US20170203172A1

US20170203172A1 - Equipment display method, swing analysis apparatus, swing analysis system, swing analysis program, and recording medium

Info

Publication number: US20170203172A1
Application number: US15/404,818
Authority: US
Inventors: Tsuyoshi Ito; Kenya Kodaira
Original assignee: Seiko Epson Corp
Current assignee: Seiko Epson Corp
Priority date: 2016-01-15
Filing date: 2017-01-12
Publication date: 2017-07-20
Also published as: CN107007994A; JP2017124079A

Abstract

A display method includes displaying objects related to exercise equipment at respective positions of the exercise equipment at a plurality of timings during a swing so as to overlap a swing trajectory of the exercise equipment which is obtained on the basis of an output from an inertial sensor which measures the swing of the exercise equipment.

Description

BACKGROUND

1. Technical Field
The present invention relates to a display method, a swing analysis apparatus, a swing analysis system, a swing analysis program, and a recording medium.
2. Related Art
In the related art, there is a technique in which a swing trajectory of a golf club, a racket, or a bat as an exercise equipment in sports such as golf, tennis, or baseball is analyzed, and an athletic ability of a player is enhanced by improving a swing trajectory. As an example of such a technique, for example, JP-A-2015-123206 discloses a technique in which a swing is imaged with a video camera, and analysis is performed by using captured moving images. For example, JP-A-2014-64125 discloses a technique in which a swing is analyzed on the basis of multi-motion images obtained by superimposing and combining a plurality of continuously captured images of the swing. For example, JP-A-2014-100341 discloses a technique in which an impact timing, that is, a ball hitting timing during a swing is detected by using a motion sensor, and then the swing is analyzed.
However, in the techniques disclosed in JP-A-2015-123206 and JP-A-2014-64125, a size of a device capturing moving images or consecutive images (multi-motion images) is large, and thus there is a problem in that it is hard for a user to easily perform swing analysis. On the other hand, in the technique disclosed in JP-A-2014-100341, swing analysis can be easily performed by using a motion sensor attached to exercise equipment (golf club), but there is a problem in that it is hard to objectively recognize the process of transition of a series of swing actions.

SUMMARY

An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

APPLICATION EXAMPLE 1

A display method according to this application example includes displaying objects related to an exercise equipment at respective positions of the exercise equipment at a plurality of timings during a swing so as to overlap a swing trajectory of the exercise equipment which is obtained on the basis of an output from an inertial sensor measuring a swing of the exercise equipment.
According to the display method of this application example, the swing trajectory is displayed to overlap the objects related to the exercise equipment at respective positions of the exercise equipment at a plurality of timings during a swing, and thus it is possible to objectively recognize how a series of swing actions transitions. Analysis data such as the swing trajectory is generated and displayed on the basis of an output from the inertial sensor, and thus it is not necessary to use a large-sized imaging apparatus or the like, and thus it becomes easier for a user to perform swing analysis.

APPLICATION EXAMPLE 2

In the display method of the application example, it is preferable that any one of the objects is designated, and analysis information at the timing related to the designated object is displayed.
According to this application example, since an object which is determined as providing necessary analysis information is designated among displayed objects, and analysis information at a timing related to the designated object is displayed, it is possible to efficiently obtain analysis information. Since necessary analysis information can be obtained in a concentrated manner, it is possible to increase the analysis efficiency.

APPLICATION EXAMPLE 3

In the display method of the application example, it is preferable that the object is designated by indicating the object on a display section displaying the object.
According to this application example, an object is designated by touching (screen touching) the display section displaying the object. Therefore, an object can be directly designated, and can thus be reliably and easily designated.

APPLICATION EXAMPLE 4

In the display method of the application example, it is preferable that the designated object is highlighted.
According to this application example, a designated object is highlighted, and thus it is possible to more easily recognize and perceive the designated object.

APPLICATION EXAMPLE 5

In the display method of the application example, it is preferable that the analysis information is attitude information of the exercise equipment.
According to this application example, attitude information of the exercise equipment can be obtained as analysis information, and thus it is possible to objectively and easily determine an attitude of the exercise equipment at a specific timing, and thus to increase the analysis accuracy or the analysis efficiency.

APPLICATION EXAMPLE 6

In the display method of the application example, it is preferable that as the attitude information, a region in which a position of the exercise equipment is included is displayed with respect to a plurality of regions to which identification data is allocated in advance.
According to this application example, it is possible to recognize in which region a position of the exercise equipment is included, with the identification data. Consequently, it is possible to easily determine the quality of a position of the exercise equipment at each timing.

APPLICATION EXAMPLE 7

In the display method of the application example, it is preferable that the region is set on the basis of a relationship with at least one virtual plane.
According to this application example, it is possible to grade and clearly show a feature of a swing on the basis of a relationship between the virtual plane and the identification data related to a position of the exercise equipment at a desired timing during the swing.

APPLICATION EXAMPLE 8

In the display method of the application example, it is preferable that the analysis information is attitude information of a ball hitting portion of the exercise equipment.
According to this application example, attitude information of the ball hitting portion of the exercise equipment can be obtained as analysis information, and thus it is possible to objectively and easily determine an attitude of the ball hitting portion of the exercise equipment at a specific timing, and thus to increase the analysis accuracy or the analysis efficiency.

APPLICATION EXAMPLE 9

In the display method of the application example, it is preferable that the attitude information indicates a direction of a hitting surface of the ball hitting portion.
According to this application example, attitude information indicating a direction of the ball hitting portion of the exercise equipment can be obtained analysis information, and thus it is possible to objectively and easily determine an attitude related to a direction of the ball hitting portion of the exercise equipment at a specific timing, and thus to increase the analysis accuracy or the analysis efficiency.

APPLICATION EXAMPLE 10

In the display method of the application example, it is preferable that the analysis information indicates a rotation angle of the exercise equipment.
According to this application example, a rotation angle of the exercise equipment can be obtained as analysis information, and thus it is possible to objectively and easily determine a rotation angle of the exercise equipment at a specific timing, and thus to increase the analysis accuracy or the analysis efficiency.

APPLICATION EXAMPLE 11

In the display method of the application example, it is preferable that the swing is a swing of a golf club, and the plurality of timings include at least two of timings of halfway back, a top, natural uncock, halfway down, and impact.
According to this application example, it is possible to display at least two of timings of halfway back, a top, natural uncock, halfway down, and impact, which are important timings in a swing of a golf club, and thus to increase the analysis accuracy or the analysis efficiency.

APPLICATION EXAMPLE 12

A swing analysis apparatus according to this application example includes a processing section that generates analysis data related to a swing of an exercise equipment by using an output from an inertial sensor measuring a swing of the exercise equipment, and outputs a swing trajectory and analysis information based on the analysis data; and a display section that displays the swing trajectory and the analysis information, in which the swing trajectory is displayed on the display section so as to overlap objects related to the exercise equipment at respective positions of the exercise equipment at a plurality of timings during the swing.
According to the swing analysis apparatus of this application example, the swing trajectory is displayed on the display section so as to overlap the objects related to the exercise equipment at respective positions of the exercise equipment at a plurality of timings during the swing, and thus it is possible to objectively recognize how a series of swing actions transitions. Analysis data such as the swing trajectory is generated on the basis of an output from the inertial sensor. The inertial sensor is used as mentioned above, and thus it is not necessary to use a large-sized imaging apparatus or the like, and thus it becomes easier for a user to perform swing analysis.

APPLICATION EXAMPLE 13

It is preferable that the swing analysis apparatus of the application example further includes an operation section that is used to designate any one of the objects, and the analysis information related to the designated object is displayed.
According to this application example, since an object which is determined as providing necessary analysis information is designated among displayed objects by using the operation section, and thus analysis information at a timing related to the designated object can be displayed, it is possible to efficiently obtain analysis information. Since necessary analysis information can be obtained in a concentrated manner, it is possible to increase the analysis efficiency.

APPLICATION EXAMPLE 14

In the swing analysis apparatus of the application example, it is preferable that the operation section is provided in the display section, and designation of the object is performed on the display section.
According to this application example, an object can be designated, for example, by touching (screen touching) the display section with respect to the operation section provided in the display section. Therefore, an object can be directly designated, and can thus be reliably and easily designated.

APPLICATION EXAMPLE 15

In the swing analysis apparatus of the application example, it is preferable that the designated object is highlighted.
According to this application example, a designated object is highlighted, and thus it is possible to more easily recognize and perceive the designated object.

APPLICATION EXAMPLE 16

In the swing analysis apparatus of the application example, it is preferable that the analysis information is attitude information of the exercise equipment.
According to this application example, attitude information of the exercise equipment can be obtained as analysis information, and thus it is possible to objectively and easily determine an attitude of the exercise equipment at a specific timing, and thus to increase the analysis accuracy or the analysis efficiency.

APPLICATION EXAMPLE 17

In the swing analysis apparatus of the application example, it is preferable that, as the attitude information, a region in which a position of the exercise equipment is included is displayed with respect to a plurality of regions to which identification data is allocated in advance.
According to this application example, it is possible to recognize in which region a position of the exercise equipment is included, with the identification data. Consequently, it is possible to easily determine the quality of a position of the exercise equipment at each timing.

APPLICATION EXAMPLE 18

In the swing analysis apparatus of the application example, it is preferable that the region is set on the basis of a relationship with at least one virtual plane.
According to this application example, it is possible to grade and clearly show a feature of a swing on the basis of a relationship between the virtual plane and the identification data related to a position of the exercise equipment at a desired timing during the swing.

APPLICATION EXAMPLE 19

In the swing analysis apparatus of the application example, it is preferable that the analysis information is attitude information of a ball hitting portion of the exercise equipment.
According to this application example, attitude information of the ball hitting portion of the exercise equipment can be obtained as analysis information, and thus it is possible to objectively and easily determine an attitude of the ball hitting portion of the exercise equipment at a specific timing, and thus to increase the analysis accuracy or the analysis efficiency.

APPLICATION EXAMPLE 20

In the swing analysis apparatus of the application example, it is preferable that the attitude information indicates a direction of a hitting surface of the ball hitting portion.
According to this application example, attitude information indicating a direction of the ball hitting portion of the exercise equipment can be obtained as analysis information, and thus it is possible to objectively and easily determine an attitude related to a direction of the ball hitting portion of the exercise equipment at a specific timing, and thus to increase the analysis accuracy or the analysis efficiency.

APPLICATION EXAMPLE 21

In the swing analysis apparatus of the application example, it is preferable that the analysis information indicates a rotation angle of the exercise equipment.
According to this application example, a rotation angle of the exercise equipment can be obtained as analysis information, and thus it is possible to objectively and easily determine a rotation angle of the exercise equipment at a specific timing, and thus to increase the analysis accuracy or the analysis efficiency.

APPLICATION EXAMPLE 22

In the swing analysis apparatus of the application example, it is preferable that the swing is a swing of a golf club, and the plurality of timings include at least two of timings of halfway back, a top, natural uncock, halfway down, and impact.
According to this application example, it is possible to display at least two of timings of halfway back, a top, natural uncock, halfway down, and impact, which are important timings in a swing of a golf club, and thus to increase the analysis accuracy or the analysis efficiency.

APPLICATION EXAMPLE 23

A swing analysis system according to this application example includes any one of the swing analysis apparatuses; and an inertial sensor.
According to this swing analysis system of the application example, analysis data such as a swing trajectory is generated on the basis of an output from the small-sized inertial sensor. The swing trajectory is displayed to overlap the objects related to the exercise equipment at respective positions of the exercise equipment at a plurality of timings during a swing on the display section on the basis of the analysis data, and thus it is possible to objectively recognize how a series of swing actions transitions. It is possible to make a swing analysis apparatus small-sized and lightweight by using the small-sized inertial sensor. Therefore, it is not necessary to use a large-sized imaging apparatus or the like, and thus it becomes easier for a user to perform swing analysis.

