KR20140148299A - Motion analysis method and motion analysis device - Google Patents

Abstract

In a motion analysis method, an analysis part (48) specifies the posture of the hitting surface of an exercise device during impact using the output of an inertia sensor (12). A judgment part (55) judges the kind of the trajectory of a batted ball using information on the specified posture of the hitting surface. The trajectory of the batted ball is estimated using the posture of the hitting surface during impact. The kind of the trajectory is determined depending on the posture of the hitting surface.

Description

TECHNICAL FIELD [0001] The present invention relates to a motion analyzing method and a motion analyzing apparatus,

The present invention relates to a motion analysis method and a motion analysis apparatus such as a golf swing.

As described in Patent Document 1, a swing display method is generally known. In this display method, the entry angle? Of the club head is assigned to the x-axis, and the face angle (face angle)? Is assigned to the y-axis. According to such a two-dimensional coordinate system, a slice area, a fade area, a straight area, a draw area and a hook area are displayed on the screen. From the face angle? At the time of impact (impact) and the angle of incidence? Of the club head, the face angle? And the entry angle? Measured by the swing motion are plotted.

[Patent Document 1] Japanese Patent Application Laid-Open No. 11-116464 [Patent Document 2] JP-A-2008-73210

In the display method described in Patent Document 1, the swing motion in the measurement of the face angle? And the entering angle? Is photographed by a camera. At this time, a target line connecting the center of the golf ball and the target is specified in the photographed three-dimensional space. The face angle? And entry angle? Are measured based on the target line. It was impossible to distinguish whether the direction of the body at the time of addressing (address) or the swing motion itself affected the ball when the ball hit the ball from the hit ball direction expected by the golfer. If every influence factor is interpreted, it is thought that the golfer can improve the form of his swing more efficiently.

According to at least one aspect of the present invention, it is possible to provide a motion analysis method for specifying the direction of a hit from a swing motion without being affected by the direction of the body.

(1) According to one aspect of the present invention, there is provided a method of detecting a position of a ball, comprising the steps of: specifying an attitude of a ball (ball) of an athlete And a step of determining the type of the balloon of the batted ball using the information.

The ballistic trajectory of the batted ball is estimated to be the batted ball position at impact. The type of trajectory is determined by the posture of the batting surface. The output of the inertia sensor is used to determine the type of trajectory. Unlike the target line specified in the photographed three-dimensional space, the output of the inertial sensor can reflect the direction of the user's body. Therefore, when the ball is missed from the expected ball direction, the influence of the direction of the body can be estimated. The type of trajectory is specified from the swing motion without being affected by the direction of the body. Thus, the swing motion is analyzed without being affected by the direction of the body, so the user can improve the swing form more efficiently.

(2) Another aspect of the present invention is a method of determining a trajectory of a moving ball at the time of an impact from an impact before an impact using an output of an inertial sensor, And a process for determining a motion.

The ballistic trajectory of the batted ball is assumed to be the movement trajectory of the ball at impact. The type of trajectory is determined according to the movement trajectory. The output of the inertia sensor is used to determine the type of trajectory. Unlike the target line specified in the photographed three-dimensional space, the output of the inertial sensor can reflect the direction of the user's body. Therefore, when the ball is missed from the expected ball direction, the influence of the direction of the body can be estimated. The type of trajectory is specified from the swing motion without being affected by the direction of the body. Thus, the swing motion is analyzed without being affected by the direction of the body, so the user can improve the swing form more efficiently.

(3) According to another aspect of the present invention, there is provided a method of controlling an impact, comprising the steps of: using an output of an inertial sensor to specify an attitude of a ball end face of an orbiting ball at impact, And a step of determining the type of the balloon of the ball using the position of the specified ball surface and the information of the movement trajectory of the balloon.

The ballistic trajectory of the ball is assumed to be the ball's posture and the movement trajectory at impact. The type of trajectory is determined by the combination of the posture of the batting surface and the movement trajectory. The output of the inertia sensor is used to determine the type of trajectory. Unlike the target line specified in the photographed three-dimensional space, the output of the inertial sensor can reflect the direction of the user's body. Therefore, when the ball is missed from the expected ball direction, the influence of the direction of the body can be estimated.

The type of trajectory is specified from the swing motion without being affected by the direction of the body. Thus, the swing motion is analyzed without being affected by the direction of the body, so the user can improve the swing form more efficiently.

(4) The motion analysis method may include a step of specifying an initial posture of a kick ball of a kick ball before the start of motion using the output of the inertial sensor. At this time, the motion analysis method can specify the posture of the batting surface at the time of the impact relative to the initial posture of the batting surface. Generally, at the time of swing operation, the user takes a posture for confirming the ball end face of the kick in advance at the position of the impact. At this time, the initial posture of the batting surface is established. The target position of the batted ball is set according to the initial posture of the batting surface. Since the posture of the batted face at the time of impact is specified on the basis of the batted face of the initial posture, the type of ballistics is specified from the swing motion without being influenced by the direction of the user's body. Thus, the swing motion is analyzed without being affected by the direction of the body, so the user can improve the swing form more efficiently.

(5) The motion analysis method may include a step of specifying an initial position of a ball end surface of the ball before the start of motion using the output of the inertial sensor. Generally, at the time of swing operation, the user takes a posture for confirming the ball end face of the kick in advance at the position of the impact. The initial position of the batting surface is established. The target position of the batted ball is set according to the initial position of the batted face. Since the movement locus at the time of impact is specified on the basis of this initial position, the type of trajectory is specified from the swing motion without being influenced by the direction of the user's body. Thus, the swing motion is analyzed without being affected by the direction of the body, so the user can improve the swing form more efficiently.

