the first concentrated moment signal and the second concentrated moment signal from the first concentrated moment calculating unit 31 and the second concentrated moment calculating unit 32, respectively. Based on the concentrated moment M (l) and the concentrated moment M (0), the bending moment distribution calculation unit 35 _collects M _yz (0) which is the concentrated moment in the y-axis direction and the z-axis direction at the grip end 5P and the head end 6P. M _yz (l), which is a concentrated moment in the y-axis direction and the z-axis direction, is obtained, and the distribution of the bending moment M _yz (x) acting in the y-axis direction and the z-axis direction of the shaft 7 according to the following equation (8) Is calculated. The distribution is calculated at each time according to the time interval described above.

  In the calculation, the bending moment distribution calculation unit 35 acquires length data. In the length data, the length l (el) of the shaft 7 is described. The length data may be stored in advance in the storage unit 24 (see FIG. 6). The bending moment distribution calculation unit 35 outputs a bending moment distribution signal. The distribution of the bending moment is specified for each time over the entire length of the shaft 7 by the bending moment distribution signal.

The torsional moment calculating unit 36 receives the first concentrated moment signal and the second concentrated moment signal from the first concentrated moment calculating unit 31 and the second concentrated moment calculating unit 32, respectively. Based on the concentrated moment M (l) and the concentrated moment M (0), the torsional moment calculator 36 calculates M _x (0), which is a concentrated moment around the x axis at the grip end 5P, and around the x axis at the head end 6P. The concentration moment M _x (l) is obtained, and the torsion moment M _x acting around the x axis of the shaft 7 is calculated according to the following equation (9). The calculation is performed at each time according to the above-described time interval.

  In the calculation, the torsional moment calculation unit 36 acquires length data. The torsion moment calculation unit 36 outputs a torsion moment signal. The torsion moment is specified for each time over the entire length of the shaft 7 by the torsion moment signal.

  The arithmetic processing unit 219 includes a y-direction deflection calculation unit 37 and a z-direction deflection calculation unit 38. The y-direction deflection calculation unit 37 and the z-direction deflection calculation unit 38 are connected to the bending moment distribution calculation unit 35. A bending moment distribution signal is input from the bending moment distribution calculation unit 35 to the y-direction deflection calculation unit 37 and the z-direction deflection calculation unit 38. The y-direction deflection calculation unit 37 and the z-direction deflection calculation unit 38 are arranged in the y-axis direction and z-axis direction of the coordinate system according to the following equation (10) based on the bending moment distribution and the bending stiffness distribution EI (x). The y-direction deflection and the z-direction deflection are respectively calculated. The calculation of the deflection is performed at each time according to the above-described time interval.

  Note that the bending stiffness distribution EI (x) is measured by a design value specified by the shaft manufacturer or a dedicated measuring instrument, and a characteristic as shown in FIG. 15 is obtained. In the figure, the origin of the x-axis corresponds to the grip end 5P of the shaft 7 that identifies the shaft 7, the horizontal axis indicates the length in the long axis direction of the shaft 7, and the vertical axis indicates the bending rigidity of the shaft 7. ing. The torsional stiffness distribution GJ (x) is also measured in advance using a dedicated measuring instrument.

  In the calculation, the y-direction deflection calculation unit 37 and the z-direction deflection calculation unit 38 acquire bending stiffness data. In the bending stiffness data, a bending stiffness distribution EI (x) is described over the entire length of the shaft 7. The bending stiffness data may be stored in advance in the storage unit 24 (see FIG. 6). The y-direction deflection calculation unit 37 outputs a y-direction deflection signal. A deflection amount in the y direction is specified for each position (x) in the y direction deflection signal. The z-direction deflection calculation unit 38 outputs a z-direction deflection signal. The amount of deflection in the z direction is specified for each position (x) in the z direction deflection signal.

  The arithmetic processing unit 219 includes a twist angle calculation unit 39. The torsion angle calculation unit 39 is connected to the torsion moment calculation unit 36. A torsional moment signal is input to the torsional angle calculating unit 39 from the torsional moment calculating unit 36. The torsion angle calculation unit 39 calculates the torsion angle around the x axis of the shaft 7 according to the following equation (11) based on the torsion moment and torsional rigidity distribution GJ (x). The calculation of the twist angle is performed at each time according to the above-described time interval.