APPLICATION EXAMPLE 24

A swing analysis program according to this application example causes a computer to execute generating a swing trajectory of an exercise equipment and analysis information on the basis of an output from an inertial sensor measuring a swing of the exercise equipment; outputting the swing trajectory and the analysis information; and displaying the swing trajectory so as to overlap objects related to the exercise equipment at respective positions of the exercise equipment at a plurality of timings during the swing.
According to the swing analysis program of this application example, the program causes a computer to execute generating analysis data such as a swing trajectory on the basis of an output from the inertial sensor, and displaying the swing trajectory so as to overlap the objects related to the exercise equipment at respective positions of the exercise equipment at a plurality of timings during a swing on the basis of the analysis data. Consequently, it is possible for a user to objectively recognize how a series of swing actions transitions.

APPLICATION EXAMPLE 25

A recording medium according to this application example records a program causing a computer to execute generating a swing trajectory of an exercise equipment and analysis information on the basis of an output from an inertial sensor; outputting the swing trajectory and the analysis information; and displaying the swing trajectory so as to overlap objects related to the exercise equipment at respective positions of the exercise equipment at a plurality of timings during the swing.
According to the recording medium of this application example, by executing a computer on the basis of the recorded program, analysis data such as a swing trajectory is generated on the basis of an output from the inertial sensor, and the swing trajectory is displayed to overlap the objects related to the exercise equipment at respective positions of the exercise equipment at a plurality of timings during a swing on the basis of the analysis data. Consequently, it is possible for a user to objectively recognize how a series of swing actions transitions.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be described with reference to the accompanying drawings, wherein like numbers reference like elements.

FIG. 1 is a diagram illustrating a summary of a swing analysis system.

FIG. 2 is a diagram illustrating examples of a position at which and a direction in which the sensor unit is attached.

FIG. 3 is a diagram illustrating swing actions.

FIG. 4 is a diagram illustrating a configuration example of the swing analysis system.

FIG. 5 is a plan view in which a golf club and the sensor unit are viewed from a negative side of an X axis during standing still of the user.

FIG. 6 is a graph illustrating examples of temporal changes of three-axis angular velocities.

FIG. 7 is a graph illustrating a temporal change of a combined value of the three-axis angular velocities.

FIG. 8 is a graph illustrating a temporal change of a derivative of the combined value.

FIG. 9 is a diagram illustrating a shaft plane and a Hogan plane.

FIG. 10 is a view in which a sectional view of the shaft plane which is cut in an YZ plane is viewed from the negative side of the X axis.

FIG. 11 is a view in which a sectional view of the Hogan plane which is cut in the YZ plane is viewed from the negative side of the X axis.

FIG. 12 is a diagram for explaining a face angle and a club path (incidence angle).

FIG. 13 is a diagram illustrating an example of a temporal change of a shaft axis rotation angle from swing starting (backswing starting) to impact.

FIG. 14 is a diagram illustrating examples of relationships among the shaft plane and the Hogan plane, and a plurality of regions.

FIG. 15 is a flowchart illustrating operation procedures (analysis result display method) of the swing analysis system.

FIG. 16 is a diagram illustrating a display example 1 of swing information.

FIG. 17 is a diagram illustrating a change of a shaft rotation axis in a swing analysis information display example.

FIG. 18 is a diagram illustrating a display example 2 of swing information.

FIG. 19 is a diagram illustrating a display example 3 of swing information.

FIG. 20 is a diagram illustrating an application 1 related to display of swing information.

FIG. 21 is a diagram illustrating an application 2 related to display of swing information.

FIG. 22 is a perspective view illustrating a head mounted display as an example of a motion analysis display apparatus.

FIG. 23 is a perspective view illustrating an arm mounted motion analysis display apparatus as an example of a wearable apparatus.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

Hereinafter, preferred embodiments of the invention will be described with reference to the drawings. The embodiments described below are not intended to improperly limit the content of the invention disclosed in the appended claims. In addition, all constituent elements described below are not essential constituent elements of the invention.

Swing Analysis (Motion Analysis) System

1-1. Configuration of Swing Analysis (Motion Analysis) System

FIG. 1 is a diagram illustrating a summary of a swing analysis system of the present embodiment. FIG. 2 is a diagram illustrating examples of a position at which and a direction in which the sensor unit is attached. FIG. 3 is a diagram illustrating a series of swing actions. FIG. 4 is a diagram illustrating a configuration example of the swing analysis system.
As illustrated in FIG. 1, a swing analysis system 1 of the present embodiment is configured to include a sensor unit 10 (an example of an inertial sensor), and a motion analysis display apparatus 20 as a swing analysis apparatus. The swing analysis system 1 analyzes a swing (hereinafter, referred to as a golf swing) of a golf club 3 performed by a user (subject) 2 in order to hit a golf ball 4 as a target. In the present embodiment, a swing analysis apparatus analyzing a golf swing will be exemplified, but a swing analysis apparatus according to the invention is applicable to swing analysis of various exercise equipment used to perform swings, such as rackets in tennis, badminton, and table tennis, and bats in baseball or softball.
The sensor unit 10 as a measurement unit can measure acceleration generated in each axial direction of three axes and angular velocity generated around each of the three axes by using provided inertial sensors (an acceleration sensor 12 and an angular velocity sensor 14 illustrated in FIG. 4), and is attached to a golf club 3 (an example of an exercise equipment) in the present embodiment.
In the present embodiment, as illustrated in FIG. 2, the sensor unit 10 as a measurement unit is attached to a part of a shaft of the golf club 3 so that one axis of three detection axes (an x axis, a y axis, and a z axis), for example, the y axis matches a longitudinal direction of the shaft. Preferably, the sensor unit 10 is attached to a position close to a grip to which impact during ball hitting is hardly forwarded and a centrifugal force is not applied during a swing. The shaft is a shaft portion other than a head 3 a of the golf club 3 and also includes the grip. However, the sensor unit 10 may be attached to a part (for example, the hand or a glove) of the user 2 as a subject, and may be attached to an accessory such as a wristwatch.
In the present embodiment, swing analysis (motion analysis) is described by exemplifying a swing of the golf club 3. In a golf swing, for example, a series of swing actions as illustrated in FIG. 3 is performed. Specifically, the swing actions include actions starting from an address position in a standing still state, and reaching impact at which the golf ball 4 is hit through respective states of halfway back at which the shaft of the golf club 3 becomes horizontal during a backswing after starting a swing (backswing), a top at which the swing changes from the backswing to a downswing, and halfway down at which the shaft of the golf club 3 becomes horizontal during the downswing. After the impact, the series of swing actions is completed through follow-through (not illustrated).