(6) The motion analysis method may include a step of calculating a change in the angle of the batted ball surface at the time of impact with respect to the batted ball surface at the start of the exercise. According to the calculation of the angles, the trajectory of the ball is classified finely according to the positive or negative angle or the magnitude of the angle. As a result, the user can make improvements to the swing form more effectively.

(7) The motion analysis method according to any one of (7) to (7), wherein, in specifying the movement trajectory, a first coordinate point indicating a position of the hit surface at the time of impact and a second coordinate point indicating a position of the hit surface at a sampling point And a second coordinate point indicating the second coordinate point. The first coordinate point and the second coordinate point are specified in the calculation of the angle of the movement locus. The vector of the moving direction is specified in the plane (or line segment) including the first coordinate point and the second coordinate point. Thus, the angle of the movement locus can be reliably calculated.

(8) The motion analysis method may include a step of calculating an incidence angle of the movement locus at the time of impact with respect to a line segment orthogonal to the hitting face at the position of the hitting surface at the time of the stop have. According to the calculation of the incidence angle, the trajectory of the batted ball is classified finely according to the positive or negative angle and the magnitude of the angle. As a result, the user can make improvements to the swing form more effectively.

(9) The motion analysis method may include a step of displaying a result of determination of the type of ballistics of the ball. If the type of trajectory is visually presented, the user can create an image of trajectory for each type of trajectory. Compared to a simple numerical presentation, the image of the trajectory is effectively conveyed to the user. Based on these images, the user can efficiently improve the swing form.

(10) The motion analysis method may include a step of indicating the posture of the ball surface on one coordinate axis, and displaying the state of the movement locus at the time of impact at the other coordinate axis. When the swing motion is performed, the trajectory of the swing motion is determined according to the posture of the batting surface and the movement trajectory. The trajectory is plotted in Cartesian coordinates (top). Therefore, the user can easily recognize the type of the trajectory according to the posture of the batting surface or the movement trajectory. Compared to a simple numerical presentation, the image of the trajectory is effectively conveyed to the user.

(11) The motion analysis method may include a step of dividing the one coordinate axis into a plurality of regions, dividing the other coordinate axis into a plurality of regions, and performing a matrix display. The user can easily recognize the type of the trajectory according to the posture of the batting surface or the movement trajectory. Compared to a simple numerical presentation, the image of the trajectory is effectively conveyed to the user.

(12) The motion analysis method may include a step of allocating and displaying a ball of a ball in a straight line direction in a central region of the matrix display. The user can easily recognize the type of the trajectory according to the posture of the batting surface or the movement trajectory. Compared to a simple numerical presentation, the image of the trajectory is effectively conveyed to the user.

(13) The motion analysis method may include a step of superimposing and displaying an image including a target area specifying the ballistic trajectory of the target ball hit by the user. The user can set the target trajectory prior to the measurement of the swing motion. When the swing motion is performed, the user can easily observe the coincidence or discrepancy between the trajectory specified by the swing motion and the target trajectory. In this way, the user can improve the swing form by trial and error.

(14) The motion analysis method may include a step of visually distinguishing the past plots and displaying the latest plots when displaying the plots based on the latest swing motion. Plots of the past remain in the image. Therefore, the user can visually confirm the posture of the batting surface and the history of the movement locus. In ascertaining the history, the latest trajectory plots are visually distinguished from past trajectory plots. Even if a plurality of plots remain, the user can easily extract the plots formed by the latest swing motion.

(15) Another aspect of the present invention is to provide an impact detection device that specifies an attitude of a hit ball on an impact ball at the time of impact by using an output of an inertia sensor, and specifies an impact trajectory of the ball ball at impact And a judging section for judging the type of trajectory of the batted ball using the posture analyzing section, the specified attitude of the ball surface and the information of the movement locus of the moving orifice.

According to the present invention, there is provided a motion analyzing method and a motion analyzing apparatus for specifying a batted ball direction from a swing motion without being influenced by the direction of the body.

1 is a conceptual diagram schematically showing a configuration of a golf swing analysis apparatus according to an embodiment of the present invention.
2 is a conceptual diagram schematically showing a relationship between a motion analysis model and a golfer and a golf club.
3 is an enlarged front view schematically showing the structure of the club head.
4 is a block diagram schematically showing a configuration of an arithmetic processing circuit according to an embodiment.
5 is a view showing the concept of the angle of the face surface and the angle of the movement locus.
6 is a diagram showing one specific example of an image.
7 is a view showing the kind of the trajectory.

Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. In addition, the present embodiment described below does not unduly limit the contents of the present invention described in claims, and all of the configurations described in this embodiment may be essential as the solution means of the present invention none.

(1) Configuration of golf club interpretation device

1 schematically shows a configuration of a golf swing analysis apparatus (motion analysis apparatus) 11 according to an embodiment of the present invention. The golf swing analysis device 11 includes an inertial sensor 12, for example. The inertial sensor 12 includes an acceleration sensor and a gyro sensor. The acceleration sensor can detect individual accelerations in three axial directions orthogonal to each other. The gyro sensor can detect angular velocities individually around each axis of three axes perpendicular to each other. The inertial sensor 12 outputs a detection signal. The acceleration and angular velocity for each axis are specified by the detection signal. The acceleration sensor and the gyro sensor detect information of the acceleration and the angular velocity relatively accurately. The inertial sensor 12 is mounted on a golf club (moving ball) 13. The golf club 13 has a shaft 13a and a grip 13b. The grip 13b is gripped by hand. The grip 13b is formed coaxially with the shaft of the shaft 13a. The club head 13c is coupled to the tip of the shaft 13a. Preferably, the inertial sensor 12 is mounted on the shaft 13a or the grip 13b of the golf club 13. The inertia sensor 12 may be fixed relative to the golf club 13 so as to be relatively immovable. Here, in mounting the inertial sensor 12, one of the detection axes of the inertial sensor 12 is aligned with the shaft of the shaft 13a.

