JP6862848B2 - Motion analysis device, motion analysis method, program, and motion analysis system - Google Patents

Description

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

Patent Document 1 discloses a technique for determining whether or not the striking position has entered the sweet spot of a golf club based on the rotation of the exercise tool around the shaft axis. According to this technique, the user can objectively grasp whether or not an efficient swing has been achieved.

JP 2012-130415

However, it is also possible to grasp whether or not the hitting position (hit ball position) has entered the sweet spot by the user's sense. Further, in order to obtain a swing form having a high meet rate at an early stage, it is important to grasp a specific striking position on the face surface (striking surface) for each swing.

Therefore, an object of the present invention is to provide a technique capable of objectively grasping the striking position on the striking surface (striking surface) by the user.

The present invention has been made to solve at least a part of the above-mentioned problems, and can be realized as the following aspects or application examples.

[Application example 1]
The motion analysis device according to this application example is a motion analysis device that analyzes a swing using an exercise tool, and includes information on the angular velocity generated in the shaft portion of the exercise tool by hitting (striking a ball or hitting a ball). Using the acquisition unit that acquires the information of the acceleration generated on the shaft portion of the exercise tool by the impact, the information of the angular velocity and the information of the acceleration, the impact position on the impact surface of the impact portion of the exercise tool is determined. It has a calculation unit for calculating.

When the striking position on the striking surface changes, not only the angular velocity of the exercise tool but also the acceleration changes. Therefore, if both the angular velocity information and the acceleration information are used as in this application example, the calculation accuracy of the striking position should be improved. Is possible.

[Application example 2]
In the motion analysis device according to the present application example, the calculation unit includes known relational information showing a correlation between the angular velocity information generated by the impact and the impact position, and information on the acceleration generated by the impact. The known relational information showing the correlation between the hitting position and the hitting position may be used for the calculation.

In this way, by using the relational information related to the angular velocity and the relational information related to the acceleration, the calculation accuracy of the striking position can be stabilized.

[Application example 3]
In the motion analysis device according to the present application example, the calculation unit may use the value obtained by dividing the angular velocity by the velocity of the striking portion (ball striking portion) of the exercise tool in the striking as the information of the angular velocity.

Therefore, the motion analysis device of this application example can accurately calculate the striking position regardless of the height of the velocity at the time of striking (sometimes called the head speed). The same effect can be obtained by adjusting the calculation standard according to the speed instead of using the information obtained by dividing the angular velocity by the speed as the information of the angular velocity.

[Application example 4]
In the motion analysis device according to the present application example, the calculation unit may use a plurality of the related information properly according to the shape of the striking portion of the exercise tool.

Therefore, the motion analysis device of this application example can accurately calculate the striking position regardless of the shape of the striking portion (in the case of a golf club, specifications such as loft angle and lie angle).

[Application example 5]
In the motion analysis device according to the present application example, the information of the angular velocity includes the angular velocity generated around the long axis of the shaft portion of the exercise tool, the axis orthogonal to the striking surface, and the axis orthogonal to the long axis. It may include the angular velocity generated around it.

The angular velocity generated around the long axis (for example, the y-axis described later) of the shaft portion reflects the striking position in the horizontal direction, and the axis orthogonal to the striking surface (for example, the x-axis described later) and the long axis (for example, described later). The angular velocity generated around an axis orthogonal to both the y-axis (for example, the z-axis described later) reflects the striking position in the gravity direction. Therefore, according to these angular velocities, it is possible to calculate the striking position in the horizontal direction and the striking position in the gravity direction, respectively. The horizontal direction is a direction orthogonal to the direction of gravity.

[Application example 6]
In the motion analysis device according to the present application example, the acceleration information may include the acceleration generated in the direction of the axis orthogonal to the striking surface.

The horizontal striking position is reflected in the acceleration generated in the direction of the axis orthogonal to the striking surface (for example, the x-axis described later, the striking direction). Therefore, according to the acceleration information, at least the calculation accuracy of the impact position in the horizontal direction can be improved.

[Application 7]
The motion analysis method according to the present application example is a motion analysis method for analyzing a swing using an exercise tool, in which information on the angular velocity generated in the shaft portion of the exercise tool by a striking and the above-mentioned said of the exercise tool by the striking. A step of acquiring information on the acceleration generated on the shaft portion, a step of calculating the striking position on the striking surface of the striking portion of the exercise tool by using the information on the angular velocity and the information on the acceleration, and the result of the calculation. Includes the process of outputting.

When the striking position on the striking surface changes, not only the angular velocity of the exercise tool but also the acceleration changes. Therefore, if both the angular velocity information and the acceleration information are used as in this application example, the calculation accuracy of the striking position should be improved. Is possible.

[Application Example 8]
The program according to this application example is a program for analyzing a swing using an exercise tool, and is information on an angular velocity generated on the shaft portion of the exercise tool by a hit and generated on the shaft portion of the exercise tool by the hit. The process of acquiring information on the acceleration to be performed and
Using the information on the angular velocity and the information on the acceleration, the computer is made to execute the step of calculating the striking position on the striking surface of the striking portion of the exercise tool.

When the striking position on the striking surface changes, not only the angular velocity of the exercise tool but also the acceleration changes. Therefore, if both the angular velocity information and the acceleration information are used as in this application example, the calculation accuracy of the striking position should be improved. Is possible.

[Application example 9]
The motion analysis system according to the present application example includes a motion analysis device according to any of the application examples, and an inertial sensor that generates information on the angular velocity and the information on the acceleration.

When the striking position on the striking surface changes, not only the angular velocity of the exercise tool but also the acceleration changes. Therefore, if both the angular velocity information and the acceleration information are used as in this application example, the calculation accuracy of the striking position should be improved. Is possible.

[Application Example 10]
The motion analysis device according to the present application example is a motion analysis device that analyzes a swing using the exercise tool, and includes information on the angular velocity generated in the shaft portion of the exercise tool by hitting and the above-mentioned movement analysis device of the exercise tool by the hit. Information on the acceleration generated on the shaft portion is acquired, and the striking position on the striking surface of the striking portion of the exercise tool is calculated by using the information on the angular velocity and the information on the acceleration.

When the striking position on the striking surface changes, not only the angular velocity of the exercise tool but also the acceleration changes. Therefore, if both the angular velocity information and the acceleration information are used as in this application example, the calculation accuracy of the striking position should be improved. Is possible.

It is a figure which shows the outline of the motion analysis system. The figure which shows the mounting example of a sensor unit. The block diagram which shows the structural example of the sensor unit and the motion analysis apparatus. It is a figure explaining the world coordinate system. It is a figure explaining the sensor coordinate system. It is a figure explaining the head of a golf club. It is a figure explaining the head of a golf club. It is a figure which shows an example of the angular velocity output from a sensor unit. It is a figure which shows an example of the norm of the angular velocity. It is a figure which shows an example of the differential value of the norm of angular velocity. It is a graph which showed an example of the correlation between the feature amount which concerns on the angular velocity around the y-axis, and the hitting position in a horizontal direction. It is a graph which showed an example of the correlation between the feature amount which concerns on the acceleration in the x-axis direction, and the hitting position in a horizontal direction. It is a graph which showed an example of the correlation between the feature amount which concerns on the angular velocity around the z-axis, and the hitting position in a vertical direction. It is a graph which showed an example of the correlation between the feature amount which concerns on the acceleration in the x-axis direction, and the hitting position in a vertical direction. It is a figure which showed an example of the screen displayed on the display part. This is an example of a list of data used in the judgment in the horizontal direction and the judgment in the vertical direction. This is an example of a flowchart of the main processing by the motion analysis device. This is an example of a flowchart of the base point detection process by the motion analysis device. This is an example of a flowchart of the horizontal determination process by the motion analysis device. This is an example of a flowchart of the vertical determination process by the motion analysis device. It is a table (including a graph) explaining the change of the measurement data depending on the impact position in the horizontal direction. It is a table (including a graph) explaining the change of the measurement data depending on the hitting position in the vertical direction.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. The embodiments described below do not unreasonably limit the content of the present invention described in the claims. Moreover, not all of the configurations described below are essential constituent requirements of the present invention. In the following, a motion analysis system 1 that analyzes a golf swing will be described as an example.

1. 1. Embodiment 1-1. Outline As shown in FIG. 1, the motion analysis system 1 of the present embodiment includes a sensor unit 10 (an example of an inertial sensor), a motion analysis device 20, and a server device 30. The motion analysis device 20 and the server device 30 can communicate data with each other via a network 40 such as the Internet.

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 tool) as shown in FIG.

As an inertial sensor, 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. In the sensor unit 10, for example, one of the three detection axes (x-axis, y-axis, z-axis), for example, the y-axis is aligned with the major axis direction of the shaft portion 3a, and the shaft portion 3a of the golf club 3 is aligned. It is attached to a part. Desirably, the sensor unit 10 is attached at a position close to the grip portion where the impact at the time of shot is hard to be transmitted and centrifugal force is not applied at the time of swing. The shaft portion 3a is a portion of the handle excluding the head of the golf club 3, and includes a grip portion.