1-2. Configuration of Swing Analysis (Motion Analysis) System

FIG. 4 is a diagram illustrating a configuration example (configuration examples of the sensor unit 10 and the motion analysis display apparatus 20) of the swing analysis (motion analysis) system 1 of the present embodiment. As illustrated in FIG. 4, in the present embodiment, the sensor unit 10 is configured to include an acceleration sensor 12 and an angular velocity sensor 14 as inertial sensors, a signal processing section 16, and a communication section 18.
The acceleration sensor 12 as an inertial sensor measures respective accelerations in three axial directions which intersect (ideally, orthogonal to) each other, and outputs digital signals (acceleration data) corresponding to magnitudes and directions of the measured three-axis accelerations.
The angular velocity sensor 14 as an inertial sensor measures respective angular velocities in three axial directions which intersect (ideally, orthogonal to) each other, and outputs digital signals (angular velocity data) corresponding to magnitudes and directions of the measured three-axis angular velocities.
The signal processing section 16 receives the acceleration data and the angular velocity data (measured data) from the acceleration sensor 12 and the angular velocity sensor 14, respectively, adds time information thereto, stores the data in a storage portion (not illustrated), adds time information to the stored measured data (an example of attitude or position information) so as to generate packet data conforming to a communication format, and outputs the packet data to the communication section 18.
Ideally, the acceleration sensor 12 and the angular velocity sensor 14 are provided in the sensor unit 10 so that the three axes thereof match three axes (an x axis, a y axis, and a z axis) of an orthoconal coordinate system (sensor coordinate system) defined for the sensor unit 10, but, actually, errors occur in installation angles. Therefore, the signal processing section 16 performs a process of converting the acceleration data and the angular velocity data into data in the xyz coordinate system by using a correction parameter which is calculated in advance according to the installation angle errors.
The signal processing section 16 may perform a process of correcting the temperatures of the acceleration sensor 12 and the angular velocity sensor 14. Alternatively, the acceleration sensor 12 and the angular velocity sensor 14 may have a temperature correction function.
The acceleration sensor 12 and the angular velocity sensor 14 may output analog signals, and, in this case, the signal processing section 16 may A/D convert an output signal from the acceleration sensor 12 and an output signal from the angular velocity sensor 14 so as to generate measured data (acceleration data and angular velocity data), and may generate communication packet data by using the data.
The communication section 18 of the sensor unit 10 performs a process of transmitting packet data received from the signal processing section 16 to the motion analysis display apparatus 20, or a process of receiving a control command from the motion analysis display apparatus 20 and sending the control command to the signal processing section 16. The signal processing section 16 performs various processes corresponding to control commands.
The motion analysis display apparatus 20 is implemented by, for example, an information terminal (client terminal) such as a smart phone, a personal computer, a head mounted display (HMD) 500 which will be described later, or an arm mounted analysis display apparatus 600 which will be described later. The motion analysis display apparatus (display apparatus) 20 is configured to include a processing section 21 (an example of a processing section), a communication section 22, an operation section 23, a storage section 24, a display section 25, a sound output section 26, and an imaging section 27.
The communication section 22 of the motion analysis display apparatus 20 performs a process of receiving packet data transmitted from the sensor unit 10 and sending the packet data to the processing section 21, or a process of transmitting a control command from the processing section 21 to the sensor unit 10.
The operation section 23 as an input section performs a process of acquiring operation data from the user (subject) 2 and sending the operation data to the processing section 21. The operation section 23 may be, for example, a touch panel type display, a button, a key, or a microphone. In other words, the operation section 23 functions as an input section which allows operation data or the like to be input. The user (subject) 2 may input desired operation data via the operation section 23. Data acquired from the operation section 23 may include, for example, a swing time (date and time), user identification information (user ID), the sex of the user 2, golf club information 242, physical information 244 of the user 2, and sensor attachment position information 246 corresponding to position information of the sensor unit 10.
Data acquired from the operation section 23 may include indexes related to input analysis information, the analysis information being selected as information which is presented (through image display or voice notification) after analysis is finished. Consequently, since analysis information to be presented (through image display or voice notification) is selected from among swing analysis information pieces, and is set in advance, desired presentation (through image display or voice notification) can be automatically performed without troubling the user 2 when a swing is completed.
The storage section 24 is constituted of, for example, various IC memories such as a read only memory (ROM), a flash ROM, and a random access memory (RAM), or a recording medium such as a hard disk or a memory card.
The storage section 24 stores a program for the processing section 21 performing various calculation processes or a control process, or various programs or data for realizing application functions. Particularly, in the present embodiment, the storage section 24 stores a swing analysis program (motion analysis program) 240 which is read by the processing section 21 and executes a swing analysis process. The swing analysis program 240 may be stored in a nonvolatile recording medium (an example of a recording medium) in advance, or the swing analysis program 240 may be received from a server by the processing section 21 via a network, and may be stored in the storage section 24.
The storage section 24 stores the golf club information 242, the physical information 244, and the sensor attachment position information 246 which is position information of the sensor unit 10, as information used for a swing analysis process.
The golf club information 242 is information indicating a specification of the golf club 3 used by the user 2. For example, the user 2 may operate the operation section 23 so as to input golf club information regarding the golf club 3 in use, and the input golf club information may be used as the golf club information 242. Alternatively, in step S100 in FIG. 15 which will be described later, the user 2 may sequentially input type numbers of the golf club 3 (alternatively, selects a type number from a type number list) so that specification information (for example, information regarding a length of the shaft, a position of the centroid thereof, a lie angle, a face angle, a loft angle, and the like) for each type number is stored in the storage section 24 in advance. In this case, specification information of an input type number may be used as the golf club information 242.
The physical information 244 is information indicating a physique (a height of the waist, a height of the neck, a length of the arm, and the like) of the user 2. For example, the user 2 may input physical information by operating the operation section 23, and the input physical information may be used as the physical information 244.
The sensor attachment position information 246 is information indicating an attachment position of the sensor unit 10 in the golf club 3. For example, in step S100 in FIG. 15, the user 2 may input an attachment position of the sensor unit 10 and a distance to the grip of the golf club 3 by operating the operation section 23, and the input distance information may be used as the sensor attachment position information 246. Alternatively, the sensor unit 10 may be attached at a defined predetermined position (for example, a distance of 20 cm from the grip), and thus information regarding the predetermined position may be stored as the sensor attachment position information 246 in advance.
The storage section 24 is used as a work area of the processing section 21, and temporarily stores data which is input from the operation section 23, results of calculation executed by the processing section 21 according to various programs, and the like. The storage section 24 may store data which is required to be preserved for a long period of time among data items generated through processing of the processing section 21.
The display section 25 displays a processing result in the processing section 21 as text, a graph, a table, animation, and other images. The display section 25 may be, for example, a CRT, an LCD, a touch panel type display, and a head mounted display (HMD). A single touch panel type display may realize functions of the operation section 23 and the display section 25.
Regarding a function of the operation section 23 in the display section 25, a timing of displaying and analyzing any one of objects 31 to 35 (refer to FIGS. 16 and 18 which will be described later) displayed on the display section 25 may be designated by touching (screen touching) the display section 25. As mentioned above, any one of the objects 31 to 35 to be displayed and analyzed may be designated by using the operation section 23 provided in the display section 25, for example, by touching (screen touching) the display section 25. Therefore, any one of the objects 31 to 35 can be directly designated, and can thus be reliably and easily designated.
The sound output section 26 outputs a processing result (analysis information) in the processing section 21 so as to present the processing result as a sound such as a voice or a buzzer sound. The sound output section 26 may be, for example, a speaker or a buzzer.
The imaging section 27 includes a light reception unit (not illustrated) provided with an optical lens (imaging optical system) or a charge coupled device (CD) (not illustrated). The imaging section 27 may capture an image of a subject (user 2) and store imaging data in the storage section 24, or may send imaging data to an image data generation portion 216, and display image data generated by the image data generation portion 216 on the display section 25.
The processing section 21 performs a process of transmitting a control command to the sensor unit 10, various computation processes on data which is received from the sensor unit 10 via the communication section 22, and other various control processes, according to various programs. The processing section 21 may generate analysis data obtained by analyzing a swing by using data regarding the swing received from the sensor unit 10, and may form and output display data of a swing trajectory 30 (refer to FIGS. 16 and 18) and analysis information on the basis of the analysis data. By executing the swing analysis program (motion analysis program) 240, the processing section 21 functions as a data acquisition portion 210, a swing diagnosis portion 211, a swing analysis portion 215, the image data generation portion 216, a storage processing portion 217, a display processing portion 218, and a sound output processing portion 219.
The data acquisition portion 210 performs a process of receiving packet data which is received from the sensor unit 10 by the communication section 22, acquiring time information and measured data from the received packet data, and sending the time information and the measured data to the storage processing portion 217.
The swing diagnosis portion 211 diagnoses the quality of a swing on the basis of indexes of the swing calculated by the swing analysis portion 215. As a specific technique will be described later, a technique is employed in which the quality of a swing is determined on the basis of in which region a position of a head 3 a at halfway back and halfway down is included among a plurality of regions A to D determined by using a shaft plane SP and a Hogan plane HP (V zone) calculated by the swing analysis portion 215. Regarding display of the regions A to D, in the motion analysis display apparatus 20, the plurality of regions A to D to which identification data is allocated in advance are displayed, and the regions A to D in which a position of the head 3 a of the golf club 3 in a series of swings is included can be determined.
The swing analysis portion 215 performs a process of analyzing a swing action of the user 2 by using the measured data (the measured data stored in the storage section 24) output from the sensor unit 10, the data from the operation section 23, or the like, so as to generate the swing analysis data 248 including a time point (date and time) at which the swing was performed, identification information or the sex of the user 2, the type of golf club 3, and information regarding a swing action analysis result. Particularly, in the present embodiment, the swing analysis portion 215 calculates a value of each index of the swing as at least some of the information regarding the swing action analysis result.
The swing analysis portion 215 may calculate at least one virtual plane as an index of the swing. For example, at least one virtual plane includes a shaft plane SP (an example of a first virtual plane) which will be described later, and a Hogan plane HP (an example of a second virtual plane) which will be described later forming a predetermined angle with the shaft plane SP, and the swing analysis portion 215 may calculate the “shaft plane SP” and the “Hogan plane HP” as the indexes.
The swing analysis portion 215 may calculate a position of the head 3 a of the golf club 3 at a first timing during the backswing as an index of the swing. For example, the first timing is the time of halfway back at which the longitudinal direction of the golf club 3 becomes a direction along the horizontal direction during the backswing, and the swing analysis portion 215 may calculate a “position of the head 3 a at halfway back” which will be described later as the index.
The swing analysis portion 215 may calculate a position of the head 3 a of the golf club at a second timing during the downswing asn index of the swing. For example, the second timing is the time of halfway down at which the longitudinal direction of the golf club 3 becomes a direction along the horizontal direction during the downswing, and the swing analysis portion 215 may calculate a “position of the head 3 a at halfway down” which will be described later as the index.
The swing analysis portion 215 may calculate an index based on an incidence angle of the head 3 a of the golf club 3 at impact (at ball hitting), as an index of the swing. For example, the swing analysis portion 215 may calculate a “club path (incidence angle) ψ” which will be described later as the index.
The swing analysis portion 215 may calculate an index based on an inclination of the head 3 a of the golf club 3 at impact (at ball hitting) as an index of the swing. For example, the swing analysis portion 215 may calculate a “(absolute) face angle φ” or a “relative face angle η” which will be described later as the index.
The swing analysis portion 215 may calculate an index based on a speed of the golf club 3 at impact (at ball hitting) as an index of the swing. For example, the swing analysis portion 215 may calculate a “head speed” which will be described later as the index.
The swing analysis portion 215 may calculate, as an index of the swing, an index based on a rotation angle about a rotation axis (hereinafter, referred to as about the long axis) of the shaft of the golf club 3 at a predetermined timing between the time of starting a backswing and the time of impact (at ball hitting) with the longitudinal direction of the shaft as the rotation axis. The rotation angle about the long axis of the golf club 3 may be an angle by which the golf club 3 is rotated about the long axis from a reference timing to a predetermined timing. The reference timing may be the time of starting a backswing, and may be the time of address. The predetermined timing may be the time (the time of a top) at which a backswing transitions to a downswing. For example, the swing analysis portion 215 may calculate a “shaft axis rotation angle θ_topat top” which will be described later as the index.
The swing analysis portion 215 may calculate an index based on a deceleration amount of the grip of the golf club 3 during the downswing as an index of the swing. For example, the swing analysis portion 215 may calculate a “grip deceleration ratio R_v” which will be described later as the index.
The swing analysis portion 215 may calculate an index based on a deceleration period of the grip of the golf club 3 during the downswing as an index of the swing. For example, the swing analysis portion 215 may calculate a “grip deceleration time ratio R_T” which will be described later as the index.
However, the swing analysis portion 215 may not calculate values of some of the indexes, and may calculate values of other indexes, as appropriate.
The image data generation portion 216 performs a process of generating image data corresponding to an image displayed on the display section 25. For example, the image data generation portion 216 generates image data corresponding to various screens on the basis of various pieces of information received by the data acquisition portion 210.
The storage processing portion 217 performs a process of receiving time information and measured data from the data acquisition portion 210 and storing the time information and the measured data in the storage section 24 in correlation with each other. The storage processing portion 217 performs read/write processes of various programs or various data for the storage section 24. The storage processing portion 217 performs not only the process of storing the time information and the measured data received from the data acquisition portion 210 in the storage section 24 in correlation with each other, but also a process of storing determination result information or the like generated by the swing analysis portion 215, in the storage section 24.
The display processing portion 218 performs a process of displaying various images (including text, symbols, and the like in addition to an image corresponding to the image data generated by the image data generation portion 216) on the display section 25. For example, after a swing action of the user 2 is completed, the display processing portion 218 displays the swing trajectory (swing trajectory image) 30 (refer to FIGS. 16 and 18) and the objects 31 to 35 (refer to FIGS. 16 and 18) indicating respective positions of the golf club 3 (head 3 a) at a plurality of timings during the swing on the display section 25 in an overlapping manner.
The display processing portion 218 may display analysis information at a timing related to the object 32 designated by the user 2 among the displayed objects 31 to 35, on the display section 25. The analysis information displayed at this time may be displayed on the same screen as the screen of the swing trajectory 30 or the objects 31 to 35 in an overlapping manner, and may be displayed by switching between screens at a predetermined timing. As mentioned above, since an object (in this example, the object 32) which is determined as providing necessary analysis information to the user 2 is designated, and thus analysis information at a timing related to the designated object 32 is displayed, it is possible to efficiently obtain analysis information. Since necessary analysis information can be obtained in a concentrated manner, it is possible to increase the analysis efficiency.
In this case, the display processing portion 218 preferably highlights the object 32 designated by the user 2 by changing a color tone thereof (deepening a color thereof) or changing a size of the object 32 (enlarging the object). Through the highlighting, it is possible to easily recognize and perceive a designated object (in this example, the object 32 (refer to FIGS. 16 and 18)).
Such display is performed on the display section 25 by the display processing portion 218, and thus the user 2 can objectively recognize how the series of swing actions transition.
As mentioned above, the display processing portion 218 displays an image corresponding to image data generated by the image data generation portion 216, or text or the like indicating a determination result in the swing analysis portion 215, on the display section 25 automatically or according to an index selected through an input operation performed by the user 2. Alternatively, a display section (not illustrated may be provided in the sensor unit 10, or another display apparatus (not illustrated; may be provided, and the display processing portion 218 may transmit image data to the sensor unit 10 or other display apparatuses via the communication section 22, so that various images, text, or the like is displayed on the display section of the sensor unit 10 or another display apparatus.
The sound output processing portion 219 performs a process of outputting various sounds (including voices, buzzer sounds, and the like based on sound data) from the sound output section 26. When a predetermined input operation is performed, the sound output processing portion 219 may read various pieces of information stored in the storage section 24, and may cause the sound output section 26 to output a sound or a voice for swing analysis. Alternatively, the sound output section 26 may be provided in the sensor unit 10, and the sound output processing portion 219 may transmit various items of sound data or voice data to the sensor unit 10 via the communication section 22, and may output various sounds or voices from the sound output section of the sensor unit 10.

1-3. Calculation of Position, Attitude, and the Like of Constituent Element, and Detection of Each Timing of Swing Action

Hereinafter, with reference to FIGS. 5 to 13, a description will be made of specific methods of detecting a position and an attitude of a constituent element (for example, the sensor unit 10), detecting each timing of a swing action, calculating the shaft plane and the Hogan plane, calculating a face angle and a club path (incidence angle), and calculating a shaft axis rotation angle.

