JP5773144B2 - Motion analysis apparatus, motion analysis system, motion analysis program, and recording medium - Google Patents

Description

  The present invention relates to a motion analysis system for a strike tool, a motion analysis program, a recording medium on which a motion analysis program is recorded, and the like.

  In striking sports such as tennis, baseball, golf, etc., it is possible to analyze the information on the posture, position, speed, etc. when swinging the swinging equipment, and clarify the improvement points from the analysis results, which can lead to improvement in competitiveness. It is considered possible.

  The motion analysis system analyzes the motion of an object to be measured by continuously photographing the object to be marked with an infrared camera, etc., and calculating the movement trajectory of the mark using the captured images. Has been put to practical use. However, such a motion analysis system requires a camera for taking an image, so that the system becomes large and difficult to handle.

  On the other hand, in recent years, a method has been proposed in which a small gyro sensor or an acceleration sensor is attached to the object to be measured, and the movement of the object to be measured is analyzed from the output data of these sensors. For example, in Patent Document 1, a gyro sensor and an acceleration sensor are incorporated in both a head part and a grip part of a golf club, and behavior information at the time of swinging the golf club is obtained from these sensors to generate evaluation information on the golf club swing. A swing evaluation support apparatus has been proposed. This swing evaluation support apparatus has an advantage that the movement of the golf club can be accurately analyzed because the sensor is incorporated in the golf club.

JP 2008-73210 A

  However, when the sensor is directly attached to the impact tool, if the dynamic range of the sensor is small, there is a possibility that the output data of the sensor will be saturated when subjected to a strong impact (impact) due to impact and the analysis cannot be performed correctly. Although the impact due to impact can be reduced by using a sensor with a high dynamic range, the resolution is lowered, so the analysis accuracy is lowered. Further, when the vibration type sensor is directly attached to the impact tool, the sensor may resonate due to a strong impact, and analysis may not be possible for a while immediately after the impact.

  The present invention has been made in view of the above problems, and according to some aspects of the present invention, the motion of the impact tool is analyzed with high accuracy before impact and the analysis is continued immediately after impact. It is possible to provide a kinematic analysis system, a kinematic analysis program, and a recording medium on which the kinematic analysis program is recorded.

  (1) The present invention determines a first sensor attached to a hitting tool, a second sensor attached to a user's site in conjunction with the movement of the hitting tool, and timing of impact of the hitting tool. The first motion analysis information is calculated using the detection signal of the first sensor before the impact, and the detection signal of the second sensor is used after the impact. A motion analysis system including a motion analysis information calculation unit that calculates second motion analysis information.

  The impact determination unit may determine the impact timing of the hitting tool based on at least one of the detection signal of the first sensor and the detection signal of the second sensor.

  According to the motion analysis system of the present invention, before impact, the first motion analysis information is calculated based on the detection signal of the first sensor attached to the impact tool, thereby analyzing the motion of the impact tool with high accuracy. be able to. In addition, after the impact, the second motion analysis information is calculated based on the detection signal of the second sensor that is attached not to the striking tool directly but to the part interlocked with the motion of the striking tool. Even if an abnormality occurs in the detection signal of one sensor, the analysis can be continued.

  (2) In this motion analysis system, the first sensor may detect an angular velocity of the hitting tool, and the second sensor may detect an angular velocity of a portion interlocked with the movement of the hitting tool. Good.

  (3) In this motion analysis system, the first sensor may detect acceleration of the hitting tool, and the second sensor may detect acceleration of a part that is linked to the movement of the hitting tool. Good.

  (4) The motion analysis system includes a specific time determination unit that determines a specific time based on at least one of an amplitude and a period of the detection signal of the first sensor after the impact, and includes at least the specific time During the interval, the second motion analysis information may be calculated using the detection signal of the second sensor.

  In this way, the specific time after impact can be changed according to the amplitude and period of vibration in the detection signal of the first sensor.

  (5) In this motion analysis system, the specific time determination unit may set a time when the detection signal of the first sensor after the impact is saturated as at least a part of the specific time. .