The user 2 performs a swing operation of hitting the golf ball 4 according to a predetermined procedure. For example, the user 2 first grasps the golf club 3 and takes an address posture so that the long axis of the shaft portion 3a of the golf club 3 is perpendicular to the target line (for example, the target direction of the hit ball). Stand still for a predetermined time or longer (for example, 1 second or longer). Next, the user 2 performs a swing operation and hits and flies the golf ball 4. The address posture in the present specification includes the posture of the user 2 in a stationary state before the start of the swing, or the posture of the user 2 in a state of waggle the exercise equipment before the start of the swing.

While the user 2 hits the golf ball 4 according to the above procedure, the sensor unit 10 measures the triaxial acceleration and the triaxial angular velocity in a predetermined cycle (for example, 1 ms), and sequentially obtains the measured data by the motion analysis device 20. Send to. The sensor unit 10 may immediately transmit the measured data, or stores the measured data in the internal memory and transmits the measured data at a desired timing such as after the end of the swing operation of the user 2. It may be. The communication between the sensor unit 10 and the motion 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 motion analysis device 20 may read the measurement data from the recording medium.

The motion analysis device 20 analyzes the hitting position (hit position) of the ball in the horizontal direction (horizontal direction) of the head of the golf club 3 by using the data measured by the sensor unit 10. The motion analysis device 20 generates image data including information on the analyzed hitting position (hit position), and displays an image corresponding to the image data on the display unit. The batting includes the act of hitting the ball at the golf club 3 and the state of hitting the ball. The hitting position (hit position) includes the meaning of the position where the head of the golf club 3 and the ball come into contact with each other.

The motion analysis device 20 is, for example, a portable device such as a smartphone, a personal computer, a tablet PC (PC: Personal Computer), or the like. The motion analysis device 20 may be mounted on the waist of the user 2 or may be installed at a position visible to the user 2 who swings.

1-2. System block diagram FIG. 3 is a block diagram showing a configuration example of the sensor unit 10 and the motion analysis device 20.

The sensor unit 10 includes a processing unit 11, a communication unit 18, an acceleration sensor 12 (an example of an inertial sensor), and an angular velocity sensor 14 (an example of an inertial sensor).

The acceleration sensor 12 measures the acceleration generated in each of the three axial directions intersecting each other (ideally orthogonal to each other), and outputs a digital signal (acceleration data) according 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 that intersect each other (ideally orthogonal to each other), and outputs a digital signal (angular velocity data) according to the magnitude and direction of the measured three-axis angular velocity. Output.

The processing unit 11 controls the sensor unit 10 in an integrated manner. The processing unit 11 receives acceleration data and angular velocity data from the acceleration sensor 12 and the angular velocity sensor 14, respectively, attaches time information, and stores the data in a storage unit (not shown). Further, the processing unit 11 adds time information to the stored measurement data (acceleration data and angular velocity data), generates packet data according to the communication format, and outputs the packet data to the communication unit 18.

The acceleration sensor 12 and the angular velocity sensor 14 are sensors so that their three axes coincide with the three axes (x-axis, y-axis, and z-axis) of the Cartesian coordinate system (sensor coordinate system) defined for the sensor unit 10. Ideally, it should be mounted on the unit 10, but in reality there will be an error in the mounting angle. Therefore, the processing unit 11 performs a process of converting the acceleration data and the angular velocity data into the data of the xyz coordinate system by using the correction parameters calculated in advance according to the mounting angle error.

Further, the processing unit 11 may perform temperature correction processing for the acceleration sensor 12 and the angular velocity sensor 14. Alternatively, the acceleration sensor 12 and the angular velocity sensor 14 may incorporate a temperature compensation function.

The acceleration sensor 12 and the angular velocity sensor 14 may output analog signals. In this case, the processing unit 11 A / D outputs the output signal of the acceleration sensor 12 and the output signal of the angular velocity sensor 14, respectively. Measurement data (acceleration data and angular velocity data) may be generated by (analog / digital) conversion, and packet data for communication may be generated using these.

The communication unit 18 performs a process of transmitting packet data received from the processing unit 11 to the motion analysis device 20, a process of receiving a control command from the motion analysis device 20 and sending the control command to the processing unit 11. The processing unit 11 performs various processes according to the control command.

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

The communication unit 22 receives the packet data transmitted from the sensor unit 10 and sends it to the processing unit 21, and also performs a process of transmitting a control command from the processing unit 21 to the sensor unit 10.

The operation unit 23 acquires the operation data from the user 2 and sends the operation data 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 is composed of, for example, various IC memories such as ROM (Read Only Memory), flash ROM, and RAM (Random Access Memory), and a recording medium such as a hard disk and a memory card.

The storage unit 24 stores programs for the processing unit 21 to perform various calculation processes and control processes, and various programs and data for realizing application functions. The storage unit 24 stores a motion analysis program that is read out by the processing unit 21 and for executing the motion analysis process (an example of the motion analysis method). The motion analysis program may be stored in a non-volatile recording medium in advance, or the processing unit 21 may receive the motion analysis program from the server device 30 via the network 40 and store it in the storage unit 24. Further, 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. Further, the storage unit 24 may store data that needs to be stored for a long period of time among the data generated by the processing of the processing unit 21.

Further, the storage unit 24 stores the physical information of the user 2, the club specification information representing the specifications of the golf club 3, and the sensor mounting position information. For example, the user 2 operates the operation unit 23 to input physical information such as height, weight, and gender, and the input physical information is stored in the storage unit 24 as physical information. Further, for example, the user 2 inputs (or selects from the model number list) the model number of the golf club 3 to be used by operating the operation unit 23, and the specification information for each model number stored in advance in the storage unit 24 (for example,). Of the shaft length, center of gravity position, lie angle, face angle, loft angle, etc.), the input model number specification information is used as club specification information. 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 end of the golf club 3, and the input distance information is stored as the sensor mounting position information. It is stored in 24. Alternatively, assuming that the sensor unit 10 is mounted at a predetermined predetermined position (for example, a distance of 20 cm from the grip end), the information of the predetermined position may be stored in advance as the sensor mounting position information.

The display unit 25 displays the processing result of the processing unit 21 as characters, graphs, tables, animations, and other images. The display unit 25 includes, for example, a CRT (Cathode-Ray Tube) display, an LCD (Liquid Crystal Display), an EPD (Electrophoretic Display), a display using an organic light emitting diode (OLED), a touch panel type display, and an HMD (head mount display). And so on. The functions of the operation unit 23 and the display unit 25 may be realized by one touch panel type display.

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

The processing unit 21 performs a process of transmitting a control command to the sensor unit 10, various calculation processes for data received from the sensor unit 10 via the communication unit 22, and various other control processes according to various programs. In particular, in the present embodiment, the processing unit 21 executes the motion analysis program to generate the sensor information acquisition unit 210 (an example of the acquisition unit), the motion analysis unit 211 (an example of the calculation unit), the calculation unit 212, and the image generation. It functions as unit 213 and output processing unit 214.

The processing unit 21 connects, for example, a CPU (Central Processing Unit) which is a computing device, a RAM (Random Access Memory) which is a volatile storage device, a ROM which is a non-volatile storage device, and the processing unit 21 and other units. It may be realized by a computer including an interface (I / F) circuit, a bus connecting these to each other, and the like. The computer may be provided with various dedicated processing circuits such as an image processing circuit. Further, the processing unit 21 may be realized by an ASIC (Application Specific Integrated Circuit) or the like.

The sensor information acquisition unit 210 receives the packet data received from the sensor unit 10 by the communication unit 22, and acquires time information and measurement data from the received packet data (an example of the acquisition process). The acquired measurement data includes the angular velocity around the long axis of the shaft portion 3a of the golf club 3 generated by the swing of the user 2. Further, the sensor information acquisition unit 210 stores the acquired time information and the measurement data in the storage unit 24 in association with each other.

The motion analysis unit 211 performs a process of analyzing the swing motion of the user 2 using the measurement data output by the sensor unit 10.

The image generation unit 213 performs a process of generating image data including information to be displayed on the display unit 25.

The output processing unit 214 performs a process of displaying various images (including characters, symbols, and the like in addition to the images corresponding to the image data generated by the image generation unit 213) on the display unit 25. For example, the output processing unit 214 automatically displays an image corresponding to the image data generated by the image generation unit 213 on the display unit 25 after the swing motion of the user 2 is completed or in response to the input operation of the user 2. Display it. Alternatively, the sensor unit 10 is provided with a display unit, and the output processing unit 214 transmits image data to the sensor unit 10 via the communication unit 22 to display various images on the display unit of the sensor unit 10. May be good.

Further, the output processing unit 214 performs a process of causing the sound output unit 26 to output various sounds (including voice and buzzer sound). For example, the output processing unit 214 reads various information stored in the storage unit 24 and makes a sound automatically or when a predetermined input operation is performed after the swing motion of the user 2 is completed. The output unit 26 may output a sound or voice for motion analysis. Alternatively, a sound output unit is provided in the sensor unit 10, and the output processing unit 214 transmits various sound data and voice data to the sensor unit 10 via the communication unit 22 and sends various sound data and voice data to the sound output unit of the sensor unit 10. Various sounds and sounds may be output.