Calculation of Position and Attitude of Sensor Unit 10

If the user 2 performs an action (a standing still action at address) in step S103 (refer to FIG. 15) which will be described later, first, the swing analysis portion 215 determines that the user 2 stands still at an address attitude in a case where an amount of changes in acceleration data measured by the acceleration sensor 12 does not continuously exceed a threshold value for a predetermined period of time. Next, the swing analysis portion 215 computes an offset amount included in the measured data by using the measured data (acceleration data and angular velocity data) for the predetermined period of time. Next, the swing analysis portion 215 subtracts the offset amount from the measured data so as to perform bias correction, and computes a position and an attitude of the sensor unit 10 during a swing action of the user 2 (step S106 in FIG. 15) by using the bias-corrected measured data.
Specifically, first, the swing analysis portion 215 computes a position (initial position) of the sensor unit 10 during standing still (at address) of the user 2 in the XYZ coordinate system (global coordinate system) by using the acceleration data measured by the acceleration sensor 12, the golf club information 242, and the sensor attachment position information 246.
FIG. 5 is a plan view in which the golf club 3 and the sensor unit 10 during standing still (at address) of the user 2 are viewed from a negative side of an X axis. The origin O (0,0,0) is set at a position 61 of the head 3 a of the golf club 3, and coordinates of a position 62 of a grip end are (0, G_Y, G_Z). Since the user 2 performs the standing still action at address (step S103 in FIG. 15), the position 62 of the grip end or the initial position of the sensor unit 10 has an X coordinate of 0, and is present on an YZ plane. As illustrated in FIG. 5, the gravitational acceleration of 1G is applied to the sensor unit 10 during standing still of the user 2, and thus a relationship between a y axis acceleration y(0) measured by the sensor unit 10 and an inclined angle (an angle formed between the long axis of the shaft and the horizontal plane (XY plane)) α of the shaft of the golf club 3 is expressed by Equation (1).
y(0)=1G·sin α (1)
Therefore, the swing analysis portion 215 can calculate the inclined angle α according to Equation (1) by using any acceleration data between any time points at address (during standing still).
Next, the swing analysis portion 215 subtracts a distance between the sensor unit 10 and the position 62 of the grip end included in the sensor attachment position information 246 from a length L₁of the shaft included in the golf club information 242, so as to obtain a distance L_3Hbetween the sensor unit 10 and the head Sa. The swing analysis portion 215 sets, as the initial position of the sensor unit 10, a position separated by the distance L_SHfrom the position 61 (origin O) of the head 3 a in a direction (a negative direction of the y axis of the sensor unit 10) specified by the inclined angle α of the shaft.
The swing analysis portion 215 integrates subsequent acceleration data so as to compute coordinates of a position from the initial position of the sensor unit 10 in a time series.
The swing analysis portion 215 computes an attitude (initial attitude) of the sensor unit 10 during standing still (at address) of the user 2 in the XYZ coordinate system (global coordinate system) by using acceleration data measured by the acceleration sensor 12. Since the user 2 performs the standing still action at address (step S103 in FIG. 15), the x axis of the sensor unit 10 matches the X axis of the XYZ coordinate system in terms of direction at address (during standing still) of the user 2, and the y axis of the sensor unit 10 is present on the YZ plane. Therefore, the swing analysis portion 215 can specify the initial attitude of the sensor unit 10 on the basis of the inclined angle α of the shaft of the golf club 3.
The swing analysis portion 215 computes changes in attitudes from the initial attitude of the sensor unit 10 by performing rotation calculation using angular velocity data which is subsequently measured by the angular velocity sensor 14. An attitude of the sensor unit 10 may be expressed by, for example, rotation angles (a roll angle, a pitch angle, and a yaw angle) about the X axis, the Y axis, and the Z axis, or a quaternion.
The signal processing section 16 of the sensor unit 10 may compute an offset amount of measured data so as to perform bias correction on the measured data, and the acceleration sensor 12 and the angular velocity sensor 14 may have a bias correction function. In this case, it is not necessary for the swing analysis portion 215 to perform bias correction on the measured data.

Detection of Swing Starting, Top and Impact Timings

First, the swing analysis portion 215 detects a timing (impact timing) at which the user 2 hits a ball by using measured data. For example, the swing analysis portion 215 may compute a combined value of measured data (acceleration data or angular velocity data), and may detect an impact timing (time point) on the basis of the combined value.
Specifically, first, the swing analysis portion 215 computes a combined value n(t) of angular velocities at each time point t by using the angular velocity data (bias-corrected angular velocity data for each time point t). For example, if the angular velocity data items at the time point t are respectively indicated by x(t), y(t), and z(t), the swing analysis portion 215 computes the combined value n₀(t) of the angular velocities according to the following Equation (2).
n ₀(t)=√{square root over (x(t)² +y(t)² +z(t)²)} (2)
Next, the swing analysis portion 215 converts the combined value n₀(t) of the angular velocities at each time point t into a combined value n(t) which is normalized (scale-conversion) within a predetermined range. For example, if the maximum value of the combined value of the angular velocities in an acquisition period of measured data is max (n₀), the swing analysis portion 215 converts the combined value n₀(t) of the angular velocities into the combined value n(t) which is normalized within a range of 0 to 100 according to the following Equation (3).
$\begin{matrix} n (t) = \frac{100 \times n_{0} (t)}{\max (n_{0})} & (3) \end{matrix}$
Next, the swing analysis portion 215 computes a derivative dn(t) of the normalized combined value n(t) at each time point t. For example, if a cycle for measuring three-axis angular velocity data items is indicated by Δt, the swing analysis portion 215 computes the derivative (difference) dn(t) of the combined value of the angular velocities at the time point t by using the following Equation (4).
dn(t)=n(t)−n(t−Δt) (4)
FIG. 6 illustrates examples of three-axis angular velocity data items x(t), y(t) and z (t) obtained when the user 2 hits the golf ball 4 by performing a swing. In FIG. 6, a transverse axis expresses time (msec), and a longitudinal axis expresses angular velocity (dps).
FIG. 7 is a diagram in which the combined value n₀(t) of the three-axis angular velocities is computed according to Equation (2) by using the three-axis angular velocity data items x(t), y(t) and z(t) in FIG. 6, and then the combined value n(t) normalized to 0 to 100 according to Equation (3) is displayed in a graph. In FIG. 7, a transverse axis expresses time (msec), and a longitudinal axis expresses a combined value of the angular velocity.
FIG. 8 is a diagram in which the derivative dn(t) is calculated according to Equation (4) on the basis of the combined value n(t) of the three-axis angular velocities in FIG. 7, and is displayed in a graph. In FIG. 8, a transverse axis expresses time (msec), and a longitudinal axis expresses a derivative value of the combined value of the three-axis angular velocities. In FIGS. 6 and 7, the transverse axis is displayed at 0 seconds to 5 seconds, but, in FIG. 8, the transverse axis is displayed at 2 seconds to 2.8 seconds so that changes in the derivative value before and after impact can be understood.
Next, of time points at which a value of the derivative dn (t) of the combined value becomes the maximum and the minimum, the swing analysis portion 215 specifies the earlier time point as an impact time point t_impact(impact timing) (refer to FIG. 8). It is considered that swing speed is the maximum at the moment of impact in a typical golf swing. In addition, since it is considered that a value of the combined value of the angular velocities also changes according to a swing speed, the swing analysis portion 215 can capture a timing at which a derivative value of the combined value of the angular velocities is the maximum or the minimum (that is, a timing at which the derivative value of the combined value of the angular velocities is a positive maximum value or a negative minimum value) in a series of swing actions as the impact timing. Since the golf club 3 vibrates due to the impact, a timing at which a derivative value of the combined value of the angular velocities is the maximum and a timing at which a derivative value of the combined value of the angular velocities is the minimum may occur in pairs, and, of the two timings, the earlier timing may be the moment of the impact.
Next, the swing analysis portion 215 specifies a time point of a minimum point at which the combined value n(t) is close to 0 before the impact time point t_impact, as a top time point t_top(top timing) (refer to FIG. 7). It is considered that, in a typical golf swing, an action temporarily stops at the top after starting the swing, then a swing speed gradually increases, and finally impact occurs. Therefore, the swing analysis portion 215 can capture a timing at which the combined value of the angular velocities is close to 0 and becomes the minimum before the impact timing, as the top timing.
Next, the swing analysis portion 215 sets an interval in which the combined value n(t) is equal to or smaller than a predetermined threshold value before and after the top time point t_top, as a top interval, and detects a last time point at which the combined value n(t) is equal to or smaller than the predetermined threshold value before a starting time point of the top interval, as a swing starting (backswing starting) time point t_start(refer to FIG. 7). It is hardly considered that, in a typical golf swing, a swing action is started from a standing still state, and the swing action is stopped till the top. Therefore, the swing analysis portion 215 can capture the last timing at which the combined value of the angular velocities is equal to or smaller than the predetermined threshold value before the top interval as a timing of starting the swing action. The swing analysis portion 215 may detect a time point of the minimum point at which the combined value n(t) is close to 0 before the top time point t_topas the swing starting time point t_start.
The swing analysis portion 215 may also detect each of a swing starting timing, a top timing, and an impact timing by using three-axis acceleration data in the same manner.