  In this way, after the impact, the time when the detection signal of the first sensor is saturated is calculated by calculating the second motion analysis information based on the detection signal of the second sensor. Analysis can continue.

  (6) The present invention provides a first motion analysis using an impact determination unit that determines a timing of impact of a hitting tool and a detection signal of a first sensor attached to the hitting tool before the impact. As a motion analysis information calculation unit that calculates information and, after the impact, calculates second motion analysis information using a detection signal of a second sensor attached to the user's site in conjunction with the movement of the hitting tool. It is a motion analysis program that makes a computer function.

  (7) The present invention is a computer-readable recording medium on which a motion analysis program is recorded.

The figure which shows the structure of the exercise | movement analysis system of this embodiment. The figure which shows the specific structural example of a motion analysis system. The figure which shows the other example of a specific structure of a motion analysis system. The figure which shows an example of the attachment position of a 6-axis sensor module. The flowchart figure which shows the specific example of the whole process of the exercise | movement analysis of a striking tool. The flowchart figure which shows the specific example of exercise | movement analysis information calculation processing. The wave form diagram of the output data of the vibration type gyro sensor attached to the impact tool. The flowchart figure which shows the modification of an exercise | movement analysis information calculation process.

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

1. Configuration of Motion Analysis System FIG. 1 is a diagram illustrating a configuration of a motion analysis system according to this embodiment. The motion analysis system 1 of the present embodiment includes a first sensor 10, a second sensor 12, a processing unit 20, an operation unit 30, a display unit 40, a ROM 50, a RAM 60, a nonvolatile memory 70, and a recording medium 80. Has been.

  The first sensor 10 is attached to a hitting tool (not shown), detects a movement according to a motion such as a swing of the hitting tool, and outputs detection data.

  The 2nd sensor 12 is attached to the site | part interlock | cooperated with the motion of a hit | damage tool, detects the motion of the said site | part, and outputs detection data. Examples of the part interlocked with the movement of the hitting tool include a part such as a user's hand, a glove, and a wristwatch. In particular, the second sensor 12 may be attached to the side (the back of the hand, the back of the finger, the nails, etc.) opposite to the side where the impact tool is gripped on the tip side of the user's wrist.

  The first sensor 10 may detect the angular velocity of the hitting tool, and the second sensor 12 may detect the angular velocity of the part that is linked to the movement of the hitting tool. Alternatively, the first sensor 10 may detect the acceleration of the hitting tool, and the second sensor 12 may detect the acceleration of the part that is linked to the movement of the hitting tool. Alternatively, the first sensor 10 may detect the angular velocity and acceleration of the hitting tool, and the second sensor 12 may detect the angular velocity and acceleration of a part that is linked to the movement of the hitting tool.

  Further, the first sensor 10 and the second sensor 12 may detect angular velocities of three or more axes and accelerations of three or more axes.

  The operation unit 30 performs a process of acquiring operation data from the user and sending it to the processing unit 20. The operation unit 30 is, for example, a touch panel display, buttons, keys, a microphone, and the like.

  The display unit 40 displays the processing result of the processing unit 20 as characters, graphs, or other images. The display unit 40 is, 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 30 and the display part 40 with one touchscreen type display.

  The ROM 50 stores a basic program for the processing unit 20 to perform various calculation processes and control processes, data used in the basic program, and the like.

  The RAM 60 is used as a work area of the processing unit 20, and temporarily stores programs and data read from the ROM 50 and the recording medium 80, data input from the operation unit 30, calculation results executed by the processing unit 20 according to various programs, and the like. It is the memory | storage part which memorize | stores automatically.

  The non-volatile memory 70 is a recording unit that records data that needs to be stored for a long time among the data generated by the processing of the processing unit 20.

  The recording medium 80 is a computer-readable recording medium and stores application programs and data for realizing various application functions. The recording medium 80 can be realized by, for example, an optical disk (CD, DVD), a magneto-optical disk (MO), a magnetic disk, a hard disk, a magnetic tape, or a memory (ROM, flash memory, etc.).