A vibration mechanism may be provided in the motion analysis device 20 or the sensor unit 10, and various information may be converted into vibration information and presented to the user 2.

1-3. The world coordinate system motion analysis unit 211 defines the world coordinate system fixed to the ground as shown in FIG. The world coordinate system is used, for example, to represent the trajectory of the golf club 3. As shown in FIG. 4, the origin of the world coordinate system is set at the position of the hitting portion (head, striking portion) 3b when the user 2 takes the address posture, and the Z axis of the world coordinate system is in the antigravity direction (antigravity direction). (Vertical upward) is set, the X-axis of the world coordinate system is set in the target direction of the hit ball (the direction of the hitting line), and the Y-axis of the world coordinate system is set in the direction orthogonal to the XZ plane. Incidentally, the world coordinate system of FIG. 4 is a right-handed system.

1-4. Sensor coordinate system The motion analysis unit 211 defines a sensor coordinate system fixed to the golf club 3 as shown in FIG. The sensor coordinate system is used, for example, to represent the velocity, acceleration, and angular velocity of the golf club 3. As shown in FIG. 5, the origin of the sensor coordinate system is set at the position of the sensor unit 10, the z-axis of the sensor coordinate system is set in the long axis direction of the shaft portion 3a, and the x-axis of the sensor coordinate system is the hit ball. It is set in a direction orthogonal to the surface (face surface, striking surface) 3c, and the z-axis of the sensor coordinate system is set in a direction orthogonal to the xy plane. The positive direction of the y-axis is the direction from the grip portion to the hitting portion (head, striking portion) 3b. Incidentally, the sensor coordinate system of FIG. 5 is a right-handed system. The hitting surface (face surface, hitting surface) means a surface in which the ball and the hitting portion (head, hitting portion) mainly come into contact with each other in the golf club 3.

1-5. The face coordinate system motion analysis unit 211 defines the face coordinate system as shown in FIGS. 6 and 7. The face coordinate system is used, for example, to express the hitting position on the hitting surface (face surface, hitting surface) 3c of the hitting portion (head, hitting portion) 3b.

6 and 7 show a part of the shaft portion 3a of the golf club 3 in the address posture and the hitting portion (head, striking portion) 3b of the golf club 3. The hitting portion (head, hitting portion) 3b has a hitting surface (face surface, hitting surface) 3c for hitting the golf ball 4. The golf club 3 is, for example, an iron.

The portion of the hitting portion (head, striking portion) 3b that is close to the shaft portion 3a is called the "heel", and the portion of the striking portion (head, striking portion) 3b that is separated from the shaft portion 3a is " It is called "toe". In addition, the part of the hitting part (head, hitting part) 3b in the address posture that is close to the ground is called the "sole (sole)", and the part of the hitting part (head, hitting part) 3b that is away from the ground is " It is called the "crown".

For example, the h-axis direction of the face coordinate system is set in the direction from the toe side to the heel side, and the v-axis direction of the face coordinate system is set in the direction from the sole side to the crown side. The origin is set at a position corresponding to the sweet spot (coordinate).

The direction of the h-axis of the face coordinate system may coincide with the horizontal direction or may deviate from the horizontal direction. The direction of the v-axis of the face coordinate system may coincide with the direction of gravity or may deviate from the direction of gravity. Further, the h-axis and the v-axis of the face coordinate system do not have to be orthogonal to each other. For example, the direction of the v-axis of the face coordinate system may be set to the major axis direction (y-axis direction) of the shaft portion 3a, and the direction of the h-axis of the face coordinate system may be set to the horizontal direction. Further, the origin of the face coordinate system may be set at a position corresponding to the center of gravity of the golf club 3, or may be set at the center position of the ball striking surface (face surface, striking surface) 3c.

As appropriate, the region of v> 0 of the ball striking surface (face surface, striking surface) 3c is referred to as the “crown side”, and the region of v <0 of the striking surface (face surface, striking surface) 3c is referred to as the “sole side”. The region of h> 0 out of the ball striking surface (face surface, striking surface) 3c is called the "heel side", and the region of h <0 out of the striking surface (face surface, striking surface) 3c is called the "toe side". .. In the following, the h-axis direction is referred to as "horizontal direction" and the v-axis direction is referred to as "vertical direction" (the h-axis may be slightly deviated from the direction along the actual water surface, and the v-axis is actual. It may be slightly deviated from the direction of gravity of, and the v-axis and h-axis may not be completely orthogonal to each other.)

1-6. Rye angle and loft angle The shape of the hitting portion (head, striking portion) 3b of the golf club 3 is determined by the specifications of the golf club 3. The shape of the hitting portion (head, striking portion) 3b can be substantially specified by the lie angle and the loft angle.

As shown by the partial arc-shaped arrow in FIG. 6, the lie angle of the golf club 3 is the center line (long axis) of the ground and the shaft portion 3a when the sole of the hitting portion (head, striking portion) 3b abuts on the ground. ), And the loft angle of the golf club 3 is the center line (long axis) of the shaft portion 3a of the hitting portion (head, striking portion) 3b and the hitting ball, as shown by the partial arc-shaped arrow in FIG. This is the angle formed by the surface (face surface, striking surface) 3c.

1-7. Basic processing of the motion analysis unit The motion analysis unit 211 first uses the measurement data (acceleration data and angular velocity data) of the user 2 at rest (at the time of address) stored in the storage unit 24 to obtain the measurement data. Calculate the amount of offset included. Next, the motion analysis unit 211 subtracts the offset amount from the measurement data after the start of the swing stored in the storage unit 24 to correct the bias, and uses the bias-corrected measurement data during the swing operation of the user 2. The position and orientation of the sensor unit 10 of the above are calculated.

For example, the motion analysis unit 211 uses the acceleration data measured by the acceleration sensor 12, club specification information, and sensor mounting position information to hit the ball (head, head,) in the XYZ coordinate system (for example, when the user 2 is stationary (at the time of addressing)). Hitting part) A coordinate system with the position of 3b as the origin, the target direction of the hit ball as the X axis, the axis on the horizontal plane perpendicular to the X axis as the Y axis, and the vertically upward direction as the Z axis, hereinafter also referred to as the global coordinate system) The position (initial position) of the sensor unit 10 when the user 2 is stationary is calculated, and the subsequent acceleration data is integrated to calculate the change in the position of the sensor unit 10 from the initial position in time series. Since the user 2 stands still at a predetermined address posture, the X coordinate of the initial position of the sensor unit 10 is 0. Further, the y-axis of the sensor unit 10 coincides with the long-axis direction of the shaft of the golf club 3, and when the user 2 is stationary, the acceleration sensor 12 measures only the gravitational acceleration, so that the motion analysis unit 211 measures the y-axis acceleration data. Can be used to calculate the tilt angle of the shaft (tilt with respect to the horizontal plane (XY plane) or vertical plane (XZ plane)). Then, the motion analysis unit 211 uses the inclination angle of the shaft, the club specification information (shaft length), and the sensor mounting position information (distance from the grip end) to use the Y coordinate and Z coordinate of the initial position of the sensor unit 10. Can be calculated to identify the initial position of the sensor unit 10. Alternatively, the motion analysis unit 211 may calculate the coordinates of the initial position of the sensor unit 10 by using the coordinates of the position of the grip end of the golf club 3 and the sensor mounting position information (distance from the grip end).

Further, the motion analysis unit 211 calculates the posture (initial posture) of the sensor unit 10 at rest (at the time of addressing) of the user 2 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 thereafter, and the change in the posture of the sensor unit 10 from the initial posture is calculated in chronological order. The posture of the sensor unit 10 can be expressed by, for example, the rotation angles (roll angles, pitch angles, yaw angles) around the X-axis, Y-axis, and Z-axis, Euler angles, and quarterions (quaternions). .. Since the acceleration sensor 12 measures only the gravitational acceleration when the user 2 is stationary, the motion analysis unit 211 uses the three-axis acceleration data to determine the x-axis, y-axis, and z-axis of the sensor unit 10 and the gravitational direction. It is possible to specify the angle between the two. Further, since the user 2 is stationary at a predetermined address posture, the motion analysis unit 211 specifies the initial posture of the sensor unit 10 because the y-axis of the sensor unit 10 is on the YZ plane when the user 2 is stationary. be able to.

The signal processing unit of the sensor unit 10 may calculate the offset amount of the measurement data and correct the bias of the measurement data, or the acceleration sensor 12 and the angular velocity sensor 14 have a bias correction function. You may. In these cases, the bias correction of the measurement data by the motion analysis unit 211 becomes unnecessary.