  In the calculation, the torsion angle calculation unit 39 acquires torsional rigidity data. The torsional rigidity data describes the torsional rigidity distribution GJ (x) over the entire length of the shaft 7. The torsional rigidity data may be stored in the storage unit 24 in advance. The torsion angle calculation unit 39 outputs a torsion angle signal. The amount of twist angle around the x axis at each position (x) is specified by the twist angle signal.

  In accordance with the output of the detection signal, the arithmetic processing unit 219 calculates the deflection in the y-axis direction, the deflection in the z-axis direction, and the twist angle around the x-axis in the swing model shown in FIG. The y-direction deflection signal, the z-direction deflection signal, and the torsion angle signal are input to the display processing unit 217 (see FIG. 6). Thus, the amount of deflection in the y-axis direction, the amount of deflection in the z-axis direction, and the amount of twist angle around the x-axis can be imaged and displayed on the display unit 25 (see FIG. 6). The deflection in the y-axis direction reflects the deflection of the shaft 7 along the swing surface. The deflection in the z-axis direction reflects the deflection of the shaft 7 in a direction perpendicular to the face surface of the head 6.

  Here, the inertial sensor (acceleration sensor 12) measures the inertial force of the shaft 7, and the concentrated moment M (l) and the concentrated moment M (0) are calculated based on the measured inertial force. In this way, dynamic behavior such as the amount of deflection and the amount of torsional angle of the shaft 7 during the swing can be expressed quantitatively.

The concentration moment M (0) is calculated at the grip end 5P of the shaft 7 using, for example, a swing model shown in FIG. Based on the concentrated moment M _yz (0) and concentrated moment M _x (0) at the grip end 5P, the dynamic behavior of the shaft 7 is quantitatively expressed according to the force acting from the arm during the swing. On the other hand, the concentrated moment M _yz (l) and the concentrated moment M _x (l) are calculated at the head end 6P of the shaft 7 that identifies the shaft 7 in the swing model. Based on the concentrated moment M _yz (l) and the concentrated moment M _x (l) at the head end 6P, the dynamic behavior of the shaft 7 is quantitatively expressed according to the force acting from the head 6 during the swing.

The bending moment distribution calculating unit 35 performs the y-axis direction and z-axis of the shaft 7 along the long-axis direction of the shaft 7 based on the concentrated moment M _yz (l) and the concentrated moment M _yz (0) in the y-axis direction and the z-axis direction. An axial bending moment distribution M _yz (x) is calculated. The degree of bending of the shaft 7 is estimated for each part along the axial direction of the shaft 7 in accordance with the bending moment distribution M _yz (x). In addition, torsional moment calculation section 36 calculates torsional moment M _x around the axis of the shaft 7 on the basis of the x-axis of the central moments M _x (l) and concentrated moment M _x (0). The degree of twisting of the shaft 7 is estimated for each part of the shaft 7 according to the torsional moment M _x .

The arithmetic processing unit 219 estimates the deflection amount of the y-axis direction component and the z-axis direction component of the shaft 7 according to the bending moment distribution M _yz (x). The deflection in the y-axis direction reflects the deflection of the shaft 7 along the face surface of the head 6. The deflection in the z-axis direction reflects the deflection of the shaft 7 in the direction orthogonal to the x-axis and y-axis, that is, the direction orthogonal to the face surface of the head 6.

The arithmetic processing unit 219 estimates the torsion angle amount of the shaft 7 according to the torsional moment M _x (x). Such a torsion angle amount can provide an indication of the dynamic behavior of the shaft 7 during the swing.

[Process to correct head position]
As an example of the motion analysis method of the present invention, the arithmetic processing unit 219 performs arithmetic processing using the swing model shown in FIG. 5 described above, and calculates data relating to the deflection of the shaft 7. And the process which produces | generates the attitude | position information which concerns on the attitude | position of at least any one of the grip 5 and the head 6 from the data regarding the bending of this shaft 7 is performed. Hereinafter, as an example of such processing, processing for correcting the position of the head 6 will be described with reference to FIG. FIG. 16 is a flowchart illustrating an example of a processing procedure for correcting the position of the head based on the deflection of the shaft during the swing of the golf club. In addition, the structure similar to the swing analysis system 1 (the sensor unit 10 and the swing analysis apparatus 20) mentioned above is demonstrated using a same sign.

  First, the processing unit 21 acquires the first acceleration measured by the acceleration sensor 12 in step S400, and calculates the second acceleration in the head 6 of the golf club 3 from the first acceleration (step S410).

  Next, the arithmetic processing unit 219 calculates deflection (deflection) information of the shaft 7 from the second acceleration calculated in step S410 (step S420). Then, posture information relating to the postures of the shaft 7 and the head 6 is generated from the calculated deflection information of the shaft 7 (step S430).