Calculation of Shaft Plane and Hogan Plane

The shaft plane SP is a first virtual plane specified by a target line (target hit ball direction) and the longitudinal direction of the shaft of the golf club 3 at address (standing still state) of the user 2 before starting a swing. The Hogan plane HP is a second virtual plane specified by a virtual line connecting the vicinity of the shoulder (the shoulder or the base of the neck) of the user 2 to the head 3 a of the golf club (or the golf ball 4), and the target line (target hit ball direction), at address of the user 2.
FIG. 9 is a diagram illustrating the shaft plane and the Hogan plane. FIG. 9 displays the X axis, the Y axis, and the Z axis of the XYZ coordinate system (global coordinate system).
As illustrated in FIG. 9, in the present embodiment, a virtual plane which includes a first line segment 51 along a target hit ball direction and a second line segment 52 along the longitudinal direction of the shaft of the golf club 3, and has four vertices such as U1, U2, S1, and S2, as the shaft plane SP (first virtual plane). In the present embodiment, the position 61 of the head 3 a of the golf club 3 at address is set as the origin O (0,0,0) of the XYZ coordinate system, and the second line segment 52 is a line segment connecting the position 61 (origin O) of the head 3 a of the golf club 3 to the position 62 of the grip end. The first line segment 51 is a line segment having a length UL in which U1 and U2 on the X axis are both ends, and the origin O is a midpoint. Since the user 2 performs the standing still action at address (step 3103 in FIG. 15), and thus the shaft of the golf club 3 is perpendicular to the target line (X axis), the first line segment 51 is a line segment orthogonal to the longitudinal direction of the shaft of the golf club 3, that is, the second line segment 52. The swing analysis portion 215 calculates coordinates of the four vertices U1, U2, S1, and S2 of the shaft plane SP in the XYZ coordinate system.
Specifically, first, the swing analysis portion 215 computes coordinates (0,G_Y,G_Z) of the position 62 of the grip end of the golf club 3 by using the inclined angle α and the length L₁of the shaft included in the golf club information 242. As illustrated in FIG. 5, the swing analysis portion 215 may compute G_Yand G_Zby using the length L₁of the shaft and the inclined angle α according to Equations (5) and (6).
G _Y =L ₁·cos α (5)
G _Z =L ₁·sin α (6)
Next, the swing analysis portion 215 multiplies the coordinates (0,G_Y,G_Z) of the position 62 of the grip end of the golf club 3 by a scale factor S so as to compute coordinates (0,S_Y,S_Z) of a midpoint S3 of the vertex S1 and the vertex S2 of the shaft plane SP. In other words, the swing analysis portion 215 computes S_Yand S_Zaccording to Equations (7) and (8), respectively.
S _Y =G _Y ·S (7)
S _Z =G _Z ·S (8)
FIG. 10 is a view in which a sectional view of the shaft plane SP in FIG. 9 which is cut in the YZ plane is viewed from the negative side of the X axis. As illustrated in FIG. 10, a length (a width of the shaft plane SP in a direction orthogonal to the X axis) of a line segment connecting the midpoint S3 of the vertex S1 (refer to FIG. 9) and the vertex S2 (refer to FIG. 9) to the origin O is S times the length L₁of the second line segment 52. The scale factor S is set to a value at which a trajectory of the golf club 3 during a swing action of the user 2 enters the shaft plane SP. For example, if a length of the arms of the user 2 is indicated by L₂(refer to FIG. 11), the scale factor S may be set as in Equation (9) so that the width S×L₁of the shaft plane SP in the direction orthogonal to the X axis is twice the sum of the length L₁of the shaft and the length L₂of the arms.
$\begin{matrix} S = \frac{2 \cdot (L_{1} + L_{2})}{L_{1}} & (9) \end{matrix}$
The length L₂of the arms of the user 2 is associated with a height L₀(not illustrated) of the user 2. The length L₂of the arms is expressed by a correlation expression such as Equation (10) in a case where the user 2 is a male, and is expressed by a correlation expression such as Equation (11) in a case where the user 2 is a female, on the basis of statistical information.
L ₂=0.41×L ₀−45.5[mm] (10)
L ₂=0.46×L ₀−126.9[mm] (11)
Therefore, the swing analysis portion 215 may calculate the length L₂of the arms of the user according to Equation (10) or Equation (11) by using the height L₀and the sex of the user 2 included in the physical information 244.
Next, the swing analysis portion 215 computes coordinates (−UL/2,0,0) of the vertex U1 of the shaft plane SP, coordinates (UL/2,0,0) of a vertex U2, coordinates (−UL/2,S_Y,S_Z) of the vertex S1, and coordinates (UL/2,S_Y,S_Z) of the vertex S2 by using the coordinates (0,S_Y,S_Z) of the midpoint S3 and a width (the length of the first line segment 51) UL of the shaft plane SP in the X axis direction. The width UL in the X axis direction is set to a value at which a trajectory of the golf club 3 during a swing action of the user 2 enters the shaft plane SP. For example, the width UL in the X axis direction may be set to be the same as the width S×L₁in the direction orthogonal to the X axis, that is, twice the sum of the length L₁of the shaft and the length L₂of the arms.
In the above-described manner, the swing analysis portion 215 can calculate the coordinates of the four vertices U1, U2, S1, and S2 of the shaft plane SP.
As illustrated in FIG. 9, in the present embodiment, a virtual plane which includes a first line segment 51 and a third line segment 53, and has four vertices such as U1, U2, H1, and H2, is used as the Hogan plane HP (second virtual plane). The third line segment 53 is a line segment connecting a predetermined position 63 in the vicinity of a line segment connecting both of the shoulders of the user 2, to the position 61 of the head 3 a of the golf club 3. However, the third line segment 53 may be a line segment connecting the predetermined position 63 to a position of the golf ball 4. The swing analysis portion 215 calculates respective coordinates of the four vertices U1, U2, H1, and H2 of the Hogan plane HP in the XYZ coordinate system.
Specifically, first, the swing analysis portion 215 estimates the predetermined position 63 by using the coordinates (0,G_Y,G_Z) of the position 62 of the grip end of the golf club 3 at address (during standing still), and the length L₂of the arms of the user 2 based on the physical information 244, and computes coordinates (A_Z,A_Y,A₂) thereof.
FIG. 11 is a view in which a sectional view of the Hogan plane HP illustrated in FIG. 9 which is cut in the YZ plane is viewed from the negative side of the X axis. In FIG. 11, a midpoint of the line segment connecting both of the shoulders of the user 2 is the predetermined position 63, and the predetermined position 63 is present on the YZ plane. Therefore, an X coordinate A_Xof the predetermined position 63 is 0. As illustrated in FIG. 11, the swing analysis portion 215 estimates, as the predetermined position 63, a position obtained by moving the position 62 of the grip end of the golf club 3 by the length L₂of the arms of the user 2 in a positive direction along the Z axis. Therefore, the swing analysis portion 215 sets a Y coordinate A_Yof the predetermined position 63 to be the same as the Y coordinate G_Yof the position 62 of the grip end. The swing analysis portion 215 computes a Z coordinate A_Zof the predetermined position 63 as a sum of the Z coordinate G_Zof the position 62 of the grip end and the length L₂of the arms of the user 2 as in Equation (12).
A _Z =G _Z +L ₂ (12)
Next, the swing analysis portion 215 multiplies the Y coordinate A_Yand the Z coordinate A_Zof the predetermined position 63 by a scale factor H, so as to compute coordinates (0,H_Y,H_Z) of a midpoint H3 of the vertex H1 and the vertex H2 of the Hogan plane HP. In other words, the swing analysis portion 215 computes H_Yand H_Zaccording to Equation (13) and Equation (14), respectively.
H _Y =A _y ·H (13)
H _Z =A _Z ·H (14)
As illustrated in FIG. 11, a length (a width of the Hogan plane HP in a direction orthogonal to the X axis) of a line segment connecting the midpoint H3 of the vertex H1 (refer to FIG. 9) and the vertex H2 (refer to FIG. 9) to the origin O is H times the length L₃of the third line segment 53. The scale factor H is set to a value at which a trajectory of the golf club 3 during a swing action of the user 2 enters the Hogan plane HP. For example, the Hogan plane HP may have the same shape and size as the shape and the size of the shaft plane SP. In this case, the width H×L₃of the Hogan plane HP in the direction orthogonal to the X axis matches the width S×L₁of the shaft plane SP in the direction orthogonal to the X axis, and is twice the sum of the length L₁of the shaft of the golf club 3 and the length L₂of the arms of the user 2. Therefore, the swing analysis portion 215 may compute the scale factor H according to Equation (15).
$\begin{matrix} H = \frac{2 \cdot (L_{1} + L_{2})}{L_{3}} & (15) \end{matrix}$
The swing analysis portion 215 may compute the length L₃of the third line segment 53 according to Equation (13) by using the Y coordinate A_Yand the Z coordinate A_Zof the predetermined position 63.
Next, the swing analysis portion 215 computes coordinates (−UL/2,H_Y,H_Z) of the vertex H1 of the Hogan plane HP, and coordinates (UL/2,H_Y,H_Z) of the vertex H2 by using the coordinates (0,H_y,H_Z) of the midpoint H3 and a width (the length of the first line segment 51) UL of the Hogan plane HP in the X axis direction. The two vertices U1 and U2 of the Hogan plane HP are the same as those of the shaft plane SP, and thus the swing analysis portion 215 does not need to compute coordinates of the vertices U1 and U2 of the Hogan plane HP again.
In the above-described manner, the swing analysis portion 215 can calculate the coordinates of the four vertices U1, U2, H1, and H2 of the Hogan plane HP.
A region interposed between the shaft plane SP (first virtual plane) and the Hogan plane HP (second virtual plane) is referred to as a “V zone”, and a trajectory of a hit ball (a ball line) may be estimated to some extent on the basis of a relationship between a position of the head 3 a of the golf club 3 and the V zone during a backswing or a downswing. For example, in a case where the head 3 a of the golf club 3 is present in a space lower than the V zone at a predetermined timing during a backswing or a downswing, a hit ball is likely to fly in a hook direction. In a case where the head 3 a of the golf club 3 is present in a space higher than the V zone at a predetermined timing during a backswing or a downswing, a hit ball is likely to fly in a slice direction. In the present embodiment, as is clear from FIG. 11, a first angle β formed between the shaft plane SP and the Hogan plane HP is determined depending on the length L₁of the shaft of the golf club 3 and the length L₂of the arms of the user 2. In other words, since the first angle β is not a fixed value, and is determined depending on the type of golf club 3 or physical features of the user 2, the more appropriate shaft plane SP and Hogan plane HP (V zone) are calculated as an index for diagnosing a swing of the user 2.

Calculation of Face Angle and Club Path (Incidence Angle)

The face angle is an index based on an inclination of the head 3 a of the golf club 3 at impact, and the club path (incidence angle) is an index based on a trajectory of the head 3 a of the golf club 3 at impact.
FIG. 12 is a diagram for explaining the face angle and the club path (incidence angle). FIG. 12 illustrates the golf club 3 (only the head 3 a is illustrated) on the XY plane viewed from a positive side of the Z axis in the XYZ coordinate system. FIG. 12 exemplifies, in relation to the golf club 3, a face surface (hitting surface) 74, a ball hitting point 75, a target line 70 indicating a target hit ball direction, a plane 71 orthogonal to the target line 70, a curve 76 indicating a trajectory of the head 3 a of the golf club 3, and a tangential line 72 at the ball hitting point 75 for the curve 76. In FIG. 12, the face angle φ is an angle formed between the plane 71 and the face surface 74, that is, an angle formed between a straight line 73 orthogonal to the face surface 74, and the target line 70. The club path (incidence angle) ψ is an angle formed between the tangential line 72 (a direction in which the head 3 a in the XY plane passes through the ball hitting point 75) and the target line 70.
For example, assuming that an angle formed between the face surface 74 of the head 3 a and the x axis direction (refer to FIG. 2) is normally constant (for example, orthogonal), the swing analysis portion 215 computes a direction of a straight line orthogonal to the face surface 74 on the basis of the attitude of the sensor unit 10 at the impact time point t_impact. The swing analysis portion 215 uses, a straight line obtained by setting a Z axis component of the direction of the straight line to 0, as a direction of the straight line 73, and computes an angle (face angle) φ formed between the straight line 73 and the target line 70.
For example, the swing analysis portion 215 uses a direction of a speed (that is, a speed of the head 3 a in the XY plane) obtained by setting a Z axis component of a speed of the head 3 a at the impact time point t_impactto 0, as a direction of the tangential line 72, and computes an angle (club path (incidence angle)) ψ formed between the tangential line 72 and the target line 70.
The face angle φ indicates an inclination of the face surface 74 with the target line 70 whose direction is fixed regardless of an incidence direction of the head 3 a to the ball hitting point 75 as a reference, and is thus also referred to as an absolute face angle. In contrast, an angle η formed between the straight line 73 and the tangential line 72 indicates an inclination of the face surface 74 with an incidence direction of the head 3 a to the ball hitting point 75 as a reference, and is thus referred to as a relative face angle. The relative face angle η is an angle obtained by subtracting the club path (incidence angle) ψ from the (absolute; face angle φ.

Calculation of Shaft Axis Rotation Angle at Top

The shaft axis rotation angle θ_topat top (not illustrated) is an angle (relative rotation angle) by which the golf club 3 is rotated about a shaft axis from a reference timing to a top timing. The reference timing is, for example, the time of starting a backswing, or the time of address. In the present embodiment, in a case where the user 2 is a right-handed golfer, the tip end of a right-handed screw tightening direction setting toward the head 3 a side of the golf club 3 (a clockwise direction when the head 3 a is viewed from the grip end side) is a positive direction of the shaft axis rotation angle θ_top. Conversely, in a case where the user 2 is a left-handed golfer, the tip end of a left-handed screw tightening direction setting toward the head 3 a side of the golf club 3 (a counterclockwise direction when the head 3 a is viewed from the grip end side) is a positive direction of the shaft axis rotation angle θ_top.
FIG. 13 is a diagram illustrating an example of a temporal change of the shaft axis rotation angle from starting of a swing (starting of a backswing) to impact. In FIG. 13, a transverse axis expresses time (s), and a longitudinal axis expresses a shaft axis rotation angle (deg). FIG. 13 illustrates the shaft axis rotation angle θ_topat top with the time of starting a swing (the time of starting a backswing) as a reference timing (at which the shaft axis rotation angle is 0°).
In the present embodiment, as illustrated in FIG. 2, the y axis of the sensor unit 10 substantially matches the longitudinal direction of the shaft of the golf club 3 (the longitudinal direction of the golf club 3). Therefore, for example, the swing analysis portion 215 time-integrates a y axis angular velocity included in angular velocity data from the swing starting (backswing starting) time point t_startor the time of address to the top time point t_top(at top), so as to compute the shaft axis rotation angle θ_top.