In addition, the motion analysis unit 211 includes physical information (height of user 2 (arm length)), club specification information (shaft length and center of gravity position), sensor mounting position information (distance from grip end), and golf club. A motion analysis model (double pendulum model, etc.) that takes into account the characteristics of 3 (rigid body, etc.) and human body characteristics (joint bending direction is determined, etc.) is defined, and this motion analysis model and sensor unit The locus of the golf club 3 in the swing of the user 2 is calculated by using the information of the position and the posture of the ten.

Further, the motion analysis unit 211 detects the timing of hitting the ball (impact timing) during the swing motion period of the user 2 by using the time information and the measurement data stored in the storage unit 24. For example, the motion analysis unit 211 calculates a composite value of measurement data (acceleration data or angular velocity data) output by the sensor unit 10, and specifies the timing (time) when the user 2 hits the ball based on the composite value.

In addition, the motion analysis unit 211 uses the motion analysis model and the position and posture information of the sensor unit 10 to perform the head speed from the backswing to the follow through, the incident angle (club path) and face angle at the time of hitting, and the shaft rotation. Information such as (amount of change in face angle during swing), deceleration rate of golf club 3, or information on variation in each of these information when the user 2 swings a plurality of times is also generated.

Further, the motion analysis unit 211 uses the measurement data acquired from the sensor unit 10 to perform a series of movements (also referred to as “rhythm”) from the start to the end of the swing, for example, from the start of the swing to the backswing, the top, and so on. Detects downswing, impact, follow-through, and the end of the swing. The specific rhythm detection procedure is not particularly limited, but for example, the following procedure can be adopted.

First, the motion analysis unit 211 calculates the sum (called the norm) of the magnitudes of the angular velocities around each axis at each time t using the acquired angular velocity data for each time t. Further, the motion analysis unit 211 may differentiate the norm of the angular velocity at each time t with respect to time.

Here, consider a case where the angular velocities around the three axes (x-axis, y-axis, z-axis) appear in a graph as shown in FIG. 8, for example. In FIG. 8, the horizontal axis is time (msec) and the vertical axis is angular velocity (dps). The norm of angular velocity appears in a graph as shown in FIG. 9, for example. In FIG. 9, the horizontal axis is the time (msec) and the vertical axis is the norm of the angular velocity. Further, the differential value of the norm of the angular velocity appears in a graph as shown in FIG. 10, for example. In FIG. 10, the horizontal axis is the time (msec) and the vertical axis is the differential value of the norm of the angular velocity. It should be noted that FIGS. 8 to 10 are for easy understanding of the present embodiment, and do not show accurate values.

The motion analysis unit 211 detects the timing of impact in the swing by using the calculated norm of the angular velocity. The motion analysis unit 211 detects, for example, the timing at which the norm of the angular velocity is maximized as the impact timing (reference numeral T5). Alternatively, the motion analysis unit 211 may detect, for example, the timing at which the differential value of the calculated angular velocity norm becomes maximum or minimum, whichever is the timing of impact (reference numeral T5). ).

Further, the motion analysis unit 211 detects, for example, the timing at which the calculated norm of the angular velocity becomes the minimum before the impact as the timing at the top of the swing (reference numeral T3). Further, the motion analysis unit 211 specifies, for example, a continuous period in which the norm of the angular velocity is equal to or less than the first threshold value before the impact as a top period (period of accumulation at the top) (reference numerals T2 to T4).

Further, the motion analysis unit 211 detects, for example, the timing when the norm of the angular velocity becomes equal to or less than the second threshold value before the top as the timing of the start of the swing (reference numeral T1).

Further, the motion analysis unit 211 detects, for example, the timing at which the norm of the angular velocity becomes the minimum after the impact as the timing of the end (finish) of the swing (reference numeral T7). Alternatively, the motion analysis unit 211 may detect, for example, the first timing at which the norm of the angular velocity becomes equal to or less than the third threshold value after the impact as the end (finish) timing of the swing. Further, the motion analysis unit 211 specifies, for example, a continuous period after the impact timing and approaching the impact timing, and the norm of the angular velocity is equal to or less than the fourth threshold value as the finish period (reference numerals T6 to T8).

As described above, the motion analysis unit 211 can detect the rhythm of the swing. Further, by detecting the rhythm, the motion analysis unit 211 detects each period during the swing (for example, the backswing period from the start of the swing to the start of the top, the downswing period from the end of the top to the impact, and the period from the impact to the end of the swing. Follow-through period) can be specified.

1-8. Processing According to the Embodiment The motion analysis device 20 according to the present embodiment is a motion analysis device that analyzes a swing using the golf club 3, and is an angular velocity generated on the shaft portion 3a of the golf club 3 due to an impact (striking ball). Using the sensor information acquisition unit 210 that acquires information and information on the acceleration generated on the shaft portion 3a of the golf club 3 due to impact, and the information on the angular velocity and the information on the acceleration, the hitting portion (head, striking) of the golf club 3 is used. Part) It has a motion analysis unit 211 that calculates a ball striking position on the striking surface (face surface, striking surface) 3c of 3b. When the hitting position on the hitting surface (face surface, hitting surface) 3c changes, not only the angular velocity but also the acceleration of the golf club 3 changes. Therefore, if both the angular velocity information and the acceleration information are used as in the present embodiment, It is possible to improve the calculation accuracy of the hitting position.

1-9. Description of the sensor used The above-mentioned angular velocity information includes at least the angular velocity generated around the long axis (y-axis) of the shaft portion 3a of the golf club 3 and orthogonal to the ball striking surface (face surface, striking surface) 3c. Includes angular velocities that occur around an axis (z-axis) that is orthogonal to the axis and the major axis. The angular velocity generated around the y-axis reflects the hitting position in the horizontal direction, and the angular velocity generated around the z-axis reflects the hitting position in the gravity direction. Therefore, according to these angular velocities, it is possible to calculate the hitting position in the horizontal direction and the hitting position in the gravity direction, respectively. The horizontal direction is a direction orthogonal to the direction of gravity.

Further, the above-mentioned acceleration information includes at least the acceleration generated in the direction of the axis (x-axis) orthogonal to the hitting surface (face surface, hitting surface) 3c of the golf club 3. The acceleration generated in the x-axis direction reflects the hitting position in the horizontal direction. Therefore, according to the acceleration information, at least the calculation accuracy of the hitting position in the horizontal direction can be improved.

FIG. 16 is an example of a list of data used in the determination in the horizontal direction and the determination in the vertical direction.

As shown in FIG. 16, the motion analysis unit 211 of the present embodiment is based on the angular velocity around the y-axis and the acceleration in the x-axis direction of the golf club 3, and the horizontal direction (h-axis) of the ball striking surface (face surface, striking surface) 3a. The hitting position and the reliability A in the direction) are calculated. The reliability A is an index showing the high accuracy of calculating the hitting position in the horizontal direction.

As shown in FIG. 16, the motion analysis unit 211 of the present embodiment is based on the angular velocity around the z-axis and the acceleration in the x-axis direction of the golf club 3, and the vertical direction (v-axis) of the ball striking surface (face surface, striking surface) 3a. The hitting position and the reliability B in the direction) are calculated. The reliability B is an index showing the high accuracy of calculating the hitting position in the vertical direction (see FIG. 16).

Further, in the present embodiment, the sampling rates of the acceleration sensor 12 and the angular velocity sensor 14 mounted on the sensor unit 10 are set to, for example, 2000 Hz in order to calculate the hitting position.

Further, as the acceleration sensor 12, a high G2-axis acceleration sensor may be mounted in addition to the normal 3-axis acceleration sensor used for measuring the swing locus or the like. The “high G” of the high G 2-axis acceleration sensor means that the golf club 3 has a wide dynamic range that can detect the acceleration that can be generated in the golf club 3 when an impact occurs during the golf swing. This dynamic range is wider than the dynamic range of a normal accelerometer. Further, one of the "two axes" of the high G2-axis acceleration sensor is the x-axis of the sensor coordinate system. The number of axes of the high G acceleration sensor is an example, and is not limited to this, and can be appropriately changed according to the required accuracy and the like.

Further, as the angular velocity sensor 14, a high G3 axis angular velocity sensor may be mounted in addition to the normal 3-axis angular velocity sensor used for measuring the swing locus or the like. The “high G” of the high G3 axial velocity sensor means that the golf club 3 has a wide dynamic range capable of detecting the angular velocity that can occur in the golf club 3 when an impact occurs during the golf swing. This dynamic range is wider than the dynamic range of a normal angular velocity sensor. Further, two of the "three axes" of the high G3 axis angular velocity sensor are the x-axis and the y-axis of the sensor coordinate system. The number of axes of the high G angular velocity sensor is an example, and is not limited to this, and can be appropriately changed according to the required accuracy and the like.

1-10. Preparation As described above, the user 2 attaches the sensor unit 10 to the vicinity of the grip portion of the golf club 3 in a predetermined posture (see FIG. 2), and inputs various information about the golf club 3 and the like to the motion analysis device 20. Then, the golf ball 4 is installed on the ground (see FIG. 2).