  The processing unit 20 performs various types of processing (detection data of the first sensor 10 and detection data of the second sensor 12 according to the basic program stored in the ROM 50 and the application program stored in the recording medium 80. , Various calculation processes, various control processes, etc.). The processing unit 20 can be realized by a microprocessor or the like.

  In particular, in the present embodiment, the processing unit 20 includes a data acquisition unit 22, an impact determination unit 24, a motion analysis information calculation unit 26, and a specific time determination unit 28 described below, and performs processing for analyzing the motion of the hitting tool. Do.

  In the present embodiment, the processing unit 20 executes the motion analysis program stored in the recording medium 80, thereby functioning as the data acquisition unit 22, the impact determination unit 24, the motion analysis information calculation unit 26, and the specific time determination unit 28. To do. In other words, the recording medium 80 stores a motion analysis program for causing the computer to function as each of the above-described units. Alternatively, a communication unit is added to the motion analysis system 1, a motion analysis program is received from the server via a wired or wireless communication network via the communication unit, and the received motion analysis program is stored in the RAM 60 or the recording medium 80. Then, the motion analysis program may be executed. However, all or part of the data acquisition unit 22, the impact determination unit 24, the motion analysis information calculation unit 26, and the specific time determination unit 28 may be realized by hardware (a dedicated circuit).

  The data acquisition unit 22 performs a process of continuously acquiring the detection data of the first sensor 10 and the detection data of the second sensor 12 for a predetermined period. The acquired data is stored in the RAM 60, for example.

  The impact determination unit 24 determines the impact timing of the impact of the impact tool based on the detection data acquired by the data acquisition unit 22 (at least one of the detection data of the first sensor 10 and the detection data of the second sensor 12). Processing to determine is performed.

  The motion analysis information calculation unit 26 calculates first motion analysis information using detection data of the first sensor 10 before impact, and uses detection data of the second sensor 12 after impact. A process of calculating the second motion analysis information is performed.

  The motion analysis information calculation unit 26 of the present embodiment includes a posture calculation unit 262 and a position / velocity calculation unit 264. The posture calculation unit 262 calculates the posture using the angular velocity detection data obtained by the first sensor 10 before the impact, and calculates the posture using the angular velocity detection data obtained by the second sensor 12 after the impact. Process. Further, the position / velocity calculation unit 264 performs a process of calculating the position and speed of the hitting tool based on the acceleration detection data by the first sensor 10.

  The specific time determination unit 28 performs a process of determining the specific time based on at least one of the amplitude and period of vibration in the detection data of the first sensor 10 after impact.

  However, the predetermined time may be set as the specific time without providing the specific time determination unit 28.

  The motion analysis information calculation unit 26 may calculate the second motion analysis information using the detection signal of the second sensor 12 at least for a specific time.

  In addition, the process part 20 of this embodiment is good also as a structure which abbreviate | omitted these structures (elements) or added a new structure (element).

  All or some of the functions of the processing unit 20, the operation unit 30, the display unit 40, the ROM 50, the RAM 60, the nonvolatile memory 70, and the recording medium 80 are realized by a personal computer (PC) or a portable device such as a smartphone. be able to.

  The motion analysis system 1 is configured as a separate type in which the first sensor 10 and the second sensor 12 and the processing unit 20 are physically separated, and the first sensor 10 and the second sensor 12 and the processing unit 20 are separated. The data communication may be performed wirelessly or by wire. Alternatively, the motion analysis system 1 may be configured as an integrated type in which the angular velocity sensor 10 and the processing unit 20 are provided in one housing.

  FIG. 2A and FIG. 2B are diagrams illustrating a specific configuration example of the motion analysis system 1. 2A and 2B, the same components as those in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted.