  Note that this posture information is not limited to at least one of the shaft 7 and the head 6. In this example, the posture information of the head 6 is generated from the deflection information of the shaft 7, but the posture information of the grip 5 may be generated from the deflection information of the shaft 7. The posture information of the grip 5 can be, for example, an index related to hand-up or an index related to hand-first, an index related to hand-up, or an index related to hand-down. With such posture information related to the grip 5, the user 2 can capture the analysis result related to the posture of the grip 5 at the time of impact in detail and more accurately.

  Next, the arithmetic processing unit 219 corrects the state of the head 6 at the time of impact in consideration of the deflection information of the shaft 7 calculated in step S420 (step S440). Specifically, it can include an index indicating the state (posture information) of the head 6 at the time of impact, for example, at least one of a face angle, a loft angle, a club pass, and an attack angle. By including such an index indicating the state (posture information) of the head 6, the user 2 can grasp the analysis result related to the posture of the head 6 at the time of impact in detail and more accurately.

  Step S430 and step S430 may be performed in any order, and step S430 may be performed first. Further, the state (posture information) related to the grip 5 in the swing can include an index related to hand-up or an index related to hand-first.

  Next, the processing unit 21 displays at least one of the posture information related to the posture of the shaft 7 and the head 6 generated in step S430, in this example, the posture information of the head 6 on the display unit 25 (see FIG. 6). (Step S450).

  Next, the processing unit 21 displays an index including at least one of the state (posture information) of the head 6 at the time of impact corrected in step S440, for example, a face angle, a loft angle, a club pass, and an attack angle. Is displayed (step S460), and the process is terminated. In the flowchart of FIG. 16, the order of the steps may be changed as appropriate within the possible range.

  According to such processing for correcting the position of the head 6, the deflection information of the shaft 7 from the second acceleration in the head 6 calculated based on the first acceleration measured by the inertial sensor (acceleration sensor 12). Is calculated. Therefore, more accurate deflection information of the shaft 7 can be obtained. Then, in order to calculate the posture information related to the posture of the head 6 in consideration of the calculated deflection information of the shaft 7, the difference between the analysis result of the position of the head 6 and the actual position of the head 6 at the time of swing (during impact). For example, the user 2 obtains a motion analysis result with improved analysis accuracy such as the posture of the head 6 (for example, the face angle, loft angle, club path, attack angle, and head surface (face surface) orientation). be able to.

[Posture information display example]
In addition, the display in step S450 and step S460 can illustrate a structure as shown in FIG.17, FIG.18, and FIG.19. Here, FIG. 17, FIG. 18, and FIG. 19 are views showing display examples of posture information of grips and heads, FIG. 17 shows display example 1, FIG. 18 shows display example 2, and FIG. Display example 3 is shown.

  As described above, the display here is based on the deflection information of the shaft 7 of the golf club 3 calculated using the acceleration data measured and output by the acceleration sensor 12 as an inertial sensor. The posture information relating to the posture of at least one of the grip 5 and the head 6 is generated and output to the display unit 25 (see FIG. 6) as image information.

  According to such a display method, the user 2 relates to at least one of the postures of the grip 5 and the head 6 from the deflection information of the shaft 7 due to the swing of the golf club 3 calculated using the output of the acceleration sensor 12. At least one of the deflection of the shaft 7, the posture of the grip 5, and the posture of the head 6 displayed on the display unit 25 based on the deflection information generated and output from the posture information is obtained as visual information. And the analysis result can be judged more accurately.

(Display example 1)
First, posture information display example 1 will be described with reference to FIG. Display example 1 illustrates a display related to hand-up that is an index related to the position of grip 5. FIG. 17 shows the golf clubs 3, 3d, 3e when the face surface of the head 6 is the front. FIG. 17 shows the state of the golf club 3 when the bending of the shaft 7 indicated by the broken line is not taken into account, and the state of the golf club 3d of the shaft 7d when the bending indicated by the solid line is generated. . In addition, it is preferable that the golf club 3d of the shaft 7d in which the bending has occurred shows a state at the time of impact. By such a display, the user 2 can determine the position of the head 6 of the golf club 3 without the bending. The difference from the actual position of the head 6d at the time of swing (during impact) can be reduced.

