US20180250571A1 - Motion analysis device, motion analysis method, motion analysis system, and display method - Google Patents

Motion analysis device, motion analysis method, motion analysis system, and display method Download PDF

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Publication number
US20180250571A1
US20180250571A1 US15/906,409 US201815906409A US2018250571A1 US 20180250571 A1 US20180250571 A1 US 20180250571A1 US 201815906409 A US201815906409 A US 201815906409A US 2018250571 A1 US2018250571 A1 US 2018250571A1
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United States
Prior art keywords
analysis
information
swing
motion
position information
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Abandoned
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US15/906,409
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English (en)
Inventor
Tsuyoshi Ito
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Seiko Epson Corp
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Seiko Epson Corp
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Publication of US20180250571A1 publication Critical patent/US20180250571A1/en
Abandoned legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • A63B69/3623—Training appliances or apparatus for special sports for golf for driving
    • A63B69/3632—Clubs or attachments on clubs, e.g. for measuring, aligning
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
    • A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0021—Tracking a path or terminating locations
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • A63B69/3623—Training appliances or apparatus for special sports for golf for driving
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/003—Repetitive work cycles; Sequence of movements
    • G09B19/0038—Sports
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0021—Tracking a path or terminating locations
    • A63B2024/0028—Tracking the path of an object, e.g. a ball inside a soccer pitch
    • A63B2024/0031—Tracking the path of an object, e.g. a ball inside a soccer pitch at the starting point
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B2071/0647—Visualisation of executed movements
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
    • A63B2102/32—Golf
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/30—Speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/40—Acceleration

Definitions

  • the present invention relates to a motion analysis device, a motion analysis method, a motion analysis system, and a display method.
  • JP-A-2013-31529 discloses an analysis apparatus in which an inertial sensor is attached to a golf club, and swing analysis is performed on the basis of a motion signal which is output in a case where a golf ball is hit through a swing of the golf club.
  • a user attaches an analysis apparatus to a golf club in a golf course or a golf practice range, and can improve a swing of the user or select an appropriate golf club by performing swing analysis.
  • An advantage of some aspects of the invention is to perform swing analysis according to a location where a swing is performed.
  • a motion analysis device analyzes a swing using a golf club, and includes an acquisition portion acquiring position information, and motion information output from an inertial information obtained by analyzing a plurality of the swings at first position information and second analysis information obtained by analyzing a plurality of the swings at second position information; and an output portion outputting a first region image based on the first analysis information and a second region image based on the second analysis information.
  • the motion analysis device includes a display that displays outputs from the output portion.
  • the first region image and the second region image are displayed in a coordinate system having two indexes respectively related to the first analysis information and the second analysis information as axes.
  • the first region image and the second region image can be displayed in a coordinate system having two indexes respectively related to the first analysis information and the second analysis information as axes.
  • the first analysis information may include information related to at least one of a movement distance or a movement time of a head of the golf club from address to halfway back and from the halfway back to top, angles of a shaft of the golf club viewed from a front side and an upper side of the golf club at top, a movement distance of a grip of the golf club at the time of address in a height direction or a rear direction at top, and times required for a backswing and a downswing.
  • the first position information may indicate a golf course
  • the second position information may indicate a golf practice range
  • the motion analysis device further includes a communication section that performs communication with a server apparatus via a network, the communication section transmits the motion information to the server apparatus, and receives a swing analysis result transmitted from the server apparatus, and the analysis portion generates the first analysis information and the second analysis information on the basis of the swing analysis result.
  • the inertial sensor may detect at least one of acceleration and angular velocity.
  • the position information may be calculated on the basis of a satellite signal transmitted from a positioning satellite.
  • a motion analysis method is a motion analysis method of analyzing a swing using a golf club, the method including acquiring position information, and motion information output from an inertial sensor; generating first analysis information obtained by analyzing the swing on the basis of the motion information corresponding to a plurality of the swings at first position information; generating second analysis information obtained by analyzing the swing on the basis of the motion information corresponding to a plurality of the swings at second position information; and outputting a first region image based on the first analysis information and a second region image based on the second analysis information.
  • a swing is analyzed on the basis of motion information corresponding to each of a swing at the first position information and a swing at the second position information, it is possible to perform swing analysis corresponding to a swing position.
  • the method it is possible to output the first region image based on the first analysis information and the second region image based on the second analysis information, obtained through analysis.
  • a motion analysis system is a motion analysis system analyzing a swing using a golf club, the system including an acquisition portion as apart of a processor acquiring position information, and motion information output from an inertial sensor; an analysis portion as a part of the processor generating first analysis information obtained by analyzing the swing on the basis of the motion information corresponding to a plurality of the swings at first position information; generating second analysis information obtained by analyzing the swing on the basis of the motion information corresponding to a plurality of the swings at second position information; and a display outputting a first region image based on the first analysis information and a second region image based on the second analysis information.