The golf swing analysis device 11 is provided with an arithmetic processing circuit 14. The inertial sensor 12 is connected to the arithmetic processing circuit 14. A predetermined interface circuit 15 is connected to the arithmetic processing circuit 14 in connection. The interface circuit 15 may be connected to the inertial sensor 12 by wire, and it may be connected to the inertial sensor 12 wirelessly. A detection signal is supplied to the arithmetic processing circuit 14 from the inertial sensor 12.

A storage device 16 is connected to the arithmetic processing circuit 14. The storage device 16 can store, for example, a golf swing analysis software program (motion analysis program) 17 and related data. The arithmetic processing circuit 14 executes the golf swing analysis software program 17 to realize the golf swing analysis method. The storage device 16 may include a dynamic random access memory (DRAM), a mass storage device unit, a non-volatile memory, and the like. For example, in the DRAM, a golf swing analysis software program 17 is temporarily maintained in the implementation of the golf swing analysis method. A mass storage unit such as a hard disk drive (HDD) stores a golf swing analysis software program and data. The nonvolatile memory stores relatively small programs and data such as basic input / output system (BIOS).

An image processing circuit 18 is connected to the arithmetic processing circuit 14. The arithmetic processing circuit 14 sends predetermined image data to the image processing circuit 18. A display device 19 is connected to the image processing circuit 18. A predetermined interface circuit (not shown) is connected to the image processing circuit 18 in connection. The image processing circuit 18 sends an image signal to the display device 19 in accordance with the input image data. On the screen of the display device 19, an image specified by the image signal is displayed. For the display device 19, a liquid crystal display or other flat panel display is used. Here, the arithmetic processing circuit 14, the storage device 16, and the image processing circuit 18 are provided as, for example, a computer apparatus.

An input device 21 is connected to the arithmetic processing circuit 14. The input device 21 has at least alphabetic keys and ten keys. Character information and numerical information are input from the input device 21 to the arithmetic processing circuit 14. The input device 21 may be constituted by, for example, a keyboard. The combination of the computer device and the keyboard may be replaced by, for example, a smart phone.

(2) Motion analysis model

The arithmetic processing circuit 14 defines a virtual space. The virtual space is formed as a three-dimensional space. The three-dimensional space specifies the real space. As shown in Fig. 2, the three-dimensional space has an absolute reference coordinate system (global coordinate system) _xyz . In the three-dimensional space, a three-dimensional motion analysis model 26 is constructed according to the absolute reference coordinate system Σ _xyz . The rod 27 of the three-dimensional motion analysis model 26 is point-constrained to the fulcrum 28 (coordinate x). The rod 27 operates as a pendulum three-dimensionally around the point 28. The position of the point 28 is movable. Here, the absolute reference coordinate system Σ position of the center (29) of the rod 27 according to the _xyz is specified by the coordinates x _g, the location of the club head (13c) is specified by the coordinates x _h.

The three-dimensional motion analysis model 26 corresponds to modeling the golf club 13 at the time of swing. The rod 27 of the pendulum projects the shaft 13a of the golf club 13. The point 28 of the rod 27 projects the grip 13b. The inertial sensor 12 is fixed to the rod 27. The absolute reference coordinate system Σ position of the inertial sensor according 12 to the _xyz is specified by the coordinates x _s. The inertial sensor 12 outputs an acceleration signal and an angular velocity signal. As the acceleration signal, an acceleration obtained by subtracting the influence of the gravitational acceleration g

[Equation 1]

And angular velocities? ₁ and? ₂ are specified as angular velocity signals.

The calculation processing circuit 14 likewise fixes the local coordinate system? _S to the inertial sensor 12. The origin (origin) of the local coordinate system [Sigma] _s is set at the origin of the detection axis of the inertia sensor 12. [ The y-axis of the local coordinate system [Sigma] _s coincides with the axis of the shaft 13a. The x-axis of the local coordinate system 裡_s coincides with the batted direction specified by the face direction. Thus, the position l _sj of the point is specified by (0, l _sjy , 0) according to this local coordinate system Σ _s . Similarly, the position l _sh of the local coordinate system Σ _s phase (上) in the position l _sg of the center 29 is (0, l _sgy, 0) to the specified and the club head (13c) are (0, l _shy, 0 ).

As shown in Fig. 3, the arithmetic processing circuit 14 specifies the posture and position of the face surface 31 on the club head 13c in accordance with the local coordinate system [Sigma] _s . The first measurement point 32 and the second measurement point 33 are set on the face surface 31 in specifying the posture and the position. The first measurement point 32 and the second measurement point 33 are disposed at distant positions from each other. Here, the first measurement point 32 is located at the heel 34 side end of the face surface 31 and the second measurement point 33 is located at the toe 35 side end of the face surface 31 do. The first measurement point 32 and the second measurement point 33 are disposed in a horizontal plane 36 parallel to the ground G. [ The line segment 37 connecting the first measurement point 32 and the second measurement point 33 can specify the direction of the face surface 31 when projected on the paper surface G. [ The first measurement point 32 and the second measurement point 33 may be set on a line segment parallel to the score line 38. [