Then, the user 2 swings at the golf club 3 and hits the golf ball 4. During the swing period, the angular velocity sensor 14 and the acceleration sensor 12 of the sensor unit 10 generate measurement data at predetermined sampling intervals. Further, during the swing period or after the end of the swing period, the sensor unit 10 transmits the measurement data to the motion analysis device 20 via the communication unit 18 in a predetermined format. The motion analysis device 20 receives the measurement data via the communication unit 22 and the sensor information acquisition unit 210, and stores the measurement data in the storage unit 24.

Here, the measurement data acquired from the sensor unit 10 by the sensor information acquisition unit 210 of the motion analysis device 20 includes at least the acceleration data in the x-axis direction generated by the high G2-axis acceleration sensor and the high G3-axis angular velocity sensor. It is assumed that the angular velocity data around the y-axis and the angular velocity data around the x-axis are included. The motion analysis unit 211 executes a process of detecting a base point (described later) based on the acquired measurement data, and extracts angular velocity data and acceleration data generated at a time after the base point.

1-11. Judgment in the horizontal direction The motion analysis unit 211 has the angular velocity value at the timing of the base point (described later) in the time change curve (time series data) of the angular velocity around the y-axis, and a predetermined time after the base point (for example, 1.5 mm). Refer to the angular velocity value at the first timing (after seconds). Then, the motion analysis unit 211 calculates the displacement of the angular velocity value from the timing of the base point to the first timing as the feature quantity FeatureGy.

Further, the motion analysis unit 211 has the acceleration value at the timing of the base point (described later) in the time change curve (time series data) of the acceleration in the x-axis direction, and a predetermined time after the base point (for example, 0.5 milliseconds later). ) With reference to the acceleration value at the second timing. Then, the motion analysis unit 211 calculates the displacement of the acceleration value from the timing of the base point to the second timing as the feature amount FeatureAx.

Next, the motion analysis unit 211 compares the feature amount OriginGy with the threshold value th (for example, th = 0), and when the feature amount FeatureGy exceeds the threshold value th, in the horizontal direction of the ball striking surface (face surface, striking surface) 3c. By determining that the hitting position was on the toe side of the origin (h = 0) and applying the feature value FeatureGy to the first relational information (see FIG. 11, details will be described later), the origin (h = 0). ) To the hitting position on the toe side, and the hitting position h1 (first determination result) is calculated based on the deviation amount.

Further, the motion analysis unit 211 compares the feature amount FeatureGy with the threshold value th1 (th1 <th, for example, th1 = -20), and sets the feature amount FeatureAx with the threshold value th2 (for example, th2 = 0). In comparison, when the feature amount FeatureGy is below the threshold value th1 and the feature amount FeatureAx is below the threshold value th2, the hitting ball position in the horizontal direction of the hitting surface (face surface, hitting surface) 3c is larger than the origin (h = 0). By determining that it was on the heel side and applying the feature amount FeetureGy to the first related information (see FIG. 11, details will be described later), the amount of deviation from the origin (h = 0) to the hitting position on the heel side. Is calculated, and the hitting position h1 (first determination result) is calculated based on the deviation amount.

Further, in cases other than the above, the motion analysis unit 211 determines that the hitting position of the hitting surface (face surface, hitting surface) 3c in the horizontal direction is the origin (h = 0).

Further, the motion analysis unit 211 applies the feature amount FeatureAx to the second relational information (see FIG. 12, details will be described later), so that the hitting position h2 in the horizontal direction (second determination result) is renewed. calculate.

Next, the motion analysis unit 211 is in the horizontal direction based on the difference between the first determination result (hit position h1) based on the feature amount FeatureGy and the second determination result (hit ball position h2) based on the feature amount FeatureAx. The reliability A of the judgment is calculated. For example, when the first determination result (hit position h1) is "+10" and the second determination result (hit position h2) is "-5", the motion analysis unit 211 is in the horizontal direction. The reliability A of the determination is calculated by the following formula.

d = | h1-h2 | = | 10- (-5) | = 15,
A = (100-K × d) / 100 = 0.7,
However, K is a predetermined coefficient, and for example, K = 2.

The left side of FIG. 21 is a time change curve of the angular velocity around the y-axis, and the right side of FIG. 21 is a time change curve of acceleration in the x-axis direction. The upper part of FIG. 21 is a curve when the hitting position is on the heel side, and the lower part of FIG. 21 is a curve when the hitting position is on the toe side.

The horizontal axis of each graph in FIG. 21 is a sampling number (Index), which corresponds to the time axis, and the smaller the sampling number, the earlier the time. Further, the vertical axis of each graph in FIG. 21 is a value of measurement data (here, an angular velocity value or an acceleration value). Further, in each graph of FIG. 21, the timing indicated by the line segment parallel to the vertical axis is the timing of the base point, and the plurality of curves in each graph are data relating to swings different from each other.

According to the above determination, when the swing according to the upper graph of FIG. 21 is performed, the hitting position in the horizontal direction is determined to be the "heel side", and the swing according to the lower graph of FIG. 21 is performed. In this case, the hitting position in the horizontal direction is determined to be the "toe side".

1-12. Judgment in the vertical direction The motion analysis unit 211 has the angular velocity value at the timing of the base point (described later) in the time change curve (time series data) of the angular velocity around the z-axis, and a predetermined time after the base point (for example, 2.5 mm). Refer to the angular velocity value at the first timing (after seconds). Then, the motion analysis unit 211 calculates the displacement of the angular velocity value from the timing of the base point to the first timing as the feature amount FeatureGz.

Further, the motion analysis unit 211 has the acceleration value at the timing of the base point (described later) in the time change curve (time series data) of the acceleration in the x-axis direction, and a predetermined time after the base point (for example, 2.0 milliseconds). ) With reference to the acceleration value at the second timing. Then, the motion analysis unit 211 calculates the displacement of the acceleration value from the timing of the base point to the second timing as the feature amount FeatureAx.

Next, the motion analysis unit 211 compares the feature amount OriginGz with the threshold value th (for example, th = 0), and when the feature amount FeatureGz exceeds the threshold value th, in the vertical direction of the ball striking surface (face surface, striking surface) 3c. By determining that the hitting position was on the crown side of the origin (v = 0) and applying the feature value FeatureGz to the third relational information (see FIG. 13, details will be described later), the origin (v = 0). ) To the hitting position on the crown side, and the hitting position v1 (first determination result) is calculated based on the deviation amount.

Further, the motion analysis unit 211 compares the feature amount FeatureGz with the threshold value th (for example, th = 0), and when the feature amount FeatureGz is lower than the threshold value th, hits a ball in the vertical direction of the ball striking surface (face surface, striking surface) 3c. By determining that the position was on the sole side of the origin (v = 0) and applying the feature value FeetureGz to the third relational information (see FIG. 13, details will be described later), the origin (v = 0). The amount of deviation from the ball to the hitting position on the sole side is calculated, and the hitting position v1 (first determination result) is calculated based on the amount of deviation.

Further, in cases other than the above, the motion analysis unit 211 determines that the hitting ball position in the vertical direction of the hitting surface (face surface, hitting surface) 3c is the origin (h = 0).

Further, the motion analysis unit 211 applies the feature amount FeatureAx to the fourth relational information (see FIG. 14, details will be described later), so that the vertical hitting position h2 (second determination result) is renewed. calculate.

Next, the motion analysis unit 211 is in the vertical direction based on the difference between the first determination result (striking position v1) based on the feature amount FeatureGz and the second determination result (striking position v1) based on the feature amount FeatureAx. The reliability B of the judgment is calculated. For example, when the first determination result (ball hitting position v1) is "+10" and the second determination result (ball hitting position v2) is "-5", the motion analysis unit 211 is in the vertical direction. The determination reliability B is calculated by the following formula.

d = | v1-v2 | = | 10- (-5) | = 15,
B = (100-K × d) / 100 = 0.7,
However, K is a predetermined coefficient, and for example, K = 2.

The left side of FIG. 22 is a time change curve of the angular velocity around the z-axis, and the right side of FIG. 22 is a time change curve of acceleration in the x-axis direction. The upper part of FIG. 22 is a curve when the hitting position is on the heel side, and the lower part of FIG. 22 is a curve when the hitting position is on the toe side.

The horizontal axis of each graph in FIG. 22 is a sampling number (Index), which corresponds to the time axis, and the smaller the sampling number, the earlier the time. The vertical axis of each graph in FIG. 22 is a value of measurement data (here, an angular velocity value or an acceleration value). Further, in each graph of FIG. 22, the timing indicated by the line segment parallel to the vertical axis is the timing of the base point, and the plurality of curves in each graph are data relating to swings different from each other.

According to the above determination, when the swing according to the upper graph of FIG. 22 is performed, the hitting position in the vertical direction is determined to be the "crown side", and the swing according to the lower graph of FIG. 22 is performed. In this case, the hitting position in the horizontal direction is determined to be the "sole side".