  • a display method includes generating first analysis information obtained by analyzing a plurality of the swings at first position information and second analysis information obtained by analyzing a plurality of the swings at second position information on the basis of position information, and motion information output from an inertial sensor; generating a first region image based on the first analysis information and a second region image based on the second analysis information; and displaying the first region image and the second region image in a coordinate system having at least two indexes as axes.
  • the display method since a swing is analyzed on the basis of motion information corresponding to each of a swing at the first analysis information and a swing at the second analysis information, it is possible to perform swing analysis corresponding to a swing position.
  • the first region image and the second region image can be displayed in a coordinate system having two indexes respectively related to the first analysis information and the second analysis information as axes.
  • FIG. 1 is a diagram illustrating a configuration example of a motion analysis system according to the present embodiment.
  • FIG. 2 is a diagram illustrating a sensor unit and a swing analysis apparatus.
  • FIG. 3 is a diagram illustrating examples of a position at which and a direction in which the sensor unit is attached.
  • FIG. 4 is a diagram illustrating procedures of actions performed by a user until the user hits a ball.
  • FIG. 5 is a diagram illustrating a swing action.
  • FIG. 6 is a diagram illustrating configuration examples of the sensor unit and a swing analysis apparatus.
  • FIG. 7 is a graph illustrating examples of temporal changes of three-axis angular velocities.
  • FIG. 8 is a graph illustrating a temporal change of a combined value of the three-axis angular velocities.
  • FIG. 9 is a graph illustrating a temporal change of a derivative of the combined value.
  • FIG. 10 is a flowchart illustrating examples of procedures of a swing analysis process.
  • FIG. 11 is a diagram illustrating an example of an analysis image.
  • FIG. 12 is a diagram illustrating an example of an analysis image.
  • FIG. 13 is a diagram illustrating an example of an analysis image.
  • FIG. 14 is a diagram illustrating an example of an analysis image.
  • FIG. 1 is a diagram illustrating a configuration example of the motion analysis system 1 according to the present embodiment.
  • a motion analysis system (swing analysis system) 1 of the present embodiment includes a sensor unit (an example of an inertial sensor) 10 , a swing analysis apparatus (an example of a motion analysis device) 20 , and a server apparatus 30 .
  • Communication between the sensor unit 10 and the swing analysis apparatus 20 may be wireless communication, and may be wired communication.
  • FIG. 1 is a diagram illustrating a configuration example of the motion analysis system 1 according to the present embodiment.
  • a motion analysis system (swing analysis system) 1 of the present embodiment includes a sensor unit (an example of an inertial sensor) 10 , a swing analysis apparatus (an example of a motion analysis device) 20 , and a server apparatus 30 .
  • Communication between the sensor unit 10 and the swing analysis apparatus 20 may be wireless communication, and may be wired communication.
  • the swing analysis apparatus 20 is implemented by various information terminals (client terminals) including not only a personal computer 20 a, but also a portable apparatus 20 b such as a smart phone or a tablet PC, or a wearable terminal such as head mounted display (HMD) or a wrist apparatus.
  • client terminals including not only a personal computer 20 a, but also a portable apparatus 20 b such as a smart phone or a tablet PC, or a wearable terminal such as head mounted display (HMD) or a wrist apparatus.
  • client terminals including not only a personal computer 20 a, but also a portable apparatus 20 b such as a smart phone or a tablet PC, or a wearable terminal such as head mounted display (HMD) or a wrist apparatus.
  • HMD head mounted display
  • the swing analysis apparatus 20 and the server apparatus 30 are connected to each other via a network 40 .
  • the network 40 maybe a wide area network (WAN) such as the Internet, and may be a local area network (LAN).
  • the swing analysis apparatus 20 and the server apparatus 30 may communicate with each other through, for example, near field communication or wired communication, without using the network 40 .
  • the motion analysis system (swing analysis system) 1 is configured to include the server apparatus 30 separately from the swing analysis apparatus 20 , and is not limited thereto.
  • the swing analysis apparatus 20 may have a function of the server apparatus 30 .
  • the sensor unit 10 can measure, for example, acceleration in each axial direction of three axes orthogonal to each other and, for example, angular velocity about each of the three axes orthogonal to each other, and is attached to, for example, a golf club 3 as an exercise equipment.
  • the sensor unit 10 is attached to the golf club 3 (an example of an exercise equipment) so as to match three detection axes (an x axis, a y axis, and a z axis) intersecting (ideally, orthogonal to) each other.
  • the sensor unit 10 is attached to a part of a shaft so that, for example, the y axis matches a longitudinal direction of the shaft of the golf club 3 (a longitudinal direction of the golf club 3 ), and, for example, the x axis matches a target direction of a hit ball (target hitting direction).
  • 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 (ball hitting portion) 3 a of the golf club 3 and also includes the grip.
  • the sensor unit 10 may be attached to a part (for example, the hand 2 a or a glove) of the user 2 , and may be attached to an accessory such as a wristwatch.
  • FIG. 4 is a diagram illustrating procedures of actions performed by the user 2 until the user hits the ball in the present embodiment.