  As shown in FIG. 17, the shaft 7d of the golf club 3d in the case where the swing is caused by the swing is caused to bend downward in the drawing due to the mass of the head 6d. As a result, the head 6d of the golf club 3d in which the shaft 7d is bent is positioned below the distance D1 as compared with the head 6 of the golf club 3 in which the shaft 7 is not bent. In other words, it shows that the grip end 5P is in a lower position, that is, a so-called hand-down state. In this case, the user 2 can obtain the position of the desired head 6 by performing a swing in consideration of the degree of hand-up that results in the grip end 5Pe as indicated by a two-dot chain line in the figure.

(Display example 2)
Next, with reference to FIG. 18, a display example 2 of posture information will be described. Display example 2 shows a display example of a state related to hand first and hand rate, which are indices related to the position of the grip 5. 18 shows the golf clubs 3, 3F, 3L when viewed from the direction intersecting the face surface of the head 6 (when viewed from the direction facing the swing direction). FIG. 18 shows the state of the golf club 3 when the bending of the shaft 7 indicated by the broken line is not taken into account, and the state of the golf clubs 3L and 3F of the shafts 7L and 7F when the bending indicated by the solid line is generated. It is shown.

  As shown in FIG. 18, the shaft 7L of the golf club 3L has a grip end 5PL that swings with respect to the head 6 at the time of impact (head end 6P) when the shaft 7L bends in the swing direction S in the figure. A so-called hand-rate state located on the rear side with respect to the direction S is shown. Further, the shaft 7F of the golf club 3F is bent in the direction opposite to the swing direction S as shown in the drawing, so that the grip end 5PF is in the swing direction S with respect to the head 6 at the time of impact (head end 6P). 2 shows a so-called hand-first state located on the front side. In this case, the user 2 obtains a desired position of the head 6 by performing a swing by considering the hand first degree in any direction shown in FIG. 18 depending on which direction the shaft 7 is bent. Can do.

(Display example 3)
Next, with reference to FIG. 19, Display Example 3 of posture information will be described. Display example 3 illustrates the state of deflection of shafts 7a, 7b, 7c at a predetermined position in the swing operation. FIG. 19 shows the golf clubs 3a, 3b, 3c when viewed from the direction intersecting the face surfaces of the heads 6a, 6b, 6c (when viewed from the direction facing the swing direction S). Further, FIG. 19 shows a golf club 3c indicated by a solid line when the shaft 7c is not bent due to a balance with the inertial force of the swing due to the mass of the head 6c, and two shafts 7b bent in the direction opposite to the swing direction S. A golf club 3b indicated by a dashed line and a golf club 3a indicated by a broken line with a shaft 7a bent in the same direction as the swing direction S are shown.

  In the display example 3, as in the golf club 3b indicated by a two-dot chain line in FIG. 19, for example, when a swing force is applied from the start of the swing to the impact, the mass of the head 6b ( It is shown that the shaft 7b bends so that the head end 6Pb) is positioned on the lag side (rear side) with respect to a virtual shaft (not shown) having no deflection extending from the grip end 5P. Further, as in the golf club 3a indicated by a broken line in FIG. 19, when the swing force is removed, for example, after impact (follow-through), the head 6a (head end 6Pa) is gripped by the mass of the head 6a. It is shown that the shaft 7a bends so as to be positioned on the advancing side (front side) with respect to a virtual shaft (not shown) having no deflection extending from the end 5P. In this way, the user 2 can know in which direction the shafts 7a and 7b are bent, and can obtain posture information of the desired heads 6a and 6b and the like in consideration of the bending of the shafts 7a and 7b. it can.

  By performing such display, the user 2 can reduce the difference between the analysis result of the position of the head 6 and the actual positions of the heads 6a, 6b, and 6d during the swing. As a result, the user 2 can obtain a motion analysis result with improved analysis accuracy, such as the posture of the head 6 (for example, the face angle, loft angle, club pass, attack angle, and club face orientation).

  According to the above-described swing analysis device 20 as the motion analysis device and the swing analysis system 1 including the swing analysis device 20, the shaft by the swing of the golf club 3 calculated using the output of the acceleration sensor 12 as the inertial sensor. 7, posture information relating to at least one of the grip 5 and the head (striking portion) 6 of the golf club 3 is generated and output. Thereby, the difference in the analysis result between the position or posture of the grip 5 or the head 6 and the actual position or posture of the grip 5 or the head 6 at the time of swing can be reduced. Analysis accuracy such as angle, loft angle, club pass, attack angle and club face orientation) can be improved.

  The above-described embodiments and display examples are merely examples, and the present invention is not limited to these. For example, each form and each display example can be appropriately combined.