1-4. Diagnosis Process in Swing Analysis

In the present embodiment, as an example of a diagnosis technique in swing analysis, a technique is employed in which it is determined in which region a position of the head 3 a at halfway back and halfway down is included among a plurality of regions determined by using the shaft plane SP and the Hogan plane HP (V zone) calculated by the swing analysis portion 215. Hereinafter, with reference to FIG. 14, this technique will be described.
The swing diagnosis portion 211 determines in which region a position of the head 3 a at halfway back and halfway down is included among a plurality of regions determined on the basis of the shaft plane SP and the Hogan plane HP (V zone).
FIG. 14 is a diagram illustrating examples of relationships among the shaft plane SP and the Hogan plane HP (V zone), and a plurality of regions. FIG. 14 illustrates relationships among the shaft plane SP, the Hogan plane HP, and five regions A to E when viewed from a negative side of the X axis (when projected onto the YZ plane). The region B is a predetermined space including the Hogan plane HP, and the region D is a predetermined space including the shaft plane SP. The region C is a space interposed between the region B and the region D (a space between an interface S_BCwith region B and an interface S_CDwith the region D). The region A is a space in contact with the region B in an interface S_ABon an opposite side to the region C. The region E is a space in contact with the region D in an interface S_DEon an opposite side to the region C. In display examples which will be described later according to the present embodiment, a description will be made by using the regions A to D.
There may be various methods of setting the interface S_AB, the interface S_BC, the interface S_CD, and the interface S_DE. As an example, the interfaces may be set so that, on the YZ plane, the Hogan plane HP is located exactly at the center of the interface S_ABand the interface S_BC, the shaft plane SP is located exactly at the center of the interface S_CDand the interface S_DE, and angles of the region B, the region C, and the region D about the origin O (X axis) are the same as each other. In other words, with respect to the first angle β formed between the shaft plane SP and the Hogan plane HP, if each of angles formed between the Hogan plane HP, and the interface S_ABand the interface S_BCis set to β/4, and each of angles formed between the shaft plane SP, and the interface S_CDand the interface S_DEis set to β/4, angles of the region B, the region C, and the region D are all set to β/2.
Since a swing that causes a Y coordinate of a head 3 a position at halfway back or halfway down to be negative cannot be expected, an interface of the region A opposite to the interface S_ABis set in the XZ plane in FIG. 14. Similarly, a swing that causes a Z coordinate of a position of the head 3 a at halfway back or halfway down to be negative cannot be expected, and an interface of the region E opposite to the interface S_DEis set in the XY plane. Of course, an interface of the region A or the region E may be set so that an angle of the region A or the region E about the origin O (X axis) is the same as angles of the region B, the region C, and the region D.
Specifically, first, the swing diagnosis portion 211 sets the interface S_AB, the interface S_BC, the interface S_CD, and the interface S_DEof the regions A to E on the basis of coordinates of each of the four vertices U1, U2, S1, and S2 of the shaft plane SP and coordinates of each of the four vertices U1, U2, H1, and H2 of the Hogan plane HP included in data regarding a swing (selected swing analysis data 248). Next, the swing diagnosis portion 211 determines in which region of the regions A to E coordinates of a position of the head 3 a at halfway back and coordinates of a position of the head 3 a at halfway down included in the data regarding the swing (selected swing analysis data 248) are included.
Information regarding determination results is transmitted to the image data generation portion 216 or the display processing portion 218, and is used for an analysis result screen which will be described later. In a display example illustrated in FIG. 18 which will be described later according to the present embodiment, a plurality of regions A to D to which A to D are allocated as identification data in advance are displayed, and the regions A to D in which a position of the golf club 3 is included are displayed with respect to the plurality of regions A to D. Through the above-described display, it is possible to recognize in which region (any one of the regions A to D) a position of the golf club 3 is included, with the identification data (A to D). Consequently, it is possible to easily determine the quality of a position of the golf club 3 at each timing.
The regions A to D displayed on the motion analysis display apparatus 20 are preferably set on the basis of a relationship with line segments SPL and HPL (refer to FIG. 18) indicating at least one virtual plane (the shaft plane SP and the Hogan plane HP). Consequently, it is possible to grade and clearly show a feature of a swing on the basis of relationships between the virtual planes (the shaft plane SP and the Hogan plane HP) and the identification data (A to D) related to a position of the golf club 3 at a desired timing during the swing.
Thereafter, the swing diagnosis portion 211 performs a determination by referring to preset information such as “a region in which a position of the head 3 a is included at halfway back” and “a region in which a position of the head 3 a is included at halfway down” included in the data regarding the swing. Specifically, a score for each combination of a region in which a position of the head 3 a is included at halfway back and a region in which a position of the head 3 a is included at halfway down, for example, a score is obtained in a case where a position of the head 3 a at halfway back is included in the region A, and a position of the head 3 a at halfway down is included in the region B, and the determination is performed on the basis of the magnitude of the score.
The swing diagnosis portion 211 may calculate a lower score as a hit ball predicted on the basis of a relationship among the shaft plane SP, the Hogan plane HP, a position of the head 3 a at halfway back, and a position of the head 3 a at halfway down becomes more easily curved. The term “easily curved” may indicate that a trajectory after ball hitting is easily curved (easily sliced or hooked), and may indicate that a hit ball direction is easily deviated relative to a target direction (target line). Alternatively, the swing diagnosis portion 211 may calculate a higher score as a hit ball more easily flies straight. The term “easily flies straight” may indicate that a trajectory after ball hitting is hardly curved (easily straightened), and may indicate that a hit ball direction is hardly deviated relative to a target direction (target line).
For example, in a case where a position of the head 3 a at halfway back is included in the region E, and a position of the head 3 a at halfway down is included in the region A, it is expected that a hit ball is easily curved, and thus the swing diagnosis portion 211 calculates a relatively low score. For example, in a case where a position of the head 3 a at halfway back and a position of the head 3 a at halfway down are all included in the region C, it is expected that a hit ball easily flies straight, and thus the swing diagnosis portion 211 calculates a relatively high score.
The swing diagnosis portion 211 may evaluate a “rotation” item depending on in which range among a plurality of ranges each of the shaft axis rotation angle θ_topat top and the face angle φ is included. Specifically, first, the swing diagnosis portion 211 determines in which range each of the shaft axis rotation angle θ_topat top (not illustrated) and the face angle φ (refer to FIG. 12) included in data (target diagnosis input data) regarding a swing is included. Next, the swing diagnosis portion 211 calculates a score corresponding to a determination result by referring to a rotation score table (not illustrated).
The swing diagnosis portion 211 may calculate a lower score as a hit ball predicted on the basis of a relationship between the shaft axis rotation angle θ_topat top and the face angle φ becomes more easily curved. For example, since the face surface (hitting surface) 74 (refer to FIG. 12) of the golf club 3 is considerably open in a state where the shaft axis rotation angle θ_topat top is extremely large, it is expected that the face surface is not completely returned to a square at impact, and thus a hit ball is easily curved. A state in which the face angle φ is extremely large is a state in which the face surface at impact is considerably open, and a state in which the face angle φ is extremely small (a negative state in which an absolute value thereof is great) is a state in which the face surface at impact is considerably closed. In either state, it is expected that a hit ball is easily curved. In these cases, the swing diagnosis portion 211 calculates a relatively low score.
For example, if the shaft axis rotation angle θ_topat top is small, it is expected that the face surface is completely returned to the square at impact, and thus a hit ball easily flies straight. If the face angle φ is close to 0°, the face surface at impact is close to the square, and thus it is expected that a hit ball easily flies straight. In these cases, the swing diagnosis portion 211 calculates a relatively high score.
According to the above-described swing analysis system 1, a swing of the user (subject) 2 is measured by inertial sensors (the acceleration sensor 12 and the angular velocity sensor 14) of the sensor unit 10. The swing of the user (subject) 2 is analyzed by the motion analysis display apparatus 20 as a swing analysis apparatus on the basis of output measurement results, and thus an image indicating analysis information or a swing trajectory is displayed on the display section 25 of the motion analysis display apparatus 20 as a swing analysis apparatus. As mentioned above, it is not necessary to use a large-sized imaging apparatus or the like, and thus it becomes easier for the user 2 to perform swing analysis.
According to the motion analysis display apparatus 20 as a swing analysis apparatus, the objects 31 to 35 related to the golf club 3 at respective positions of the golf club 3 as exercise equipment at a plurality of timings during a swing are displayed to overlap the swing trajectory 30 on the display section 25. Consequently, the user 2 can objectively recognize transition of a series of swing actions, and thus it is possible to perform efficient swing analysis.
Analysis information displayed on the motion analysis display apparatus 20 is any one of, for example, attitude information of the head 3 a (ball hitting portion) of the golf club 3, a direction of the hitting surface of the head 3 a, and a rotation angle of the golf club 3. Consequently, it is possible to objectively and easily determine states of the attitude information of the head 3 a of the golf club 3, the direction of the hitting surface of the head 3 a, and the rotation angle of the golf club 3 at a specific timing, and thus to increase the analysis accuracy or the analysis efficiency.
The regions A to D displayed on the motion analysis display apparatus 20 are set on the basis of a relationship with the line segments SPL and HPL (refer to FIG. 18) indicating at least one virtual plane (the shaft plane SP and the Hogan plane HP). Consequently, it is possible to grade and clearly show a feature of a swing on the basis of relationships between the virtual planes (the shaft plane SP and the Hogan plane HP) and the identification data (A to D) related to a position of the golf club 3 at a desired timing during the swing.
Since timings of halfway back, a top, natural uncock, halfway down, and impact which are important timings in a swing of the golf club 3 are included in a plurality of timings displayed on the motion analysis display apparatus 20, it is possible to increase the analysis accuracy and the analysis efficiency. At least two timings of halfway back, a top, natural uncock, halfway down, and impact are preferably included in a plurality of displayed timings, and thus it is possible to further increase the analysis accuracy and the analysis efficiency.

1-5. Operation Procedures of Swing Analysis (Motion Analysis) System

Next, with reference to FIG. 15, a description will be made of operation procedures (analysis result display method) of the swing analysis (motion analysis) system 1, and swing actions of the user 2. The user (subject) 2 performs a series of swing actions for hitting the golf ball 4 according to predefined procedures. FIG. 25 is a flowchart illustrating swing actions of the user 2, and swing analysis procedures performed by the swing analysis (motion analysis, system 1.
In the following description of the procedures, the reference numerals used for the constituent elements of the swing analysis (motion analysis) system 1 are used. The following operation procedures may be realized by the swing analysis system 1 causing a computer to execute the swing analysis program (motion analysis program) 240.
As illustrated in FIG. 15, first, the user 2 performs an input operation of the physical information 244 of the user 2, information regarding the golf club 3 used by the user 2, and the like via the motion analysis display apparatus 20 (step S100). The physical information 244 may include at least one of information regarding a height, a length of the arms, and a length of the legs of the user 2, and may further include information regarding sex or other information. The golf club information 242 includes at least one of information regarding a length (club length) of the golf club 3 and the type (number) of golf club 3.
In step S100, the user 2 inputs physical information such as a height, the sex, age, and country as the physical information 244, and inputs golf club information such as a club length, and a club number as the golf club information 242. Information included in the physical information 244 is not limited thereto, and, the physical information may include, for example, at least one of information regarding a length of the arms and a length of the legs instead of or along with the height. Similarly, information included in the golf club information 242 is not limited thereto, and, for example, the golf club information may not include at least one of information regarding the club length and the club number, and may include other information.
Next, the user 2 performs a measurement starting operation (an operation for starting measurement in the sensor unit 10) via the motion analysis display apparatus 20 (step S101). If the user 2 performs the measurement starting operation in step S101, the sensor unit 10 (the acceleration sensor 12 and the angular velocity sensor 14 as inertial sensors) measures three-axis accelerations and three-axis angular velocities in a predetermined cycle (for example, 1 ms), and sequentially transmits the measured data to the motion analysis display apparatus 20. Communication between the sensor unit 10 and the swing analysis apparatus 20 may be wireless communication, and may be wired communication. This data indicates a position or an attitude of the sensor unit 10, and further indicates a position or an attitude of each portion of the golf club 3.
Next, after receiving a notification (for example, a notification using a voice) of giving an instruction for taking an address attitude (a basic attitude before starting a motion) from the motion analysis display apparatus 20 (Yes in step S102), the user 2 takes an address attitude so that the axis in the longitudinal direction of the shaft of the golf club 3 is perpendicular to a target line (target hit ball direction), and stands still for a predetermined period of time or longer (step S103). Here, the motion analysis display apparatus 20 generates (acquires) attitude information of the hands 2 a of the user 2 during standing still by using measured data output from the sensor unit 10 (step S104). In a case where the notification (for example, a notification using a voice) of giving an instruction for taking an address attitude (a basic attitude before starting a motion) from the motion analysis display apparatus 20 is not received (No in step S102), the user 2 waits for the notification to be received.
Next, the user 2 receives a notification (for example, a notification using a voice) of permitting a swing from the motion analysis display apparatus 20 (Yes in step S105), and then hits the golf ball 4 by performing a swing action (step S106). In a case where there is no notification of permitting a swing from the motion analysis display apparatus 20 (No in step S105), the user 2 delays a swing action until the notification (for example, a notification using a voice) of permitting a swing is received.
Next, the motion analysis display apparatus 20 detects respective timings (for example, timings of halfway back, natural uncock, halfway down, and impact) in a series of swings on the basis of the measured data from the sensor unit 10 measuring the swing of the user 2 (step S107). This is described in detail in calculation of a position and an attitude of a constituent element, and detection of each timing of a swing action, described in the above-described section 1-3.
Next, the motion analysis display apparatus 20 computes a position of the head 3 a of the golf club 3 (refer to FIG. 3) and a direction of the face surface 74 (refer to FIG. 12) as a hitting surface, at each of the detected timings, on the basis of the measured data from the sensor unit 10 (step S108). The motion analysis display apparatus 20 computes the shaft axis rotation angle θ (not illustrated), the face angle φ, and the like of the golf club 3 (step S109).
Next, the swing analysis portion 215 of the motion analysis display apparatus 20 generates (acquires) swing trajectory data (swing trajectory information) on the basis of obtained positions of a series of swings, attitudes, and operation data (step S110).
Next, the swing diagnosis portion 211 of the motion analysis display apparatus 20 performs a variety of analyses regarding the series of swings (step S111). In the analysis here, a variety of diagnoses described in the above section 1-4. Diagnosis process in swing analysis are performed. Analysis (diagnosis) result information (swing analysis information) is transmitted to the image data generation portion 216 or the display processing portion 218.
Next, the motion analysis display apparatus 20 displays image information on the display section 25 as the swing analysis result on the basis of the swing trajectory information generated in step S110 or results of the variety of analyses related to the series of swings performed in step S111 (step S113). Consequently, a series of steps is finished.
Hereinafter, with reference to FIGS. 16 to 21, a description will be made of specific display examples of information displayed on the display section 25 in step S113. FIGS. 16 to 19 illustrate swing information display examples, in which FIG. 16 is a diagram illustrating a display example 1, FIG. 17 is a diagram illustrating changes in the shaft rotation axis in the display example of swing analysis information, FIG. 18 is a diagram illustrating a display example 2, and FIG. 19 is a diagram illustrating a display example 3. FIG. 20 is a diagram illustrating an application 1 related to swing information display, and FIG. 21 is a diagram illustrating an application 2 related to swing information display.