(3) Configuration of operation processing circuit

4 schematically shows the configuration of the arithmetic processing circuit 14 according to the embodiment. The arithmetic processing circuit 14 includes a position detection section 41 and an orientation detection section 42. [ The position detecting section 41 and the posture detecting section 42 are connected to the inertial sensor 12. [ An acceleration signal is supplied to the position detection unit 41 from the inertial sensor 12. [ The position detecting section 41 calculates the position of the inertial sensor 12 for each sampling point (sampling point) based on the acceleration in the three axial directions. In the calculation of the position, the acceleration for each individual detection axis is integrated in two stages. Thus, the direction components of displacement (displacement in the x-axis direction, displacement in the y-axis direction, and displacement in the z-axis direction) are specified for each detection axis. Position of the inertial sensor 12 is specific to the origin position of the local coordinate system Σ _s inherent in the inertial sensors 12.

The posture detecting section 42 calculates the posture of the inertia sensor 12 for each sampling point based on the angular velocity around the three axes. The rotation matrix R _s is specified from the angular velocity in the calculation.

[Equation 2]

Here, a quaternion Q is specified in the specification of the rotation matrix R _s .

[Equation 3]

Here, the magnitude of the angular velocity is calculated by the following equation,

[Equation 4]

However, the measured angular velocity [rad / s] is expressed by the following equation,

[Equation 5]

The change angle [rad] per unit time? T is calculated by the following equation.

[Equation 6]

The arithmetic processing circuit 14 includes a static determination section 43 and an impact determination section 44. [ The stop determination section 43 and the impact determination section 44 are connected to, for example, the inertial sensor 12. The stop determining section 43 specifies the stationary state of the golf club 13 based on the output of the inertial sensor 12. [ When the output of the inertial sensor 12 is lower than the threshold value, the stop determining section 43 determines the stop state of the golf club 13. The threshold value may be set to a value that can exclude the influence of a detection signal indicating a minute vibration such as a body motion. When the stop determination section 43 confirms the stop state over a predetermined period of time, the stop determination section 43 outputs a stop notification signal. The threshold value may be stored in the storage device 16 in advance, for example. The threshold value may be accepted through the operation of the input device 21 to the storage device 16. [

The impact determination unit 44 specifies an instant of impact based on the output of the inertia sensor 12. [ At the moment of impact, acceleration or angular velocity acts on the golf club 13 differently from the practice swing. Therefore, the output of the inertial sensor 12 is disturbed at the moment of impact. For example, a large acceleration is observed in a specific direction. The moment of impact is specified based on the threshold of this acceleration. The impact determining unit 44 outputs an impact notification signal upon detecting an impact. The threshold value may be stored in the storage device 16 in advance, for example. The threshold value may be accepted through the operation of the input device 21 to the storage device 16. [

The arithmetic processing circuit 14 includes a coordinate conversion section 45. [ The coordinate conversion unit 45 is connected to the position detection unit 41, the orientation detection unit 42, the stop determination unit 43, and the impact determination unit 44. An output is supplied from the position detecting section 41, the posture detecting section 42, the stop determining section 43 and the impact determining section 44 to the coordinate converting section 45. [ The coordinate conversion unit 45, a real space (實空間) the absolute reference coordinate system for specifying a Σ specifies a posture and position of the face 31 of the club head (13c) in the _xyz. In certain of the posture and position coordinate conversion unit 45 specifies a first measurement point 32 and a second measurement point 33 of the face 31 a (上) according to the local coordinate system Σ _s. The coordinate values of the first measurement point 32 and the second measurement point 33 may be stored in advance in the storage device 16, for example. The storage device 16 may receive coordinate values through the operation of the input device 21. [ The coordinate transforming unit 45 performs coordinate transformation on the coordinate values of the local coordinate system [Sigma] _s and specifies the first measuring point 32 and the second measuring point 33 in accordance with the absolute reference coordinate system [sum] _xyz . In the coordinate conversion coordinate conversion unit 45 specifies the rotation matrix R _s each sampling point. Posture change of the inertia sensor 12 of from the start of the measurement corresponds to the start of measurement to the integrated value of the rotation matrix R _s to the computation. The coordinate conversion section 45 can store the coordinate values of the first measurement point 32 and the second measurement point 33 after the coordinate conversion at the time of each sampling in the temporary storage memory 46 have.

The arithmetic processing circuit 14 includes a stop-time analyzing unit 47 and an impact-time analyzing unit 48. The stop-time analyzing unit 47 and the impact-time analyzing unit 48 are connected to the coordinate converting unit 45. The output from the coordinate conversion unit 45 is supplied to the stop analysis unit 47 and the impact analysis unit 48. The coordinate conversion unit 45 receives the stop notification signal from the stop determination unit 43 and outputs the coordinate value of the first measurement point 32 after coordinate conversion and the coordinate value of the second measurement point 33 ) Is supplied. Likewise, upon receipt of the impact notification signal from the impact judging unit 44, the coordinate transforming unit 45 causes the impact analysis unit 48 to calculate the coordinate value of the first measurement point 32 after coordinate conversion, (33).

The stop-time analyzing unit 47 includes a posture specifying unit 51 and a position specifying unit 52. [ Position specifying unit 51 specifies the position of the face surface 31 at the absolute reference coordinate system Σ _xyz the stop state (i.e., the address). 5, the posture specifying unit 51 sets the first measurement point 32 at the time of stopping = r _h (0) and the second measurement point 33 = r _t (0) at the time of stoppage, for example, 0) are connected to each other by the first line segment L1. The attitude of the face surface 31 is specified by the first line segment L1. At this time, the first line segment (L1) is the absolute reference coordinate system Σ _xyz is projected on (the surface which is parallel to a wide surface (G)) horizontal plane orthogonal to the y-axis within.