1-13. Relationship information As described above, the motion analysis unit 211 uses the known relational information (first relational information, third relational information) showing the correlation between the information of the angular velocity generated by the hitting ball and the hitting position, and the hitting ball. Since the known relational information (second relational information, fourth relational information) showing the correlation between the generated acceleration information and the hitting position is used for calculating the hitting position, the relational information related to the angular velocity and the acceleration are used. By using the related information related to the above, the calculation accuracy of the hitting position can be stabilized. Hereinafter, the first relational information, the second relational information, the third relational information, and the fourth relational information will be described in order.

FIG. 11 is an example of statistical data that is the basis of the first relational information. This statistical data is data (scatter plot) related to the correlation between the feature amount FeatureGy related to the angular velocity around the y-axis and the hitting position in the horizontal direction. The horizontal axis of FIG. 11 is the actual hitting position [mm] in the horizontal direction, and the vertical axis is the feature amount FeatureGy [deg / s].

The first relational information is obtained by regression analysis of this statistical data (scatter plot of FIG. 11). Specifically, for example, the information for specifying the regression line in FIG. 11 (at least the magnitude of the slope of the straight line) is used as the first relational information. The first relational information is stored in advance in, for example, the storage unit 24, and is read out and used by the motion analysis unit 211 as needed.

In the present embodiment, a plurality of first relational information corresponding to a plurality of golf clubs 3 having different specifications is stored in advance in the storage unit 24, and the motion analysis unit 211 responds to the specifications of the golf club 3 according to the specifications of the golf club 3. A plurality of first relational information may be used properly. In the example of FIG. 11, the data indicated by "R" is the data of the relatively hard golf club 3, and the data indicated by "S" is the data of the relatively soft golf club 3. The first relational information is calculated for each of the specifications (hardness) of the golf club 3 and stored in the storage unit 24, and the motion analysis unit 211 has a plurality of first relational information according to the specifications (hardness) of the golf club 3. If the relational information of 1 is used properly, the hitting position in the horizontal direction can be calculated without being affected by the hardness of the golf club 3.

FIG. 12 is an example of statistical data that is the basis of the second relational information. This statistical data is data (scatter plot) related to the correlation between the feature amount FeatureAx related to the acceleration in the x-axis direction and the hitting position in the horizontal direction. The horizontal axis of FIG. 12 is the actual hitting position [mm] in the horizontal direction, and the vertical axis is the feature amount FeatureAx [G (gravitational acceleration)].

The second relational information was obtained by regression analysis of this statistical data (scatter plot of FIG. 12). Specifically, for example, the information for specifying the regression line in FIG. 12 is used as the second relational information. The second relational information is stored in advance in, for example, the storage unit 24, and is read out and used by the motion analysis unit 211 as needed.

In the present embodiment, a plurality of second relational information corresponding to a plurality of golf clubs 3 having different specifications are stored in advance in the storage unit 24, and the motion analysis unit 211 responds to the specifications of the golf club 3 according to the specifications of the golf club 3. A plurality of second relational information may be used properly. In the example of FIG. 12, the data indicated by "R" is the data of the relatively hard golf club 3, and the data indicated by "S" is the data of the relatively soft golf club 3. The second relational information is calculated for each of the specifications (hardness) of the golf club 3 and stored in the storage unit 24, and the motion analysis unit 211 has a plurality of second relational information according to the specifications (hardness) of the golf club 3. If the relational information of 2 is used properly, the hitting position in the horizontal direction can be calculated without being affected by the hardness of the golf club 3.

FIG. 13 is an example of statistical data that is the basis of the third relational information. This statistical data is data (scatter plot) related to the correlation between the feature amount FeatureGz related to the angular velocity around the z-axis and the hitting position in the vertical direction. The horizontal axis of FIG. 13 is the actual hitting position [mm] in the vertical direction, and the vertical axis is the feature amount FeatureGz [deg / s].

The third relational information was obtained by regression analysis of this statistical data (scatter plot of FIG. 13). Specifically, for example, the information for specifying the regression line in FIG. 13 (at least the magnitude of the slope of the straight line) is used as the third relational information. The third relational information is stored in advance in, for example, the storage unit 24, and is read out and used by the motion analysis unit 211 as needed.

In the present embodiment, a plurality of third relational information corresponding to the plurality of golf clubs 3 having different specifications are stored in advance in the storage unit 24, and the motion analysis unit 211 responds to the specifications of the golf club 3 according to the specifications of the golf club 3. A plurality of third relational information may be used properly. In the example of FIG. 13, the data indicated by "R" is the data of the relatively hard golf club 3, and the data indicated by "S" is the data of the relatively soft golf club 3. A third relationship information is calculated for each of the specifications (hardness) of the golf club 3 and stored in the storage unit 24, and the motion analysis unit 211 has a plurality of third relational information according to the specifications (hardness) of the golf club 3. If the relational information of No. 3 is used properly, the hitting position in the vertical direction can be calculated without being affected by the hardness of the golf club 3.

FIG. 14 is an example of statistical data that is the basis of the fourth relational information. This statistical data is data (scatter plot) related to the correlation between the feature amount FeatureAx related to the acceleration in the x-axis direction and the hitting position in the vertical direction. The horizontal axis of FIG. 14 is the actual hitting position [mm] in the vertical direction, and the vertical axis is the feature amount FeatureAx [G (gravity acceleration)].

The fourth relational information was obtained by regression analysis of this statistical data (scatter plot of FIG. 14). Specifically, for example, the information for specifying the regression line in FIG. 14 is used as the fourth relational information. The fourth relational information is stored in advance in the storage unit 24, for example, and is read out and used by the motion analysis unit 211 as needed.

In the present embodiment, a plurality of fourth relational information corresponding to a plurality of golf clubs 3 having different specifications are stored in advance in the storage unit 24, and the motion analysis unit 211 responds to the specifications of the golf club 3 according to the specifications of the golf club 3. A plurality of fourth relational information may be used properly. In the example of FIG. 14, the data indicated by "R" is the data of the relatively hard golf club 3, and the data indicated by "S" is the data of the relatively soft golf club 3. The second relational information is calculated for each of the specifications (hardness) of the golf club 3 and stored in the storage unit 24, and the motion analysis unit 211 has a plurality of second relational information according to the specifications (hardness) of the golf club 3. If the relational information of 4 is used properly, the hitting position in the vertical direction can be calculated without being affected by the hardness of the golf club 3.

1-14. Correspondence to Head Shape Similarly, the motion analysis unit 211 may use a plurality of first relational information properly according to the shape of the ball striking portion (head, striking portion) 3b of the golf club 3. The first relational information is calculated for each shape of the ball striking part (head, striking part) 3b and stored in the storage unit 24, and the motion analysis unit 211 corresponds to the shape of the ball striking part (head, striking part) 3b. The plurality of first relational information may be used properly.

Further, the motion analysis unit 211 may use a plurality of second relational information properly according to the shape of the ball striking portion (head, striking portion) 3b of the golf club 3. The second relational information is calculated for each shape of the ball striking part (head, striking part) 3b and stored in the storage unit 24, and the motion analysis unit 211 responds to the shape of the ball striking part (head, striking part) 3b. The plurality of second relational information may be used properly.

Further, the motion analysis unit 211 may use a plurality of third relational information properly according to the shape of the ball striking portion (head, striking portion) 3b of the golf club 3. A third relationship information is calculated for each shape of the ball striking portion (head, striking portion) 3b and stored in the storage unit 24, and the motion analysis unit 211 responds to the shape of the ball striking portion (head, striking portion) 3b. It is sufficient to use a plurality of third relational information properly.

Further, the motion analysis unit 211 may use a plurality of fourth relational information properly according to the shape of the ball striking portion (head, striking portion) 3b of the golf club 3. The fourth relational information is calculated for each shape of the ball striking part (head, striking part) 3b and stored in the storage unit 24, and the motion analysis unit 211 corresponds to the shape of the ball striking part (head, striking part) 3b. The plurality of fourth relational information may be used properly.

Therefore, the hitting position can be accurately calculated regardless of the shape of the hitting portion (head, hitting portion) 3b of the golf club 3 (in the case of the golf club 3, specifications such as loft angle and lie angle). The loft angle and lie angle are as described above.

1-15. Detection of base point The base point described above is a predetermined sampling point before the timing of impact. The motion analysis unit 211 can extract necessary measurement data and calculate a necessary feature amount using this base point as a guide. The motion analysis unit 211 detects the base point by capturing the rise of the time-varying curve of the acceleration of each axis. Here, an example using acceleration in the y-axis direction will be described.

For example, the motion analysis unit 211 calculates the difference (displacement) of the acceleration in the y-axis direction included in the measurement data for each sampling point. The reference of the difference (displacement) of each sampling point is, for example, the acceleration value in the y-axis direction at the time of addressing, or the average acceleration value in the y-axis direction at the time of addressing.