  2A and 2B, the 6-axis sensor module 110 and the data transmission unit 200 are connected by a cable, and data communication between the data transmission unit 200 and the personal computer (PC) 100 is wireless. Done in The six-axis sensor module 110 includes a three-axis acceleration sensor and a three-axis angular velocity sensor (not shown). The three-axis acceleration data and the three-axis angular velocity data detected by these sensors are transmitted to the data transmission unit 200 as data. After data processing such as conversion to a transmission format is performed by the processing unit 210, the data is wirelessly transmitted to the personal computer (PC) 100 via the transmission unit 220 in a time division manner.

  The sensor unit 300 includes a six-axis sensor module 112 including a three-axis acceleration sensor (not shown) and a three-axis angular velocity sensor. The acceleration data for three axes and the angular velocity data for three axes detected by these sensors are After data processing such as conversion to a transmission format is performed by the data processing unit 310, the data is wirelessly transmitted to the personal computer (PC) 100 via the transmission unit 320 in a time division manner.

  These wirelessly transmitted data are received by the receiving unit 90 of the personal computer (PC) 100 and stored in the RAM 60 via the processing unit (CPU) 20.

  The 6-axis sensor module 110 is attached to the impact tool and functions as the first sensor 10 of FIG. The sensor unit 300 is attached to a part interlocked with the hitting tool, for example, the back of the user's hand, and functions as the second sensor 12 of FIG. Moreover, the data transmission unit 200 is attached to a user's arm etc., for example.

  FIG. 3A and FIG. 3B are diagrams showing another specific configuration example of the motion analysis system 1. 3A and 3B, the same components as those in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted.

  3A and 3B, the 6-axis sensor module 110 and the 6-axis sensor module 112 and the data transmission unit 200 are connected by a cable, and the data transmission unit 200 and the personal computer (PC) 100 are connected. Data communication between them is performed wirelessly. Both the six-axis sensor module 110 and the six-axis sensor module 112 include a three-axis acceleration sensor and a three-axis angular velocity sensor (not shown). The acceleration data for three axes and the angular velocity data for three axes detected by these sensors are In the data transmission unit 200, data processing such as conversion to a transmission format is performed by the data processing unit 210, and then wireless transmission is performed in time division to the personal computer (PC) 100 via the transmission unit 220.

  These wirelessly transmitted data are received by the receiving unit 90 of the personal computer (PC) 100 and stored in the RAM 60 via the processing unit (CPU) 20.

  The 6-axis sensor module 110 is attached to the impact tool and functions as the first sensor 10 of FIG. The 6-axis sensor module 112 is attached to a portion that is interlocked with the impact tool, and functions as the second sensor 12 of FIG. Moreover, the data transmission unit 200 is attached to a user's arm etc., for example.

  FIG. 4 shows six axes when a motion analysis system (golf swing analysis system) that analyzes the swing motion of a golf club, which is an example of the motion analysis system 1, is configured as shown in FIGS. 3 (A) and 3 (B). It is a figure which shows an example of the attachment position of the sensor module 110 and the 6-axis sensor module 112. FIG. As shown in FIG. 4, the 6-axis sensor module 110 may be attached to a position near the grip of the shaft of the golf club, for example, and the 6-axis sensor module 112 may be attached to the back of the user's hand through a glove, for example.

  When the user grasps the impact tool, the relative relationship between the posture and position of the back of the user's hand and the orientation and position of the impact tool remains almost unchanged. You can think of it as almost the same. Furthermore, by attaching the 6-axis sensor module 112 to the back of the hand instead of the palm of the user, the impact received by the 6-axis sensor module 112 due to the impact can be reduced. Therefore, the specific time after the impact is calculated even after the impact by calculating the motion analysis information of the back of the hand (an example of the second motion analysis information) based on the detection data of the 6-axis sensor module 112. be able to.

  On the other hand, before impact, the golf club motion is highly accurate by calculating the golf club motion analysis information (first motion analysis information) based on the detection data of the 6-axis sensor module 110 directly attached to the golf club. Can be analyzed.