Position specifying unit 52 specifies a second line segment (L2) orthogonal to the face surface (31) in the absolute reference coordinate system Σ _xyz when it stops. The second line segment L2 intersects the face surface 31 at a first measurement point 32 = r _h (0) perpendicularly. In specifying the second line segment L2, the position specifying unit 52 specifies the first line segment L1. The position specifying unit 52 sets the second line segment L2 in the vertical direction of the first line segment L1 at the first measurement point 32. [ The second line segment L2 represents a so-called target line. That is, the second line segment L2 indicates the straight-line direction leading to the target point of the ball. At this time, the second line segment (L2) is, like the first line segment (L1), the absolute reference coordinate system Σ is projected on the horizontal plane perpendicular to the y-axis in the _xyz.

The impact analysis unit 48 includes a posture specifying unit 53 and a trajectory specifying unit 54. [ The posture specifying section 53 specifies the posture of the face surface 31 in the absolute reference coordinate system? _Xyz at the time of impact. In a particular posture, such as shown in FIG. 5 example, the position specifying unit 53 includes a first measurement point (32) = r _h (imp) and the second measuring point (33) = r _t at impact ( imp) to the third line segment L3. The posture of the face surface 31 at the time of impact is specified by the third line segment L3. At this time, similarly to the above, the third line segment (L3) is the absolute reference coordinate system Σ is projected on the horizontal plane perpendicular to the y-axis in the _xyz.

The trajectory specifying unit 54 specifies the movement trajectory of the first measurement point 32 in the absolute reference coordinate system? _Xyz at the time of impact. In certain of the moving trajectory, the trajectory on the absolute reference coordinate system Σ _xyz on the first coordinate point (P1) and the impact that indicates the position r _h (imp) of a particular unit 54, a first measurement point 32 at the time of impact position in the preceding sampling point a first measuring point (32) r _h absolute reference coordinate system representing the (imp-1) Σ _xyz on specifies a second coordinate point (P2). Here, sampling points immediately before impact are assigned to the second coordinate point P2. The first coordinate point P1 and the second coordinate point P2 are connected to each other by a fourth line segment L4. The direction of the movement trajectory to the fourth line segment L4 is specified. At this time, similarly to the above, the fourth line segment (L4) is the absolute reference coordinate system Σ is projected on the horizontal plane perpendicular to the y-axis in the _xyz.

The arithmetic processing circuit 14 includes a determination section 55. [ The judging section 55 judges the type of the ballistics of the batted ball based on the information of the posture of the face surface 31 and the information of the movement locus of the golf club 13. Here, the determining section 55 includes a face angle calculating section 56 and an incident angle calculating section 57. [ The face angle calculating section 56 is connected to the posture specifying section 51 of the stopping analysis section 47 and the posture specifying section 53 of the impact analysis section 48. The face angle calculating section 56 is supplied with an output from the attitude specifying sections 51 and 53. The face angle calculating section 56 calculates the angle (face angle)? Of the face surface 31 at the time of impact relative to the face surface 31 at the time of stop. In the calculation of the angle φ, position specifying unit 51, the absolute reference coordinate system to and from the specific first line segment (L1) and the position of the third line segment (L3) specified in the specifying unit (53) in Σ _xyz in the horizontal plane The angle is measured. The face angle calculating section 56 outputs the first angle information data. The first angle information data specifies the angle? Of the face surface 31. [

The incident angle calculating section 57 is connected to the locating section 52 of the stopping analysis section 47 and the locus specifying section 54 of the impact analysis section 48. The incident angle calculating section 57 is supplied with an output from the position specifying section 52 and the locus specifying section 54. The incidence angle calculating section 57 calculates the angle θ of the movement locus relative to the line segment orthogonal to the face surface 31, ie, the second line segment L2 at the first measurement point 32 of the face surface 31 at the time of stop . In the calculation of the angle θ, the position specifying unit 52, the absolute reference coordinate system among the specified in the particular second line segment (L2) and a locus specific portion 54. The fourth line (L4) in Σ horizontal plane of _xyz The angle is measured. The incident angle calculating section 57 outputs the second angle information data. The second angle information data specifies the angle? Of the movement locus.

The determination section 55 includes an image data generation section 58. [ The image data generating unit 58 is connected to the face angle calculating unit 56 and the incidence angle calculating unit 57. The first angle information data and the second angle information data are supplied to the image data generation section 58. [ The image data generating section 58 generates image data specifying an image for visually displaying the type of the trajectory allocated based on the angle of the supplied face surface 31 and the angle of the trajectory of movement. In the generation of the image data, the image data generation section 58 acquires the background image data from the storage device 16. Background image data specifies an image in Cartesian coordinates. 6, the angle? Of the face surface 31 is assigned to one of the coordinate axes (x-axis), and the angle? Of the movement locus is assigned to the other coordinate axis (y-axis) do. The Cartesian coordinates are divided into 9 regions S1 to S9 of 3 rows and 3 columns. The types of trajectory are assigned to the individual regions S1 to S9. The trajectory " Straight " in the straight-ahead direction is assigned to the center area S5 of the nine regions S1 to S9. Here, when the angle of the movement locus increases in the positive direction while the angle of the face surface 31 is maintained from the center area S5 for the golfer to be hit from the right, the ballistic " Push " (area S4) And the trajectory " Pull " (area S6) is assigned when the angle of the movement locus decreases in the negative direction while the angle of the face surface 31 from the central area S5 is maintained. The types of trajectory are assigned to the regions S4, S5, and S6 in the central three rows in this manner. [0052] With the movement trajectories of "push", "straight" Quot; push slice ", " slice " and " fade " are assigned to the areas S1, S2, and S3 in the right three columns, Quot; Draw ", " Hook ", and " Pull Hook " are left in the left three columns S7 and S7, respectively, when the angle of the face surface 31 increases in the negative direction, S8, and S9. As shown in Fig. 7, the ball 61 of the "push", the ballistics 62 of the "fade" and the ballistics 63 of the "slice" And the ballistic curve 64 of the " pull " balloon 65 and the " hook " of the ball are defined as the bending state of the ball increases inward.