  • the user 2 performs an input operation of physical information (the height, the sex, and the age) of the user 2 , information (golf club information; a club length (a length of the shaft), a type number) regarding the golf club 3 used by the user 2 , and the like via the swing analysis apparatus 20 (step S 1 ).
  • the user 2 performs a measurement starting operation (an operation for starting measurement in the sensor unit 10 ) via the swing analysis apparatus 20 (step S 2 ).
  • a measurement starting operation an operation for starting measurement in the sensor unit 10
  • the swing analysis apparatus 20 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 swing) from the swing analysis apparatus 20 (Y in step S 3 ), 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 (step S 4 ).
  • the user 2 receives a notification (for example, a notification using a voice) of permitting a swing from the swing analysis apparatus 20 (Y in step S 5 ), and then hits the golf ball 4 by performing a swing action (step S 6 ).
  • a notification for example, a notification using a voice
  • the present embodiment is not necessarily limited to ball hitting, and is also applicable to a practice swing, and may have a function of detecting a timing corresponding to ball hitting.
  • the swing analysis apparatus 20 transmits a measurement starting command to the sensor unit 10 , and the sensor unit 10 receives the measurement starting command and starts measurement of three-axis accelerations and three-axis angular velocities.
  • the sensor unit 10 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 swing analysis apparatus 20 .
  • the swing analysis apparatus 20 notifies the user 2 of permission of swing starting, shown in step S 5 in FIG. 4 , and then analyzes the swing action (step S 6 in FIG. 4 ) in which the user 2 has hit the ball by using the golf club 3 on the basis of measured data from the sensor unit 10 .
  • the swing action performed by the user 2 in step S 6 in FIG. 4 includes an action reaching impact (ball hitting) at which the golf ball 4 is hit from an address (ADDR) attitude (standing still state) through respective states of halfway back (HWB) 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 (HWD) at which the shaft of the golf club 3 becomes horizontal during the downswing.
  • ADDR address
  • HWB halfway back
  • HWD halfway down
  • the swing analysis apparatus 20 generates swing analysis data 248 including information regarding a location (position information) or a time point (date and time) at which the swing is performed, identification information or the sex of the user 2 , the type of golf club 3 , and an analysis result of the swing action, and transmits the swing analysis data to the server apparatus 30 via the network 40 (refer to FIG. 1 ).
  • the server apparatus 30 receives the swing analysis data 248 transmitted by the swing analysis apparatus 20 via the network 40 , and preserves the swing analysis data. Therefore, when the user 2 performs a swing action according to the procedures illustrated in FIG. 4 , the swing analysis data 248 generated by the swing analysis apparatus 20 is preserved in the server apparatus 30 .
  • the server apparatus 30 has a swing diagnosis function of diagnosing a swing on the basis of the swing analysis data 248 .
  • the user 2 may request the server apparatus 30 to perform swing analysis via an operation section 23 (refer to FIG. 6 ) of the swing analysis apparatus 20 .
  • the swing diagnosis function various analyses with respect to a swing are performed on the basis of the preserved swing analysis data 248 , and a swing analysis result is transmitted to the swing analysis apparatus 20 .
  • a movement distance and a movement time of the head 3 a from an address attitude to top through halfway back, an angle (attitude) of the shaft viewed from the front or the top of the golf club 3 at top, a movement distance of the grip at the time of address in a height direction or a rear direction at top, a rhythm of a backswing or a downswing, and the like are calculated on the basis of the preserved swing analysis data 248 , and are stored in correlation with information regarding a position where a swing is performed.
  • the calculated information is transmitted to the swing analysis apparatus 20 as a swing analysis result in correlation with the position information in response to a request from the swing analysis apparatus 20 .
  • the information calculated in the swing diagnosis function is not limited to the above-described items. For example, a position of the head 3 a at halfway back, a position of the head 3 a at halfway down, and a shaft axis rotation angle, a face angle, a grip deceleration ratio, a grip deceleration time ratio, a club path (incidence angle), and a relative face angle at top may be calculated.
  • the swing analysis apparatus 20 receives analysis information of levels of a plurality of items related to a plurality of swings in different locations as in a case of a golf course or a golf practice range, generates each piece of analysis information on the basis of a plurality of pieces of information (data), and generates an analysis image including a plurality of region images on the basis of the generated analysis information.
  • the swing analysis apparatus 20 may display the plurality of region images (illustrated in FIGS. 11 to 14 and will be described later) in a coordinate system having at least two indexes as axes together.
  • a size of a region surrounded by an outer circumferential line indicating the region displays a size corresponding to a variation among a plurality of pieces of data related to a plurality of swings.
  • a large area of the region image indicates a large variation.
  • FIG. 6 is a diagram illustrating configuration examples of the sensor unit 10 and the swing analysis apparatus 20 .
  • the sensor unit 10 is configured to include a position sensor 15 , a signal processing section 16 , and a communication section 18 in addition to an acceleration sensor 12 and an angular velocity sensor 14 which are inertial sensors.