  Although not shown, even when the golf swing analysis system is configured as shown in FIGS. 2A and 2B, the 6-axis sensor module 110 is attached, for example, at a position close to the grip of the golf club shaft. The sensor unit 300 may be attached to the back of the user's hand through a glove, for example.

2. Processing of motion analysis system 2-1. Overall Process of Motion Analysis FIG. 5 is a flowchart showing a specific example of the overall process of motion analysis of the hitting tool by the processing unit 20 of the motion analysis system 1. In this flowchart, the first sensor 10 is attached to the impact tool, and the second sensor 12 is attached to the user's hand. In addition, the first sensor 10 and the second sensor 12 detect a triaxial acceleration and a triaxial angular velocity, respectively.

  As shown in FIG. 5, the processing unit 20 of the present embodiment first functions as a data acquisition unit 22, and a series of detection data (corresponding to the movement of the hitting tool from the first sensor 10 and the second sensor 12 ( (3-axis acceleration data and 3-axis angular velocity data) are sequentially acquired and stored in the RAM 60 (S10, data acquisition step). The period during which the data acquisition unit 22 acquires data from the first sensor 10 and the second sensor 12 (data acquisition period) is set by some method. For example, the user or assistant instructs the start timing of the data acquisition period by operating the operation unit 30 before the start of the swing, and instructs the end timing of the data acquisition period by operating the operation unit 30 after the end of the swing. You may do it. Further, for example, the user or the assistant may instruct the start timing of the data acquisition period by operating the operation unit 30 before starting the swing, and automatically end the data acquisition period after a predetermined time has elapsed. .

  Next, the processing unit 20 initializes the time t to 0 (S12), the detection data (triaxial acceleration data and triaxial angular velocity data) of the first sensor 10 and the second sensor 12 at the time t = 0. Detection data (triaxial acceleration data and triaxial angular velocity data) is read from the RAM 60 (S14).

  Next, the processing unit 20 functions as the posture calculating unit 262 and the position / velocity calculating unit 264, and calculates the initial posture and initial position of the hand and the striking tool at time t = 0 (S16, initial state calculating step). Specifically, assuming that the first sensor 10 and the second sensor are stationary at time t = 0, the processing unit 20 (attitude calculation unit 262) determines that the first sensor 10 is at time t = 0. By specifying the direction of gravitational acceleration from the detected triaxial acceleration data, the initial posture of the impact tool can be calculated. Similarly, the processing unit 20 (posture calculation unit 262) can calculate the initial posture of the hand by specifying the direction of gravitational acceleration from the triaxial acceleration data detected by the second sensor 12 at time t = 0. it can. Further, the processing unit 20 (position speed calculation unit 264) sets the positions of the hand and the striking tool at the time t = 0 as the initial positions of the hand and the striking tool.

  Next, the processing unit 20 increases the time t by Δt (Δt is the detection data acquisition interval at S10) (S18), and the detection data of the first sensor 10 and the detection data of the second sensor 12 at the time t. Is read from the RAM 60 (S20).

  Next, the processing unit 20 functions as the impact determination unit 24 and the motion analysis information calculation unit 26, and calculates the motion analysis information of the hand and the hitting tool at time t (S22, motion analysis information calculation step). The motion analysis information of the hand and the hitting tool is, for example, information such as the posture, position, and speed of the hand and the hitting tool. A specific example of detailed processing of this motion analysis information calculation step will be described later.

  If there is unprocessed detection data among the detection data stored in the RAM 60 in S10 (Y in S24), t is increased by Δt (S18), and the processes of S20 to S22 are performed. If there is no unprocessed data (S24) N), the processing unit 20 displays the motion analysis information of the hitting tool on the display unit 40 (S26), and ends the process.

  Note that each step of the flowchart of FIG. 5 may be appropriately replaced.

2-2. Exercise Analysis Information Calculation Processing FIG. 6 is a flowchart showing a specific example of exercise analysis information calculation processing by the processing unit 20.

  As illustrated in FIG. 6, the processing unit 20 first functions as the posture calculation unit 262 and calculates the posture of the user's hand from the angular velocity data of the second sensor 12 (S100).