  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 invention includes a configuration that achieves the same effect 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 as an exercise | movement analysis system, 2 ... User, 3 ... Golf club as an example of an exercise device, 4 ... Golf ball, 5 ... Grip, 6 ... Head as a striking part, 7 ... Shaft, 10 ... Sensor Unit: 12 ... Acceleration sensor, 14 ... Angular velocity sensor, 16 ... Signal processing unit, 18 ... Communication unit, 20 ... Swing analysis device, 21 ... Processing unit, 22 ... Communication unit, 23 ... Operation unit, 24 ... Storage unit, 25 DESCRIPTION OF SYMBOLS ... Display part, 26 ... Sound output part, 210 ... Data acquisition part, 211 ... Motion detection part, 212 ... Position calculation part, 213 ... Position correction part, 214 ... Speed calculation part, 215 ... Motion analysis information generation part (Attitude information) Generation unit), 216 ... storage processing unit, 217 ... display processing unit, 218 ... sound output processing unit, 219 ... calculation processing unit as a deflection calculation unit, 240 ... swing analysis program, 42 ... Club specification information, 244 ... sensor mounting position information.

Claims (14)

Using the output of the inertial sensor, a deflection calculation unit that calculates deflection information of the shaft due to the swing of the exercise equipment,
A posture information generating unit that generates and outputs posture information related to the posture of at least one of the grip and striking unit of the exercise equipment from the deflection information;
Based on the deflection information and the posture information, a processing unit that outputs information related to at least one of the deflection of the shaft, the posture of the grip, and the posture of the hitting unit;
A motion analysis apparatus comprising:   The motion analysis apparatus according to claim 1, wherein the flexure information is flexure information of the shaft at the time of impact of the exercise equipment. With a display,
The display unit performs display related to at least one of the deflection of the shaft, the posture of the grip, and the posture of the hitting unit based on the deflection information and the posture information. Alternatively, the motion analysis apparatus according to claim 2.   The motion analysis apparatus according to any one of claims 1 to 3, wherein the grip posture is an index related to hand-up or an index related to hand-first.   The motion analysis apparatus according to any one of claims 1 to 4, wherein the posture of the hitting unit includes at least one of a face angle, a loft angle, a club pass, and an attack angle. Using the output of the inertial sensor, calculate the deflection information of the shaft due to the swing of the exercise equipment,
A motion analysis method comprising generating and outputting posture information relating to a posture of at least one of a grip and a striking portion of the exercise equipment from the deflection information.   The motion analysis method according to claim 6, wherein the deflection information is deflection information of the shaft at the time of impact of the exercise equipment. Based on the first acceleration measured by the inertial sensor, the second acceleration in the hitting portion is calculated,
Based on the second acceleration, to calculate the deflection information of the shaft,
The motion analysis method according to claim 6, wherein posture information relating to the posture of the hitting portion is generated in consideration of the deflection information of the shaft.   The motion analysis method according to any one of claims 6 to 8, wherein the posture of the grip is an index related to hand-up or an index related to hand-first.   The motion analysis method according to claim 6, wherein the posture of the hitting unit includes at least one of a face angle, a loft angle, a club pass, and an attack angle. Using the output of the inertial sensor, calculate the deflection information of the shaft due to the swing of the exercise equipment,
Generate and output posture information related to the posture of at least one of the grip and striking part of the exercise equipment from the deflection information,
A display method comprising performing display related to at least one of the deflection of the shaft, the posture of the grip, and the posture of the hitting unit based on the output deflection information and the posture information. An inertial sensor,
Using the output of the inertial sensor, a deflection calculation unit that calculates deflection information of the shaft due to the swing of the exercise equipment,
A posture information generating unit that generates posture information related to the posture of at least one of the grip and the striking unit of the exercise equipment from the deflection information, and outputs the deflection information and posture information;
A display unit that performs display related to at least one of the deflection of the shaft, the posture of the grip, and the posture of the hitting unit based on the deflection information and the posture information;
A motion analysis system comprising: Calculating the shaft deflection information due to the swing of the exercise equipment using the output of the inertial sensor;
A motion analysis program for causing a computer to execute and output posture information related to at least one of the posture of the grip and striking portion of the exercise equipment from the deflection information. In the step of calculating the deflection information of the shaft,
Calculating a second acceleration in the hitting portion based on the first acceleration measured by the inertial sensor;
The motion analysis program according to claim 13, further comprising: calculating deflection information of the shaft based on the second acceleration.

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