DISPLAY EXAMPLE 1

First, with reference to FIG. 16, a display example 1 of information displayed on the display section 25 will be described. The motion analysis display apparatus 20 displays swing information (swing analysis information) at a timing at which a predetermined time elapses from detection of finishing of the swing on the display section 25. In the display example 1, as illustrated in FIG. 16, the swing trajectory 30 which approximates the swing actions is displayed.
As illustrated in FIG. 16, a series of swing actions of the user 2 is displayed as the swing trajectory 30 on the display section 25. In this example, the swing trajectory 30 is displayed as an image viewed from the rear side, that is, an image viewed from an opposite side to the golf ball 4 side among front views viewed from directions intersecting the hitting surface of the golf ball 4 (refer to FIG. 1) of the head 3 a (refer to FIG. 1) of the golf club 3 (refer to FIG. 1). As a mark indicating this viewing direction, a mark 36 is displayed. Regarding a display direction, an image viewed from the golf ball 4 side may be displayed.
Regarding the display of the swing trajectory 30 in this example, the swing trajectory 30 is displayed to overlap the plurality of objects 31 to 35 indicating positions of the golf club at respective timings (time points) on the display section 25. In FIG. 16, the object 31 indicates a timing of address (standing still) or impact, the object 35 indicates a timing of halfway back, the object 34 indicates a timing of a top, the object 33 indicates a timing of natural uncock, and the object 32 indicates a timing of halfway down. Here, the timing of natural uncock is a timing at which the head 3 a of the golf club 3 is moved to be accelerated by decelerating the grip side of the golf club 3 during release of cock in a downswing. A display window 37 showing other analysis information may be displayed on a part of the display section 25 (a lower right part in the screen in this example).
Regarding the display of the swing trajectory 30 in this example, among the objects 31 to 35 displayed on the display section 25, a timing at which detailed analysis information is desired to be displayed may be displayed by the user 2 selecting and indicating the timing. In this case, the indication performed by the user 2 may be per formed, for example, by touching (screen touching) the display section 25 with the finger of the user 2. This example illustrates that the object 32 (the timing of halfway down) Is selected so as to be indicated, and the indicated object 32 is highlighted so that the indication is easily recognized, by deepening a color thereof and increasing a size thereof. Highlighting is not limited to using both of changing of a color tone and changing of a size, and either one may be used as long as highlighting can be recognized. Other highlighting may be employed.
The detailed analysis information (analysis information) indicated by the user 2 and displayed includes attitude information of the golf club 3, and may include, for example, a position of the head 3 a of the golf club 3, a direction of the face surface 74 (refer to FIG. 12) as a hitting surface of the head 3 a, and the shaft axis rotation angle θ (not illustrated) and the face angle φ (refer to FIG. 12) of the golf club 3.
Here, the displayed detailed analysis information (analysis information) may be displayed to overlap the swing trajectory 30 or the objects 31 to 35 on the same screen (for example, the display window 37), or a graph representing changes in the shaft rotation axis during a backswing may be displayed as the detailed information (analysis information), for example, as illustrated in FIG. 17 by switching between screens. In the graph illustrated in FIG. 17, the changes of the shaft rotation axis are displayed to be restricted to an interval from the time of standing still to the top timing as a desired timing range. Consequently, since the rotation axis is displayed to be narrowed to a more important interval from the time of standing still to the top timing, it is possible to more easily perform a determination and thus to increase practice efficiency.
According to the display method related to the display example 1, the swing trajectory 30 is displayed to overlap the objects 31 to 35 related to the golf club 3 at respective positions of the golf club 3 at a plurality of timings during a swing on the display section 25, and thus it is possible to objectively recognize how a series of swing actions transitions. Since an object (in this example, the object 32) which is determined as providing necessary analysis information to the user 2 is designated, and thus analysis information at a timing related to the designated object 32 is displayed, it is possible to efficiently obtain analysis information. Since necessary analysis information can be obtained in a concentrated manner, it is possible to increase the analysis efficiency. In this case, the display processing portion 218 preferably highlights the object 32 designated by the user 2 by changing a color tone or a size of the object 32. Through the highlighting, it is possible to easily recognize and perceive a designated object (in this example, the object 32).

DISPLAY EXAMPLE 2

Next, with reference to FIG. 1.8, a description will be made of a display example 2 of information displayed on the display section 25. In the display example 2, information is displayed on the display section 25 at the same timings as those in the above-described display example 1. In a description of the display example 2, the same content as in the above-described display example 1 will be omitted.
Regarding display of the display example 2, as illustrated in FIG. 18, in addition to the swing trajectory 30 and a plurality of objects 31 to 35 indicating positions of the golf club at respective timings time points) in the same manner as in the display example 1, line segments SPL and HPL indicating the V zone based on the shaft plane SP and the Hogan plane HP are displayed. The line segment SPL indicates the shaft plane SP as a virtual plane, and the line segment HPL approximates the Hogan plane HP as a virtual plane. In the display example 2, identification marks A to L indicating a plurality of regions determined on the basis of the shaft plane SP and the Hogan plane HP (V zone) are displayed.
According to the display method related to the display example 2, it is possible to recognize whether or not positions of the head 3 a at halfway back and the halfway down are located in the shaft plane SP and the Hogan plane HP (V zone), and thus to determine a feature of the swing. It is possible to visually recognize a feature of the swing on the basis of in which region of the regions A to D displayed by the identification data (A to D) positions of the head 3 a at desired timings during the swing, for example, positions of the head 3 a at halfway back and the halfway down are located. Alternatively, it is possible to determine (diagnose) a feature of the swing on the basis of in which region of the regions A to D displayed by the identification data (A to D) positions of the head 3 a at desired timings during the swing, for example, positions of the head 3 a at halfway back and the halfway down are located. As mentioned above, it is possible to objectively and easily determine (diagnose) a swing state, and thus to increase practice efficiency.

DISPLAY EXAMPLE 3

Next, with reference to FIG. 19, a description will be made of a display example 3 of information displayed on the display section 25. In the display example 3, information is displayed on the display section 25 at the same timings as those in the above-described display example 1. In a description of the display example 3, the same content as in the above-described display example 1 will be omitted.
Regarding display of the display example 3, as illustrated in FIG. 19, the swing trajectory 30 and a plurality of objects 31 to 35 indicating positions of the golf club at respective timings (time points) are displayed. There is a difference from the display example 1 in terms of a direction of viewing the swing trajectory 30. In this example, the swing trajectory 30 is displayed as an image viewed from the front side of the user 2, that is, an image viewed from the golf ball 4 side among front views viewed from directions along the hitting surface of the golf ball 4 (refer to FIG. 1) of the head 3 a (refer to FIG. 1) of the golf club 3 (refer to FIG. 1). As a mark indicating this viewing direction, a mark 36 a is displayed. Regarding a display direction, an image viewed from an opposite side (the rear side of the user 2) to the golf ball 4 side may be displayed.
According to the display method related to the display example 3, it is possible to achieve the same effects as in the above-described display example 1. Specifically, it is possible to objectively recognize how a series of swing actions transitions. Since the object 32 designated by the user 2 is highlighted, and thus analysis information at a timing related to the designated object 32 is displayed, it is possible to efficiently obtain analysis information.
Next, with reference to FIGS. 20 and 21, a description will be made of applications related to display of swing information. An application 1 and an application 2 described below are display examples corresponding to applications of the above-described display example 2. Therefore, the same configuration and content as in the display example 2 will not be described.

Application

1

In the application 1 related to display of swing information, as illustrated in FIG. 20, in addition to the swing trajectory 30 and a plurality of objects 31 to 35 indicating positions of the golf club at respective timings (time points) in the same manner as in the display example 1, line segments SPL2 and HPL2, and three virtual lines RL1, RL2 and RL3 which are parallel to the line segments SPL2 and HPL2 are displayed. In the application 1, identification marks (A to D) indicating a plurality of regions A to D determined on the basis of the three virtual lines RL1, RL2 and RL3 are displayed.
The line segment SPL2 indicates the shaft plane SP as a virtual plane, and the line segment HPL2 approximates the Hogan plane HP as a virtual plane. In this example, the virtual line RL1 approximates a line segment which passes through the armpit of the user 2 and is parallel to the line segments SPL2 and HPL2, the virtual line RL2 approximates a line segment which passes through the head of the user 2 and is parallel to the line segments SPL2 and HPL2, and the virtual line RL3 approximates a line segment which passes through the thigh part of the user 2 and is parallel to the line segments SPL2 and HPL2. The region A is located outside the virtual line RL2, the region B is located between the virtual line RL1 and the virtual line RL2, the region C is located between the virtual line RL1 and the virtual line RL3, and the region D is located outside the virtual line RL3.