Then, the motion analysis unit 211 determines the sampling point (timing) at which the absolute value of the difference (displacement) is maximized as the approximate peak position MaxIndex of the first peak. Then, the processing unit 21 calculates the difference (displacement) at the approximate peak position MaxIndex as the peak difference MaxVal. Then, the motion analysis unit 211 sequentially refers to the difference (displacement) of a predetermined number (for example, 100 samples) before the approximate peak position MaxIndex, and the sampling in which the difference (displacement) first matches (MaxVal × th). The point (timing) is detected as the base point BaseIndex. However, it is assumed that the order in which the processing unit 21 makes the reference is an order that goes back in time. Further, the coefficient th to be multiplied by the peak difference MaxVal by the processing unit 21 is set to, for example, "0.2". However, the coefficient th may be a value that can be adjusted as appropriate.

1-16. Correction by head speed The motion analysis unit 211 divides the angular velocity by the velocity (head speed) of the hitting portion (head, striking portion) 3b of the golf club 3 and divides the angular velocity, and obtains information on the angular velocity to be used for calculating the hitting position. May be used as. In this case, the hitting position can be calculated accurately regardless of the speed at the time of hitting.

For example, the motion analysis unit 211 divides the output value related to the angular velocity of the sensor unit 10, the feature amount related to the angular velocity, or the hitting position by the speed (head speed) of the hitting portion (head, hitting portion) 3b of the golf club 3. Make corrections. The head speed referred to here is, for example, the head speed at the timing of the base point or the impact. The same effect can be obtained by adjusting the calculation standard (related information) according to the speed instead of dividing the output value or the feature amount related to the angular velocity by the speed.

1-17. Display screen FIG. 15 is a diagram showing an example of a screen displayed on the display unit 35. When the swing is completed and the hitting position is calculated, the image generation unit 213 creates image data reflecting the hitting position. The image data generated by the image generation unit 213 is output to the display unit 25 by the output processing unit 214. On the screen of the display unit 25, an image imitating the hitting surface (face surface, hitting surface) 3c of the golf club 3 is displayed. In the screen example, the golf club 3 is a driver (or iron). An overview of face coordinates is displayed on the screen. The dot marks shown on the screen indicate a histogram of the hitting position of the golf ball 4. That is, on this screen, the hitting positions of the latest multiple swings by the user 2 are superimposed and displayed as dot marks. The size of each dot mark is a size according to the overall reliability described later. That is, when the reliability is high, the size of the dot mark is displayed small, and when the reliability is low, the size of the dot mark is displayed large. It is also possible to reflect the horizontal reliability A in the horizontal size of the dot mark and reflect the vertical reliability B in the vertical size of the dot mark.

In FIG. 15, the hatched dot mark indicates the most recent hitting position. The text image displayed in the upper right of FIG. 15 is a numerical value of the hitting position. In the example of FIG. 15, the hitting position in the horizontal direction is displayed as "1 mm" and the hitting position in the vertical direction is displayed as "1 mm". ing. The closer these values are to zero, the closer the hitting position is to the origin of the face coordinates. In the example of FIG. 15, the face coordinate system is an orthogonal coordinate system, but the face coordinate system is not limited to orthogonal.

1-18. Flowchart 1-18-1. Overall Flow FIG. 17 is a flowchart showing an example of the operation of the motion analysis unit 211.

For example, when the user 2 swings the golf club 3, the motion analysis unit 211 executes the processing of the flowchart of FIG. At the start of the flowchart, it is assumed that the measurement data related to the swing is stored in the storage unit 24.

First, the motion analysis unit 211 executes a process (S11) for detecting the base point.

Next, the motion analysis unit 211 executes the process (S12) related to the calculation of the hitting position in the horizontal direction.

Next, the motion analysis unit 211 executes the process (S13) related to the calculation of the hitting position in the vertical direction. The order of steps S12 and S13 may be reversed or may be parallel processing.

Next, the motion analysis unit 211 executes a process (S14) for calculating the overall reliability.

Next, the motion analysis unit 211 executes a process (S15) of outputting a determination result (for example, FIG. 15) including a horizontal hitting position, a vertical hitting position, a reliability, and the like to the user 2. In the example of FIG. 15, the hitting position is reflected in the display destination of the dot mark, and the reliability is reflected in the size of the dot mark. The closer the reliability is to "1", the smaller the size of the dot mark indicating the hitting position is displayed.

1-18-2. Base point detection flow FIG. 18 is a flow of the base point detection process (S11) in FIG.

First, the motion analysis unit 211 calculates the difference (displacement) of the acceleration in the y-axis direction included in the measurement data for each sampling point, and sets the sampling point (timing) at which the absolute value of the difference is maximum as the peak position MaxIndex. The difference (displacement) at the peak position MaxIndex is calculated as the peak difference MaxVal (S21).

Next, the motion analysis unit 211 refers to the difference of 100 samples before the peak position MaxIndex, and detects the sampling point (timing) that first reaches the value corresponding to 0.2 times the peak value MaxVal as the base point BaseIndex. (S22).

1-18-3. Horizontal direction determination flow FIG. 19 is a flow of the horizontal direction determination process (S12) in FIG.

The motion analysis unit 211 calculates the feature values FeatureGy and FeatureAx, and determines that the hitting position in the horizontal direction is on the toe side of the origin (h = 0) when the feature amount FeatureGy exceeds the threshold value th (S31Y). , The hitting position h1 (first determination result) is calculated (S35).

Further, the motion analysis unit 211 determines that the hitting position is on the heel side of the origin (h = 0) when the feature amount FeetureGy is below the threshold value th1 and the feature amount FeatureAx is below the threshold value th2 (S32N). Then, the hitting position h1 (first determination result) is calculated.

Further, in cases other than the above (S31N, S32N), the motion analysis unit 211 determines that the hitting position in the horizontal direction is the origin (h = 0) (S34).

Further, the motion analysis unit 211 recalculates the hitting position h2 (second determination result) in the horizontal direction based on the feature amount FeatureAx (S36).

Next, the motion analysis unit 211 calculates the reliability A of the determination in the horizontal direction based on the difference between the first determination result (hit position h1) and the second determination result (hit position h2) (S37).

Then, the motion analysis unit 211 stores the first determination result and the reliability A as information related to the determination result in the horizontal direction in the storage unit 24 (S38), and ends the flow of the horizontal direction determination process (FIG. 19). ..

1-18-4. Vertical direction determination flow FIG. 20 is a flow of (S13) of the vertical direction determination process in FIG.

The motion analysis unit 211 calculates the feature amounts FeatureGz and FeatureAx, and determines that the hitting position in the vertical direction is on the crown side of the origin (v = 0) when the feature amounts FeatureGz exceeds the threshold value th (S41Y). , The hitting position v1 (first determination result) is calculated.

Further, the motion analysis unit 211 compares the feature amount FeatureGz with the threshold value th (for example, th = 0), and when the feature amount FeatureGz is lower than the threshold value th (S42Y), the hitting surface (face surface, striking surface) 3c is vertical. It is determined that the hitting position in the direction is on the sole side of the origin (v = 0), and the hitting position v1 (first determination result) is calculated.

Further, the motion analysis unit 211 determines that the hitting position in the vertical direction is the origin (h = 0) in cases other than the above (S41N, S42N) (S43).

Further, the motion analysis unit 211 recalculates the hitting position h2 (second determination result) in the vertical direction based on the feature amount FeatureAx (S46).

Next, the motion analysis unit 211 calculates the reliability B of the determination in the vertical direction based on the difference between the first determination result (striking position v1) and the second determination result (striking position v1) (S48).

Then, the motion analysis unit 211 stores the first determination result and the reliability B in the storage unit 24 as information related to the determination result in the vertical direction (S48), and ends the flow of the vertical direction determination process (FIG. 20). ..

1-19. Action effect The motion analysis device 20 of the present embodiment is a motion analysis device that analyzes a swing using the golf club 3, and includes information on the angular velocity generated on the shaft portion 3a of the golf club 3 by impact (striking ball) and impact. The sensor information acquisition unit 210 that acquires the information of the acceleration generated in the shaft portion 3a of the golf club 3 and the information of the angular velocity and the information of the acceleration of the golf club 3 are used to obtain the information of the hitting portion (head, striking portion) 3b of the golf club 3. It has a motion analysis unit 211 that calculates a hitting position on the hitting surface (face surface, hitting surface) 3c. When the hitting position on the hitting surface (face surface, hitting surface) 3c changes, not only the angular velocity but also the acceleration of the golf club 3 changes. Therefore, if both the angular velocity information and the acceleration information are used as in the present embodiment, It is possible to improve the calculation accuracy of the hitting position. Further, since the user 2 can grasp the deviation of the hitting position from the origin of the face coordinates set on the hitting surface (face surface, hitting surface) 3c of the golf club 3, the swing technique can be improved. it can.

In addition, the image generation unit 213 generates image data for displaying the hitting position of the ball in a histogram. Therefore, the user 2 can easily grasp the transition of the hitting position.