The image data generation unit 58 plots the measurement value on the image of the rectangular coordinates. As shown in Fig. 6, the image of the plot is superimposed on the nine regions S1 to S9. Each time the angle? Of the face surface 31 and the angle? Of the movement locus are specified, the image data generation unit 58 calculates the angle? Of the face surface 31 and the angle? To form an image representing the plot 68a. At this time, the latest plot 68a visually distinguished from the past plot 68b is drawn. Here, the latest plot 68a is visually characterized by the first characteristic, and the past plot 68b is characterized by the second characteristic which is distinguished from the first characteristic. In such a feature, for example, the shapes and colors of the plots may be different. Here, the latest plot 68a is characterized as a " cross " mark, and past plots 68b corresponding to the history are characterized by a square mark. When the latest plot 68a is drawn as the first feature, the plot 68b drawn in the first feature up to that point is drawn and corrected in the second feature. Thus, the latest plot 68a is always distinguished from the other plot 68b.

Here, the image data generating section 58 overlaps the nine regions S1 to S9, and forms an image including the target area 69 for specifying the target trajectory by the user. This target area 69 can be received in the storage device 16, for example, through the operation of the input device 21. [ In this way, the user can display the target trajectory on the image of the Cartesian coordinates (top).

(4) Operation of golf swing analysis apparatus

The operation of the golf swing analysis apparatus 11 will be briefly described. First, the golfer's golf swing is measured. The necessary information is input from the input device 21 to the arithmetic processing circuit 14 prior to the measurement. Here, the position l _sj of the point 25, the position of the first measurement point 32 and the position of the second measurement point 33 along the local coordinate system? _S , The rotation matrix R ⁰ of the initial posture of the ball 12, and the ballistics desired by the golfer. The input information is managed, for example, under a specific identifier. The identifier may identify a specific golfer.

Prior to the measurement, the inertia sensor 12 is mounted on the shaft 13a of the golf club 13. The inertial sensor 12 is fixed relative to the golf club 13 in a relatively non-displaceable manner. Here, one of the detection axes of the inertia sensor 12 is aligned with the axis of the shaft 13a. One of the detection axes of the inertia sensor 12 is aligned with the direction of the ball hit specified by the face surface 31. [

Prior to the execution of the golf swing, the measurement of the inertial sensor 12 is initiated. At the start of the operation, the inertial sensor 12 is set to a predetermined position and posture. This position and posture correspond to those specified by the rotation matrix R ⁰ of the initial posture. The inertial sensor 12 continuously measures the acceleration and angular velocity at a specific sampling interval. The sampling interval defines the resolution of the measurement. The detection signal of the inertial sensor 12 is sent to the arithmetic processing circuit 14 in real time. The arithmetic processing circuit 14 receives a signal specifying the output of the inertial sensor 12. [

The golf swing begins at an address, descends with a backswing, impacts, follows through, and finishes. The golf club 13 is swung. When swung, the attitude of the golf club 13 changes along the time axis. The inertial sensor 12 detects the acceleration in three axes according Σ _s local coordinate system in accordance with the position of the golf club (13) detects the angle (角) speed in the local coordinate system Σ _s three-axis of. A detection signal specifying the acceleration and angular velocity is output. Position detecting section 41, the absolute reference coordinate system Σ location that is local coordinate system of the inertia sensor 12 in the _xyz Σ calculates the origin position of the _s. Posture detecting section 42 calculates the rotation matrix R _s each sampling point from each of the (角) speed. The coordinate conversion unit 45, a local coordinate system Σ _s first measuring point 32 and the second measuring point (33) subjected to coordinate transformation on the basis of the rotation matrix R _s in the coordinate value and the absolute reference coordinate system of the Σ of _xyz The first measurement point 32 and the second measurement point 33 are specified from the coordinate values.

When the golf club 13 stops at the address, the stop determining section 43 detects the stop state of the golf club 13. The stop determination section 43 outputs a stop notification signal. The coordinate conversion unit 45, upon receipt of a stop notification signal, the absolute reference coordinate system Σ when stopping a position signal for specifying the coordinates of the first measuring point 32 and the second measuring point (33) according to the _xyz analyzer ( 47). The stop analysis section 47 specifies the posture of the face surface 31 as the first line segment L1 based on the coordinate values of the first measurement point 32 and the second measurement point 33. [ Similarly, the stop-time analysis unit 47 specifies the second line segment L2, that is, the target line, based on the coordinate values of the first measurement point 32 and the second measurement point 33. [

During the swing operation, the impact determination unit 44 detects the impact. The impact determination unit 44 outputs an impact notification signal. The coordinate transforming unit 45 transforms the position signal for specifying the coordinate values of the first measurement point 32 and the second measurement point 33 at the time of impact according to the absolute reference coordinate system Σ _xyz in accordance with the reception of the impact notification signal, reference coordinate system Σ outputs toward the first measuring point 32 at impact position signals for specifying the coordinates of the analyzer 48 identified as a sample immediately before the at impact according to _xyz. The impact analysis unit 48 specifies the posture of the face surface 31 by the third line segment L3 based on the coordinate values of the first measurement point 32 and the second measurement point 33. [ Similarly, the impact analysis unit 48 specifies the fourth line segment L4 based on the first coordinate point P1 and the second coordinate point P2.