Application

2

In the application 2 related to display of swing information, as illustrated in FIG. 21, in the same manner as in the application 1, the swing trajectory 30, a plurality of objects 31 to 35 indicating positions of the golf club at respective timings (time points), line segments SPL3 and HPL3, and three virtual lines RL1, RL2 and RL3 which are parallel to the line segments SPL3 and HPL are displayed. Identification marks (A to D) indicating a plurality of regions A to D determined on the basis of the three virtual lines RL1, RL2 and RL3 are displayed.
The line segment SPL3 indicates the shaft plane SP as a virtual plane, and the line segment HPL3 approximates the Hogan plane HP as a virtual plane. In this example, the virtual line RL1 approximates a line segment which passes through the abdomen of the user 2 and is parallel to the line segments SPL3 and HPL3. The virtual line RL2 is a line segment which passes through the shoulder of the user 2 and is inclined to be open in a direction of the object 31 with respect to the line segment HPL3. The virtual line RL3 is a line segment which passes through the knee of the user 2 and is inclined to be open in the direction of the object 31 with respect to the line segment SPL3. The region A is located outside the virtual line RL2, the region B is located between the virtual line RL1 and the virtual line RL2, the region C is located between the virtual line RL1 and the virtual line RL3, and the region D is located outside the virtual line RL3.
According to the display methods of the application 1 and the application 2 related to display of swing information, it is possible to achieve the same effects as in the above-described display example 2. For example, it is possible to visually recognize a feature of the swing on the basis of in which region of the regions A to D displayed by the identification data (A to D) positions of the head 3 a at desired timings during the swing, for example, positions of the head 3 a at halfway back and the halfway down are located. Alternatively, it is possible to determine (diagnose) a feature of the swing on the basis of in which region of the regions A to D displayed by the identification data (A to D) positions of the head 3 a at desired timings during the swing, for example, positions of the head 3 a at halfway back and the halfway down are located. As mentioned above, it is possible to objectively and easily determine (diagnose) a swing state, and thus to increase practice efficiency.
According to the above-described swing analysis (motion analysis) system 1, and operation procedures (analysis result display method) regarding a swing action of the user 2, analysis data such as the swing trajectory 30 is generated on the basis of outputs from the acceleration sensor 12 and the angular velocity sensor 14 as inertial sensors forming the sensor unit 10. Therefore, it is not necessary to use a large-sized imaging apparatus or the like, and thus it becomes easier for the user 2 to perform swing analysis. The swing trajectory 30 is displayed to overlap the objects 31 to 35 related to the golf club 3 at respective positions of the golf club 3 at a plurality of timings during a swing on the display section 25, and thus it is possible to objectively recognize how a series of swing actions transitions.
Since an object which is determined as providing necessary analysis information to the user 2 is designated among the displayed objects 31 to 35, and thus analysis information at a timing related to the designated object (in this example, the object 32) is displayed, it is possible to efficiently obtain analysis information. Since necessary analysis information can be obtained in a concentrated manner, it is possible to increase the analysis efficiency.

1-6. Other Configurations of Motion Analysis Display Apparatus Head Mounted Display (HMD)

Next, with reference to FIG. 22, a description will be made of an example of using a head mounted display (HMD) as the motion analysis display apparatus 20. FIG. 22 is a perspective view illustrating a head mounted display (HMD) as a motion analysis display apparatus.
As illustrated in FIG. 22, a head mounted display (HMD) 500 includes a spectacle main body 501 mounted on the head of the user 2. The spectacle main body 501 is provided with a display section 502. The display section 502 integrates a light beam emitted from an image display unit 503 with a light beam directed toward the eyes of the user 2, and thus overlaps a virtual image on the image display unit 503 with a real image of the external world viewed from the user 2.
The display section 502 is provided with, for example, the image display unit 503 such as an liquid crystal display (LCD), a first beam splitter 504, a second beam splitter 505, a first concave reflection mirror 506, a second concave reflection mirror 507, a shutter 508, and a convex lens 509.
The first beam splitter 504 is disposed on the front side of the left eye of the user 2, and partially transmits and partially reflects light emitted from the image display unit 503. The second beam splitter 505 is disposed on the front side of the right eye of the user 2, and partially transmits and partially reflects light which is partially transmitted from the first beam splitter 504.
The first concave reflection mirror 506, which is disposed in front of the first beam splitter 504, partially reflects the partially reflected light from the first beam splitter 504 so as to transmit the light through the first beam splitter 504, and thus guides the light to the left eye of the user 2. The second concave reflection mirror 507, which is disposed in front of the second beam splitter 505, partially reflects the partially reflected light from the second beam splitter 505 so as to transmit the light through the second beam splitter 505, and thus guides the light to the right eye of the user 2.
The convex lens 509 guides partially transmitted light from the second beam splitter 505 to the outside of the head mounted display (HMD) 500 when the shutter 508 is opened.
The analysis information (refer to FIGS. 16 and 18) in a series of swing actions of the user 2, the swing information such as the swing trajectory 30 (refer to FIGS. 16 and 18) approximating the swing actions, and the like, as described in the display examples, are displayed on the head mounted display (HMD) 500. The display content is the same as in the above-described display examples, and a detailed description thereof will be omitted.
According to the head mounted display (HMD) 500, since the head mounted display (HMD) is mounted on the head and displays information, the user 2 can understand swing information of the user or attitude (position) information of the hands 2 a without holding the motion analysis display apparatus 20 including the display section 25 displaying information with the hands.
The head mounted display (HMD) 500 may have the functions of the motion analysis display apparatus 20 and may display swing analysis or swing information based measured data from the sensor unit 10, and may be used as a display section displaying image data transmitted from the separate motion analysis display apparatus 20. The functions of the motion analysis display apparatus (display apparatus) 20 include the processing section 21 (an example of a processing section), the communication section 22, the operation section 23, the storage section 24, the display section 25, the sound output section 26, and the imaging section 27 as described above.

Arm Mounted Analysis Display Apparatus

Next, with reference to FIG. 23, a description will be made of an example of using an arm mounted analysis display apparatus as an example of a wearable apparatus, as the motion analysis display apparatus. FIG. 23 is a perspective view illustrating an arm mounted motion analysis display apparatus as an example of a wearable apparatus.
As illustrated in FIG. 23, a wearable (arm mounted) analysis display apparatus 600 is mounted on a predetermined part (the wrist in this example) of the user (subject) 2 (refer to FIG. 1) and displays swing analysis or swing information based on measured data from the sensor unit 10 (refer to FIG. 1). The analysis display apparatus 600 includes an apparatus main body 610 which is worn by the user 2 and displays swing analysis information such as swing analysis or attitude information of the hands 2 a (refer to FIG. 1) of the user 2, and a band portion 615 which is attached to the apparatus main body 610 and allows the apparatus main body 610 to be mounted on the user 2.
The apparatus main body 610 of the analysis display apparatus 600 is provided with a bottom case 613 on the side mounted on the user 2, and a top case 611 on an opposite side to the side mounted on the user 2. A bezel 618 is provided on a top side (top case 611) of the apparatus main body 610, and a glass plate 619 as a top plate portion (outer wall) which is disposed inside the bezel 618 and protects inner structures is also provided. A pair of band attachment portions 617 which are a connection portion with the band portion 615 are provided on both sides of the bottom case 613.
The apparatus main body 610 is provided with a display portion such as a liquid crystal display (LCD 634) directly under the glass plate 619. The user 2 can view swing analysis information, attitude information of the hands 2 a of the user 2, or the like, displayed on the liquid crystal display (LCD 634) via the glass plate 619. The apparatus main body 610 may include the processing section 21, the communication section 22, the operation section 23, the storage section 24, the display section 25, the sound output section 26, and the imaging section 27, in the same manner as the motion analysis display apparatus 20 described with reference to FIG. 4. The display section 25 corresponds to a display portion such as the liquid crystal display (LCD 634) in this example.
The analysis information (refer to FIGS. 16 and 18) in a series of swing actions of the user 2, the swing information such as the swing trajectory 30 (refer to FIGS. 16 and 18) approximating the swing actions, and the like, as described in the display examples, are displayed on the display portion of the liquid crystal display (LCD 634). The display content is the same as in the above-described display examples, and a detailed description thereof will be omitted.
Other advice information based on swing analysis results, for example, a text image representing a swing type of the user 2 or a text image representing advice (practice method or the like) suitable for the swing type of the user 2 may be displayed on the display portion of the liquid crystal display (LCD 634). Moving images as video pictures may be displayed on the display portion of the liquid crystal display (LCD 634).
In the above description, an example in which the top plate portion of the apparatus main body 610 is implemented by the glass plate 619 has been described, but the top plate portion may be formed by using materials other than glass, such as transparent plastic, as long as a member is transparent so as to allow the LCD 634 to be viewed, and has the rigidity of being capable of protecting constituent elements included in the top case 611 and the bottom case 613, such as the LCD 634. A configuration example in which the bezel 618 is provided has been described, but the bezel 618 may not be provided.
According to the wearable (arm mounted) analysis display apparatus 600, since analysis display apparatus is mounted on the arm and displays information, the user 2 can understand swing information of the user or attitude (position) information of the hands 2 a without holding the display portion liquid crystal display (LCD 634)) displaying information with the hands.
The wearable (arm mounted) analysis display apparatus 600 may have the functions of the motion analysis display apparatus 20 and may display swing analysis or swing information based on measured data from the sensor unit 10, and may be used as a display section displaying image data transmitted from the separate motion analysis display apparatus 20. The functions of the motion analysis display apparatus (display apparatus) 20 include the processing section 21 (an example of a processing section), the communication section 22, the operation section 23, the storage section 24, the display section 25, the sound output section 26, and the imaging section 27 as described in the motion analysis display apparatus 20 of the present embodiment.
For example, the invention includes substantially the same configuration (for example, a configuration in which functions, methods, and results are the same, or a configuration in which objects and effects are the same) as the configuration described in the embodiment. The invention includes a configuration in which an inessential part of the configuration described in the embodiment is replaced with another part. The invention includes a configuration which achieves the same operation and effect or a configuration capable of achieving the same object as in the configuration described in the embodiment. The invention includes a configuration in which a well-known technique is added to the configuration described in the embodiment.
The entire disclosure of Japanese Patent Application No. 2016-005850 filed Jan. 15, 2016 is expressly incorporated by reference herein.

Claims

What is claimed is:

1. A display method comprising:

displaying objects related to an exercise equipment at respective positions of the exercise equipment at a plurality of timings during a swing so as to overlap a swing trajectory of the exercise equipment which is obtained on the basis of an output from an inertial sensor.

2. The display method according to claim 1,

wherein any one of the objects is designated, and analysis information at the timing related to the designated object is displayed.

3. The display method according to claim 2,

wherein the object is designated by indicating the object on a display section displaying the object.

4. The display method according to claim 2,

wherein the designated object is highlighted.

5. The display method according to claim 2,

wherein the analysis information is attitude information of the exercise equipment.

6. The display method according to claim 5,

wherein, as the attitude information, a region in which a position of the exercise equipment is included is displayed with respect to a plurality of regions to which identification data is allocated in advance.

7. The display method according to claim 6,

wherein the region is set on the basis of a relationship with at least one virtual plane.

8. The display method according to claim 2,

wherein the analysis information is attitude information of a ball hitting portion of the exercise equipment.

9. The display method according to claim 8,

wherein the attitude information indicates a direction of a hitting surface of the ball hitting portion.

10. The display method according to claim 2,

wherein the analysis information indicates a rotation angle of the exercise equipment.

11. The display method according to claim 1,

wherein the swing is a swing of a golf club, and

wherein the plurality of timings include at least two of timings of halfway back, a top, natural uncock, halfway down, and impact.

12. A swing analysis apparatus comprising:

a processing section that generates analysis data related to a swing of an exercise equipment by using an output from an inertial sensor, and outputs a swing trajectory and analysis information based on the analysis data; and

a display section that displays the swing trajectory and the analysis information,

wherein the swing trajectory is displayed on the display section so as to overlap objects related to the exercise equipment at respective positions of the exercise equipment at a plurality of timings during the swing.

13. The swing analysis apparatus according to claim 12, further comprising:

an operation section that is used to designate any one of the objects,

wherein the analysis information related to the designated object is displayed.

14. The swing analysis apparatus according to claim 13,

wherein the operation section is provided in the display section, and

wherein designation of the object is performed on the display section.

15. The swing analysis apparatus according to claim 13,

wherein the designated object is highlighted.

16. The swing analysis apparatus according to claim 13,

17. The swing analysis apparatus according to claim 16,

18. The swing analysis apparatus according to claim 17,

19. The swing analysis apparatus according to claim 13,

20. The swing analysis apparatus according to claim 19,

21. The swing analysis apparatus according to claim 13,

22. The swing analysis apparatus according to claim 12,

wherein the swing is a swing of a golf club, and

23. A swing analysis system comprising:

the swing analysis apparatus according to claim 12; and

an inertial sensor.

24. A recording medium recording a program causing a computer to execute:

generating a swing trajectory of an exercise equipment and analysis information on the basis of an output from an inertial sensor;

outputting the swing trajectory and the analysis information; and

displaying the swing trajectory so as to overlap objects related to the exercise equipment at respective positions of the exercise equipment at a plurality of timings during the swing.