  • the sensor unit 10 may have a configuration in which some of the constituent elements are deleted or changed as appropriate, or may have a configuration in which other constituent elements are added thereto.
  • the acceleration sensor 12 measures respective accelerations in three axial directions which intersect (ideally, orthogonal to) each other, and outputs motion information (acceleration data) corresponding to magnitudes and directions of the measured accelerations in the three axial directions.
  • the angular velocity sensor 14 measures respective angular velocities in three axial directions which intersect (ideally, orthogonal to) each other, and outputs motion information (angular velocity data) corresponding to magnitudes and directions of the measured angular velocities in the three axial directions.
  • the position sensor 15 outputs position information regarding a position where the sensor unit 10 is located.
  • a method of detecting position information may employ a method of detecting a position on the earth by receiving satellite signals (GPS signals) from a plurality of GPS satellites which are positioning satellites.
  • GPS signals satellite signals
  • the position sensor 15 receives, for example, GPS signals transmitted from four GPS satellites of which positions on orbits are known, and calculates the current position on the basis of a propagation time required to receive the GPS signals from transmission thereof.
  • a method of detecting position information there may be a method based on position information obtained from an access point of WiFi (registered trademark).
  • the position sensor 15 In a case where the position sensor 15 is disposed in a golf course, and receives an electric wave signal transmitted from an access point of which a position is known, the position sensor 15 applies a beam forming technique to the signal, and specifies a direction of the access point by using directivity of an antenna.
  • the position sensor 15 applies a Chronos technique to an electric wave signal transmitted from the access point, so as to calculate a distance from the access point.
  • the position sensor 15 may detect the current position on the basis of the direction and the distance from the access point.
  • the position sensor 15 outputs position data indicating the detected position information.
  • the position data is assumed to be data indicating longitude and latitude.
  • the position sensor 15 is assumed to be built into the sensor unit 10 , but is not limited thereto.
  • the position sensor 15 is provided in a wristwatch type information terminal apparatus mounted on the arm of the user 2 , and transmits information to the swing analysis apparatus 20 via short-range wireless communication.
  • the signal processing section 16 receives the acceleration data, the angular velocity data, and the position data from the acceleration sensor 12 , the angular velocity sensor 14 , and the position sensor 15 , respectively, adds time information thereto, stores the data in a memory section (not illustrated), adds time information to the stored data so as to generate packet data conforming to a communication format, and outputs the packet data to the communication section 18 .
  • 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 orthogonal 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 .
  • 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 performs a process of transmitting packet data received from the signal processing section 16 to the swing analysis apparatus 20 , or a process of receiving various control commands such as a measurement start command from the swing analysis 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 swing analysis apparatus 20 is configured to include a processing section (processor) 21 , a communication section 22 , an operation section 23 , a memory section (memory) 24 , a display section (display) 25 , a sound output section 26 , and a communication section 27 .
  • the swing analysis apparatus 20 may have a configuration in which some of the constituent elements are deleted or changed as appropriate, or may have a configuration in which other constituent elements are added thereto.
  • the communication section 22 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 performs a process of acquiring operation data from the user 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.
  • the memory 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 memory 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.
  • the memory section 24 stores a swing 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 (computer readable recording medium) in advance, or the swing analysis program 240 may be received from the server apparatus 30 by the processing section 21 via the network 40 , and may be stored in the memory section 24 .
  • the memory section 24 stores golf club information 242 , physical information 244 , image display parameters 246 , and swing analysis data 248 .
  • the user 2 may operate the operation section 23 so as to input specification information regarding the golf club 3 to be used (for example, at least some information such as information regarding a length of the shaft, a position of the centroid thereof, a lie angle, a face age, a loft angle, and the like), and the input specification information may be used as the golf club information 242 .
  • 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 each type number is stored in the memory section 24 in advance. In this case, specification information of an input type number may be used as the golf club information 242 .
  • 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 .
  • 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 display section 25 and the sound output section 26 are an aspect of a display.
  • the communication section 27 performs data communication with the server apparatus 30 via the network 40 .
  • the communication section 27 performs a process of receiving the swing analysis data 248 from the processing section 21 after a swing analysis process is completed, and transmitting the swing analysis data to the server apparatus 30 .
  • the communication section 27 performs a process of receiving a swing analysis result from the server apparatus 30 .
  • the processing section 21 performs a process of transmitting a control command to the sensor unit 10 via the communication section 22 , or various computation processes on data which is received from the sensor unit 10 via the communication section 22 , according to various programs.
  • the processing section 21 performs a process of reading the swing analysis data 248 from the memory section 24 , and transmitting the swing analysis data to the server apparatus 30 via the communication section 27 , according to various programs.
  • the processing section 21 may output analysis information via the communication section 27 on the basis of information received from the server apparatus 30 according to various programs.
  • the processing section 21 performs other various control processes.