  Next, if the elapsed time from impact is 0 (Y in S110), the processing unit 20 functions as the impact determination unit 24, and the detection data (either angular velocity data or acceleration data) of the first sensor 10 is used. Or it is determined whether it is an impact based on both (S130). The processing unit 20 (impact determination unit 24) may detect, for example, the timing at which the acceleration in the motion direction of the impact tool is maximized as the impact timing, or the angular velocity of the rotation axis of the motion of the impact tool is maximized. The timing may be detected as the impact timing.

  If it is an impact (Y in S132), the processing unit 20 starts counting elapsed time from the impact (S134). If not an impact (N in S132), the processing unit 20 functions as the posture calculation unit 262, and The attitude of the impact tool is calculated from the angular velocity data of the sensor 10 (S162).

  If the elapsed time from the impact is not 0 (N in S110), the processing unit 20 updates the elapsed time from the impact (S120).

  Then, the processing unit 20 functions as the posture calculating unit 262, and if the elapsed time from the impact is within a specific time (Y in S140), the processing device 20 regards the posture change of the hitting tool as the same as the posture change of the user's hand, The posture of the hand is calculated from the angular velocity data of the second sensor 12, and is set as the posture of the hitting tool (S150).

  On the other hand, if the elapsed time from the impact exceeds the specific time (N in S140), the processing unit 20 (attitude calculation unit 262) resets the elapsed time from the impact to 0 (S160), and the first sensor 10 The attitude of the impact tool is calculated from the angular velocity data (S162).

  Next, the processing unit 20 functions as the position / velocity calculation unit 264, and calculates the position and speed of the hitting tool from the acceleration data of the first sensor 10 (S170). For example, the processing unit 20 (position / velocity calculation unit 264) calculates the direction of gravity acceleration from the posture of the hand or hitting tool calculated in step S150 or S162, and cancels the gravity acceleration from the acceleration data of the first sensor 10. The speed of the hitting tool can be calculated by integrating the speed, and the position of the hitting tool can be calculated by further integrating the speed.

  Finally, the processing unit 20 functions as the position / velocity calculation unit 264, calculates the position and speed of the hand from the acceleration data of the second sensor 12 (S172), and ends the process. For example, the processing unit 20 (position / velocity calculation unit 264) calculates the direction of gravity acceleration from the posture of the hand calculated in step S100, cancels the gravity acceleration from the acceleration data of the second sensor 12, and integrates it. The position of the hand can be calculated by calculating the speed of the hand and further integrating the speed.

  Note that the steps in the flowchart of FIG. 6 may be appropriately replaced.

  By the way, if the first sensor 10 is a vibration-type gyro sensor, the first sensor 10 resonates due to impact, and as shown in FIG. An oscillating waveform may be obtained. FIG. 7 shows data on the angular velocity around the X axis, the angular velocity around the Y axis, and the angular velocity around the Z axis of the 6-axis sensor module 110 attached to the grip of the golf club. Here, in the angular velocity data around the Y axis, The rotation at the time of swing appears strongly, and the peak value of the angular velocity indicates that it is the moment of impact. In the example of FIG. 7, vibration with a predetermined period T occurs immediately after impact in the Y-axis angular velocity data. Due to this vibration, there is no mountain that should be after impact in the Y-axis angular velocity data. In contrast, it is considered that the second sensor 12 attached to the back of the user's hand is less likely to resonate than the first sensor 10. In the angular velocity data about the Y axis, the output of the angular velocity is on the negative side after the impact. This is because the club has warped on the opposite side due to the impact at the time of impact.

  Therefore, the posture of the impact tool after impact is analyzed by calculating the posture of the hand from the angular velocity data of the second sensor 12 during the specific time, which is a predetermined time including a period in which this mountain should occur. It becomes possible. Alternatively, the processing unit 20 may function as the specific time determination unit 28 and determine the specific time based on the amplitude and period of vibration of the angular velocity data by the first sensor 10. For example, in the example of FIG. 7, the time during which the amplitude W of the vibration with the period T in the Y-axis angular velocity data is equal to or less than a predetermined threshold may be determined as the specific time.