2. Modification 2-1. Regarding the relational information In the above embodiment, the regression line (that is, the first-order regression curve) is obtained from the statistical data, and the information of the regression line is stored in the storage unit as the relational information in advance, but instead of the first-order regression curve. May use a regression curve of degree 2 or higher. Further, the relational information may be a coefficient of a calculation formula or table data (table data in which an angular velocity or the like and a position are associated with each other). Further, in the above, the related information may be stored in the storage unit 24 before the shipment of the motion analysis device 20, or the related information may be downloaded from a site such as a manufacturer after the shipment of the motion analysis device 20 and stored in the storage unit. It may be stored in 24.

2-2. Regarding the reliability display In the above embodiment, the overall reliability based on the reliabilitys A and B or the reliabilitys A and B is calculated, and the calculated reliability is reflected in the size of the dot mark. , In addition to or instead of the calculated reliability, the reliability based on the head speed may be reflected in the dot mark. The reliability based on the head speed is considered to increase when the head speed is slow and to increase when the head speed is high. That is, the dot mark may be made smaller as the head speed is faster. Further, for example, it may be considered that the reliability decreases as the hitting position in the horizontal direction is closer to the heel side, and the size of the dot mark on the heel side may be increased.

2-3. Impact determination In the above embodiment, the output of the sensor unit 10 may be used to further detect the timing of collision (impact) of the golf club 3 with the golf ball 4. For example, the processing unit 21 of the motion analysis device 20 refers to the time change curve of the acceleration in the y-axis direction after the base point, and the timing at which a positive peak first starts to occur in the curve after the base point (for example, a constant threshold value). The timing of the sudden rise beyond the above is determined as the timing of impact. However, the processing unit 21 as the detection unit can also detect the impact timing by the above-mentioned separate method (FIGS. 8 to 10). Further, in the method (FIGS. 8 to 10), the norm of angular velocity is used, but it is also possible to use the norm of acceleration instead of the norm of angular velocity. Further, instead of detecting the base point by the detection method described above, a predetermined time before the impact timing may be regarded as the base point.

2-4. Display screen In the above embodiment, the determination result of the hitting position can be notified to the user 2 in various modes. In addition to using the dot marks described above, it is also possible to adopt a method of increasing the density of a portion having a high probability of being a hitting position, such as a contour line. Similarly, a method (heat map) of changing the color of a portion having a high probability of hitting a ball can be adopted. It is also possible to adopt a method of emphasizing the part that frequently hits when hitting multiple times with concentric circles (including an ellipse). Further, when the portion having a high probability changes with time, the time change may be displayed by animation.

2-5. Variations of Golf Club In the above embodiment, the golf club 3 as an exercise tool may be a driver, an iron, or a putter.

2-6. Variations of Exercise Equipment In the above embodiment, the exercise analysis system 1 that analyzes a golf swing is taken as an example, but the present invention is used for other exercise equipment that hits a ball, such as a baseball bat and a hockey stick. Can be applied.

2-7. Variations on division of functions Further, each of the above embodiments can be combined. It is also possible to omit some of the requirements of the above embodiments. The functional configurations of the motion analysis system 1 described above are classified according to the main processing contents in order to make the configuration of the motion analysis system 1 easy to understand. The invention of the present application is not limited by the method of classifying the components and the name. The configuration of the motion analysis system 1 can be further classified into more components according to the processing content. It can also be categorized so that one component performs more processing. Further, the processing of each component may be executed by one hardware or may be executed by a plurality of hardware.

2-8. Variation of flow Each processing unit of the above-mentioned flow diagram is divided according to the main processing contents in order to make the processing of the motion analysis system 1 easy to understand. The invention of the present application is not limited by the method of dividing the processing unit and the name. The processing of the motion analysis system 1 can be divided into more processing units according to the processing content. It is also possible to divide one processing unit so as to include more processing. Further, the order of processing is not limited to the above flow chart.

2-9. Others Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. Further, it is clear from the description of the scope of claims that the form to which such a modification or improvement is added may be included in the technical scope of the present invention. The present invention can also be provided as a motion analysis method, a program, and a storage medium for storing the program. Although the sensor unit 10 and the motion analysis device 20 have been described as separate bodies in the above embodiment, the function of the motion analysis device 20 may be mounted on the sensor unit 10. The division of functions can be changed as appropriate (the same applies to the functions of the server device 30).

1: Motion analysis system 2: User 3: Golf club 4: Golf ball 3a: Shaft part 3b: Ball striking part 3c: Ball striking surface 10: Sensor unit 20: Motion analysis device 21: Processing unit 210: Sensor information acquisition unit 211: Motion Analysis unit 213: Image generation unit 214: Output processing unit 22: Communication unit 23: Operation unit 24: Storage unit 25: Display unit 26: Sound output unit

Claims (8)

It is a motion analysis device that analyzes swings using exercise tools.
An acquisition unit that acquires information on the angular velocity generated on the shaft portion of the exercise tool by hitting and information on acceleration generated on the shaft portion of the exercise tool by the hitting.
A calculation unit that calculates the striking position on the striking surface of the striking portion of the exercise tool using the information on the angular velocity and the information on the acceleration.
Have a,
The information on the angular velocity includes
The angular velocity generated around the first axis, which is the long axis of the shaft portion of the exercise tool, and
The angular velocity generated around the second axis orthogonal to the striking surface and the third axis orthogonal to the first axis, and
Is included,
The acceleration information includes
Acceleration generated in the direction of the second axis is included.
The calculation unit
Using the angular velocity generated around the first axis and the acceleration generated in the direction of the second axis, the striking position in the horizontal direction of the striking surface is calculated.
Using the angular velocity generated around the third axis, the striking position in the vertical direction of the striking surface is calculated.
A motion analysis device characterized by this. The motion analysis device according to claim 1.
The calculation unit
Known relational information showing the correlation between the information on the angular velocity generated by the impact and the impact position, and
Known relationship information showing the correlation between the acceleration information generated by the impact and the impact position, and
Is used in the above calculation,
A motion analysis device characterized by this. The motion analysis device according to claim 2.
The calculation unit
The angular velocity divided by the velocity of the striking portion of the exercise tool at the striking is used as the information of the angular velocity.
A motion analysis device characterized by this. The motion analysis device according to claim 2 or 3.
The calculation unit
A plurality of the related information are used properly according to the shape of the striking portion of the exercise tool.
A motion analysis device characterized by this. It is a motion analysis method that analyzes a swing using an exercise tool.
A step of acquiring information on the angular velocity generated on the shaft portion of the exercise tool by hitting and information on acceleration generated on the shaft portion of the exercise tool by the hitting.
A step of calculating the striking position on the striking surface of the striking portion of the exercise tool by using the information of the angular velocity and the information of the acceleration, and
The process of outputting the calculation result and
Only including,
The information on the angular velocity includes
The angular velocity generated around the first axis, which is the long axis of the shaft portion of the exercise tool, and
The angular velocity generated around the second axis orthogonal to the striking surface and the third axis orthogonal to the first axis, and
Is included,
The acceleration information includes
Acceleration generated in the direction of the second axis is included.
The calculation step is
Using the angular velocity generated around the first axis and the acceleration generated in the direction of the second axis, the striking position in the horizontal direction of the striking surface is calculated.
Using the angular velocity generated around the third axis, the striking position in the vertical direction of the striking surface is calculated.
A motion analysis method characterized by this. A program that analyzes swings using exercise equipment.
A step of acquiring information on the angular velocity generated on the shaft portion of the exercise tool by hitting and information on acceleration generated on the shaft portion of the exercise tool by the hitting.
A step of calculating the striking position on the striking surface of the striking portion of the exercise tool by using the information of the angular velocity and the information of the acceleration, and
Let the computer run
The information on the angular velocity includes
The angular velocity generated around the first axis, which is the long axis of the shaft portion of the exercise tool, and
The angular velocity generated around the second axis orthogonal to the striking surface and the third axis orthogonal to the first axis, and
Is included,
The acceleration information includes
Acceleration generated in the direction of the second axis is included.
The calculation step is
Using the angular velocity generated around the first axis and the acceleration generated in the direction of the second axis, the striking position in the horizontal direction of the striking surface is calculated.
Using the angular velocity generated around the third axis, the striking position in the vertical direction of the striking surface
Calculate the setting,
A program characterized by that. The motion analysis device according to any one of claims 1 to 4,
An inertial sensor that generates information on the angular velocity and information on the acceleration,
A motion analysis system characterized by having. It is a motion analysis device that analyzes swings using exercise tools.
Information on the angular velocity generated on the shaft portion of the exercise tool by the impact and information on the acceleration generated on the shaft portion of the exercise tool by the impact are acquired.
The information on the angular velocity includes
The angular velocity generated around the first axis, which is the long axis of the shaft portion of the exercise tool, and
The angular velocity generated around the second axis orthogonal to the striking surface and the third axis orthogonal to the first axis, and
Is included,
The acceleration information includes
Acceleration generated in the direction of the second axis is included.
Using the angular velocity generated around the first axis and the acceleration generated in the direction of the second axis, the striking position in the horizontal direction of the striking surface of the striking portion of the exercise tool is calculated.
Using the angular velocity generated around the third axis, the striking position in the vertical direction of the striking surface is calculated.
A motion analysis device characterized by this.

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