  • the processing section 21 functions as a data acquisition portion 210 , a swing analysis portion 211 as an analysis portion, an image data generation portion 212 , a storage processing portion 213 , a display processing portion 214 , a sound output processing portion 215 , and a location determination portion 216 .
  • the processing section 21 may be realized by a computer including a central processing unit (CPU) which is a calculation device, a random access memory (RAM) which is a volatile storage device, a ROM which is a nonvolatile storage device, an interface (I/F) circuit which connects the processing section 21 to other units, and a bus connecting the above-described elements to each other.
  • the computer may include various dedicated processing circuits such as an image processing circuit.
  • the processing section 21 maybe realized by an application specific integrated circuit (ASIC).
  • ASIC application specific integrated circuit
  • the data acquisition portion 210 performs a process of receiving packet data which is received from the sensor unit by the communication section 22 , acquiring position information, time information, and measured data from the received packet data, and sending the position information, the time information, and the measured data to the storage processing portion 213 .
  • the storage processing portion 213 performs read/write processes of various programs or various data for the memory section 24 .
  • the storage processing portion 213 performs a process of storing the position information, the time information, and the measured data received from the data acquisition portion 210 in the memory section 24 in correlation with each other, or a process of storing various pieces of information calculated by the swing analysis portion 211 , the swing analysis data 248 , or the like in the memory section 24 .
  • the swing analysis portion 211 performs a process of analyzing a swing action of the user 2 by using the measured data (the measured data stored in the memory section 24 ) output from the sensor unit 10 , data which is input from the operation section 23 , or the like, so as to generate the swing analysis data 248 as analysis information including a location and 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.
  • the swing analysis portion 211 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 211 calculates a position of the head 3 a of the golf club 3 over time at a predetermined timing during the backswing or the downswing as an index of the swing.
  • a position of the head 3 a may be obtained by calculating changes in positions from an initial position in a time series by integrating acceleration data output from the sensor unit 10 .
  • the swing analysis portion 211 may calculate a movement distance of the head 3 a on the basis of time-series changes of positions of the head 3 a.
  • the swing analysis portion 211 may calculate an incidence angle of the head 3 a of the golf club 3 at impact (at ball hitting), an inclination of the head 3 a of the golf club 3 at impact (at ball hitting), a speed of the golf club 3 (head 3 a ) at impact (at ball hitting), a rotation angle about a rotation 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), and the like.
  • the location determination portion 216 determines a location where measured data corresponding to position information was acquired, that is, a location where the golf club 3 was swung.
  • the location determination portion 216 determines whether a swing location is a golf course or a golf practice range.
  • the location determination portion 216 collates position data indicated by position information corresponding to a swing analysis result with map information so as to determine a swing location.
  • the map information may be stored in the memory section 24 , and may be acquired from an external server via the network 40 . In a case where locations indicated by position data are different from each other, that is, in a case where it is determined that the user performed a swing while moving, it may be determined that the swing was performed in a golf course. In a case where locations indicated by position data are substantially the same as each other, it may be determined that a swing was performed in a golf practice range.
  • a determination result in the location determination portion 216 is correlated with a corresponding swing analysis result.
  • the image data generation portion 212 performs a process of generating image data corresponding to an image displayed on the display section 25 .
  • the image data generation portion 212 generates image data on the basis of various pieces of information received by the data acquisition portion 210 .
  • the display processing portion 214 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 212 ) on the display section 25 .
  • the sound output processing portion 215 performs a process of outputting various sounds (including voices, buzzer sounds, and the like) from the sound output section 26 .
  • the sound output processing portion 215 may output a sound for notifying the user 2 of permission of swing starting from the sound output section 26 in step S 5 in FIG. 4 .
  • the sound output processing portion 215 may output a sound or a voice indicating an analysis result in the swing analysis portion 211 from the sound output section 26 automatically or in response to an input operation performed by the user 2 after a swing action of the user 2 is completed.
  • a sound output section may be provided in the sensor unit 10 , and the sound output processing portion 215 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 .
  • a vibration mechanism may be provided in the swing analysis apparatus 20 or the sensor unit 10 , and various pieces of information may be converted into vibration pieces of information by the vibration mechanism so as to be presented to the user 2 .
  • an XYZ coordinate system (global coordinate system) which has a target line indicating a target hit ball direction as an X axis, an axis on a horizontal plane which is perpendicular to the X axis as a Y axis, and a vertically upward direction (a direction opposite to the gravitational direction) as a Z axis.
  • the swing analysis portion 211 calculates a position and an attitude of the sensor unit 10 in a time series from the time of the address in the XYZ coordinate system (global coordinate system) by using measured data (acceleration data and angular velocity data) in the sensor unit 10 .
  • the swing analysis portion 211 detects respective timings of the swing starting, the top, and the impact illustrated in FIG. 5 , by using the measured data (acceleration data or angular velocity data) in the sensor unit 10 .
  • the swing analysis portion 211 calculates values of the respective indexes (for example, a V zone, efficiency (swing efficiency), rotation, impact, and a down blow (or an upper blow)) of the swing by using the time series data of the position and the attitude of the sensor unit 10 , and the timings of the swing starting, the top, and the impact, so as to generate the swing analysis data 248 .