The face angle calculating section 56 calculates an angle between the first line segment L1 and the third line segment L3. The calculated angle is sent to the image data generation unit 58. The incident angle calculating section 57 calculates the angle between the second line segment L2 and the fourth line segment L4. The calculated angle is sent to the image data generation unit 58. The image data generation unit 58 generates image data specifying an image of rectangular coordinates. As a result, the type of trajectory is specified for each of the plots 68a and 68b, as shown in Fig.

The trajectory of the batted ball is estimated by the attitude and movement locus of the face surface 31 at the time of impact. The type of trajectory is determined according to the combination of the posture of the face surface 31 and the movement locus. If the type of trajectory is presented visually, the golfer can create an image of trajectory for each type of trajectory. Compared to a simple numerical presentation, the image of the ball is effectively conveyed to the golfer. Based on these images, the golfer can effectively improve the swing form.

In this golf swing analysis apparatus 11, the posture and movement locus of the face surface 31 are specified at the time of impact. The output of the inertial sensor 12. In a particular is specific to the inertial sensor 12 on the basis of the rotation matrix R _s local coordinate system Σ _s Σ absolute reference coordinate system from the _xyz coordinates are converted to. At this time, the absolute reference coordinate system? _Xyz is specified on the face surface 31 at the time of stop. In general, at the time of swing operation, the golfer stops at the position of impact in the attitude confirming the face surface 31 of the golf club 13 in advance. The target line is set according to the posture of the face surface 31. Since the posture and the movement locus of the face surface 31 at the time of impact are specified with reference to the face surface 31 at the time of stopping, the type of trajectory is specified from the swing motion without being influenced by the direction of the body of the golfer . Since the swing motion is analyzed without being influenced by the direction of the body, the golfer can improve the swing form more efficiently.

Particularly, in discriminating the trajectory, the angle of the face surface 31 at the time of impact is calculated relative to the face surface 31 at the time of stoppage. According to the calculation of the angles, the trajectory of the ball is classified finely according to the positive or negative angle or the magnitude of the angle. Since the angle of the movement locus is calculated relative to the target line determined at the stop face 31 at the time of stopping, the trajectory of the ball is finely classified according to the positive / negative angle and the magnitude of the angle. do. As a result, the golfer can improve the swing form more effectively.

The first coordinate point P1 in the absolute reference coordinate system? _Xyz phase (upper position) indicating the position of the face surface 31 at the time of impact and the first coordinate point P1 in the absolute reference coordinate system? _Xyz phase a first absolute reference coordinate system indicating the position of the measurement point (32) on the second Σ _xyz coordinate the point (P2) are specified. The first coordinate point P1 and the second coordinate point P2 are specified in the calculation of the angle between the target line and the movement locus. The vector of the moving direction is specified by the fourth line segment L4 including the first coordinate point P1 and the second coordinate point P2. Thus, the angle of the movement locus is reliably calculated.

The first line segment L1, the second line segment L2, the third line segment L3, and the fourth line segment L4 are set so that the angle of the face plane 31 and the angle of the movement locus are It is projected on a horizontal plane within the absolute reference frame Σ _xyz . Thus, the z-axis orthogonal to the horizontal plane is omitted in the calculation process. The calculation process is simplified.

In the Cartesian coordinates specified by the image data, the angle of the face surface 31 on one of the coordinate axes is shown, and the angle of the movement locus on the other coordinate axes is shown. In addition, the Cartesian coordinates are divided into nine regions S1 to S9 of three rows and three columns, and the types of trajectory are individually assigned to the respective regions S1 to S9. At this time, the trajectory in the straight forward direction is assigned to the central region S5 among the nine regions S1 to S9. When the swing motion is performed, the trajectory of the swing motion is determined according to the angle of the face surface 31 and the angle of the movement trajectory. The trajectory is plotted in Cartesian coordinates. Therefore, the golfer can easily recognize the type of the trajectory according to the angle of the face surface 31 or the angle of the movement trajectory. Compared to a simple numerical presentation, the image of the ball is effectively conveyed to the golfer.

Cartesian coordinates specified by the image data also include a target area 69 that overlaps the nine areas S1 to S9 and specifies the ballistic trajectory of the golfer. The golfer can set the desired trajectory prior to the measurement of the swing motion. When the swing motion is performed, the golfer can easily observe the coincidence or deviation between the trajectory specified by the swing motion and the target trajectory with the image. In this way, the golfer can improve the swing form by trial and error.

Furthermore, in the orthogonal coordinates specified by the image data, when the plots 68a and 68b are displayed according to the angle of the face surface 31 and the angle of the movement locus based on the latest swing motion, So that the latest plot 68a is displayed. The past plot 68b remains in the image. Thus, the golfer can visually confirm the history of the angle of the face surface 31 and the angle of the movement locus. In ascertaining the history, the latest trajectory plot 68a is visually distinguished from the past trajectory plot 68b. Even if a plurality of plots 68a and 68b remain, the golfer can simply extract the plot 68a formed by the latest swing motion.