  As described above, according to the motion analysis system of the present embodiment, before the impact of the impact tool, the motion analysis information of the impact tool is calculated based on the detection data of the first sensor 10 attached to the impact tool. Thus, the motion of the impact tool can be analyzed with high accuracy. In addition, the specific time after the impact is calculated by calculating the motion analysis information of the part based on the detection data of the second sensor 12 attached to the part interlocked with the movement of the hitting tool, not directly to the hitting tool. Even if an abnormality occurs in the detection data of the first sensor 10 after the impact, the motion analysis of the hitting tool can be continued.

3. The present invention is not limited to this embodiment, and various modifications can be made within the scope of the present invention.

  For example, if the impact of the impact tool is too great, the acceleration data of the first sensor 10 attached to the impact tool may saturate. However, since the impact is reduced by the user's hand, the impact sensor is attached to the back of the user's hand. The acceleration data of the second sensor 12 is not easily saturated.

  Therefore, the time at which the acceleration data of the first sensor 10 is saturated is set as the specific time, and the position / velocity calculation unit 264 of FIG. 1 is hit based on the detection data of the acceleration by the first sensor 10 before impact. At least one of the position and speed of the tool is calculated, and the specific time after the impact is modified to calculate at least one of the position and speed of the user's hand based on the acceleration detection data by the second sensor 12. Also good. In this way, it is possible to analyze the position and speed of the impact tool after impact.

  FIG. 8 is a flowchart showing the motion analysis information calculation processing by the processing unit 20 in this modification. In FIG. 8, the same steps as those in FIG. 6 are denoted by the same reference numerals.

  In this modification, as shown in FIG. 8, the processing unit 20 first calculates the posture of the user's hand from the angular velocity data of the second sensor 12 (S100).

  Next, the processing unit 20 calculates the position and speed of the user's hand from the acceleration data of the second sensor 12 (S102).

  Next, if the elapsed time from the impact is zero (Y in S110), the processing unit 20 determines whether the impact is based on the detection data (one or both of the angular velocity data and the acceleration data) of the first sensor 10. It is determined whether or not (S130).

  If it is an impact (Y in S132), the processing unit 20 starts counting the elapsed time from the impact (S134). If not an impact (N in S132), the processing unit 20 determines the impact tool from the angular velocity data of the first sensor 10. Is calculated (S162), and the position and speed of the impact tool are calculated from the acceleration data of the first sensor 10 (S164).

  If the elapsed time from the impact is not 0 (N in S110), the processing unit 20 updates the elapsed time from the impact (S120).

  Then, if the elapsed time from the impact is within a specific time (Y in S140), the processing unit 20 regards the posture change of the hitting tool as the same as the posture change of the user's hand, and the angular velocity data of the second sensor 12 The hand posture is calculated from the hitting tool posture (S150). Here, the processing unit 20 functions as the specific time determination unit 28 and determines the specific time so that the time when the detection data of the first sensor 10 after the impact is saturated becomes at least part of the specific time. .

  Subsequently, the processing unit 20 regards the position change and speed change of the hitting tool as the same as the position change and speed change of the user's hand, and calculates the position and speed of the hitting tool from the acceleration data of the second sensor 12 ( S152), the process is terminated.

  On the other hand, if the elapsed time from the impact exceeds the specific time (N in S140), the processing unit 20 resets the elapsed time from the impact to 0 (S160), and determines the hitting tool from the angular velocity data of the first sensor 10. The posture is calculated (S162).

  Subsequently, the processing unit 20 calculates the position and speed of the hitting tool from the acceleration data of the first sensor 10 (S164), and ends the process.

  In addition, you may replace each step of the flowchart of FIG. 8 suitably.