  • the respective indexes for example, a V zone, efficiency (swing efficiency), rotation, impact, and a down blow (or an upper blow)
  • the swing analysis portion 211 computes an offset amount included in the measured data by using the measured data (acceleration data and angular velocity data) during standing still (at address) of the user 2 , stored in the memory section 24 .
  • the swing analysis portion 211 subtracts the offset amount from the measured data after swing starting, stored in the memory section 24 , 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 by using the bias-corrected measured data.
  • the swing analysis portion 211 computes a position (initial position) of the sensor unit 10 during standing still (at address) of the user 2 in an XYZ coordinate system (a coordinate system in which a position of the ball hitting portion (head) 3 a during standing still (at address) of the user 2 is set as the origin, a target hit ball direction is set as an X axis, an axis on a horizontal plane perpendicular to the X axis is set as a Y axis, and a vertically upward direction is set as a Z axis; hereinafter, referred to as a global coordinate system) by using the acceleration data measured by the acceleration sensor 12 , the club specification information, and the sensor attachment position information, and integrates subsequent acceleration data so as to compute a positional change from the initial position of the sensor unit 10 in a time series.
  • the user 2 stands still at a predetermined address attitude, and an X coordinate of the initial position of the sensor unit 10 is 0.
  • the swing analysis portion 211 may compute an inclined angle (an inclination relative to a horizontal plane (XY plane) or a vertical plane (XZ plane)) of the shaft by using y axis acceleration data.
  • the swing analysis portion 211 may compute a Y coordinate and a Z coordinate of the initial position of the sensor unit 10 by using the inclined angle of the shaft, the club specification information (the length of the shaft), and the sensor attachment position information (a distance from the grip end), so as to specify the initial position of the sensor unit 10 .
  • the swing analysis portion 211 may compute coordinates of an initial position of the sensor unit 10 by using coordinates of a position of the grip end of the golf club 3 and the sensor attachment position information (a distance from the grip end).
  • the motion analysis portion 211 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 the acceleration data measured by the acceleration sensor 12 , and 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 maybe expressed by, for example, rotation angles (a roll angle, a pitch angle, and a yaw angle) around the X axis, the Y axis, and the Z axis, an Euler's angle, or a quaternion.
  • the swing analysis portion 211 may specify an angle formed between each of the x axis, the y axis, and the z axis of the sensor unit 10 , and the gravitational direction by using three-axis acceleration data. Since the user 2 stands still at the predetermined address attitude, and thus the y axis of the sensor unit 10 is present on the YZ plane during standing still of the user 2 , the swing analysis portion 211 can specify the initial attitude of the sensor unit 10 .
  • 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 211 to perform bias correction on the measured data.
  • the swing analysis portion 211 defines a motion analysis model (double pendulum model) in which physical information (the height of the user 2 (the lengths of the arms)), club specification information (a length and a position of the centroid of the shaft), sensor attachment position information (a distance from the grip end), features (rigid body) of the golf club 3 , or human features (a joint bending direction, and the like) are taken into consideration, and computes a trajectory of the golf club 3 in a swing of the user 2 by using the motion analysis model, and information regarding the position and the attitude of the sensor unit 10 .
  • a motion analysis model double pendulum model in which physical information (the height of the user 2 (the lengths of the arms)), club specification information (a length and a position of the centroid of the shaft), sensor attachment position information (a distance from the grip end), features (rigid body) of the golf club 3 , or human features (a joint bending direction, and the like) are taken into consideration, and computes a trajectory of the golf club 3 in a swing of
  • the swing analysis portion 211 detects a timing (impact timing) at which the user 2 hit the ball in a period of the swing action by using the time information and the measured data stored in the memory section 24 .
  • the swing analysis portion 211 computes a combined value of the measured data (the acceleration data or the angular velocity data) output from the sensor unit 10 , and specifies the timing (time point) at which the user 2 hit the ball on the basis of the combined value.
  • the swing analysis portion 211 also generates a head speed from a backswing to follow-through, an incidence angle (club path) or a face angle during hitting of a ball, shaft rotation (a change amount of a face angle during a swing), and a deceleration rate of the golf club 3 , or information regarding a variation in these information pieces in a case where the user 2 performs a plurality of swings, by using the motion analysis model and the information regarding the position and the attitude of the sensor unit 10 .
  • the swing analysis portion 211 detects a series of actions (also referred to as a “rhythm”) from the start of a swing to the finish of the swing, for example, the start of the swing, a backswing, a top, a downswing, impact, follow-through, and the finish of the swing by using the measured data acquired from the sensor unit 10 .
  • a series of actions also referred to as a “rhythm”
  • Specific procedures of detecting the rhythm are not particularly limited, but, for example, the following procedures may be employed.
  • the swing analysis portion 211 computes a sum (referred to as a norm) of magnitudes of angular velocities at respective time points t by using the angular velocity data at acquisition time points t.