For example, the golfer's trajectory from the left corresponds to the golfer's right-handed trajectory being interchanged with the outside and inside. Therefore, in the rectangular-coordinate areas S1 to S9, the display assigned to the golfer hit on the left is required to be assigned. Straight " and " push " trajectories are assigned to the central three rows S4, S5, and S6 for the golfer to hit from the left. While the movement trajectories of " pull & When the angle of the face surface 31 increases in the positive direction, "full hook", "hook" and "draw" are assigned to the right three rows S1, S2 and S3, , "Slice", and "push slice" are assigned to the left three-row areas S7, S8, and S9, respectively, when the angle of the face surface 31 increases in the negative direction .

In addition, ballistics of batting may be classified as simple. For example, the trajectory may be classified into "hook", "straight", and "slice" based on the angle φ of the face surface 31. In this case, the rectangular coordinates may be divided into three along one coordinate axis. Alternatively, the trajectory may be classified as " push ", " straight ", and " pull " based on the angle? Of the movement locus. In this case, the rectangular coordinates may be divided into three along one coordinate axis.

The notification of the ballistic trajectory of the ball is not limited to the above-described screen display, and sound or vibration may be used, for example, in the notification of the type of ballistic trajectory. For each individual balloon, different types of sounds or different types of seismic patterns may be assigned. In the notification by the sound, the golf swing analyzer 11 may be provided with, for example, a golf club 13 or a speaker mounted on the user. In the notification by the vibration, the golf swing analyzer 11 may be provided with, for example, a grip 13b of the golf club 13 or a vibrator mounted on the user.

Further, in the above embodiment, the individual functional blocks of the arithmetic processing circuit 14 are realized by the execution of the golf swing analysis software program 17. However, the individual function blocks may be realized by hardware without resorting to software processing. In addition, the golf swing analysis device 11 may be applied to a swing analysis of an exercise area (for example, a tennis racket, a table tennis racket, or a baseball bat) swinging by hand.

As described above, the present embodiment has been described in detail, but it will be readily understood by those skilled in the art that many modifications are possible without departing from the novel features and effects of the present invention. Accordingly, all such modifications are included in the scope of the present invention. For example, in the specification or drawings, terms described with other terms that are at least once more broadly or synonymously may be substituted with other terms in the specification or drawings at any point. The configurations and operations of the inertial sensor 12, the golf club 13, the arithmetic processing circuit 14, the three-dimensional motion analysis model 26, and the like are not limited to those described in the present embodiment, Do.

11: Motion analysis device (golf swing analysis device)
12: inertia sensor
13: Sports club (golf club)
14: Computer (arithmetic processing circuit)
17: Motion Analysis Program (Golf Swing Analysis Software Program)
31: batting face (face face)
48: Impact analysis part
55:
68a: The latest plot
68b: Past plot
L2: line segment (second line segment)
P1: first coordinate point
P2: second coordinate point
S1 to S9:
φ: angle
θ: Angle of movement trajectory.

Claims (16)

A step of specifying an attitude of a hit ball surface of an exercise tool at the time of impact using the output of the inertia sensor,
And determining the type of the bow of the batted ball using the information of the attitude of the batting surface specified. A step of specifying a movement trajectory of the moving ball at the time of impact from before the impact using the output of the inertial sensor,
And determining the type of trajectory of the batted ball using the information of the specified trajectory of movement. Using the output of the inertia sensor to specify an attitude of the ball end face of the ball at the time of impact,
A step of specifying the movement trajectory of the moving ball at the time of impact from before the impact using the output of the inertial sensor,
And determining the type of trajectory of the batted ball using the information of the attitude of the ball and the movement trajectory of the ball. The method according to claim 1 or 3,
A step of specifying an initial posture of a ball end face of the ball at the time of starting the exercise using the output of the inertia sensor and specifying a posture of the ball end face at the time of impact at the initial posture of the ball end face And a motion analyzing step of analyzing the motion of the subject. The method according to claim 2 or 3,
And using the output of the inertia sensor to specify an initial position of the ball end surface of the ball before the start of the exercise. The method of claim 4,
And a step of calculating a change in the angle of the batted ball surface at the time of impact with respect to the batted ball at the start of movement. The method of claim 5,
In specifying the movement trajectory, a first coordinate point indicating a position of the hit surface at the time of impact and a second coordinate point indicating a position of the hit surface at a sampling point before the impact are specified Wherein the step of analyzing the motion comprises the steps of: The method of claim 5,
And calculating an angle of incidence of said movement locus at said impact on a line segment orthogonal to said batting surface at said position of said batted ball surface at the time of stopping. The method of claim 7,
And calculating an incidence angle of the movement locus at the impact on a line segment orthogonal to the hitting face at the position of the hit surface at the time of stopping. The method of claim 3,
And a step of displaying a result of determination of the type of ballistics of the batted ball. The method of claim 10,
And displaying the state of the movement locus at the time of the impact on the other coordinate axes. The method of claim 11,
And dividing the one coordinate axis into a plurality of regions and dividing the other coordinate axis into a plurality of regions and performing a matrix display. The method of claim 12,
And a step of allocating and displaying a trajectory of a ball in a straight line direction in a central region of the matrix display. The method of claim 11,
And a step of superimposing and displaying an image including a target area specifying a trajectory of a target ball hit by the user. The method of claim 11,
And displaying a latest plot visually distinguished from a past plot when displaying a plot based on a latest swing motion. An impact analysis unit that specifies an attitude of a hit ball surface of the ball at the time of impact using the output of the inertia sensor and specifies a movement trajectory of the ball ball at the impact time before impact,
And a determination unit that determines the type of the ballistic trajectory by using the information of the attitude of the ball and the movement trajectory of the ball.

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