  In the present embodiment, the motion analysis system for analyzing the motion of a golf club has been described as an example. However, the motion analysis system of the present invention is applied to motion analysis of various hitting tools such as tennis rackets and baseball bats. be able to.

  The present invention includes configurations that are substantially the same as the configurations described in the embodiments (for example, configurations that have the same functions, methods, and results, or configurations that have the same objects and effects). In addition, the invention includes a configuration in which a non-essential part of the configuration described in the embodiment is replaced. In addition, the present invention includes a configuration that exhibits the same operational effects as the configuration described in the embodiment or a configuration that can achieve the same object. Further, the invention includes a configuration in which a known technique is added to the configuration described in the embodiment.

1 motion analysis system, 10 first sensor, 12 second sensor, 20 processing unit, 22 data acquisition unit, 24 impact determination unit, 26 motion analysis information calculation unit, 28 specific time determination unit, 30 operation unit, 40 display Part, 50 ROM, 60 RAM, 70 non-volatile memory, 80 recording medium, 90 receiving part, 100 personal computer (PC), 110 6-axis sensor module, 112 6-axis sensor module, 200 data transmission unit, 210 data processing part, 220 transmitting unit, 262 posture calculating unit, 264 position / velocity calculating unit, 300 sensor unit, 310 data processing unit, 320 transmitting unit

Claims (12)

An impact judging section for judging the timing of impact of the hitting tool;
Before the impact, the first motion analysis information is calculated using the detection signal of the first sensor attached to the impact tool, and the motion of the impact tool is analyzed using the calculated first motion analysis information. Then , after the impact, the second motion analysis information is calculated using the detection signal of the second sensor attached to the user's part, and the calculated second motion analysis information is used to calculate the impact tool. A motion analysis apparatus, comprising: a motion analysis information calculation unit that analyzes motion. In claim 1,
The motion analysis apparatus, wherein the impact is detected based on a detection signal of the first sensor. In claim 1 or 2,
The motion analysis apparatus, wherein the detection signal of the first sensor includes information on angular velocity of the hitting tool. In any one of Claims 1 thru | or 3,
The motion analysis device, wherein the detection signal of the second sensor includes information on the angular velocity of the part that is linked to the movement of the hitting tool. In any one of Claims 1 thru | or 4,
The motion analysis device, wherein the detection signal of the first sensor includes information on acceleration of the hitting tool. In any one of Claims 1 thru | or 5,
The motion analysis device, wherein the detection signal of the second sensor includes information on the acceleration of the part linked to the movement of the hitting tool. In any one of Claims 1 thru | or 6,
A motion analysis apparatus including a specific time determination unit that determines a specific time based on at least one of an amplitude and a period of a detection signal of the first sensor after the impact. In claim 7,
The motion analysis information calculation unit
A motion analysis device that calculates the second motion analysis information using a detection signal of the second sensor at least during the specific time. In claim 7,
The specific time determination unit includes:
The motion analysis device includes a time during which the detection signal of the first sensor after the impact is saturated in the specific time. A first sensor attached to the impact tool;
A second sensor attached to the user's site;
An impact determination unit for determining the impact timing of the impact tool;
Before the impact, first motion analysis information is calculated using the detection signal of the first sensor, the motion of the impact tool is analyzed using the calculated first motion analysis information, and the impact After that, the second motion analysis information is calculated using the detection signal of the second sensor, and the motion analysis information calculation unit for analyzing the motion of the hitting tool using the calculated second motion analysis information And a motion analysis system. A procedure for determining the impact timing of the impact tool;
Before the impact, first motion analysis information is calculated using a detection signal of a first sensor attached to the impact tool, and the motion of the impact tool is calculated using the calculated first motion analysis information. Analysis procedure,
After the impact, the conjunction with the movement of the striking tool calculates a second motion analysis information using the detection signal of the second sensor attached to the site of the user, the calculated said second motion analysis information Using the procedure to analyze the motion of the impact tool ;
Is a motion analysis program that causes a computer to execute.   A computer-readable recording medium on which the motion analysis program according to claim 11 is recorded.

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