  • the swing analysis portion 211 may differentiate the norm of the angular velocities at the respective time points t with time.
  • a transverse axis expresses time (msec)
  • a longitudinal axis expresses angular velocity (dps).
  • a norm of angular velocities is illustrated in a graph as illustrated in FIG. 8 , for example.
  • a transverse axis expresses time (msec)
  • a longitudinal axis expresses a combined value (norm) of the angular velocities.
  • a derivative value of the norm of the angular velocities is illustrated in a graph as illustrated in FIG. 9 , for example.
  • a transverse axis expresses time (msec)
  • a longitudinal axis expresses a derivative value of the norm of the angular velocities.
  • FIGS. 7 to 9 are drawings for better understanding of the present embodiment, and do not illustrate accurate values.
  • the swing analysis portion 211 detects an impact timing in the swing by using the computed norm of the angular velocities.
  • the swing analysis portion 211 detects, for example, a timing at which the norm of the angular velocities is the maximum as the impact timing (reference sign t impact ).
  • the swing analysis portion 211 may detect the former timing as the impact timing (reference sign t impact ).
  • the swing analysis portion 211 detects, for example, a timing at which the computed norm of the angular velocities is the minimum before impact as a top timing in the swing (reference sign t top ).
  • the swing analysis portion 211 specifies a period in which the norm of the angular velocities which is equal to or less than a first threshold value continues as a top period (a staying period around the top).
  • the swing analysis portion 211 detects, for example, a timing at which the norm of the angular velocities is equal to or less than a second threshold value before the top as a swing start timing (reference sign t start ).
  • the swing analysis portion 211 detects, for example, a timing at which the norm of the angular velocities is the minimum after the impact as a swing finish timing.
  • the swing analysis portion 211 may detect, for example, an initial timing at which the norm of the angular velocities is equal to or less than a third threshold value after the impact as the swing finish timing.
  • the swing analysis portion 211 specifies, for example, a period in which the norm of the angular velocities which is equal to or less than a fourth threshold value continues after the impact and around the impact timing as a finish period.
  • the swing analysis portion 211 may detect the rhythm of the swing.
  • the swing analysis portion 211 may specify each period during a swing (for example, a backswing period from swing start to top start, a downswing period from top finish to impact, and a follow-through period from the impact to swing finish) by detecting the rhythm.
  • FIG. 10 is a flowchart illustrating examples of procedures of a swing analysis process (swing analysis method) performed by the processing section 21 .
  • the processing section 21 performs the swing analysis process, for example, according to the procedures shown in the flowchart of FIG. 10 by executing the swing analysis program 240 stored in the memory section 24 .
  • the flowchart of FIG. 10 will be described.
  • the processing section 21 waits for the user 2 to perform a measurement starting operation (the operation in step S 2 in FIG. 4 ) (N in step S 10 ), transmits a measurement starting command to the sensor unit 10 if the measurement starting operation is performed (Y in step S 10 ), and starts to acquire measured data from the sensor unit 10 (step S 12 ).
  • the processing section 21 instructs the user 2 to take an address attitude (step S 14 ).
  • the user 2 takes the address attitude in response to the instruction, and stands still for a predetermined period of time or more (step S 4 in FIG. 4 ).
  • the processing section 21 notifies the user 2 of permission of swing starting (step S 18 ).
  • the processing section 21 outputs, for example, a predetermined sound, or an LED is provided in the sensor unit 10 , and the LED is lighted, so that the user 2 is notified of permission of swing starting.
  • the user 2 confirms the notification and then starts a swing action (the action in step S 6 in FIG. 4 ).
  • the processing section 21 performs processes in step S 20 and subsequent steps after completion of the swing action of the user 2 , or from before completion of the swing action.
  • the processing section 21 computes an initial position and an initial attitude of the sensor unit 10 by using the measured data (measured data during standing still (at address) of the user 2 ) acquired from the sensor unit 10 (step S 20 ).
  • the processing section 21 detects a swing starting timing, a top timing, and an impact timing by using the measured data acquired from the sensor unit 10 (step S 22 ).
  • the processing section 21 computes a position and an attitude of the sensor unit 10 during the swing action of the user 2 in parallel to the process in step S 22 , or before and after the process in step S 22 (step S 24 ).
  • step S 26 the processing section 21 computes values of various indexes regarding the swing by using at least some of the measured data acquired from the sensor unit 10 , the swing starting, top and impact timings detected in step S 22 , and the position and the attitude of the sensor unit 10 computed in step S 24 .
  • the processing section 21 generates the swing analysis data 248 by using the calculated various indexes, transmits the swing analysis data to the server apparatus 30 (step S 36 ), and finishes the swing analysis process.
  • order of the respective steps may be changed as appropriate within an allowable range, some of the steps may be omitted or changed, and other steps may be added thereto.
  • the image data generation portion 212 generates an analysis image based on a swing analysis result, for example, as in FIGS. 11 to 14 , in response to an operation performed by the user 2 , and displays the analysis image on the display section 25 .
  • FIG. 11 illustrates distributions in a golf course and a golf practice range in a case where a movement time of the head 3 a from an address attitude to halfway back is expressed as a parameter (index) on a transverse axis, and a movement time of the head 3 a from the halfway back to top is expressed as a parameter (index) on a longitudinal axis.
  • the units for the transverse axis and the longitudinal axis in FIG. 11 are millisecond (ms).
  • a set of distributions of first analysis information in a golf course which is first position information is displayed in a first region image 80
  • a set of distributions of second analysis information in a golf practice range which is second position information is displayed in a second region image 90 . Consequently, even in a case where a movement distance of the head 3 a is unclear, it is possible to visually recognize an analysis result of the amplitude.
  • FIG. 12 illustrates distributions in the golf course and the golf practice range in a case where, at the top, an angle of the shaft viewed from a direction of viewing the golf club 3 from the front side (a direction of viewing the user 2 from the front side) is expressed as a parameter (index) on a transverse axis, and an angle of shaft viewed from a direction of viewing the user from the directly upper side (a direction of viewing the user 2 from the parietal region) is expressed as a parameter (index) on a longitudinal axis.
  • a range of a flying ball direction in either of the two cases is set to “0 degrees”.
  • a set of distributions of first analysis information in the golf course which is first position information is displayed in a first region image 80
  • a set of distributions of second analysis information in the golf practice range which is second position information is displayed in a second region image 90 .
  • the units for the transverse axis and the longitudinal axis in FIG. 12 are meter (m).
  • FIG. 13 illustrates distributions in the golf course and the golf practice range in a case where a grip position (a position in a height direction) at the top (with a grip position at the address as a reference) for a grip position at the address, viewed from a direction of viewing the golf club 3 from the front side (a direction of viewing the user 2 from the front side) is expressed as a parameter (index) on a transverse axis, and a grip position (a position in a rear direction) at the top (with a grip position at the address as a reference) for the grip position at the address, viewed from a direction of viewing the user from the directly upper side is expressed as a parameter (index) on a longitudinal axis.
  • a set of distributions of first analysis information in the golf course which is first position information is displayed in a first region image 80
  • a set of distributions of second analysis information in the golf practice range which is second position information is displayed in a second region image 90 .
  • a position in the height direction may be a grip position at the top with the ground as a reference.
  • the units for the transverse axis and the longitudinal axis in FIG. 13 are meter (m).
  • FIG. 14 illustrates distributions in the golf course and the golf practice range in a case where a swing time for a backswing is expressed as a parameter (index) on a transverse axis, and a swing time for a downswing is expressed as a parameter (index) on a longitudinal axis.
  • a set of distributions of first analysis information in the golf course which is first position information is displayed in a first region image 80
  • a set of distributions of second analysis information in the golf practice range which is second position information is displayed in a second region image 90 .
  • the units for the transverse axis and the longitudinal axis in FIG. 14 are millisecond (ms).
  • the first region image and the second region image can be easily identified by changing display colors or patterns. Two or more pieces of analysis information may be used.
  • the image data generation portion 212 generates an image on the basis of the image display parameters 246 stored in the memory section 24 .
  • the image display parameters 246 specify, for example, parameters (indexes) or ranges on a longitudinal axis and a transverse axis of a correlation diagram, and an attribute of a region image based on analysis information.
  • the image display parameters (indexes) 246 are determined as predetermined set values in advance, but there may be an aspect in which the user 2 can change the set values. For example, in FIG. 12 , a parameter on the longitudinal axis may be changed to the parameter (index) used for the longitudinal axis in FIG. 13 , that is, an address grip position at top.
  • the image data generation portion 212 may display detailed information regarding the indicated data in a text form in an overlapping manner around the data of the correlation diagram.
  • the displayed information is assumed to be, for example, a hole position in the golf course, the presence or absence of a slice, and a curving direction.
  • the first region image and the second region image can be displayed in a coordinate system having two indexes respectively related to the first analysis information and the second analysis information as axes.
  • the golf club 3 as an exercise equipment may be any of a driver, an iron, and a putter.
  • the motion analysis system 1 analyzing a golf swing has been described as an example, but the invention is applicable to other exercise equipments used to hit a ball.
  • An apparatus carrying out the technique may be realized by a single apparatus, may be realized by combining a plurality of apparatuses, and includes various aspects.
  • the functional portions of the processing section 21 illustrated in FIG. 6 indicate functional configurations realized through cooperation between hardware and software, and specific installation aspects are not particularly limited. Therefore, hardware individually corresponding to each functional portion is not necessary installed, and a single processor may realize functions of a plurality of functional portions by executing a program. In the embodiment, some of the functions realized by software maybe realized by hardware, or some of the functions realized by hardware may be realized by software. In addition, a specific detailed configuration of each of other portions of the processor 21 can be changed at random within the scope without departing from the spirit of the invention.

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